CN106618954A - Series parallel ankle recovery machinery and using method thereof - Google Patents

Abstract

The present invention provides a hybrid ankle rehabilitation machine and its use method. The hybrid ankle rehabilitation machine includes a support platform driven by a rotary drive device, and three or more longitudinal lifting drive devices are vertically arranged on the support platform. The upper ball head of the longitudinal lifting drive device is hinged with an action platform for placing the foot. The hybrid ankle rehabilitation mechanism is simple, small in size, and light in weight. It is driven by four motors controlled by motion trajectory planning, which can not only realize ankle rehabilitation for patients Plantarflexion, dorsiflexion, varus, valgus, abduction, and adduction can also be used to realize complex compound movements and promote the repair of damaged parts by controlling the mutual changes in the output of each motor.

Description

Hybrid Ankle Rehabilitation Machine and Method of Use

technical field

The invention relates to a hybrid ankle rehabilitation machine and its application method.

Background technique

The feet are one of the most important limbs of the human body. The feet support the human body to complete a series of daily activities, and the ankle joint is one of the most important joints of the foot. The ankle joint is the joint with the largest load in the human body. Due to the growth of age, the recovery ability of the ankle joint is declining and the wear and tear is increasing, which affects people's daily life. Therefore, patients need to perform ankle rehabilitation training. Studies have shown that exercise therapy is one of the main methods of rehabilitation training. Complete motion tasks in a working space, thereby promoting the repair of damaged parts. However, the existing rehabilitation devices are bulky and often need manual assistance to complete the rehabilitation training, and the cost is relatively high.

Contents of the invention

The present invention improves the above problems, that is, the technical problem to be solved by the present invention is that the existing ankle rehabilitation methods mostly use manual operation, which is costly and difficult to control the strength and angle.

The specific embodiment of the present invention is: a hybrid ankle rehabilitation machine, including a support platform driven by a rotary drive device, and three or more longitudinal lift drive devices are vertically arranged on the support platform, and the vertical lift The upper ball head of the drive unit is hinged with an action platform for placing the feet.

Further, the lifting drive device includes a lead screw nut pair and a stepping motor fixed on the support platform, the output shaft of the stepping motor is provided with a driving gear, and the driving gear is meshed with a transmission gear and threaded with the lead screw to realize For the lifting of the lead screw, the ball joint at the upper end of the lead screw is hinged to the action platform.

Further, the rotary driving device includes a motor reducer connected to the drive motor, the upper end of the motor reducer is provided with a universal coupling, and the upper end of the coupling is splined to a motor reducer arranged between the support platform and the drive motor. The rotating platform between the action platforms cooperates. The said rotating platform is provided with a through hole for the longitudinal lifting drive device to pass through. The upper and lower sides of the rotating platform are connected with the supporting platform through the supporting rods.

Further, connecting rods are vertically arranged on the rotating platform, and a pair of connecting rods are provided, and a pair of connecting rods are connected by a rocker, and an S-shaped connecting rod is arranged in the middle of the rocker One end of the S-shaped connecting rod is inserted into the middle of the rocker, and the other end is connected to a pedal arranged above the action platform. The end of the S-shaped connecting rod inserted into the rocker is the movable end to realize the rotation synchronously when the pedal rotates.

Further, there are 3 longitudinal lifting drive devices, one of which is correspondingly arranged at the front end of the pedal, and the other two are symmetrically arranged on both sides of the rear of the pedal, and the 3 longitudinal lifting drive devices are evenly distributed along the circumference.

Further, an annular base is provided on the outer periphery of the supporting platform, and a boss for fixing the rotating drive device is provided under the annular base, and the mating surface of the annular base and the supporting platform has an annular track.

Further, hollow grooves are provided on the peripheral side of the base.

Further, the pedal is provided with a friction rubber pad.

