Rehabilitation chair

Abstract

The application discloses a rehabilitation chair, belonging to the field of stretching or bending appliances for exercise. The rehabilitation chair comprises a framework, a left handrail, a right handrail, a left foot pedal, a right foot pedal, a motor and a transmission mechanism. The left handrail, the right handrail, the left foot pedal and the right foot pedal are movably arranged on the framework along the up-down direction. The motor is installed on the framework, and the motor is connected with the left handrail, the right handrail, the left foot pedal and the right foot pedal through the transmission mechanism, so that the left handrail, the right handrail, the left foot pedal and the right foot pedal are driven to ascend and descend by the same motor. The transmission mechanism is configured to make the left handrail and the right foot pedal ascend or descend synchronously, and the right handrail and the left foot pedal ascend or descend synchronously; when one of the left handrail and the right handrail ascends, the other one descends; when one of the left foot pedal and the right foot pedal ascends, the other one descends. The above arrangement improves the rehabilitation efficiency of the rehabilitation chair on patients.

Description

Technical Field

[0001] This application relates to the field of stretching or bending devices for exercise, and more specifically to a rehabilitation chair. Background Technology

[0002] The rehabilitation of paralyzed patients is a systematic process that requires scientific and gradual training to maximize the restoration of their motor function and ability to live independently. Physical therapy is a crucial component of the rehabilitation process, including exercises such as turning over and sitting up in bed, sitting balance training, standing training, and walking training using assistive devices such as parallel bars and walking aids.

[0003] However, traditional walking aids typically require patients to have a certain level of upper limb strength and balance, limiting their applicability to patients with severe paralysis. While rehabilitation chairs can provide stable body support through their backrests, armrests, and lumbar supports, and utilize mechanical structures to assist in individual upper or lower limb training, their design often focuses on single-limb or unilateral training, lacking mechanisms for bilateral coordination and overall gait coordination. This single-limb training mode may exacerbate muscle development imbalances and reinforce abnormal postural patterns (such as the typical upper limb flexion and lower limb extension in hemiplegic patients), thereby affecting trunk symmetry and overall gait coordination. Simultaneously, localized muscle training may lead to vasodilation in active areas and vasoconstriction in inactive areas, causing significant fluctuations in blood pressure, increasing the burden on the cardiovascular system, and posing a potential risk to patients with pre-existing cardiovascular conditions.

[0004] Therefore, improving the rehabilitation effectiveness of assistive devices for severely paralyzed patients during rehabilitation training is an urgent problem to be solved. Utility Model Content

[0005] In view of the above problems, this application provides a rehabilitation chair that can improve the rehabilitation efficiency of patients.

[0006] This application provides a rehabilitation chair, which includes a frame, a left armrest, a right armrest, a left footrest, a right footrest, a motor, and a transmission mechanism. The left armrest, right armrest, left footrest, and right footrest are movably mounted on the frame in the vertical direction. The motor is mounted on the frame and connected to the left armrest, right armrest, left footrest, and right footrest via the transmission mechanism, so that the left armrest, right armrest, left footrest, and right footrest are driven to rise and fall by the same motor. The transmission mechanism is configured to cause the left armrest and right footrest to rise or fall synchronously, and the right armrest and left footrest to rise or fall synchronously; when one of the left and right armrests rises, the other falls; when one of the left and right footrests rises, the other falls.

[0007] In the technical solution of this application embodiment, after the patient sits on the rehabilitation chair, the motor drives the raising and lowering of the left armrest, right armrest, left foot pedal, and right foot pedal through a transmission mechanism. When the left armrest rises, the right foot pedal rises in conjunction with it, while the right armrest and left foot pedal fall simultaneously; and vice versa. This simulates the coordinated swinging of the upper and lower limbs during walking in healthy individuals, which helps promote the recovery of neuromuscular function coordination in patients and improves the rehabilitation chair's effectiveness. Furthermore, using a single motor to drive the raising and lowering of the left armrest, right armrest, left foot pedal, and right foot pedal allows for a more compact arrangement of the rehabilitation chair's components, resulting in a smaller overall space footprint.

[0008] In one or more embodiments of this application, the transmission mechanism includes a first crank-slider mechanism, a second crank-slider mechanism, a third crank-slider mechanism, and a fourth crank-slider mechanism. The first crank-slider mechanism includes a first crank, a first slider, and a first connecting rod. The first crank is rotatably mounted on the frame, the first slider is movably mounted on the frame in the vertical direction, and the two ends of the first connecting rod are rotatably connected to the first slider and the first crank, respectively. The left handrail is fixedly connected to the first slider. The second crank-slider mechanism includes a second crank, a second slider, and a second connecting rod. The second crank is rotatably mounted on the frame, the second slider is movably mounted on the frame in the vertical direction, and the two ends of the second connecting rod are rotatably connected to the second slider and the second crank, respectively. The right handrail is fixedly connected to the second slider. The third crank-slider mechanism includes a third crank, a third slider, and a third connecting rod. The third crank is rotatably mounted on the frame, the third slider is movably mounted on the frame in the vertical direction, and the two ends of the third connecting rod are rotatably connected to the third slider and the third crank, respectively. The left foot pedal is fixedly connected to the third slider. The fourth crank-slider mechanism includes a fourth crank, a fourth slider, and a fourth connecting rod. The fourth crank is rotatably mounted on the frame, and the fourth slider is movable along the vertical direction on the frame. The two ends of the fourth connecting rod are rotatably connected to the fourth slider and the fourth crank, respectively. The right foot pedal is fixedly connected to the fourth slider. The motor is connected to the first, second, third, and fourth cranks for transmission. In the above solution, the linkage of the left armrest, right armrest, left foot pedal and right foot pedal is realized through the crank-slider mechanism. The kinematic pair is a low pair, which has light wear, long service life and high operational reliability. It can realize long-distance power transmission and control, and make the layout of multiple components inside the rehabilitation chair more flexible.

[0009] In one or more embodiments of this application, the phase difference between the first crank and the second crank is 180°, and the phase difference between the third crank and the fourth crank is 180°.

[0010] In the above scheme, the movement directions of the left armrest and left foot pedal, as well as the right armrest and right foot pedal, are always opposite. The inertial force and impact force generated during the operation of the transmission mechanism can cancel each other out to a certain extent, resulting in relatively low vibration and noise from the rehabilitation chair and higher operational stability of the transmission mechanism.

[0011] In one or more embodiments of this application, the transmission mechanism further includes a transmission shaft, which is rotatably mounted on the frame. A first crank and a second crank are both mounted on the transmission shaft. The first crank and the third crank are connected in a transmission manner, and the second crank and the fourth crank are connected in a transmission manner. A motor is used to drive the transmission shaft to rotate.

[0012] In the above solution, multiple cranks are linked by a single drive shaft, which reduces the risk of decreased operating accuracy due to the accumulation of transmission errors.

[0013] In one or more embodiments of this application, the first crank and the third crank are connected by a gear transmission assembly; and / or, the second crank and the fourth crank are connected by a gear transmission assembly.

[0014] In the above scheme, the transmission connection of different cranks is realized through the gear transmission assembly, which has high transmission efficiency and precision, and is conducive to ensuring the coordination and regularity of the patient's bilateral limb training.

[0015] In one or more embodiments of this application, the gear transmission assembly includes a first gear, a first transmission gear, and a third gear, wherein the first gear is a first crank, the third gear is a third crank, and both the first gear and the third gear mesh with the first transmission gear; and / or, the gear transmission assembly includes a second gear, a second transmission gear, and a fourth gear, wherein the second gear is a second crank, the fourth gear is a fourth crank, and both the second gear and the fourth gear mesh with the second transmission gear.

[0016] In the above design, the first, second, third, and fourth gears simultaneously function as both gear drives and crank drives, simplifying the number of internal components of the rehabilitation chair and allowing for a more compact structural layout, thus reducing the space occupied by the chair. Furthermore, the placement of the first and second transmission gears ensures that the first, second, third, and fourth cranks rotate in the same direction, simplifying the design of the transmission structure. Simultaneously, it compensates for the distance between the footrest and armrests, reducing the risk of excessively large first, second, third, and fourth gears, which would otherwise increase the space occupied by the rehabilitation chair.

[0017] In one or more embodiments of this application, the first crank and the third crank are connected by a flexible transmission assembly; and / or, the second crank and the fourth crank are connected by a flexible transmission assembly.

[0018] In the above solution, the transmission connection between different cranks is achieved through flexible transmission components, resulting in smoother operation, lower noise, and reduced cost of the transmission mechanism.

[0019] In one or more embodiments of this application, the flexible transmission assembly includes a first transmission wheel, a first flexible element, and a third transmission wheel, the first flexible element surrounding the first transmission wheel and the third transmission wheel, the first transmission wheel being coaxially arranged with a first crank, and the third transmission wheel being coaxially arranged with a third crank; and / or, the flexible transmission assembly includes a second transmission wheel, a second flexible element, and a fourth transmission wheel, the second flexible element surrounding the second transmission wheel and the fourth transmission wheel, the second transmission wheel being coaxially arranged with a second crank, and the fourth transmission wheel being coaxially arranged with a fourth crank.

[0020] In the above scheme, the transmission connection between different cranks is achieved through two transmission wheels and a flexible component, which can reduce the number of components included in the transmission mechanism, save the space required for the transmission mechanism, and reduce the difficulty of arranging the transmission mechanism.

[0021] In one or more embodiments of this application, the first flexible element is one of a belt, a timing belt, and a chain; and / or, the second flexible element is one of a belt, a timing belt, and a chain.

[0022] In the above scheme, the flexible component is a belt, which can buffer impact and absorb vibration; the flexible component is a synchronous belt, which can enable the transmission mechanism to have high precision; and the flexible component is a chain, which can have a large load-bearing capacity and high transmission stability.

[0023] In one or more embodiments of this application, the flexible transmission assembly further includes a first tensioning wheel, which is rotatably disposed on the frame, and a first flexible member is wound around the first tensioning wheel. The first tensioning wheel is used to tension the first flexible member. And / or, the flexible transmission assembly further includes a second tensioning wheel, which is rotatably disposed on the frame, and a second flexible member is wound around the second tensioning wheel. The second tensioning wheel is used to tension the second flexible member.

[0024] In the above scheme, the setting of the tensioning wheel can reduce the risk of slippage or vibration of the flexible parts, which is conducive to improving the stability of the transmission mechanism.

