l295l83 九、發明說明·· 【發明所屬之技術領域】 本發明係有關一種务關節下肢運動裝置，尤指一種使 用特殊設計之液壓元件以對使用者下肢可活動關節部位進 行阻力活動，並透過液壓元件上之節流閥調整液壓阻力 度之多關節下肢運動裝置。 強 【先前技術】 人類肢體的動作於上肢主要是提供操作週邊環境的兩 永，下肢則來負責人體的移動。因此體叙 兄的而 作，而式的動作操 =激烈活動或累積工作二=肌:::: 系統傷害的預防與復原需要主動的參錄* =肉月路 達到關節活動與控制的最佳狀綠。二；；主的控制，以 剑練維護最佳關節活動狀態是i求方2路肌肉系統如何 關節活動訓練最重要在於人 肉維持應有的張力與入’以提供肌 肌肉收縮的參與控制，無：:===有 訓練。傳統肌肉訓練藉由外】口制^ 施力產生關節活動訓練(如^二 整重量，缺乏如行走功能整合訓練。以 、又e’sl、’的等速肌力訓練儀雖提供肢體動作速度 1295183 上控制與肌肉收縮特性的訓練 :=大且無法具有模擬具體功 的訓練特性’但是仍以實驗室研究工:用功能操作 能力進階式訓練考量或居爱蚀田Mi用為主，尚未提供依 下肢關節，其訓練辅助工且可、、函蓋考量。此外行走為主的 或是定點踏步職可以經調節阻她2他車、跑f機、 缺乏行動與攜帶的輕量化特徵。 肢訓練功能，但 習知技術對於下肢關節活動主 節作為個別對象，未以下肢封整㈣=關節或踝足關 控制操作以關節活動角度4 動為活動特徵。 運動訓練模式，未輔:回：:=:::，、等張= 技術對於上述問題並未揭摊何解決的^捕地，1知 有鑑於此，本發明提出一種多關節下ς。 係使用特殊設計之液壓元件以對使 ^動裝置’其 部位進行阻力活動，並透過液壓元件 ^活動之關節 阻力強度。與習知技術相較，本發明所^綱整液壓 運動裝置具有較高的運動自由度，|具多關節下肢 維修的優點’ ϋ可提供主動式之運動機能Μ、輕量與易 【發明内容】 麥本=明的主要目的在於提供一種多關節下肢運動裝 置’使得使用者的膝部與踝部可同碑進行多 、動 (Multi一degree-of—freed〇m m〇ti〇ny 及 (Active exercise)等運動機能。 動式運動 -1295183 本發明的另一目的在於提供一個玎隨身攜帶應用之多 關節下肢運動裝置，使得使用者的膝部與踩部運動機能可 •透過單一的下肢運動農置來加以完成。 . 本發明之另—個目的在於提供一個適合不同姿勢包括 躺臥、坐姿與站立行走狀態的需求下使用之主動關節訓練 設備，並可進行階段式需求訓練之設計，以符合不同階段 如動作實施難度的能力需求。 本發明之另一個目的在於提供一種利用可調整閥門開 # 關與液壓阻力的液壓元件，來對裝置使用者下肢可活動關 節部位進行阻力活動，並藉此達成裝置使用者下肢多關節 的主動式運動。 本發明之另一個目的在於提供一種利用機械結構幾何 阻力計算方法，可自動調整液壓元件之閥門開關與液壓阻 力’來對裝置使用者下肢可活動關節部位進行固定限力活 動，並藉此達成裝置使用者下肢多關節的主動式運動。 為達到上述目的，本發明提出一種多關節下肢運動裝 •置’包括-第-承載部、—第二承載部以及—液壓元件’ 其中該第二承載部係以可旋轉之方式連接該第一承載部； ，液壓元件之兩端分別連接該第一承載部及該第二承載 ^ ’其係提供一液壓阻力以使該第一承載部及該第二承載 。卩於旋轉作動時，承受該液壓阻力。 較佳地，該第一承載部包括一旋轉架及一支撐架，該 撐架之一端係連接該旋轉架，且該支樓架之長度係f調 整，該第二承載部包括一旋轉架及一支撐架，該支撐架之 端係連接該旋轉架，且該支撐架之長度係可調整。 I295I83 於父佳地，該第一承載部包括一旋轉架及一支撐架，該 整撐架之一端係連接該旋轉架，且該支撐架之長度係可調 鉍’該第二承載部包括一旋轉底板及一轉動輪組，該轉動 輪組係連接該旋轉底板，且包括至少一固定架及至少—鲮 動輪。 ” w 較佳地’該液壓元件包括一液壓缸、一液壓管、至少 =轉向閥及一節流閥，該至少一轉向閥係用於連接該液壓 、南螂該，壓管以使一液體可於該液壓缸與該液壓管之間流 、，該節流閥係用於控制該液壓管内液體之流量以調 液壓阻力之強度。 哥該 浐罟較佳地;，在該第一承載部與該第二承载部之連接處係 :置有一旋轉角度感測器，用以偵測該第一承載部與該第 載部於旋轉作動時所產生之旋轉角度。而該液壓：件 液壓缸、一液壓管、至少一轉向閥及—節流閥，該 至少一轉向閥係用於連接該液屋缸與該液壓管以使一液^ 轉角度感/則裔所偵測之旋轉角度，控制該液壓管 流量以使該第一承載部及該第二承載部於旋轉作動時該 液壓阻力可持續維持於—固定強度。其中該節流i可為二 電磁闕。 ' 為達到上述目的，本發明另提出-種多關節下肢動 裝置’包括一第一承載部、一第二承载部、一一孟 元件及一第二液壓元件，其中料^ 以T說轉之方式連接該第一承載部；該第三承 旋轉之方式連接該第二承載部；該第—液壓元件= 1295183 別連接該第一承載部及兮筮一 2 壓阻力以使該第-承載栽^其係提供一第一液 第二承載部及該第三承連接該 使該第二承載部及該第：承㈣灿供一第二液壓阻力以 二液壓阻力。 卩妓轉作動時，承受該第 幸父佳地’該第一承巷邱白社 支榜架之一端係連接-支樓架，該 =二包括轉架，該支撐架之 接該旋轉底板，且包括-固定架=二轉該動轉:輪組係連 李交佳地，該第—液壓元件包括一液·、 至>、一轉向閥及一節流閥，該至 垄吕、 =與_管以使-液想可於該 •整該第-液壓阻力之強度。内液體之流量以調 :佳地’在該第一承載部與該第二承裁接 叹置有-旋轉角度感測器，用以偵職 ，接處係 二承载部於旋轉作動時所產生載。卩與該第 元件包括-、m、 角度°而該第-液麼 兮 、一液壓管、至少—轉向閥及一f4叫 以-轉向閥係用於連接該液驗與該液:：閥’ 體可於該液魔虹與該液屢管之間流通；該吕从使一液 測器所偵測之旋轉角度，控制該 之…使該第-承載部及該第二承裁部於旋轉 =趙 ^1295183 . * 該第一液壓阻力可持續維持於一固定強度。 較佳地，該第二液壓元件包括一液壓缸、一液壓管、 ， 至少一轉向閥一節流閥，該至少一轉向閥係用於連接該液 - 壓缸與該液壓管以使一液體可於該液壓缸與該液壓管之間 流通；談節流閥係用於控制該液壓管内液體之流量以調整 該第二液壓阻力之強度。 較佳地，在該第一承載部與該第二承載部之連接處係 設置有一旋轉角度感測器，用以偵測該第二承載部與該第 ⑩ 三承載部於旋轉作動時所產生之旋轉角度。而該第二液壓 元件包括一液壓缸、一液壓管、至少一轉向閥及一節流閥， 該至少一轉向閥，係用於連接該液壓缸與該液壓管以使一 液體可於該液壓缸與該液壓管之間流通；該節流閥係根據 該旋轉角度感測器所偵測之旋轉角度，控制該液壓管内液 體之流量以使該第二承載部及該第三承載部於旋轉作動 時，該第二液壓阻力可持續維持於一固定強度。其中該節 流閥可為一電磁閥。 【實施方式】 為使貴審查委員能對本發明之特徵、目的及功能有 更進一步的認知與暸解，茲配合圖式詳細說明如後： 請參考圖一，圖一為本發明較佳實施例多關節下肢運 動裝置之示意圖。使用者可將多關節下肢運動裝置裝設於 下肢，以輔助可活動關節部位進行阻力活動。此多關節下 肢運動裝置包括有一第一承載部11、一第二承載部12、一 第三承載部13、一第一液壓元件14以及一第二液壓元件 1295183 15。 支rU:部11包括有一支撐架⑴及-旋轉架112, 並^透過类谈旋轉架112係裝設於人體下肢大腿的外侧， 孥121及-:固定於大腿上；第二承載部12包括有一支撐 ^人触122，支撐架121及旋轉架122係裝設 由，:肢小腿的外侧，並可透過束帶固定於小腿上。其 部11可依使用者下肢大腿調整長度，也就是 透過滑槽與滑桿的組合或是其他具有滑動功 月匕之裝置，以可伸縮之方式與旋轉架112相連揍，藉此調 整出第一承載部11最適當的長度；同樣地，第二承載部 12也可依使用者下肢小腿調整長度，也就是支撐架12丨可 透過滑槽與滑桿的組合或是其他具有滑動功能之裝置，以 可伸縮之方式與旋轉架122相連接，藉此調整出第二承載 部12最適當的長度。