CN215916396U

CN215916396U - Training subassembly and joint movement rehabilitation training device

Info

Publication number: CN215916396U
Application number: CN202122453094.6U
Authority: CN
Inventors: 王勇; 高合一; 穆景颂; 刘郑; 肖飞云; 刘正士
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-07-09
Filing date: 2021-10-12
Publication date: 2022-03-01
Anticipated expiration: 2031-10-12
Also published as: CN114653008A; CN114653008B; CN218046362U; CN113730880A

Abstract

The utility model discloses a training component and a joint movement rehabilitation training device, wherein the joint movement rehabilitation training device comprises a base; the supporting frame and the lower limb training mechanism are arranged on the base; the lower limb training mechanism is a first swing guide rod mechanism or a first crank rocking block mechanism which is composed of a first supporting part, a first rotating shaft, a first supporting auxiliary tool, a first crank, a first rod piece and a first sliding piece. The joint movement rehabilitation training device can eliminate local degree of freedom, thereby inhibiting abnormal joint reaction, enabling ankle joints or wrist joints at two sides to generate a certain moving angle to form ankle pump movement and having good ankle joint or wrist joint training effect.

Description

Training subassembly and joint movement rehabilitation training device

Technical Field

The utility model relates to the technical field of sports equipment, in particular to a training assembly and a joint movement rehabilitation training device.

Background

At present, the aging degree of the population of China is increased, and the number of patients with unhealthy limbs is increased day by day, so that limb rehabilitation auxiliary appliances become research hotspots in the rehabilitation field, and various rehabilitation robots designed by research teams at home and abroad are put into practical use.

The existing limb rehabilitation training device has small joint movement angle in the rehabilitation training process, and the ankle joint or the wrist joint can not be well trained and can not achieve the expected rehabilitation training effect; in addition, the existing limb rehabilitation training device does not consider the training requirements of the ankle joint or the wrist joint of the human body, or does not set the training function of the ankle joint or the wrist joint, so that the ankle joint or the wrist joint can not be well trained and the expected rehabilitation training effect can not be achieved in the rehabilitation training process; and the function of preventing venous thrombosis cannot be realized without effective ankle pump movement.

Therefore, it is important to develop a joint exercise rehabilitation training device which has a reasonable structure and can meet the rehabilitation training requirements of ankle joints or wrist joints.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide a training assembly and an articulated exercise rehabilitation training device that can meet the needs of ankle or wrist rehabilitation training.

To achieve the above and other related objects, the present invention provides a joint movement rehabilitation training device, comprising:

a base;

the supporting frame is arranged on the base;

the lower limb training mechanism is a first swing guide rod mechanism or a first crank rocking block mechanism;

the first swing guide rod mechanism comprises a first supporting part, a first rotating shaft, a first supporting auxiliary tool, a first crank, a first rod piece and a first sliding piece, the first supporting component is arranged on the base, the first rotating shaft is rotatably arranged on the first supporting component, the first crank is fixedly connected with the first rotating shaft, the first crank is rotationally connected with the first sliding piece or the first supporting auxiliary tool, the first rod piece and the first sliding piece form a sliding pair, the first rod piece and the base form a rotating pair, when the first crank is rotationally connected with the first sliding part, the first support assistor is fixedly arranged on the first sliding part or the first rod piece, when the first crank is rotatably connected with the first support aid, the first support aid is fixedly mounted on the first sliding member;

the first crank rocking block mechanism comprises a first supporting part, a first rotating shaft, a first supporting auxiliary tool, a first crank, a first rod piece and a first sliding piece, the first supporting component is arranged on the base, the first rotating shaft is rotatably arranged on the first supporting component, the first crank is fixedly connected with the first rotating shaft, the first crank is rotationally connected with the first rod piece or the first supporting auxiliary tool, the first rod piece and the first sliding piece form a sliding pair, the first sliding piece and the base form a rotating pair, when the first crank is connected with the first rod piece in a rotating way, the first support assistor is fixedly arranged on the first sliding piece or the first rod piece, when the first crank is rotatably connected with the first support auxiliary tool, the first support auxiliary tool is fixedly arranged on the first rod piece.

In an optional embodiment of the present invention, the joint movement rehabilitation training device further comprises an upper limb training mechanism, wherein the upper limb training mechanism comprises a second swing guide rod mechanism or a second crank rocker mechanism;

the second swing guide rod mechanism comprises a second supporting part, a second rotating shaft, a second supporting auxiliary tool, a second crank, a second rod piece and a second sliding piece; the second supporting component is arranged on the supporting frame, the second rotating shaft is rotatably arranged on the second supporting component, the second crank is fixedly connected with the second rotating shaft, the second crank is rotatably connected with the second sliding component or the second supporting auxiliary tool, the second supporting auxiliary tool is fixedly arranged on the second sliding component, the second rod piece and the second sliding component form a moving pair, and the second rod piece and the second supporting component form a rotating pair;

the second crank rocking block mechanism comprises a second supporting part, a second rotating shaft, a second supporting auxiliary tool, a second crank, a second rod piece and a second sliding piece; the second supporting part is arranged on the supporting frame, the second rotating shaft is rotatably arranged on the second supporting part, and the second crank is fixedly connected with the second rotating shaft; the second crank is rotatably connected with the second rod piece or the second supporting auxiliary tool, the second supporting auxiliary tool is fixedly mounted on the second rod piece, the second rod piece and the second sliding piece form a sliding pair, and the second sliding piece and the second supporting component form a rotating pair.

In an optional embodiment of the present invention, the upper limb training mechanism further comprises a second driving member disposed in the second supporting member, and the second driving member is connected to the second rotation shaft.

In an alternative embodiment of the present invention, in the second swing guide mechanism, a position of a rotation center of the second link is adjustable; in the second crank rocker mechanism, the position of the rotation center of the second slider is adjustable.

In an alternative embodiment of the present invention, in the first swing guide mechanism, a position of a rotation center of the first link is adjustable; in the first crank rocker mechanism, the position of the rotation center of the first slider is adjustable.

In an optional embodiment of the utility model, the height of the support frame is adjustable.

In an optional embodiment of the present invention, the rehabilitation training device further comprises an armrest, and the armrest is mounted on the support frame.

In an alternative embodiment of the utility model, the length of the first crank and/or the second crank is adjustable.