[0025] In one or more embodiments of this application, the transmission mechanism satisfies one of the following conditions: A) A first crank has multiple first adjustment holes spaced apart. One end of a first connecting rod is connected to one of the multiple first adjustment holes, and the other end of the first connecting rod is connected to a first slider. The distances between the multiple first adjustment holes and the rotation axis of the first crank are different. A second crank has multiple second adjustment holes spaced apart. One end of a second connecting rod is connected to one of the multiple second adjustment holes, and the other end of the second connecting rod is connected to a second slider. The distances between the multiple second adjustment holes and the rotation axis of the second crank are different. A third crank has multiple third adjustment holes spaced apart. One end of a third connecting rod is connected to one of the multiple third adjustment holes, and the other end of the third connecting rod is connected to a third slider. The distances between the multiple third adjustment holes and the rotation axis of the third crank are different. A fourth crank has multiple fourth adjustment holes spaced apart. One end of a fourth connecting rod is connected to one of the multiple fourth adjustment holes, and the other end of the fourth connecting rod is connected to a fourth slider. The distances between the multiple fourth adjustment holes and the rotation axis of the fourth crank are different. B) The first slider has multiple fifth adjustment holes spaced apart along the vertical direction. One end of the first connecting rod is connected to the first crank, and the other end of the first connecting rod is connected to one of the multiple fifth adjustment holes. The other of the second sliders has multiple sixth adjustment holes spaced apart along the vertical direction. One end of the second connecting rod is connected to the second crank, and the other end of the second connecting rod is connected to one of the multiple sixth adjustment holes. The third slider has multiple seventh adjustment holes spaced apart along the vertical direction. One end of the third connecting rod is connected to the third crank, and the other end of the third connecting rod is connected to one of the multiple seventh adjustment holes. The fourth slider has multiple eighth adjustment holes spaced apart along the vertical direction. One end of the fourth connecting rod is connected to the fourth crank, and the other end of the fourth connecting rod is connected to one of the multiple eighth adjustment holes.

[0026] C) The first crank has multiple first adjusting holes spaced apart, with different distances between the multiple first adjusting holes and the rotation axis of the first crank. The first slider has multiple fifth adjusting holes spaced apart, arranged vertically. One end of the first connecting rod is connected to one of the multiple first adjusting holes, and the other end of the first connecting rod is connected to one of the multiple fifth adjusting holes. The second crank has multiple second adjusting holes spaced apart, with different distances between the multiple second adjusting holes and the rotation axis of the second crank. The second slider has multiple sixth adjusting holes spaced apart, arranged vertically. One end of the second connecting rod is connected to one of the multiple second adjusting holes, and the other end of the second connecting rod is connected to one of the multiple sixth adjusting holes. The third crank has multiple third adjustment holes spaced apart, with different distances between the multiple third adjustment holes and the rotation axis of the third crank; the third slider has multiple seventh adjustment holes spaced apart, spaced vertically; one end of the third connecting rod is connected to one of the multiple third adjustment holes, and the other end of the third connecting rod is connected to one of the multiple seventh adjustment holes; the fourth crank has multiple fourth adjustment holes spaced apart, with different distances between the multiple fourth adjustment holes and the rotation axis of the fourth crank; the fourth slider has multiple eighth adjustment holes spaced apart, spaced vertically; one end of the fourth connecting rod is connected to one of the multiple fourth adjustment holes, and the other end of the fourth connecting rod is connected to one of the multiple eighth adjustment holes.

[0027] In the above design, the first, second, third, and fourth adjustment holes allow for adjustment of the slider's travel, thereby adjusting the range of motion of the armrests and footrests. This enables targeted and effective rehabilitation training for patients at different stages of rehabilitation or with varying degrees of paralysis. The fifth, sixth, seventh, and eighth adjustment holes, while adjusting the slider's travel, also allow the rehabilitation chair to be adapted to patients of different heights.

[0028] In one or more embodiments of this application, the frame includes a left frame, a right frame, and a connecting frame. The connecting frame connects the left frame and the right frame. The left handrail and the left foot pedal are movably disposed on the left frame in the vertical direction, and the right handrail and the right foot pedal are movably disposed on the right frame in the vertical direction.

[0029] In the above solution, the skeleton is divided into multiple parts, which can reduce the manufacturing cost of the skeleton. Dividing it into left and right skeletons can also play a role in preventing mistakes and simplifying the assembly process.

[0030] In one or more embodiments of this application, the left frame is provided with a first through hole, the left handrail passes through the first through hole in the vertical direction, and the outer surface of the left handrail is slidably connected to the hole wall of the first through hole; and / or, the right frame is provided with a second through hole, the right handrail passes through the second through hole in the vertical direction, and the outer surface of the right handrail is slidably connected to the hole wall of the second through hole.

[0031] In the above solution, the outer surface of the handrail is slidably connected to the wall of the through hole, which can reduce the risk of the patient being pinched during the rehabilitation process.

[0032] In one or more embodiments of this application, the rehabilitation chair further includes a first guide rod, which is movably disposed on the left frame in the vertical direction and is used to guide the left armrest to move in the vertical direction; and / or, the rehabilitation chair further includes a second guide rod, which is movably disposed on the right frame in the vertical direction and is used to guide the right armrest to move in the vertical direction.

[0033] In the above scheme, the guide rod can improve the operating accuracy of the handrail while occupying less space.

[0034] In one or more embodiments of this application, the transmission mechanism includes a first cam mechanism, a second cam mechanism, a third cam mechanism, and a fourth cam mechanism; the first cam mechanism includes a first cam, a first pusher, and a first elastic member. The first cam is rotatably mounted on the frame, the first pusher is movably mounted on the frame in the vertical direction, and the first elastic member is used to cause one end of the first pusher to abut against the outer peripheral surface of the first cam, with a left handrail disposed at the other end of the first pusher; the second cam mechanism includes a second cam, a second pusher, and a second elastic member. The second cam is rotatably mounted on the frame, the second pusher is movably mounted on the frame in the vertical direction, and the second elastic member is used to cause one end of the second pusher to abut against the outer peripheral surface of the first cam. The outer peripheral surface of the second cam is provided with a right handrail located at the other end of the second pusher. The third cam mechanism includes a third cam, a third pusher, and a third elastic member. The third cam is rotatably mounted on the frame, the third pusher is movably mounted on the frame in the vertical direction, and the third elastic member is used to make one end of the third pusher abut against the outer peripheral surface of the third cam. The left foot pedal is located at the other end of the third pusher. The fourth cam mechanism includes a fourth cam, a fourth pusher, and a fourth elastic member. The fourth cam is rotatably mounted on the frame, the fourth pusher is movably mounted on the frame in the vertical direction, and the fourth elastic member is used to make one end of the fourth pusher abut against the outer peripheral surface of the fourth cam. The right foot pedal is located at the other end of the fourth pusher.

[0035] In the above scheme, the cam, pusher and elastic element realize the linkage of the left handrail, right handrail, left foot pedal and right foot pedal. Since the cam itself can accurately define the motion trajectory, it is beneficial to improve the operating accuracy of the transmission mechanism and improve maintenance efficiency.

[0036] In one or more embodiments of this application, the phase difference between the first cam and the third cam is 180°, and the phase difference between the second cam and the fourth cam is 180°.

[0037] In the above scheme, setting the phase difference between the first cam and the third cam to 180° and the phase difference between the second cam and the fourth cam to 180° ensures that the movement directions of the left armrest and the left foot pedal, as well as the right armrest and the right foot pedal, are always opposite. This can counteract a certain inertial force, reduce vibration and noise, simplify the design of the cams, and reduce design costs.

[0038] In one or more embodiments of this application, the transmission mechanism further includes a transmission shaft, which is rotatably mounted on the frame. The first cam and the second cam are both mounted on the transmission shaft. The first cam and the third cam are connected in a transmission manner, and the second cam and the fourth cam are connected in a transmission manner. A motor is used to drive the transmission shaft to rotate.

[0039] In the above solution, multiple cams are linked by a single drive shaft, which reduces the risk of decreased operating accuracy due to the accumulation of transmission errors.

[0040] In one or more embodiments of this application, the rehabilitation chair further includes a massage mechanism for massaging the patient's buttocks. The massage mechanism is mounted on the frame and is movably mounted on the frame in the vertical direction. A motor is connected to the massage mechanism through a transmission mechanism so that the left armrest, right armrest, left foot pedal, right foot pedal and massage mechanism are driven to rise and fall by the same motor.

[0041] In the above-described approach, during the patient's rehabilitation process, the buttocks are stimulated while training both sides of the body, promoting blood circulation in the buttocks and maintaining good muscle condition, thus laying the foundation for subsequent standing training. Furthermore, using a single motor to drive the raising and lowering of the left and right armrests, left and right foot pedals, and the massage mechanism allows for a more compact arrangement of the rehabilitation chair's components, reducing the overall space occupied by the chair.

[0042] In one or more embodiments of this application, the massage mechanism includes a left massage head and a right massage head, wherein the left massage head is configured to rise synchronously when the right foot pedal is raised, and the right massage head is configured to rise synchronously when the left foot pedal is raised.

[0043] In the above scheme, based on the inherent contralateral coordination pattern in human gait—that is, the left leg swinging forward is often accompanied by the right hip sinking, and vice versa—the left massage head is set to rise synchronously with the right foot stepping up, and the right massage head is set to rise synchronously with the left foot stepping up. This timing design can provide synergistic stimulation to the gluteal muscles without interfering with the patient's active and passive limb training, thereby simultaneously activating multiple muscle groups in a single training movement and further improving the overall effectiveness of rehabilitation training.

[0044] In one or more embodiments of this application, the transmission mechanism further includes a transmission shaft, a left cam, a right cam, a left pusher, a right pusher, a first left elastic member, and a first right elastic member. The transmission shaft is rotatably mounted on the frame, and a motor is used to drive the transmission shaft to rotate, so that the left armrest, right armrest, left foot pedal, right foot pedal, left massage head, and right massage head are raised and lowered. The left cam is used to drive the left massage head to rise, and the right cam is used to push the right massage head to rise. The left pusher is movably mounted on the frame in the vertical direction, and the first left elastic member is used to make one end of the left pusher abut against the outer peripheral surface of the left cam. The right pusher is movably mounted on the frame in the vertical direction, and the first right elastic member is used to make one end of the right pusher abut against the outer peripheral surface of the left cam.

[0045] In the above solution, a single drive shaft, in conjunction with a cam mechanism, enables the coordinated operation of the left and right armrests, left and right foot pedals, left and right massage heads, reducing the risk of decreased operational accuracy due to accumulated transmission errors. Furthermore, reducing the number of components in the transmission mechanism helps to minimize the space occupied by the rehabilitation chair.

[0046] In one or more embodiments of this application, the phase difference between the left cam and the right cam is 180°.

[0047] In the above scheme, setting the phase difference between the left and right cams to 180° ensures that the left and right massage heads always move in opposite directions, which can counteract some inertial forces, reduce vibration and noise, simplify the design of the cams, and reduce design costs.

[0048] In one or more embodiments of this application, the skeleton includes a panel for supporting the patient's buttocks; the transmission mechanism further includes a left movable plate, which is movably disposed on the panel in a vertical direction, with a left massage head disposed above the left movable plate in the vertical direction, at least a portion of the left push member located between the left movable plate and the left cam, and a first left elastic member disposed between the panel and the left movable plate; and / or, the transmission mechanism further includes a right movable plate, which is movably disposed on the panel in a vertical direction, with a right massage head disposed above the right movable plate in the vertical direction, at least a portion of the right push member located between the right movable plate and the right cam, and a first right elastic member disposed between the panel and the right movable plate.

