Electric baseplate assembly for leg swing rehabilitation exercise, and apparatus and use method therefor and use thereof

Abstract

The present invention provides an electric baseplate assembly for leg swing rehabilitation exercise, and an apparatus and a use method therefor and a use thereof. The electric baseplate assembly comprises a base; a raising / lowering platform pedal assembly is provided on the base; the raising / lowering platform pedal assembly comprises raising / lowering pedals and a raising / lowering power device; the raising / lowering pedals include a pedal I and a pedal II; the pedal I and the pedal II are arranged in pairs; the pedal I or the pedal II is a load-bearing pedal when at a raising stop position; the pedal II or the pedal I is an unloaded pedal when at a lowering stop position; and the raising / lowering power device drives the pedal I and the pedal II to be alternately at the raising stop position and the lowering stop position. The present invention can implement leg changing actions of patients during KOAPT-based treatment, without greatly adjusting postures of the patients and changing the structures of apparatuses.

Description

Electric floorboard assembly for leg swing rehabilitation training, apparatus, method of use and use TECHNICAL FIELD

[0001] The present application belongs to the technical field of clinical medical devices and household rehabilitation exercise, and particularly relates to an electric floorboard assembly for leg swing rehabilitation training, an apparatus, a method of use and use. BACKGROUND

[0002] The global society has entered an aging society, and the proportion of the elderly population is still increasing year by year. Knee joint degenerative disease has become one of the major disabling diseases in the world, seriously affecting the quality of life of the elderly. By the end of 2018, according to statistics, among the population over the age of sixty-five, the proportion of people suffering from knee joint pain is more than 60%, and the number of patients with knee osteoarthritis has reached more than 150 million. China is one of the countries with the largest number of knee osteoarthritis.

[0003] The knee joint is the most complex load-bearing joint in the human body, and one of the joints most susceptible to damage. Knee joint disease is usually caused by lower extremity biomechanical misalignment and instability, lower extremity disuse atrophy, long-term incorrect body position (such as sitting or squatting for a long time), long-term lower extremity cold blood supply deficiency, joint cavity infection, intra-articular tissue primary and metastatic cancer, endocrine disorders and osteoporosis, and exogenous high-energy injury. A series of changes in the histopathology and physiology of various tissues in the joint cavity, such as arthritis, osteoarthritis, synovitis, patellar softening, meniscus injury, and subchondral bone sclerosis, etc. Knee osteoarthritis (KOA) is also known as proliferative knee arthritis and senile knee arthritis (commonly known as old cold legs), which is the most common chronic and functionally and morphologically degenerative joint disease. The earliest and most important pathological change is cartilage, followed by subchondral bone cystic lesions and marginal osteophytes. Finally, the normal joint surface is completely destroyed and deformed, leading to increased pain, limited movement, and even disability.

[0004] According to medical research, knee pain is mainly caused by the accumulation of worn-out debris, the deposition of local inflammatory factors, and the lack of lubricating fluid in the knee joint. Hip joint swinging can drive the non-contact movement of the upper and lower joint surfaces of the knee joint and the movement of the knee joint capsule, which can effectively relieve the symptoms of knee pain.

[0005] Modern clinical medicine has different treatment plans for KOA patients at different stages of K-L (Kellgren-Lawrence) classification. Total knee arthroplasty (TKA, UKA) is another major treatment method for KOA patients at the fourth stage of K-L classification. However, this surgery is a destructive reconstruction surgery with greater damage and lower patient acceptance. After knee arthroplasty, the muscle strength around the knee joint and the sensitivity of the lower limb proprioceptors cannot meet the needs of normal life and exercise, especially the whole system of lower limb proprioceptors is destroyed, which leads to the continuous falling in normal life and the endless disaster.

[0006] Currently, Chinese patent application "Treatment and rehabilitation equipment for knee joint degenerative disease based on KOAPT therapy" (publication number: CN 113952677 B) proposes a motion apparatus that implements KOAPT therapy. The inventor Mr. Song Jiuhong first discovered that the leg swinging motion can drive the non-contact motion of the upper and lower articular surfaces of the knee joint and the contraction and relaxation motion of the synovial capsule around the knee joint cavity through hip joint swinging. It secondarily causes the intra-articular pressure to increase and decrease alternately in stages, which further promotes the secretion and absorption of synovial fluid in the joint cavity, effectively removes various inflammatory factors and pain factors in the joint cavity, and promotes the positive repair of articular cartilage due to the increased circulation of synovial fluid. Overall, it relieves the symptoms of knee pain and provides a valuable pathophysiological basis for the repair of damaged articular cartilage. The inventor of the application found that the existing treatment and rehabilitation equipment still has defects in further in-depth research:

[0007] Firstly, the existing treatment and rehabilitation equipment requires the patient's standing leg to be transferred from the footrest of the equipment to the ground, and then the swinging leg is moved to the other side of the footrest to stand as the standing leg. After adjusting the corresponding support and body line posture on the folding leg swinging device, the original standing leg becomes the swinging leg for leg swinging exercise. This leg changing process disrupts the continuity of the patient's leg swinging exercise, reduces patient compliance, easily makes people tired, and produces a feeling of disgust, thus failing to achieve the treatment and rehabilitation effect. Moreover, the posture needs to be adjusted during the leg changing process, which is time-consuming and labor-intensive, and also reduces the consistency of the correct leg swinging exercise posture line;

[0008] Secondly, for KOA patients with severe KOA, it is very difficult for them to complete simple actions such as completing the upper / lower step, moving and changing legs, or turning around during leg swinging treatment exercise, which requires great physical pain, making it impossible for them to complete the leg swinging rehabilitation training on the rehabilitation equipment for KOA;

[0009] In addition, each time the patient needs to manually change the position of the foot pedal of the treatment and rehabilitation equipment, which brings a poor user experience to patients with heavy weight, poor mobility and the elderly, and leads to the inability to continue the treatment well, and reduces the KOA leg swing rehabilitation treatment effect.

[0010] Therefore, there is an urgent need for a convenient leg-changing electric bottom plate assembly for leg swing rehabilitation training and equipment. SUMMARY

[0011] In view of the deficiencies of the prior art, the present application provides an electric bottom plate assembly, equipment, use method and use for leg swing rehabilitation training, which can realize leg-changing action without significantly adjusting the patient's posture and changing the equipment structure during KOA leg swing rehabilitation treatment.

[0012] To achieve the above-mentioned purpose, the present application designs an electric bottom plate assembly for leg swing rehabilitation training, which comprises a base, the base is provided with a lifting platform pedal assembly, the lifting platform pedal assembly comprises a lifting pedal and a lifting power device, the lifting power device drives the lifting pedal to make lifting movement, the electric bottom plate assembly is provided with at least two lifting pedals, including pedal one and pedal two, the pedal one and the pedal two are arranged in pairs along the horizontal direction, the lifting power device drives the pedal one and the pedal two to alternately be in the lifting stop position and the descending stop position, the pedal one or the pedal two is in the lifting stop position as the load-bearing pedal, and the pedal two or the pedal one is in the descending stop position as the empty pedal.

[0013] By adopting the above technical features, compared with the leg swing training device of the prior art with guiding or restraining type leg swing device, the present application has a fundamental difference in principle: the device of the present application is suitable for providing the user with the condition of autonomous leg swing training, and facilitates the user to conveniently change legs during autonomous leg swing training. The device drives the two pedals to alternately be in the lifting stop position and the descending stop position intermittently, when swinging legs, the user stands on the load-bearing pedal in the lifting stop position, swings the leg part above the empty pedal in the descending stop position, realizes autonomous leg swing training, and after achieving a certain goal, the lifting power device drives the lifting pedal to exchange the lifting stop position and the descending stop position, and the user realizes leg-changing and continues leg swing training. This way can make the user realize convenient leg-changing training without going up and down the stairs, without turning around, without moving the body, improve the continuity of leg swing training, thereby improving the treatment compliance of the user, making the boring leg swing treatment easier to be persisted, and effectively improving the effect of leg swing treatment; at the same time, the leg-changing process is simple, without changing the body line posture of the user during training, improving the consistency of the body line posture of the two legs during leg swing training, thereby improving the effect of leg swing treatment.

[0014] It is worth mentioning that the lifting stop position in the application refers to the position of the lifting pedal after being driven by the lifting power device to rise to the target position and stop, and the lowering stop position refers to the position of the lifting pedal after being driven to descend to the target position and stop. One of the necessary improvements in the application is to design at least two pairs of lifting pedals, namely pedal one and pedal two. Compared with the design of a single pedal, the accuracy, stability and safety of pedaling are higher. When a single pedal user pedals, it is easy to step on the edge of the pedal, causing tilting and overturning, thereby causing safety hazards. The two pairs of pedals in the application can interact and support each other, effectively expand the range of the pedaling safety zone, and improve the accuracy of pedaling to the safety zone and the stability of the pedals. The two pedals are alternately in the lifting stop position and the lowering stop position, providing a height difference for the user to stand and swing their legs for leg swing training. The user's standing leg stands on pedal one, and the other leg is suspended above pedal two, so that the user can perform a leg swing movement along the walking direction of the human body. At this time, pedal one stepped on by the standing leg of the human body is a load-bearing pedal because it bears the weight of the human body. Pedal two in the lowering stop position is separated from the other foot of the human body and does not bear the weight of the human body, so it is an empty pedal. When the user needs to change legs for leg swing, the lifting power device drives pedal two to rise to the lifting stop position and pedal one to lower to the lowering stop position. The user's original swinging leg changes to a standing leg standing on pedal two, and the original standing leg is suspended above pedal one. At this time, pedal two in the lifting stop position becomes a load-bearing pedal because it bears the weight of the human body. Pedal one in the lowering stop position is separated from the foot of the human body and becomes an empty pedal. The original standing leg successfully changes to a suspended leg for leg swing training, and the subsequent process and movement of leg swing training and leg change are repeated.

[0015] Further, the vertical distance between the lifting stop position and the lowering stop position is D-d, the vertical height of the foot sole of the user's single leg pedaling on the load-bearing pedal is H, and the lowest vertical height of the foot sole of the other leg when swinging the leg away from the empty pedal is h. The vertical distance between the lifting stop position and the lowering stop position satisfies the relationship D-d>H-h.

[0016] By adopting the above technical solution, the user can more smoothly complete the pendulum-type autonomous leg swing movement under the condition provided by the device, making the leg swing movement more relaxed, continuous and standard, and improving the continuity and standardization of the leg swing training.

[0017] Further, the lifting power device drives the lifting pedal to move up and down, and the process further includes a pause state in which the lifting pedal stops moving. The pause state is set when the lifting pedal is in the lifting stop position or the lowering stop position.

