CN107260485A - The ankle device for rehabilitation of the prismatic pair of branch containing ball pivot - Google Patents
The ankle device for rehabilitation of the prismatic pair of branch containing ball pivot Download PDFInfo
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- CN107260485A CN107260485A CN201710494233.5A CN201710494233A CN107260485A CN 107260485 A CN107260485 A CN 107260485A CN 201710494233 A CN201710494233 A CN 201710494233A CN 107260485 A CN107260485 A CN 107260485A
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- Prior art keywords
- push rod
- cam
- roller
- support
- spring
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Classifications
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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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/0266—Foot
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a kind of ankle device for rehabilitation of the prismatic pair of branch containing ball pivot, including workbench, leader casing, the first push rod, camshaft, the first cam, motor, the second cam, base, universal wheel, support, transverse arm, jackshaft, the first spring, the 4th push rod, middle guide rod, the first roller, the 3rd cam, the second roller, the 3rd roller, second spring, top stem casing, electric machine speed regulation controller etc.；The present invention realizes the buffering of mechanism deflecting campaign using the cooperation of cam mechanism and spring, is conducive to protecting ankle.Two kinds of power of both direction are provided on piece output shaft of motor of the present invention, i.e. one is delivered to camshaft by sprocket wheel and platform is moved up and down, and other direction is coordinated using the second cam with the 3rd roller and spring on base rotates back and forth whole device.
Description
Technical field
The present invention relates to the ankle rehabilitation of technical field of medical rehabilitation machinery, more particularly to a kind of branch containing ball pivot prismatic pair
Device.
Background technology
Ankle-joint can bear the weight of about 5 times of body weight.Someone measures：60% strength is produced by ankle-joint, and ankle is closed
Muscle and hip joint the muscle hormany force in lower extremity movement are saved, when being pedaled after (mainly ankle-joint), hip joint muscle becomes
Loosen a little.The strength that the musculus flexor (making thigh move forward) and extensor (making to move after thigh) of hip joint are produced, only accounts for and all pushes away forward
The 30%~50% of power.Ankle-joint is a critically important joint for promoting human motion, and the flexibility of ankle-joint is assisted to human body
Allocation and transportation are dynamic also to play great role.Research shows that the ankle-joint for lacking flexibility adds kneed rotating torque.However,
In daily life and physical training, ankle from sprains is most commonly seen, and even the health problems such as bone split can occur for severe patient.In order to keep away
Exempt from due to treating not in place after injury, method not science and cause ankle arthrosis dysfunction sequelae, it is felt to be desirable to carry out
Physical treatment come aid in wound after a series of rehabilitations.The circuit training having to pass through repeatedly has obtained impaired ankle-joint
Whole rehabilitation.
The content of the invention
For above-mentioned deficiency, the present invention provides a kind of ankle device for rehabilitation of the prismatic pair of branch containing ball pivot, and the present invention solves existing
The short slab of technology, simplifies the structure of ankle device for rehabilitation, provides a kind of multifreedom motion using cam and realizes that ankle is transported
The simple ankle rehabilitation training equipment of dynamic parallel connection Collaborative Control, contributes to ankle omnibearing movable, list can be used according to the condition of the injury certainly
Incremental rehabilitation efficacy is reached by degree motion or multifreedom motion.
The technical proposal for solving the technical problem of the invention is as follows：A kind of ankle rehabilitation of the prismatic pair of branch containing ball pivot
Device, including workbench, leader casing, the first push rod, camshaft, the first cam, motor, the second cam, base, universal wheel, branch
Frame, transverse arm, jackshaft, the first spring, the 4th push rod, middle guide rod, the first roller, the 3rd cam, the second roller, the 3rd rolling
Wheel, second spring, top stem casing, electric machine speed regulation controller；
The jackshaft vertical support is on base, and the support is fixedly connected on jackshaft, the bottom of the support
At least three universal wheels are installed, universal wheel is abutted with the upper surface of base, the motor is fixedly connected on the bottom of support, the
Two cams are arranged on the output shaft of motor, and the camshaft supporting is on support, and one first cam and one the 3rd cam are successively
On camshaft, power is transmitted by transmission mechanism between the output shaft and camshaft of motor；
It is provided with the upper end of the middle guide rod and the centre ball-joint of workbench, the upper-center of the support
Leader casing, the middle guide rod, which is slided, to be located in leader casing；
The upper end of first push rod and the 4th push rod with workbench ball-joint, first push rod and the 4th push rod
Be slidably arranged in respectively in respective top stem casing, top stem casing is fixedly mounted on the top of support, the first push rod, middle guide rod with
And the 4th push rod axis it is non-coplanar；
The lower end of first push rod is hinged with one first roller, and the first roller is abutted against with the first cam；
One end of the transverse arm is hinged with support, is hinged with one second roller in the middle part of transverse arm, the second roller and the 3rd convex
Wheel is abutted against, and the lower end of the 4th push rod is engaged with the other end of transverse arm, one end of the other end of transverse arm and the first spring
It is connected, the other end of the first spring is connected with support；
The 3rd roller is hinged with the base, the 3rd roller is abutted against with the second cam, the second spring
One end is fixedly connected with support, and the other end of second spring is fixedly connected with base, the motor and electric machine speed regulation controller phase
Even.