[0049] In the above scheme, the movable plate can serve as the mounting base for the elastic and pushing components. During the assembly process, the elastic and pushing components can be pre-assembled onto the movable plate and then integrated with other components of the transmission mechanism, reducing the assembly difficulty of the transmission mechanism.

[0050] In one or more embodiments of this application, the left pushing member includes a left abutment portion, a left rod portion, and a left limiting portion. The left rod portion is movably inserted through the left movable plate, with its upper end connected to the left limiting portion and its lower end connected to the left abutment portion. The transmission mechanism also includes a second left elastic member, which is disposed between the left abutment portion and the movable plate in the vertical direction. The right pushing member includes a right abutment portion, a right rod portion, and a right limiting portion. The right rod portion is movably inserted through the right movable plate, with its upper end connected to the right limiting portion and its lower end connected to the right abutment portion. The transmission mechanism also includes a second right elastic member, which is disposed between the right abutment portion and the movable plate in the vertical direction.

[0051] In the above scheme, the thrust generated by the cam is first buffered and adjusted by the second left and right elastic elements before being transmitted to the massage head. This design can effectively absorb the rigid impact and vibration load generated by the cam mechanism during start-up, stop-start and reversal, reducing the wear of internal components and thus improving the service life and operational stability of the entire transmission system. On the other hand, through elastic buffering, the high-frequency and excessive impact that may cause discomfort to the patient is transformed into gentle and controllable mechanical stimulation, reducing the risk of reduced rehabilitation effect or even secondary injury caused by equipment impact.

[0052] In one or more embodiments of this application, multiple left massage heads are provided, including a first left massage head, a second left massage head, and a third left massage head. The first left massage head is used to massage the patient's left Huantiao acupoint, the second left massage head is used to massage the patient's left Huanzhong acupoint, and the third left massage head is used to massage the patient's left Zhibian acupoint. Multiple right massage heads are provided, including a first right massage head, a second right massage head, and a third right massage head. The first right massage head is used to massage the patient's right Huantiao acupoint, the second right massage head is used to massage the patient's right Huanzhong acupoint, and the third right massage head is used to massage the patient's right Zhibian acupoint.

[0053] In the above-mentioned treatment plan, massaging the Huanzhong acupoint can dredge the meridians, promote blood circulation, relieve pain, and improve the sensation and motor function of the lower limbs. Massaging the Zhibian acupoint can strengthen the waist and knees, regulate the lower abdomen, and relieve patients' lumbosacral pain, lower limb weakness and paralysis, and difficulty in urination and defecation. Massaging the Huantiao acupoint can increase blood circulation in the area it is distributed in, which helps the recovery of nerve function and the nourishment of muscles.

[0054] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0055] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 The following are isometric views of rehabilitation chairs according to some embodiments of this application; Figure 2 This is an isometric view of a portion of the structure of a rehabilitation chair according to some embodiments of this application; Figure 3 This is a schematic diagram of a portion of the structure of a rehabilitation chair according to some embodiments of this application, showing the location of the motor; Figure 4 This is a schematic diagram of a portion of the structure of a rehabilitation chair according to some embodiments of this application; Figure 5 This is a top view of a portion of the structure of a rehabilitation chair according to some embodiments of this application; Figure 6 This is an isometric view of a portion of the structure of a rehabilitation chair according to some embodiments of this application; Figure 7 This is a schematic diagram of a portion of the structure of a rehabilitation chair according to some embodiments of this application; Figure 8 This is a schematic diagram of a portion of the structure of a rehabilitation chair according to some embodiments of this application, showing the location of the motor; Figure 9 for Figure 2 A magnified view of a section at point A in the middle; Figure 10 for Figure 3 A magnified view of a section at point B in the middle; Figure 11 for Figure 6 A magnified view of a section at point C; Figure 12 for Figure 3 A magnified view of a section at point D; Figure 13 for Figure 6 A magnified view of a section at point E in the middle; Figure 14 for Figure 6 A magnified view of a section at point F in the middle; Figure 15 for Figure 7 A magnified view of a section at point G in the middle; Figure 16 for Figure 8 A magnified view of a section at point H in the middle; Figure 17 This is an isometric view of a portion of the structure of a rehabilitation chair according to some embodiments of this application; Figure 18This is an isometric view of a rehabilitation chair according to some embodiments of this application; Figure 19 This is an isometric view of a portion of the structure of the transmission mechanism in some embodiments of this application; Figure 20 This is a schematic diagram of a portion of the transmission mechanism in some embodiments of this application; Figure 21 This is a cross-sectional view of a portion of the transmission mechanism in some embodiments of this application.

[0056] The reference numerals in the detailed embodiments are as follows: 1000. Rehabilitation chair; 10. Frame; 11. Left frame; 12. Connecting frame; 13. Right frame; 14. Panel; 20. Left armrest; 21. First guide rod; 30. Right armrest; 31. Second guide rod; 40. Left foot pedal; 50. Right foot pedal; 60. Motor; 70. Transmission mechanism; 71. First crank-slider mechanism; 711. First crank; 7111. First adjustment hole; 712. First slider; 7121. 5. Adjustment hole; 713. First connecting rod; 72. Second crank-slider mechanism; 721. Second crank; 7211. Second adjustment hole; 722. Second slider; 7221. Sixth adjustment hole; 723. Second connecting rod; 73. Third crank-slider mechanism; 731. Third crank; 7311. Third adjustment hole; 732. Third slider; 7321. Seventh adjustment hole; 733. Third connecting rod; 74. Fourth crank-slider mechanism; 741. Fourth crank; 7411. Fourth adjustment hole; 742. Fourth slider; 7421. Eighth adjustment hole; 743. Fourth connecting rod; 75. Drive shaft; 81. First gear; 82. First transmission gear; 83. Third gear; 84. Second gear; 85. Second transmission gear; 86. Fourth gear; 91. First transmission wheel; 92. First flexible component; 93. Third transmission wheel; 94. Second transmission wheel; 95. Second flexible component; 96. Fourth transmission wheel; 97. First tension wheel; 98. Second tension wheel; 100. Left cam; 101. Right cam; 102. Left pusher; 1021. Left abutment part; 1022. Left rod part; 1023. Left limit part; 103. First left elastic element; 104. Left movable plate; 105. Second left elastic element; 200. Massage mechanism; 201. Left massage head; X, front-back direction; Y, left-right direction; Z, up-down direction. Detailed Implementation

[0057] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0059] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0060] 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.

[0061] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0062] According to some embodiments of this application, refer to Figures 1-8 This application provides a rehabilitation chair 1000, which includes a frame 10, a left armrest 20, a right armrest 30, a left footrest 40, a right footrest 50, a motor 60, and a transmission mechanism 70. The left armrest 20, right armrest 30, left footrest 40, and right footrest 50 are movably mounted on the frame 10 in the vertical direction Z. The motor 60 is mounted on the frame 10 and is connected to the left armrest 20, right armrest 30, left footrest 40, and right footrest 50 through the transmission mechanism 70, so that the left armrest 20, right armrest 30, left footrest 40, and right footrest 50 are driven to rise and fall by the same motor 60. The transmission mechanism 70 is configured to cause the left armrest 20 and the right foot pedal 50 to rise or fall synchronously, and the right armrest 30 and the left foot pedal 40 to rise or fall synchronously; when one of the left armrest 20 and the right armrest 30 rises, the other falls; when one of the left foot pedal 40 and the right foot pedal 50 rises, the other falls.

[0063] In some embodiments, the frame 10 may be made of multiple sheet metal parts by means of welding, fastener connection, etc.

[0064] The material of the skeleton 10 may include, but is not limited to, metals. For example, the material of the skeleton 10 may include, but is not limited to, aluminum alloy, steel, iron, etc.

[0065] The material of the skeleton 10 may include, but is not limited to, solid wood and composite materials.

[0066] In some embodiments, the outer periphery of the frame 10 may be covered with a covering. Optionally, the covering may include fabric, seat structure and filling material. The fabric may include, but is not limited to, genuine leather, fabric (cotton, linen, velvet, etc.), artificial leather, etc. The seat structure may include, but is not limited to, serpentine springs, bandages, wooden boards, etc. The filling material may include, but is not limited to, sponge (with different densities and resilience), down, latex, artificial cotton, etc.

[0067] In some embodiments, the motor 60 may include a motor body and a reducer.

[0068] In some embodiments, the left armrest 20 and the right armrest 30 may also include the aforementioned covering.

[0069] In some embodiments, the left foot pedal 40 and the right foot pedal 50 may be connected to a cooperating structure in the transmission mechanism 70 (e.g., a slider, rack, push rod, etc.) by means of fasteners or welding.

[0070] In some embodiments, the transmission mechanism 70 includes an incomplete gear, a rack, and an elastic element. When the teeth of the incomplete gear mesh with the rack, the rack rises or falls to achieve the raising and lowering of the left armrest 20, right armrest 30, left foot pedal 40, and right foot pedal 50. The elastic element is used to drive the left armrest 20, right armrest 30, left foot pedal 40, and right foot pedal 50 to move in opposite directions. For example, if the left armrest 20 rises during meshing, the elastic element is used to drive the left armrest 20 to fall. For example, multiple sets of incomplete gears and corresponding racks are provided, and different incomplete gears can be connected by a gear transmission assembly or a flexible transmission assembly.

[0071] The motor 60 is connected to the left handrail 20, right handrail 30, left foot pedal 40 and right foot pedal 50 through the transmission mechanism 70, so that the left handrail 20, right handrail 30, left foot pedal 40 and right foot pedal 50 are driven to rise and fall by the same motor 60. This means that the power source for the rising and falling of the left handrail 20, right handrail 30, left foot pedal 40 and right foot pedal 50 is the same motor 60.

[0072] In some embodiments, the rehabilitation chair 1000 may also include a switch for controlling the start and stop of the motor 60.

[0073] The left handrail 20 and the right foot pedal 50 rise or fall synchronously, as do the right handrail 30 and the left foot pedal 40; when one of the left handrail 20 and the right handrail 30 rises, the other falls; when one of the left foot pedal 40 and the right foot pedal 50 rises, the other falls, meaning that the rising and falling states of the handrails and foot pedals are similar to the coordinated swinging of the upper and lower limbs when a healthy person walks.

[0074] In the technical solution of this application embodiment, after the patient sits on the rehabilitation chair 1000, the motor 60 drives the left armrest 20, right armrest 30, left footrest 40, and right footrest 50 to rise and fall through the transmission mechanism 70. When the left armrest 20 rises, the right footrest 50 rises in conjunction with it, while the right armrest 30 and left footrest 40 fall simultaneously; and vice versa. This simulates the coordinated swinging of the upper and lower limbs when healthy people walk, which helps to promote the recovery of the patient's neuromuscular function coordination and improves the rehabilitation efficiency of the rehabilitation chair 1000 for the patient. In addition, by using a single motor 60 to drive the rise and fall of the left armrest 20, right armrest 30, left footrest 40, and right footrest 50, the components of the rehabilitation chair 1000 can be arranged more compactly, occupying less space overall.

