CN109550185B - Rehabilitation device - Google Patents

Abstract

The invention relates to a wearable rehabilitation device for spinal rehabilitation therapy. Comprises a waist support, a chest support and a connecting mechanism; the connecting mechanism comprises an upper joint, a lower joint and a damper; the upper joint and the lower joint are both cross-shaped universal couplings, and each cross-shaped universal coupling comprises two fork joints and a cross-shaped component; one fork joint of the upper joint is fixedly connected with the chest support, the other fork joint of the upper joint is connected with the damper, one fork joint of the lower joint is fixedly connected with the waist support, and the other fork joint of the lower joint is connected with the damper. The rehabilitation device provided by the invention can realize the load training of the upper body for forward bending, backward stretching and lateral bending, and also can realize the rotary load training of the upper body, so that the application range of the load training is improved, and the rehabilitation treatment effect is improved.

Description

Rehabilitation device

Technical Field

The invention relates to a wearable rehabilitation device for spinal rehabilitation therapy.

Background

With the increase of social rhythm and working pressure, the improvement of living standard and living and working environment of people, the incidence of low back pain is increasing at a remarkable speed, which may be related to the factors of the people such as prolonged working time at a desk, reduced activity and obesity. Therefore, there is a need to increase the exercise of the lower back and thereby reduce the pain of the lower back.

Disclosure of Invention

The invention aims to provide a rehabilitation device for spinal rehabilitation therapy.

The above purpose is realized by the following technical scheme:

a rehabilitation device for spinal rehabilitation comprises a waist support, a chest support and a connecting mechanism connected between the waist support and the chest support; the connecting mechanism comprises an upper joint, a lower joint and a damper; the upper joint and the lower joint are both cross-shaped universal couplings, and each cross-shaped universal coupling comprises two fork joints and a cross-shaped component connected between the two fork joints; one fork joint of the upper joint is fixedly connected with the chest support, the other fork joint of the upper joint is connected with the damper, one fork joint of the lower joint is fixedly connected with the waist support, and the other fork joint of the lower joint is connected with the damper; the damper is connected to the two-fork joint, and the damper can make the two-fork joint rotate relatively around a common axis and move relatively along the common axis, and the damper provides resistance for resisting the two-fork joint to rotate relatively around the common axis and move relatively along the common axis.

The rehabilitation device provided by the invention can realize the load training of the upper body for forward bending, backward stretching and lateral bending, and also can realize the rotary load training of the upper body, so that the application range of the load training is improved, and the rehabilitation treatment effect is improved.

Drawings

Figures 1 and 2 show a perspective view of the invention from two different angles, respectively;

FIG. 3 shows a perspective exploded view of the present invention;

FIG. 4 shows a schematic orthographic view of the coupling mechanism of the present invention;

FIG. 5 shows a perspective view of the connection mechanism of the present invention;

FIG. 6 shows a perspective exploded view of the coupling mechanism of the present invention;

FIG. 7 shows a perspective exploded view of the cross-pin universal coupling of the present invention;

figures 8 and 9 show perspective views of the damper of the present invention at two different angles, respectively;

FIG. 10 shows a schematic orthographic view of the damper of the present invention;

FIG. 11 shows a cross-sectional view A-A of FIG. 10;

FIG. 12 shows an enlarged view of the section B-B of FIG. 11 with the slide pin in the unlocked position;

fig. 13 is a schematic view showing the lock mechanism hand wheel rotated an angle counterclockwise in the drawing based on fig. 11 with the slide pin in the locked position;

FIG. 14 shows an enlarged view of the cross-sectional C-C view of FIG. 11;

FIG. 15 shows an enlarged view of the D-D cross-sectional view of FIG. 11;

FIG. 16 shows an enlarged view of the section E-E of FIG. 11;

FIG. 17 is a schematic view of the resistance adjusting handwheel rotated an angle clockwise in the drawing based on FIG. 16;

fig. 18 shows a partially enlarged view of portion F of fig. 11;

FIG. 19 shows a schematic view of the movement resistance adjustment thrust shaft shifted upwardly in the figure by a shift based on FIG. 18;

FIG. 20a shows an enlarged partial view of portion G of FIG. 15;

FIG. 20b is the exploded view of the rotating sleeve, the moving shaft and the telescopic rod of FIG. 20 a;

figures 21 and 22 show perspective views of the moving shaft and the telescopic rod assembled therewith, respectively, in two different angles according to the present invention;

figures 23 and 24 show perspective views of the base of the invention and the rotating sleeve fitted thereto, respectively, at two different angles;

figures 25 and 26 show respectively an exploded perspective view of the mobile shaft of the invention and of the telescopic rod assembled therewith, at two different angles;

figures 27 and 28 show schematic perspective views of the moving abutment mechanism of the present invention at two different angles, respectively;

FIGS. 29 and 30 show exploded isometric views of two different angles of the moving abutment mechanism of the present invention, respectively;

FIGS. 31 and 32 show exploded isometric views of the base of the present invention and the rotating sleeve assembled therewith at two different angles, respectively;

figures 33 and 34 show schematic perspective views of the base abutment mechanism of the invention at two different angles, respectively;

FIGS. 35 and 36 show exploded isometric views of two different angles of the base abutment mechanism of the present invention, respectively;

fig. 37 and 38 are perspective views showing two different angles of the lock mechanism housing, slide pin and thrust spring, respectively, of the present invention after assembly;

fig. 39 and 40 show exploded isometric views of two different angles of the lock mechanism housing, slide pin and thrust spring, respectively, of the present invention after assembly.