[0018] By adopting the above technical scheme, when the first pedal and the second pedal are in the ascending stop position and the descending stop position, the lifting power device stops the movement of the first pedal and the second pedal and makes them in the pause state, at this time, it is convenient for the user to independently perform the leg swinging training according to the leg swinging frequency and the leg swinging time target of the user; after the leg swinging frequency and the leg swinging time target of the user are achieved, the lifting power device drives the first pedal and the second pedal to change to the descending stop position and the ascending stop position, in this process, the user changes legs according to the lifting movement of the lifting pedal, and the first pedal and the second pedal are in the pause state again, so that the user changes legs and swings legs.

[0019] Further, the duration of the pause state is 5 seconds to 20 minutes.

[0020] By adopting the above technical scheme, the duration of the pause state includes the time required by the user to swing legs and the time of the lifting movement of the lifting pedal, and since the leg swinging frequency or the leg swinging time of KOA patients of different ages and different degrees is different, the duration of the pause state is also different. The duration range of the pause state can meet the needs of different users, and the application range of the device is wide.

[0021] Further, after the first pedal or the second pedal in the descending stop position is driven by the lifting power device to move upward to the ascending stop position, the lifting power device drives the second pedal or the first pedal in the ascending stop position to move downward to the descending stop position.

[0022] By adopting the above technical scheme, when the unloaded pedal in the descending stop position moves upward to the ascending stop position, the first pedal and the second pedal are simultaneously in the ascending stop position, at this time, the user swings the leg standing on the pedal to become the standing leg, the original standing leg becomes the swinging leg, and the weight-bearing pedal in the ascending stop position moves downward to the descending stop position, so as to realize the periodic movement. In the process of driving the first pedal and the second pedal to alternately move to the ascending stop position and the descending stop position by the lifting power device, the unloaded upward movement and the unloaded downward movement of the lifting pedal are realized, the energy consumption is low, the stability of the device in the process of changing legs is effectively improved, and the continuity and compliance of the user in the process of swinging legs are improved. In the process of changing legs, the first pedal and the second pedal are simultaneously in the ascending stop position, the user stands stably after the user stands with both legs, and then changes legs, so as to improve the stability and safety of the device and optimize the user experience.

[0023] Further, the vertical distance between the ascending stop position and the descending stop position is 5-50 cm.

[0024] Further research shows that the vertical distance between the ascending stop position and the descending stop position affects the experience of the user in replacing the supporting leg. If the distance is too small, the tip of the foot of the user is likely to touch the empty pedal at the descending stop position when swinging the leg, causing pain or even injury to the user. If the distance is too large, the vertical height of the ascending stop position is too high, and the user may fall off the pedal and be injured. Moreover, the time for the pedal to rise and fall is long, affecting the user's experience. To ensure that the user stands on the pedal at the ascending stop position and swings the other leg, the vertical distance between the ascending stop position and the descending stop position is preferably 5-50 cm for users of different heights.

[0025] Further, the distance between the first pedal and the second pedal along the pedal surface is 0.1-50 cm.

[0026] Further research shows that the distance between the first pedal and the second pedal along the pedal surface is related to the distance between the two legs when the user stands and swings the leg. If the distance is too large, the user is affected in performing the leg swinging exercise. If the distance between the first pedal and the second pedal is 0.1-50 cm, the user can stand stably and ensure the consistency of the muscle line of the whole body during the leg swinging exercise.

[0027] Further, the counting / timing sensor is electrically connected to the lifting power device, and the counting / timing sensor collects the counting signal of the number of leg swinging exercises or the timing signal of the time of the leg swinging exercise on the lifting platform pedal assembly. When the counting signal / timing signal reaches a preset value, the lifting power device drives the first pedal and the second pedal to move up and down to exchange the ascending stop position and the descending stop position.

[0028] In the above manner, the lifting power device can directly receive the control signal sent by the electronic switch element of the counting / timing sensor to the electric mechanical lifting device. Alternatively, a single-chip microcomputer or a chip can be used to control the signal receiving and sending and the program of the electric mechanical lifting device. Before the user performs the leg swinging exercise, the counting signal or the timing signal is preset to the lifting power device. When the user swings the leg, the counting / timing sensor collects the counting signal of the number of leg swinging exercises or the timing signal of the time of the leg swinging exercise. When the signal reaches the preset value, the user's preset target number of leg swinging exercises or the leg swinging exercise is completed, and the user can replace the leg. The lifting power device receives the signal to drive the first pedal and the second pedal to move up and down to exchange the ascending stop position and the descending stop position. With the exchange of the ascending stop position and the descending stop position of the pedals, the user consciously replaces the leg following the pedals, which can achieve the effect of replacing the leg without realizing it, thereby achieving the immersive leg swinging exercise of the user, making the leg swinging exercise more coherent, and further improving the treatment compliance of the user and making it easier for the user to persist in the leg swinging exercise to achieve a good treatment effect.

[0029] Further, the count / timing sensor is oriented towards the space region of the corresponding pedal one or pedal two from the ascending stop position to the descending stop position.

[0030] By adopting the above technical scheme, the base is provided with the count / timing sensor, when the user usually swings the leg, the swinging leg will pass through the space region of the pedal one or pedal two from the ascending stop position to the descending stop position, the sensing head of the count / timing sensor is oriented towards the space region, one swing of the leg is counted as once, the number of times of swinging the single leg is recorded and presented, so that the user can know the number of times of swinging the leg, so as to change the leg more timely, realize more scientific leg swinging treatment and training, and improve the convenience of using the device by the user.

[0031] Further, the count / timing sensor is oriented towards the space region of the corresponding pedal one or pedal two from the ascending stop position to the descending stop position.

[0032] By adopting the above technical scheme, the count / timing sensor is arranged on the lifting pedal, when one of the pedals is lifted to the ascending stop position and the other pedal is lowered to the descending stop position, the sensing head of the count / timing sensor on the pedal in the ascending stop position is exposed to start linkage, at this time, the count / timing sensor can record the number of times of swinging the leg above the descending stop position, when the leg is changed, the count / timing sensor is blocked and closed with the pedal lowered to the descending stop position, the linkage self-starting / closing effect that the count / timing sensor is started with the pedal supporting and closed with the pedal unloading is realized, the accuracy and automation of counting are improved, and space is also saved.

[0033] Further, the base is provided with a mounting groove matched with the outer contour of the lifting pedal assembly, and the lifting platform pedal assembly is embedded and fixed in the mounting groove.

[0034] By adopting the above technical scheme, the mounting groove is arranged on the base, the mounting stability of the lifting pedal assembly can be improved, and the path of lifting the lifting pedal can be guided to a certain extent, so that the stability of lifting the lifting pedal is improved.

[0035] Further, the control device is further arranged, and the control device controls the lifting power device to drive the lifting pedal to move up and down.

[0036] By adopting the above technical scheme, the control device can be a single-chip microcomputer controlling the lifting power device, or an embedded control device embedded in the lifting power device, so that the structure that the lifting power device drives the pedal one and pedal two to alternately be in the ascending stop position and descending stop position can be implemented.

[0037] Further, the motion amount acquisition assembly further comprises one or more of a leg swinging frequency acquisition device, a leg swinging frequency acquisition device and a leg swinging amplitude acquisition device, the leg swinging frequency acquisition device comprises the counting / timing sensor.

[0038] By adopting the above technical scheme, the counting / timing sensor can be implemented by a photoelectric sensor, a TOF sensor or other sensors, and is used to acquire the number of times of leg swinging of the user, and two times of swinging legs of the user passing through the detection area of the sensor is one time of leg swinging; the leg swinging frequency acquisition device can be separately arranged or can be multiplexed with the leg swinging frequency acquisition device, and the leg swinging frequency is converted according to the number of times of leg swinging and the corresponding time acquired by the counting / timing sensor; the leg swinging amplitude acquisition device can be implemented by arranging a photoelectric sensor at a position meeting the leg swinging amplitude standard to acquire a photoelectric signal.

[0039] Further, the control device is internally arranged with a KOAPT computer program, the KOAPT computer program guides the user to complete the rehabilitation training according to a KOAPT treatment model, and the control device controls the lifting power device to drive the first and second lifting platforms to alternately be in the raised stop position and the lowered stop position according to the KOAPT treatment model.

[0040] By adopting the above technical scheme, the user can use the electric bottom plate assembly to implement KOAPT treatment according to the KOAPT treatment model, and the number of times of single support leg swinging in the KOAPT treatment model is clearly specified. If the user supports a leg for too long, ischemic and compressive lesions of the subchondral bone of the supporting leg will occur, and then the supporting leg will be painful and the function will degenerate rapidly. When the KOAPT computer program detects that the number of times of leg swinging of the user during single leg support reaches a set value, the user is reminded to change legs, and the control device controls the lifting power device to drive the two lifting platforms to alternately be in the raised stop position and the lowered stop position.

[0041] Further, the feedback assembly is arranged on the base or the lifting platform assembly, the feedback assembly is electrically connected with the control device, and the feedback assembly sends audio and / or video and / or visible light signals and / or tactile signals to the user according to the control instruction.

[0042] Still further, the feedback assembly is a video signal playing element and / or an audio signal playing element and / or a vibration feedback element and / or a visible light emitting element.

[0043] Further, the lifting platform comprises a stepping platform for the foot, and the lifting power device comprises a lifting transmission mechanism, a fixed end of the lifting transmission mechanism is fixedly connected with the base, and a lifting working end is fixedly connected with the lifting platform.

[0044] By adopting the technical scheme, the lifting power device specifically comprises a lifting transmission mechanism, one end of the lifting transmission mechanism is fixedly connected with the base, the other end is a lifting working end, and the lifting working end is fixedly connected with the lifting pedal, and is used for driving the lifting pedal to make lifting movement under the driving of a manual or electric power source.

[0045] Further, the lifting transmission mechanism comprises a power screw rod, one end of the power screw rod is connected with a lifting motor, and the power screw rod is connected with the base and the bottom surface of the stepping platform through connecting rods.

[0046] Further, the lifting transmission mechanism comprises a horizontally arranged scissor bottom plate and a scissor top plate which are fixed with the base and the lifting cover respectively, two scissor power connecting rod structures which are crossed with each other are arranged between the scissor bottom plate and the scissor top plate, power rod connecting shafts are inserted between the two scissor power connecting rod structures respectively, a fixed rectangle is formed, and the power rod connecting shafts are connected with the electric push rods.

[0047] Further, the lifting transmission mechanism comprises a horizontally arranged lifting bottom box and a lifting top box which are fixed with the base and the lifting cover respectively, the lifting bottom box is upwardly open, the lifting top box is downwardly open, and a first power rod which can be lifted up and down is arranged between the two lifting boxes.