[0075] According to some embodiments of this application, refer to Figures 2-8The transmission mechanism 70 includes a first crank-slider mechanism 71, a second crank-slider mechanism 72, a third crank-slider mechanism 73, and a fourth crank-slider mechanism 74. The first crank-slider mechanism 71 includes a first crank 711, a first slider 712, and a first connecting rod 713. The first crank 711 is rotatably mounted on the frame 10, and the first slider 712 is movable along the vertical direction Z on the frame 10. The two ends of the first connecting rod 713 are rotatably connected to the first slider 712 and the first crank 711, respectively. The left handrail 20 is fixedly connected to the first slider 712. The second crank-slider mechanism 72 includes a second crank 721, a second slider 722, and a second connecting rod 723. The second crank 721 is rotatably mounted on the frame 10, and the second slider 722 is movable along the vertical direction Z on the frame 10. The two ends of the second connecting rod 723 are rotatably connected to the second slider 722 and the second crank 721, respectively. The right handrail 30 is fixedly connected to the second slider 722. The third crank-slider mechanism 73 includes a third crank 731, a third slider 732, and a third connecting rod 733. The third crank 731 is rotatably mounted on the frame 10. The third slider 732 is movable along the vertical direction Z on the frame 10. The two ends of the third connecting rod 733 are rotatably connected to the third slider 732 and the third crank 731, respectively. The left foot pedal 40 is fixedly connected to the third slider 732. The fourth crank-slider mechanism 74 includes a fourth crank 741, a fourth slider 742, and a fourth connecting rod 743. The fourth crank 741 is rotatably mounted on the frame 10. The fourth slider 742 is movable along the vertical direction Z on the frame 10. The two ends of the fourth connecting rod 743 are rotatably connected to the fourth slider 742 and the fourth crank 741, respectively. The right foot pedal 50 is fixedly connected to the fourth slider 742. The motor 60 is connected to the first crank 711, the second crank 721, the third crank 731, and the fourth crank 741. In some embodiments, the first crank 711 and the second crank 721 are coaxially arranged, and the third crank 731 and the fourth crank 741 are coaxially arranged.

[0076] In some embodiments, the synchronous rotation of the first crank 711 and the second crank 721 can be achieved by the engagement of bevel gears and gears. The synchronous rotation of the third crank 731 and the fourth crank 741 can be achieved by the engagement of bevel gears and gears.

[0077] In some embodiments, the transmission mechanism 70 includes three shafts: a first crank 711 and a second crank 721 are disposed on the first shaft, and a third crank 731 and a fourth crank 741 are disposed on the second shaft. A motor is used to drive the third shaft to rotate. Both the first shaft and the second shaft are connected to the third shaft via a gear transmission assembly and / or a flexible transmission assembly.

[0078] In some embodiments, the slider can be slidably connected to a slide rail disposed on the frame 10. The slide rail disposed on the frame 10 extends in the vertical direction Z.

[0079] In the above scheme, the linkage of the left armrest 20, right armrest 30, left foot pedal 40 and right foot pedal 50 is realized through the crank-slider mechanism. The kinematic pair is a low pair, which has light wear, long service life and high operational reliability. It can realize long-distance power transmission and control, and make the layout of multiple components inside the rehabilitation chair 1000 more flexible.

[0080] According to some embodiments of this application, refer to Figures 2-8 The phase difference between the first crank 711 and the second crank 721 is 180°, and the phase difference between the third crank 731 and the fourth crank 741 is 180°.

[0081] The phase difference between the first crank 711 and the second crank 721 is 180°, meaning that at the same moment, the angle between the line connecting the connection point of the first crank 711 and the first connecting rod 713 and the center of rotation of the first crank 711, and the line connecting the connection point of the second crank 721 and the second connecting rod 723 and the center of rotation of the second crank 721, is 180°. For example, when the first crank 711 is at its upper limit position, the second crank 721 is at its lower limit position.

[0082] The phase difference between the third crank 731 and the fourth crank 741 is 180°, meaning that at the same moment, the angle between the line connecting the connection point of the third crank 731 and the third connecting rod 733 and the center of rotation of the third crank 731, and the line connecting the connection point of the fourth crank 741 and the center of rotation of the fourth connecting rod 743, is 180°. For example, when the third crank 731 is in the upper limit position, the fourth crank 741 is in the lower limit position.

[0083] In the above scheme, the left armrest 20 and left foot pedal 40, as well as the right armrest 30 and right foot pedal 50, always move in opposite directions. The inertial force and impact force generated during the operation of the transmission mechanism 70 can cancel each other out to a certain extent, resulting in relatively low vibration and noise from the rehabilitation chair 1000 and higher operational stability of the transmission mechanism 70.

[0084] According to some embodiments of this application, refer to Figures 2-8 The transmission mechanism 70 also includes a transmission shaft 75, which is rotatably mounted on the frame 10. The first crank 711 and the second crank 721 are both mounted on the transmission shaft 75. The first crank 711 and the third crank 731 are connected in a transmission manner, and the second crank 721 and the fourth crank 741 are connected in a transmission manner. The motor 60 is used to drive the transmission shaft 75 to rotate.

[0085] In some embodiments, the motor 60 may be connected to the drive shaft 75 via a bearing.

[0086] The first crank 711 and the second crank 721 are both mounted on the drive shaft 75. The first crank 711 and the third crank 731 are connected by a drive, and the second crank 721 and the fourth crank 741 are connected by a drive. The motor 60 is used to drive the drive shaft 75 to rotate, which means that the motor 60 can drive only one drive shaft 75 to realize the rotation of the first crank 711, the third crank 731, the second crank 721 and the fourth crank 741.

[0087] In the above scheme, the linkage of multiple cranks is achieved through a single drive shaft 75, which can reduce the risk of decreased operating accuracy due to the accumulation of transmission errors.

[0088] According to some embodiments of this application, refer to Figures 2-4 The first crank 711 and the third crank 731 are connected by a gear transmission assembly; and / or the second crank 721 and the fourth crank 741 are connected by a gear transmission assembly.

[0089] In some embodiments, the first crank 711 and the third crank 731 are both coaxially provided with a gear. The rotation of the two gears can be achieved by meshing with each other or by adding a flexible transmission component. Of course, the rotation of the two gears can also be achieved by adding a gear that meshes with both gears.

[0090] In some embodiments, the second crank 721 and the fourth crank 741 are both coaxially provided with a gear. The rotation of the two gears can be achieved by meshing with each other or by adding a flexible transmission component. Of course, the rotation of the two gears can also be achieved by adding a gear that meshes with both gears.

[0091] In the above scheme, the transmission connection of different cranks is realized through the gear transmission assembly, which has high transmission efficiency and precision, and is conducive to ensuring the coordination and regularity of the patient's bilateral limb training.

[0092] According to some embodiments of this application, refer to Figures 2-4 The gear transmission assembly includes a first gear 81, a first transmission gear 82, and a third gear 83. The first gear 81 is a first crank 711, and the third gear 83 is a third crank 731. Both the first gear 81 and the third gear 83 mesh with the first transmission gear 82. And / or, the gear transmission assembly includes a second gear 84, a second transmission gear 85, and a fourth gear 86. The second gear 84 is a second crank 721, and the fourth gear 86 is a fourth crank 741. Both the second gear 84 and the fourth gear 86 mesh with the second transmission gear 85.

[0093] The first gear 81 is the first crank 711, which means that the first gear 81 includes a body, the body is wheel-shaped, the outer peripheral surface of the body is provided with teeth, and one end of the first connecting rod 713 is rotatably connected to the body.

[0094] The second gear 84 is the second crank 721, which means that the second gear 84 includes a body, the body is wheel-shaped, and the outer peripheral surface of the body is provided with teeth. One end of the second connecting rod 723 is rotatably connected to the body.

[0095] The third gear 83 is the third crank 731, which means that the third gear 83 includes a body, the body is wheel-shaped, the outer peripheral surface of the body is provided with teeth, and one end of the third connecting rod 733 is rotatably connected to the body.

[0096] The fourth gear 86 is the fourth crank 741, which means that the fourth gear 86 includes a body, the body is wheel-shaped, the outer peripheral surface of the body is provided with teeth, and one end of the fourth connecting rod 743 is rotatably connected to the body.

[0097] In the above design, the first gear 81, the second gear 84, the third gear 83, and the fourth gear 86 simultaneously function as both gear transmission and crank transmission, simplifying the number of internal components in the rehabilitation chair 1000 and allowing for a more compact structural layout, thereby reducing the space occupied by the rehabilitation chair 1000. Furthermore, the placement of the first transmission gear 82 and the second transmission gear 85 ensures that the first crank 711, the second crank 721, the third crank 731, and the fourth crank 741 rotate in the same direction, simplifying the design of the transmission structure. Simultaneously, it compensates for the distance between the footrest and the armrests, reducing the risk of the first gear 81, the second gear 84, the third gear 83, and the fourth gear 86 becoming excessively large to compensate for this distance, thus increasing the space occupied by the rehabilitation chair 1000.

[0098] According to some embodiments of this application, refer to Figures 6-8 The first crank 711 and the third crank 731 are connected by a flexible transmission assembly; and / or the second crank 721 and the fourth crank 741 are connected by a flexible transmission assembly.

[0099] In some embodiments, the first crank 711 and the third crank 731 may be wheel-shaped, with a flexible element surrounding the first crank 711 and the third crank 731.

[0100] In some embodiments, the second crank 721 and the fourth crank 741 may be wheel-shaped, with a flexible element surrounding the second crank 721 and the fourth crank 741.

[0101] In the above solution, the transmission connection between different cranks is achieved through flexible transmission components, resulting in smoother operation, lower noise, and reduced cost of transmission mechanism 70.

[0102] In one or more embodiments of this application, reference is made to Figures 6-8The flexible transmission assembly includes a first transmission wheel 91, a first flexible element 92, and a third transmission wheel 93. The first flexible element 92 surrounds the first transmission wheel 91 and the third transmission wheel 93. The first transmission wheel 91 is coaxially arranged with the first crank 711, and the third transmission wheel 93 is coaxially arranged with the third crank 731. And / or, the flexible transmission assembly includes a second transmission wheel 94, a second flexible element 95, and a fourth transmission wheel 96. The second flexible element 95 surrounds the second transmission wheel 94 and the fourth transmission wheel 96. The second transmission wheel 94 is coaxially arranged with the second crank 721, and the fourth transmission wheel 96 is coaxially arranged with the fourth crank 741.

[0103] The first drive wheel 91 is coaxially arranged with the first crank 711, which can be understood as the first crank 711 and the first drive wheel 91 being mounted on the same shaft.

[0104] The second drive wheel 94 is coaxially arranged with the second crank 721, which can be understood as the second crank 721 and the second drive wheel 94 being mounted on the same shaft.

[0105] The third drive wheel 93 is coaxially arranged with the third crank 731, which can be understood as the third crank 731 and the third drive wheel 93 being mounted on the same shaft.

[0106] The fourth drive wheel 96 is coaxially arranged with the fourth crank 741, which can be understood as the fourth crank 741 and the fourth drive wheel 96 being mounted on the same shaft.