Detailed Description

A rehabilitation device as shown in fig. 1 to 40, which is used for spinal rehabilitation and is suitable for rehabilitation after being worn by a patient, comprises a waist support 100, a chest support 200 and a connecting mechanism connected between the waist support 100 and the chest support 100, wherein in the embodiment, the waist support 100 and the chest support 200 can adopt the prior art;

the connecting mechanism comprises an upper joint 20, a lower joint 30 and a damper 10;

the upper joint 20 and the lower joint 30 are both cross-shaft type universal couplings, each of which comprises two fork joints 301 and a cross-shaped member 302 connected between the two fork joints, in this embodiment, the double cross-shaft type universal couplings can prevent a connecting mechanism from interfering the movement of the upper body of a human body so that the upper body of the human body can move freely on one hand, and can realize relative rotation around a common axis L and relative movement along the common axis L so as to finally convert the complex movement of the upper body of the human body into the position change of the relative movement of the upper joint and the lower joint (especially the two fork joints connected with the damper) along the common axis and the relative rotation around the common axis, so as to facilitate the implementation of a load force;

a fork 301 of the upper joint 20 (i.e., the upper fork 301 of the upper joint 20 in fig. 6) is fixedly connected to the chest support, another fork 310 of the upper joint (i.e., the lower fork 301 of the upper joint 20 in fig. 6) is fixedly connected to the damper 10, a fork 301 of the lower joint 30 (i.e., the lower fork 301 of the lower joint 30 in fig. 6) is fixedly connected to the lumbar support 100, and another fork 301 of the lower joint 30 (i.e., the upper fork 301 of the lower joint 30 in fig. 6) is connected to the damper 10;

in the two-pronged joint 310 connected to the damper 10, the damper 10 can make the two-pronged joint 301 rotate relatively around the common axis L and move relatively along the common axis L, and the damper 10 provides a resistance force for resisting the two-pronged joint 301 rotate relatively around the common axis L and move relatively along the common axis L.

In this embodiment, the wearer (i.e. the patient) wears the rehabilitation device on the upper body, wherein the waist support is fixed relative to the waist of the wearer (e.g. fastened to the waist of the wearer by fastening a belt with velcro tape), the chest support is fixed relative to the chest of the wearer (e.g. fastened to the chest of the wearer by fastening a belt with velcro tape), and the wearer can cause a change in the relative position between the upper joint and the lower joint when the upper body is flexed, stretched, flexed and rotated during the spinal rehabilitation treatment, and the change in the relative position can be converted by the two universal cross-shaft couplings (i.e. the upper joint and the lower joint) into a change in the relative movement along the common axis and relative rotation around the common axis, e.g. the wearer can make the upper body flexed, and rotated around the common axis, When the joint is stretched backwards or bent sideways, the position change of the upper joint and the lower joint (especially the two-fork joint connected with the damper) which do relative movement along the common axis is generated; for another example, when the wearer rotates the upper body, a relative rotation of the upper joint and the lower joint (especially the two-fork joint connected with the damper) around the common axis is generated; the damper is arranged between the upper joint and the lower joint (particularly the two fork joints connected with the damper), so that resistance for preventing the two fork joints from rotating relatively around a common axis can be provided, resistance for the two fork joints to move relatively along the common axis can be provided, load training of the upper body in forward bending, backward stretching and lateral bending can be realized, rotating load training of the upper body can be realized, the application range of the load training can be improved, and the rehabilitation treatment effect can be improved.

The damper 10 includes a movement damping mechanism and a rotation damping mechanism;

the movement damping mechanism comprises a movement shaft 40, a rotating sleeve 50 and a movement resistance generating mechanism which can provide resistance;

the rotation damping mechanism includes a base 60 and a rotation resistance generating mechanism that can provide resistance;

the moving shaft 40 is inserted into the rotating sleeve 50 along the common axis L so as to be movable relative to the rotating sleeve 50, so that the moving shaft 40 and the rotating sleeve 50 form a moving pair, and the moving resistance generating mechanism is arranged between the moving shaft 40 and the rotating sleeve 50 to provide resistance for resisting the relative movement of the moving shaft 40 and the rotating sleeve 50 along the common axis L;

the rotating sleeve 50 is rotatably mounted on the base 60 around the common axis L relative to the base 60, so that the rotating sleeve 50 and the base 60 form a rotating pair, and the rotation resistance generating mechanism is arranged between the rotating sleeve 50 and the base 60 to provide resistance to the relative rotation of the rotating sleeve 50 and the base 60 around the common axis L;

in the two-fork joint 310 connected to the damper 10, one of the two-fork joint 310 is connected to the moving shaft 40, and the other one of the two-fork joint 310 is connected to the base 60, in this embodiment, as shown in fig. 6, the lower fork joint 301 of the upper joint 20 is connected to the moving shaft 40, and the upper fork joint 301 of the lower joint 30 is connected to the base 60;

the axis of the displacement shaft, the centre line of the rotating sleeve and the common axis L are collinear.