當使用者膝關節轉動時，旋轉架112 及旋轉架122會繞著旋轉軸16轉動，由於第一液壓元件 14之兩端分別連結旋轉架112與旋轉架122，故可提供使 用者膝關節轉動時的轉動阻力。 第三承載部13包括有一旋轉底板131及一轉動輪組 132 ’轉動輪組132係由一固定架丨321及二轉動輪1322與 1323所組成，固定架1321係連接旋轉底板131。人體下肢 腳底可貼置於旋轉底板131上方，並可透過束帶固定於腳 掌。當使用者踩關節轉動時，支撐架121與旋轉底板131 會繞著旋轉軸17轉動，由於第二液壓元件15之兩端分別 連結支撐架121與旋轉底板131，故可提供使用者踝關節 轉動時的轉動阻力。轉動輪1322及1323則可提供使用者 I295l83 &進行下肢運動時’降低多關節下肢運動裝置與地面的摩 擦，使得下肢運動更為流暢。 …透過第一液壓元件14與第二液壓元件丨5分別提供膝 關節與踝關節轉動時之阻力，可有效達成使用者下肢主動 式運動。 凊參考圖二’圖二為本發明較佳實施例之液壓元件之 示意圖。液壓缸201為液壓元件20之主體，旋轉軸202與 旋轉軸203分別連結兩運動元件，如圖一所示之旋轉架112 與旋轉架122或是支撐架121與旋轉底板131。當液壓元 件20作動時，旋轉軸202與旋轉軸203可沿液壓缸201滑 動。轉向閥204與轉向閥205分別連結液壓缸201、液壓 管路206與液壓管路207，作為液壓缸201内液體流通之 轉向。節流閥208連結液壓管路206與液壓管路207，作 為管内液體流動時之流量控制。使用本裝置，可以手動方 式調整節流閥208 ’透過控制液壓缸201内液體流動時之 流量，可提供連結旋轉軸202與旋轉軸203之兩運動元件 運動時之阻力。其中，節流閥208可更換為電子作動式， 以電子方式控制液壓元件應用時之阻力。 應用本發明所設計之定阻力液壓元件時，圖二所示之 液壓元件之節流闕208須更換為電子作動式之之節流閥， 在圖一所示之旋轉軸16與旋轉軸17須另外裝設旋轉角度 感測器。請參考圖三，圖三為本發明較佳實施例之定阻力 液壓元件之示意圖。在此以旋轉架112、旋轉架122及一 定阻力液壓元件30做說明，旋轉架112與旋轉架122係透 過旋轉軸16連結並轉動，定阻力液壓元件30透過旋轉軸 1295183 =與旋轉軸302分別與旋轉架112與旋轉架i22連結。 時> 間303可以電子作動方式控制定阻力錢元件3〇應用 力改阻力’並根據旋轉角度感測器31所_之角度值對阻 叙強度作適時調整，當旋轉架112與旋轉架122於旋轉作 的過&巾’定阻力液壓元件3Q可持續維持固定的液壓阻 刀0 以 係^上所述，本發明所提出之多關節下肢運動裝置，其 將液壓兀件之兩端分別連接於兩承載部上，使得使用者 阪進仃膝關節或踝關節運動時，必須額外施力來克服液壓 ^力^以達成主動式運動之目的。液壓元件上之節流閥可 法動調整以提供不同程度的液壓阻力，亦可使用一電子節 =閱’根據關節部位的旋轉角度來自動調整液壓阻力 供使用者下肢關節部位活動時一固定阻力。 唯以上所述者，僅為本發明之較佳實施例，當不能以 之限制本發明的範圍。即大凡依本發明申請專利範圍所做 魯之均等變化及修飾，仍將不失本發明之要義所在，亦不脫 離本發明之精神和範圍，故都應視為本發明的進一步實施 狀況。 【圖式簡單說明】 圖一為本發明較佳實施例多關節下肢運動裝置之示意圖。 圖二為本發明較佳實施例之液壓元件之示意圖。 圖二為本發明較佳實施例之定阻力液壓元件之示意圖。。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 The throttle valve on the component adjusts the hydraulic resistance to the joint lower limb movement device. Strong [Prior Art] The movement of the human limbs in the upper limbs mainly provides the operation of the surrounding environment, and the lower limbs are responsible for the movement of the human body. Therefore, the body of the brothers, but the action of the action = intense activity or cumulative work 2 = muscle:::: prevention and recovery of systemic injury requires active participation * = meat month to achieve the best joint activity and control Green. Second;; the main control, the sword to maintain the best joint activity state is i square 2 muscle system how the joint activity training is most important in the human body to maintain the tension and into the 'to provide muscle muscle contraction participation control, no ::=== There is training. Traditional muscle training produces joint activity training by external force system ^ (such as ^ two weights, lack of integrated training such as walking function. And e'sl, 'the same speed muscle strength training device provides limb movement speed 1295183 Training on control and muscle contraction characteristics: = large and unable to have the training characteristics of simulating specific work 'but still using laboratory research workers: advanced functional considerations with functional operation ability or Mi love Eclipse Mi, not yet Provide the lower extremity joints, the training assistants can, and the letter cover. In addition, the walking-based or fixed-point stepping can be adjusted to hinder her 2 cars, running f, lack of action and carrying lightweight features. Training function, but the conventional