CN215994725U - Intelligence knee joint stretches trainer - Google Patents

Abstract

The utility model provides an intelligence knee joint extension trainer, wades joint rehabilitation trainer technical field, and it is unreasonable to solve current device structural design, easily causes that patient's knee joint is impaired, painful sense is strong, the effect is poor, the technique of inefficiency is not enough, technical scheme including: thigh protective equipment, shank protective equipment, two big leg limit bandage and shank limit bandage, first tightening mechanism, second tightening mechanism and the tensile mechanism of raising of foot. One end of each of the two limiting bands is connected to two sides of the protective tool, and the other end of each of the two limiting bands is connected to the two synchronous tightening wheel discs. The utility model has the beneficial effects that: the end that tightens up limit bandage simultaneously is tightened up to the synchronous rim plate that tightens up, makes patient's shank both sides atress direction unanimous with the size, avoids tensile in-process shank excessive skew and twist reverse, and cooperates the foot to stretch and raise the mechanism and stretch patient's shank and foot in a plurality of direction dimensions for patient's thigh, knee, condyle can be certain physiology straight line with natural state after tensile, have avoided the damage to the knee joint, and tensile effectual.

Description

Intelligence knee joint stretches trainer

Technical Field

The utility model relates to the technical field of joint rehabilitation training devices, in particular to an intelligent knee joint extension training device.

Background

The knee joint is the largest and most complex joint of the human body, is the hinge for the movement of the lower limbs, and is also the extremely high joint for injury and disease. After the knee joint is damaged due to pathological changes or injuries and the like, a knee joint flexion training device for auxiliary treatment is often required to be used for carrying out moderate and effective rehabilitation training on the knee joint in postoperative rehabilitation treatment of a patient, so that flexion and extension, internal and external rotation and rotation of the knee joint are limited to a certain extent, and the effect of auxiliary operation treatment is achieved.

The existing knee joint straightening training device mostly comprises a base plate for supporting the legs of a patient, a thigh bandage for limiting and binding the thighs of the patient is connected onto the base plate, a shank bandage for limiting and binding the thighs of the patient is stretched by a driving device, one side of the thigh bandage and the shank bandage are stretched by the driving device, the thigh bandage and the shank bandage are folded and tensioned, and therefore two bandages are utilized to apply downward tension on the thighs and the shanks of the patient to drive the legs of the patient to be straightened, but the device has obvious defects: firstly, the thigh bandage and the shank bandage are folded in a unilateral stress tensioning mode, the thigh or the shank of a patient is extremely prone to excessive torsion to one side of a stress direction due to uneven stress of the bandages in the training process, the two bandages exert downward tension on the legs of the patient at the same time, so that the legs of the patient are forced to be straightened in the excessive torsion state in the training process, the hip, knee and condyle of the patient after being straightened cannot be in a certain physiological straight line in a natural state, and the knee joint of the patient is extremely prone to new damage. Simultaneously, two bandages of this kind of device exert decurrent pulling force from thigh and shank position, and power direction of action, action point are single, pull from two action sites to strong downwards with simple violent mode, and the pulling force that thigh and shank bore is also bigger, and the painful sense of the pulling force that patient's shank unbend in-process suffered is stronger, and the clearance change of in-process patient knee joint can not accord with natural physiological change law, very easily causes patient's knee joint impaired. Moreover, the foot fixing part of the existing device only plays a role in supporting and limiting, and cannot correctly guide and stretch the foot of the patient, and cannot play a role in assisting the straightening of the leg. In addition, the device is mostly controlled in a manual adjusting mode, does not have an automatic control function, and is required to be manually controlled and adjusted by medical staff at any time according to training needs during actual use, so that the operation is inconvenient, and the training efficiency is influenced.

Therefore, there is a need for an improved structure of the prior art knee extension training device to overcome the above problems.

SUMMERY OF THE UTILITY MODEL

In summary, the present invention aims to solve the technical deficiencies that the existing knee joint extension training device has unreasonable structural design, and is liable to cause the knee joint of a patient to be damaged, and has strong pain feeling, poor effect and low efficiency in extension training, and provides an intelligent knee joint extension training device which has more reasonable structural design, more comprehensive protection for the knee joint of the patient, can significantly reduce the pain feeling in the training of the patient, improve the extension training effect and has higher efficiency.

In order to solve the technical defects provided by the utility model, the technical scheme is as follows:

the utility model provides an intelligence knee joint unbends trainer, including: the bottom bracket is arranged along the straightening direction of the leg and is used for supporting the left leg or the right leg of the patient. It is characterized in that the device also comprises:

the thigh protector is bound and fixed on the thigh of the patient and used for limiting the deviation or torsion of the thigh of the patient.

The shank protector is bound and fixed on the shank of the patient and used for limiting the deviation or torsion of the shank of the patient.

Two thigh limiting straps, one end is correspondingly connected with the two sides of the thigh protective tool, and the other end is correspondingly extended into the bottom bracket seat.

The first tightening mechanisms are movably connected in the bottom bracket in a position-adjustable mode so that the first tightening mechanisms can be correspondingly positioned at the lower parts of the thigh protectors, and the two other ends of the two thigh limiting bands are respectively and fixedly connected to the two first synchronous tightening wheel discs of the first tightening mechanisms.

And one ends of the two shank limiting bands are correspondingly connected to the two sides of the shank protector, and the other ends of the two shank limiting bands correspondingly extend into the bottom bracket seat.

And the second tightening mechanisms are movably connected in the bottom bracket in a position-adjustable mode so as to enable the second tightening mechanisms to be correspondingly positioned at the lower part of the lower leg protective tool, and the two other ends of the two lower leg limiting bands are respectively and fixedly connected to the two second synchronous tightening wheel discs of the second tightening mechanisms.

The mechanism is raised in foot stretching for tie up and tie up fixed patient foot and stretch and raise the action, including:

the stretching magnetic couple rodless cylinder is fixedly arranged at one end of the foot of the patient in the bottom bracket seat along the straightening direction of the leg, and a sliding seat capable of moving longitudinally is arranged on the stretching magnetic couple rodless cylinder in a sliding way;

the lifting servo cylinder is vertically and upwards fixedly arranged on the sliding seat;

the foot holds in the palm the support, fixed connection is in on the piston rod of raising servo cylinder, the articulated foot stopper that is used for tying up fixed patient foot of being used for on it, be equipped with the angle adjusting part who is used for adjusting and detects the angle of buckling between patient foot and shin bone between foot stopper and the foot holds in the palm the support.