This technical scheme adopts the removal damping mechanism to realize providing the resistance that hinders to move the axle and rotate the sleeve and do relative movement along the public axis alone, adopts rotatory damping mechanism to realize providing the resistance that hinders to rotate sleeve and base around the relative pivoted of public axis alone, can reduce the design degree of difficulty, is favorable to realizing the independent controllability of removal resistance and rotation resistance, is convenient for implement and manufacturing.

In this embodiment, when the moving shaft moves along the common axis relative to the rotating sleeve, the two forks connected to the damper move along the common axis relative to each other; when the rotating sleeve rotates around the common axis relative to the base, the two fork-shaped joints connected with the damper rotate around the common axis relatively;

in this embodiment, besides the above structure, the damper may also adopt the prior art such as the damper device disclosed in chinese patent application publication CN 1726355 a or the damper disclosed in chinese patent application publication CN 108278320 a, as long as the damper can make the two fork joints respectively connected to the damper (i.e., the damper) rotate relatively around the common axis and move relatively along the common axis, and the damper provides a blocking force to block the two fork joints respectively connected to the damper (i.e., the damper) from rotating relatively around the common axis and moving relatively along the common axis.

A sleeve axial friction surface 501 extending along the common axis L is provided in the rotating sleeve 50;

the movement resistance generation mechanism includes a movement abutting mechanism and a movement resistance adjustment mechanism provided on the movement shaft 40 to move along the common axis L relative to the rotating sleeve 50 following the movement shaft;

the moving abutting mechanism has a friction abutting portion abutting against the sleeve axial friction surface 501;

the moving resistance adjusting mechanism can adjust the pressure applied to the sleeve axial friction surface 501 by the friction abutting part so as to adjust the friction resistance of the relative movement of the moving shaft 40 and the rotating sleeve 50 along the common axis L;

the movement resistance adjusting mechanism can adjust the magnitude of the pressure applied to the axial friction surface 501 of the sleeve by the friction abutting portion by driving the friction abutting portion to move in the radial direction of the moving shaft (i.e. in the direction perpendicular to the common axis) so as to make the friction abutting portion move closer to or away from the axial friction surface 501 of the sleeve, and the magnitude of the friction resistance of the moving shaft and the rotating sleeve moving relatively along the common axis is related to the magnitude of the pressure, and the magnitude of the friction resistance can be changed by changing the magnitude of the pressure.

This technical scheme can select to adjust the removal axle and rotate the sleeve and do the size of relative movement's frictional resistance along the public axis through setting up removal resistance adjustment mechanism to adapt to the rehabilitation training requirement of the different stages of patient, improve application scope and ability, for example, the rehabilitation training initial stage can select less frictional resistance, and arrived the rehabilitation training later stage, can select great frictional resistance.

A sleeve axial roller groove 502 extending along the common axis L is formed in the rotating sleeve 50, and the sleeve axial friction surface 501 is formed in the sleeve axial roller groove 502;

in this embodiment, a sleeve axial friction pad 504 is attached to the groove bottom 503 of the sleeve axial roller groove, the sleeve axial friction surface 501 is formed on the surface of the sleeve axial friction pad 504, and the sleeve axial friction pad is arranged so that the friction abutting portion is matched with the sleeve axial friction pad to effectively generate friction resistance;

the movable abutting mechanism comprises a wheel carrier 701, a friction wheel 702 rotatably mounted on the wheel carrier 701, a sliding block 703 and a force transmission spring 704 arranged between the wheel carrier 701 and the sliding block 703, wherein the wheel carrier 701 and the sliding block 703 are both arranged to move along the radial direction of a moving shaft, one end of the force transmission spring 704 abuts against the wheel carrier 701, and the other end of the force transmission spring abuts against the sliding block 703;

the friction wheel 702 is a friction abutting portion, and the friction wheel 702 rolls on the sleeve axial friction surface 501 when the moving shaft 40 and the rotating sleeve 50 move relatively along the common axis L, so as to generate a rolling friction resistance force for resisting the relative movement of the moving shaft and the rotating sleeve along the common axis;

the axis of rotation of the friction wheel 702 is parallel to the sleeve axial friction surface 501 and perpendicular to the common axis L;

the movement resistance adjusting mechanism may drive the slider 703 to move in a radial direction of the moving axis to move the slider 703 closer to or away from the wheel frame 701, the amount of compression of the force-transmitting spring 704 increases as the slider 703 moves closer to the wheel carriage 701, the compression amount of the force transmission spring 704 is reduced when the sliding block 703 moves away from the wheel carrier 701, the compression amount of the force transmission spring is the difference between the length of the force transmission spring in the free state and the length of the force transmission spring in the compressed state, the change of the distance between the sliding block and the wheel carrier causes the change of the compression amount of the force transmission spring, the change of the compression amount of the force transmission spring causes the change of the acting force applied by the force transmission spring to the wheel carrier, and the change of the acting force applied by the force transmission spring to the wheel carrier causes the change of the pressure applied by the friction wheel to the axial friction surface of the sleeve, therefore, the moving resistance adjusting mechanism can adjust the pressure applied to the axial friction surface of the sleeve by the friction abutting part. In this embodiment, the larger the compression amount of the force transmission spring, the larger the pressure applied to the sleeve axial friction surface by the friction abutting portion, and the larger the pressure applied to the sleeve axial friction surface by the friction abutting portion, the larger the rolling friction resistance.

