CN103156756B - Adjustable ankle recovering device - Google Patents
Adjustable ankle recovering device Download PDFInfo
- Publication number
- CN103156756B CN103156756B CN201310117264.0A CN201310117264A CN103156756B CN 103156756 B CN103156756 B CN 103156756B CN 201310117264 A CN201310117264 A CN 201310117264A CN 103156756 B CN103156756 B CN 103156756B
- Authority
- CN
- China
- Prior art keywords
- moving platform
- adjustable
- ankle rehabilitation
- rehabilitation device
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000003423 ankle Anatomy 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000011282 treatment Methods 0.000 abstract description 5
- 230000004044 response Effects 0.000 abstract description 4
- 206010021118 Hypotonia Diseases 0.000 abstract description 2
- 210000003141 lower extremity Anatomy 0.000 abstract description 2
- 210000003205 muscle Anatomy 0.000 abstract description 2
- 230000036640 muscle relaxation Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Landscapes
- Rehabilitation Tools (AREA)
Abstract
本发明涉及一种可调式脚踝康复装置，包括底座、定平台和动平台，所述定平台上固定有以球面副支撑动平台的中心支杆，所述底座上均匀分布有三个位置可调的直线驱动器，三个直线驱动器的推杆端部分别与三个摇杆外端相连接，三个摇杆内端分别与定平台相铰接，三个摇杆外端分别通过三个连杆与动平台相铰接。该可调式脚踝康复装置操作简单、易于控制且成本低，具有调节脚踝康复运动幅度灵活简便、输入输出响应快、满足不同患者脚踝康复治疗不同或下肢肌肉放松的需要的特点，市场前景广阔，可广泛地应用于医院临床治疗，同样也可应用于家庭、宾馆、健身场所、长途汽车及长时间飞行的飞机上用于脚踝及腿部肌肉的放松。
The invention relates to an adjustable ankle rehabilitation device, which includes a base, a fixed platform and a moving platform. The fixed platform is fixed with a center pole supporting the moving platform with spherical pairs. Linear drive, the ends of the push rods of the three linear drives are respectively connected with the outer ends of the three rockers, the inner ends of the three rockers are respectively hinged with the fixed platform, and the outer ends of the three rockers are respectively connected with the moving rods through three connecting rods. The platforms are hinged. The adjustable ankle rehabilitation device is simple to operate, easy to control, and low in cost. It has the characteristics of flexible and convenient adjustment of the ankle rehabilitation range of motion, fast input and output response, and meets the needs of different patients with different ankle rehabilitation treatments or lower limb muscle relaxation. The market prospect is broad and can be used It is widely used in clinical treatment in hospitals, and can also be used in homes, hotels, fitness places, long-distance buses and long-distance flight planes to relax ankle and leg muscles.
Description
技术领域 technical field
本发明涉及一种可调式脚踝康复装置。 The invention relates to an adjustable ankle rehabilitation device.
背景技术 Background technique
目前，借助外力或是利用医疗器械等积极地进行脚踝康复训练是脚踝康复治疗的关键。由于患者病情差异性和同一患者不同康复阶段康复治疗需要的不同，要求脚踝康复装置具有灵活的可调性。现有的踝关节康复训练器械，在不同程度上都存在一定的局限性。这些器械不能在不增加控制系统控制复杂程度和加大生产成本的基础上，保证踝康复装置满足脚踝康复功能并具有灵活、简便的可调能力。 At present, active ankle rehabilitation training with the help of external force or medical equipment is the key to ankle rehabilitation. Due to the difference in the condition of patients and the different rehabilitation needs of the same patient in different rehabilitation stages, the ankle rehabilitation device is required to be flexible and adjustable. Existing ankle joint rehabilitation training apparatuses all have certain limitations to varying degrees. These devices cannot ensure that the ankle rehabilitation device meets the ankle rehabilitation function and has flexible and convenient adjustability without increasing the control complexity of the control system and increasing the production cost.
发明内容 Contents of the invention
本发明针对上述现有技术存在的问题做出改进，即本发明所要解决的技术问题是提供一种一种操作简单、易于控制且成本低的可调式脚踝康复装置。 The present invention makes improvements to the above problems in the prior art, that is, the technical problem to be solved by the present invention is to provide an adjustable ankle rehabilitation device that is simple to operate, easy to control and low in cost.