The microcomputer control center is internally provided with an automatic control program which is electrically connected with the first tightening mechanism, the second tightening mechanism, the stretching magnetic couple rodless cylinder, the lifting servo cylinder and the angle adjusting component so as to control the actions of the first tightening mechanism, the second tightening mechanism, the stretching magnetic couple rodless cylinder, the lifting servo cylinder and the angle adjusting component.

And the manual controller is connected with the microcomputer control center and is used for transmitting a control signal to the manual controller to artificially and manually control the training device to operate.

Further, the device also comprises:

the femur support is movably connected to the two sides of the thigh protector in a position-adjustable manner along the femur direction;

the tibia support is movably connected to the two sides of the shank protector in a position-adjustable mode along the tibia direction, and the end part, opposite to the femur support, of the tibia support is correspondingly and movably hinged to the two sides of the knee joint of the patient;

the two first angle sensors are correspondingly arranged at a revolute pair movably hinged with the femoral support and the tibial support, measuring shafts of the two first angle sensors are coaxially connected with the revolute pair, and the first angle sensors are connected with the microcomputer control center to transmit the knee joint flexion angle detection data of the patient to the microcomputer control center.

Furthermore, the thighbone support corresponds the thighbone support arm that sets up including two edges thighbone direction, thigh protective equipment both sides respectively through thighbone location slider subassembly along thighbone direction position adjustable swing joint two the thighbone support arm between.

Furthermore, the shin bone support includes two shin bone support arms that correspond the setting along the shin bone direction, shank protective equipment both sides respectively through shin bone location slider subassembly along shin bone direction position adjustable swing joint two the shin bone support arm between.

Furthermore, two femur side connecting pieces used for being connected with two ends of the thigh limiting bandage are correspondingly arranged on the middle positions of the two outer sides of the femur support, two tibia side connecting pieces used for being connected with two ends of the calf limiting bandage are correspondingly arranged on the middle positions of the two outer sides of the tibia support, and one ends of the thigh limiting bandage and the calf limiting bandage are respectively connected with the femur side connecting pieces and the tibia side connecting pieces in a length-adjustable mode through positioning buckles.

Further, the first tightening mechanism includes:

the first fixing frame is vertically and transversely connected in the bottom bracket in a sliding manner, and the position of the first fixing frame can be longitudinally adjusted along the straightening direction of the leg;

the first stepping motor is electrically connected with the microcomputer control center through a control circuit, is longitudinally and fixedly arranged on one side of the first fixing frame, and a rotating shaft of the first stepping motor longitudinally extends to the other side of the first fixing frame and is fixedly connected with a first driving gear;

two first driven gears which are meshed with each other are transversely and rotatably connected to the first fixing frame through two first rotating shafts which are vertically arranged on the other side of the first fixing frame, and one of the first driven gears is meshed with the first driving gear;

the two first synchronous tightening wheel discs are respectively and fixedly connected to the two first driven gears in a coaxial mode, and the diameter of each first synchronous tightening wheel disc is smaller than that of each first driven gear.

Further, the second tightening mechanism includes:

the second fixing frame is vertically and transversely connected in the bottom bracket in a sliding manner, and the position of the second fixing frame can be longitudinally adjusted along the straightening direction of the leg;

the second stepping motor is electrically connected with the microcomputer control center through a control circuit, is longitudinally and fixedly arranged on one side of the second fixing frame, and a rotating shaft of the second stepping motor longitudinally extends to the other side of the second fixing frame and is fixedly connected with a second driving gear;

two second driven gears which are meshed with each other are transversely and rotatably connected to the second fixing frame through two second rotating shafts which are vertically arranged on the other side of the second fixing frame, and one of the second driven gears is meshed with the second driving gear;

and the two second synchronous tightening wheel discs are respectively and fixedly connected to the two second driven gears in a coaxial manner, and the diameter of each second synchronous tightening wheel disc is smaller than that of each second driven gear.

Specifically, the foot condyles of the foot limiter are movably hinged on the foot support bracket.

Further, the angle adjusting assembly comprises:

the angle adjusting servo cylinder is electrically connected with the microcomputer control center through a control circuit, the end part of the cylinder body is movably hinged to one end, away from the toe portion of the foot stopper, of the foot support bracket, and the end part of the piston rod is movably hinged to one end of the toe portion of the foot stopper;

and the two second angle sensors are correspondingly arranged at the revolute pair movably hinged with the foot support bracket by the foot limiter, the measuring shafts of the two second angle sensors are coaxially connected with the revolute pair, and the second angle sensors are connected with the microcomputer control center to transmit the bending angle detection data between the foot and the tibia of the patient.

The utility model has the beneficial effects that:

1. the device of the utility model carries out limit fixation on the legs of the patient through the thigh protective tool and the shank protective tool, and the two sides of the thigh protective tool and the shank protective tool are respectively stretched and tightened through the two binding bands of which the end parts can be synchronously tightened under the winding of the synchronous tightening wheel disc of the tightening mechanism, thereby effectively solving the problem that the legs of the patient are excessively deviated or twisted due to unidirectional stress or uneven stress in the training process, and the leg and the foot of the patient are cooperatively stretched from four stretching point positions and multiple directions by matching with the foot stretching and raising mechanism, avoiding the problem that the hip, the knee and the condyle of the patient cannot be in a certain physiological straight line in a natural state after the legs of the patient are straightened, bringing new damage to the knee joints of the patient, having higher training safety and better effect, preventing secondary damage to the patient, and being beneficial to early rehabilitation of the patient.

2. The device simultaneously guides and stretches the thigh, the lower leg and the foot of a patient from different directions and force points through the thigh limiting bandage, the lower leg limiting bandage, the first tightening mechanism, the second tightening mechanism and the foot stretching and lifting mechanism, so that the change of the knee joint gap in the process of straightening the leg of the patient is more consistent with the change rule of natural straightening of the knee joint of the human body, the width of the knee joint gap of the patient can be properly increased in the training process, and the damage to the knee joint of the patient in the training process is avoided. In addition, the foot of the patient is simultaneously stretched and raised by the stretching magnetic couple rodless cylinder and the raising servo cylinder in the training process of the device, so that the thigh, the shank and the foot of the patient can be simultaneously stressed and closely matched, the leg of the patient can be stretched to a required state at the highest speed, and the stretching efficiency is high.

3. Different from the simple and violent two-point downward stretching mode of the existing device, the positions of the first tightening mechanism and the second tightening mechanism relative to the bottom bracket seat can be adjusted according to the actual length of the thigh and the shank of the patient, so that the stress point and the stress direction of the leg of the patient can better meet the physiological characteristic requirements of the individual leg of the patient, the device can be suitable for patients of different ages or patients of different leg conditions, and the device has stronger applicability.