technique for the lower limb joint activity as the individual subject, no lower limb sealing (four) = joint or ankle foot control operation with the joint activity angle 4 movement as the active feature. Sports training mode, not auxiliary: back: :=:::,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, Compared with the prior art, the hydraulic motion device of the present invention has a high degree of freedom of movement, and has more freedom of movement. Advantages of joint lower limb maintenance ' ϋ can provide active motor function Μ, lightweight and easy [Invention] The main purpose of Mai Ben = Ming is to provide a multi-joint lower limb exercise device 'to make the user's knee and ankle The same monument carries out multiple movements (Multi-degree-of-freed〇mm〇ti〇ny and (Active Exercise). Dynamic exercise-1295183 Another object of the present invention is to provide a multi-joint for carrying and carrying applications. The lower limb exercising device enables the user's knee and tread movement function to be completed through a single lower limb movement. Another object of the present invention is to provide a suitable posture including lying, sitting and standing walking. The active joint training equipment used under the state of demand, and the design of the staged demand training can be carried out to meet the difficulty of different stages such as the implementation of the action. It is another object of the present invention to provide a hydraulic component that utilizes an adjustable valve opening and hydraulic resistance to perform resistance activities on a movable joint portion of a lower limb of a device user, thereby achieving a multi-joint of a lower limb of a device user. Active motion. Another object of the present invention is to provide a method for calculating the geometrical resistance of a mechanical structure, which can automatically adjust the valve switch and hydraulic resistance of the hydraulic component to perform a fixed force limiting action on the movable joint portion of the lower limb of the device user. In order to achieve the above object, the present invention provides a multi-joint lower limb exercise device including a 'including-the first bearing portion, a second bearing portion and a hydraulic component'. The second bearing portion is rotatably connected to the first bearing portion; the two ends of the hydraulic component are respectively connected to the first bearing portion and the second carrier, which provide a hydraulic resistance to make the first bearing And the second carrier. When the rotation is actuated, the hydraulic resistance is withstood. Preferably, the first carrying portion comprises a rotating frame and a supporting frame, one end of the supporting frame is connected to the rotating frame, and the length of the supporting frame is adjusted, and the second carrying portion comprises a rotating frame and A support frame, the end of the support frame is coupled to the rotating frame, and the length of the support frame is adjustable. I295I83 The parent carrier includes a rotating frame and a supporting frame, one end of the whole supporting frame is connected to the rotating frame, and the length of the supporting frame is adjustable. The second carrying portion includes a The rotating bottom