In an alternative embodiment of the utility model, the lower limb training mechanism further comprises a first drive member arranged within the first support member, the first drive member being connected to the first pivot shaft.

In an optional embodiment of the present invention, a maximum included angle between the support plane of the first support aid and the horizontal direction is greater than or equal to 35 °, or a maximum included angle between the support planes of the first support aid located at two sides of the first rotation axis is greater than or equal to 32 °.

To achieve the above and other related objects, the present invention provides a training assembly for an articulated rehabilitation training device, the training assembly comprising:

a slider;

the rod piece and the sliding piece form a moving pair;

the first rotating connecting part is arranged on the sliding part or the rod piece and is used for forming a rotating pair with a crank of the joint movement rehabilitation training device;

the auxiliary tool mounting part is arranged on one of the sliding part and the rod piece, which is provided with the first rotating connecting part, and is used for being fixedly connected with a supporting auxiliary tool of the joint movement rehabilitation training device;

and the second rotating connecting part is arranged on one of the sliding part and the rod piece which is not provided with the first rotating connecting part, and the second rotating connecting part is used for forming a revolute pair with a supporting part or a base of the joint movement rehabilitation training device.

a slider;

the rod piece and the sliding piece form a moving pair;

an accessory mounting portion provided on the slider or the rod;

and the second rotating connecting part is arranged on one of the sliding part and the rod piece which is not provided with the auxiliary mounting part, and the second rotating connecting part is used for forming a revolute pair with a supporting part or a base of the joint movement rehabilitation training device.

a slider;

the rod piece and the sliding piece form a moving pair;

the supporting assistive device is fixedly connected to the sliding piece or the rod piece, and is provided with a third rotating connecting part which is used for forming a rotating pair with a crank of the joint movement rehabilitation training device;

the first rotating connecting part is arranged on one of the sliding part and the rod piece which is fixedly connected with the supporting assistive device, and the first rotating connecting part is used for forming a revolute pair with a crank of the joint movement rehabilitation training device;

a slider;

the rod piece and the sliding piece form a moving pair;

the supporting auxiliary tool is fixedly connected to the sliding part or the rod piece;

the second rotating connecting part is arranged on one of the sliding part and the rod piece which is not fixedly connected with the supporting assistive device, and the second rotating connecting part is used for forming a rotating pair with a supporting part or a base of the joint movement rehabilitation training device;

wherein the support assistive device is provided with a third rotary connecting part which is used for forming a revolute pair with the crank of the joint movement rehabilitation training device.

In an optional embodiment of the utility model, the training assembly further comprises a support on which the sliding member or the rod member provided with the second rotational connection portion is mounted, and the second rotational connection portion and the support form a revolute pair.

In an alternative embodiment of the utility model, the second rotary connection is adjustable in position with respect to the centre of rotation of the revolute pair of the support. The joint movement rehabilitation training device can eliminate local degree of freedom, thereby inhibiting abnormal joint reaction, enabling ankle joints or wrist joints at two sides to generate a certain moving angle to form ankle pump movement and having good ankle joint or wrist joint training effect.

The second support aid of the upper limb movement training mechanism of the rehabilitation training device can be fixed on the second rod piece/the second sliding piece and forms the same position of a rotating pair with the second crank, and at the moment, the second support aid generally performs circular rotation motion relative to the second rotating shaft, but still can keep the rotating centers of the rotating pair of the second rod piece/the second sliding piece and the second crank which are opposite to each other to swing because the second support aid is still positioned on the second rod piece/the second sliding piece, so that the second support aid has a proper wrist joint moving angle.

The joint movement rehabilitation training device is simple in structure, small in size and convenient to install overall.

The length of the crank (the first crank and the second crank) and the length of the support frame of the joint movement rehabilitation training device are adjustable, so that the joint movement rehabilitation training device can better meet the movement training requirements of different people and ensure the training effect.

The joint movement rehabilitation training device provided by the utility model has multiple working modes, and can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training.

The upper and lower limb movement training mechanism of the joint movement rehabilitation training device can directly transform the prior rehabilitation training device and the like, so that the rehabilitation training device has the ankle joint or wrist joint training function.

The joint movement rehabilitation training device can meet the requirement that the maximum included angle between the supporting plane of the first supporting assistive device and the horizontal direction is greater than or equal to 35 degrees or the maximum included angle between the supporting planes of the two first supporting assistive devices on both sides is greater than or equal to 32 degrees, ensures enough inclination angles of the first supporting assistive devices (pedals or supporting plates) and meets the requirement of ankle joint training.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of a joint movement rehabilitation training device according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of another embodiment of the joint movement rehabilitation training device according to the embodiment of the present invention.

Fig. 3 is a schematic rotation center of a joint movement rehabilitation training device according to a third embodiment of the present invention.

Fig. 4 is a schematic perspective view illustrating a fourth embodiment of the joint movement rehabilitation training device according to the embodiment of the present invention.

Fig. 5 is a schematic perspective view of a joint movement rehabilitation training device according to a fifth embodiment of the present invention.

Fig. 6 is a schematic perspective view of a joint movement rehabilitation training device according to a sixth embodiment of the present invention.

Fig. 7 is a schematic perspective view of a joint movement rehabilitation training device according to a seventh embodiment of the present invention.

Fig. 8 is a schematic perspective view of an eighth embodiment of the joint movement rehabilitation training device according to the embodiment of the present invention.

Fig. 9 is a schematic structural diagram of the handle fixed on the second rod piece and forming a rotating pair with the second crank at the same position.

Fig. 10 is a schematic structural view of the handle fixed to the second slider at the same position as the second crank forms a revolute pair.

Description of the element reference numerals

A base 1; a lower limb training mechanism 2; the first support member 21; a foot pedal 22; a first rotating shaft 23; a first crank 24; a first slider 25; a first pin 26; a first support 27; a lift table 28; a support frame 3; a first support rod segment 31; a second support rod segment 32; a horizontal pole segment 33; a handrail 4; an upper limb training mechanism 5; the second support member 51; a handle 52; the second revolving shaft 53; a second crank 54; a second slider 55; a second pin 56; a second support 57; a fixing plate 571; a movable plate 572; and a man-machine interaction device 6.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The utility model is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Example one

Referring to fig. 1, the present embodiment describes a joint exercise rehabilitation training device, which includes a base 1, and a support frame 3, a lower limb training mechanism 2, and an upper limb training mechanism 5, which are disposed on the base 1.