4. The angle adjusting assembly is used for adjusting and controlling the angle between the foot limiting device and the foot supporting frame, so that the angle between the foot and the shank of the patient can be adjusted and controlled, the adjustment and the guide of the foot angle of the patient can be considered in the stretching training process, the foot of the patient can be in a more comfortable state in the leg straightening training process, the angle adjusting assembly can be used for properly training the foot joint of the patient, and the device is more comprehensive in training and better in training effect.

5. The device can automatically straighten the legs of the patient according to the set training index through an automatic control program of a microcomputer control center, and can manually straighten the legs of the patient in a manually controllable manner through a manual controller according to the intention of a nursing staff by adopting a manual operation mode.

6. The foot stretching and lifting mechanism of the device adopts the stretching magnetic couple rodless cylinder to stretch the feet of the patient, and the magnetic couple rodless cylinder completely draws the actuating mechanism to act by magnetic force.

7. The foot stretching and lifting mechanism of the device adopts the lifting servo cylinder to lift the foot of the patient, the servo cylinder completes the continuous analog control of the whole process of 0-100% of the extension distance of the piston rod through the given standard analog electric signal, the precise control of the foot lifting distance of the patient can be realized, the structural complexity of the foot stretching and lifting mechanism is reduced, the assembly is convenient, the maintenance is simple, and the use is convenient.

8. The existing device is limited by the structural design, and can not ensure that the legs of a patient are completely stretched to a 180-degree straightening state in a horizontal state, so that the straightening training of the legs of the patient is limited. The device can properly lift the feet of the patient through the foot stretching and lifting device in the stretching process, and can ensure that the whole legs of the patient are straightened at 180 degrees under the condition that the feet of the patient are lifted. In addition, because the device can lift the feet of the patient in the stretching process, the bending angle of the knee joint of the patient can be increased within a short time in the training process to be slightly larger than 180 degrees, so that the knee joint of the patient can obtain a greater bending training angle, the training angle range is wider, the training effect is better, and the rehabilitation of the patient is facilitated as soon as possible.

Drawings

FIG. 1 is a front view of the overall structure of the present invention;

FIG. 2 is a top view of the bottom bracket structure of the present invention;

FIG. 3 is a top view of the femoral support, thigh brace, tibial support, and calf brace of the present invention;

FIG. 4 is a schematic view of the structure of the femoral support, thigh restraint strap, tibial support and calf restraint strap of the present invention;

FIG. 5 is a bottom view of the femoral brace, thigh brace, tibial brace, and calf brace of the present invention;

FIG. 6 is a front view of the overall structure of the first tightening mechanism of the present invention;

FIG. 7 is a left side view of the overall structure of the first tightening mechanism of the present invention;

FIG. 8 is a front view of the overall structure of the second tightening mechanism of the present invention;

FIG. 9 is a left side elevational view of the overall structure of the second tightening mechanism of the present invention;

fig. 10 is a top view of a portion of one of the displacement rails of the present invention.

In the figure: 1. a bottom bracket, 11, a first strap through slot, 12, a second strap through slot, 13, a longitudinal slot, 14, a displacement slide rail, 141, a positioning slot, 15, a positioning adjusting port, 2, a thigh protector, 21, a thigh limiting strap, 22, a femur bracket, 221, a femur support arm, 222, a femur positioning slide block component, 223, a femur side connecting component, 3, a shank protector, 31, a shank limiting strap, 32, a tibia bracket, 321, a tibia support arm, 322, a tibia positioning slide block component, 323, a tibia side connecting component, 4, a first tightening mechanism, 41, a first synchronous tightening wheel disc, 42, a first fixing frame, 43, a first stepping motor, 44, a first driving gear, 45, a first driven gear, 46, a first rotating shaft, 5, a second tightening mechanism, 51, a second synchronous tightening wheel disc, 52, a second fixing frame, 53, a second stepping motor, 54, a second driving gear, 55. the device comprises a second driven gear, a second rotating shaft, a foot stretching and lifting mechanism, a stretching magnetic couple rodless cylinder, a sliding seat, a lifting servo cylinder, a foot support bracket, a foot limiting stopper, a foot angle adjusting servo cylinder, a second angle sensor, a microcomputer control center, a display screen, a setting button, a manual controller, a lead, a first control button, a second control button, a lead, a fourth control button, a locking bolt, a locking buckle, a positioning buckle, an opening, a hook and loop tape, a displacement chute and an elastic positioning top bead assembly, wherein the foot stretching and lifting mechanism comprises a foot stretching magnetic couple rodless cylinder, a magnetic couple rodless cylinder, 611, a sliding seat, a lifting servo cylinder, a foot supporting bracket, a foot limiting stopper, an angle adjusting servo cylinder, a second angle adjusting servo cylinder, a second angle sensor, a microcomputer control center, a display screen, a button, a setting button, a manual controller, a lead, a control button, a fourth control button, a fourth control button, a locking bolt, a locking button and a locking button, a locking button and a locking button.

Detailed Description

The structure of the present invention will be further described with reference to the accompanying drawings and preferred embodiments of the present invention.

Referring to fig. 1, 7 and 9, the present invention:

the utility model provides an intelligence knee joint extension trainer, including along the leg stretch direction setting, wholly be the collet 1 of cuboid form structure for support patient's left leg or right leg. In actual use, the bottom bracket 1 can be fixed on the side of the patient bed and is flush with the surface of the patient bed.

It is characterized in that the device of the utility model also comprises:

the thigh protective tool 2 is fixed on the thigh of the patient by binding and used for limiting the deviation or torsion of the thigh of the patient.

And the lower leg protector 3 is fixedly bound on the lower leg of the patient and used for limiting the deviation or torsion of the lower leg of the patient.

Two identical thigh limit bandage 21 of specification and dimension, the upper end of these two thigh limit bandage 21 is corresponding to be connected the both sides of thigh protective equipment 2, the lower extreme of these two thigh limit bandage 21 corresponds to extend bottom bracket seat 1 internal fixation.

A first tightening mechanism 4, wherein the first tightening mechanism 4 is movably connected in a position adjustable manner in the base bracket 1 so as to be correspondingly positioned at the lower portion of the thigh protector 2, and both lower end portions of the two thigh restraint straps 21 are fixedly connected to two first synchronous tightening disks 41 (shown in fig. 7) of the first tightening mechanism 4, respectively.

