CN101987060B - Ankle joint recovery trainer through rope traction - Google Patents
Ankle joint recovery trainer through rope traction Download PDFInfo
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- CN101987060B CN101987060B CN2010105553737A CN201010555373A CN101987060B CN 101987060 B CN101987060 B CN 101987060B CN 2010105553737 A CN2010105553737 A CN 2010105553737A CN 201010555373 A CN201010555373 A CN 201010555373A CN 101987060 B CN101987060 B CN 101987060B
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- plate
- ankle joint
- base plate
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Abstract
The invention provides an ankle joint recovery trainer through rope traction, which comprises a pedestal, a movable platform and three ropes, wherein the pedestal comprises a base plate, a support post which is welded in the centre of the base plate and provided with a limiting device which is provided with a sensor and can be adjusted up and down, three driving motors of the same type, and three same universal wheels which are symmetrically fixed on the base plate; the movable platform comprises a transmission plate and a pedal plate; the centre at the bottom of the transmission plate is provided with a spherical connection pair connected with the top end of the support post by a flexible spherical hinge; the pedal plate is arranged on the transmission plate; and each rope is fixed on the transmission plate and coiled on a driving wheel of one driving motor by one universal wheel. The invention is a device for recovery training in sprains and orthopaedy on ankle joints. The ankle joint recovery trainer through rope traction is simple in structure and low in production cost, and can safely and reliably realize the recovery training of ankle joints of patients.
Description
Technical field
What the present invention relates to is a kind of rehabilitation appliances, specifically the ankle joint rehabilitation training machine, be a kind of device that is used for the training of sprained ankle and orthopedic rehabilitation.
Background technology
In recent years; The patient is carried out science to healing robot and effective rehabilitation training has shown more and more remarkable advantages; Carry out rehabilitation training early and not only can keep range of motion, prevent arthrogryposis, and can obviously improve the final recovery effects of patient's extremity motor function.Continuous passive motion has obtained using widely in extremity motor function rehabilitation training therapy.
At present, at home and abroad now in the technology, the rehabilitation medicine equipment and the patent of invention that are applied to ankle joint are many, like disclosed a kind of robot for rehabilitation of anklebone in the patent document of one Chinese patent application numbers 200820073836.4 etc.The mechanical part of the robot for rehabilitation of anklebone in this patent document comprises base and moving platform; Parallel connection evenly is equipped with three side chains with same structure and one and has the subsidiary center of center sphere constraining rod between base and moving platform, and each side chain is secondary by transmission, lower peripheral surface, connecting rod and last spherical pair formation; The upper end of center constraining rod is connected with the center of moving platform through spherical hinge; On base, evenly be fixed with three identical bent plates, the torque motor of three same sizes is installed in respectively on three bent plates, and is connected with the revolute pair driving of three side chains respectively; Pedal is installed on the moving platform, corresponding pick off is installed between moving platform and the pedal.The shortcoming of this type technology is a complex structure, and is bulky, and work space is limited, and control technology is complicated, and cost is higher.
Summary of the invention
The object of the invention provide a kind of simple in structure, cost is low, can realize the rope traction ankle joint rehabilitation training machine of patient's ankle joint rehabilitation training safely and reliably.
The objective of the invention is to realize like this:
Rope traction ankle joint rehabilitation training machine of the present invention comprises base and moving platform two parts; Described base comprises base plate, is welded on the pillar at base plate center, but the stopping means of the belt sensor of up-down adjustment is housed on the pillar, and the drive motors of three same models is evenly packed on the base plate with three identical universal wheels; Described moving platform comprises driver plate and pedal, and driver plate bottom centre is the ball auxiliary connection, is connected through the flexible ball hinge with the pillar top, and pedal is installed on the driver plate; Also comprise three ropes, every rope and driver plate are fixed, and every rope is wrapped on the drivewheel of a drive motors through a universal wheel.
The present invention can also comprise:
1, evenly install three links on the driver plate, said every rope fixedly is that every rope is connected with link with driver plate.
The present invention at work; Patient's foot steps down on the pedal; Foot is followed the driver plate motion under pedal drives, driver plate is under equally distributed draw by three separately-driven three ropes of drive motors, because the existence of spherical hinge auxiliary connection; Just pillar is accomplished corresponding swing relatively, and the patient just can carry out the ankle joint rehabilitation training of different directions, different angles.
The present invention is a kind of device that is used for sprained ankle and orthopedic rehabilitation training.Simple in structure, cost is low, can realize patient's ankle joint rehabilitation training safely and reliably.