According to the technical scheme, the friction wheel is matched with the axial friction surface of the sleeve to realize rolling friction, so that the stability and reliability of relative movement of the movable shaft and the rotating sleeve can be improved, and the clamping stagnation phenomenon is reduced.

The movable abutting mechanism disclosed by the technical scheme adopts the force transmission spring as the flexible force application body of the wheel frame, is different from the rigid force application on the wheel frame, can reduce the risk of secondary damage to the spine due to the overweight load caused by the misoperation of the movable resistance adjusting mechanism, and has the function of over-force protection.

In this embodiment, the side wall of the moving shaft 40 is provided with a plurality of moving shaft outer teeth 401 circumferentially distributed at intervals around the common axis L, and the length direction of each moving shaft outer tooth 401 is parallel to the common axis; sleeve splines 505 are formed in the rotating sleeve 50, the number of the sleeve splines 505 is equal to the number of the moving shaft outer teeth 401, the sleeve splines are also circumferentially spaced around the common axis L, the length direction of each sleeve spline 505 is also parallel to the common axis L, and each moving shaft outer tooth 401 is slidably engaged with one sleeve spline 505 to allow the moving shaft to move relative to the rotating sleeve and to restrict the moving shaft from rotating relative to the rotating sleeve.

In this embodiment, the upper end of the rotating sleeve 50 is open and the lower end is closed, the sleeve splines 505 and the sleeve axial roller grooves 502 both extend from the upper end of the rotating sleeve 50 to the lower end of the rotating sleeve 50, and the extending directions of the sleeve splines 505 and the sleeve axial roller grooves 502 are both parallel to the common axis L.

The movement resistance adjusting mechanism comprises a movement resistance adjusting transmission mechanism, a movement resistance adjusting handwheel 402 which is rotatably arranged by taking a common axis L as a rotation center, and a movement resistance adjusting thrust shaft 403 which can be movably inserted into the moving shaft 40 along the common axis L relative to the moving shaft 40; in this embodiment, the moving resistance adjusting handwheel 402 is arranged on the moving shaft 40 and forms a revolute pair with the moving shaft 40, and the moving resistance adjusting thrust shaft 403 forms a moving pair with the moving shaft 40;

the moving resistance adjusting transmission mechanism is arranged between the moving resistance adjusting handwheel 402 and the moving resistance adjusting thrust shaft 403, so that the moving resistance adjusting thrust shaft 403 is driven to move along the common axis L relative to the moving shaft 40 when the moving resistance adjusting handwheel 402 rotates;

a thrust shaft inclined surface 404 inclined to the common axis is arranged on the moving resistance adjusting thrust shaft 403, that is, the thrust shaft inclined surface extends along the common axis in an inclined manner, wherein the lower position of the thrust shaft inclined surface is closer to the common axis than the upper position thereof, a slider abutting portion is arranged on the slider 703, and the slider abutting portion is kept in contact with the thrust shaft inclined surface 404, so that the slider is driven to move along the radial direction of the moving shaft when the moving resistance adjusting thrust shaft moves along the common axis;

the slider abutment is a roller 705 rotatably mounted on the slider.

The disclosed moving resistance adjustment mechanism of this technical scheme changes the rotational motion of moving resistance adjustment hand wheel into the axial motion of moving resistance adjustment thrust shaft, the axial motion of moving resistance adjustment thrust shaft into the radial motion of slider, can reduce in proper order from the slider, the emergence of the reverse motion of moving resistance adjustment thrust shaft to moving resistance adjustment hand wheel, especially reduce the emergence of the reverse motion in patient's rehabilitation training process, avoid resistance adjustment to become invalid, make resistance adjustment reliable and stable, and, this moving resistance adjustment mechanism is comparatively simple, be convenient for implement and manufacturing.

In this embodiment, the engagement of the slider abutting portion with the thrust shaft inclined surface 404 is similar to a cam mechanism, and the thrust shaft inclined surface 404 forces the slider abutting portion to move in the radial direction of the moving shaft 40 when the moving resistance adjusting thrust shaft 403 moves along the common axis L.

In this embodiment, the movement resistance adjusting handwheel 402 is circular, and the center line of the movement resistance adjusting handwheel 402, the axis of the movement resistance adjusting thrust shaft 403, and the axis of the movement shaft 40 are collinear.

In this embodiment, the moving shaft has a moving shaft center hole 405, the moving resistance adjustment thrust shaft 403 is inserted into the moving shaft center hole 405, and the moving shaft 40 further has a moving shaft resistance adjustment radial through hole 406 communicating with the moving shaft center hole 405;

the movable abutting mechanism further comprises an abutting outer shell 706, an abutting outer shell sliding groove 707 is arranged in the abutting outer shell 706, one end of the abutting outer shell 706 is provided with a wheel carrier opening 708, the other end of the abutting outer shell 706 is provided with a sliding block opening 709, the wheel carrier opening 708 and the sliding block opening 709 are communicated with the abutting outer shell sliding groove 707, the wheel carrier 701, the sliding block 703 and the force transmission spring 704 are all arranged in the abutting outer shell sliding groove 707, the wheel carrier 701 and the sliding block 703 are in sliding fit with the abutting outer shell sliding groove 707, so that the wheel carrier 701 and the sliding block 703 can slide along the length direction of the abutting outer shell sliding groove 707, and the wheel carrier 701 and the sliding block; the wheel frame 701 is provided with a wheel frame convex arm 710 extending out of the abutting outer shell 706 through a wheel frame opening 708, and the friction wheel 702 is rotatably arranged on the wheel frame convex arm 710; the slider 703 is provided with a slider projecting arm 711 extending out of the abutting housing 706 through a slider opening 709, the roller 705 being rotatably mounted on the slider projecting arm 711; the abutting housing 706 is inserted into the moving shaft resistance adjusting radial through hole 406, at this time, the length direction of the abutting housing sliding groove 707 is parallel to the radial direction of the moving shaft, and the abutting housing 706 can be locked on the moving shaft 40 by a screw.