Two shank limiting bands 31 with completely the same specification and size, wherein the upper ends of the two shank limiting bands 31 are correspondingly connected to the two sides of the shank protector 3, and the lower ends of the two shank limiting bands 31 correspondingly extend to the bottom bracket base 1 for internal fixation.

And a second tightening mechanism 5, wherein the second tightening mechanism 5 is movably connected in a position-adjustable manner in the base bracket 1 so as to be positioned at the lower portion of the lower leg supporter 3, and both lower end portions of the two lower leg restraint straps 31 are fixedly connected to two second synchronous tightening wheels 51 (shown in fig. 9) of the second tightening mechanism 5, respectively.

The mechanism 6 is raised in the foot is tensile for tie up and tie up fixed patient foot and stretch and raise the action, including:

a stretching magnetic couple rodless cylinder 61, wherein the stretching magnetic couple rodless cylinder 61 is fixedly connected with one end of the foot of the patient in the bottom bracket seat 1 along the straightening direction of the leg, and a sliding seat 611 capable of moving longitudinally is arranged on the stretching magnetic couple rodless cylinder in a sliding manner;

the lifting servo cylinder 62 is vertically and upwards fixedly connected to the middle position of the upper surface of the sliding seat 611;

the foot support bracket 63 is horizontally and fixedly connected to the piston rod of the lifting servo cylinder 62, a foot stopper 64 used for binding and fixing the foot of the patient is movably hinged to the foot support bracket 63, and an angle adjusting assembly used for adjusting and detecting the bending angle between the foot of the patient and the tibia is arranged between the foot stopper 64 and the foot support bracket 63.

And a microcomputer control center 7, wherein an automatic control program is configured in the microcomputer control center 7, and the automatic control program is electrically connected with the first tightening mechanism 4, the second tightening mechanism 5, the stretching magnetic couple rodless cylinder 61, the lifting servo cylinder 62 and the angle adjusting component to control the actions of the lifting servo cylinder and the angle adjusting component.

The manual controller 8 is connected with the microcomputer control center 7 through a control circuit and is used for transmitting a control signal to the manual controller to manually control the two first synchronous tightening wheel discs 41 and the second synchronous tightening wheel discs 51 to rotate reversely so as to synchronously tighten the two lower end parts of the thigh limiting bandage 21 and the shank limiting bandage 31 to stretch the leg part of the patient; controlling the stretching magnetic couple rodless cylinder 61 to act to drive the sliding seat 611 to move in the stretching direction of the leg of the patient so as to assist in stretching the leg of the patient by stretching the foot of the patient through the foot stopper 64 during the training process; the piston rod of the lifting servo cylinder 62 is controlled to extend for a certain distance so as to lift the foot of the patient through the foot support bracket 63; the control angle adjusting component acts to adjust and control the angle between the foot and the lower leg of the patient.

The device of the utility model carries out limit fixation on the leg of the patient through the thigh protective tool 2 and the shank protective tool 3, and the two sides of the thigh protective tool 2 and the shank protective tool 3 are respectively stretched and tightened through the two binding bands of which the end parts can be synchronously tightened under the winding of the synchronous tightening wheel disc of the tightening mechanism, thereby effectively solving the problem that the leg of the patient is excessively deviated or twisted due to unidirectional stress or uneven stress in the training process, and the leg and the foot of the patient are cooperatively stretched from four stretching points and multiple directions by matching with the foot stretching and raising mechanism 6, avoiding the problem that the hip, the knee and the condyle of the patient cannot be in a certain physiological straight line in a natural state after the leg of the patient is straightened, bringing new damage to the knee joint of the patient, having higher safety and better effect in training, preventing secondary damage to the patient, and being beneficial to early rehabilitation of the patient.

Meanwhile, the thigh limiting bandage 21, the shank limiting bandage 31, the first tightening mechanism 4, the second tightening mechanism 5 and the foot stretching and lifting mechanism 6 are used for simultaneously guiding and stretching the thigh, the shank and the foot of the patient from different directions and force points, so that the change of the knee joint gap in the process of straightening the leg of the patient is more consistent with the change rule of natural straightening of the knee joint of the human body, the width of the knee joint gap of the patient can be properly increased in the training process, and the damage to the knee joint of the patient in the training process is avoided. In addition, the foot of the patient is simultaneously stretched and raised by the stretching magnetic couple rodless cylinder 61 and the raising servo cylinder 62 in the training process of the device, so that the thigh, the shank and the foot of the patient can be simultaneously stressed and closely matched, the leg of the patient can be stretched to a required state at the highest speed, and the stretching efficiency is high.

Different from the simple and violent two-point downward stretching mode of the existing device, the positions of the first tightening mechanism 4 and the second tightening mechanism 5 relative to the bottom bracket 1 can be adjusted according to the actual length of the thigh and the shank of the patient, so that the stress point and the stress direction of the leg of the patient can better meet the physiological characteristic requirements of the individual leg of the patient, the device can be suitable for patients of different ages or patients of different leg conditions, and the device has stronger applicability.

Moreover, the angle between the foot limiting device 64 and the foot support bracket 63 is adjusted and controlled by the angle adjusting component, so that the angle between the foot and the shank of the patient is adjusted and controlled, the adjustment and the guidance of the foot angle of the patient can be considered in the stretching training process, the foot of the patient can be in a more comfortable state in the straightening training process of the leg, and the foot joint of the patient can be properly trained by the angle adjusting component, so that the training of the device is more comprehensive and the training effect is better.

Meanwhile, the device can carry out automatic straightening training on the legs of the patient according to set training indexes through an automatic control program of a microcomputer control center 7, and can also carry out manual controllable manual straightening training on the legs of the patient through a manual controller 8 in a manual operation mode according to the intention of nursing staff.

Meanwhile, the foot stretching and lifting mechanism 6 of the device adopts the stretching magnetic couple rodless cylinder 61 to stretch the feet of the patient, and the magnetic couple rodless cylinder completely pulls the actuating mechanism to act by magnetic force.

Moreover, the foot stretching and lifting mechanism 6 of the device adopts the lifting servo cylinder 62 to lift the foot of the patient, the servo cylinder completes the continuous analog control of the whole process of 0-100% of the extension distance of the piston rod through a given standard analog electric signal, the precise control of the foot lifting distance of the patient can be realized, the structural complexity of the foot stretching and lifting mechanism 6 is reduced, the assembly is convenient, the maintenance is simple, and the use is convenient.