Referring to fig. 1, in the embodiment, for example, rollers may be installed at the bottom of the base 1, so that the whole joint exercise rehabilitation training device can be conveniently moved. Of course, in some embodiments, the base 1 may not be provided with rollers.

Referring to fig. 1, in the present embodiment, the supporting frame 3 is installed at one side of the base 1, and the length of the supporting frame 3 is adjustable. The support frame 3 comprises a first support rod section 31, a second support rod section 32 and a horizontal rod section 33, the lower end of the first support rod section 31 is fixedly connected with the base 1, the lower end of the second support rod section 32 is inserted into the upper end of the first support rod section 31 and is locked by a locking knob (not marked in the figure), the horizontal rod section 33 is installed at the upper end of the second support rod section 32, the horizontal rod section 33 is horizontally arranged, wherein the horizontal rod section 33 is connected with the second support rod section 32 in a fixed connection or a rotating manner. Specifically, the length of the support frame 3 can be controlled by adjusting the length of the support frame 3 by loosening the locking knob and adjusting the length of the second support rod segment 32 inserted into the first support rod segment 31, and the support frame is locked by the locking knob (not shown in the figure) after being adjusted to a proper length. It is understood that in other embodiments, the first support rod segment 31 and the second support rod segment 32 of the support frame 3 may also be adjusted in relative position by a screw nut transmission mechanism or other existing adjusting mechanisms, so as to achieve the purpose of adjusting the length of the support frame 3.

Referring to fig. 1, in the present embodiment, the lower limb training mechanism 2 is a swing link mechanism (defined as a first swing link mechanism) and includes a first supporting member 21, a first rotating shaft 23, a first supporting auxiliary device, a first crank 24, a first sliding member 25, a first rod 26 (as a link of the swing link mechanism), and a first support 27, wherein the first supporting auxiliary device is a pedal 22 (which may be a supporting plate). The first support member 21 is provided on the base 1; the first revolving shaft 23 is rotatably mounted on the first supporting member 21; the first crank 24 is fixedly connected with the first rotating shaft 23; the first crank 24 is in rotational connection with the first pedal 22 or the first slider 25; the pedals 22 are fixedly arranged on the first sliding part 25, and the first sliding part 25 and the first rod 26 form a moving pair; the first rod 26 and the first support 27 form a rotation pair, and the first support 27 is mounted on the base 1. When the first crank 24 rotates, the first sliding member 25 is driven to move along the first rod 26, and the first rod 26 is driven to swing back and forth around the rotation center.

Referring to fig. 1, in a specific example of the present embodiment, the pedal 22, the first crank 24, the first sliding member 25, the first rod 26 and the first support 27 include two parts, which are respectively located at two sides of the first support member 21. The two first cranks 24 are respectively and fixedly installed at two ends of the first revolving shaft 23, each first crank 24 is rotatably connected with the pedal 22 or the first sliding member 25 on the same side, each pedal 22 is fixedly installed on the first sliding member 25 on the same side, each first sliding member 25 forms a sliding pair with the first rod member 26 on the same side, and each first rod member 26 forms a rotating pair with the first support 27 on the same side. In order to ensure that the pedals 22 have a sufficient inclination angle and meet the requirement of ankle training, the maximum included angle between the support plane (i.e. the tread) of the pedals 22 and the horizontal direction is greater than or equal to 35 degrees or the maximum included angle between the support planes of the first support auxiliaries positioned on both sides of the first rotation shaft is greater than or equal to 32 degrees.

Of course, in some embodiments, the lower training device 2 may not be provided with the first support 27, and the first rod 26 may form a rotation pair directly with the base 1.

As shown in fig. 1, in the present embodiment, the first support 27 is mounted on the top of the lifting platform 28, and the lifting platform 28 is mounted on the base 1, so that the height of the rotation center of the first rod 26 is adjusted by adjusting the height of the first support 27 through the lifting platform 28, that is, the height of the rotation center of the first rod 26 is adjustable. As an example, the lifting platform 28 can be lifted and lowered by extending and contracting a push rod. Of course, the height of the center of rotation of the first link 26 can also be adjusted by a height adjustment similar to the center of rotation of the second link 56 of the upper limb training mechanism to be described later. It will be appreciated that the height of the center of rotation of the first lever 26 may also be fixed.

It will be appreciated that in an alternative example of this embodiment, the lifting platform 28 may not be provided, and the first support 27 may be directly mounted on the base 1. In another alternative example of this embodiment, the lower training device 2 may not be provided with the first support 27, and the first rod 26 may form a rotation pair directly with the base 1.

Referring to fig. 1, in this embodiment, the first crank 24 is a disc crank, one end of the first rotating shaft 23 is fixedly connected to the center of the disc crank, the pedals 22 and the edge of the disc crank form a rotation pair, the disc crank can save a part of space, and the disc crank can also be used as a part of the first support member 21 to shield other parts inside the first support member 21. It will be appreciated that in other embodiments, the first crank 24 may be a rod crank, one end of which is fixedly connected to one end of the first rotating shaft 23, and the other end of which is rotatably connected to the pedal 22 or the first slider 25.

Referring to fig. 1, in the present embodiment, the size of the first crank 24 (defined as the length of a rod crank or the diameter of a disc crank) is adjustable, and the adjustment of the size of the first crank 24 can help to adjust the inclination angle of the pedal 22 to meet the reasonable ankle joint movement range and angle of different human bodies. The size of the first crank 24 can be adjusted by replacing a crank with a different size.

Referring to fig. 1, in the present embodiment, the lower limb training mechanism 2 further includes a first driving member (not shown) disposed in the first supporting member 21, and the first driving member is connected to the first rotating shaft 23. The first drive member may be, for example, an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel.