In this embodiment, there are three sets of moving abutting mechanisms, which are circumferentially distributed in the moving shaft 40 at equal intervals around the common axis L, and each set of moving abutting mechanisms is respectively configured with a sleeve axial friction surface 501, a sleeve axial friction surface 501 and a thrust shaft inclined surface 404. The moving abutting mechanism with three groups of moving abutting mechanisms distributed at equal intervals in the circumferential direction enables the moving shaft to be stressed in a balanced mode (rolling friction resistance), and stability and reliability of movement of the moving shaft relative to the rotating sleeve are improved.

In this embodiment, the moving resistance adjusting transmission mechanism includes an intermediate gear 407 and a ring-shaped rotating ring 408;

the rotating ring 408 is rotatably sleeved outside the moving resistance adjusting thrust shaft 403 around a common axis L relative to the moving shaft 40, the rotating ring 408 and the moving shaft 40 form a rotating pair, an outer side gear ring 409 around the common axis L is arranged on the outer side surface of the rotating ring 408, an inner side surface of the rotating ring 408 is provided with an inner thread, and an outer thread matched with the inner thread of the rotating ring 408 is arranged on the moving resistance adjusting thrust shaft 403, so that the moving resistance adjusting thrust shaft 403 is driven to move when the rotating ring 408 rotates relative to the moving shaft 40;

the inner side surface of the moving resistance adjusting handwheel 402 is provided with an inner gear ring 410 surrounding a common axis L;

the intermediate gear 407 is rotatably mounted on the moving shaft 40, the intermediate gear 407 is located between the inner gear ring 410 and the outer gear ring 409, the intermediate gear 407 is in internal engagement transmission with the inner gear ring 410, and the intermediate gear 407 is in external engagement transmission with the outer gear ring 409, so that the moving resistance adjusting hand wheel 402 is driven to rotate by the rotating ring 408, and the moving resistance adjusting hand wheel can be driven to rotate by manual rotation operation; in this embodiment, the inner gear ring, the intermediate gear and the outer gear ring form an ordinary gear train.

The moving resistance adjusting transmission mechanism is simple in structure and convenient to implement, produce and manufacture.

The movement damping mechanism also comprises a telescopic rod 411 which can be inserted into the moving shaft along the common axis L in a manner of moving relative to the moving shaft 40 and a lock mechanism which is arranged on the moving shaft 40 and can selectively lock or unlock the telescopic rod, wherein the telescopic rod 411 and the moving shaft 40 form a moving pair;

the telescopic rod 411 is limited to move relative to the moving shaft 40 and fixed relative to the moving shaft 40 when the telescopic rod is locked by the locking mechanism, and the telescopic rod 411 is allowed to move relative to the moving shaft 40 when the telescopic rod is unlocked by the locking mechanism;

the fork 301 connected to the moving shaft is fixedly connected to the telescopic rod 411.

This technical scheme can realize this two fork joint that are connected with the attenuator in the regulation of the initial distance on the axis of sharing through setting up the telescopic link to the patient that adapts to different heights uses.

In this embodiment, the fork 301 connected to the damper is fixedly connected to the telescopic rod, and the fork 301 connected to the damper is fixedly connected to the base 60.

In this embodiment, the axis of the movement resistance adjusting thrust shaft 403, the axis of the telescopic rod 411, and the axis of the moving shaft 40 are collinear.

The lock mechanism comprises a lock mechanism shell 801, a sliding pin 802, a thrust spring 803 and a lock mechanism hand wheel 804 which can be rotationally arranged by taking a common axis L as a rotation center;

the side wall of the telescopic rod 411 is provided with a telescopic rod locking slot 412 extending along the axis of the telescopic rod 411;

one end of the sliding pin is an outer end 805 and the other end is an inner end 806;

a lock mechanism shell sliding groove 807 is arranged in the lock mechanism shell 801, one end of the lock mechanism shell 801 is provided with an outer end opening 808, the other end of the lock mechanism shell 801 is provided with an inner end opening 809, the outer end opening 808 and the inner end opening 809 are both communicated with the lock mechanism shell sliding groove 807, the sliding pin 802 and the thrust spring 803 are both arranged in the lock mechanism shell sliding groove 807, and the sliding pin 802 is in sliding fit with the lock mechanism shell sliding groove 807 so that the sliding pin 802 can slide along the length direction of the lock mechanism shell sliding groove 807, and the sliding pin 802 and the lock mechanism shell 801 form a moving pair; the outer end 805 of the slide pin extends out of the lock mechanism housing 801 through the outer end opening 808 of the lock mechanism housing, and the inner end 806 of the slide pin extends out of the lock mechanism housing 801 through the inner end opening 809 of the lock mechanism housing into the telescoping rod locking slot 412;

