CN101502469B - Ankle rehabiliation apparatus with double-freedom degree - Google Patents
Ankle rehabiliation apparatus with double-freedom degree Download PDFInfo
- Publication number
- CN101502469B CN101502469B CN2009101111104A CN200910111110A CN101502469B CN 101502469 B CN101502469 B CN 101502469B CN 2009101111104 A CN2009101111104 A CN 2009101111104A CN 200910111110 A CN200910111110 A CN 200910111110A CN 101502469 B CN101502469 B CN 101502469B
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- ankle
- motor
- turn
- double
- hinged
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Abstract
The invention relates to an ankle rehabilitation apparatus with two degrees of freedom, comprising a support. The invention is characterized in that a zigzag rod which can turn and swing around a D/P axis is hinged between the left part and the right part of the support; the zigzag rod is hinged with a sole supporting sheath facing the negative direction of a P/S axis via a hinge hole so as to lead the sole supporting sheath to turn and swing around the P/S axis. The support is also provided with a first motor drive mechanism and a second motor drive mechanism; the first motor drive mechanism and the second motor drive mechanism are used for driving the zigzag rod and the sole supporting sheath to carry out to-and-fro turning and swinging. By using the second motor drive mechanism to drive the sole supporting sheath to carry out to-and-fro turning and swinging, the invention realizes varus and eversion of the ankle, and by using the first motor drive mechanism to drive the zigzag rod to carry out to-and-fro turning and swinging, the invention realizes abduction and adduction of the ankle. The rehabilitation apparatus has simple structure, convenient use, low manufacturing cost, easy marketization and broad application prospect.
Description
Technical field:
The present invention relates to a kind of medical apparatus and instruments, particularly a kind of ankle rehabiliation apparatus with double-freedom degree that is used for the ankle rehabilitation.
Background technology:
The ankle articular sprain is that incidence rate is the highest in the athletic injury, and the reason of generation is that health loses center of gravity mostly, steps down on others foot when landing or foot occurs when being tripped.When spraining, arthroncus takes place in local meeting, pain, when serious even cause fracture, and the method for efficient rehabilitation treatment is that ankle is carried out massage treatment, and massage treatment is the most at the beginning undertaken by the doctor of specialty, bring huge labor intensity to the doctor, after this ankle instrument that has also just occurred some automatizatioies both at home and abroad, as external a ankle instrument, support a sole cover by four scalable atmospheric pressure poles, simulate by these four different collapsing lengths of scalable atmospheric pressure pole and realize different ankle rehabilitation actions, but this mechanism control system complexity, the manufacturing cost height is unfavorable for being extensive use of.
Summary of the invention:
The object of the present invention is to provide a kind of ankle rehabiliation apparatus with double-freedom degree, this rehabilitation device is not only simple in structure, easily manufactured, cost is low, and can realize dorsiflex/sole of the foot bend, in turn over/turn up and three kinds of action patterns of abduction/adduction.
The present invention is achieved through the following technical solutions:
Ankle rehabiliation apparatus with double-freedom degree of the present invention, comprise bearing, it is characterized in that: be hinged with between the left and right portion of described bearing can be around the upset swing of D/P axle turn the shape bar, turn on the shape bar and be hinged with a sole support set towards P/S axle negative direction by hinge hole, so that the sole support set can be around the upset swing of P/S axle, also be respectively equipped with on the described bearing to be used to drive and turn shape bar and sole support set back and forth overturn first motor-driven mechanism and second motor-driven mechanism of swing.
Operation principle of the present invention: drive the swing of back and forth overturning of sole support set by second motor-driven mechanism, realized ankle in turn over/turn up action, drive by first motor-driven mechanism and to turn the swing of back and forth overturning of shape bar, realized the abduction/adduction action of ankle, and first motor-driven mechanism and second motor-driven mechanism drive realization dorsiflex/sole of the foot simultaneously and bend action, simple in structure, easy to use, the low cost of manufacture of this rehabilitation device, be easy to the marketization, have broad application prospects.
Description of drawings:
Fig. 1 is an organigram of the present invention;
Fig. 2 is the organigram of bearing of the present invention.
The specific embodiment:
Ankle rehabiliation apparatus with double-freedom degree of the present invention, comprise bearing 1, be hinged with between the left and right portion of bearing can be around D/P axle 2 upset swing turn shape bar 3, turn on the shape bar 3 and be hinged with a sole support set 5 towards P/S axle 4 negative directions by hinge hole, so that the sole support set can be around the upset swing of P/S axle, also be respectively equipped with on the bearing 1 to be used to drive and turn shape bar 3 and sole support set 5 back and forth overturn first motor-driven mechanism 6 and second motor-driven mechanism 7 of swing.
