CN105640736A - Three degree-freedom ankle rehabilitation training apparatus - Google Patents
Three degree-freedom ankle rehabilitation training apparatus Download PDFInfo
- Publication number
- CN105640736A CN105640736A CN201510889071.6A CN201510889071A CN105640736A CN 105640736 A CN105640736 A CN 105640736A CN 201510889071 A CN201510889071 A CN 201510889071A CN 105640736 A CN105640736 A CN 105640736A
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- Prior art keywords
- middle layer
- ankle
- lower floor
- floor support
- layer bracket
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0203—Rotation of a body part around its longitudinal axis
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention is to provide a three degree-freedom ankle rehabilitation training apparatus comprising a housing, an ankle revolution unit, an ankle dorsal stretch plantar flexion unit and an ankle inward-outward turning unit. The ankle revolution unit is mainly formed by a revolution motor, a housing, a small gear, a large gear, a large gear connection plate and a lower layer rack; inwardly, outward and annular rotation of the ankle can be achieved via driving of the revolution motor; the ankle dorsal stretch plantar flexion unit is mainly formed by an ankle stretch electric cylinder, a middle layer rack and a foot pedal; with control of extension stroke of a stretch electric cylinder push rod, dorsal stretch and plantar flexion actions of the ankle can be achieved; the ankle inward-outward turning unit is mainly formed by an ankle over-turning electric cylinder, a middle layer rack and a lower layer rack; and with control of extension stroke of an over-turning electric cylinder push rod, inward-outward over-turning actions of the ankle can be achieved. All basic actions for rehabilitation training can be achieved for the ankle.
Description
Technical field
What the present invention relates to is a kind of convalescence device, specifically ankle joint rehabilitation device.
Background technology
The lower limb rehabilitation training of current hemiplegia and apoplexy patient has obtained the concern of domestic and international researchist, and along with day by day increasing of such patient and motor dysfunction of lower limb patient, the viability and the rehabilitation training that recover this kind of crowd have become urgent needs. Therefore, design a robot system that disabled ankle joint and a muscle group of planes can be carried out rehabilitation training and neurological functional recovery significant.
Current existing ankle joint rehabilitation device has a lot, mostly adopts parallel institution, and this mechanism freedom is many and motion scope is uncertain big, and safety coefficient is low, and control difficulty is big. It is structure that active/passive rehabilitation apparatus for ankle joints (application number is the patent of 201310014261.4) proposes a kind of overall framework, but it is all based on electric-machine directly-driven mode, and when using, patient need to stand on directly over rehabilitation device, and lower limb have the patient of dysfunction very inconvenient; A kind of ankle joint rehabilitation device (application number is the patent of 201310421566.7) proposes a kind of ankle joint rehabilitation device based on parallel institution, this apparatus structure is complicated, control difficulty is big, and to patient's training also very inconvenience, only can be present in laboratory, it is difficult to commercially universal and use.
Summary of the invention
It is an object of the invention to provide a kind of three-degree of freedom ankle joint device for healing and training that can realize all basic action rehabilitation trainings of ankle joint.
The object of the present invention is achieved like this:
A kind of three-degree of freedom ankle joint device for healing and training of the present invention, it is characterized in that: comprise lower floor support, middle layer bracket, foot board, master wheel, pinion(gear), revolution motor, upset motor, bend and stretch electronic cylinder, described master wheel is meshed with pinion(gear), the output shaft of revolution motor connects pinion(gear), the bottom of lower floor support arranges lower floor support output shaft, lower floor support output shaft is connected with master wheel by key, the cross section of described foot board is V-shape, the surrounding of middle layer bracket is provided with swiveling counter shaft bearing bore, the bottom of middle layer bracket is provided with the first revolute small rack and the 2nd revolute small rack, the revolute that foot board is symmetrically arranged by himself is connected with the swiveling counter shaft bearing bore of the middle layer bracket left and right sides, lower floor support is connected with the swiveling counter shaft bearing bore of both sides before and after the board mount of middle level by the revolute being arranged symmetrically with before and after himself, lower floor support is arranged on below middle layer bracket, middle layer bracket is arranged on below foot board, bend and stretch electronic cylinder bottom portion and the first revolute small rack hinged, push rod and the foot board back side of bending and stretching electronic cylinder are hinged, bottom and the lower floor support of upset motor are hinged, push rod and the 2nd revolute small rack of upset motor are hinged.