Further, the transmission mechanism is chain-drive mechanism or tape handler, and the preferred timing belt of tape handler is passed
It is dynamic.
Further, in addition to the second push rod and the 3rd push rod, the upper end of the second push rod and the 3rd push rod passes through hinge
It is hinged with workbench, the second push rod and the 3rd push rod are slidably arranged in respective top stem casing respectively, the fixed peace of top stem casing
Mounted in the top of support, four top stem casings are distributed in the orientation of left, right, front and rear four.
Further, another first cam is also equipped with the camshaft, the lower end of the 3rd push rod is also hinged with
One first roller, the first roller of the lower end of the 3rd push rod is abutted against with another first cam.
Further, slip cap is provided with slide block set on the other end of the transverse arm, and lower end and the slide block set of the 4th push rod are cut with scissors
Connect.
Further, the lower end of the 4th push rod is provided with neck, and the other end of transverse arm is arranged in neck.
Further, the lower end of the 4th push rod is hinged by the other end of spherical hinge and transverse arm.
Beneficial effects of the present invention are as follows：
1st, move back and forth without manually operated can just realize, compared to existing apparatus on the market have automation and
Multidirectional advantage.
2nd, the buffering of mechanism deflecting campaign is realized using the cooperation of cam mechanism and spring, is conducive to protecting ankle.
3rd, referred to through consulting ankle rehabilitation medically,, can be with using the controller of adjustable speed with reference to actual conditions
According to the size of the rehabilitation situation governing speed of user to reach more preferable rehabilitation efficacy.
4th, simplified in structure, there is simple in construction, parallel connection compared to existing ankle healing robot on the market
Collaboration is easy to control, reaches preferable rehabilitation efficacy
5th, on piece output shaft of motor provide both direction two kinds of power (one is delivered to camshaft by sprocket wheel and makes to put down
Platform is moved up and down；Other direction is coordinated with the 3rd roller and spring on base using the second cam and made entirely
Device is rotated back and forth.
6th, mechanism produces crankmotion using the cooperation of cam-fixed idler whell-spring, to simplify the internal structure of an organization and again
Amount is made that contribution.
Brief description of the drawings
Fig. 1 is the axonometric drawing of the embodiment of the present invention；
Fig. 2 is the front view of the embodiment of the present invention；
Fig. 3 is the right view of the embodiment of the present invention；
Fig. 4 is the rearview of the embodiment of the present invention；
In figure：Workbench 1, leader casing 2, the first push rod 3, the second push rod 4, camshaft 5, the first cam 6, motor 7, master
Movable sprocket 8, the second cam 9, universal wheel 10, base 11, support 12, transverse arm 13, jackshaft 14, the first spring 15, driven sprocket
16th, the 3rd push rod 17, the 4th push rod 18, middle guide rod 19, the first roller 20, the 3rd cam 21, the second roller 22, the 3rd roller
23rd, motor mount 24, second spring 25, top stem casing 26, spring anchorage bracket 27, transverse arm frame 28.
Embodiment
With reference to embodiment, the present invention is described further.