plate and a rotating wheel set are connected to the rotating bottom plate, and comprise at least one fixing frame and at least a tilting wheel. " w preferably" the hydraulic component comprises a hydraulic cylinder, a hydraulic pipe, at least = a steering valve and a throttle valve, the at least one steering valve is for connecting the hydraulic pressure, the south pressure, the pressure pipe to make a liquid Flowing between the hydraulic cylinder and the hydraulic pipe, the throttle valve is used for controlling the flow rate of the liquid in the hydraulic pipe to adjust the strength of the hydraulic resistance. Preferably, the first bearing portion is The connection between the second bearing portion is: a rotation angle sensor is disposed for detecting a rotation angle of the first bearing portion and the first loading portion when the rotation is actuated. The hydraulic pressure: a hydraulic cylinder, a hydraulic pipe, at least one steering valve and a throttle valve, wherein the at least one steering valve is used for connecting the liquid house cylinder and the hydraulic pipe to control a rotation angle detected by a liquid/angle angle control The flow rate of the hydraulic pipe is such that the hydraulic resistance can be maintained at a fixed strength when the first bearing portion and the second bearing portion are rotated. The throttle i can be two electromagnetic 阙. The invention further proposes a multi-joint lower limb moving device 'included a first load-bearing portion, a second load-bearing portion, a first-mesh component and a second hydraulic component, wherein the material is connected to the first load-bearing portion in a T-turn manner; the third bearing-rotating manner is connected to the second load-bearing portion The first hydraulic bearing unit 1295183 is connected to the first bearing portion and the second bearing pressure resistance to enable the first carrier to provide a first liquid second bearing portion and the third bearing connection The second bearing portion and the first bearing portion (four) are provided with a second hydraulic resistance with two hydraulic resistances. When the twirling is actuated, the first sacred father's good land is accepted. One end is a connection-supporting frame, and the second includes a rotating frame, the supporting frame is connected to the rotating bottom plate, and includes a fixing frame=two rotations: the wheel set is connected to the Lijiajiadi, and the first hydraulic component includes a Liquid·, to >, a steering valve and a throttle valve, which is to the ridge, = and _ tube so that the liquid can be used to adjust the strength of the first hydraulic pressure. The ground 'in the first bearing part and the second socket sighs - a rotation angle sensor for the arbitrage, the second department The load is generated when the carrier is rotated. The first element includes -, m, angle ° and the first liquid, a hydraulic pipe, at least - a steering valve and a f4 called - steering valve for connecting The liquid test and the liquid:: valve 'body can be circulated between the liquid magic rainbow and the liquid continuous tube; the Lv controls the rotation angle detected by a liquid detector... so that the first load And the second contracting portion is rotated = Zhao ^ 1295183. * The first