In addition, the existing knee joint extension training device can only stretch and train the legs of a patient, and the legs of the patient are horizontally extended on the bottom plate through the stretching of the binding bands. But is limited by the physiological structure limitation of the legs of the human body and the structural design limitation of the existing device, and the legs of the patient can not be completely and horizontally stretched to 180 degrees on the bottom plate through the binding bands, so that the leg straightening training of the patient is limited. The device can properly lift the feet of the patient through the foot stretching and lifting device 6 in the stretching process, and can ensure that the whole legs of the patient are straightened by 180 degrees when the feet of the patient are lifted. In addition, because the device can lift the feet of the patient in the stretching process, the bending angle of the knee joint of the patient can be increased within a short time in the training process to be slightly larger than 180 degrees, so that the knee joint of the patient can obtain a greater bending training angle, the training angle range is wider, the training effect is better, and the rehabilitation of the patient is facilitated as soon as possible.

Specifically, referring to fig. 2, the front and rear sides of the right end portion of the upper end surface of the bottom base 1 of the device of the present invention are correspondingly provided with a first strap passing groove 11 and a second strap passing groove 12 for the lower end portion of the thigh limiting strap 21 and the lower end portion of the calf limiting strap 31 to pass through so as to be connected to the first synchronous tightening wheel disc 41 and the second synchronous tightening wheel disc 51, and the middle position of the left end portion of the upper end surface of the bottom base 1 is longitudinally provided with a longitudinal slot 13 for the lifting servo cylinder 62 of the foot stretching and lifting mechanism 6 and the foot base bracket 63 to longitudinally slide on the bottom base 1 along with the sliding seat 611.

Further, referring to fig. 1, the apparatus of the present invention further includes:

a femur support 22, the femur support 22 being movably connected to both sides of the thigh protector 2 in a position adjustable manner in the femoral direction.

And the tibial support 32 is movably connected with the two sides of the shank protector 3 along the tibial direction in a position-adjustable mode, and the end part, opposite to the femoral support 22, of the tibial support 32 is correspondingly movably hinged with the two sides of the knee joint of the patient.

The two first angle sensors 9 are correspondingly installed at a revolute pair (not shown in the figure) which is movably hinged with the femoral support 22 and the tibial support 32, the measuring shafts of the two first angle sensors are coaxially connected with the revolute pair, and the first angle sensors 9 are connected with the microcomputer control center 7 so as to transmit the bending angle detection data of the knee joint of the patient to the microcomputer control center.

Preferably, referring to fig. 3, the femur support 22 of the present invention includes two femur support arms 221 correspondingly arranged along the femur direction, and two sides of the thigh protector 2 are movably connected between the two femur support arms 221 in a position adjustable manner along the femur direction through a femur positioning slider assembly 222.

Preferably, referring to fig. 3, the tibia support 32 of the present invention includes two tibia support arms 321 correspondingly arranged along the tibia direction, and both sides of the lower leg supporter 3 are movably connected between the two tibia support arms 321 in a position-adjustable manner along the tibia direction through tibia positioning slider assemblies 322, respectively.

Specifically, referring to fig. 3, the inner side walls of the femur positioning slider assembly 222 and the tibia positioning slider assembly 322 of the present invention are respectively and fixedly connected to the two sides of the thigh supporter 2 and the shank supporter 3 by screw threads, and the outer side walls thereof are respectively and movably connected to the two femur arms 221 and the two tibia arms 321 by sliding grooves (not shown), and are fixed by adjusting the position by the locking bolt 100.

The thigh protector 2 and the shank protector 3 are respectively fixedly connected through the femur support 22 and the tibia support 32, so that the thigh protector 2 and the shank protector 3 can be integrally connected, and the effect of limiting and fixing the legs of a patient is improved. Moreover, the thigh protector 2 and the shank protector 3 of the device can be adjusted in position along the femur sliding rail or the tibia sliding rail, so that the leg protector of the device can be fixedly installed on the legs of patients of different ages, the hinged parts of the femur support 22 and the tibia support 32 can be correspondingly positioned at two sides of the knee joint of the patient, and the two first angle sensors 9 can accurately detect the bending angle of the knee joint of the patient through the change of the angle between the femur support 22 and the tibia and transmit the bending angle to the microcomputer control center 7.

The knee joint extension training of the patient is a progressive extension process, and cannot be carried out in a cluster, the optimal training mode is to increase the angle of the flexion training in stages and steps according to medical advice suggestions, and finally achieve the purpose of 180-degree horizontal extension training of the leg.

In the actual use process, the microcomputer control center 7 controls the operation of the device of the utility model under the automatic control mode to straighten the legs of the patient. In the stretching process, the microcomputer control center 7 compares the received detection data of the knee joint flexion angle of the patient sent by the two first angle sensors 9 with the set value of the knee joint flexion angle of the first stage, and when the detection value reaches the set value, the microcomputer controls the first tightening mechanism 4, the second tightening mechanism 5 and the foot stretching and lifting mechanism 6 to stop moving, so that the knee joint of the patient is maintained at the flexion angle of a certain degree for a period of time. After the training target of the first stage is reached, the microcomputer control center 7 starts the device again to operate, so that the leg of the patient is further stretched, and similarly, the detection value received by the microcomputer control center 7 stops driving after reaching the preset second-stage knee joint flexion angle value, so that the knee joint of the patient is maintained at the second-stage training flexion angle for a period of time.

Similarly, the device of the utility model can also be controlled by the manual controller 8, in the process, the microcomputer control center 7 compares the received detection data of the knee joint flexion angle of the patient with the set value, and automatically cuts off the control signal of the manual controller 8 when the detection value reaches the set value so as to prevent the excessive manual control or avoid the damage of the knee joint of the patient.

In the manual control process of the utility model, a control signal is sent to the microcomputer control center 7 through the manual controller 8, and then the microcomputer control center 7 controls the operation of the device of the utility model. In the actual use process, the continuous stretching of the leg of the patient caused by the device due to personnel misoperation or equipment failure and the like can occur, and the microcomputer control center 7 of the device can automatically disconnect the connection with the manual controller 8 after detecting that the knee joint flexion angle of the patient reaches a preset value, thereby cutting off the way of controlling the device to continuously stretch the leg of the patient through manual operation, preventing the problem of forced stretching of the leg of the patient, and having higher safety.

According to the utility model, the first angle sensors 9 are respectively arranged at the two hinge points of the femur support 22 and the tibia support 32, and whether the support angle changes at the two sides of the protective tool are consistent or not in the training process is monitored through the two first angle sensors 9, so that the problem of inconsistent angle changes can be found in time in the training process, the stretching can be automatically stopped through the microcomputer control center 7, and secondary injury caused by uneven stress on the two sides of the leg of the patient can be prevented.