The present invention can also comprise:
1, arranging base plate above master wheel, base plate is placed on lower floor support output shaft outside and is matched with lower floor support output shaft by bearing.
2, the push rod bending and stretching electronic cylinder described in promotes foot board to rotate around foot board rotation, and the push rod of described upset motor promotes middle layer bracket to rotate around the rotation of middle layer bracket.
The advantage of the present invention is: a kind of novel three-degree of freedom ankle joint device for healing and training proposed by the invention, the rehabilitation training that can realize all basic actions of ankle joint is namely: ankle joint is around the motion of three basic axles, and its basic direction of motion has: dorsiflexion, plantar flexion, varus, turn up, inward turning, outward turning; In addition, this apparatus structure is small and exquisite, it may also be useful to simple more reliable performance, it may be achieved patient is sitting on wheelchair to stretch out a pin can complete rehabilitation training, and device transfer carrying is very convenient.
Accompanying drawing explanation
Fig. 1 is the using state figure of the present invention;
Fig. 2 is the structural representation of the present invention;
Fig. 3 is the structural representation that the present invention removes shell;
Fig. 4 is that the present invention goes out the structural representation of shell and foot board;
Fig. 5 is the exploded view of foot board, middle layer bracket and lower floor support;
Fig. 6 is the internal structure schematic diagram a of the present invention;
Fig. 7 is the internal structure schematic diagram b of the present invention;
Fig. 8 is the sectional view of the present invention;
Fig. 9 is the A-A view in Fig. 8.
Embodiment
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1��9, the present invention comprises shell 1, revolution motor 2, foot board 3, base plate 4, lower floor support 5, middle layer bracket 6, master wheel 7, pinion(gear) 8, bends and stretches electronic cylinder 9, overturns motor 10.
Composition graphs 2��5, and Fig. 7, ankle joint turning unit is primarily of shell 1, revolution motor 2, base plate 4, lower floor support 5, master wheel 7, pinion(gear) 8, Deng formation, revolution motor 2 is fixed on shell 1, the output shaft of revolution motor 2 is connected with pinion(gear) 7, pinion(gear) 7 engages with master wheel 8, the bottom of lower floor support 5 is provided with output shaft, output shaft is provided with keyway, axle head has screw thread, output shaft is connected with master wheel 8 by key, and by nut axial location, bottom lower floor support 5, lower surface is also provided with revolute small rack, revolution motor 2 drive pinion 7 drives master wheel 8, master wheel 8 drives lower floor support 5 to rotate, and then drive the part being connected with lower floor support 5 to realize rotary motion, complete in ankle joint revolves, revolve the action that outer and ring turns,
Composition graphs 4��6 and Fig. 8, ankle joint dorsiflexion plantar flexion unit is primarily of foot board 3, middle layer bracket 6, bend and stretch electronic cylinder 9 grade to form, foot board 3 is designed to V-shape, play and the effect of human foot perfection laminating, foot board 3 both sides are provided with swiveling counter shaft bearing bore, the middle back side is provided with support, the revolute that foot board 3 is symmetrically arranged by foot board 3 with middle layer bracket 6 is connected, described middle layer bracket 6 is designed to tower structure, surrounding is designed with swiveling counter shaft bearing bore, two revolute small racks also it are designed with bottom middle layer bracket 6, for avoiding interfering middle layer bracket 6 base section to be emptied, bend and stretch bottom electronic cylinder 9 with middle layer bracket 6 bottom the first small rack hinged, bend and stretch electronic cylinder 9 push rod and foot board 3 middle back side support hinged, bending and stretching electronic cylinder 9 push rod promotes foot board 3 to rotate around foot board 3 rotation, realize dorsiflexion and the plantar flexion action of ankle joint,
Composition graphs 4��6 and Fig. 9, the ankle joint varus unit that turns up mainly comprises ankle joint and overturns electronic cylinder 10, middle layer bracket 6, lower floor support 5 grade is formed, middle layer bracket 6 is connected with lower floor support 5 both sides revolute by symmetrical revolute, overturn bottom electronic cylinder 10 with lower floor support 5 bottom small rack hinged, overturn the 2nd small rack bottom electronic cylinder 10 push rod and middle layer bracket 6 hinged, overturning electronic cylinder 10 push rod promotes middle layer bracket 6 to rotate around middle layer bracket 6 rotation, and then band is automatically connected in the rotation of the mechanism above middle layer bracket 6, realize the varus and valgus action of ankle joint.