The present invention's first driving mechanism 6 comprises first motor, 8, first motor-driven first toggle 9 and is fixedlyed connected with an end hinging pin shaft 12 that turns the shape bar by the hinged end that the first toggle slide block 10 drives first rocking bar, 11, the first rocking bars 11 that wave.
The present invention's second driving mechanism 7 comprises second motor, 13, second motor-driven second toggle 14 and is fixedlyed connected with the hinging pin shaft 17 of sole support set by the hinged end that the second toggle slide block 15 drives second rocking bar, 16, the second rocking bars 16 that wave.
In order to realize mechanism kinematic more smoothly, the present invention turns shape bar 3 two ends and is hinged on and is arranged at two of the left and right portion of bearing and erects on the supporting plates 18,19, and first driving mechanism 6 is arranged on erectting on the supporting plate wherein, and two erect the supporting plate planes is parallel to each other.
In order to realize moving the adjusting of the amplitude of oscillation, the crank radius of turn adjustable length of above-mentioned first crank, the crank radius of turn adjustable length of second crank.
Claims (5)
1. ankle rehabiliation apparatus with double-freedom degree, comprise bearing, it is characterized in that: a described bearing left side, be hinged with between the right part can be around the upset swing of D/P axle turn the shape bar, turn on the shape bar and be hinged with a sole support set towards P/S axle negative direction by hinge hole, so that the sole support set can be around P/S axle upset swing, also be respectively equipped with on the described bearing to be used to drive and turn shape bar and sole support set back and forth overturn first motor-driven mechanism and second motor-driven mechanism of swing, described first motor-driven mechanism comprises first motor, first motor-driven first toggle and first rocking bar that waves by the drive of the first toggle slide block, the hinged end of described first rocking bar is fixedlyed connected with an end hinging pin shaft that turns the shape bar, described second motor-driven mechanism comprises second motor, second motor-driven second toggle and second rocking bar that is waved by the drive of the second toggle slide block, the hinged end of described second rocking bar is fixedlyed connected with the hinging pin shaft of sole support set.
2. ankle rehabiliation apparatus with double-freedom degree according to claim 1 is characterized in that: the described shape bar two ends of turning are hinged on and are arranged at two of the left and right portion of bearing and erect on the supporting plates, and described first motor-driven mechanism is arranged on erectting on the supporting plate wherein.
3. ankle rehabiliation apparatus with double-freedom degree according to claim 2 is characterized in that: described two erect the supporting plate plane is parallel to each other.
4. ankle rehabiliation apparatus with double-freedom degree according to claim 1 is characterized in that: the crank radius of turn adjustable length of described first toggle.
5. ankle rehabiliation apparatus with double-freedom degree according to claim 1 is characterized in that: the crank radius of turn adjustable length of described second toggle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101111104A CN101502469B (en) | 2009-02-26 | 2009-02-26 | Ankle rehabiliation apparatus with double-freedom degree |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101111104A CN101502469B (en) | 2009-02-26 | 2009-02-26 | Ankle rehabiliation apparatus with double-freedom degree |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101502469A CN101502469A (en) | 2009-08-12 |
| CN101502469B true CN101502469B (en) | 2010-11-10 |
Family
ID=40974932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101111104A Expired - Fee Related CN101502469B (en) | 2009-02-26 | 2009-02-26 | Ankle rehabiliation apparatus with double-freedom degree |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101502469B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102488603B (en) * | 2011-12-15 | 2013-10-02 | 浙江体育科学研究所 | Ankle three-dimensional force training device |
| CN107087921A (en) * | 2014-12-01 | 2017-08-25 | 姜敏敏 | Working and studying is used, band warms up the chair and its method of work of pin and ankle massage functions |
| CN105310860A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Ankle joint inversion/eversion rehabilitation training device integrating training with movement state detection |
| CN109528442B (en) * | 2018-11-20 | 2020-09-15 | 上海市第十人民医院 | Ankle joint rehabilitation training auxiliary device |
| CN112545846B (en) * | 2020-12-29 | 2023-11-21 | 西北工业大学 | Power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition |
-
2009
- 2009-02-26 CN CN2009101111104A patent/CN101502469B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN101502469A (en) | 2009-08-12 |
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| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101110 Termination date: 20130226 |