Preferably, as shown in fig. 4, two femur side connecting pieces 223 for respectively connecting one ends of the two thigh limiting straps 21 are correspondingly arranged at the middle positions of the outer sides of the two bone support arms 221 of the present invention, two tibia side connecting pieces 323 for respectively connecting one ends of the two calf limiting straps 31 are correspondingly arranged at the middle positions of the outer sides of the two tibia support arms 321, and the upper ends of the thigh limiting strap 21 and the calf limiting strap 31 are respectively connected to the femur side connecting piece 223 and the tibia side connecting piece 323 in a length adjustable manner through the positioning buckle 101.

The upper ends of the two thigh limiting bands 21 and the two shank limiting bands 31 of the device are respectively connected on the femur side connecting piece 223 and the tibia side connecting piece 323 on the two sides of the femur support 22 and the tibia support 32 in a length adjustable manner, and the limiting bands exert downward pulling force from the two sides of the femur support 22 or the tibia support 32 when in actual use, so that the force application is more uniform and symmetrical, and the problems of leg deviation and torsion of a patient are further avoided.

Specifically, as shown in fig. 5, the bottom of the thigh protector 2 and the lower leg protector 3 of the present invention are both provided with an opening 102 for sleeving the protectors on the legs of the patient from top to bottom, and the two sides of the opening 102 are provided with magic tape adhesive tapes 103 for adjusting the tightness of binding.

Because the pulling force applied to the leg of the patient by the device of the utility model is not directly acted on the skin of the leg of the patient by the limiting bandage, but the leg protective equipment is pulled downwards by the connecting pieces at the two sides of the thigh protective equipment 2 and the leg protective equipment 3 under the pulling of the upper end part of the limiting bandage, so that the downward resisting pressure is applied to the leg of the patient by the inner surface of the upper part of the leg protective equipment, the leg stressed area of the patient is larger and more uniform, the pain of the leg of the patient in stress is effectively reduced, and the patient can obtain more comfortable training and treating experience.

In addition, the upper end parts of the limiting straps of the device are connected to the two sides of the femoral support 22 or the tibial support 32 by the positioning buckles 101, when the device is actually worn, the upper end part of one limiting strap can be unfastened, and after the thigh protective tool 2 and the calf protective tool 3 are worn on the leg of a patient, the upper end parts of the limiting straps are fixedly connected to the femoral side connecting piece 223 or the tibial side connecting piece 323 in a locking manner by the same length of the limiting straps on the other side, so that the device is simple to operate and convenient to wear, the length of the two sides of the thigh limiting strap 21 and the calf limiting strap 31 can be effectively ensured to be the same, and the first tightening mechanism 4 and the second tightening mechanism 5 can tighten the straps synchronously, thereby preventing the leg of the patient from being excessively deviated or twisted.

Further, referring to fig. 1, 6 to 7, the first tightening mechanism 4 of the present invention includes:

the first fixing frame 42 is vertically and transversely connected in the bottom base 1 in a sliding mode, and the position of the first fixing frame 42 can be longitudinally adjusted along the straightening direction of the leg.

The first stepping motor 43 is electrically connected with the microcomputer control center 7 through a control circuit, is horizontally and longitudinally fixedly connected with the front end part of the right side of the first fixing frame 42, and the rotating shaft of the first stepping motor 43 longitudinally penetrates through the first fixing frame 42 to extend to the other side of the first fixing frame and is axially and fixedly connected with a first driving gear 44.

Two first driven gears 45 which are meshed with each other, the specification and the size of the two first driven gears 45 are the same, the two first driven gears 45 are transversely and rotatably connected to the first fixing frame 42 through two first rotating shafts 46 which are vertically arranged on the left side surface of the first fixing frame 42, and one first driven gear 45 is meshed with the first driving gear 44 at the same time.

The two first synchronous tightening wheel discs 41 are respectively and fixedly connected to the two first driven gears 45 in a coaxial manner, and the diameter of the first synchronous tightening wheel disc 41 is smaller than that of the first driven gear 45.

Similarly, referring to fig. 1, 8 to 9, the second tightening mechanism 5 of the present invention includes:

and the second fixing frame 52 is vertically and transversely connected in the bottom base 1 in a sliding manner, is positioned at the left side of the first fixing frame 42, and can be longitudinally adjusted along the straightening direction of the leg.

And the second stepping motor 53 is electrically connected with the microcomputer control center 7 through a control circuit, is horizontally and longitudinally fixedly connected to the front end part of the right side of the second fixing frame 52, and has a rotating shaft longitudinally penetrating through the second fixing frame 52 to the other side and axially and fixedly connected with a second driving gear 54.

Two second driven gears 55 which are meshed with each other, the two second driven gears 55 have the same specification and size, and are transversely and rotatably connected to the second fixing frame 52 through two second rotating shafts 56 which are vertically arranged on the left side surface of the second fixing frame 52, wherein one second driven gear 55 is meshed with the second driving gear 54 at the same time.

The two second synchronous tightening wheel discs 51 are respectively and fixedly connected to the two second driven gears 55 in a coaxial manner, and the diameter of the second synchronous tightening wheel disc 51 is smaller than that of the second driven gear 55.

The first tightening mechanism 4 and the second tightening mechanism 5 of the present invention drive the two meshed first driven gear 45 and second driven gear 55 to rotate in opposite directions through the first stepping motor 43 and the second stepping motor 53, respectively, so as to drive the two first synchronous tightening wheel discs 41 and the second synchronous tightening wheel discs 51 to simultaneously and synchronously tighten the lower ends of the thigh limiting band 21 and the calf limiting band 31, thereby realizing the consistency of the force application directions for stretching the legs of the patient and the synchronism of the tightening process, and being beneficial to avoiding the deviation and torsion of the legs of the patient.

Specifically, referring to fig. 1 and 5 to 10, displacement sliding grooves 104 (as shown in fig. 5 and 7) are correspondingly disposed at the front and rear ends of the first fixing frame 42 and the second fixing frame 52, displacement sliding rails 14 (as shown in fig. 1) are correspondingly disposed on the front and rear inner walls of the bottom base 1, the elastic positioning top bead assemblies 105 (as shown in fig. 5 and 7) are correspondingly disposed on the upper and lower side walls of the displacement sliding grooves 104, and positioning grooves 141 (as shown in fig. 10) are uniformly and longitudinally disposed on the upper and lower surfaces of the displacement sliding rails 14 at equal intervals, and are correspondingly and longitudinally disposed to cooperate with the elastic positioning top bead assemblies 105 to position the first fixing frame 42 and the second fixing frame 52 inside the bottom base 1.