Described ankle joint turning unit is primarily of revolution motor, shell, pinion(gear), master wheel, base plate, lower floor supports etc. are formed, revolution motor is fixed on shell, the output shaft of revolution motor is connected with pinion(gear), pinion(gear) engages with master wheel, the bottom of lower floor support is provided with output shaft, output shaft is provided with keyway, axle head has screw thread, output shaft is connected with master wheel by key, and by nut axial location, bottom lower floor support, lower surface is also provided with revolute small rack, revolution motor drive pinion drives master wheel, master wheel drives lower floor support to rotate, and then drive the part being connected with lower floor support to realize rotary motion, complete in ankle joint revolves, revolve the action that outer and ring turns,
Described ankle joint dorsiflexion plantar flexion unit bends and stretches electronic cylinder primarily of ankle joint, middle layer bracket, foot boards etc. are formed, foot board is designed to V-shape, play and the effect of human foot perfection laminating, foot board both sides are provided with swiveling counter shaft bearing bore, the middle back side is provided with support, the revolute that foot board is symmetrically arranged by foot board with middle layer bracket is connected, described middle layer bracket is designed to tower structure, surrounding is designed with swiveling counter shaft bearing bore, two revolute small racks also it are designed with bottom middle layer bracket, for avoiding interfering middle layer bracket base section to be emptied, bend and stretch the first small rack bottom electronic cylinder bottom portion and middle level hinged, bend and stretch back side support in the middle of electronic cylinder push rod and foot board hinged, bending and stretching electronic cylinder push rod promotes foot board to rotate around foot board rotation, realize dorsiflexion and the plantar flexion action of ankle joint,
The described ankle joint varus unit that turns up mainly comprises ankle joint and overturns electronic cylinder, middle layer bracket, lower floor support etc. and form, middle layer bracket is connected with lower floor support left and right sides revolute by symmetrical revolute, overturn small rack bottom electronic cylinder bottom portion and lower floor support hinged, overturn the 2nd small rack bottom electronic cylinder push rod and middle layer bracket hinged, overturning electronic cylinder push rod promotes middle layer bracket to rotate around middle layer bracket rotation, it is achieved the varus and valgus action of ankle joint.
