Patent Description:
Gear transmission mechanisms or chain transmission mechanisms are widely used in the field of mechanical transmission. It is also generally necessary to use some transmission mechanisms in the field of medical antagonistic rehabilitation training apparatuses to enable the linkage of mechanical structures.

However, for medical antagonistic rehabilitation training apparatuses, the transmission mechanism is often required to provide stable power, and the transmission mechanism is also required to drive the reciprocating motion of the corresponding mechanism. This makes it possible for a user to perform a rehabilitation exercise in such a way that the movement of the limbs can be easily withdrawn and stretched out. In addition, since the user using the antagonistic rehabilitation training apparatus is subjected to a limited tensile force, the amount of force that the medical antagonistic rehabilitation training apparatus adds to the user each time needs to be strictly controlled to prevent the force that the medical antagonistic rehabilitation training apparatus applies to the user from deviating from the expected force applied to the user. It is conceivable that if the force applied to the user by the medical antagonistic rehabilitation training apparatus is greater than the expected force applied to the user due to the deviation, the injury at the rehabilitation training part of the user will be easily aggravated.

However, it is difficult for the mechanical transmission manner of the prior art to provide stable power to the user because the transmission mechanism generates a large vibration during the operation.

On the other hand, in the prior art, a transmission mechanism (gear transmission mechanism or chain transmission mechanism) generates a large noise during the operation, thereby providing the user with a poor experience.

In addition, a part of the medical antagonistic rehabilitation training apparatus tends to train a certain part of the user correspondingly. However, before each exercise, the user usually cannot accurately and correspondingly keep the part to be exercised at the specific position of the medical antagonistic rehabilitation training apparatus. Therefore, it is common in the prior art to rely on a rehabilitation trainer for guidance. However, as the rehabilitation training continues, the part where the user needs to be trained may deviate from the part corresponding to the medical antagonistic rehabilitation training apparatus, and at this time, it is often difficult for the user himself/herself to make corrections. However, if a gear or a chain transmission manner is used for the transmission, since neither the chain nor gear is transmitted in a stepless manner, when a gear transmission or a chain transmission is used for transmission, the joint or tissue of a user is easily damaged due to a large movement range.

<CIT> discloses a robotic device for operation in association with an appendage of a user.

It is an object of the present invention to provide rehabilitation exercise equipment and a rope transmission device thereof. The rope transmission device is capable of providing a stable pressure to a user so as to prevent a force applied to the user by the rope transmission device from being greater than the force expected to be applied to the user, which would otherwise aggravate the injury at a rehabilitation training part of the user.

Another object of the present invention is to provide rehabilitation exercise equipment and a rope transmission device thereof. The rope transmission device can steadily increase a user's force each time.

Another object of the present invention is to provide rehabilitation exercise equipment and a rope transmission device thereof. The rope transmission device can be driven in a stepless manner so that a user can move gently while performing rehabilitation training.

In order to achieve at least one of the above objects, the present invention provides a rope transmission device for driving a limb fixing assembly according to claim <NUM>.

According to an embodiment of the present invention, distances between two adjacent groove bodies of the rope winding spiral groove are equal.

According to an embodiment of the present invention, the transmission assembly is embodied as a motor, and the rope winding shaft is embodied as an output shaft of the motor.

According to an embodiment of the present invention, the rope tighteners are mounted to two ends of the oscillating piece.

According to an embodiment of the present invention, the rope tightener comprises a base, a moving block, and a tightness adjusting piece, the base being fixed to one end of the circular arc outer wall portion of the oscillating piece, and the base being provided with a perforation extending in a tangential direction tangential to the outer wall of the circular arc outer wall portion, wherein the moving block can be slidingly connected to the base in a direction in which the perforation extends, and the moving block is connected to the tightness adjusting piece in a way that can be driven.

According to an embodiment of the present invention, the tightness adjusting piece is embodied as a rotatable screw and the moving block is correspondingly provided with a threaded hole matching with the screw, the threaded hole extending in a direction parallel to the direction in which the moving block moves.

According to an embodiment of the present invention, the base forms a sliding cavity, the moving block is slidably mounted in the sliding cavity, the moving block is provided with a mounting hole in a tangential direction tangential to the outer wall of the circular arc outer wall portion, the rope is limited by the moving block after passing through the perforation and the mounting hole on the moving block, and an aperture of the mounting hole is larger than the aperture of the perforation.

According to another aspect of the present invention, the present invention provides rehabilitation exercise equipment, wherein the rehabilitation exercise equipment comprises:.