In a matching manner, a positioning adjusting opening 15 (as shown in fig. 1) is correspondingly and longitudinally formed on the front side wall and the rear side wall of the bottom base 1, and the positioning adjusting opening is located at the lower portion of the displacement slide rail 14 and used for allowing the hand of the operator to extend into and adjust the longitudinal position of the first tightening mechanism 4 or the second tightening mechanism 5.

The first fixing frame 42 and the second fixing frame 52 of the present invention can adjust the position along the displacement slide rail 14 and the displacement slide groove 104, and can position through the elastic positioning bead assembly 105 and the positioning groove 141, so that when patients of different ages use the device of the present invention, the first tightening mechanism 4 and the second tightening mechanism 5 can be accurately adjusted to the lower part of the thigh protector 2 and the lower leg protector 3, thereby ensuring that the tension direction of the legs of the patients is always downward when the legs are tightened and stretched, and the stretching effect is good. And the mode of positioning and adjusting through the elastic positioning top bead assembly 105 is simpler and more convenient, and the operation is convenient.

Specifically, referring to fig. 1, the ankle portion of the foot stopper 64 of the present invention is movably hinged to the foot support bracket 63.

Specifically, the foot stopper 64 of the present invention uses the condyles of the foot as the articulation point to facilitate the vertical oscillation of the foot of the patient. The foot condylar portion and the foot bottom portion are preferably movably connected, so that the distance between the foot tip and the foot condylar portion can be adjusted along with the sizes of feet of different patients, and the applicability is better.

Further, referring to fig. 1, the angle adjusting assembly of the foot stretching and raising mechanism 6 of the present invention comprises:

the angle adjusting servo cylinder 65 is electrically connected with the microcomputer control center 7 through a control circuit, the end part of the cylinder body is movably hinged at one end of the foot support bracket 63 far away from the foot condyle part of the foot limiting stopper 64, and the end part of the piston rod is movably hinged at one end of the toe part of the foot limiting stopper 64.

The two second angle sensors 66 are correspondingly arranged at the revolute pairs movably hinged with the foot support bracket 63 by the foot limiter 64, the measuring shafts of the two second angle sensors 66 are coaxially connected with the revolute pairs, and the second angle sensors 66 are connected with the microcomputer control center 7 to transmit the bending angle detection data between the foot and the tibia of the patient.

The utility model adopts the angle adjusting servo cylinder 65 to drive the included angle between the foot limiting stopper 64 and the foot supporting bracket 63 to vertically swing, has high control precision and simple, convenient and quick drive. During actual use, in the process of straightening the legs of the patient under the automatic control state, the microcomputer control center 7 adjusts the bending angle of the feet of the patient through the angle adjusting servo cylinder 65 according to the normal swinging angle of the feet of the human body, and confirms whether the adjustment is in place or not according to the received bending angle value of the feet of the patient sent by the second angle sensor 66. When the detection value is the same as the preset value, the microcomputer control center 7 can automatically stop the action of the angle adjusting servo cylinder 65, so that the foot of the patient can obtain the angle according with the human foot buckling rule in the straightening process of the leg and keep a period of time, the function of buckling training of the foot joint of the patient is realized, the joint buckling training is more comprehensive, and the training effect is better.

Similarly, in the manual control state, the change of the bending angle of the foot of the patient can be monitored through the second angle sensor 66, and when the detection data sent by the second angle sensor 66 reaches the preset value, the microcomputer control center 7 can automatically cut off the connection with the manual controller 8, so that the problem that the foot of the patient is excessively bent due to misoperation is prevented, and the safety is higher.

Preferably, referring to fig. 1, the microcomputer control center 7 of the device of the present invention is fixed on the outer wall of the bottom bracket 1, and is provided with a display screen 71 for displaying setting information and a setting button 72 for the operator to set the functional parameters and control mode. The manual controller 8 is electrically connected with the microcomputer processing center 7 through a lead 81 positioned outside the bottom bracket 1, and is provided with a first control key 82 for controlling the forward or reverse rotation of the first stepping motor 43 of the first tightening mechanism 4, a second control key 83 for controlling the forward or reverse rotation of the second stepping motor 53 of the second tightening mechanism 5, a third control key 84 for controlling the action of the stretching magnetic couple rodless cylinder 61 of the foot stretching and raising mechanism 6 to drive the sliding seat 611 on the foot stretching and raising mechanism to longitudinally and reciprocally slide, and a fourth control key 85 for controlling the up-and-down extension of the piston rod of the raising servo cylinder 62.

The manual controller 8 of the device of the utility model is convenient for the operator or the patient to manually control the stretching state by self, and the operation is simple and convenient.

The above examples are merely for the purpose of clarifying a specific embodiment of the present invention and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other adjustments or modifications to the bottom mount 1, the thigh brace 2, the calf brace 3, the thigh restraint strap 21, the calf restraint strap 31, the first tightening mechanism 4, the second tightening mechanism 5, and the foot stretching mechanism 6, etc., can be derived and summarized in accordance with the present invention and will not be described herein. Any modification, replacement or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (9)

1. The utility model provides an intelligence knee joint unbends trainer, including: the bottom bracket (1) is arranged along the straightening direction of the leg and is used for supporting the left leg or the right leg of the patient; it is characterized in that the device also comprises:

the thigh protector (2) is bound and fixed on the thigh of the patient and used for limiting the deflection or torsion of the thigh of the patient;

the shank protector (3) is bound and fixed on the shank of the patient and used for limiting the deflection or torsion of the shank of the patient;

one ends of the two thigh limiting bands (21) are correspondingly connected to the two sides of the thigh protector (2), and the other ends of the two thigh limiting bands correspondingly extend into the bottom bracket seat (1);

the first tightening mechanism (4) is movably connected in the bottom bracket seat (1) in a position-adjustable mode so as to enable the first tightening mechanism to be correspondingly positioned at the lower part of the thigh protector (2), and the two other ends of the two thigh limiting straps (21) are respectively and fixedly connected to the two first synchronous tightening wheel discs (41) of the first tightening mechanism (4);

one ends of the two lower leg limiting bands (31) are correspondingly connected to the two sides of the lower leg protector (3), and the other ends of the two lower leg limiting bands correspondingly extend into the bottom bracket (1);