Ankle joint turning unit is formed primarily of revolution motor, shell, pinion(gear), master wheel, base plate, lower floor support etc., the drive pinion of revolution motor drives master wheel, output shaft bottom lower floor support is connected with master wheel by key, and then drive the part that is connected with lower floor support to realize rotary motion, complete ankle joint revolve interior, revolve outward and action that ring turns;
Ankle joint dorsiflexion plantar flexion unit bends and stretches electronic cylinder, middle layer bracket, foot board etc. primarily of ankle joint and forms, the revolute that foot board is symmetrically arranged by foot board with middle layer bracket is connected, bend and stretch electronic cylinder bottom portion and middle layer bracket hinged, bend and stretch electronic cylinder push rod and foot board hinged, bending and stretching electronic cylinder push rod promotes foot board to rotate around foot board rotation, it is achieved the dorsiflexion of ankle joint and plantar flexion action;
The ankle joint varus unit that turns up mainly comprises ankle joint and overturns electronic cylinder, middle layer bracket, lower floor support etc. and form, middle layer bracket is connected with lower floor support by symmetrical revolute, overturn electronic cylinder bottom portion and lower floor support hinged, overturn electronic cylinder push rod and middle layer bracket hinged, overturning electronic cylinder push rod promotes middle layer bracket to rotate around middle layer bracket rotation, it is achieved the varus and valgus action of ankle joint.
Claims (3)
1. a three-degree of freedom ankle joint device for healing and training, it is characterized in that: comprise lower floor support, middle layer bracket, foot board, master wheel, pinion(gear), revolution motor, upset motor, bend and stretch electronic cylinder, described master wheel is meshed with pinion(gear), the output shaft of revolution motor connects pinion(gear), the bottom of lower floor support arranges lower floor support output shaft, lower floor support output shaft is connected with master wheel by key, the cross section of described foot board is V-shape, the surrounding of middle layer bracket is provided with swiveling counter shaft bearing bore, the bottom of middle layer bracket is provided with the first revolute small rack and the 2nd revolute small rack, the revolute that foot board is symmetrically arranged by himself is connected with the swiveling counter shaft bearing bore of the middle layer bracket left and right sides, lower floor support is connected with the swiveling counter shaft bearing bore of both sides before and after the board mount of middle level by the revolute being arranged symmetrically with before and after himself, lower floor support is arranged on below middle layer bracket, middle layer bracket is arranged on below foot board, bend and stretch electronic cylinder bottom portion and the first revolute small rack hinged, push rod and the foot board back side of bending and stretching electronic cylinder are hinged, bottom and the lower floor support of upset motor are hinged, push rod and the 2nd revolute small rack of upset motor are hinged.
2. a kind of three-degree of freedom ankle joint device for healing and training according to claim 1, is characterized in that: arrange base plate above master wheel, and base plate is placed on lower floor support output shaft outside and is matched with lower floor support output shaft by bearing.
3. a kind of three-degree of freedom ankle joint device for healing and training according to claim 1 and 2, it is characterized in that: described in bend and stretch electronic cylinder push rod promote foot board to rotate around foot board rotation, the push rod of described upset motor promotes middle layer bracket to rotate around the rotation of middle layer bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510889071.6A CN105640736B (en) | 2015-12-04 | 2015-12-04 | A kind of three-degree of freedom ankle joint device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510889071.6A CN105640736B (en) | 2015-12-04 | 2015-12-04 | A kind of three-degree of freedom ankle joint device for healing and training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105640736A true CN105640736A (en) | 2016-06-08 |