In this embodiment, the lower limb training mechanism 2 further comprises a first resistance element comprising a friction assembly, a magnetically controlled resistance generator, or a flywheel, disposed within the first support element 21. The friction assembly includes a friction plate and a friction plate seat which are matched with each other, the friction plate is installed on the first rotating shaft 23, the friction plate seat is installed at one end of the first supporting part 21 close to the first rotating shaft 23, and the magnitude of the motion resistance is adjusted by controlling the friction plate and the friction plate seat to be screwed or unscrewed through a man-machine interaction device 6 which will be described later. The magnetic control resistance generator comprises an aluminum disc flywheel and a permanent magnet assembly which are matched with each other, the aluminum disc flywheel is arranged on the first rotating shaft 23, the permanent magnet assembly is arranged at one end, close to the first rotating shaft 23, of the first supporting part 21, the magnetic control resistance generator cuts magnetic induction lines among the permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the distance between the aluminum disc and the permanent magnets is adjusted through the human-computer interaction device 6 to achieve adjustment of the resistance.

It will be appreciated that the first support element 21 may also comprise only a first resistance element (not shown), without the provision of a first drive element, the operation of which is adjusted manually or controlled by the human-computer interaction device 6.

It will be appreciated that the first drive member may be employed directly as the first resistance member without the additional provision of a friction assembly or a magnetically controlled resistance generator as the first resistance member. Taking a driving device adopting a motor or a combination of the motor and a speed reducer as an example, the motor can generate resistance when being in a power generation mode, and the magnitude of the resistance moment can be controlled by controlling the magnitude of the induced current.

Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 is a swing guide mechanism (defined as a second swing guide mechanism), and includes a second supporting component 51, a second supporting auxiliary device, a second rotating shaft 53, a second crank 54, a second sliding component 55, a second rod 56, and a second support 57, wherein the second supporting auxiliary device is a handle 52. The second support member 51 is mounted at one end of the horizontal rod section 33 of the support frame 3, the second revolving shaft 53 is rotatably mounted at one end of the second support member 51 away from the support frame 3, the second crank 54 is fixedly connected with an end of the second revolving shaft 53, the second crank 54 is rotatably connected with the second sliding member 55 or the handle 52, the handle 52 is mounted on the second sliding member 55, the second rod 56 and the second sliding member 55 form a sliding pair, the second rod 56 and the second support 57 form a revolving pair, and the second support 57 is mounted at one end of the second support member 51 away from the second revolving shaft 53. When the second crank 54 rotates, the second sliding member 55 is driven to move along the second rod 56, and the second rod 56 is driven to swing back and forth around the rotation center. Of course, the second supporting auxiliary tool can also adopt a supporting plate, when in use, the hand is flatly placed on the supporting plate, and the hand is fixed by using a limiting object such as a binding band and the like, so that the hand moves along with the supporting plate.

As shown in fig. 9, the handle 52 of the upper limb exercise training mechanism may be fixed to the second slider 55 at the same position as the second crank 54 forming a revolute pair, and at this time, the handle 52 is generally circularly revolved about the second revolving shaft 53, but since it is still located on the second slider 55, the rotation center of the revolute pair of the second slider 55 and the second crank 54 facing each other is kept to oscillate, so that the wrist joint has an appropriate angle of motion.

Referring to fig. 1, in the present embodiment, the second support 57 includes a pair of fixed plates 571 and a pair of movable plates 572, the pair of fixed plates 571 are disposed on two sides of the second support member 51 and extend to a side away from the base 1, a movable plate 572 is mounted on an outer side of each fixed plate 571 in a height-adjustable manner, one end of the second rod 56 away from the second sliding member 55 and the movable plate 572 form a rotation pair, and the height of the rotation center of the second rod 56 is adjusted by adjusting the position of the movable plate 572 on the fixed plates 571. It is understood that the height of the rotation center of the second pin 56 may be fixed.

Referring to fig. 1, in a specific example of the present embodiment, the handle 52, the second crank 54, the second sliding member 55, the second rod 56 and the second support 57 all include two, and are respectively located at two sides of the second support member 51. The two second cranks 54 are respectively and fixedly installed at two ends of the second revolving shaft 53, each second crank 54 is rotatably connected with the handle 52 or the second sliding member 55 at the same side, each handle 52 is fixedly installed on the second sliding member 55 at the same side, each second sliding member 55 and the second rod member 56 at the same side form a sliding pair, and each second rod member 56 and the second support 57 form a rotating pair.

Of course, in some embodiments, the second support 57 may not be provided, and the second rod 56 may directly form a rotation pair with the second support member 51.

Referring to fig. 1, in the present embodiment, the second crank 54 is a rod crank, one end of the rod crank is fixedly connected to one end of the second rotating shaft 53, and the other end of the rod crank is rotatably connected to the second sliding member 55. Of course, in other embodiments, the second crank 54 may be a disc crank.

In this embodiment, the gauge of the secondary crank 54 (defined as the length of a rod crank or the diameter of a disc crank) is adjustable.

Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 further includes a second driving component disposed in the second supporting component 51, and the second driving component is connected to the second rotating shaft 53. The second driving member may be an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel.

In this embodiment, the upper limb training mechanism 5 further comprises a second resistance element disposed within the second support element 51, the second resistance element comprising a friction assembly, a magnetically controlled resistance generator, or a flywheel. The friction assembly comprises a friction plate and a friction plate seat which are matched with each other, the friction plate is arranged on the second revolving shaft 53, the friction plate seat is arranged at one end, close to the second revolving shaft 53, of the second supporting part 51, and the size of the motion resistance is adjusted by controlling the friction plate and the friction plate seat to be screwed or loosened through the man-machine interaction device 6. The magnetic control resistance generator comprises an aluminum disc flywheel and a permanent magnet assembly which are matched with each other, the aluminum disc flywheel is installed on the second rotating shaft 53, the permanent magnet assembly is installed at one end, close to the second rotating shaft 53, of the second supporting part 51, the magnetic control resistance generator cuts magnetic induction lines among the permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the distance between the aluminum disc and the permanent magnets is adjusted through the human-computer interaction device 6 to achieve adjustment of the resistance.

It will be appreciated that the second support element 51 may of course comprise only the second resistance element, without the provision of the second drive element, by adjusting the operation of the second resistance element manually, or by controlling the operation of the second resistance element via the human-computer interaction means 6.

It will be appreciated that the second drive member may be employed directly as the second resistance member without the additional provision of a friction assembly or a magnetically controlled resistance generator as the second resistance member. Taking a driving device adopting a motor or a combination of the motor and a speed reducer as an example, the motor can generate resistance when being in a power generation mode, and the magnitude of the resistance moment can be controlled by controlling the magnitude of the induced current.

In this embodiment, the lower limb training organ 2 and the upper limb training organ 5 may further comprise limb restraint members (not shown) for restraining the limb.