[0107] In the above scheme, the transmission connection between different cranks is achieved through two transmission wheels and a flexible component, which can reduce the number of components included in the transmission mechanism 70, save the space required by the transmission mechanism 70, and reduce the difficulty of arranging the transmission mechanism 70.

[0108] In one or more embodiments of this application, reference is made to Figures 6-8 The first flexible element 92 is one of a belt, a timing belt, and a chain; and / or, the second flexible element 95 is one of a belt, a timing belt, and a chain.

[0109] In some embodiments, the first flexible member 92 is a belt, and the first drive wheel 91 and the third drive wheel 93 are pulleys.

[0110] In some embodiments, the first flexible member 92 is a synchronous belt, and the first transmission wheel 91 and the third transmission wheel 93 are synchronous belt pulleys.

[0111] In some embodiments, the first flexible member 92 is a chain, and the first drive wheel 91 and the third drive wheel 93 are sprockets.

[0112] In some embodiments, the second flexible member 95 is a belt, and the second drive wheel 94 and the fourth drive wheel 96 are pulleys.

[0113] In some embodiments, the second flexible member 95 is a synchronous belt, and the second drive wheel 94 and the fourth drive wheel 96 are synchronous belt pulleys.

[0114] In some embodiments, the second flexible member 95 is a chain, and the second drive wheel 94 and the fourth drive wheel 96 are sprockets.

[0115] In the above scheme, the flexible component is a belt to buffer impact and absorb vibration, the flexible component is a synchronous belt to enable the transmission mechanism 70 to have high precision, and the flexible component is a chain to have greater load-bearing capacity and higher transmission stability.

[0116] In one or more embodiments of this application, reference is made to Figures 6-8 The flexible transmission assembly further includes a first tensioning wheel 97, which is rotatably disposed on the frame 10, and a first flexible member 92 is wound around the first tensioning wheel 97. The first tensioning wheel 97 is used to tension the first flexible member 92. And / or, the flexible transmission assembly further includes a second tensioning wheel 98, which is rotatably disposed on the frame 10, and a second flexible member 95 is wound around the second tensioning wheel 98. The second tensioning wheel 98 is used to tension the second flexible member 95.

[0117] In some embodiments, the first tensioning wheel 97 is configured to move in the front-rear direction X to adjust the tension of the first flexible member 92. In some embodiments, the second tensioning wheel 98 is configured to move in the front-rear direction X to adjust the tension of the second flexible member 95. For example, a slotted hole may be provided on the frame 10, and the shaft or axle on which the tensioning wheel is mounted may slide in engagement with the slotted hole. After the tensioning wheel is adjusted to a preset position, its position can be locked by fasteners.

[0118] In the above scheme, the setting of the tensioning wheel can reduce the risk of slippage or vibration of the flexible parts, which is conducive to improving the stability of the transmission mechanism 70.

[0119] In one or more embodiments of this application, reference is made to Figures 9-16 The transmission mechanism 70 satisfies one of the following conditions: A) The first crank 711 is provided with a plurality of first adjusting holes 7111 spaced apart. One end of the first connecting rod 713 is connected to one of the plurality of first adjusting holes 7111, and the other end of the first connecting rod 713 is connected to the first slider 712. The distances between the plurality of first adjusting holes 7111 and the rotation axis of the first crank 711 are different. The second crank 721 is provided with a plurality of second adjusting holes 7211 spaced apart. One end of the second connecting rod 723 is connected to one of the plurality of second adjusting holes 7211, and the other end of the second connecting rod 723 is connected to the second slider 722. The distances between the plurality of second adjusting holes 7211 and the rotation axis of the second crank 721 are different. The third crank 731 is provided with a plurality of third adjustment holes 7311 at intervals. One end of the third connecting rod 733 is connected to one of the plurality of third adjustment holes 7311, and the other end of the third connecting rod 733 is connected to the third slider 732. The distances between the plurality of third adjustment holes 7311 and the rotation axis of the third crank 731 are different. The fourth crank 741 is provided with a plurality of fourth adjustment holes 7411 at intervals. One end of the fourth connecting rod 743 is connected to one of the plurality of fourth adjustment holes 7411, and the other end of the fourth connecting rod 743 is connected to the fourth slider 742. The distances between the plurality of fourth adjustment holes 7411 and the rotation axis of the fourth crank 741 are different. B) The first slider 712 is provided with a plurality of fifth adjustment holes 7121 spaced apart, the plurality of fifth adjustment holes 7121 being spaced apart along the vertical direction Z. One end of the first connecting rod 713 is connected to the first crank 711, and the other end of the first connecting rod 713 is connected to one of the plurality of fifth adjustment holes 7121. The other of the second sliders 722 is provided with a plurality of sixth adjustment holes 7221 spaced apart, the plurality of sixth adjustment holes 7221 being spaced apart along the vertical direction Z. One end of the second connecting rod 723 is connected to the second crank 721, and the other end of the second connecting rod 723 is connected to the plurality of sixth adjustment holes 7121. One of 221; the third slider 732 is provided with a plurality of seventh adjustment holes 7321 at intervals, the plurality of seventh adjustment holes 7321 are provided at intervals along the vertical direction Z, one end of the third connecting rod 733 is connected to the third crank 731, and the other end of the third connecting rod 733 is connected to one of the plurality of seventh adjustment holes 7321; the fourth slider 742 is provided with a plurality of eighth adjustment holes at intervals, the plurality of eighth adjustment holes are provided at intervals along the vertical direction Z, one end of the fourth connecting rod 743 is connected to the fourth crank 741, and the other end of the fourth connecting rod 743 is connected to one of the plurality of eighth adjustment holes 7421.

[0120] C) The first crank 711 is provided with a plurality of first adjusting holes 7111 spaced apart, and the distances between the plurality of first adjusting holes 7111 and the rotation axis of the first crank 711 are different. The first slider 712 is provided with a plurality of fifth adjusting holes 7121 spaced apart, and the plurality of fifth adjusting holes 7121 are spaced apart along the vertical direction Z. One end of the first connecting rod 713 is connected to one of the plurality of first adjusting holes 7111, and the other end of the first connecting rod 713 is connected to one of the plurality of fifth adjusting holes 7121. The second crank 721 is provided with a plurality of second adjusting holes 7211 spaced apart, and the distances between the plurality of second adjusting holes 7211 and the rotation axis of the second crank 721 are different. The second slider 722 is provided with a plurality of sixth adjusting holes 7221 spaced apart, and the plurality of sixth adjusting holes 7221 are spaced apart along the vertical direction Z. One end of the second connecting rod 723 is connected to one of the plurality of second adjusting holes 7211, and the other end of the second connecting rod 723 is connected to one of the plurality of sixth adjusting holes 7221. One of the following: The third crank 731 is provided with a plurality of third adjusting holes 7311 spaced apart, and the distances between the plurality of third adjusting holes 7311 and the rotation axis of the third crank 731 are different; the third slider 732 is provided with a plurality of seventh adjusting holes 7321 spaced apart, and the plurality of seventh adjusting holes 7321 are spaced apart along the vertical direction Z; one end of the third connecting rod 733 is connected to one of the plurality of third adjusting holes 7311, and the other end of the third connecting rod 733 is connected to the plurality of seventh adjusting holes 7321. One of 21; the fourth crank 741 is provided with a plurality of fourth adjustment holes 7411 at intervals, and the distance between the plurality of fourth adjustment holes 7411 and the rotation axis of the fourth crank 741 is different; the fourth slider 742 is provided with a plurality of eighth adjustment holes at intervals, and the plurality of eighth adjustment holes are provided at intervals along the vertical direction Z; one end of the fourth connecting rod 743 is connected to one of the plurality of fourth adjustment holes 7411, and the other end of the fourth connecting rod 743 is connected to one of the plurality of eighth adjustment holes 7421.

[0121] When the connecting rod is connected to different first adjustment holes 7111, second adjustment hole 7211, third adjustment hole 7311, or fourth adjustment hole 7411 of its corresponding crank, the radius of the circular trajectory of the connecting rod and crank connection point changes due to the fixed length of the connecting rod. This changes the limit position of the slider, and consequently, the limit position of the armrest or foot pedal. Simultaneously, the connecting rod can be connected to different fifth adjustment holes 7121, sixth adjustment hole 7221, seventh adjustment hole 7321, or eighth adjustment hole of its corresponding slider to accommodate patients of different heights.

[0122] In the above design, the first adjustment hole 7111, the second adjustment hole 7211, the third adjustment hole 7311, and the fourth adjustment hole 7411 can adjust the stroke of the slider, thereby adjusting the range of motion of the armrests and foot pedals. This allows for targeted and effective rehabilitation training for patients at different stages of rehabilitation or with varying degrees of paralysis. The fifth adjustment hole 7121, the sixth adjustment hole 7221, the seventh adjustment hole 7321, and the eighth adjustment hole, while adjusting the stroke of the slider, also allow the rehabilitation chair 1000 to be adapted to patients of different heights.

[0123] In one or more embodiments of this application, reference is made to Figure 2 and Figure 17 The frame 10 includes a left frame 11, a right frame 13 and a connecting frame 12. The connecting frame 12 connects the left frame 11 and the right frame 13. The left handrail 20 and the left foot pedal 40 are both movably disposed on the left frame 11 in the vertical direction Z. The right handrail 30 and the right foot pedal 50 are both movably disposed on the right frame 13 in the vertical direction Z.

[0124] In some embodiments, the left frame 11 and the right frame 13 are spaced apart along the left-right direction Y.

[0125] In some embodiments, the connecting frame 12 can connect the left frame 11 and the right frame 13 by means of welding or fastener connection.

[0126] In the above scheme, the skeleton 10 is divided into multiple parts, which can reduce the manufacturing cost of the skeleton 10. Dividing it into left and right skeletons 13 can also play a role in preventing mistakes and simplifying the assembly process.

[0127] In one or more embodiments of this application, reference is made to Figure 17The left frame 11 is provided with a first through hole, and the left handrail 20 passes through the first through hole in the vertical direction Z, and the outer surface of the left handrail 20 is slidably connected to the hole wall of the first through hole; and / or, the right frame 13 is provided with a second through hole, and the right handrail 30 passes through the second through hole in the vertical direction Z, and the outer surface of the right handrail 30 is slidably connected to the hole wall of the second through hole.

[0128] In an embodiment where the left armrest 20 includes an outer covering, the outer surface of the left armrest 20 is the outer surface of the outer covering.

[0129] In an embodiment where the right armrest 30 includes an outer covering, the outer surface of the right armrest 30 is the outer surface of the outer covering.

[0130] The left handrail 20 is inserted through the first through hole in the vertical direction Z, and the outer surface of the left handrail 20 is slidably connected to the hole wall of the first through hole, which means that the left handrail 20 will not detach from the first through hole during its stroke.

[0131] The right handrail 30 is inserted through the second through hole in the vertical direction Z. The outer surface of the right handrail 30 is slidably connected to the wall of the second through hole, which means that the right handrail 30 will not detach from the second through hole during its stroke.

[0132] In the above solution, the outer surface of the handrail is slidably connected to the wall of the through hole, which can reduce the risk of the patient being pinched during the rehabilitation process.