a moving shaft lock mechanism radial through hole 413 is formed in the moving shaft 40, the lock mechanism shell 801 is inserted into the moving shaft lock mechanism radial through hole 413, the length direction of a lock mechanism shell sliding groove 807 is parallel to the moving shaft radial direction, and the lock mechanism shell 801 can be locked on the moving shaft 40 through screws;

the lock mechanism hand wheel 804 is provided with a lock mechanism cam profile extending circumferentially around the common axis L, one end of the thrust spring 803 abutting the slide pin 802 and the other end abutting the lock mechanism housing 801 such that the outer end 805 of the slide pin remains in contact with the lock mechanism cam profile which forces the slide pin 802 to move radially along the axis of travel as the lock mechanism hand wheel 804 rotates around the common axis L;

the cam profile of the lock mechanism comprises a locking retaining section 810 for retaining the sliding pin 802 at a certain position in the radial direction of the moving shaft, an unlocking retaining section 811 for retaining the sliding pin 802 at another fixed position in the radial direction of the moving shaft, and a transition section 812 connected between the locking retaining section 810 and the unlocking retaining section 811, wherein the radius R1 of the unlocking retaining section is larger than that of the locking retaining section to allow R2, in the embodiment, the transition section 812 is a changing radial section for changing the position of the sliding pin 802 in the radial direction of the moving shaft, one end of the transition section is connected with the unlocking retaining section, the other end of the transition section is connected with the locking retaining section, and the radius of the transition section increases from the end connected with the locking retaining section to the end connected with the unlocking retaining section;

the inner end 806 of the sliding pin abuts against the groove bottom 414 of the locking groove of the telescopic rod when the outer end 805 of the sliding pin contacts the locking keeping section 810, so as to limit the telescopic rod 411 to move relative to the moving shaft 40, and at the same time, the sliding pin 802 is in the locking position;

the inner end 806 of the slide pin leaves the slot bottom 414 of the telescoping rod locking slot when the outer end 805 of the slide pin contacts the unlocking holding section 811 to allow the telescoping rod 411 to move relative to the moving shaft 40 with the slide pin 802 in the unlocked position.

The sliding pin 802 is switchable between a locked position and an unlocked position upon rotation of the lock mechanism hand wheel 804.

The lock mechanism disclosed by the technical scheme is simple in structure, and convenient and quick in locking and unlocking operations.

The lock mechanism hand wheel 804 is annular, the center line of the lock mechanism hand wheel 804 is collinear with the axis of the movable shaft 40, and in the embodiment, the lock mechanism cam profile is arranged on the inner side of the lock mechanism hand wheel 804;

in this embodiment, both force-transmitting spring 704 and thrust spring 803 are compression springs.

In this embodiment, the moving shaft 40 is divided into an upper section, a middle section and a lower section which are detachable, wherein a moving shaft annular upper hand wheel groove 418 for accommodating the lock mechanism hand wheel 804 is arranged between the upper section 415 and the middle section 416 of the moving shaft, a moving shaft annular lower hand wheel groove 419 for accommodating the moving resistance adjusting hand wheel 402 and an inner annular groove 420 for accommodating the rotating ring 408 are arranged between the middle section 416 and the lower section 417 of the moving shaft, the rotation axis of the intermediate gear 407 is parallel to the common axis L, the rotation axis of the intermediate gear 407 is located between the annular lower hand wheel groove 419 and the inner annular groove 420, the intermediate gear 407 is partially located in the annular lower hand wheel groove 419 to be in inner gear engagement transmission with the inner gear ring 410 of the moving resistance adjusting hand wheel, and partially located in the inner annular groove 420 to be in outer gear engagement transmission with the outer gear ring 409 of the rotating ring. The upper section, the middle section and the lower section of the moving shaft can be locked together through screws, specifically, screw rods of the screws for locking the upper section, the middle section and the lower section of the moving shaft sequentially penetrate through the upper section and the middle section of the moving shaft and then are screwed into the lower section, and the heads of the screws are left on the upper section of the moving shaft.

In this embodiment, the telescopic rod 411 inserted into the moving shaft is partially inserted into the moving resistance adjusting thrust shaft 403.

In this embodiment, the side wall of the telescopic rod 411 is further provided with a plurality of telescopic rod tooth sockets 421 circumferentially distributed at intervals around the common axis L, the length direction of each telescopic rod tooth socket 421 is parallel to the common axis L, the upper section 415 of the moving shaft and the hole wall of the moving shaft center hole 405 are provided with moving shaft inner side protruding teeth 422 which are equal in number to the telescopic rod tooth sockets 421 and are also circumferentially distributed at intervals around the common axis L, and each moving shaft inner side protruding tooth 422 is in sliding fit with one telescopic rod tooth socket 421 to limit the relative rotation between the moving shaft 40 and the telescopic rod 411.

In this embodiment, the moving shaft outer teeth 401 are provided on the lower stage 417 of the moving shaft.