Referring to fig. 1, in the present embodiment, the joint movement rehabilitation training device further includes an armrest 4, the armrest 4 is mounted on the top of the support frame 3, and the armrest 4 is used for a user to hold. As an example, the human-computer interaction device 6 is arranged on the horizontal rod section 33 of the support frame 3.

Referring to fig. 1, in this embodiment, the joint exercise rehabilitation training device further includes a human-computer interaction device 6, and the human-body interaction device is an intelligent control center and is used for controlling the joint exercise rehabilitation training device. The human-computer interaction device 6 can be arranged on the top of the support frame 3 (of course, it can be arranged in other suitable positions). As an example, the human-computer interaction device 6 is arranged on the horizontal rod section 33 of the support frame 3. By way of example, the human-computer interaction device 6 may be a remote controller or a touch screen.

The joint movement rehabilitation training device of this embodiment can realize individual low limbs training, individual upper limbs training and upper and lower limbs collaborative training. When the upper limb and the lower limb are cooperatively exercised, the posture of the human body is a sitting posture, the lower limb meets the motion of the ankle pump, and the upper limb rotates along with the handle 52 to enable the wrist joint to have a certain exercising angle.

The joint exercise rehabilitation training device of the present embodiment may include three training modes, which are a passive training mode, an assisted training mode and an active training mode, and the foot training is taken as an example for description.

In passive training, the power source is all from the first driving component, the foot is located on the pedal 22, the first driving component drives the first crank 24 to rotate, the pedal 22 is driven to move, and the pedal 22 drives the ankle to swing back and forth.

During assisted training, between passive training and active training, a power source part comes from a first driving part, and a part comes from feet of a human body, the man-machine interaction device 6 is operated to control the first driving part to be converted into an assisted training mode, and an intelligent sensing system (comprising a sensor and a control circuit) is started to complete assisted training in cooperation with ankles of the human body.

During active training, human feet are used as power sources to drive the pedals 22 to move, the man-machine interaction device 6 can control the training resistance, the resistance with different sizes can exercise the muscle movement of the lower limbs of the human body in different degrees, and the control capability of brain nerves to the muscle movement is gradually remodeled layer by layer.

It should be noted that, the hand training can also adopt a similar active training mode, a power-assisted training mode and an active training mode, and the control principle is similar to that in the foot training, so the description is not repeated.

The joint movement rehabilitation training device of this embodiment can eliminate local degree of freedom to restrain joint abnormal reaction, make two side ankle joints or wrist produce certain activity angle, form ankle pump motion, possess good ankle joint or wrist joint training effect. The second support aid of the upper limb exercise training mechanism of the rehabilitation training device of this embodiment can be fixed on the second sliding member 55 at the same position as the second crank 54 forming a revolute pair, and at this time, the second support aid generally performs a circular revolving motion relative to the second revolving shaft 53, but because it is still located on the second sliding member 55, the rotation center of the revolute pair of the second sliding member 55 and the second crank 54 which are opposite can still be kept swinging, so that it has a proper wrist joint movement angle. The joint movement rehabilitation training device of the embodiment has the advantages of simple structure, small volume and convenient overall arrangement. The length of the crank (the first crank 24 and the second crank 54) and the support frame 3 of the joint movement rehabilitation training device of the embodiment can be adjusted, so that the joint movement rehabilitation training device can better meet the requirements of different people on movement training and ensure the training effect. The joint movement rehabilitation training device of this embodiment possesses multiple mode, can realize alone low limbs training, alone upper limbs training and lower limbs collaborative training. The upper and lower limb exercise training mechanism of the joint exercise rehabilitation training device of the embodiment can directly transform the existing rehabilitation training device and the like, so that the rehabilitation training device has the ankle joint or wrist joint training function. The joint movement rehabilitation training device of the embodiment can meet the requirement that the maximum included angle between the supporting plane of the first supporting assistive device (the pedal 22 or the supporting plate) and the horizontal direction is more than or equal to 35 degrees or the maximum included angle between the supporting planes of the two first supporting assistive devices at two sides is more than or equal to 32 degrees, so that the inclination angle of the first supporting assistive device is enough, and the requirement of ankle joint training is met.

It should be noted that the first sliding member 25, the first rod 26 and the first support 27 of the present embodiment can be used as a training component product for a lower limb training mechanism of a joint exercise rehabilitation training device in a sitting position or a lying position. Of course, the first sliding member 25, the first rod member 26, the first support 27 and the first support aid of the present embodiment can also be used as a training component product for the lower limb training mechanism of the joint movement rehabilitation training device in the sitting position or the lying position.

It should be noted that the second sliding member 55, the second rod member 56 and the second support 57 of the present embodiment can be used as a training component product for an upper limb training mechanism of a joint exercise rehabilitation training device in a sitting posture or a lying posture. Of course, the second sliding member 55, the second rod member 56, the second support 57 and the second support aid of the present embodiment can also be used as a training component product for an upper limb training mechanism of a joint movement rehabilitation training device in a sitting posture or a lying posture.

Example two

As shown in fig. 2, this embodiment describes another joint exercise rehabilitation training device, which includes a base 1, and a support frame 3, a lower limb training mechanism 2, and an upper limb training mechanism 5 disposed on the base 1. Compared with the joint exercise rehabilitation training device of the first embodiment, the upper limb training mechanism 5 of the first embodiment is a crank rocker mechanism (defined as a second crank rocker mechanism), while the upper limb training mechanism 5 of the first embodiment is a swing guide rod mechanism, and other structures are basically the same, so that the description is not repeated.

As shown in fig. 2, in the present embodiment, the upper limb training mechanism 5 includes a second support member 51, a second support aid, a second rotating shaft 53, a second crank 54, a second slider 55 (as a rocker of a crank rocker mechanism), a second lever 56 (as a link of the crank rocker mechanism), and a second support 57, wherein the second support aid is a handle 52. The second support member 51 is mounted at one end of the horizontal rod section 33 of the support frame 3, the second revolving shaft 53 is rotatably mounted at one end of the second support member 51 away from the support frame 3, the second crank 54 is fixedly connected with an end of the second revolving shaft 53, the second crank 54 is rotatably connected with the second rod 56 or the handle 52, the handle 52 is fixedly mounted on the second rod 56, the second rod 56 and the second sliding member 55 form a sliding pair, the second sliding member 55 and the second support 57 form a revolving pair, and the second support 57 is mounted at one end of the second support member 51 away from the second revolving shaft 53. Of course, the second supporting auxiliary tool can also adopt a supporting plate, when in use, the hand is flatly placed on the supporting plate, and the hand is fixed by using a limiting object such as a binding band and the like, so that the hand moves along with the supporting plate.