The present invention also includes a method for using the hybrid ankle rehabilitation machine, including the above-mentioned hybrid ankle rehabilitation machine, the method includes plantarflexion and dorsiflexion movements of the patient's ankle around the X axis, rotation around the Y axis The varus and valgus movements around the Z axis are defined as abduction and adduction movements:

(1) Realization of plantarflexion and dorsiflexion movements: the three longitudinal lifting drive devices perpendicular to the base control the output of the stepping motor to push the corresponding position of the action platform to move up and down, and control the movement of the rotating platform around the Z axis The output of the motor reducer is zero. In addition, the output of the two stepper motors on the rear side of the moving platform is the same, while the movement of the stepping motor on the front side is opposite. When the two motors on the back side push the action platform When the corresponding position moves upward and the corresponding position of the action platform controlled by the front motor moves downward, the plantar flexion movement is realized; similarly, when the two rear motors control the corresponding position of the action platform to move downward and the front motor pushes the corresponding position of the action platform As you move upward, dorsiflexion is achieved.

(2) Realization of varus and valgus movements: the output of the stepper motor located at the front of the sole of the foot and the motor reducer that controls the movement of the rotating platform around the Z axis is zero, and the output of the two motors located at the back of the action platform is just opposite. When the motor on the left side of the Y-axis pushes the corresponding position of the action platform to move upward and the corresponding position of the action platform controlled by the motor on the right moves downward, the inversion movement is realized; when the corresponding position of the action platform controlled by the motor on the left side of the Y-axis When the motor moves downward and the motor on the right side pushes the corresponding position of the action platform to move upward, the valgus movement is realized.

(3) Realization of abduction and adduction movement: the output of the three stepping motors perpendicular to the base is zero, and the change of the output of the motor reducer that controls the movement of the rotating platform around the Z axis drives the rotating platform to rotate, and then The rotating platform drives the moving platform to rotate around the X axis to achieve abduction and adduction.

Compared with the prior art, the present invention has the following beneficial effects: the hybrid ankle rehabilitation mechanism is simple, small in size, light in weight, and controlled by four motor drives through motion trajectory planning, not only can realize plantarflexion and dorsiflexion of the patient's ankle rehabilitation Movement, varus, valgus, abduction, and adduction can also realize complex compound movements and promote the repair of damaged parts by controlling the mutual coordination and changes of the output of each motor. In addition, the mechanism is equipped with a support rod under the rotating platform, which avoids the direct force of the motor, and transmits the gravity of the mechanism and the pressure during the ankle rehabilitation process to the support platform through the support rod, which can meet the needs of the patient's ankle. The needs of each stage of rehabilitation can be applied to ankle rehabilitation work in families, hospitals, and fitness places.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is a schematic diagram of the partial structure of the driving member of the present invention.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1-2, a hybrid ankle rehabilitation machine includes a support platform 10 that is driven to rotate by a rotary drive device, and three or more longitudinal lifting drive devices are vertically provided on the support platform 10. The upper ball head of the vertical lift drive device is hinged with an action platform 20 for placing the feet. The lift drive device includes a screw nut pair and a stepper motor 110 fixed on the support platform 10. The output shaft of the stepper motor 110 A driving gear is provided, and the driving gear is meshed with a transmission gear and threaded to cooperate with the lead screw to realize the lifting of the lead screw 120, and the ball head 121 at the upper end of the lead screw is hinged to the action platform.

Of course, in practical applications, the longitudinal lifting drive device can also use an air cylinder or other lifting mechanisms.

In this embodiment, the rotary driving device includes a motor reducer 30 connected to the drive motor, the upper end of the motor reducer 30 is provided with a universal coupling 310, and the upper end of the coupling 310 is passed through a spline 311 Cooperate with a rotating platform 40 arranged between the support platform 10 and the action platform 20. The rotating platform 40 is provided with a through hole for the longitudinal lifting drive device to pass through. Platform 10 connection.

In this embodiment, the rotating platform 40 is vertically provided with a pair of connecting rods 420, and a pair of connecting rods 420 are connected by a rocker 421, and the middle part of the rocker 421 is provided with a An S-shaped connecting rod 430 is provided. One end of the S-shaped connecting rod 430 is inserted into the middle of the rocker 421, and the other end is connected to a pedal 50 arranged above the action platform 20. One end of the S-shaped connecting rod 430 inserted into the rocking rod 421 is The movable end is rotated synchronously when the pedal 50 is rotated.