According to an embodiment of the present invention, the rehabilitation exercise equipment comprises at least two rope transmission devices and at least two link mechanisms, and rotation axes that the rope winding shafts in the two rope transmission devices rotate around are perpendicular to each other; the limb fixing assembly is fixed to the oscillating piece of one of the rope transmission devices by one link mechanism, and the limb fixing assembly is fixed to the oscillating piece of the other rope transmission device by the other link mechanism.

By understanding the subsequent description, further objects and advantages of the present invention will be fully reflected.

These and other objects, features, and advantages of the present invention are fully reflected through the following detailed description.

Those skilled in the art should understand that in the disclosure of the present invention, the orientations or positional relationships indicated by the terms "longitudinal", "transverse", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings for purposes of describing the present invention and simplifying the description only, and are not intended to indicate or imply that the referenced device or element must have a particular orientation or be constructed and operated in a particular orientation. Therefore, the above terms cannot be understood as limiting the present invention.

Rehabilitation exercise equipment according to a preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings <FIG> of the description. The rehabilitation exercise equipment comprises at least a rope transmission device <NUM> and a limb fixing assembly <NUM>. The limb movement assembly <NUM> is connected to the rope transmission device <NUM> such that the spatial position of the limb movement assembly <NUM> can be adjusted when the rope transmission device <NUM> is in operation. In addition, since the limb fixing assembly <NUM> is carried by the rope of the rope transmission device <NUM>, the rope transmission device <NUM> has little noise during the operation and when the limb fixing assembly <NUM> is driven, it can move gently.

Specifically, the rope transmission device <NUM> includes a device main body <NUM>, a transmission assembly <NUM>, a rope winding shaft <NUM>, at least two ropes <NUM>, and an oscillating piece <NUM>. Preferably, the rope <NUM> is implemented to be made of a metallic material. Preferably, the rope <NUM> is a steel wire rope.

The rope winding shaft <NUM> is rotatably connected to the transmission assembly <NUM> and mounted to the device main body <NUM>. The oscillating piece <NUM> is swingably supported to the device main body <NUM> by two of the ropes <NUM>.

In one embodiment, the rope winding shaft <NUM> is rotatably connected to an output shaft of the transmission assembly <NUM> such that the rope winding shaft <NUM> can be rotated driven by the transmission assembly <NUM>. It is understandable that where the transmission assembly <NUM> is embodied as a motor, the rope winding shaft <NUM> may be embodied as the output shaft of the motor.

The peripheral edge of the outer wall of the rope winding shaft <NUM> is provided with at least one continuous rope winding spiral groove <NUM>. The rope winding spiral groove <NUM> has an inner end proximal to the transmission assembly <NUM> and an outer end distal to the transmission assembly <NUM>. After one end of one of the ropes, <NUM> is fixed, it is partially wound in a part of the groove near the inner end of the rope winding spiral groove <NUM> of the rope winding shaft <NUM>, and the rope <NUM> is further fixed to one end of the oscillating piece <NUM> around the circumference that the oscillating piece <NUM> oscillates. After one end of the other of the ropes <NUM> is fixed, it is partially wound in a part of the groove adjacent to the rope winding spiral groove <NUM>, and the rope <NUM> is fixed to the other end of the oscillating piece <NUM> around the circumference that the oscillating piece <NUM> oscillates. Therefore, two ends of the oscillating piece <NUM> are connected to one of the ropes <NUM>, respectively.

It is worth mentioning that the oscillating piece <NUM> is mounted at the device main body <NUM> in such a manner that an oscillation axis around which the oscillating piece <NUM> oscillates is collinear with the rotation axis of the rope winding shaft <NUM>.

It is worth mentioning that when the transmission assembly <NUM> drives the rope winding shaft <NUM> to rotate in one direction, one of the ropes <NUM> is continuously wound into the rope winding spiral groove <NUM> and the other rope <NUM> is continuously wound out of the rope winding spiral groove <NUM>. Accordingly, the part of the rope <NUM> wound around the oscillating piece <NUM> on the rope <NUM> continuously wound in the rope winding spiral groove <NUM> is wound away from the oscillating piece <NUM> and drives the oscillating piece <NUM> to rotate. The part of the rope <NUM> wound around the oscillating piece <NUM> on the rope <NUM> continuously wound out of the rope winding spiral groove <NUM> is wound around the outer wall of the oscillating circumference of the oscillating piece <NUM>.

It is worth mentioning that when the transmission assembly <NUM> drives the rope winding shaft <NUM> to rotate in the opposite direction, the oscillating piece <NUM> will rotate in the opposite direction.