As Figure 1-4, the present invention provides a kind of ankle device for rehabilitation of the prismatic pair of branch containing ball pivot, including workbench 1, leads
Rod set 2, the first push rod 3, the second push rod 4, camshaft 5, the first cam 6, motor 7, drive sprocket 8, the second cam 9, base 11,
Universal wheel 10, support 12, transverse arm 13, jackshaft 14, the first spring 15, driven sprocket 16, the 3rd push rod 17, the 4th push rod 18,
Middle guide rod 19, the first roller 20, the 3rd cam 21, the second roller 22, the 3rd roller 23, motor mount 24, second spring
25th, top stem casing 26, spring anchorage bracket 27, transverse arm frame 28, electric machine speed regulation controller；
The jackshaft 14 by thrust ball bearing vertical support on the pedestal 11, fix by the bottom center of the support 12
Motor mount 24 is installed, the motor mount 24 is fixedly connected on jackshaft 14, the bottom of the support 12 is installed
There are four universal wheels 10, four universal wheels 10 are abutted with the upper surface of base 11, the motor 7 is arranged on motor mount 24
On, the second cam 9 and drive sprocket 8 are installed, the camshaft 5 is by bearing block support in support 12 on the output shaft of motor 7
On, one first cam 6, one the 3rd cam 21, a driven sprocket 16 and one first cam 6 are sequentially arranged on camshaft 5, institute
Driven sprocket 16 is stated by chain with drive sprocket 8 to be connected；The upper end of the middle guide rod 19 passes through spherical hinge and workbench 1
Centre be hinged, leader casing 2 is installed, the middle guide rod 19, which is slided, is located in guide rod at the upper-center of the support 12
In set 2；First push rod 3, the second push rod 4, the 3rd push rod 17 and the 4th push rod 18 upper end it is flat with work by hinge
Platform 1 is hinged, and first push rod 3, the second push rod 4, the 3rd push rod 17, the 4th push rod 18 are slidably arranged in respective push rod respectively
In set 26, four top stem casings 26 are fixedly mounted on the top of support 12, and four top stem casings 26 are distributed in left, right, front and rear four
Orientation,
The lower end of first push rod 3 and the lower end of the 3rd push rod 17 are hinged with one first roller 20, the first roller 20
Abutted against with the first cam 6；
The transverse arm frame 28 is fixedly mounted on support 12, and one end and the upper end of transverse arm frame 28 of the transverse arm 13 are hinged,
The middle part of transverse arm 13 is hinged with one second roller 22, and the second roller 22 is abutted against with the 3rd cam 21, the 4th push rod 18
Lower end is engaged with the other end of transverse arm 13 (can use slide block set on transverse arm 13, lower end and the sliding block of the 4th push rod 18 are cut with scissors
The form connect；Neck can also be opened by the lower end of the 4th push rod 18, neck is stuck on transverse arm 13, or under the 4th push rod 18
Hold the other end by spherical hinge and transverse arm 13 to be hinged, etc.), meanwhile, one end of the other end of transverse arm 13 and the first spring 15
Be connected, the other end of the first spring 15 is connected with support 12, the first spring 15 in extended state, make the second roller 22 all the time with
3rd cam 21 is in contact；
First push rod 3 and the 3rd push rod 17 are positioned opposite, realize the up and down motion of workbench 1, its stroke about 10cm；
Second push rod 4 and the 4th push rod 18 are positioned opposite, realize the side-to-side movement of workbench 1；
The 3rd roller 23 is hinged with the base 11, the 3rd roller 23 is abutted against with the second cam 9, described second
One end of spring 25 is fixedly connected with motor mount 24, and the other end of second spring 25 is consolidated with fixed spring on the pedestal 11
Determine frame 27 to be connected, the second spring 25 is in extended state so that the 3rd roller 23 is in contact all the time with the second cam 9, lead to
The 3rd roller 23 and the second cam 9 are crossed, drives whole base 11 to follow jackshaft 14 to rotate, 15 ° of rotation amplitude.
The motor 7 is connected with electric machine speed regulation controller, can be according to the operating of the rehabilitation situation regulation motor 7 of user speed
The size of degree is to reach more preferable rehabilitation efficacy.Through consulting ankle rehabilitation reference medically, electric machine speed regulation controller can
To use Japan (Li Duote) DYG machine governors, but not limited to this；Motor 7 can use Taiwan TWT bunchers, wherein
The model 5IK40RGN-C of alternating current motor, reducing motor model 5GN-50K, but not limited to this.
It should be noted that in the present embodiment, the present invention in order to reach allow ankle realize above and below before and after plus the motion that rotates
Purpose, using devising 5 push rods (the first push rod 3, the second push rod 4, the 3rd push rod 17, the 4th push rod below workbench 1
18 and middle guide rod 19), wherein in the middle of guide rod 19 play a supportive role, the first push rod 3 and the 4th push rod 18 are work push rods, are led to
The up and down motion that workbench 1 can be achieved in the first push rod 3 is crossed, because the first push rod 3, the 4th push rod 18 and middle guide rod 19
Constituted the supporting of three fulcrums, moreover, the first push rod 3, the 4th push rod 18 and middle guide rod 19 also only have on move down
It is dynamic, so being the up and down motion of achievable workbench 1 by the first push rod 3, work can be achieved by the 4th push rod 18 and put down
The side-to-side movement of platform 1, sets the second push rod 4 and the 3rd push rod 17 to be mainly the stability for improving motion.