[0048] Further, the lifting transmission mechanism comprises a horizontally arranged lifting base and a lifting top base which are fixed with the base and the lifting cover respectively, and a plurality of electric push rods are uniformly arranged between the lifting base and the lifting top base.

[0049] Further, the lifting transmission mechanism comprises guide rails and a screw rod which are symmetrically arranged on the inner side of the base, the top of the screw rod is connected with the motor, a sliding table is arranged on the screw rod, and the sliding table is connected with the lifting pedal.

[0050] Further, the lifting pedal comprises a lifting cover, sensor mounting holes are arranged on the inner side of the lifting cover of the first pedal and the second pedal, and the counting / timing sensor is mounted in the sensor mounting hole. The sensor mounting hole is arranged on the inner side of the lifting cover, the photoelectric signal of the counting / timing sensor is directed to the space opposite to the pedal, and the number of leg swinging times is collected.

[0051] Further, the counting / timing sensor is arranged at the inner side edge of the mounting groove of the base. The counting / timing sensor mounted on the base is not moved with the lifting pedal, is not easy to be damaged, and has a long service life.

[0052] The application provides a knee joint rehabilitation training device.

[0053] Further, the motion support assembly further comprises a support frame fixedly arranged on the outer side or inner side of the lifting platform pedal assembly, and a force bearing support is arranged on the support frame.

[0054] The lifting pedal of the electric bottom plate assembly can meet the basic condition of the user's active leg swinging, and the user can hold the wall for auxiliary support if necessary. However, long-term research shows that the single supporting leg bears the weight of the whole body during leg swinging, and after long-term leg swinging, iatrogenic damage to the supporting leg is easy to occur. Therefore, a more optimal solution is that the device is further provided with a motion support assembly, which can be arranged on the outer side or both sides or inner side of the lifting pedal assembly, such as a position between the pedal one and the pedal two, and the like. Since the present application corresponds to active leg swinging training, usually the user tends to move the upper limbs when changing legs, so as to change the body posture of the user, and the device is provided with a motion support assembly, which can position the position and posture of the upper limbs when changing legs, so as to ensure that the upper body of the user does not change with the leg changing action when changing legs, effectively maintaining the standardization of the posture unchanged, thereby ensuring the continuity of the leg swinging training and improving the training compliance.

[0055] Further, the pedal one and the pedal two are symmetrically arranged relative to the middle line alpha of the two, and the force bearing support is symmetrically arranged on both sides of the vertical plane where the middle line alpha is located.

[0056] The force bearing support of the motion support assembly is arranged on both sides of the vertical plane where the middle line alpha is located. Specifically, the force bearing support can be one component distributed on both sides of the vertical plane where the middle line alpha is located, or two or more components distributed on both sides of the vertical plane where the middle line alpha is located, which is more conducive to supporting the two sides of the user's body towards the middle line to reduce weight, and is also more conducive to correcting the body line during leg swinging treatment, thereby improving the standardization of leg swinging training. The more important optimization and improvement point is that during the process that the pedal one and the pedal two are alternately in the lifting stop position and the lowering stop position, the relative position between the force bearing support on the motion support assembly and the lifting platform pedal assembly does not change during the leg changing process, so as to further achieve that the training posture does not change during leg changing, the training continuity is not easily interrupted, the immersive experience of the user's leg swinging training is improved, and the compliance effect of the leg swinging treatment is improved.

[0057] Further, the force bearing support is an elbow support, an underarm support or a waist support.

[0058] By adopting the technical scheme, the elbow or armpit or waist can effectively support the body, so that the force supporting support effectively plays a role as a force supporting point of the lower limb leg swinging to provide stability support and auxiliary correction of the body posture, effectively reduces the load of the knee when standing on one leg, the training posture does not need to be changed when changing legs, the training continuity is not easily interrupted, the immersive experience of the user's leg swinging training is improved, and the compliance effect of the leg swinging treatment is improved.

[0059] The application also provides a use method of the knee joint rehabilitation training instrument, and the electric bottom plate assembly is realized, and the use method comprises the following steps:

[0060] S1 adjusts the pedal one and the pedal two to the lifting stop position;

[0061] S2 controls the lifting power device to drive the pedal one or the pedal two to descend to the descending stop position, and maintains the pedal two or the pedal one at the lifting stop position;

[0062] S3 controls the control component to respectively send the descending / ascending control instruction to the two lifting pedal assemblies according to the KOAPT treatment model, so that the two pedals are intermittently and alternately at the lifting stop position and the descending stop position.

[0063] The application provides a use of a knee joint rehabilitation training instrument, and the KOA, arthritis and knee joint diseases are treated by using the knee joint rehabilitation training instrument.

[0064] The application helps the patient to automatically realize the leg changing action when performing the KOAPT therapy, realizes the leg changing training without using the steps, turning around and moving the body, improves the continuity of the leg swinging training, improves the treatment compliance of the user, makes the boring leg swinging treatment easier to be persisted, and effectively improves the effect of the leg swinging treatment; meanwhile, the leg changing process is simple, the body line posture of the user during training does not need to be changed, the consistency of the body line postures of the two legs during the leg swinging training is improved, and therefore the effect of the leg swinging treatment is improved.

[0065] The KOAPT therapy rehabilitation instrument with the automatic leg changing function is particularly suitable for the KOA patients with a large weight and inconvenient movement, and the leg changing action can be completed without using the steps and turning around when the KOAPT therapy is performed, and the instrument does not need to be adjusted again during the leg changing, the whole process is automatically completed according to the program setting, and good user experience is obtained; the elbow auxiliary support and the armpit auxiliary support are used to give the patient the auxiliary balance support, and the damage of the standing leg when the patient stands on one leg to swing the leg is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0066] Fig. 1 is a structure schematic view of the pedal one of the electric bottom plate assembly for the leg swinging rehabilitation training in the embodiment 1 of the application, which is at the lifting stop position.

[0067] Figure 2 is a schematic diagram of the pedal of the electric base plate assembly for leg swing rehabilitation training in embodiment 1 of the present application in the lowered stop position.

[0068] Figure 3 is a schematic diagram of the position of the raised stop position and the lowered stop position in embodiment 1 of the present application.

[0069] Figure 4 is a schematic diagram of the structure of the installation of the counting / timing sensor on the base in embodiment 4 of the present application.

[0070] Figure 5 is a system architecture diagram of the KOAPT computer program in embodiment 4.

[0071] Figure 6 is an exploded schematic diagram of the screw rod type lifting transmission mechanism in embodiment 5.

[0072] Figure 7 is a schematic diagram of the side view of the scissor type lifting transmission mechanism in embodiment 6.

[0073] Figure 8 is a schematic diagram of the perspective view of the scissor type lifting transmission mechanism in embodiment 6.

[0074] Figure 9 is a schematic diagram of the perspective view of the direct drive type lifting mechanism in embodiment 7.

[0075] Figure 10 is a schematic diagram of the side view of the direct drive type lifting mechanism in embodiment 7.

[0076] Figure 11 is a schematic diagram of the side view of the multi-electric push rod type lifting transmission mechanism in embodiment 8.

[0077] Figure 12 is a schematic diagram of the perspective view of the multi-electric push rod type lifting transmission mechanism in embodiment 8.

[0078] Figure 13 is a schematic diagram of the side view of the cantilever lifting type lifting transmission mechanism in embodiment 9.

[0079] Figure 14 is a schematic diagram of the perspective view of the cantilever lifting type lifting transmission mechanism in embodiment 9.

[0080] Figure 15 is a schematic diagram of the structure of the device for knee rehabilitation training in embodiment 10.

[0081] Figure 16 is a schematic diagram of the overall structure of the device for knee rehabilitation training in embodiment 11.

[0082] Figure 17 is a schematic diagram of the overall structure of the device for knee rehabilitation training in embodiment 12.

[0083] Figure 18 is a schematic diagram of the intermediate partition plate in Figure 17 and the main installation components thereof.

[0084] Figure 19 is a schematic diagram of the seat support device in Figure 17.

[0085] Figure 20 is a schematic diagram of the symmetrical cross-section structure of the seat support in Figure 19.

[0086] Figure 21 is a schematic diagram of the exploded structure of the damping sliding block rotating shaft in Figure 19.

[0087] Figure 22 is a schematic diagram of the structure of the underarm support device in Figure 17.

[0088] Figure 23 is a schematic diagram of the structure installation of the side stand and telescopic column in Figure 17.

[0089] Figure 24 is a schematic diagram of the lifting platform structure in Figure 17.

[0090] Figure 25 is a schematic diagram of the bottom plate structure in Figure 17.

[0091] Figure 26 is a schematic diagram of the whole machine in use in Figure 17.

[0092] In the figure:

[0093] Base 1, lifting platform pedal assembly 2, counting / timing sensor 3, bottom plate 4, side stand 5, lifting platform 6, middle partition plate 7, seat support device 8, underarm support device 9;

[0094] The base 1 comprises: a mounting groove 1-1;

[0095] The lifting platform pedal assembly 2 comprises: a lifting pedal 2-1, a lifting cover 2-11, a pedal platform 2-12, a foot massage device 2-13, a sensor mounting hole 2-14, a lifting power device 2-2, and a lifting transmission mechanism 2-21;

[0096] A power screw rod 2-21a1, a lifting motor 2-21a2, a connecting rod 2-21a3, a lifting bottom plate 2-21a4, and a lifting top plate 2-21a5;

[0097] A scissor bottom plate 2-21b1, a scissor top plate 2-21b2, a scissor power connecting rod structure 2-21b3, a power rod connecting shaft 2-21b4, a push rod 2-2-21b5, a waist-shaped groove 2-21b6, a scissor driven connecting rod 2-21b7, a scissor power connecting rod 2-21b8, a rolling bearing 2-21b9, and a driven rod connecting shaft 2-21b10;

[0098] A lifting bottom box 2-21c1, a lifting top box 2-21c2, and a first power rod 2-21c3;

[0099] A lifting base 2-21d1, a lifting top seat 2-21d2, an electric push rod 2-21d3, a guide gas spring mounting plate 2-21d4, a mounting plate reinforcing plate 2-21d5, and a guide gas spring 2-21d6;

[0100] Rail 2-21e1, screw rod 2-21e2, motor 2-21e3, sliding table 2-21e4;

[0101] The bottom plate 4 comprises: an inverted slope 4-1, a bottom plate table top 4-2, a lifting pedal mounting groove 4-3, a side stand mounting groove 4-4;

[0102] The side stand 5 comprises: a side stand shell 5-1, a side stand cover 5-2;

[0103] The side stand shell 5-1 comprises: a reinforcing rib 5-11, a bottom plate fixed connection end 5-12;