Description of drawings
Fig. 1 is a whole mechanism of the present invention schematic three dimensional views;
Fig. 2 is a base mechanism vertical view of the present invention;
Fig. 3 is a whole mechanism of the present invention front view;
Fig. 4 is the cutaway view of spherical hinge of the present invention mechanism.
The specific embodiment
For example the present invention is done below in conjunction with accompanying drawing and to describe in further detail:
In conjunction with Fig. 1-Fig. 3. rope traction ankle joint rehabilitation training machine of the present invention comprises base and moving platform two parts.Base comprises base plate 1; Be welded on the pillar 8 at base plate center; But the stopping means 16 of the belt sensor 17 of up-down adjustment is housed on the pillar; The drive motors of three same models is evenly packed on the base plate with three identical universal wheels, and each universal wheel can rotate according to the traction angle variation of corresponding rope accordingly.Rope 5 is wrapped in through universal wheel 9 on the drivewheel of drive motors 3, and rope 11 is wrapped in through universal wheel 10 on the drivewheel of drive motors 12, and rope 14 is wrapped on the drivewheel of drive motors 15 through universal wheel 13; Described moving platform comprises driver plate 6 and pedal 7; Driver plate bottom centre is the ball auxiliary connection; Be connected through the flexible ball hinge with the pillar top, the link 18,19,20 that driver plate evenly installs is connected with rope 11,14,5 respectively, and pedal is installed on the driver plate simultaneously.
Whole ankle joint rehabilitation training mechanism is fairly simple; Base comprises base plate 1, is welded on the pillar 8 at base plate center, but the stopping means 16 of the belt sensor 17 of up-down adjustment is housed on the pillar; Stopping means limits the full swing angle of moving platform, guarantees safety; Moving platform comprises driver plate 6 and pedal 7, and pedal is installed on the driver plate, follows driver plate and moves together.Driver plate is connected with pedestal column through the spherical hinge auxiliary connection, and driver plate pillar is relatively done swing at any angle.Three equally distributed links 18,19,20 have been installed on the driver plate have been connected, realized that driver plate moves under the common draw of three ropes respectively at rope 11,14,5.
Base mechanism vertical view of the present invention is as shown in Figure 2: the drive motors of three same models is evenly packed on the base plate with three identical universal wheels.Ten thousand wheel is parallel with relative drive motors drivewheel mutually for each, can rotate accordingly according to the traction angle variation of corresponding rope simultaneously.Rope 5 is wrapped on the drivewheel of drive motors 3 through universal wheel 9; Rope 11 is wrapped on the drivewheel of drive motors 12 through universal wheel 10; Rope 14 is wrapped in through universal wheel 13 on the drivewheel of drive motors 15, realizes the even traction control of three ropes to driver plate.
In conjunction with Fig. 4; Spherical hinge of the present invention bindiny mechanism is: the ball auxiliary connection of pillar 8 is a spherical designs; The ball auxiliary connection of driver plate 6 designs for hemispherical, and end cap 21 can guarantee that driver plate does not break away from pillar, and end cap is connected through screw 22 with driver plate; Not only mechanism is simple in this spherical hinge bindiny mechanism, and is convenient to install, dismantle.
When the ankle joint to the patient carries out rehabilitation training; Patient's foot steps down on the pedal, follows the driver plate motion, and driver plate is under three cable tractions; Can do the swing of different directions, different angles according to patient's needs, patient's ankle joint just can have been realized corresponding rehabilitation training.
Claims (2)
1. a rope traction ankle joint rehabilitation training machine comprises base and moving platform two parts; It is characterized in that: described base comprises base plate, is welded on the pillar at base plate center, but the stopping means of the belt sensor of up-down adjustment is housed on the pillar, and the drive motors of three same models is evenly packed on the base plate with three identical universal wheels; Described moving platform comprises driver plate and pedal, and driver plate bottom centre is the ball auxiliary connection, is connected through the flexible ball hinge with the pillar top, and pedal is installed on the driver plate; Also comprise three ropes, every rope and driver plate are fixed, and every rope is wrapped on the drivewheel of a drive motors through a universal wheel.