In this embodiment, there are 3 vertical lifting drive devices, one of which is correspondingly arranged at the front end of the pedal, and the other two are symmetrically arranged on both sides of the rear of the pedal, and the three vertical lifting drive devices are evenly distributed along the circumference.

In this embodiment, an annular base 60 is provided on the outer periphery of the support platform, and a boss for fixing the rotating drive device is provided under the annular base 60 . The mating surface of the annular base 60 and the support platform 10 has an annular track.

In this embodiment, arc-shaped hollow grooves 70 are provided on the periphery of the base and the rotating platform 40 . The design of the hollow grooves 70 can reduce weight and save materials on the one hand, and facilitate the installation of cables on the other hand.

In this embodiment, in order to improve the frictional force, the pedal 50 is further provided with friction rubber pads or shoe covers.

The present invention also includes a method for using the hybrid ankle rehabilitation machine, including the above-mentioned hybrid ankle rehabilitation machine, the method includes plantarflexion and dorsiflexion movements of the patient's ankle around the X axis, rotation around the Y axis The varus and valgus movements around the Z axis are defined as abduction and adduction movements:

(1) Realization of plantarflexion and dorsiflexion movements: the three longitudinal lifting drive devices perpendicular to the base control the output of the stepping motor to push the corresponding position of the action platform 20 to move up and down, and control the rotating platform 40 around the Z axis The output of the moving motor reducer is zero. In addition, the output of the two stepper motors on the rear side of the moving platform is the same, while the movement of the stepper motor on the front side is opposite to it. When the two motors on the rear side push When the corresponding position of the action platform 20 moves upward and the corresponding position of the action platform 20 controlled by the front side motor moves downward, the plantar flexion movement is realized; When the corresponding position of the pushing action platform 20 moves upward, the dorsiflexion movement is realized.

(2) Realization of varus and valgus movements: the output of the stepper motor located at the front of the sole of the foot and the motor reducer that controls the movement of the rotating platform 40 around the Z axis is zero, and the output of the two motors located at the rear of the action platform 20 is just right on the contrary. When the motor on the left side of the Y-axis pushes the corresponding position of the action platform 20 to move upward and the corresponding position of the motor-controlled action platform 20 on the right moves downward, the inversion movement is realized; when the action platform located on the left side of the Y-axis is controlled When the corresponding position of 20 moves downward and the motor on the right side pushes the corresponding position of the action platform 20 to move upward, the valgus movement is realized.

(3) Realization of abduction and adduction movement: the output of the three stepping motors perpendicular to the base is zero, and the change of the output of the motor reducer that controls the movement of the rotating platform 40 around the Z axis drives the rotating platform to rotate, Furthermore, the rotating platform 40 drives the moving platform to rotate around the X-axis to realize abduction and adduction.

At the same time, if the above-mentioned invention discloses or relates to parts or structural parts that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, using bolts or screws), or It is understood as: non-detachable fixed connection (such as riveting, welding), of course, mutual fixed connection can also be replaced by an integrated structure (such as manufactured by casting process) (except that it is obviously impossible to use integral forming process).

In addition, unless otherwise stated, the terms used in any of the technical solutions disclosed in the present invention to indicate positional relationships or shapes include states or shapes that are similar, similar or close to them.

Any component provided by the present invention can be assembled from multiple individual components, or can be a single component manufactured by integral forming process.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: the present invention can still be The specific implementation mode of the invention is modified or some technical features are equivalently replaced; without departing from the spirit of the technical solution of the present invention, all of them should be included in the scope of the technical solution claimed in the present invention.