Therefore, the oscillating piece <NUM> can oscillate back and forth on the device main body <NUM>. It is worth mentioning that the limb fixing assembly <NUM> is mounted to the oscillating piece <NUM> such that when the oscillating piece <NUM> oscillates, the limb fixing assembly <NUM> follows the oscillating piece <NUM> in a synchronized motion.

It is worth mentioning that, since the two ropes <NUM> are guided by the rope winding spiral groove <NUM> on the rope winding shaft <NUM> and can be always maintained in the rope winding spiral groove <NUM> during the winding and unwinding process, the ropes <NUM> are not wound away from the rope winding spiral groove <NUM>, thereby preventing the ropes <NUM> from being wound around each other during the winding and unwinding process.

Preferably, the distances between two adjacent groove bodies of the rope winding spiral groove <NUM> are equal so that the oscillating piece <NUM> can gently oscillate. Therefore, the limb fixing assembly <NUM> connected to the oscillating piece <NUM> does not move violently, thereby effectively preventing the user from being injured due to the unstable movement of the transmission mechanism during the rehabilitation training.

Further, the oscillating piece <NUM> has a circular arc outer wall portion <NUM> and at least one radial connecting portion <NUM> connected to the circular arc outer wall portion <NUM>. The radial connecting portion <NUM> is rotatably mounted to the device main body <NUM>.

The rope transmission device <NUM> comprises a rope tightener <NUM>. Each of the ropes <NUM> is connected to the rope tightener <NUM> in a way that can be tightened so that the ropes <NUM> can be tightened by the rope tightener <NUM>.

Two ends of the circular arc outer wall portion <NUM> are respectively provided with a rope tightener <NUM> for respectively fixing one rope <NUM>. That is, one end of the rope <NUM> is fixed to the rope tightener <NUM> provided at one end of the circular arc outer wall portion <NUM>. The other rope <NUM> is fixed to the rope tightener <NUM> provided at the other end of the circular arc outer wall portion <NUM>. Both of the ropes <NUM> are wound out and wound in from the outer wall of the circular arc outer wall portion <NUM> during the process that the swinging member <NUM> is driven to oscillate.

Preferably, the outer wall of the circular arc outer wall portion <NUM> is provided with a limiting groove <NUM> to prevent the rope <NUM> from slipping off when the two ropes <NUM> are wound out and wound in the outer wall of the circular arc outer wall portion <NUM>.

Each of the ropes <NUM> is connected to the rope tightener <NUM> that can be tightened in a tangential direction tangential to the circular arc outer wall portion <NUM>. It could be understood that the rope <NUM> has some extensibility. Therefore, when the rope transmission device <NUM> is continuously operated for a certain time, the tension of the rope <NUM> is weakened. If the tension of the rope <NUM> continues to weaken, the rope <NUM> will be too loose and may be in one groove body of the rope winding spiral groove <NUM>, i.e., the rope <NUM> that should have been wound in two adjacent groove bodies will be wound into the same groove body. This causes the oscillating piece <NUM> on the rope transmission device <NUM> to oscillate unevenly and it may even not work normally.

However, in the embodiment of the present invention, the rope <NUM> is connected to the rope tightener <NUM> in a way that can be tightened in a tangential direction tangential to the circular arc outer wall portion <NUM>, such that when the tension of the rope <NUM> decreases, the rope <NUM> can be tightened by the rope tightener <NUM>. In this way, since the rope <NUM> is maintained within a predetermined tension range when the rope <NUM> is wounded and unwounded, the rope <NUM> can be always guided into the rope winding spiral groove <NUM>, thereby ensuring the transmission stability of the rope transmission device <NUM>.

In one embodiment, the rope tightener <NUM> includes a base <NUM>, a moving block <NUM>, and a tightness adjusting piece <NUM>. The base <NUM> is fixed to one end of the circular arc outer wall portion <NUM> of the oscillating piece <NUM>. The base <NUM> is provided thereon with a perforation <NUM> extending in a tangential direction tangential to the outer wall of the circular arc outer wall portion <NUM>. The moving block <NUM> can be slidably connected to the base <NUM> in a direction in which the perforation <NUM> extends. The moving block <NUM> is connected to the tightness adjusting piece <NUM> in a way that can be driven.

It is worth mentioning that each of the ropes <NUM> is fixed to the moving block <NUM> after passing through the perforation <NUM>. In this way, when the tightness of the rope <NUM> needs to be increased, that is, the tension of the rope <NUM> is increased, by operating the tightness adjusting piece <NUM>, the moving block <NUM> can be enabled to slide in the direction of tightening the rope <NUM>. On the contrary, when the tightness of the rope <NUM> needs to be lowered, that is, the tension of the rope <NUM> is reduced, the moving block <NUM> can be enabled to slide in the direction of releasing the rope <NUM> by operating the tightness adjusting piece <NUM>.