[0104] The lifting table 6 comprises: a fence plate 6-1, a support platform 6-2, a telescopic column 6-3, a control panel 6-4, an elbow support device 6-5, a grip support 6-6, a mobile terminal support 6-7, a cantilever support 6-8, a 6-9 front rail grip support, and a 6-10 left and right grip support;

[0105] The telescopic column 6-3 comprises: a telescopic column base end 6-31, a telescopic column telescopic end 6-32, and a telescopic column speed reducer motor 6-33;

[0106] The elbow support device 6-5 comprises: an elbow support connecting rod 6-51 and an elbow support 6-52;

[0107] The cantilever support 6-8 comprises: an underarm support connection end 6-81, a lifting table connection surface 6-82, and a telescopic column connection port 6-83;

[0108] The seat support device 8 comprises: a seat switching device 8-1, a seat support lifting device 8-2, a locking valve 8-3, and a seat support 8-4;

[0109] The seat switching device 8-1 comprises: a damping sliding block rotating shaft 8-11, a sliding groove 8-12, a lifting pipe 8-13, and a toothed horizontal limiting plate 8-14;

[0110] The damping sliding block rotating shaft 8-11 comprises: a sliding block 8-111, a damping rotating shaft 8-112, and a seat support mounting block 8-113;

[0111] The seat support lifting device 8-2 comprises: a seat support lifting pipe column 8-21;

[0112] The seat support 8-4 comprises: a connecting plate 8-41, a rotating shaft mounting hole 8-42, a U-shaped fork 8-43, and a rack 8-44;

[0113] The underarm support device 9 comprises: an electric rod 9-1, a telescopic rod 9-2, an underarm support plate 9-3, and an underarm support plate rotating shaft 9-4. Embodiment of the application

[0114] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0115] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application.

[0116] Embodiment 1:

[0117] The electric bottom plate assembly for leg swing rehabilitation training provided by the present application, as shown in FIG. 1 and FIG. 2, comprises a base 1, and a lifting platform pedal assembly 2 is arranged on the base 1. The lifting platform pedal assembly 2 comprises a lifting pedal 2-1 and a lifting power device 2-2. The lifting pedal 2-1 comprises a pedal one and a pedal two, and the pedal one and the pedal two are arranged in pairs. When the pedal one or the pedal two is at the lifting stop position, it is a load-bearing pedal. When the pedal two or the pedal one is at the lowering stop position, it is an empty pedal. The lifting power device 2-2 drives the pedal one and the pedal two to alternately be at the lifting stop position and the lowering stop position. In this embodiment, the front end surface of the base 1 is designed as a curved surface to prevent the user from kicking the edge of the base 1 when the toes droop. The base 1 is provided with a mounting groove 1-1 matching the outer contour of the lifting pedal assembly 2, and the lifting platform pedal assembly 2 is embedded and fixed in the mounting groove 1-1.

[0118] The device comprises two lifting pedals 2-1, wherein the pedal one and the pedal two are the same in structure and comprise a lifting cover 2-11 and a stepping platform 2-12 arranged on the upper surface of the lifting cover 2-11 for stepping. The upper surface of the stepping platform 2-12 is provided with a foot massage device 2-13.

[0119] The lifting power device 2-2 can be one, driving the pedal one and the pedal two through two output ends, or two, corresponding to driving the pedal one and the pedal two. The lifting power device 2-2 comprises a lifting transmission mechanism 2-21, and the fixed end of the lifting transmission mechanism 2-21 is fixedly connected with the base 1, and the lifting working end of the lifting transmission mechanism 2-21 is fixedly connected with the lifting pedal 2-1.

[0120] It is worth mentioning that the lifting power device 2-2 can be any device in the prior art that can drive other objects to lift manually or electrically, such as an electric push rod, a gas / liquid pressure straight push pump, an electric jack with a control program, etc. The lifting power device 2-2 can drive the first pedal and the second pedal in the following ways: manually lifting and lowering the first pedal and the second pedal respectively, electrically lifting and lowering the first pedal and the second pedal respectively with a program, or simultaneously lifting and lowering the first pedal and the second pedal with a program, etc.

[0121] After the lifting power device 2-2 drives the pedal in the lower stop position or the pedal in the upper stop position to move upward to the upper stop position, it drives the pedal in the upper stop position or the pedal in the lower stop position to move downward to the lower stop position.

[0122] As shown in FIG. 3, the vertical distance between the upper stop position and the lower stop position is D-d, the vertical height of the foot bottom of the user's single leg when stepping on the load-bearing pedal is H, and the vertical height of the foot bottom of the other leg when swinging the leg away from the unloaded pedal is h. The vertical distance between the upper stop position and the lower stop position satisfies the relationship D-d > H-h.

[0123] In an embodiment, the vertical distance between the upper stop position and the lower stop position is 5-50 cm, and specifically, the vertical distance between the upper stop position and the lower stop position is 35 cm.

[0124] In an embodiment, the distance between the first pedal and the second pedal along the pedal surface is 0.1-50 cm.

[0125] Embodiment 2:

[0126] The difference between this embodiment and embodiment 1 is that the first pedal and the second pedal further include a pause state of 5 seconds-20 minutes during the process of alternating between the upper stop position and the lower stop position. The pause state is set when the lifting pedal is in the upper stop position or the lower stop position. When the first pedal and the second pedal are in the upper stop position and the lower stop position, the lifting power device stops the movement of the first pedal and the second pedal and enters the pause state, which is convenient for the user to perform self-leg swinging training according to the number of leg swings and the target leg swing time; when the number of leg swings and the target leg swing time are achieved, the lifting power device drives the first pedal and the second pedal to replace the lower stop position and the upper stop position, and in this process, the user changes legs according to the lifting and lowering movement of the lifting pedal, and the first pedal and the second pedal are in the pause state, so that the user changes legs and swings legs.

[0127] The lifting pedal assembly 2 has two setting modes: a lowering mode and a lifting mode.

[0128] The descending mode is that after the lifting power device drives the pedal one or pedal two in the descending stop position to move up to the ascending stop position, the lifting power device drives the pedal two or pedal one in the ascending stop position to move down to the descending stop position. Specifically, before starting the movement, the pedal one and the pedal two are both in the ascending stop position. When starting the leg swinging movement, the user stands on the pedal one with the supporting leg, and the pedal two automatically moves down to the descending stop position and is in the pause state. The user's foot is off the pedal two, and the user starts the leg swinging movement. When the user needs to change the leg, the user stops the movement, the pedal two in the descending stop position moves up to the ascending stop position and is in the pause state, and the pedal one automatically moves down to the descending stop position and is in the pause state. The user continues the leg swinging movement after changing the leg. During the leg changing process, the user does not need to perform the up / down step action, and the leg changing function is realized by the automatic lifting of the lifting pedal assembly 2.

[0129] The optimization scheme realizes the no-load lifting and no-load descending of the lifting pedal during the process that the lifting power device drives the pedal one and the pedal two to alternately be in the ascending stop position and the descending stop position, consumes less energy, effectively improves the stability of the device in supporting the user during the leg changing process, and cooperatively improves the continuity and compliance of the user during the leg swinging.

[0130] In the ascending mode, the initial state of the two lifting pedal assemblies 2 is the descending stop position, and the lifting process of the lifting pedal is opposite to that in the descending mode, which will not be described herein. For the user, before starting the movement, the pedal one and the pedal two are both in the descending stop position. When starting the leg swinging movement, the pedal one moves up to the ascending stop position, and the user needs to go up one step and place the supporting leg on the lifted pedal one. The other processes are the same as those in the descending mode.

[0131] Embodiment 3:

[0132] In this embodiment, the counting / timing sensor 3 is arranged and electrically connected with the lifting power device 2-2. The counting / timing sensor 3 collects the counting signal of the number of times of completing the leg swinging movement or the timing signal of the time of completing the leg swinging movement of the user on the lifting platform pedal assembly 2. When the counting signal / timing signal reaches a preset value, the lifting power device 2-2 drives the pedal one and the pedal two to move up and down to exchange the ascending stop position and the descending stop position.

[0133] The inside of the lifting cover 2-11 is provided with a sensor mounting hole 2-14, and a counting / timing sensor 3 is mounted in the sensor mounting hole 2-14. The direction of the counting / timing sensor 3 corresponds to the space area of the footboard one or the footboard two moving from the lifting stop position to the lowering stop position. The counting / timing sensor 3 collects two trigger signals to record a leg swinging count; when the counting signal collected by the counting / timing sensor 3 reaches a preset value, the lifting power device 2-2 drives the footboard one and the footboard two to exchange the lifting stop position and the lowering stop position.

[0134] A collimator is arranged at the front end of the counting / timing sensor 3, the output end of the collimator is a fan surface, which helps to accurately collect the user's leg swinging count, and the fan-shaped space covered by the collimator contains the height area of the user's calf, avoiding missed counting. The angle of the light ray of the photoelectric sensor is 5-30° upward with respect to the horizontal plane, which ensures that the light ray can scan the swinging foot or leg each time. Specifically, the angle of the light ray of the photoelectric sensor is 25° upward with respect to the horizontal plane.

[0135] The counting / timing sensor 3 is connected with an electronic switching element (such as a crystal diode, a triode or a MOS tube), and a driving signal is sent to the lifting power device 2-2 by the electronic switching element; the counting signal / timing signal sent by the counting / timing sensor 3 can also be sent to the lifting power device 2-2 after signal processing by a single-chip microcomputer or a chip.

[0136] Further, the counting / timing sensor is arranged on the footboard one or the footboard two, and the direction of the counting / timing sensor corresponds to the space area of the footboard two or the footboard one moving from the lifting stop position to the lowering stop position. The counting / timing sensor is arranged on the lifting footboard, when one of the footboards is lifted to the lifting stop position and the other footboard is lowered to the lowering stop position, the sensing head of the counting / timing sensor on the footboard in the lifting stop position is exposed to start linkage, at this time the counting / timing sensor can record the number of leg swinging above the lowering stop position, when the leg is changed, the counting / timing sensor is blocked and closed with the footboard lowered to the lowering stop position, realizing the linkage self-starting / closing effect that the counting / timing sensor starts with the footboard supporting and closes with the footboard being empty, improving the accuracy and automation of counting, and also saving space.

[0137] Embodiment 4:

[0138] The difference between this embodiment and embodiment 3 is that it further includes a control device, a motion amount collecting assembly and a feedback assembly. The control device controls the lifting power device 2-1 to drive the footboard one and the footboard two to alternately be in the lifting stop position and the lowering stop position.

[0139] The control device can be a single-chip microcomputer controlling the lifting power device, or an embedded control device embedded in the lifting power device, so as to realize the implementable structure of controlling the lifting power device to drive the footboard one and the footboard two to alternately be in the lifting stop position and the lowering stop position.