hydraulic resistance is maintained at a fixed strength. Preferably, the second hydraulic component comprises a hydraulic cylinder, a hydraulic tube, and at least one a steering valve throttle valve, the at least one steering valve is configured to connect the liquid-pressure cylinder and the hydraulic pipe to allow a liquid to flow between the hydraulic cylinder and the hydraulic pipe; and the throttle valve is used for controlling the valve The flow of liquid in the hydraulic pipe to adjust the strength of the second hydraulic resistance. Preferably, a rotation angle sensor is disposed at the connection between the first carrier portion and the second carrier portion for detecting that the second carrier portion and the third carrier portion are generated when the rotation is performed. The angle of rotation. The second hydraulic component includes a hydraulic cylinder, a hydraulic pipe, at least one steering valve and a throttle valve, and the at least one steering valve is configured to connect the hydraulic cylinder and the hydraulic pipe to make a liquid available in the hydraulic cylinder Circulating with the hydraulic pipe; the throttle valve controls the flow rate of the liquid in the hydraulic pipe according to the rotation angle detected by the rotation angle sensor, so that the second bearing portion and the third bearing portion are rotated The second hydraulic resistance can be maintained at a fixed strength. The throttle valve can be a solenoid valve. [Embodiment] In order to enable the reviewing committee to have a further understanding and understanding of the features, objects and functions of the present invention, the following detailed description is provided with reference to the drawings: FIG. Schematic diagram of the joint lower limb movement device. The user can install a multi-joint lower limb exercise device on the lower limb to assist the movable joint to perform resistance activities. The multi-joint lower limb moving device includes a first carrying portion 11, a second carrying portion 12, a third carrying portion 13, a first hydraulic member 14, and a second hydraulic member 129518315. The support portion r1 includes a support frame (1) and a rotary frame 112, and is mounted on the outer side of the thigh of the lower limb of the human body through the rotary frame 112, and the crucibles 121 and - are fixed on the thigh; the second load-bearing portion 12 includes There is a support ^ person touch 122, the support frame 121 and the rotating frame 122 are installed by: the outer side of the leg lower leg, and can be fixed to the lower leg through the strap. The portion 11 can be adjusted according to the length of the lower leg of the user, that is, through the combination of the chute and the slide bar or other devices having the sliding power, and is connected to the rotating frame 112 in a telescopic manner, thereby adjusting the The most suitable length of the carrying portion 11; similarly, the second carrying portion 12 can also be adjusted according to the lower leg of the user's lower limb, that is, the support frame 12 can be combined with the sliding groove and the sliding bar or other sliding device. And connected to the rotating frame 122 in a telescopic manner, thereby adjusting the most suitable length of the second