| CN105640736B CN105640736B (en) | 2017-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510889071.6A Active CN105640736B (en) | 2015-12-04 | 2015-12-04 | A kind of three-degree of freedom ankle joint device for healing and training |
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| CN (1) | CN105640736B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109172269A (en) * | 2018-09-11 | 2019-01-11 | 温州国杰健身器材有限公司 | A kind of ankle articular massage device |
| CN109172270A (en) * | 2018-09-11 | 2019-01-11 | 温州国杰健身器材有限公司 | A kind of foot wrist joint massager |
| CN109172271A (en) * | 2018-09-11 | 2019-01-11 | 温州国杰健身器材有限公司 | foot wrist joint massager |
| CN109172268A (en) * | 2018-09-11 | 2019-01-11 | 温州国杰健身器材有限公司 | Ankle articular massage device |
| CN109223429A (en) * | 2018-07-18 | 2019-01-18 | 孙威 | A kind of children with cerebral palsy joint of lower extremity dystopy intelligence Corrective instrument |
| CN109363818A (en) * | 2018-12-07 | 2019-02-22 | 徐会法 | A kind of traction frame for children orthopedics |
| CN109998867A (en) * | 2019-05-23 | 2019-07-12 | 华北理工大学 | The upper and lower limbs rehabilitation training robot of drive lacking |
| CN110051461A (en) * | 2019-06-04 | 2019-07-26 | 河南科技大学第一附属医院 | A kind of bone traction frame of medical treatment orthopaedics |
| WO2021022796A1 (en) * | 2019-08-07 | 2021-02-11 | 丽水市人民医院 | Ankle joint fixator |
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| CN101987060A (en) * | 2010-11-23 | 2011-03-23 | 哈尔滨工程大学 | Ankle joint recovery trainer through rope traction |
| CN102949281A (en) * | 2012-11-07 | 2013-03-06 | 燕山大学 | Rehabilitation training robot for lower limb joint |
| WO2013093787A1 (en) * | 2011-12-20 | 2013-06-27 | Consiglio Nazionale Delle Ricerche | Device for the rehabilitation of movements of the foot |
| CN103479502A (en) * | 2013-09-16 | 2014-01-01 | 北京交通大学 | Ankle joint rehabilitation device |
| CN205339468U (en) * | 2015-12-04 | 2016-06-29 | 哈尔滨工程大学 | Three degree of freedom ankle joint rehabilitation trainers |
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2015
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Patent Citations (5)
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| CN101987060A (en) * | 2010-11-23 | 2011-03-23 | 哈尔滨工程大学 | Ankle joint recovery trainer through rope traction |
| WO2013093787A1 (en) * | 2011-12-20 | 2013-06-27 | Consiglio Nazionale Delle Ricerche | Device for the rehabilitation of movements of the foot |
| CN102949281A (en) * | 2012-11-07 | 2013-03-06 | 燕山大学 | Rehabilitation training robot for lower limb joint |
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| CN205339468U (en) * | 2015-12-04 | 2016-06-29 | 哈尔滨工程大学 | Three degree of freedom ankle joint rehabilitation trainers |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109223429A (en) * | 2018-07-18 | 2019-01-18 | 孙威 | A kind of children with cerebral palsy joint of lower extremity dystopy intelligence Corrective instrument |
| CN109172269A (en) * | 2018-09-11 | 2019-01-11 | 温州国杰健身器材有限公司 | A kind of ankle articular massage device |
| CN109172270A (en) * | 2018-09-11 | 2019-01-11 | 温州国杰健身器材有限公司 | A kind of foot wrist joint massager |
| CN109172271A (en) * | 2018-09-11 | 2019-01-11 | 温州国杰健身器材有限公司 | foot wrist joint massager |
| CN109172268A (en) * | 2018-09-11 | 2019-01-11 | 温州国杰健身器材有限公司 | Ankle articular massage device |
| CN109363818A (en) * | 2018-12-07 | 2019-02-22 | 徐会法 | A kind of traction frame for children orthopedics |
| CN109998867A (en) * | 2019-05-23 | 2019-07-12 | 华北理工大学 | The upper and lower limbs rehabilitation training robot of drive lacking |
| CN109998867B (en) * | 2019-05-23 | 2023-09-19 | 华北理工大学 | Under-actuated upper and lower limb rehabilitation training robot |
| CN110051461A (en) * | 2019-06-04 | 2019-07-26 | 河南科技大学第一附属医院 | A kind of bone traction frame of medical treatment orthopaedics |
| CN110051461B (en) * | 2019-06-04 | 2022-04-15 | 河南科技大学第一附属医院 | Orthopedics traction frame for medical orthopedics |
| WO2021022796A1 (en) * | 2019-08-07 | 2021-02-11 | 丽水市人民医院 | Ankle joint fixator |
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| CN105640736B (en) | 2017-10-03 |
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