[0140] The control device can be arranged in the base 1 or in the inner cavity of the lifting pedal assembly 2, and the control device can be configured to be connected with the wireless transmission device, receive the remote control signal, and drive the lifting power device 2-2 of the lifting pedal assembly 2 to move.

[0141] The motion amount collection component is arranged on the lifting pedal 2-1 or the base 1, and includes one or more of a leg swinging frequency collection device, a leg swinging frequency collection device, and a leg swinging amplitude collection device. The leg swinging frequency collection device includes a counting / timing sensor 3; the counting / timing sensor 3 and the leg swinging amplitude collection device are realized by ultrasonic sensors, displacement sensors, gravity sensors, photoelectric sensors, radars, and / or cameras.

[0142] FIG. 4 is a structural schematic view of the counting / timing sensor 3 installed on the base 1. The counting / timing sensor can be realized by a photoelectric sensor, a TOF sensor, or other sensors, and is used to collect the number of times of leg swinging of the user. When the user swings the leg twice through the detection area of the sensor, it is counted as one leg swinging. The leg swinging frequency collection device can be separately arranged or can reuse the leg swinging frequency collection device. The leg swinging frequency is converted according to the number of leg swingings collected by the counting / timing sensor and the corresponding time. The leg swinging amplitude collection device can be realized by arranging a photoelectric sensor at a position meeting the leg swinging amplitude standard to collect a photoelectric signal.

[0143] The feedback component is used to send audio and / or video and / or tactile signals to the user according to the control instruction. The feedback component can be a display screen, a loudspeaker, a massage head, a motor, etc. installed on the motion support component, and is used to send image information, sound information, massage vibration, or drive the support component to move, etc. according to the control instruction. The feedback component can also be integrated on the mobile device, and the mobile device sends image information, sound information, etc. according to the control instruction.

[0144] In the embodiment, the control device is realized by a computer chip and is deployed with a KOAPT computer program.

[0145] The KOAPT computer program collects the motion amount data of the user in real time, guides the user to complete the rehabilitation training according to the KOAPT treatment model, and controls the lifting pedal to descend / ascend according to the KOAPT treatment model. The control component includes a control device, a communication module, a power supply module, etc. The communication module can use transmission modes such as Wifi and wireless Bluetooth. The control device can be arranged on the motion support component, and communicates with the user through a man-machine interactive display screen. The control device can also be remotely arranged on a server, and communicates with the user through a mobile device, or the server directly sends a control instruction to the feedback component arranged on the motion support component.

[0146] The control device executes the KOAPT computer program deployed in the control device to collect the motion data of the user in real time, guide the user to complete the rehabilitation training according to the KOAPT treatment model, and control the lifting pedal to descend / ascend according to the KOAPT treatment model. The control device further comprises a communication module, a power module and the like. The communication module can adopt a transmission mode such as Wifi or wireless Bluetooth. The control device can be arranged on the motion support assembly, and communicates with the user through the man-machine interactive display screen. Alternatively, the control device can be remotely arranged on a server, and communicates with the user through a mobile device or sends a control instruction to a feedback component arranged on the motion support assembly.

[0147] The KOAPT computer program executed by the control assembly, as shown in FIG. 5, comprises a treatment model storage module, a treatment process control module, a treatment tracking module, a leg changing function control module, a feedback information storage module and a user information storage module.

[0148] The treatment model storage module is used to store the KOAPT treatment model.

[0149] The treatment process control module is used to match the motion frequency, motion frequency and motion amplitude collected by the motion collection assembly with the corresponding values of the KOAPT treatment model, call the corresponding feedback instruction in the feedback information storage module according to the matching result, and call the control instruction of the leg changing function control module when the number of times of swinging the supporting leg reaches the corresponding set value of the KOAPT treatment model.

[0150] The treatment tracking module is used to monitor the completion progress of the user treatment process control, and call the corresponding feedback instruction in the feedback information storage module.

[0151] The leg changing function control module is used to send a control instruction to the lifting power device 2-2 when the number of times of swinging the supporting leg reaches the corresponding set value of the KOAPT treatment model, control the corresponding pedal to descend / ascend, and call the corresponding feedback instruction in the feedback information storage module.

[0152] The feedback information storage module comprises count reaching standard feedback information, leg changing function feedback information, encouragement feedback information, separation alarm information and media information.

[0153] The user information storage module is used to store the personal information and motion data of the user.

[0154] The treatment process control module matches the number of movements, the movement frequency and the movement amplitude collected by the movement amount collection component with the corresponding values of the treatment model, and calls the corresponding feedback instructions in the feedback information storage module according to the matching result; the corresponding feedback information is triggered when the movement amount data meets the treatment model; the control instruction of the leg changing function control module is called when the number of leg swinging of the supporting leg reaches the corresponding set value of the KOAPT treatment model; the corresponding feedback information is triggered when the movement amount data of the effective movement amount meets the user treatment model, guiding the user to complete the treatment and rehabilitation training specified by the treatment model every day; the KOAPT treatment model of the next stage is imported by the treatment process control module after the user completes the treatment and rehabilitation training of a stage. When the leg changing function control module receives the leg changing control instruction sent by the treatment process control module, it means that the number of leg swinging of the supporting leg in the KOAPT treatment model reaches the corresponding set value, at which time the control instruction is sent to the lifting power device 2-2 to control the lifting power device 2-2 to descend / ascend, and the corresponding feedback instruction in the feedback information storage module is called to remind the user to prepare to change legs; the feedback instructions include the count reaching standard feedback information, the leg changing function feedback information, the encouragement feedback information, the separation alarm information and the media information.

[0155] The specific ways of the descending mode and the ascending mode in the embodiment are as follows:

[0156] In the descending mode, the initial state of the two lifting pedal assemblies 2 is the lifting stop position. When the control device executes the KOAPT computer program, the treatment process control module sends a control instruction to the leg switching function control module, the leg switching function control module calls feedback information to inform the user to perform leg swinging movement with the left / right leg, and the leg switching function control module sends a control instruction to the lifting power device 2-2 corresponding to the left / right leg, so that the pedal on the corresponding side is lowered. At this time, the right / left leg is the supporting leg, the lifting power device drives the lifting pedal to stop moving and be in a pause state, and the user performs leg swinging. When the leg swinging times of the left / right leg reach the single-leg supporting times T, the treatment process control module sends a control instruction to the leg switching function control module, the leg switching function control module calls feedback information to inform the user to switch legs, and perform leg swinging movement with the right / left leg. The leg switching function control module sends a control instruction to the lifting power device 2-2 corresponding to the left leg and the right leg, so that the pedal on the left leg side is lifted to the pause state, and then the pedal on the right leg side is lowered to the descending stop position to be in the pause state. For the user, before starting the movement, the pedal one and the pedal two are in the lifting stop position. When starting the leg swinging movement, the user stands on the pedal one according to the feedback information, the pedal two is automatically lowered to the descending stop position, and the user starts the leg swinging movement. When the leg needs to be switched, the user stops the movement according to the feedback information, the pedal two in the descending stop position is lifted to the lifting stop position to be in the pause state, the pedal one is automatically lowered to the descending stop position to be in the pause state, and the user continues the leg swinging movement after the leg switching. During the leg switching, the user does not need to perform the up / down step action, and the leg switching function is realized by the automatic lifting of the lifting pedal assembly 2.

[0157] In the ascending mode, the initial state of the two lifting pedal assemblies 2 is the descending stop position, and the control process is opposite to that in the descending mode, which will not be described herein. For the user, before starting the movement, the pedal one and the pedal two are in the descending stop position. When starting the leg swinging movement, the pedal one is lifted to the lifting stop position, the user needs to go up one step, and places the supporting leg on the lifted pedal one. The other processes are the same as those in the descending mode.

[0158] Embodiment 5

[0159] In this embodiment, as shown in FIG. 6, the lifting transmission mechanism 2-21 is a screw rod type, which includes parallel arranged lifting bottom plates 2-21a4 and lifting top plates 2-21a5. The lifting bottom plates 2-21a4 are fixedly installed on the upper surface of the base 1, and the lifting top plates 2-21a5 are fixedly installed on the lower surface of the lifting cover 2-11. Four link rods 2-21a3 are arranged in a rhombus between the lifting bottom plates 2-21a4 and the lifting top plates 2-21a5. The link rods 2-21a3 are connected with power screw rods 2-21a1 at the hinge joints. One end of the power screw rod 2-21a1 is connected with a lifting motor 2-21a2.

[0160] The power screw 2-21a1, the four rhombus-shaped hinged connecting rods 2-21a3, the lifting bottom plate 2-21a4 and the lifting top plate 2-21a5 constitute a jack mechanism. The lifting motor 2-21a2 is used to drive the power screw 2-21a1 to realize the electric control of the jack, and the lifting is controlled by the forward and reverse rotation of the lifting motor 2-21a2.

[0161] The lifting top plate 2-21a5 is fixedly installed with the inner top surface of the lifting cover 2-11, and the lifting bottom plate 2-21a4 is fixedly installed with the bottom surface of the lifting pedal installation slot 1-11, so as to realize the lifting of the lifting cover 2-11 relative to the base 1. The lifting height of the lifting cover 2-11 can be realized by the travel switch.

[0162] Preferably, if the lifting pedal assembly adopts the descending mode, the lifting power mechanism 2-2 can directly lift a larger weight, the power and structure of the lifting power mechanism 2-2 can be more lightweight, and the cost can be saved.

[0163] Embodiment 6:

[0164] In this embodiment, as shown in FIGS. 7 and 8, the lifting transmission mechanism 2-21 is a scissor transmission type, which includes the horizontally arranged scissor bottom plate 2-21b1 and the scissor top plate 2-21b2 fixed with the base 1 and the lifting cover 2-11 respectively. The scissor bottom plate 2-21b1 and the scissor top plate 2-21b2 are provided with two mutually intersecting scissor power connecting rod structures 2-21b3 therebetween, the two scissor power connecting rod structures 2-21b3 are respectively inserted with the power rod connecting shafts 2-21b4 to form a fixed rectangle, and the power rod connecting shafts 2-21b4 are connected with the push rod 2-2-21b5. The push rod 2-2-21b5 can be provided as a hydraulic electric rod with the same function.