为了解决上述技术问题，本发明的技术方案是：一种可调式脚踝康复装置，包括底座、定平台和动平台，所述定平台上固定有以球面副支撑动平台的中心支杆，所述底座上均匀分布有三个位置可调的直线驱动器，三个直线驱动器的推杆端部分别与三个摇杆外端相连接，三个摇杆内端分别与定平台相铰接，三个摇杆外端分别通过三个连杆与动平台相铰接。 In order to solve the above-mentioned technical problems, the technical solution of the present invention is: an adjustable ankle rehabilitation device, comprising a base, a fixed platform and a moving platform, the fixed platform is fixed with a center pole supporting the moving platform with a spherical pair, the There are three position-adjustable linear drivers evenly distributed on the base, the push rod ends of the three linear drivers are respectively connected with the outer ends of the three rockers, the inner ends of the three rockers are respectively hinged with the fixed platform, and the three rockers The outer ends are respectively hinged with the moving platform through three connecting rods.
进一步的，所述直线驱动器的推杆端部通过销轴与摇杆外端的长孔滑动连接。 Further, the end of the push rod of the linear driver is slidably connected to the long hole at the outer end of the rocker through a pin shaft.
进一步的，所述连杆下端与摇杆外端相铰接，所述连杆上端与动平台下侧相铰接，三个连杆与动平台的铰接点均匀分布于动平台的下侧。 Further, the lower end of the connecting rod is hinged to the outer end of the rocker, the upper end of the connecting rod is hinged to the lower side of the moving platform, and the hinge points of the three connecting rods and the moving platform are evenly distributed on the lower side of the moving platform.
进一步的，所述摇杆、连杆、动平台和中心支杆构成平行四边形机构。 Further, the rocker, connecting rod, moving platform and central pole constitute a parallelogram mechanism.
进一步的，所述底座上设有同步调整三个直线驱动器位置的可调机构，三个直线驱动器下端分别通过三个滑座与底座上的相应滑槽相配合。 Further, the base is provided with an adjustable mechanism for synchronously adjusting the positions of the three linear drivers, and the lower ends of the three linear drivers respectively cooperate with corresponding slide grooves on the base through three slide seats.
进一步的，所述可调机构包括竖设于底座中部的螺杆、与螺杆相配合的螺母和套设于螺杆上的调整块，所述调整块通过中间杆与滑座相铰接。 Further, the adjustable mechanism includes a screw rod erected in the middle of the base, a nut matched with the screw rod and an adjustment block sheathed on the screw rod, and the adjustment block is hinged to the sliding seat through an intermediate rod.
与现有技术相比，本发明具有以下有益效果： Compared with the prior art, the present invention has the following beneficial effects:
（1）该可调式脚踝康复装置采用直线驱动器作为动力源，以直线的形式输出运动，具有尺寸小、结构简单、对运动的响应速度快等特点；该可调式脚踝康复装置通过可调机构调节直线驱动器的位置，进而调节动平台的运动幅度，实现不同的康复运动和模式；该可调式脚踝康复装置还可以采用单片机对整体进行控制以调节位移的速度和方向。 (1) The adjustable ankle rehabilitation device adopts a linear driver as the power source, and outputs motion in a straight line. It has the characteristics of small size, simple structure, and fast response to motion; the adjustable ankle rehabilitation device is adjusted by an adjustable mechanism. The position of the linear drive can then adjust the range of motion of the moving platform to achieve different rehabilitation movements and modes; the adjustable ankle rehabilitation device can also use a single-chip microcomputer to control the whole to adjust the speed and direction of displacement.
（2）该可调式脚踝康复装置操作简单、易于控制且成本低，相比较而言具有广阔的市场前景；该可调式脚踝康复装置结合了直线驱动器和可调机构的优点，具有调节脚踝康复运动幅度灵活简便、输入输出响应快、满足不同患者脚踝康复治疗不同或下肢肌肉放松的需要的特点。 (2) The adjustable ankle rehabilitation device is simple to operate, easy to control and low in cost, relatively speaking, it has broad market prospects; the adjustable ankle rehabilitation device combines the advantages of linear drives and adjustable mechanisms, and has the ability to adjust ankle rehabilitation movement The amplitude is flexible and convenient, the input and output response is fast, and it can meet the needs of different patients for ankle rehabilitation or lower limb muscle relaxation.