2. rope traction ankle joint rehabilitation training machine according to claim 1, it is characterized in that: evenly install three links on the driver plate, said every rope fixedly is that every rope is connected with link with driver plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105553737A CN101987060B (en) | 2010-11-23 | 2010-11-23 | Ankle joint recovery trainer through rope traction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105553737A CN101987060B (en) | 2010-11-23 | 2010-11-23 | Ankle joint recovery trainer through rope traction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101987060A CN101987060A (en) | 2011-03-23 |
| CN101987060B true CN101987060B (en) | 2012-05-09 |
Family
ID=43743981
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105553737A Expired - Fee Related CN101987060B (en) | 2010-11-23 | 2010-11-23 | Ankle joint recovery trainer through rope traction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101987060B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102631275B (en) * | 2011-12-14 | 2013-10-02 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| CN104887452A (en) * | 2015-07-03 | 2015-09-09 | 南通美嘉机器人科技有限公司 | Parallel ankle joint rehabilitation robot |
| CN105640736B (en) * | 2015-12-04 | 2017-10-03 | 哈尔滨工程大学 | A kind of three-degree of freedom ankle joint device for healing and training |
| CN108210242B (en) * | 2016-12-15 | 2020-02-18 | 上海理工大学 | Traction type ankle joint rehabilitation training device |
| CN106625723A (en) * | 2017-02-27 | 2017-05-10 | 江苏金刚文化科技集团股份有限公司 | Floating robot and cruise floating robot |
| CN108125773B (en) * | 2018-01-16 | 2023-10-03 | 中国科学院苏州生物医学工程技术研究所 | Ankle joint rehabilitation training device |
| CN108096794B (en) * | 2018-01-31 | 2023-08-11 | 力迈德医疗（广州）有限公司 | Balance rehabilitation training robot |
| CN108066949B (en) * | 2018-02-11 | 2024-03-01 | 和域医疗（深圳）有限公司 | Bidirectional swinging device |
| CN108703865A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | Rope drives robot for rehabilitation of anklebone |
| CN110916974B (en) * | 2019-12-02 | 2021-07-13 | 郑州大学第一附属医院 | Ankle protection and rehabilitation training device |
| CN111012625B (en) * | 2019-12-28 | 2021-08-27 | 青岛大学附属医院 | Foot joint exercise rehabilitation device |
| CN111202656A (en) * | 2020-01-20 | 2020-05-29 | 东北大学秦皇岛分校 | Rope-driven parallel ankle joint rehabilitation device |
| CN111557797B (en) * | 2020-05-25 | 2020-12-22 | 山东大学齐鲁医院 | Emergency device for correcting, wrapping and treating foot sprain |
| CN113855478B (en) * | 2021-09-15 | 2023-10-20 | 清华大学无锡应用技术研究院 | Cable-driven parallel ankle rehabilitation robot |
| CN114652574B (en) * | 2022-02-08 | 2023-10-17 | 天津大学 | Four-degree-of-freedom parallel robot for ankle fracture postoperative rehabilitation |
| CN114533491A (en) * | 2022-02-24 | 2022-05-27 | 常州市肿瘤医院 | Passive ankle pump movement device |
| CN114652570B (en) * | 2022-03-17 | 2024-05-10 | 东莞理工学院 | Flexible rope driven ankle rehabilitation robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT1281584B1 (en) * | 1996-01-02 | 1998-02-20 | Benito Ferrati | ORTHOPEDIC EQUIPMENT FOR WALKING AND REHABILITATION OF MOTU-INJURED PEOPLE WITH THE USE OF ELECTRONIC AND REALITY UNITS |
| DE10156331B4 (en) * | 2001-11-19 | 2010-02-04 | Bfmc Biofeedback Motor Control Gmbh | Training device for medical training therapy |
| CN101006958B (en) * | 2007-01-23 | 2010-05-19 | 四川大学 | Ankle joint rehabilitation training device |
| CN201168163Y (en) * | 2008-02-02 | 2008-12-24 | 河北工业大学 | Rehabilitation robot for anklebone |
| CN101829005B (en) * | 2010-05-24 | 2012-02-01 | 哈尔滨工程大学 | Gait rehabilitation robot footrest device with metatarsal joints |
| CN101862255B (en) * | 2010-06-21 | 2011-09-14 | 哈尔滨工程大学 | Gait rehabilitation robot for using rope to pull lower limbs |
| CN201870898U (en) * | 2010-11-23 | 2011-06-22 | 哈尔滨工程大学 | Rope-drawn rehabilitation training machine for ankle joint |
-
2010
- 2010-11-23 CN CN2010105553737A patent/CN101987060B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN101987060A (en) | 2011-03-23 |
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Granted publication date: 20120509 Termination date: 20171123 |