[0165] The specific embodiment of the scissors power link structure 2-21b3 is that the front and rear edges of the left side of the scissors bottom plate 2-21b1 are respectively provided with a waist-shaped groove 2-21b6 opening to the right, and the scissors bottom plate 2-21b1 and the scissors top plate 2-21b2 are provided with a front and rear parallel arrangement and right side inclined scissors driven link 2-21b7 and a front and rear parallel arrangement and left side inclined scissors power link 2-21b8, and the front and rear scissors driven links 2-21b7 are hinged to the middle point of the same side of the scissors power link 2-21b8, thereby forming a movable scissors. The two ends of the two scissors driven links 2-21b7 are respectively inserted with a driven rod connecting shaft 2-21b10, forming a fixed rectangle. The front and rear ends of the driven rod connecting shaft 2-21b10 near the left side of the scissors bottom plate 2-21b1 are respectively provided with a rolling bearing 2-21b9 capable of rolling in the waist-shaped groove 2-21b6, and the front and rear ends of the driven rod connecting shaft 2-21b10 near the right side of the scissors top plate 2-21b2 are respectively hinged to the scissors top plate 2-21b2. The rolling bearing 2-21b9 rolls in the range of the waist-shaped groove 2-21b6, thereby limiting the lifting stroke of the scissors lifting power mechanism.

[0166] The advantage of the scissors lifting power mechanism is that the overall thickness is low after folding, thereby reducing the height of the entire base, avoiding the user to walk on a high position for exercise; the bottom of the scissors top plate 2-21b2 has two horizontal supports, the stress points are uniform, the whole is relatively stable, and the lifting force is greatly improved.

[0167] Embodiment 7:

[0168] In this embodiment, as shown in FIGS. 9 and 10, the lifting transmission mechanism 2-21 is a direct drive lifting mechanism, which includes a horizontally arranged lifting bottom box 2-21c1 and a lifting top box 2-21c2 fixed with the base 1 and the lifting cover 2-11 respectively, the lifting bottom box 2-21c1 is upwardly open, and the lifting top box 2-21c2 is downwardly open, and a first power rod 2-21c3 capable of lifting up and down is arranged between the two.

[0169] The shapes of the lifting bottom box 2-21c1 and the lifting top box 2-21c2 are both rectangular boxes, the top end of the first power rod 2-21c3 is fixedly connected with the lower surface of the lifting top box 2-21c2, and the bottom end is fixedly connected with the upper surface of the lifting bottom box 2-21c1. When the first power rod 2-21c3 extends and retracts, it drives the lifting top box 2-21c2 to lift. The first power rod 2-21c3 can be an electric push rod or a hydraulic electric rod.

[0170] The direct drive lifting mechanism is simple in structure and easy to realize, but since the actual lifting force point is only one point at the top of the first power rod 2-21c3, the first power rod 2-21c3 is affected by the force received by the lifting top box 2-21c2, and a certain bending moment is generated on the first power rod 2-21c3, so that the first power rod 2-21c3 is subjected to a force other than the axial direction, and even deformed, resulting in that the lifting top box 2-21c2 is nested in the lifting bottom box 2-21c1 and not parallel to each other, and there is friction between them, and the friction wear or jam occurs. In addition, if the first power rod 2-21c3 is an electric push rod, the force is limited, and the base height of the entire base is increased to about 170 mm according to the lifting height requirement. If a hydraulic electric rod is used, the speed is relatively slow compared with the electric push rod.

[0171] Embodiment 8:

[0172] In this embodiment, as shown in FIGS. 11 and 12, the lifting transmission mechanism 2-21 is a multi-electric push rod type, which includes a lifting base 2-21d1 and a lifting top 2-21d2 arranged horizontally and fixed with the base 1 and the lifting cover 2-11 respectively, and a plurality of electric push rods 2-21d3 are uniformly arranged between the lifting base 2-21d1 and the lifting top 2-21d2.

[0173] The lifting base 2-21d1 is provided with front and rear guide air spring mounting plates 2-21d4 arranged vertically with the lifting base 2-21d1 on the left and right sides respectively, a mounting plate reinforcing plate 2-21d5 arranged parallel to the lifting base 2-21d1 is inserted between the two guide air spring mounting plates 2-21d4, and a horizontal guide air spring 2-21d6 is fixedly installed at the top of each guide air spring mounting plate 2-21d4 and corresponds to the four corner positions of the lifting base 2-21d1, and the top of the four guide air springs 2-21d6 is fixedly connected with the lifting top 2-21d2; the electric push rod 2-21d3 capable of penetrating the mounting plate reinforcing plate 2-21d5 and lifting up and down is vertically installed between the lifting top 2-21d2 and the lifting base 2-21d1, the top of the electric push rod 2-21d3 is fixedly connected with the lower surface of the lifting top 2-21d2, and the bottom of the electric push rod 2-21d3 is fixedly connected with the upper surface of the lifting base 2-21d1. In this embodiment, the electric push rod 2-21d3 is the electric push rod 2-21d3 described above.

[0174] The four guide air springs 2-21d6 have the same spring force, and the fixed end is installed in the guide air spring mounting plate 2-21d4, so that the spring rod of the guide air spring 2-21d6 has only the vertical degree of freedom. The top of the four guide air springs 2-21d6 is fixedly connected with the lifting top 2-21d2, and there is a cooperation precision requirement here.

[0175] The four guide air springs 2-21d6 can only stretch up and down, thus having a guiding effect, so that the lifting top base 2-21d2 can only be lifted in the vertical direction, thereby solving the phenomenon that the first power rod 2-21c3 in embodiment 6 is single-point stressed, a bending moment is generated, and friction is caused.

[0176] The elastic force of the four guide air springs 2-21d6 can assist the electric push rod 2-21d3 in lifting the lifting top base 2-21d2 upward, thereby reducing the load of the electric push rod 2-21d3 when lifting upward; when falling downward, the pressure on the electric push rod 2-21d3 is the resultant force of the four guide air springs 2-21d6 and the weight of the human body, and the required self-locking force is smaller. The electric push rod 2-21d3 can be an electric push rod or a hydraulic electric rod; the electric push rod is more economical and simple to control; the hydraulic electric rod is relatively expensive and slow, but has a larger lifting force.

[0177] Embodiments 7 and 8 have a common drawback that the base height is large, and when the equipment is made, the height of the base will be relatively large.

[0178] Embodiment 9:

[0179] In this embodiment, as shown in FIGS. 13 and 14, the lifting transmission mechanism 2-21 is a cantilever lifting type, which includes guide rails 2-21e1 symmetrically arranged on the inner side of the base 1 and a lead screw 2-21e2, the top of the lead screw 2-21e2 is connected with a motor 2-21e3, and a sliding table 2-21e4 is arranged on the lead screw 2-21e2, the sliding table 2-21e4 is connected with the lifting pedal 2-1.

[0180] This embodiment solves the problem of large base height in embodiments 7 and 8, and the structure of the lifting transmission mechanism 2-21 in this embodiment makes the vertical height of the pedal lower, so that the user can step on the pedal without lifting a high step.

[0181] Embodiment 10:

[0182] This embodiment provides a device for knee joint rehabilitation training, which includes the electric pedal assembly and the motion support assembly in embodiments 1-9.

[0183] In this embodiment, the motion support assembly includes a support frame fixedly arranged on the outer side of the lifting platform pedal assembly, and a force-bearing support is arranged on the support frame, the relative position of the force-bearing support and the lifting platform pedal assembly does not change in the process that the first pedal and the second pedal alternately reach the lifting stop position and the falling stop position.

[0184] As shown in FIG. 15, the motion support assembly includes a support frame fixedly arranged on the outer side of the lifting platform pedal assembly, and a force-bearing support is arranged on the support frame, the relative position of the force-bearing support and the lifting platform pedal assembly does not change in the process that the first pedal and the second pedal alternately reach the lifting stop position and the falling stop position.

[0185] The first pedal and the second pedal are symmetrically arranged relative to the middle line a of the two, and the force bearing support is symmetrically arranged on both sides of the vertical plane where the middle line a is located. The force bearing support is an elbow support, an armpit support or a waist support. In this embodiment, the force bearing support is an elbow support.

[0186] Embodiment 11:

[0187] The difference between this embodiment and embodiment 10 is that the support frame is a lifting platform 6, and the force bearing support is an elbow support. As shown in FIG. 16, the bottom plate 4 is horizontally placed on the ground, the base 1 is placed on the bottom plate 4, and the lifting pedal assembly 2 is installed in the base 1; a lifting platform 6 for elbow support and capable of adjusting height is arranged above the bottom plate 4. The lifting pedal 2-1 is provided with a counting / timing sensor 3 corresponding to the foot position.

[0188] Embodiment 12:

[0189] The difference between this embodiment and embodiment 11 is that, as shown in FIG. 17, the side stand 5 is arranged vertically on one side of the bottom plate 4, the middle partition plate 7 is arranged front and back on the upper end surface of the side stand 5, and the seat support device 8 capable of sitting or leaning is arranged on the upper end of the middle partition plate 7.

[0190] The counting / timing sensor 3 is arranged on the left and right side plates of the middle partition plate 7 corresponding to the foot position, and the signals collected by the left and right counting / timing sensors 3 are transmitted to the control assembly and are opened according to the control signals of the control assembly when the corresponding left and right lifting pedals 2-1 are lowered and are closed when the corresponding left and right lifting pedals 2-1 are raised.

[0191] As shown in FIGS. 18 and 19, the seat support device 8 includes a Γ-shaped seat switching device 8-1, and the seat support device 8-1 is provided with a seat support 8-4 capable of being flipped up and down and moving forward and backward. When the seat support 8-4 is flipped up, the seat support 8-4 is in a hip leaning state, and when the seat support 8-4 is placed horizontally, the seat support 8-4 is in a hip sitting state; the seat switching device 8-1 is connected with the seat support lifting device 8-2 arranged on the middle partition plate 7 and capable of being lifted up and down through the lifting pipe 8-13 arranged at the lower end of the seat switching device 8-1, and the rear end of the seat support lifting device 8-2 is provided with a locking valve 8-3 for locking or releasing the lifting pipe 8-13.

[0192] Preferably, the seat switching device 8-1 comprises a Γ-shaped upper tooth-shaped horizontal limiting plate 8-14 and a Γ-shaped lower lifting pipe 8-13, the left and right sides of the tooth-shaped horizontal limiting plate 8-14 are provided with front and rear sliding grooves 8-12, and the sliding grooves 8-12 are provided with damping sliding block rotating shafts 8-11 matched with the sliding grooves 8-12; as shown in Figure 20, the seat support 8-4 comprises a connecting plate 8-41 connected with the damping sliding block rotating shaft 8-11 through a rotating shaft mounting hole 8-42, the left and right connecting plates 8-41 form a U-shaped fork 8-43, the width of the U-shaped fork 8-43 is matched with the width of the tooth-shaped horizontal limiting plate 8-14, the bottom end of the U-shaped fork 8-43 is provided with a rack 8-44, the rack 8-44 is engaged with any tooth of the tooth-shaped horizontal limiting plate 8-14, so that when the seat support 8-4 is erected, the rack 8-44 is prevented from sliding forward and backward, and in addition, the front and rear positions of the seat support 8-4 (in the state of leaning on the hips) are adjusted to adapt to different body types. The seat support lifting device 8-2 comprises a seat support lifting pipe column 8-21 arranged on the middle partition plate 7, and the seat support lifting pipe column 8-21 adopts an electric rod automatic control lifting mode or a manual height adjustment and compression mode.