In this embodiment, the side wall of the moving resistance adjusting thrust shaft 403 is further provided with a plurality of thrust shaft convex teeth 423 circumferentially distributed at intervals around the common axis L, the length direction of each thrust shaft convex tooth 423 is parallel to the common axis L, the lower section 417 of the moving shaft and the hole wall of the moving shaft center hole 405 are provided with moving shaft tooth grooves 424 which are equal in number to the thrust shaft convex teeth 422 and are also circumferentially distributed at intervals around the common axis L, and each moving shaft tooth groove 424 is in sliding fit with one thrust shaft convex tooth 423 to limit the relative rotation between the moving resistance adjusting thrust shaft 403 and the moving shaft 40.

The rotating sleeve 50 is provided with a sleeve insertion shaft 506 inserted into the base 60, and the side wall of the sleeve insertion shaft 506 is provided with a sleeve circumferential friction surface 507 around the common axis L;

the rotation resistance generation mechanism includes a base abutting mechanism and a base resistance adjustment mechanism provided on the base 60;

the base abutting mechanism has the same structure as the moving abutting mechanism, and also comprises a wheel frame 701, a friction wheel 702 rotatably mounted on the wheel frame 701, a sliding block 703 and a force transmission spring 704 arranged between the wheel frame 701 and the sliding block 703, wherein the wheel frame 701 and the sliding block 703 are both arranged to move along the radial direction of a moving shaft, one end of the force transmission spring 704 abuts against the wheel frame 701, and the other end abuts against the sliding block 703;

the friction wheel 702 of the base abutting mechanism abuts against the circumferential friction surface 507 of the sleeve, the friction wheel 702 of the base abutting mechanism rolls on the circumferential friction surface 507 of the sleeve when the rotating sleeve 50 and the base 60 rotate relatively around the common axis L, so as to generate rolling friction resistance force for resisting the relative rotation of the rotating sleeve and the base around the common axis, and the rotation axis of the friction wheel of the base abutting mechanism is parallel to the common axis;

the base resistance adjustment mechanism may drive the slider 703 of the base abutment mechanism to move in a radial direction of the sleeve insertion shaft 506 to bring the slider 703 of the base abutment mechanism closer to or away from the wheel carrier 701 of the base abutment mechanism, the compression of the force transmission spring 704 of the base abutment mechanism increasing when the slider 703 of the base abutment mechanism moves closer to the wheel carrier 701 of the base abutment mechanism and decreasing when the slider 703 of the base abutment mechanism moves away from the wheel carrier 701 of the base abutment mechanism, a change in the distance between the slider 703 of the base abutment mechanism and the wheel carrier 701 of the base abutment mechanism causes a change in the compression of the force transmission spring of the base abutment mechanism, a change in the compression of the force transmission spring of the base abutment mechanism causes a change in the force applied by the force transmission spring of the base abutment mechanism to the wheel carrier of the base abutment mechanism, the change of the acting force applied to the wheel frame of the base abutting mechanism by the force transmission spring of the base abutting mechanism can cause the pressure applied to the circumferential friction surface of the sleeve by the friction wheel of the base abutting mechanism to change, so that the base resistance adjusting mechanism can adjust the pressure applied to the circumferential friction surface of the sleeve by the friction wheel of the base abutting mechanism. In this embodiment, the larger the compression amount of the force transmission spring of the base abutting mechanism, the larger the pressure applied to the sleeve circumferential friction surface by the friction wheel of the base abutting mechanism, and the larger the pressure applied to the sleeve circumferential friction surface by the friction wheel of the base abutting mechanism, the larger the rolling friction resistance.

This technical scheme adopts the base to support to realize rolling friction with sleeve circumference friction surface cooperation by the friction pulley of mechanism, can improve the relative pivoted stationarity and the reliability of rotating sleeve and base, reduces the jamming phenomenon.

The base support mechanism disclosed by the technical scheme adopts the force transmission spring as the flexible force application body of the wheel carrier, is different from the rigid force application on the wheel carrier, can reduce the risk of secondary damage to the spine due to the overweight load caused by the misoperation of the base resistance adjusting mechanism, and has the function of over-force protection.

In this embodiment, the sleeve insertion shaft is provided at the lower end of the rotating sleeve, and the axis of the sleeve insertion shaft is collinear with the common axis.

This technical scheme is through setting up base resistance adjustment mechanism optional adjustment and is rotated sleeve and base and make relative pivoted frictional resistance's size around the public axis to adapt to the rehabilitation training requirement of patient's different stages, improve application scope and ability, for example, the rehabilitation training initial stage can select less frictional resistance, and arrived the rehabilitation training later stage, can select great frictional resistance.

In this embodiment, the base 60 is provided with a base center hole 601 for the sleeve insertion shaft 506 to pass through, and a bearing 602 sleeved on the sleeve insertion shaft 506 is installed in the base center hole 601, so as to realize the relative rotation between the rotating sleeve 50 and the base 60 around the common axis L.

In this embodiment, the sleeve insert shaft 506 is sleeved with a cylindrical friction sleeve 508, and the sleeve circumferential friction surface 501 is formed on the surface of the friction sleeve 508.

In this embodiment, the friction sleeve 508 and the sleeve axial friction pad 504 may be made of rubber.