[0133] In one or more embodiments of this application, reference is made to Figure 2 The rehabilitation chair 1000 also includes a first guide rod 21, which is movably disposed on the left frame 11 in the vertical direction Z and is used to guide the left armrest 20 to move in the vertical direction Z; and / or, the rehabilitation chair 1000 also includes a second guide rod 31, which is movably disposed on the right frame 13 in the vertical direction Z and is used to guide the right armrest 30 to move in the vertical direction Z.

[0134] In some embodiments, a plurality of first guide rods 21 are provided, and the plurality of first guide rods 21 are spaced apart along the front-rear direction X.

[0135] In some embodiments, multiple second guide rods 31 are provided, and the multiple second guide rods 31 are spaced apart along the front-rear direction X.

[0136] In the above scheme, the guide rod can improve the operating accuracy of the handrail while occupying less space.

[0137] In one or more embodiments of this application, the transmission mechanism 70 includes a first cam mechanism, a second cam mechanism, a third cam mechanism, and a fourth cam mechanism; the first cam mechanism includes a first cam, a first pusher, and a first elastic member. The first cam is rotatably mounted on the frame 10, the first pusher is movably mounted on the frame 10 in the vertical direction Z, and the first elastic member is used to cause one end of the first pusher to abut against the outer peripheral surface of the first cam. The left handrail 20 is disposed at the other end of the first pusher; the second cam mechanism includes a second cam, a second pusher, and a second elastic member. The second cam is rotatably mounted on the frame 10, the second pusher is movably mounted on the frame 10 in the vertical direction Z, and the second elastic member is used to cause one end of the second pusher to abut against the outer peripheral surface of the first cam. The outer peripheral surface of the second cam is provided with a right handrail 30 located at the other end of the second pusher; the third cam mechanism includes a third cam, a third pusher, and a third elastic member. The third cam is rotatably mounted on the frame 10, and the third pusher is movable along the vertical direction Z on the frame 10. The third elastic member is used to make one end of the third pusher abut against the outer peripheral surface of the third cam, and the left foot pedal 40 is located at the other end of the third pusher; the fourth cam mechanism includes a fourth cam, a fourth pusher, and a fourth elastic member. The fourth cam is rotatably mounted on the frame 10, and the fourth pusher is movable along the vertical direction Z on the frame 10. The fourth elastic member is used to make one end of the fourth pusher abut against the outer peripheral surface of the fourth cam, and the right foot pedal 50 is located at the other end of the fourth pusher.

[0138] In some embodiments, the first cam, the second cam, the third cam, and the fourth cam have the same shape.

[0139] In some embodiments, one end of the first elastic member, one end of the second elastic member, one end of the third elastic member, and one end of the fourth elastic member can be connected to a fixed interface, such as the skeleton 10, and the other end can be connected to the first pusher, the second pusher, the third pusher, and the fourth pusher. Of course, the elastic members can also be disposed between the fixed interface and the pusher.

[0140] In the above scheme, the cam, pusher and elastic element realize the linkage of the left handrail 20, right handrail 30, left foot pedal 40 and right foot pedal 50. Since the cam itself can accurately define the motion trajectory, it is beneficial to improve the running accuracy of the transmission mechanism 70 and improve maintenance efficiency.

[0141] In one or more embodiments of this application, the phase difference between the first cam and the third cam is 180°, and the phase difference between the second cam and the fourth cam is 180°.

[0142] The phase difference between the first cam and the second cam is 180°, meaning that at the same moment, the angle between the line connecting the connection point of the first cam, the first pusher, and the center of rotation of the first cam, and the line connecting the connection point of the second cam, the second pusher, and the center of rotation of the second cam is 180°. For example, when the first cam is at its upper limit position, the second cam is at its lower limit position.

[0143] The phase difference between the third and fourth cams is 180°, meaning that at the same moment, the angle between the line connecting the connection point of the third cam and the third pusher and the center of rotation of the third cam, and the line connecting the connection point of the fourth cam and the center of rotation of the fourth cam, is 180°. For example, when the third cam is at its upper limit position, the fourth cam is at its lower limit position.

[0144] In the above scheme, setting the phase difference between the first cam and the third cam to 180° and the phase difference between the second cam and the fourth cam to 180° ensures that the movement directions of the left armrest 20 and the left foot pedal 40, as well as the right armrest 30 and the right foot pedal 50, are always opposite. This can counteract a certain inertial force, reduce vibration and noise, simplify the design of the cams, and reduce design costs.

[0145] In one or more embodiments of this application, the transmission mechanism 70 further includes a transmission shaft 75, which is rotatably disposed on the frame 10. The first cam and the second cam are both mounted on the transmission shaft 75. The first cam and the third cam are connected in a transmission manner, and the second cam and the fourth cam are connected in a transmission manner. The motor 60 is used to drive the transmission shaft 75 to rotate.

[0146] In some embodiments, the motor 60 may be connected to the drive shaft 75 via a bearing.

[0147] The first cam and the second cam are both mounted on the drive shaft 75. The first cam and the third cam are connected by a drive, and the second cam and the fourth cam are connected by a drive. The motor 60 is used to drive the drive shaft 75 to rotate, which means that the motor 60 can drive only one drive shaft 75 to realize the rotation of the first cam, the third cam, the second cam and the fourth cam.

[0148] In the above scheme, the linkage of multiple cams is achieved through a single drive shaft 75, which can reduce the risk of decreased operating accuracy due to the accumulation of transmission errors.

[0149] In one or more embodiments of this application, Figures 18-21The rehabilitation chair 1000 also includes a massage mechanism 200, which is used to massage the patient's buttocks. The massage mechanism 200 is mounted on the frame 10 and is movably mounted on the frame 10 in the vertical direction Z. The motor 60 is connected to the massage mechanism 200 through the transmission mechanism 70 so that the left armrest 20, right armrest 30, left foot pedal 40, right foot pedal 50 and massage mechanism 200 are driven to rise and fall by the same motor 60.

[0150] In some embodiments, the massage mechanism 200 includes a plurality of massage heads that can be raised and lowered synchronously. For example, a cam can be provided on a drive shaft 75, the plurality of massage heads can be mounted on a plate, and a pusher can be provided on the plate. The cam, in conjunction with a push rod and an elastic element, enables the synchronous raising and lowering of the plurality of massage heads.

[0151] In the above-mentioned scheme, during the patient's rehabilitation process, while training the patient's bilateral limbs, the buttocks can also be stimulated to promote blood circulation in the buttocks and maintain good muscle condition, laying the foundation for the patient's subsequent standing training. In addition, using a motor 60 to drive the raising and lowering of the left armrest 20, right armrest 30, left foot pedal 40, right foot pedal 50 and massage mechanism 200 helps to make the components of the rehabilitation chair 1000 more compact and reduce the overall space occupied by the rehabilitation chair 1000.

[0152] In one or more embodiments of this application, Figures 18-21 The massage mechanism 200 includes a left massage head 201 and a right massage head. The left massage head 201 is configured to rise synchronously when the right foot pedal 50 rises, and the right massage head is configured to rise synchronously when the left foot pedal 40 rises.

[0153] In some embodiments, the transmission mechanism 70 may include an incomplete gear-rack pair and an elastic element. When the teeth of the incomplete gear mesh with the rack, the rack rises or falls to achieve the lifting and lowering of the left massage head 201 and the right massage head. The elastic element is used to drive the left massage head 201 and the right massage head to move in opposite directions. For example, if the left massage head 201 rises when meshed, the elastic element is used to drive the left massage head 201 to fall.

[0154] In some embodiments, the transmission mechanism 70 may include a crank-connecting rod pair.

[0155] In the above scheme, based on the inherent contralateral coordination pattern in human gait—that is, the forward swing of the left leg is often accompanied by the sinking of the right hip, and vice versa—the left massage head 201 is set to rise synchronously with the right foot's 50-degree rise, and the right massage head is set to rise synchronously with the left foot's 40-degree rise. This timing design can provide synergistic stimulation to the gluteal muscles without interfering with the patient's active and passive limb training, thereby simultaneously activating multiple muscle groups in a single training movement and further enhancing the overall effectiveness of rehabilitation training. In one or more embodiments of this application, Figures 18-21 The transmission mechanism 70 also includes a transmission shaft 75, a left cam 100, a right cam 101, a left pusher 102, a right pusher, a first left elastic member 103, and a first right elastic member. The transmission shaft 75 is rotatably mounted on the frame 10. The motor 60 is used to drive the transmission shaft 75 to rotate, so that the left armrest 20, right armrest 30, left foot pedal 40, right foot pedal 50, left massage head 201, and right massage head can be raised or lowered. The left cam 100 is used to drive the left massage head 201 to rise, and the right cam 101 is used to push the right massage head to rise. The left pusher 102 is movably mounted on the frame 10 in the vertical direction Z. The first left elastic member 103 is used to make one end of the left pusher 102 abut against the outer peripheral surface of the left cam 100. The right pusher is movably mounted on the frame 10 in the vertical direction Z. The first right elastic member is used to make one end of the right pusher abut against the outer peripheral surface of the left cam 100.

[0156] In some embodiments, multiple first left elastic members 103 may be provided.

[0157] In some embodiments, multiple first right elastic elements may be provided.

[0158] In the above solution, a single drive shaft 75, in conjunction with a cam mechanism, enables the linkage of the left armrest 20, right armrest 30, left foot pedal 40, right foot pedal 50, left massage head 201, and right massage head, reducing the risk of decreased operational accuracy due to accumulated transmission errors. Simultaneously, reducing the number of components in the transmission mechanism 70 helps to reduce the space occupied by the rehabilitation chair 1000.

[0159] In one or more embodiments of this application, Figures 18-21 The phase difference between the left cam 100 and the right cam 101 is 180°.

[0160] The phase difference between the left cam 100 and the right cam 101 is 180°, meaning that at the same moment, the angle between the line connecting the connection point of the left cam 100 and the left pusher 102 and the center of rotation of the left cam 100, and the line connecting the connection point of the right cam 101 and the center of rotation of the right cam 101, is 180°. For example, when the left cam 100 is at its upper limit position, the right cam 101 is at its lower limit position.

[0161] In the above scheme, setting the phase difference between the left cam 100 and the right cam 101 to 180° can ensure that the movement directions of the left massage head 201 and the right massage head are always opposite, which can counteract a certain inertial force, reduce vibration and noise, and also simplify the design of the cam and reduce the design cost.

[0162] In one or more embodiments of this application, Figures 18-21The frame 10 includes a panel 14 for supporting the patient's buttocks; the transmission mechanism 70 also includes a left movable plate 104, which is movably disposed on the panel 14 in the vertical direction Z. A left massage head 201 is disposed above the left movable plate 104 in the vertical direction Z. At least a portion of the left pusher 102 is located between the left movable plate 104 and the left cam 100. A first left elastic member 103 is disposed between the panel 14 and the left movable plate 104; and / or, the transmission mechanism 70 also includes a right movable plate, which is movably disposed on the panel 14 in the vertical direction Z. A right massage head is disposed above the right movable plate in the vertical direction Z. At least a portion of the right pusher is located between the right movable plate and the right cam 101. A first right elastic member is disposed between the panel 14 and the right movable plate.