It should be noted that, as shown in fig. 10, the handle 52 of the upper limb exercise training mechanism may also be fixed on the second rod 56 at the same position as the second crank forming a rotation pair, and at this time, the handle 52 generally makes a circular rotation movement relative to the second rotation shaft 53, but because it is still located on the second rod 56, the rotation center of the rotation pair of the second rod 56 and the second crank 54 which are opposite to each other can still be kept swinging, so that it has a proper wrist joint movement angle.

As shown in fig. 2, in the present embodiment, the second support 57 includes a pair of fixed plates 571 and a pair of movable plates 572, the pair of fixed plates 571 are disposed on two sides of the second support member 51 and extend to a side away from the base 1, a movable plate 572 is mounted on an outer side of each fixed plate 571 in a height-adjustable manner, the second sliding member 55 and the movable plate 572 form a rotation pair, and the height of the rotation center of the second sliding member 55 is adjusted by adjusting the position of the movable plate 572 on the fixed plate 571. It will be appreciated that the height of the centre of rotation of the second slide 55 may also be fixed.

Referring to fig. 2, in a specific example of the present embodiment, the handle 52, the second crank 54, the second sliding member 55, the second rod 56 and the second support 57 all include two, and are respectively located at two sides of the second support member 51. The two second cranks 54 are respectively and fixedly installed at two ends of the second revolving shaft 53, each second crank 54 is rotatably connected with the handle 52 or the second rod 56 at the same side, each handle 52 is fixedly installed on the second rod 56 at the same side, each second sliding member 55 and the second rod 56 at the same side form a sliding pair, and each second sliding member 55 and the second support 57 form a rotating pair.

Of course, in some embodiments, the second seat 57 may not be provided, and the second sliding member 55 may directly form a rotation pair with the second supporting member 51.

Referring to fig. 2, in the present embodiment, the second crank 54 is a rod crank, one end of the rod crank is fixedly connected to one end of the second rotating shaft 53, and the other end of the rod crank is rotatably connected to the second rod 56. Of course, in other embodiments, the second crank 54 may be a disc crank.

In this embodiment, the upper limb training mechanism 5 is further provided in a second driving member provided in the second support member 51, and the second driving member is connected to the second pivot shaft 53. The second driving member may be an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel. For details, reference is made to the description of relevant parts in the first embodiment, which is not described herein again.

In this embodiment, the upper limb training mechanism 5 further comprises a second resistance element disposed within the second support element 51, the second resistance element comprising a friction assembly, a magnetically controlled resistance generator, or a flywheel. For details, reference is made to the description of relevant parts in the first embodiment, which is not described herein again.

In the present embodiment, as shown in fig. 2, the joint movement rehabilitation training device further includes an armrest 4 and a human-computer interaction device 6. For details, reference is made to the description of relevant parts in the first embodiment, which is not described herein again.

The joint movement rehabilitation training device of the embodiment can comprise three training modes, namely a passive training mode, an assisted training mode and an active training mode. For details, reference is made to the description of relevant parts in the first embodiment, which is not described herein again.

The joint movement rehabilitation training device of this embodiment can eliminate local degree of freedom to restrain joint abnormal reaction, make two side ankle joints or wrist produce certain activity angle, form ankle pump motion, possess good ankle joint or wrist joint training effect. The second support aid of the upper limb movement training mechanism of the rehabilitation training device of this embodiment can be fixed on the second rod 56 at the same position of the rotation pair formed by the second crank 54, and at this time, the second support aid generally performs a circular rotation motion relative to the second rotation shaft 53, but because it is still located on the second rod 56, the rotation center of the rotation pair of the second rod 56 and the second crank 64 which are opposite can still be kept swinging, so that it has a proper wrist joint movement angle. The joint movement rehabilitation training device of the embodiment has the advantages of simple structure, small volume and convenient overall arrangement. The length of the crank (the first crank 24 and the second crank 54) and the support frame 3 of the joint movement rehabilitation training device of the embodiment can be adjusted, so that the joint movement rehabilitation training device can better meet the requirements of different people on movement training and ensure the training effect. The joint movement rehabilitation training device of this embodiment possesses multiple mode, can realize alone low limbs training, alone upper limbs training and lower limbs collaborative training. The upper and lower limb exercise training mechanism of the joint exercise rehabilitation training device of the embodiment can directly transform the existing rehabilitation training device and the like, so that the rehabilitation training device has the ankle joint or wrist joint training function. The joint movement rehabilitation training device of the embodiment can meet the requirement that the maximum included angle between the supporting plane of the first supporting assistive device (the pedal 22 or the supporting plate) and the horizontal direction is more than or equal to 35 degrees or the maximum included angle between the supporting planes of the two first supporting assistive devices at two sides is more than or equal to 32 degrees, so that the inclination angle of the first supporting assistive device is enough, and the requirement of ankle joint training is met.

EXAMPLE III

As shown in fig. 3, the present embodiment describes a third joint exercise rehabilitation training device, which includes a base 1, and a support frame 3, a lower limb training mechanism 2, and an upper limb training mechanism 5, which are disposed on the base 1. Compared with the joint movement rehabilitation training device of the first embodiment, the lower limb training mechanism 2 of the first embodiment is a crank rocker mechanism (defined as a first crank rocker mechanism), while the lower limb training mechanism 1 of the first embodiment is a swing guide rod mechanism, and other structures are basically the same, so that the description is not repeated.

Referring to fig. 3, in the present embodiment, the lower limb training mechanism 2 includes a first supporting member 21, a first rotating shaft 23, a first supporting auxiliary tool, a first crank 24, a first sliding member 25 (as a rocker of a crank-rocker mechanism), a first rod 26 (as a connecting rod of the crank-rocker mechanism), and a first support 27, wherein the first supporting auxiliary tool is a pedal 22 (or a supporting plate). The first support member 21 is provided on the base 1; the first revolving shaft 23 is rotatably mounted on the first supporting member 21; the first crank 24 is fixedly connected with the first rotating shaft 23; the first crank 24 is rotatably connected to the first pedal 22 or the first lever 26; the pedals 22 are fixedly arranged on the first rod 26, and the first sliding part 25 and the first rod 26 form a moving pair; the first sliding member 25 and the first support 27 form a rotation pair, and the first support 27 is mounted on the base 1.