the second tightening mechanism (5) is movably connected in the bottom bracket (1) in a position-adjustable mode so that the second tightening mechanism can be correspondingly positioned at the lower part of the lower leg protector (3), and the two other ends of the two lower leg limiting bands (31) are respectively and fixedly connected to two second synchronous tightening wheel discs (51) of the second tightening mechanism (5);

the tensile mechanism (6) of raising of foot for tie up and tie up fixed patient foot and stretch and raise the action, including:

a stretching magnetic couple rodless cylinder (61) which is fixedly arranged at one end of the foot of the patient in the bottom bracket (1) along the straightening direction of the leg and is provided with a sliding seat (611) capable of moving longitudinally in a sliding way;

the lifting servo cylinder (62) is vertically and upwards fixedly arranged on the sliding seat (611);

the foot support bracket (63) is fixedly connected to a piston rod of the lifting servo cylinder (62), a foot limiter (64) used for binding and fixing the foot of the patient is movably hinged to the foot support bracket, and an angle adjusting assembly used for adjusting and detecting the bending angle between the foot of the patient and the tibia is arranged between the foot limiter (64) and the foot support bracket (63);

the microcomputer control center (7) is internally provided with an automatic control program and is electrically connected with the first tightening mechanism (4), the second tightening mechanism (5), the stretching magnetic couple rodless cylinder (61), the lifting servo cylinder (62) and the angle adjusting component to control the actions of the stretching magnetic couple rodless cylinder and the angle adjusting component;

and the manual controller (8) is connected with the microcomputer control center (7) and is used for transmitting a control signal to the manual controller to manually control the training device to operate.

2. The intelligent extension training device of knee joint of claim 1, wherein: the device also comprises:

a femur support (22) movably connected to both sides of the thigh protector (2) in a position adjustable along the femur direction;

the tibia support (32) is movably connected to two sides of the shank protector (3) in a position-adjustable mode along the tibia direction, and the end portion, opposite to the femur support (22), of the tibia support (32) is correspondingly movably hinged to two sides of the knee joint of the patient;

the two first angle sensors (9) are correspondingly arranged at a revolute pair movably hinged with the femoral support (22) and the tibial support (32), measuring shafts of the two first angle sensors are coaxially connected with the revolute pair, and the first angle sensors (9) are connected with the microcomputer control center (7) to transmit bending angle detection data of the knee joint of the patient to the microcomputer control center.

3. The intelligent extension training device of knee joint of claim 2, wherein: thighbone support (22) including two thighbone support arms (221) that correspond the setting along the thighbone direction, thigh protective equipment (2) both sides respectively through thighbone location slider subassembly (222) along thighbone direction position adjustable swing joint two thighbone support arm (221) between.

4. The intelligent extension training device of knee joint of claim 2, wherein: the shin bone support (32) including two shin bone support arms (321) that correspond the setting along the shin bone direction, shank protective equipment (3) both sides respectively through shin bone location slider subassembly (322) along shin bone direction position adjustable swing joint two shin bone support arm (321) between.

5. The intelligent extension training device of knee joint of claim 2, wherein: the femur side connecting piece (223) is correspondingly arranged on the middle positions of two outer sides of the femur support (22) and is used for being connected with two of one end of the thigh limiting bandage (21), the tibia side connecting piece (323) is correspondingly arranged on the middle positions of two outer sides of the tibia support (32) and is used for being connected with two of one end of the shank limiting bandage (31), and one ends of the thigh limiting bandage (21) and the shank limiting bandage (31) are respectively connected with the femur side connecting piece (223) and the tibia side connecting piece (323) in a length-adjustable mode through positioning buckles (101).

6. The intelligent extension training device of knee joint of claim 1, wherein: the first tightening mechanism (4) comprises:

the first fixing frame (42) is vertically and transversely connected in the bottom bracket seat (1) in a sliding manner, and the position of the first fixing frame can be longitudinally adjusted along the straightening direction of the leg;

the first stepping motor (43) is electrically connected with the microcomputer control center (7) through a control circuit, is longitudinally and fixedly arranged on one side of the first fixing frame (42), and a rotating shaft of the first stepping motor longitudinally extends to the other side of the first fixing frame (42) and is fixedly connected with a first driving gear (44);

two first driven gears (45) which are meshed with each other are transversely and rotatably connected to the first fixing frame (42) through two first rotating shafts (46) which are vertically arranged on the other side of the first fixing frame (42), and one of the first driven gears (45) is meshed with the first driving gear (44) at the same time;

the two first synchronous tightening wheel discs (41) are respectively and fixedly connected to the two first driven gears (45) in a coaxial mode, and the diameter of each first synchronous tightening wheel disc (41) is smaller than that of each first driven gear (45).

7. The intelligent extension training device of knee joint of claim 1, wherein: the second tightening mechanism (5) comprises:

the second fixing frame (52) is vertically and transversely connected in the bottom bracket (1) in a sliding way, and the position of the second fixing frame can be longitudinally adjusted along the straightening direction of the leg;

the second stepping motor (53) is electrically connected with the microcomputer control center (7) through a control circuit, is longitudinally and fixedly arranged on one side of the second fixing frame (52), and a rotating shaft of the second stepping motor longitudinally extends to the other side of the second fixing frame (52) and is fixedly connected with a second driving gear (54);

two second driven gears (55) which are meshed with each other are transversely and rotatably connected to the second fixing frame (52) through two second rotating shafts (56) which are vertically arranged on the other side of the second fixing frame (52), and one of the second driven gears (55) is meshed with the second driving gear (54) at the same time;

the two second synchronous tightening wheel discs (51) are respectively and fixedly connected to the two second driven gears (55) in a coaxial mode, and the diameter of each second synchronous tightening wheel disc (51) is smaller than that of each second driven gear (55).

8. The intelligent extension training device of knee joint of claim 1, wherein: the foot condyles of the foot limiter (64) are movably hinged on the foot support bracket (63).

9. The intelligent extension training device of knee joint of claim 1, wherein: the angle adjusting component comprises:

the angle adjusting servo cylinder (65) is electrically connected with the microcomputer control center (7) through a control circuit, the end part of the cylinder body is movably hinged at one end of the foot support bracket (63) far away from the foot condyle part of the foot limiter (64), and the end part of the piston rod is movably hinged at one end of the toe part of the foot limiter (64);

the two second angle sensors (66) are correspondingly arranged at a revolute pair which is movably hinged with the foot limiting stopper (64) and the foot support bracket (63), the measuring shafts of the two second angle sensors are coaxially connected with the revolute pair, and the second angle sensors (66) are connected with the microcomputer control center (7) so as to transmit bending angle detection data between the foot and the tibia of the patient to the microcomputer control center.

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