Preferably, the tightness adjusting piece <NUM> is embodied as a rotatable screw, and the moving block <NUM> is correspondingly provided with a threaded hole matching the screw. The extending direction of the threaded hole is parallel to the direction in which the moving block <NUM> moves, so that the moving block <NUM> can always move in a tangential direction tangential to the outer wall of the circular arc outer wall portion <NUM> when the tightness adjusting piece <NUM> is operated. In this way, after the tension of the rope <NUM> is adjusted, the included angle with the extending direction of the rope winding spiral groove <NUM> on the rope winding shaft <NUM> always does not change, so that the rope <NUM> can always be guided to wind into or wind out of the rope winding guide groove <NUM> by the rope winding guide groove <NUM> after the rope winding shaft <NUM> is driven to rotate.

Specifically, the base <NUM> is formed with a perforation <NUM> communicating with the perforation <NUM>. The moving block <NUM> is slidably mounted to the perforation <NUM>. The moving block <NUM> is provided with a mounting hole <NUM> in a tangential direction tangent to the outer wall of the circular arc outer wall portion <NUM>. The rope <NUM> is limited by the moving block <NUM> after passing through the perforation <NUM> and the mounting hole <NUM> on the moving block <NUM>. It is worth mentioning that the aperture of the mounting hole <NUM> is larger than the aperture of the perforation <NUM>, so that when the rope <NUM> is moved by the moving block <NUM>, the rope <NUM> does not rotate but slides only in a direction tangential to the circular arc outer wall portion <NUM>.

The rehabilitation exercise equipment includes at least two rope transmission devices <NUM> and at least two link mechanisms <NUM>. The rotation axes that rope winding shafts <NUM> in the two rope transmission devices <NUM> rotate around are perpendicular to each other. The limb fixing assembly <NUM> is fixed to the oscillating piece <NUM> of one rope transmission device by one link mechanism <NUM>, and the limb fixing assembly <NUM> is fixed to the oscillating piece of the other rope transmission device by the other link mechanism <NUM>.

Claim 1:
A rope transmission device (<NUM>) for driving a limb fixing assembly (<NUM>), the rope transmission device (<NUM>) comprising:
a device main body (<NUM>);
a transmission assembly (<NUM>), wherein the transmission assembly (<NUM>) is provided to the device main body (<NUM>);
a rope winding shaft (<NUM>), wherein the rope winding shaft (<NUM>) is rotatably connected to the transmission assembly (<NUM>), and at least one continuous rope winding spiral groove (<NUM>) is provided along a peripheral edge of an outer wall of the rope winding shaft (<NUM>), the rope winding shaft (<NUM>) having an inner end proximal to the transmission assembly (<NUM>) and an outer end remote from the transmission assembly (<NUM>);
an oscillating piece (<NUM>) for driving the limb fixing assembly (<NUM>), wherein the oscillating piece (<NUM>) is provided on the device main body (<NUM>) in such a way that an oscillating shaft around which the oscillating piece (<NUM>) oscillates is collinear with a rotation shaft of the rope winding shaft (<NUM>);
two ropes (<NUM>), wherein one end of one of the ropes (<NUM>) is fixed to the rope winding shaft (<NUM>), and it is partially wound in a portion of a groove near the inner end of the rope winding spiral groove (<NUM>) of the rope winding shaft (<NUM>), and the rope (<NUM>) is further fixed to one end of the oscillating piece (<NUM>) around a circumference that the oscillating piece (<NUM>) oscillates; after one end of the other rope (<NUM>) is fixed, it is partially wound in a portion of the groove near the rope winding spiral groove (<NUM>), and the rope is fixed to the other end of the oscillating piece (<NUM>) around the circumference that the oscillating piece (<NUM>) oscillates;
charaterised in that:
the rope transmission device (<NUM>) comprises two rope tighteners (<NUM>), and the oscillating piece (<NUM>) has a circular arc outer wall portion (<NUM>) and at least one radial connecting portion (<NUM>) connected to the circular arc outer wall portion (<NUM>), the radial connecting portion (<NUM>) being provided to be rotatably mounted to the device main body (<NUM>) about the oscillating axis, wherein each of the ropes (<NUM>) is respectively connected to one rope tightener (<NUM>) in a way that can be tightened in a tangential direction tangential to the circular arc outer wall portion (<NUM>).