Referring to fig. 1, in a specific example of the present embodiment, the pedal 22, the first crank 24, the first sliding member 25, the first rod 26 and the first support 27 include two parts, which are respectively located at two sides of the first support member 21. The two first cranks 24 are respectively and fixedly installed at two ends of the first revolving shaft 23, each first crank 24 is rotatably connected with the pedals 22 or the first rod 26 at the same side, each pedal 22 is fixedly installed on the first rod 26 at the same side, each first sliding member 25 and the first rod 26 at the same side form a sliding pair, and each first sliding member 25 and the first support 27 at the same side form a rotating pair. In order to ensure that the pedals 22 have a sufficient inclination angle and meet the requirement of ankle training, the maximum included angle between the support plane (i.e. the tread) of the pedals 22 and the horizontal direction is greater than or equal to 35 degrees or the maximum included angle between the support planes of the first support auxiliaries positioned on both sides of the first rotation shaft is greater than or equal to 32 degrees.

As shown in fig. 3, in the present embodiment, the height of the rotation center of the first slider 25 may be fixed. Of course, the height of the rotation center of the first sliding member 25 can also be adjusted, and the height adjustment of the rotation center of the first sliding member 25 can be realized by mounting the first support 27 on the top of the lifting table 28 similarly to fig. 1, and mounting the lifting table 28 on the base 1, and adjusting the height of the first support 27 through the lifting table 28.

Referring to fig. 1, in this embodiment, the first crank 24 is a disc crank, one end of the first rotating shaft 23 is fixedly connected to the center of the disc crank, the pedals 22 and the edge of the disc crank form a rotation pair, the disc crank can save a part of space, and the disc crank can also be used as a part of the first support member 21 to shield other parts inside the first support member 21. It is understood that in other embodiments, the first crank 24 may be a rod crank, one end of which is fixedly connected to one end of the first rotating shaft 23, and the other end of which is rotatably connected to the pedal 22 or the first rod 26.

Referring to fig. 1, in the present embodiment, the lower limb training mechanism 2 further includes a first driving member (not shown) disposed in the first supporting member 21, and the first driving member is connected to the first rotating shaft 23. The first drive member may be, for example, an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel. For details, reference is made to the description of relevant parts in the first embodiment, which is not described herein again.

In this embodiment, the lower limb training mechanism 2 further comprises a first resistance element comprising a friction assembly, a magnetically controlled resistance generator, or a flywheel, disposed within the first support element 21. For details, reference is made to the description of relevant parts in the first embodiment, which is not described herein again.

In the present embodiment, as shown in fig. 3, the joint movement rehabilitation training device further includes an armrest 4 and a human-computer interaction device 6. For details, reference is made to the description of relevant parts in the first embodiment, which is not described herein again.

The joint movement rehabilitation training device of this embodiment can eliminate local degree of freedom to restrain joint abnormal reaction, make two side ankle joints or wrist produce certain activity angle, form ankle pump motion, possess good ankle joint or wrist joint training effect. The second support aid of the upper limb exercise training mechanism of the rehabilitation training device of this embodiment can be fixed on the second sliding member 55 at the same position as the second crank 54 forming a revolute pair, and at this time, the second support aid generally performs a circular revolving motion relative to the second revolving shaft 53, but because it is still located on the second sliding member 55, the rotation center of the revolute pair of the second sliding member 55 and the second crank 54 which are opposite can still be kept swinging, so that it has a proper wrist joint movement angle. The joint movement rehabilitation training device of the embodiment has the advantages of simple structure, small volume and convenient overall arrangement. The length of the crank (the first crank 24 and the second crank 54) and the support frame 3 of the joint movement rehabilitation training device of the embodiment can be adjusted, so that the joint movement rehabilitation training device can better meet the requirements of different people on movement training and ensure the training effect. The joint movement rehabilitation training device of this embodiment possesses multiple mode, can realize alone low limbs training, alone upper limbs training and lower limbs collaborative training. The upper and lower limb exercise training mechanism of the joint exercise rehabilitation training device of the embodiment can directly transform the existing rehabilitation training device and the like, so that the rehabilitation training device has the ankle joint or wrist joint training function. The joint movement rehabilitation training device of the embodiment can meet the requirement that the maximum included angle between the supporting plane of the first supporting assistive device (the pedal 22 or the supporting plate) and the horizontal direction is more than or equal to 35 degrees or the maximum included angle between the supporting planes of the two first supporting assistive devices at the two sides is more than or equal to 32 degrees, so that the enough inclination angle of the first supporting assistive device is ensured, and the requirement of ankle joint training is met.

Example four

As shown in fig. 4, the present embodiment describes a fourth joint exercise rehabilitation training device, which includes a base 1, and a support frame 3, a lower limb training mechanism 2, and an upper limb training mechanism 5, which are disposed on the base 1. The joint movement rehabilitation training device of the present embodiment can be obtained by replacing the lower limb training mechanism 2 of the second embodiment with the lower limb training mechanism 2 of the third embodiment. For details, please refer to the description of the second embodiment and the related parts of the second embodiment, which are not repeated herein.

EXAMPLE five

As shown in fig. 5, the fifth joint exercise rehabilitation training device according to the present embodiment is different from the first joint exercise rehabilitation training device according to the first embodiment in that the upper limb training mechanism 5 is not provided, and the lower limb training mechanism 2 is retained, so that the ankle joint exercise rehabilitation training angle requirement can be satisfied. For details, please refer to the description of the relevant parts of the first embodiment, which is not repeated herein.

EXAMPLE six

As shown in fig. 6, the present embodiment describes a sixth joint exercise rehabilitation training device, which is different from the third joint exercise rehabilitation training device in that an upper limb training mechanism 5 is not provided, and a lower limb training mechanism 2 is retained, so that the ankle joint exercise rehabilitation training angle requirement can be satisfied. For details, please refer to the description of the relevant parts of the third embodiment, which is not repeated herein.