[0193] As shown in Figure 21, the damping sliding block rotating shaft 8-11 comprises a sliding block 8-111 slidingly matched with the sliding groove 8-12, the outer side of the sliding block 8-111 is provided with a damping rotating shaft 8-112 capable of damping rotation, the damping rotating shaft 8-112 is fixedly provided with a seat support mounting block 8-113 on the outer periphery, and the seat support mounting block 8-113 is matched and fixed with the rotating shaft mounting hole 8-42.

[0194] The damping rotating shaft 8-112 and the sliding block 8-111 can be rotatable with damping, and arbitrary stopping can be realized. The damping rotating shaft 8-112 is relatively fixed with the seat support mounting block 8-113, and the seat support mounting block 8-113 is fixed with the seat support 8-4 through the rotating shaft mounting hole 8-42, so that the seat support 8-4 can be arbitrarily rotated and stopped relative to the tooth-shaped horizontal limiting plate 8-14. The special feature of the damping sliding block rotating shaft 8-11 is that a character-shaped damping hinge is combined with the sliding block 8-111, which can realize rotation and sliding, so that the seat support 8-4 is more flexible in adjustment.

[0195] The seat support device 8 of the application can be used as auxiliary support for the hips, and can be flexibly switched or simultaneously act between the state of leaning on the hips and the state of sitting on the hips, which not only can reduce the force borne by the standing leg when standing on one leg to swing the leg, but also can enable the user to sit and swing the leg or take a short rest during the interval of the movement; at the same time, the seat support device 8 can move forward and backward and upward and downward, and is suitable for patients with different heights and body types.

[0196] As shown in Figure 17, the application further comprises an underarm support device 9 arranged in front of the chest of the patient and fixed on the side edge of the lifting platform 6, and the underarm support device 9 adopts an electric rod automatic control lifting mode or a manual height adjustment and compression mode.

[0197] Preferably, as shown in Figure 22, the armpit support device 9 adopts an electric rod automatic control lifting mode, which comprises a vertically arranged electric rod 9-1, a control assembly is electrically connected with the electric rod 9-1, and the electric rod 9-1 is controlled to move according to the control instruction of the computer program. The electric rod 9-1 is fixedly connected with the side edge of the lifting platform 6, and a telescopic rod 9-2 is arranged in the electric rod 9-1. The telescopic rod 9-2 is provided with arc-shaped armpit support plates 9-3 on the left and right sides, respectively. The armpit support plates 9-3 are connected with the telescopic rod 9-2 through armpit support plate rotating shafts 9-4 arranged on the upper end of the telescopic rod 9-2, so that the armpit support plates 9-3 rotate in and out around the armpit support plate rotating shafts 9-4, and different patients of different body types can be adapted.

[0198] The armpit support device 9 of the present application serves as an armpit auxiliary support. When the patient leans forward, the arc-shaped armpit support plates 9-3 provided on the left and right sides of the telescopic rod 9-2 support the armpit of the patient, thereby reducing the force borne by the standing leg when the patient stands and swings the leg. Meanwhile, the arc-shaped armpit support plates 9-3 can move up and down and rotate in and out, so as to adapt to patients of different heights and body types.

[0199] As shown in Figures 23 and 24, the lifting platform 6 comprises a fence plate 6-1 in inverted U-shaped cross section. An inverted U-shaped support platform 6-2 for supporting the elbow is fixedly arranged on the upper end surface of the fence plate 6-1. A cantilever support 6-8 connected with the armpit support device 9 is fixedly arranged on the lower end surface of the support platform 6-2 and inside the fence plate 6-1. A telescopic column 6-3 is fixedly arranged on one side of the cantilever support 6-8. A telescopic column telescopic end 6-32 of the telescopic column 6-3 is fixedly connected with the cantilever support 6-8. A telescopic column base end 6-31 of the telescopic column 6-3 is fixedly connected with the side stand plate 5.

[0200] Specifically, the cantilever support 6-8 comprises a lifting platform connecting surface 6-82 fixedly connected with the support platform 6-2. A telescopic column connecting port 6-83 connected with the telescopic column telescopic end 6-32 is arranged on the side end of the lifting platform connecting surface 6-82. An armpit support connecting end 6-81 connected with the armpit support device 9 is arranged on the side close to the patient of the lifting platform connecting surface 6-82.

[0201] The side stand plate 5 comprises a side stand plate shell 5-1 and a side stand plate cover 5-2. The side stand plate shell 5-1 comprises a vertically arranged U-shaped reinforcing rib 5-11. The telescopic column base end 6-31 is embedded in the U-shaped groove of the reinforcing rib 5-11. The bottom end of the reinforcing rib 5-11 extends inwardly to have a bottom plate fixed connecting end 5-12 embedded in the bottom plate 1. The telescopic column speed reduction motor 6-33 is sleeved in the inside of the bottom plate fixed connecting end 5-12. The height of the support platform 6-2 is adjusted through the telescopic adjustment of the telescopic column 6-3, so as to adapt to patients of different heights.

[0202] Preferably, the control panel 6-4 is arranged on the tabletop of the support platform 6-2, and is electrically connected with the two lifting transmission mechanisms 2-21 respectively, and the lifting transmission mechanisms 2-21 are controlled to be lifted or lowered through the control panel 6-4. The control panel 6-4 is electrically connected with the electric rod 9-1, and the lifting of the telescopic rod 9-2 is controlled through the control panel 6-4. The control panel 6-4 is electrically connected with the telescopic column 6-3, and the up-down telescopic movement of the telescopic column 6-3 is controlled through the control panel 6-4. In the embodiment, the control assembly, i.e., the control panel 6-4, includes a control device, a communication module, a power module and the like, and the lifting transmission mechanisms 2-21, the electric rod 9-1 and the telescopic column 6-3 are controlled to move through a computer program.

[0203] The elbow support devices 6-5 for assisting in supporting the elbow are symmetrically arranged on the left and right sides of the tabletop of the support platform 6-2, and each elbow support device 6-5 includes an elbow support connecting rod 6-51 which is hingedly connected to the tabletop of the support platform 6-2 at one end. By adjusting the rotation angle of the elbow support connecting rod 6-51 on the support platform 6-2, the distance between the left and right elbow support connecting rods 6-51 can be changed, so as to adapt to patients with different body types. The other end of the elbow support connecting rod 6-51 is hingedly connected to an elbow support 6-52, and by adjusting the rotation angle of the elbow support 6-52 on the elbow support connecting rod 6-51, the angle between the patient's arm and the elbow support 6-52 can be freely adjusted.

[0204] Specifically, the rotation angle of the elbow support connecting rod 6-51 on the support platform 6-2 is 0-90°. When the elbow support connecting rod 6-51 is rotated to the vertical direction (i.e., 0°), the distance between the left and right elbow support connecting rods 6-51 is the widest, which is suitable for people with wide body types. When the elbow support connecting rod 6-51 is rotated to the horizontal direction (i.e., 90°), the distance between the left and right elbow support connecting rods 6-51 is the narrowest, which is suitable for people with small body types.

[0205] The elbow support device 6-5 of the present application serves as an auxiliary support for the elbow. By adjusting the rotation angle of the elbow support on the elbow support connecting rod 6-51, the angle between the patient's arm and the elbow support can be freely adjusted, so as to reduce the force borne by the standing leg when the patient stands on one leg to swing the leg. Meanwhile, by adjusting the rotation angle of the elbow support connecting rod 6-51 on the support platform, the distance between the left and right elbow support connecting rods can be changed, so as to adapt to patients with different body types. By adjusting the height of the lifting platform, the elbow support of patients with different heights can be facilitated.

[0206] Preferably, the left and right sides of the front of the tabletop of the support platform 6-2 are provided with gripping supports 6-6 for hand gripping, so as to give the patient a stable balance of the body when the patient swings the leg greatly. The tabletop of the support platform 6-2 is further provided with a mobile terminal support 6-7 for supporting and adjusting the orientation of a mobile terminal.

[0207] The front rail grip support 6-9 in the inverted U shape for gripping and leaning is arranged in front of the support platform 6-2 table, and an optional gripping mode is added on the basis of the gripping support 6-6, which is similar to leaning on the rail; the left and right gripping supports 6-10 are arranged on the left and right sides of the support platform 6-2 table, and the left and right gripping supports 6-10 cannot work with the elbow support device 6-5, which is supported by the arm through the grip.

[0208] The mobile terminal support 6-7 is used for adjusting the orientation of the mobile terminal, and the APP downloadable on the mobile terminal is interconnected with the KOAPT therapy rehabilitation instrument with the automatic leg changing function, so that the data can be displayed in real time through the mobile terminal, and the user can switch the mobile terminal interface to carry out entertainment and office activities.

[0209] As shown in FIG. 25, the bottom plate 4 includes an auxiliary stepping bottom plate table 4-2 horizontally placed on the ground, and the base 1 is installed on the auxiliary stepping bottom plate table 4-2.

[0210] Preferably, the height of the intermediate partition plate 7 is 0.4-0.8 m, and the height of the intermediate partition plate 7 is too high, which causes the patient to have difficulty in stepping over, and the height of the intermediate partition plate 7 is too low, which causes the seat support lifting pipe column 5-21 to be damaged due to too large lifting amplitude.

[0211] Specifically, the height of the intermediate partition plate 7 is 0.6-0.8 m, preferably 0.5 m.

[0212] As shown in FIG. 26, when the user uses the present application to swing the leg, the elbow can be supported on the elbow support device 6-5, and the hip can be leaned on the seat support 8-4; the elbow can be supported on the elbow support device 6-5, and the armpit can be leaned on the armpit support plate 9-3; the hip can be leaned on the seat support 8-4 to free the hands; or the leg can be directly swung while sitting on the seat support 8-4, so that the patient can completely free the hands during the leg swinging movement, and can read, write, and work on the computer using the lifting table table, so as to achieve the movement rehabilitation and work and study.

[0213] Embodiment 14:

[0214] The present application also provides a use method of a knee joint rehabilitation training instrument, which is realized based on the electric bottom plate assembly in the above embodiments, and includes the following steps:

[0215] S1 adjusts the pedal one and the pedal two to the lifting stop position;

[0216] S2 control assembly controls the lifting power device to drive the pedal one or pedal two to descend to the descending stop position, and maintains pedal two or pedal one as the ascending stop position;

[0217] S3 control assembly sends the control instruction of descending / ascending to the two lifting pedal assemblies respectively according to the KOAPT treatment model, to control the two pedals to be in the ascending stop position and descending stop position intermittently and alternately.