Claims (9)

1. A kind of hybrid ankle rehabilitation machine, it is characterized in that, comprise the supporting platform that is driven to rotate by rotary driving device, vertically be provided with three or more than three longitudinal lifting driving devices on the described supporting platform, described longitudinal lifting driving device The upper ball joint is hinged with an action platform for placing the feet. 2. A kind of hybrid ankle rehabilitation machine according to claim 1, characterized in that, the lifting drive device includes a screw nut pair and a stepping motor fixed on the support platform, the output shaft of the stepping motor is set There is a driving gear, and the driving gear is meshed with a transmission gear and threaded to cooperate with the lead screw to realize the lifting of the lead screw, and the ball head at the upper end of the lead screw is hinged to the action platform. 3. A kind of hybrid ankle rehabilitation machine according to claim 2, characterized in that, the rotary drive device includes a motor reducer connected to the drive motor, and the upper end of the motor reducer is provided with a universal coupling The upper end of the coupling is splined to cooperate with a rotating platform arranged between the supporting platform and the action platform. The rotating platform is provided with a through hole for the vertical lifting drive device to pass through. The upper and lower sides of the rotating platform It is connected with the support platform through the support rod. 4. A kind of hybrid ankle rehabilitation machine according to claim 3, characterized in that, the rotating platform is vertically provided with connecting rods, the connecting rods are provided with a pair, and a pair of connecting rods are connected by a rocker. The middle part of the rocker is provided with an S-shaped connecting rod through the upper part. One end of the S-shaped connecting rod is inserted into the middle part of the rocker, and the other end is connected to a pedal arranged above the action platform. The S-shaped connecting rod is inserted into the One end of the rocker is movable to achieve rotation synchronously when the pedals are turned. 5. A hybrid ankle rehabilitation machine according to claim 4, characterized in that there are 3 vertical lift drive devices and one of the vertical lift drive devices is correspondingly arranged at the front end of the pedal, and the other two are symmetrically arranged at the rear of the pedal On both sides, 3 longitudinal lifting drive devices are evenly distributed along the circumference. 6. A hybrid ankle rehabilitation machine according to claim 5, wherein an annular base is provided on the outer periphery of the support platform, and a boss for fixing the rotating drive device is provided under the annular base, The mating surface of the annular base and the support platform has an annular track. 7. A hybrid ankle rehabilitation machine according to claim 6, characterized in that hollow grooves are provided around the base. 8. A hybrid ankle rehabilitation machine according to claim 5, characterized in that the pedal is provided with a friction rubber pad. 9. A method of using a hybrid ankle rehabilitation machine, characterized in that it comprises a hybrid ankle rehabilitation machine as claimed in claim 5, said method comprising plantarflexion and dorsiflexion of the rotation of the patient's ankle around the X axis Movement, varus and valgus movement around the Y-axis, rotation around the Z-axis is defined as abduction and adduction: (1) Realization of plantarflexion and dorsiflexion movements: the three longitudinal lifting drive devices perpendicular to the base control the output of the stepping motor to push the corresponding position of the action platform to move up and down, and control the movement of the rotating platform around the Z axis The output of the motor reducer is zero. In addition, the output of the two stepper motors on the rear side of the moving platform is the same, while the movement of the stepping motor on the front side is opposite. When the two motors on the back side push the action platform When the corresponding position moves upward and the corresponding position of the action platform controlled by the front motor moves downward, the plantar flexion movement is realized; similarly, when the two rear motors control the corresponding position of the action platform to move downward and the front motor pushes the corresponding position of the action platform When moving upwards, dorsiflexion is achieved; (2) Realization of varus and valgus movements: the output of the stepper motor located at the front of the sole of the foot and the motor reducer that controls the movement of the rotating platform around the Z axis is zero, and the output of the two motors located at the back of the action platform is just opposite; When the motor on the left side of the Y-axis pushes the corresponding position of the action platform to move upward and the corresponding position of the action platform controlled by the motor on the right moves downward, the inversion movement is realized; when the corresponding position of the action platform controlled by the motor on the left side of the Y-axis When the motor moves downward and the motor on the right side pushes the corresponding position of the action platform to move upward, the valgus movement is realized; (3) Realization of abduction and adduction movement: the output of the three stepping motors perpendicular to the base is zero, and the change of the output of the motor reducer that controls the movement of the rotating platform around the Z axis drives the rotating platform to rotate, and then The rotating platform drives the moving platform to rotate around the X axis to achieve abduction and adduction.