EXAMPLE seven

As shown in fig. 7, the present embodiment describes a seventh joint movement rehabilitation training device, which is different from the first joint movement rehabilitation training device in that the lower limb training mechanism 2 is not provided, the upper limb training mechanism 5 is retained, and the shape of the base 1 is optimally adjusted. For details, please refer to the description of the relevant parts of the first embodiment, which is not repeated herein.

The joint movement rehabilitation training device of this embodiment can satisfy wrist joint rehabilitation training angle requirement, and during the training, the upper limbs is rotary motion along with handle 52 and makes wrist joint possess certain training activity angle, possesses good wrist joint training effect.

Example eight

As shown in fig. 8, the present embodiment describes an eighth joint exercise rehabilitation training device, which is different from the second embodiment in that the lower limb training mechanism 2 is not provided, the upper limb training mechanism 5 is retained, and the shape of the base 1 is optimally adjusted. For details, please refer to the description of the relevant parts of the second embodiment, which will not be described herein.

Example nine

In this embodiment, a ninth joint exercise rehabilitation training device is described, in the joint exercise rehabilitation training device of this embodiment, the pedals 22 of the lower limb training mechanism 2 of the first embodiment or the second embodiment are directly and fixedly mounted on the first rod 26, at this time, the first crank 24 is rotatably connected with the first sliding member 25, the pedals 22 can synchronously swing along with the first rod 26, and in order to meet the requirement of ankle joint training, the maximum included angle between the supporting plane of the pedals 22 and the horizontal direction is greater than or equal to 35 °. Other structures are substantially the same as those of the first embodiment or the second embodiment, and thus are not described again.

Example ten

In this embodiment, a tenth joint exercise rehabilitation training device is described, in the joint exercise rehabilitation training device of this embodiment, the pedals 22 of the lower limb training mechanism 2 of the third embodiment or the fourth embodiment are directly and fixedly mounted on the first sliding member 25, at this time, the first crank 24 is rotatably connected with the first rod 26, the pedals 22 can synchronously swing along with the first sliding member 25, and in order to meet the ankle joint training requirement, the maximum included angle between the supporting plane of the pedals 22 and the horizontal direction is greater than or equal to 35 °. Other structures are substantially the same as those of the third embodiment or the fourth embodiment, and thus are not described again.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the utility model. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the utility model. One skilled in the relevant art will recognize, however, that an embodiment of the utility model can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of embodiments of the utility model.

Reference throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily in all embodiments, of the present invention. Thus, appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It is to be understood that other variations and modifications of the embodiments of the utility model described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the present invention.

It will also be appreciated that one or more of the elements shown in the figures can also be implemented in a more separated or integrated manner, or even removed for inoperability in some circumstances or provided for usefulness in accordance with a particular application.

Additionally, any reference arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise expressly specified. Further, as used herein, the term "or" is generally intended to mean "and/or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.

As used in the description herein and throughout the claims that follow, "a," "an," and "the" include plural references unless otherwise indicated. Also, as used in the description herein and throughout the claims that follow, the meaning of "in …" includes "in …" and "on …" unless otherwise indicated.

The above description of illustrated embodiments of the utility model, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the utility model to the precise forms disclosed herein. While specific embodiments of, and examples for, the utility model are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.

The systems and methods have been described herein in general terms as the details aid in understanding the utility model. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the utility model. One skilled in the relevant art will recognize, however, that an embodiment of the utility model can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the utility model.

Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the utility model will be employed without a corresponding use of other features without departing from the scope and spirit of the utility model as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the utility model not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the utility model will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the utility model is to be determined solely by the appended claims.

Claims

1. An articulated motion rehabilitation training device, comprising:

a base;

the supporting frame is arranged on the base;

2. The joint movement rehabilitation training device according to claim 1, further comprising an upper limb training mechanism including a second swing guide bar mechanism or a second crank rocker mechanism;

3. The joint movement rehabilitation training device of claim 2, wherein the upper limb training mechanism further comprises a second driving member disposed within the second support member, the second driving member being coupled to the second swivel shaft.

4. The joint movement rehabilitation training device according to claim 2, wherein in the second swing guide mechanism, a position of a rotation center of the second link is adjustable; in the second crank rocker mechanism, the position of the rotation center of the second slider is adjustable.

5. The joint movement rehabilitation training device according to claim 1, wherein in the first swing guide mechanism, a position of a rotation center of the first link is adjustable; in the first crank rocker mechanism, the position of the rotation center of the first slider is adjustable.

6. The joint movement rehabilitation training device of claim 1, wherein the height of the support frame is adjustable.

7. The joint movement rehabilitation training device of claim 1, further comprising an armrest mounted on the support frame.

8. The articulated rehabilitation training device of claim 2, wherein the first crank and/or the second crank is adjustable in length.

9. The articulated rehabilitation training device of claim 1, wherein the lower limb training mechanism further comprises a first drive member disposed within the first support member, the first drive member coupled to the first pivot shaft.

10. The joint movement rehabilitation training device according to claim 1 or 2, wherein the maximum angle between the support plane of the first support aid and the horizontal direction is greater than or equal to 35 °, or the maximum angle between the support planes of the first support aid located on both sides of the first rotation axis is greater than or equal to 32 °.

11. A training assembly for an articulated rehabilitation training device, the training assembly comprising:

a slider;

the rod piece and the sliding piece form a moving pair;

12. A training assembly for an articulated rehabilitation training device, the training assembly comprising:

a slider;

the rod piece and the sliding piece form a moving pair;

the assistive device mounting part is arranged on the sliding part or the rod piece and is used for being fixedly connected with a supporting assistive device of the joint movement rehabilitation training device;

13. A training assembly for an articulated rehabilitation training device, the training assembly comprising:

a slider;

the rod piece and the sliding piece form a moving pair;

14. A training assembly for an articulated rehabilitation training device, the training assembly comprising:

a slider;

the rod piece and the sliding piece form a moving pair;

15. Training assembly for an articulated rehabilitation training device according to any of claims 11-14, further comprising a support on which the slider or the lever provided with the second rotational connection is mounted, the second rotational connection forming a revolute pair with the support.

16. An exercise assembly for an articulated rehabilitation training device according to claim 15, wherein the second rotary connection is adjustable in position with the centre of rotation of the revolute pair of the support.