[0163] In some embodiments, a seat cushion is provided above the panel 14, and the seat cushion has holes through which the massage heads pass.

[0164] In some embodiments, the massage head and the movable plate may be connected by welding or fasteners.

[0165] In the above scheme, the movable plate can serve as the mounting base for the elastic element and the pushing element. During the assembly process, the elastic element and the pushing element can be pre-assembled onto the movable plate and then used as a whole to cooperate with other components of the transmission mechanism 70, which reduces the assembly difficulty of the transmission mechanism 70.

[0166] In one or more embodiments of this application, Figures 18-21 The left pushing member 102 includes a left abutment portion 1021, a left rod portion 1022, and a left limiting portion 1023. The left rod portion 1022 is movably inserted through the left movable plate 104. The upper end of the left rod portion 1022 is connected to the left limiting portion 1023, and the lower end of the left rod portion 1022 is connected to the left abutment portion 1021. The transmission mechanism 70 also includes a second left elastic member 105, which is disposed between the left abutment portion 1021 and the movable plate along the vertical direction Z. The right pushing member includes a right abutment portion, a right rod portion, and a right limiting portion. The right rod portion is movably inserted through the right movable plate. The upper end of the right rod portion is connected to the right limiting portion, and the lower end of the right rod portion is connected to the right abutment portion. The transmission mechanism 70 also includes a second right elastic member, which is disposed between the right abutment portion and the movable plate along the vertical direction Z.

[0167] In some embodiments, the second left elastic member 105 is sleeved on the left rod portion 1022.

[0168] In some embodiments, the second right elastic sleeve is attached to the right rod portion.

[0169] In the above scheme, the thrust generated by the cam is first buffered and adjusted by the second left and right elastic elements before being transmitted to the massage head. This design can effectively absorb the rigid impact and vibration load generated by the cam mechanism during start-up, stop-start and reversal, reducing the wear of internal components and thus improving the service life and operational stability of the entire transmission system. On the other hand, through elastic buffering, the high-frequency and excessive impact that may cause discomfort to the patient is transformed into gentle and controllable mechanical stimulation, reducing the risk of reduced rehabilitation effect or even secondary injury caused by equipment impact.

[0170] In one or more embodiments of this application, multiple left massage heads 201 are provided, including a first left massage head 201, a second left massage head 201, and a third left massage head 201. The first left massage head 201 is used to massage the patient's left Huantiao acupoint, the second left massage head 201 is used to massage the patient's left Huanzhong acupoint, and the third left massage head 201 is used to massage the patient's left Zhibian acupoint. Multiple right massage heads are provided, including a first right massage head, a second right massage head, and a third right massage head. The first right massage head is used to massage the patient's right Huantiao acupoint, the second right massage head is used to massage the patient's right Huanzhong acupoint, and the third right massage head is used to massage the patient's right Zhibian acupoint.

[0171] In the above-mentioned treatment plan, massaging the Huanzhong acupoint can dredge the meridians, promote blood circulation, relieve pain, and improve the sensation and motor function of the lower limbs. Massaging the Zhibian acupoint can strengthen the waist and knees, regulate the lower abdomen, and relieve patients' lumbosacral pain, lower limb weakness and paralysis, and difficulty in urination and defecation. Massaging the Huantiao acupoint can increase blood circulation in the area it is distributed in, which helps the recovery of nerve function and the nourishment of muscles.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A rehabilitation chair, characterized in that, include: Skeleton (10); The left handrail (20), right handrail (30), left foot pedal (40) and right foot pedal (50) are respectively movable in the vertical direction (Z) on the frame (10). A motor (60) and a transmission mechanism (70) are provided. The motor (60) is mounted on the frame (10). The motor (60) is connected to the left handrail (20), the right handrail (30), the left foot pedal (40), and the right foot pedal (50) through the transmission mechanism (70) so that the left handrail (20), the right handrail (30), the left foot pedal (40), and the right foot pedal (50) are driven to rise and fall by the same motor (60). The transmission mechanism (70) is configured to cause the left handrail (20) and the right foot pedal (50) to rise or fall synchronously, and the right handrail (30) and the left foot pedal (40) to rise or fall synchronously; when one of the left handrail (20) and the right handrail (30) rises, the other falls; when one of the left foot pedal (40) and the right foot pedal (50) rises, the other falls.

2. The rehabilitation chair according to claim 1, characterized in that, The transmission mechanism (70) includes a first crank-slider mechanism (71), a second crank-slider mechanism (72), a third crank-slider mechanism (73), and a fourth crank-slider mechanism (74). The first crank-slider mechanism (71) includes a first crank (711), a first slider (712) and a first connecting rod (713). The first crank (711) is rotatably disposed on the frame (10). The first slider (712) is movably disposed on the frame (10) in the up-down direction (Z). The two ends of the first connecting rod (713) are rotatably connected to the first slider (712) and the first crank (711) respectively. The left armrest (20) is fixedly connected to the first slider (712). The second crank-slider mechanism (72) includes a second crank (721), a second slider (722), and a second connecting rod (723). The second crank (721) is rotatably mounted on the frame (10). The second slider (722) is movably mounted on the frame (10) in the vertical direction (Z). The two ends of the second connecting rod (723) are rotatably connected to the second slider (722) and the second crank (721), respectively. The right armrest (30) is fixedly connected to the second slider (722). The third crank-slider mechanism (73) includes a third crank (731), a third slider (732), and a third connecting rod (733). The third crank (731) is rotatably mounted on the frame (10). The third slider (732) is movably mounted on the frame (10) in the vertical direction (Z). The two ends of the third connecting rod (733) are rotatably connected to the third slider (732) and the third crank (731), respectively. The left foot pedal (40) is fixedly connected to the third slider (732). The fourth crank-slider mechanism (74) includes a fourth crank (741), a fourth slider (742), and a fourth connecting rod (743). The fourth crank (741) is rotatably mounted on the frame (10). The fourth slider (742) is movable along the vertical direction (Z) on the frame (10). The two ends of the fourth connecting rod (743) are rotatably connected to the fourth slider (742) and the fourth crank (741), respectively. The right foot pedal (50) is fixedly connected to the fourth slider (742). The motor (60) is connected in drive to the first crank (711), the second crank (721), the third crank (731) and the fourth crank (741).

3. The rehabilitation chair according to claim 2, characterized in that, The phase difference between the first crank (711) and the second crank (721) is 180°, and the phase difference between the third crank (731) and the fourth crank (741) is 180°.

4. The rehabilitation chair according to claim 2, characterized in that, The transmission mechanism (70) further includes a transmission shaft (75), which is rotatably mounted on the frame (10). The first crank (711) and the second crank (721) are both mounted on the transmission shaft (75). The first crank (711) and the third crank (731) are connected in a transmission manner, and the second crank (721) and the fourth crank (741) are connected in a transmission manner. The motor (60) is used to drive the transmission shaft (75) to rotate.

5. The rehabilitation chair according to claim 4, characterized in that, The first crank (711) and the third crank (731) are connected by a gear transmission assembly; And / or, the second crank (721) and the fourth crank (741) are connected by a gear transmission assembly.

6. The rehabilitation chair according to claim 5, characterized in that, The gear transmission assembly includes a first gear (81), a first transmission gear (82), and a third gear (83). The first gear (81) is a first crank (711), and the third gear (83) is a third crank (731). Both the first gear (81) and the third gear (83) mesh with the first transmission gear (82). And / or, the gear transmission assembly includes a second gear (84), a second transmission gear (85) and a fourth gear (86), the second gear (84) being a second crank (721), the fourth gear (86) being a fourth crank (741), and both the second gear (84) and the fourth gear (86) meshing with the second transmission gear (85).

7. The rehabilitation chair according to claim 4, characterized in that, The first crank (711) and the third crank (731) are connected by a flexible transmission assembly; And / or, the second crank (721) and the fourth crank (741) are connected by a flexible transmission assembly.

8. The rehabilitation chair according to claim 7, characterized in that, The flexible transmission assembly includes a first transmission wheel (91), a first flexible element (92), and a third transmission wheel (93). The first flexible element (92) surrounds the first transmission wheel (91) and the third transmission wheel (93). The first transmission wheel (91) is coaxially arranged with the first crank (711), and the third transmission wheel (93) is coaxially arranged with the third crank (731). And / or, the flexible transmission assembly includes a second transmission wheel (94), a second flexible element (95) and a fourth transmission wheel (96), the second flexible element (95) surrounding the second transmission wheel (94) and the fourth transmission wheel (96), the second transmission wheel (94) being coaxially arranged with the second crank (721), and the fourth transmission wheel (96) being coaxially arranged with the fourth crank (741).

9. The rehabilitation chair according to claim 8, characterized in that, The first flexible component (92) is one of a belt, a timing belt, and a chain; And / or, the second flexible element (95) is one of a belt, a timing belt, and a chain.

10. The rehabilitation chair according to claim 8, characterized in that, The flexible transmission assembly further includes a first tensioning wheel (97), which is rotatably disposed on the frame (10), and the first flexible member (92) is wound around the first tensioning wheel (97). The first tensioning wheel (97) is used to tension the first flexible member (92). And / or, the flexible transmission assembly further includes a second tensioning wheel (98), which is rotatably disposed on the frame (10), and the second flexible member (95) is wound around the second tensioning wheel (98), the second tensioning wheel (98) being used to tension the second flexible member (95).