The base resistance adjustment mechanism includes a base resistance adjustment handwheel 603 rotatably disposed about a common axis L as a center of rotation;

the base resistance adjusting handwheel 603 is provided with a base cam profile extending circumferentially around the common axis L, the base abutting mechanism slider 703 is also provided with a slider abutting portion, and the base abutting mechanism slider 703 slider abutting portion is kept in contact with the base cam profile;

the base cam profile includes a reducing section 604 (that is, a reducing section having a changing radial direction) for changing the position of the base abutment mechanism slider 703 in the radial direction of the moving shaft, the reducing section 604 driving the base abutment mechanism slider 703 to move in the radial direction of the moving shaft when the base resistance adjusting handwheel 603 is rotated about the common axis L.

In this embodiment, the slider abutting portion of the slider of the base abutting mechanism is also a roller 705 rotatably mounted thereon.

The base resistance adjusting mechanism disclosed by the technical scheme is simple in structure, and the adjusting operation of the rotation resistance is convenient and quick.

In this embodiment, the base resistance adjusting handwheel 603 is circular, and the center line of the base resistance adjusting handwheel 603 and the common axis L are collinear.

In this embodiment, the base 60 is further provided with a radial base through hole 605 communicated with the central base hole 601, the base abutting mechanism also comprises an abutting shell 706, an abutting shell sliding groove 707 is arranged in the abutting shell 706 of the base abutting mechanism, one end of the base abutting mechanism abutting the shell is provided with a wheel carrier opening 708, the other end of the base abutting mechanism abutting the shell is provided with a slider opening 709, the wheel carrier opening and the slider opening are both communicated with the abutting shell sliding groove, the wheel carrier, the slider and the force transmission spring of the base abutting mechanism are all arranged in the abutting shell sliding groove, the wheel carrier and the slider of the base abutting mechanism are both in sliding fit with the abutting shell sliding groove, so that the wheel carrier and the slider can slide along the length direction abutting the shell sliding groove, and the wheel carrier and the slider; the wheel frame is provided with a wheel frame convex arm 710 which extends out of the abutting shell through the wheel frame opening, and the friction wheel is rotatably arranged on the wheel frame convex arm; the slide block is provided with a slide block convex arm 711 extending out of the abutting shell through the slide block opening, and the roller of the slide block of the base abutting mechanism is rotatably arranged on the slide block convex arm; the abutting shell of the base abutting mechanism is inserted into the radial through hole 605 of the base, at this time, the length direction of the sliding groove of the abutting shell is parallel to the radial direction of the moving shaft, and the abutting shell of the base abutting mechanism can be locked on the base through a screw.

In this embodiment, there are three sets of base abutment mechanisms, which are also circumferentially equally spaced about the common axis L in the base 60, and each set of base abutment mechanisms is configured with a base cam profile. The base that distributes through setting up three groups circumference equidistant supports to lean on the mechanism can make the balanced atress (rolling friction resistance) of rotating sleeve, improves the relative base pivoted stability and the reliability of rotating sleeve.

In this embodiment, the base 60 is in a shaft shape and is divided into an upper section and a lower section which are detachable, wherein a base annular hand wheel groove 608 for accommodating the base resistance adjusting hand wheel 603 is provided between the upper section 606 of the base and the lower section 607 of the base. The upper section 606 of the base and the lower section 607 of the base can be locked together by screws, specifically, the screw rods of the screws for locking the upper section of the base and the lower section of the base are screwed into the upper section of the base after passing through the lower section of the base, and the heads of the screws are left on the lower section of the base.

The tapered section 604 of the base cam profile has a beginning 609 at one end and a terminal 610 at the other end, and the radius of the tapered section increases from the beginning 609 to the terminal 610.

Claims (1)

1. A rehabilitation device for spinal rehabilitation comprises a waist support, a chest support and a connecting mechanism connected between the waist support and the chest support;

the connecting mechanism comprises an upper joint, a lower joint and a damper;

the upper joint and the lower joint are both cross-shaped universal couplings, and each cross-shaped universal coupling comprises two fork joints and a cross-shaped component connected between the two fork joints;

one fork joint of the upper joint is fixedly connected with the chest support, the other fork joint of the upper joint is connected with the damper, one fork joint of the lower joint is fixedly connected with the waist support, and the other fork joint of the lower joint is connected with the damper;

the damper can enable the two fork joints to rotate relatively around a common axis and move relatively along the common axis in the two fork joints connected with the damper, and the damper provides resistance for resisting the two fork joints to rotate relatively around the common axis and move relatively along the common axis;

the method is characterized in that:

the damper comprises a mobile damping mechanism and a rotary damping mechanism;

the mobile damping mechanism comprises a mobile shaft, a rotary sleeve and a mobile resistance generating mechanism which can provide resistance;

the rotary damping mechanism comprises a base and a rotary resistance generating mechanism which can provide resistance;

the moving shaft can be movably inserted into the rotating sleeve along the common axis relative to the rotating sleeve, and the moving resistance generating mechanism is arranged between the moving shaft and the rotating sleeve to provide resistance for resisting the relative movement of the moving shaft and the rotating sleeve along the common axis;

the rotating sleeve can be rotatably arranged on the base relative to the base around the common axis, and the rotating resistance generating mechanism is arranged between the rotating sleeve and the base to provide resistance for resisting the relative rotation of the rotating sleeve and the base around the common axis;

one of the two fork joints connected with the damper is connected with the movable shaft, and the other fork joint is connected with the base;

the axis of the moving shaft, the center line of the rotating sleeve, and the common axis are collinear.

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