carrying portion 12. When the user's knee joint rotates, the rotating frame 112 and the rotating frame 122 rotate around the rotating shaft 16. Since the two ends of the first hydraulic component 14 respectively connect the rotating frame 112 and the rotating frame 122, the user can provide the knee joint rotation. The resistance to rotation. The third carrying portion 13 includes a rotating bottom plate 131 and a rotating wheel set 132. The rotating wheel set 132 is composed of a fixed frame 321 and two rotating wheels 1322 and 1323. The fixed frame 1321 is connected to the rotating bottom plate 131. The lower limb of the human body can be placed above the rotating bottom plate 131 and can be fixed to the sole of the foot through the strap. When the user rotates the joint, the support frame 121 and the rotating bottom plate 131 rotate around the rotating shaft 17. Since the two ends of the second hydraulic component 15 respectively connect the support frame 121 and the rotating bottom plate 131, the user can provide the ankle joint rotation. The resistance to rotation. The rotating wheels 1322 and 1323 can provide the user I295l83 & when lower limb movements, 'reducing the friction of the multi-joint lower limb movement device and the ground, so that the lower limb movement is smoother. ...providing the resistance of the knee joint and the ankle joint through the first hydraulic component 14 and the second hydraulic component 丨5, respectively, the active movement of the lower limb of the user can be effectively achieved. Referring to Figure 2, Figure 2 is a schematic illustration of a hydraulic component in accordance with a preferred embodiment of the present invention. The hydraulic cylinder 201 is the main body of the hydraulic component 20. The rotating shaft 202 and the rotating shaft 203 respectively connect the two moving elements, such as the rotating frame 112 and the rotating frame 122 or the supporting frame 121 and the rotating bottom plate 131 as shown in FIG. When the hydraulic component 20 is actuated, the rotary shaft 202 and the rotary shaft 203 are slidable along the hydraulic cylinder 201. The steering valve 204 and the steering valve 205 are coupled to the hydraulic cylinder 201, the hydraulic line 206, and the hydraulic line 207, respectively, as a turning of the liquid in the hydraulic cylinder 201. The throttle valve 208 connects the hydraulic line 206 and the hydraulic line 207 as flow control when the liquid in the tube flows. With this device, the flow rate of the throttle valve 208' through the flow of the liquid in the control cylinder 201 can be manually adjusted, and the resistance when the two moving elements of the rotating shaft 202 and the rotating shaft 203 are moved can be provided. Wherein, the throttle valve 208 can be replaced with an electronically actuated type to electronically control the resistance of the hydraulic component when applied. When applying the constant resistance hydraulic component designed by the present invention, the throttle 208 of the hydraulic component shown in FIG. 2 shall be replaced with an electronically actuated throttle valve, and the rotary shaft 16 and the rotary shaft 17 shown in FIG. In addition, a rotation angle sensor is installed. Please refer to FIG. 3, which is a schematic diagram