（3）该可调式脚踝康复装置可直接将脚固定动平台，通过直线驱动器动作即可实现治疗和放松的功能，可广泛地应用于医院临床治疗，同样也可应用于家庭、宾馆、健身场所、长途汽车及长时间飞行的飞机上用于脚踝及腿部肌肉的放松。 (3) The adjustable ankle rehabilitation device can directly fix the foot to the fixed platform, and realize the functions of treatment and relaxation through the action of the linear drive. It can be widely used in clinical treatment in hospitals, and can also be used in homes, hotels, and fitness places It is used to relax ankle and leg muscles on long-distance buses and long-distance flights.
下面结合附图和具体实施方式对本发明做进一步详细的说明。 The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
附图说明 Description of drawings
图1为本发明实施例的构造示意图。 Fig. 1 is a schematic diagram of the structure of an embodiment of the present invention.
图2为可调机构的构造示意图。 Figure 2 is a schematic diagram of the structure of the adjustable mechanism.
图中：1-底座，2-定平台，3-动平台，4-中心支杆，5-直线驱动器，6-摇杆，7-连杆，8-可调机构，9-滑座，10-滑槽，11-螺杆，12-螺母，13-调整块，14-中间杆，15-销轴。 In the figure: 1-base, 2-fixed platform, 3-moving platform, 4-central rod, 5-linear drive, 6-rocker, 7-connecting rod, 8-adjustable mechanism, 9-sliding seat, 10 -chute, 11-screw rod, 12-nut, 13-adjusting block, 14-middle rod, 15-pin shaft.
具体实施方式 Detailed ways
如图1~2所示，一种可调式脚踝康复装置，包括底座1、定平台2和动平台3，所述定平台2上固定有以球面副支撑动平台3的中心支杆4，所述底座1上均匀分布有三个位置可调的直线驱动器5，三个直线驱动器5的推杆端部分别与三个摇杆6外端相连接，三个摇杆6内端分别与定平台2相铰接，三个摇杆6外端分别通过三个连杆7与动平台3相铰接。 As shown in Figures 1 to 2, an adjustable ankle rehabilitation device includes a base 1, a fixed platform 2 and a moving platform 3, and the fixed platform 2 is fixed with a center pole 4 supporting the moving platform 3 with a spherical pair. There are three position-adjustable linear actuators 5 evenly distributed on the base 1, the push rod ends of the three linear actuators 5 are respectively connected with the outer ends of the three rockers 6, and the inner ends of the three rockers 6 are connected with the fixed platform 2 respectively. The outer ends of the three rocking bars 6 are respectively hinged with the moving platform 3 through three connecting rods 7 .
在本实施例中，所述直线驱动器5的推杆端部通过销轴与摇杆6外端的长孔滑动连接，所述连杆7下端与摇杆6外端相铰接，所述连杆7上端与动平台3下侧相铰接，三个连杆7与动平台3的铰接点均匀分布于动平台3的下侧，所述摇杆6、连杆7、动平台3和中心支杆4构成平行四边形机构。 In this embodiment, the end of the push rod of the linear actuator 5 is slidingly connected with the long hole at the outer end of the rocker 6 through a pin shaft, and the lower end of the connecting rod 7 is hinged with the outer end of the rocker 6 , and the connecting rod 7 The upper end is hinged with the lower side of the moving platform 3, and the hinge points of the three connecting rods 7 and the moving platform 3 are evenly distributed on the lower side of the moving platform 3. The rocker 6, the connecting rod 7, the moving platform 3 and the central support rod 4 constitute a parallelogram mechanism.
在本实施例中，所述直线驱动器5通过其内部的变速齿轮系把直流电机的运动传递给T型丝杠螺母，以直线的形式输出运动。所述直线驱动器5通过其推杆将直线输出传递到摇杆6，所述摇杆6、连杆7、动平台3和中心支杆4构成的平行四边形机构输出响应快、无急回现象；所述摇杆6作为该平行四边形机构的运动输入端，在直线驱动器5的推杆作用下转动；所述动平台3作为该平行四边形机构的执行端，产生绕定平台2中部的中心支杆4的转动；三个直线驱动器5可以在单片机的控制下相互配合动作，可以实现动平台3绕中心支杆4上球副三个方向的转动。将脚固定在动平台3上，通过动平台3的运动带动脚踝转动，从而起到运动康复治疗的效果。 In this embodiment, the linear driver 5 transmits the motion of the DC motor to the T-shaped lead screw nut through its internal gear train, and outputs the motion in a linear form. The linear driver 5 transmits the linear output to the rocker 6 through its push rod, and the parallelogram mechanism formed by the rocker 6, the connecting rod 7, the moving platform 3 and the center pole 4 has a fast output response and no snapback phenomenon; The rocker 6, as the motion input end of the parallelogram mechanism, rotates under the action of the push rod of the linear driver 5; 4; the three linear drivers 5 can cooperate with each other under the control of the single-chip microcomputer, and can realize the rotation of the moving platform 3 in three directions around the ball pair on the center pole 4. The foot is fixed on the moving platform 3, and the movement of the moving platform 3 drives the ankle to rotate, thereby achieving the effect of exercise rehabilitation treatment.