11. The rehabilitation chair according to claim 2, characterized in that, The transmission mechanism (70) satisfies one of the following conditions: A) A plurality of first adjustment holes (7111) are provided at intervals on the first crank (711), one end of the first connecting rod (713) is connected to one of the plurality of first adjustment holes (7111), and one end of the first connecting rod (713) is connected to the first slider (712). The distances between the plurality of first adjustment holes (7111) and the rotation axis of the first crank (711) are different. The second crank (721) is provided with a plurality of second adjustment holes (7211) spaced apart. One end of the second connecting rod (723) is connected to one of the plurality of second adjustment holes (7211), and the other end of the second connecting rod (723) is connected to the second slider (722). The distances between the plurality of second adjustment holes (7211) and the rotation axis of the second crank (721) are different. The third crank (731) is provided with a plurality of third adjustment holes (7311) spaced apart. One end of the third connecting rod (733) is connected to one of the plurality of third adjustment holes (7311), and the other end of the third connecting rod (733) is connected to the third slider (732). The distances between the plurality of third adjustment holes (7311) and the rotation axis of the third crank (731) are different. The fourth crank (741) is provided with a plurality of fourth adjustment holes (7411) spaced apart. One end of the fourth connecting rod (743) is connected to one of the plurality of fourth adjustment holes (7411), and the other end of the fourth connecting rod (743) is connected to the fourth slider (742). The distances between the plurality of fourth adjustment holes (7411) and the rotation axis of the fourth crank (741) are different. B) The first slider (712) is provided with a plurality of fifth adjustment holes (7121) at intervals. The plurality of fifth adjustment holes (7121) are provided at intervals along the vertical direction (Z). One end of the first connecting rod (713) is connected to the first crank (711), and the other end of the first connecting rod (713) is connected to one of the plurality of fifth adjustment holes (7121). The other of the second sliders (722) is provided with a plurality of sixth adjustment holes (7221) spaced apart. The plurality of sixth adjustment holes (7221) are spaced apart along the vertical direction (Z). One end of the second connecting rod (723) is connected to the second crank (721), and the other end of the second connecting rod (723) is connected to one of the plurality of sixth adjustment holes (7221). The third slider (732) is provided with a plurality of seventh adjustment holes (7321) spaced apart. The plurality of seventh adjustment holes (7321) are spaced apart along the vertical direction (Z). One end of the third connecting rod (733) is connected to the third crank (731), and the other end of the third connecting rod (733) is connected to one of the plurality of seventh adjustment holes (7321). The fourth slider (742) is provided with a plurality of eighth adjustment holes (7421) spaced apart. The plurality of eighth adjustment holes (7421) are spaced apart along the vertical direction (Z). One end of the fourth connecting rod (743) is connected to the fourth crank (741), and the other end of the fourth connecting rod (743) is connected to one of the plurality of eighth adjustment holes (7421). C) The first crank (711) is provided with a plurality of first adjustment holes (7111) at intervals, and the distance between the plurality of first adjustment holes (7111) and the rotation axis of the first crank (711) is different. The first slider (712) is provided with a plurality of fifth adjustment holes (7121) at intervals, and the plurality of fifth adjustment holes (7121) are provided at intervals along the up-down direction (Z). One end of the first connecting rod (713) is connected to one of the plurality of first adjustment holes (7111), and the other end of the first connecting rod (713) is connected to one of the plurality of fifth adjustment holes (7121). The second crank (721) is provided with a plurality of second adjustment holes (7211) spaced apart, and the distance between the plurality of second adjustment holes (7211) and the rotation axis of the second crank (721) is different. The second slider (722) is provided with a plurality of sixth adjustment holes (7221) spaced apart, and the plurality of sixth adjustment holes (7221) are spaced apart along the vertical direction (Z). One end of the second connecting rod (723) is connected to one of the plurality of second adjustment holes (7211), and the other end of the second connecting rod (723) is connected to one of the plurality of sixth adjustment holes (7221). The third crank (731) is provided with a plurality of third adjustment holes (7311) spaced apart, and the distance between the plurality of third adjustment holes (7311) and the rotation axis of the third crank (731) is different; the third slider (732) is provided with a plurality of seventh adjustment holes (7321) spaced apart, and the plurality of seventh adjustment holes (7321) are spaced apart along the vertical direction (Z); one end of the third connecting rod (733) is connected to one of the plurality of third adjustment holes (7311), and the other end of the third connecting rod (733) is connected to one of the plurality of seventh adjustment holes (7321); The fourth crank (741) is provided with a plurality of fourth adjustment holes (7411) spaced apart, and the distance between the plurality of fourth adjustment holes (7411) and the rotation axis of the fourth crank (741) is different; the fourth slider (742) is provided with a plurality of eighth adjustment holes (7421) spaced apart, and the plurality of eighth adjustment holes (7421) are spaced apart along the vertical direction (Z); one end of the fourth connecting rod (743) is connected to one of the plurality of fourth adjustment holes (7411), and the other end of the fourth connecting rod (743) is connected to one of the plurality of eighth adjustment holes (7421).

12. The rehabilitation chair according to claim 1, characterized in that, The frame (10) includes a left frame (11), a right frame (13) and a connecting frame (12). The connecting frame (12) connects the left frame (11) and the right frame (13). The left handrail (20) and the left foot pedal (40) are movably disposed on the left frame (11) along the vertical direction (Z). The right handrail (30) and the right foot pedal (50) are movably disposed on the right frame (13) along the vertical direction (Z).

13. The rehabilitation chair according to claim 12, characterized in that, The left frame (11) is provided with a first through hole, the left handrail (20) passes through the first through hole along the vertical direction (Z), and the outer surface of the left handrail (20) is slidably connected to the hole wall of the first through hole; And / or, the right frame (13) is provided with a second through hole, the right handrail (30) passes through the second through hole along the vertical direction (Z), and the outer surface of the right handrail (30) is slidably connected to the hole wall of the second through hole.

14. The rehabilitation chair according to claim 12, characterized in that, The rehabilitation chair also includes a first guide rod (21), which is movably disposed on the left frame (11) along the vertical direction (Z). The first guide rod (21) is used to guide the left armrest (20) to move along the vertical direction (Z). And / or, the rehabilitation chair further includes a second guide rod (31), which is movably disposed on the right frame (13) along the vertical direction (Z) and is used to guide the right armrest (30) to move along the vertical direction (Z).

15. The rehabilitation chair according to claim 1, characterized in that, The transmission mechanism (70) includes a first cam mechanism, a second cam mechanism, a third cam mechanism, and a fourth cam mechanism; The first cam mechanism includes a first cam, a first pusher and a first elastic member. The first cam is rotatably disposed on the frame (10). The first pusher is movably disposed on the frame (10) in the vertical direction (Z). The first elastic member is used to make one end of the first pusher abut against the outer peripheral surface of the first cam. The left handrail (20) is disposed at the other end of the first pusher. The second cam mechanism includes a second cam, a second pusher and a second elastic member. The second cam is rotatably disposed on the frame (10). The second pusher is movably disposed on the frame (10) in the vertical direction (Z). The second elastic member is used to make one end of the second pusher abut against the outer peripheral surface of the second cam. The right handrail (30) is disposed at the other end of the second pusher. The third cam mechanism includes a third cam, a third pusher and a third elastic member. The third cam is rotatably disposed on the frame (10). The third pusher is movable on the frame (10) in the vertical direction (Z). The third elastic member is used to make one end of the third pusher abut against the outer peripheral surface of the third cam. The left foot pedal (40) is disposed at the other end of the third pusher. The fourth cam mechanism includes a fourth cam, a fourth pusher and a fourth elastic member. The fourth cam is rotatably disposed on the frame (10). The fourth pusher is movable on the frame (10) in the vertical direction (Z). The fourth elastic member is used to make one end of the fourth pusher abut against the outer peripheral surface of the fourth cam. The right foot pedal (50) is disposed at the other end of the fourth pusher.

16. The rehabilitation chair according to claim 15, characterized in that, The phase difference between the first cam and the third cam is 180°, and the phase difference between the second cam and the fourth cam is 180°.

17. The rehabilitation chair according to claim 15, characterized in that, The transmission mechanism (70) further includes a transmission shaft (75), which is rotatably mounted on the frame (10). The first cam and the second cam are both mounted on the transmission shaft (75). The first cam and the third cam are connected in a transmission manner, and the second cam and the fourth cam are connected in a transmission manner. The motor (60) is used to drive the transmission shaft (75) to rotate.

18. The rehabilitation chair according to any one of claims 1-17, characterized in that, The rehabilitation chair also includes a massage mechanism (200) for massaging the patient's buttocks. The massage mechanism (200) is disposed on the frame (10) and is movably disposed on the frame (10) along the vertical direction (Z). The motor (60) is connected to the massage mechanism (200) through the transmission mechanism (70) so that the left armrest (20), the right armrest (30), the left foot pedal (40), the right foot pedal (50) and the massage mechanism (200) are driven to rise and fall by the same motor (60).

19. The rehabilitation chair according to claim 18, characterized in that, The massage mechanism (200) includes a left massage head (201) and a right massage head, the left massage head (201) being configured to rise synchronously when the right foot pedal (50) rises, and the right massage head being configured to rise synchronously when the left foot pedal (40) rises.

20. The rehabilitation chair according to claim 19, characterized in that, The transmission mechanism (70) further includes a transmission shaft (75), a left cam (100), a right cam (101), a left pusher (102), a right pusher, a first left elastic member (103), and a first right elastic member. The transmission shaft (75) is rotatably mounted on the frame (10). The motor (60) is used to drive the transmission shaft (75) to rotate so that the left armrest (20), the right armrest (30), the left foot pedal (40), the right foot pedal (50), the left massage head (201), and the right massage head can be raised and lowered. The left cam (100) is used to drive the left massage head (201) to rise, and the right cam (101) is used to push the right massage head to rise. The left pusher (102) is movably disposed on the frame (10) in the vertical direction (Z). The first left elastic member (103) is used to make one end of the left pusher (102) abut against the outer peripheral surface of the left cam (100). The right pusher is movably disposed on the frame (10) in the vertical direction (Z). The first right elastic member is used to make one end of the right pusher abut against the outer peripheral surface of the left cam (100).

21. The rehabilitation chair according to claim 20, characterized in that, The phase difference between the left cam (100) and the right cam (101) is 180°.

22. The rehabilitation chair according to claim 20, characterized in that, The skeleton (10) includes a panel (14) for supporting the patient's buttocks. The transmission mechanism (70) further includes a left movable plate (104), which is movably disposed on the panel (14) along the vertical direction (Z). Along the vertical direction (Z), the left massage head (201) is disposed above the left movable plate (104). At least a portion of the left pusher (102) is located between the left movable plate (104) and the left cam (100). The first left elastic member (103) is disposed between the panel (14) and the left movable plate (104). And / or, the transmission mechanism (70) further includes a right movable plate, which is movably disposed on the panel (14) along the vertical direction (Z). Along the vertical direction (Z), the right massage head is disposed above the right movable plate. At least a portion of the right pusher is located between the right movable plate and the right cam (101). The first right elastic member is disposed between the panel (14) and the right movable plate.

23. The rehabilitation chair according to claim 22, characterized in that, The left pusher (102) includes a left abutment (1021), a left rod (1022), and a left limiting part (1023). The left rod (1022) is movably inserted through the left movable plate (104). The upper end of the left rod (1022) is connected to the left limiting part (1023), and the lower end of the left rod (1022) is connected to the left abutment (1021). The transmission mechanism (70) also includes a second left elastic member (105). Along the vertical direction (Z), the second left elastic member (105) is disposed between the left abutment (1021) and the movable plate. The right pusher includes a right abutment, a right rod, and a right limiting part. The right rod is movably inserted through the right movable plate. The upper end of the right rod is connected to the right limiting part, and the lower end of the right rod is connected to the right abutment. The transmission mechanism (70) also includes a second right elastic member. Along the vertical direction (Z), the second right elastic member is disposed between the right abutment and the movable plate.

24. The rehabilitation chair according to claim 19, characterized in that, The left massage head (201) is provided in multiple ways, including a first left massage head (201), a second left massage head (201) and a third left massage head (201). The first left massage head (201) is used to massage the patient's left Huantiao acupoint, the second left massage head (201) is used to massage the patient's left Huanzhong acupoint, and the third left massage head (201) is used to massage the patient's left Zhibian acupoint. The right massage head is provided in multiple ways, including a first right massage head, a second right massage head and a third right massage head. The first right massage head is used to massage the patient's right Huantiao acupoint, the second right massage head is used to massage the patient's right Huanzhong acupoint, and the third right massage head is used to massage the patient's right Zhibian acupoint.

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