[0218] Embodiment 15:

[0219] The application further provides a use of the knee joint rehabilitation training device, and the knee joint rehabilitation training device in Embodiments 10-13 is used to treat KOA, arthritis and knee joint diseases.

[0220] The above-mentioned embodiment of the electric bottom plate assembly for the leg swinging rehabilitation training is the preferred embodiment of the application, but the embodiment of the application is not limited to the above-mentioned embodiment, and any change, modification, replacement, combination, simplification, which is not deviated from the spirit and principle of the application, should be the equivalent replacement mode, and all are included in the protection scope of the application.

Claims

1. An electrically powered underfloor assembly for swing leg rehabilitation training, characterized by: The base (1) is provided with a lifting platform pedal assembly (2), the lifting platform pedal assembly (2) includes a lifting pedal (2-1) and a lifting power device (2-2), the lifting power device (2-2) drives the lifting pedal (2-1) to make lifting movement, the electric bottom plate assembly is provided with at least two lifting pedals (2-1), including pedal one and pedal two, the pedal one and the pedal two are arranged in pairs along the horizontal direction, the lifting power device (2-2) drives the pedal one and the pedal two to alternately be in the lifting stop position and the descending stop position, the pedal one or the pedal two is in the lifting stop position as the load-bearing pedal, the pedal two or the pedal one is in the descending stop position as the empty load pedal.

2. The electric floorboard assembly for crutching rehabilitation training according to claim 1, characterized in that: The vertical distance of the lifting stop position and the descending stop position is D-d, the vertical height of the sole of the user's single leg stepping on the load-bearing pedal is H, the vertical height of the lowest sole of the other leg when swinging the leg away from the empty load pedal is h, and the vertical distance of the lifting stop position and the descending stop position satisfies the relationship D-d>H-h.

3. The electrically powered underboard assembly for crutching rehabilitation training according to claim 1, characterized in that: The lifting power device drives the lifting pedal to make lifting movement, and further includes a pause state of stopping movement of the lifting pedal, and the pause state is arranged when the lifting pedal is in the lifting stop position or the descending stop position.

4. The electrically powered underboard assembly for crutching rehabilitation training according to claim 3, characterized in that: The duration of the pause state is 5 seconds to 20 minutes.

5. The electrically powered underboard assembly for crutching rehabilitation training according to claim 1, characterized in that: After the lifting power device drives the pedal one or the pedal two in the descending stop position to move upward to the lifting stop position, the lifting power device drives the pedal two or the pedal one in the lifting stop position to move downward to the descending stop position.

6. The electrically powered underboard assembly for crutching rehabilitation training according to claim 1, characterized in that: The vertical distance between the lifting stop position and the descending stop position is 5-50 cm.

7. The electrically powered underboard assembly for crutching rehabilitation training according to claim 1, characterized in that: The distance between the pedal one and the pedal two along the pedal surface is 0.1-50 cm.

8. The electric floorboard assembly for crutching rehabilitation training according to any one of claims 1-7, characterized in that: Further comprising a counting / timing sensor (3), the counting / timing sensor (3) collects a counting signal of the number of leg swinging movements of the user on the lifting platform pedal assembly (2) or a timing signal of the time of the leg swinging movements, when the counting signal / timing signal reaches a preset value, the counting / timing sensor is signal connected with the lifting power device (2-2), and the lifting power device (2-2) drives the pedal one and the pedal two to move up and down to exchange the lifting stop position and the descending stop position.

9. The motorized underpanel assembly for crutching rehabilitation training of claim 8, wherein: The counting / timing sensor (3) is oriented to the space region corresponding to the movement of the pedal one or the pedal two from the lifting stop position to the descending stop position.

10. The electrically powered underboard assembly for crutching rehabilitation training according to claim 8, characterized in that: The counting / timing sensor is arranged on the pedal one or the pedal two, and is oriented to the space region corresponding to the movement of the pedal two or the pedal one from the lifting stop position to the descending stop position.

11. The electrically powered underboard assembly for crutching rehabilitation training according to claim 1, characterized in that: The base (1) is provided with a mounting groove (1-1) matched with the outer contour of the lifting platform pedal assembly (2), and the lifting platform pedal assembly (2) is embedded and fixed in the mounting groove (1-1).

12. The motorized underpanel assembly for crutching rehabilitation training of claim 8, wherein: Further comprising a control device, the control device controls the lifting power device (2-1) to drive the lifting pedal to move up and down.

13. The motorized underpanel assembly for crutching rehabilitation training of claim 12, wherein: Further comprising a movement amount acquisition assembly, the movement amount acquisition assembly includes one or more of a leg swinging frequency acquisition device, a leg swinging frequency acquisition device and a leg swinging amplitude acquisition device, and the leg swinging frequency acquisition device includes the counting / timing sensor (3).

14. The motorized underpanel assembly for crutching rehabilitation training of claim 13, wherein: The control device is internally disposed with a KOAPT computer program, which guides the user to complete the treatment rehabilitation training according to the KOAPT treatment model, and the control device controls the lifting power device (2-1) to drive the first and second pedals to alternately be in the lifting and lowering stop positions according to the KOAPT treatment model.

15. The motorized underpanel assembly for crutching rehabilitation training of claim 14, wherein: The feedback assembly is arranged on the base (1) or the lifting platform pedal assembly (2), and is electrically connected with the control device, and the feedback assembly sends audio and / or video and / or visible light signals and / or tactile signals to the user according to the control instruction.

16. The motorized underpanel assembly for crutching rehabilitation training of claim 15, wherein: The feedback assembly is a video signal playing element and / or an audio signal playing element and / or a vibration feedback element and / or a visible light emitting element.

17. The motorized underpanel assembly for crutching rehabilitation training of claim 8, wherein: The lifting pedal (2-1) comprises a stepping platform (2-12) for the foot pedal, and the lifting power device (2-2) comprises a lifting transmission mechanism (2-21), the fixed end of the lifting transmission mechanism (2-21) is fixedly connected with the base (1), and the lifting working end is fixedly connected with the bottom surface of the stepping platform.

18. The motorized underpanel assembly for crutching rehabilitation training of claim 17, wherein: The lifting transmission mechanism (2-21) is a screw rod type, comprising a power screw rod (2-21a1), one end of the power screw rod (2-21a1) is connected with a lifting motor (2-21a2), and the power screw rod (2-21a1) is connected with the base (1) and the bottom surface of the stepping platform (2-12) through connecting rods (2-21a3) respectively.

19. The motorized underpanel assembly for crutching rehabilitation training of claim 17, wherein: The lifting transmission mechanism (2-21) is a scissor transmission type, comprising a horizontally arranged scissor bottom plate (2-21b1) and a scissor top plate (2-21b2) fixed with the base (1) and the stepping platform (2-12) respectively, two scissor power connecting rod structures (2-21b3) are arranged between the scissor bottom plate (2-21b1) and the scissor top plate (2-21b2) and cross each other, power rod connecting shafts (2-21b4) are respectively inserted between the two scissor power connecting rod structures (2-21b3), and a fixed rectangle is formed, and the power rod connecting shafts (2-21b4) are connected with push rods (2-2-21b5).

20. The motorized underpanel assembly for crutching rehabilitation training of claim 17, wherein: The lifting transmission mechanism (2-21) is a direct drive type lifting mechanism, comprising a horizontally arranged lifting bottom box (2-21c1) and a lifting top box (2-21c2) fixed with the base (1) and the stepping platform (2-12) respectively, the lifting bottom box (2-21c1) is upwardly open, the lifting top box (2-21c2) is downwardly open, and a first power rod (2-21c3) capable of being lifted up and down is arranged between the lifting bottom box (2-21c1) and the lifting top box (2-21c2).

21. The motorized underpanel assembly for crutching rehabilitation training of claim 17, wherein: The lifting transmission mechanism (2-21) is a multi-electric push rod type, comprising a horizontally arranged lifting base (2-21d1) and a lifting top base (2-21d2) fixed with the base (1) and the stepping platform (2-12) respectively, and a plurality of electric push rods (2-21d3) are uniformly arranged between the lifting base (2-21d1) and the lifting top base (2-21d2).

22. The motorized underpanel assembly for crutching rehabilitation training of claim 17, wherein: The lifting transmission mechanism (2-21) is a cantilever lifting type, comprising guide rails (2-21e1) and lead screws (2-21e2) symmetrically arranged on the inner side of the base (1), the top of the lead screw (2-21e2) is connected with a motor (2-21e3), and a sliding table (2-21e4) is arranged on the lead screw (2-21e2), and the sliding table (2-21e4) is connected with the lifting pedal (2-1).

23. The motorized underpanel assembly for crutching rehabilitation training of claim 17, wherein: The lifting pedal (2-1) comprises a lifting cover (2-11), and sensor mounting holes (2-14) are arranged on the inner side of the lifting cover (2-11) of the first pedal and the second pedal, and the counting / timing sensor (3) is mounted in the sensor mounting hole (2-14).

24. The motorized underpanel assembly for crutching rehabilitation training of claim 8, wherein: The counting / timing sensor (3) is arranged at the inner edge of the mounting groove (1-1) of the base (1).

25. An apparatus for knee rehabilitation training, characterized by: The electric bottom plate assembly comprises the electric bottom plate assembly of any one of claims 1-7 and 9-24.

26. The apparatus according to claim 25, characterized in that: The motion support assembly comprises a support frame fixedly arranged on the outer side or the inner side of the lifting platform pedal assembly, and a force bearing support is arranged on the support frame, and the relative position of the force bearing support to the lifting platform pedal assembly is unchanged during the process that the first pedal and the second pedal alternately reach the lifting stop position and the descending stop position.

27. The apparatus according to claim 26, characterized in that: The first pedal and the second pedal are symmetrically arranged relative to the middle line α, and the force bearing support is symmetrically arranged on both sides of the vertical plane where the middle line α is located.

28. The apparatus according to claim 26, wherein: The force bearing support is an elbow support, an armpit support or a waist support.

29. A method of using a knee rehabilitation training apparatus, implemented based on the motorized underpan assembly of any one of claims 1-7, 9-23, characterized in that: The method comprises the following steps: S1, adjusting the first pedal and the second pedal to the lifting stop position; S2, driving the first pedal or the second pedal to descend to the descending stop position by the power device, and maintaining the second pedal or the first pedal at the lifting stop position; S3, the control component sends a descending / rising control instruction to the two lifting pedal assemblies according to the KOAPT treatment model, so as to control the two pedals to alternately reach the lifting stop position and the descending stop position.

30. Use of a knee rehabilitation training apparatus, characterized in that: The knee joint rehabilitation training instrument is used for treating KOA, arthritis and knee joint diseases.

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