在本实施例中，所述底座1上设有同步调整三个直线驱动器5位置的可调机构8，三个直线驱动器5下端分别通过三个滑座9与底座1上的相应滑槽10相配合。所述可调机构8包括竖设于底座1中部的螺杆11、与螺杆11相配合的螺母12和套设于螺杆11上的调整块13，所述调整块13通过中间杆14与滑座9相铰接，所述中间杆14两端分别通过销轴15与调整块13和滑座9相铰接。 In this embodiment, the base 1 is provided with an adjustable mechanism 8 for synchronously adjusting the positions of the three linear drivers 5, and the lower ends of the three linear drivers 5 are respectively connected to the corresponding chute 10 on the base 1 through three slide seats 9. Cooperate. The adjustable mechanism 8 includes a screw 11 erected in the middle of the base 1, a nut 12 matched with the screw 11, and an adjustment block 13 sleeved on the screw 11. The adjustment block 13 connects with the slide 9 through the middle rod 14 The two ends of the intermediate rod 14 are respectively hinged with the adjustment block 13 and the sliding seat 9 through the pin shaft 15 .
在本实施例中，该可调机构8利用了多滑块机构原理，通过旋转螺母12使得调整块13沿着螺杆11上下移动，进而带动滑座9在底座1上的滑槽10内径向移动，从而实现直线驱动器5到摇杆6转动中心距离的改变，这样摇杆6转动角度可以在直线驱动器5输出直线位移不变的情况下发生了改变，摇杆6输入角度变化进而导致动平台3运动幅度发生变化。 In this embodiment, the adjustable mechanism 8 utilizes the principle of a multi-slider mechanism, and the adjustment block 13 moves up and down along the screw rod 11 by rotating the nut 12, and then drives the sliding seat 9 to move radially in the chute 10 on the base 1 , so as to realize the change of the distance from the linear driver 5 to the center of rotation of the rocker 6, so that the rotation angle of the rocker 6 can be changed under the condition that the output linear displacement of the linear driver 5 remains unchanged, and the change of the input angle of the rocker 6 leads to the movement of the platform 3 The range of motion changes.
以上所述仅为本发明的较佳实施例，凡依本发明申请专利范围所做的均等变化与修饰，皆应属本发明的涵盖范围。 The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310117264.0A CN103156756B (en) | 2013-04-07 | 2013-04-07 | Adjustable ankle recovering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310117264.0A CN103156756B (en) | 2013-04-07 | 2013-04-07 | Adjustable ankle recovering device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103156756A CN103156756A (en) | 2013-06-19 |
| CN103156756B true CN103156756B (en) | 2014-09-10 |
Family
ID=48580625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310117264.0A Expired - Fee Related CN103156756B (en) | 2013-04-07 | 2013-04-07 | Adjustable ankle recovering device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103156756B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105970B (en) * | 2015-08-04 | 2017-08-18 | 张明明 | A parallel ankle joint rehabilitation robot and its control method |
| CN105125381B (en) * | 2015-10-19 | 2017-01-25 | 吉林大学 | Multi-degree-of-freedom adjustable ankle and knee joint linkage rehabilitative training machine |
| CN105832517B (en) * | 2016-05-18 | 2017-11-24 | 骆雪娥 | A kind of armpit rubs pressure automatic machinery people with rubbing pressure device |
| CN106038188B (en) * | 2016-05-18 | 2018-03-09 | 汕头大学医学院第一附属医院 | An armpit kneading and pressing automatic robot |
| CN105796297B (en) * | 2016-05-18 | 2017-11-24 | 骆雪娥 | A kind of automation armpit based on redundancy parallel mechanism rubs depressor |
| CN106038189B (en) * | 2016-05-18 | 2018-03-13 | 汕头大学医学院第一附属医院 | A kind of new armpit health care intelligent robot |
| CN107510924B (en) * | 2017-10-17 | 2022-09-23 | 哈尔滨理工大学 | Multi-degree-of-freedom ankle rehabilitation training device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1923157A (en) * | 2006-09-14 | 2007-03-07 | 燕山大学 | Biological fusion type foot joint rehabilitation robot |
| KR100870168B1 (en) * | 2007-05-21 | 2008-11-24 | 전북대학교산학협력단 | Posture balance training equipment |