The course of work of the present invention is as follows：
The operating of motor 7 drives the cam 9 of sprocket wheel 8 and second being fixed on its output shaft to rotate, the second cam 9 and the 3rd rolling
Wheel 23 is engaged, and realizes that base 11 does low-angle and rotates back and forth motion；
Sprocket wheel 8 is connected by chain with being fixed on the driven sprocket 16 of camshaft 5, drives camshaft 5 to rotate；Camshaft 5
Upper that first cam 6 is housed, the first cam 6 is pushed up to the first push rod 3 and the 3rd push rod 17, produces the first push rod 3 and the 3rd push rod 17
It is raw to move up and down, so as to realize moving up and down for workbench 1.
3rd cam 21 follows camshaft 5 to rotate, the second roller 22 on the 3rd cam 21 driving transverse arm 13, realizes transverse arm
13 swing, the lower end of the 4th push rod 18 is engaged with the other end of transverse arm 13, by the swing of transverse arm 13, so as to drive the 4th
Push rod 18 is moved up and down, and then realizes swinging for workbench 1.
Inputted by the rotation of motor, while realizing the moving up and down of workbench 1, swinging and back and forth
Rotary motion.
Simple in construction, easy to operate, dependable performance of the invention, mode of operation are various, and suitable hospital, community, family use.
Meet base of principle of human engineering, the connection position of workbench 1 and bearing 10 is suitable from substrate height, and rotating mechanism substantially can be with
Centered on ankle-joint, it can be ensured that ankle-joint ground effective exercise.For the individual difference of different patients, the area of workbench 1 is enough,
Workbench 1 can adjust amplitude greatly, and the free degree is high, can preferably meet the personalized treatment demand of patient.
Relative to prior art, the present invention provides both direction only with a motor 7, a motor output shaft
Motion, and the amplitude moved according to required workbench 1, the wheel of the first cam 6 of design, the second cam 9 and the 3rd cam 21
It is wide.First spring 15 and second spring 25, which are played, to automatically reset and cushioning effect, and this is that do not have in existing design.Profit of the invention
With the significantly easy structural complexity of lever principle, and move also still reliable.
Claims (7)
1. a kind of ankle device for rehabilitation of the prismatic pair of branch containing ball pivot, it is characterised in that including workbench (1), leader casing (2),
One push rod (3), camshaft (5), the first cam (6), motor (7), the second cam (9), base (1) (1), universal wheel (1) (0),
Support (12), transverse arm (13), jackshaft (14), the first spring (15), the 4th push rod (18), middle guide rod (19), the first roller
(20), the 3rd cam (21), the second roller (22), the 3rd roller (23), second spring (25), top stem casing (26), electric machine speed regulation
Controller etc.；
Jackshaft (14) vertical support is on base (11), and the support (12) is fixedly connected on jackshaft (14), institute
The bottom for stating support (12) is provided with least three universal wheels (10), and universal wheel (10) is abutted with the upper surface of base (11), institute
The bottom that motor (7) is fixedly connected on support (12) is stated, the second cam (9) is arranged on the output shaft of motor (7), the cam
Axle (5) is supported on support (12), and one first cam (6) and one the 3rd cam (21) are sequentially arranged on camshaft (5), motor
(7) power is transmitted by transmission mechanism between output shaft and camshaft (5)；
The upper end of the middle guide rod (19) and the centre ball-joint of workbench (1), the upper-center of the support (12)
Place is provided with leader casing (2), and the middle guide rod (19), which is slided, to be located in leader casing (2)；
The upper end of first push rod (3) and the 4th push rod (18) with workbench (1) ball-joint, first push rod (3)
It is slidably arranged in respectively in respective top stem casing (26) with the 4th push rod (18), top stem casing (26) is fixedly mounted on support (12)
Top, the axis of the first push rod (3), middle guide rod (19) and the 4th push rod (18) is non-coplanar；
The lower end of first push rod (3) is hinged with one first roller (20), and the first roller (20) offsets with the first cam (6)
Connect；
One end of the transverse arm (13) is hinged with support (12), and one second roller (22), second are hinged with the middle part of transverse arm (13)
Roller (22) is abutted against with the 3rd cam (21), and the lower end of the 4th push rod (18) is engaged with the other end of transverse arm (13),
The other end of transverse arm (13) is connected with one end of the first spring (15), and the other end of the first spring (15) is connected with support (12)；
The 3rd roller (23) is hinged with the base (11), the 3rd roller (23) abuts against with the second cam (9), described
One end of second spring (25) is fixedly connected with support (12), and the other end of second spring (25) is fixedly connected with base (11),
The motor (7) is connected with electric machine speed regulation controller.