of a constant resistance hydraulic component in accordance with a preferred embodiment of the present invention. Here, the rotating frame 112, the rotating frame 122 and the certain resistance hydraulic component 30 are described. The rotating frame 112 and the rotating frame 122 are coupled and rotated through the rotating shaft 16, and the fixed-resistance hydraulic component 30 transmits through the rotating shaft 1293183 = respectively. The rotating frame 112 is coupled to the rotating frame i22. Time > 303 can electronically control the fixed resistance element 3 〇 apply force change resistance ' and adjust the resistance intensity according to the angle value of the rotation angle sensor 31, when the rotating frame 112 and the rotating frame 122 The multi-joint lower limb movement device proposed by the present invention can continuously maintain the fixed hydraulic pressure knife 3 in the rotation of the & towel's fixed resistance hydraulic component 3Q. It is connected to the two bearing parts, so that when the user moves into the knee joint or the ankle joint, it is necessary to apply additional force to overcome the hydraulic force to achieve the purpose of active movement. The throttle valve on the hydraulic component can be adjusted to provide different degrees of hydraulic resistance. It can also use an electronic node = read 'automatically adjust the hydraulic resistance according to the rotation angle of the joint portion for a fixed resistance when the user's lower limb joint is active. . The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. It is to be understood that the scope of the present invention is not limited by the spirit and scope of the present invention, and should be considered as a further implementation of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view of a multi-joint lower limb exercising device according to a preferred embodiment of the present invention. Figure 2 is a schematic illustration of a hydraulic component in accordance with a preferred embodiment of the present invention. 2 is a schematic view of a constant resistance hydraulic component in accordance with a preferred embodiment of the present invention.
13 1295183 * * 【主要元件符號說明】 11〜第一承載部 / 111〜支撐架 • 112〜旋轉架 12〜第二承載部 121〜支撐架 122〜旋轉架 來 13〜第三承載部 131〜旋轉底板 132〜轉動輪組 1321〜固定架 1322〜轉動輪 1323〜轉動輪 14〜第一液壓元件 15〜第二液壓元件 鲁 16〜旋轉軸 17〜旋轉軸 20〜液壓元件 201〜液壓缸 202〜旋轉軸 203〜旋轉軸 204〜轉向閥 205〜轉向閥 1295183 < * 206〜液壓管路 207〜液壓管路 208〜節流閥 30〜定阻力液壓元件 301〜旋轉轴 302〜旋轉轴 3 0 3〜電磁閥 31〜旋轉角度感測器13 1295183 * * [Description of main component symbols] 11 to 1st carrying portion / 111 to supporting frame • 112 to rotating frame 12 to second carrying portion 121 to supporting frame 122 to rotating frame 13 to third carrying portion 131 to rotating Base plate 132 to rotating wheel set 1321 to fixed frame 1322 to rotating wheel 1323 to rotating wheel 14 to first hydraulic component 15 to second hydraulic component Lu 16 to rotating shaft 17 to rotating shaft 20 to hydraulic component 201 to hydraulic cylinder 202 to rotate Shaft 203 to rotary shaft 204 to steering valve 205 to steering valve 1293183 < * 206 to hydraulic line 207 to hydraulic line 208 to throttle valve 30 to constant resistance hydraulic element 301 to rotary shaft 302 to rotary shaft 3 0 3 Solenoid valve 31 ~ rotation angle sensor