| CN102631275A (en) * | 2011-12-14 | 2012-08-15 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| JP3184447U (en) * | 2013-04-16 | 2013-06-27 | サバンジ・ウニヴェルシテシ | Non-grounded ankle treatment and measurement exoskeleton type device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003004223A2 (en) * | 2001-07-05 | 2003-01-16 | Microdexterity Systems, Inc. | Parallel manipulator |
-
2013
- 2013-04-07 CN CN201310117264.0A patent/CN103156756B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1923157A (en) * | 2006-09-14 | 2007-03-07 | 燕山大学 | Biological fusion type foot joint rehabilitation robot |
| KR100870168B1 (en) * | 2007-05-21 | 2008-11-24 | 전북대학교산학협력단 | Posture balance training equipment |
| CN102631275A (en) * | 2011-12-14 | 2012-08-15 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| JP3184447U (en) * | 2013-04-16 | 2013-06-27 | サバンジ・ウニヴェルシテシ | Non-grounded ankle treatment and measurement exoskeleton type device |
Non-Patent Citations (2)
| Title |
|---|
| 印松.踝关节康复机器人设计及人—机运动映射分析.《中国机械工程》.2012,第23卷(第21期), |
| 踝关节康复机器人设计及人—机运动映射分析;印松;《中国机械工程》;20121130;第23卷(第21期);第2552－2554页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103156756A (en) | 2013-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103156756B (en) | Adjustable ankle recovering device | |
| CN103462780B (en) | Foldable, variable track upper and lower limb coordination exercise training chair | |
| US11166866B2 (en) | Lower limb training rehabilitation apparatus | |
| CN105125381B (en) | Multi-degree-of-freedom adjustable ankle and knee joint linkage rehabilitative training machine | |
| CN103622796B (en) | A kind of wearable lower limb device for healing and training | |
| CN104887456B (en) | A kind of wearing type upper limb recovery training device of Pneumatic artificial muscle driving | |
| US9446286B2 (en) | Foldable and track-changeable training chair for coordinated exercises of upper and lower limbs | |
| CN103316452B (en) | Foldable, track-changeable upper and lower limb coordination movement training mechanism | |
| CN102688135B (en) | Upper and lower limb rehabilitation training device with variable rod length | |
| CN108969296A (en) | A kind of lower limb rehabilitation robot | |
| CN103536400B (en) | Lower limb rehabilitation training wheelchair | |
| CN105919776A (en) | Multi-working condition upper limb rehabilitation training robot | |
| CN109009869B (en) | A kind of hip joint rehabilitation trainer | |
| CN103349602B (en) | Upper and lower limb fitness training device adjustable in wide range of amplitude | |
| CN205235270U (en) | Recovered robot of low limbs coorinated training is adjusted, is gone up to multi -angle | |
| CN208081471U (en) | A kind of lower limb rehabilitation training device | |
| CN201044808Y (en) | Rehabilitation trainer | |
| CN102614062B (en) | A wide-range adjustable upper and lower limb health training device | |
| US20150087480A1 (en) | Simple harmonic motion exercise device | |
| CN105496726A (en) | Lying and standing multi-angle adjusting rehabilitation robot | |
| CN208031467U (en) | A kind of flexes training device | |
| CN102614063B (en) | Support-movable and amplitude-adjustable training device for rehabilitation of upper and lower limbs | |
| CN202620121U (en) | Healthy training device for upper and lower limbs with changeable pole length | |
| CN108578995A (en) | A kind of upper and lower limbs rehabilitation training device | |
| CN105477831A (en) | Multi-angle adjusting rehabilitation robot with two-level bed bodies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140910 |