2. a kind of ankle device for rehabilitation of prismatic pair of branch containing ball pivot according to claim 1, it is characterised in that the driver
Structure is chain-drive mechanism or tape handler.
3. the ankle device for rehabilitation of a kind of prismatic pair of branch containing ball pivot according to claim 1, it is characterised in that also including second
The upper end of push rod (4) and the 3rd push rod (17), the second push rod (4) and the 3rd push rod (17) passes through hinge and workbench (1)
It is hinged, the second push rod (4) and the 3rd push rod (17) are slidably arranged in respective top stem casing (26) respectively, and top stem casing (26) is solid
Dingan County is mounted in the top of support (12), and four top stem casings (26) are distributed in the orientation of left, right, front and rear four.
4. a kind of ankle device for rehabilitation of prismatic pair of branch containing ball pivot according to claim 3, it is characterised in that the camshaft
(5) another first cam (6) is also equipped with, the lower end of the 3rd push rod (17) is also hinged with one first roller (20), the
The first roller (20) of the lower end of three push rods (17) is abutted against with another first cam (6).
5. a kind of ankle device for rehabilitation of prismatic pair of branch containing ball pivot according to claim 1, it is characterised in that the transverse arm
(13) slip cap is provided with slide block set on the other end, and the lower end of the 4th push rod (18) is hinged with slide block set.
6. a kind of ankle device for rehabilitation of prismatic pair of branch containing ball pivot according to claim 1, it is characterised in that the 4th top
The lower end of bar (18) is provided with neck, and the other end of transverse arm (13) is arranged in neck.
7. a kind of ankle device for rehabilitation of prismatic pair of branch containing ball pivot according to claim 1, it is characterised in that the 4th top
The lower end of bar (18) is hinged by the other end of spherical hinge and transverse arm (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710494233.5A CN107260485B (en) | 2017-06-26 | 2017-06-26 | Ankle rehabilitation device with ball hinge support moving pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710494233.5A CN107260485B (en) | 2017-06-26 | 2017-06-26 | Ankle rehabilitation device with ball hinge support moving pair |
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| Publication Number | Publication Date |
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| CN107260485A true CN107260485A (en) | 2017-10-20 |
| CN107260485B CN107260485B (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710494233.5A Active CN107260485B (en) | 2017-06-26 | 2017-06-26 | Ankle rehabilitation device with ball hinge support moving pair |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852751A (en) * | 2018-07-06 | 2018-11-23 | 西安交通大学医学院第附属医院 | Femoral artery is postoperative to pump rehabilitation exercise device with ankle |
| CN109363818A (en) * | 2018-12-07 | 2019-02-22 | 徐会法 | A kind of traction frame for children orthopedics |
| CN110037893A (en) * | 2019-04-30 | 2019-07-23 | 合肥工业大学 | A kind of wearable waist lower limb rehabilitation robot of Wire driven robot |
| CN110076649A (en) * | 2019-03-26 | 2019-08-02 | 瑞迹工业技术(上海)有限公司 | Chamfering grinding device |
| CN112603757A (en) * | 2020-12-18 | 2021-04-06 | 华侨大学 | Rehabilitation device for treating ankle injury by cam-ejector rod structure |
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| CN101999970A (en) * | 2010-12-24 | 2011-04-06 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| US20140378876A1 (en) * | 2011-12-20 | 2014-12-25 | Consiglio Nazionale Delle Ricerche | Device for the rehabilitation of movements of the foot |
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| CN105616110A (en) * | 2015-12-29 | 2016-06-01 | 中北大学 | Cam type three-freedom-degree ankle rehabilitative device |
| CN105943307A (en) * | 2016-05-31 | 2016-09-21 | 天津大学 | Parallel type ankle joint recovery device |
| CN105943306A (en) * | 2016-05-31 | 2016-09-21 | 天津大学 | Pneumatic muscle driving three-freedom-degree ankle joint recovery device |
| CN207722051U (en) * | 2017-06-26 | 2018-08-14 | 清华大学 | A kind of ankle device for rehabilitation of the prismatic pair of branch containing flexural pivot |
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