CN107260485B - Ankle rehabilitation device with ball hinge support moving pair - Google Patents
Ankle rehabilitation device with ball hinge support moving pair Download PDFInfo
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- CN107260485B CN107260485B CN201710494233.5A CN201710494233A CN107260485B CN 107260485 B CN107260485 B CN 107260485B CN 201710494233 A CN201710494233 A CN 201710494233A CN 107260485 B CN107260485 B CN 107260485B
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- 210000003423 ankle Anatomy 0.000 title claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 26
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000003139 buffering effect Effects 0.000 abstract 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 10
- 238000011282 treatment Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 210000004394 hip joint Anatomy 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 208000036487 Arthropathies Diseases 0.000 description 1
- 208000010392 Bone Fractures Diseases 0.000 description 1
- 206010024453 Ligament sprain Diseases 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005802 health problem Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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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
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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 discloses an ankle rehabilitation device with a ball hinge support moving pair, which comprises a working platform, a guide rod sleeve, a first ejector rod, a cam shaft, a first cam, a motor, a second cam, a base, a universal wheel, a bracket, a cross arm, an intermediate shaft, a first spring, a fourth ejector rod, an intermediate guide rod, a first roller, a third cam, a second roller, a third roller, a second spring, an ejector rod sleeve, a motor speed regulation controller and the like, wherein the guide rod sleeve is arranged on the working platform; the invention adopts the cooperation of the cam mechanism and the spring to realize the buffering of the turning motion of the mechanism, thereby being beneficial to protecting the ankle. The motor of the invention provides two kinds of power in two directions on one output shaft, namely one is transmitted to a cam shaft through a chain wheel to enable the platform to move up and down and left and right, and the other direction is matched with a third roller wheel and a spring which are arranged on a base by utilizing a second cam to enable the whole device to rotate back and forth.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to an ankle rehabilitation device with a ball hinge moving pair.
Background
The ankle joint can bear about 5 times the weight of the body. Some measure: 60% of the force is produced by the ankle joint, the ankle joint muscles and the hip joint muscles coordinate to exert force during lower limb movements, and the hip joint muscles become somewhat relaxed during the back pedaling (mainly the ankle joint). The forces generated by the flexor (thigh forward) and extensor (thigh backward) of the hip joint account for only 30% -50% of the total forward thrust. The ankle joint is an important joint for pushing the human body to move, and the flexibility of the ankle joint plays a great role in coordinating the movement of the human body. Studies have shown that the lack of flexibility of the ankle joint increases the moment of rotation of the knee joint. However, ankle sprains are most common in daily life and physical exercise, and serious persons may even experience health problems such as bone fracture. In order to avoid sequelae of ankle joint dysfunction caused by incomplete treatment after injury, physical treatment is urgently needed to assist a series of rehabilitation treatments after injury. Repeated cyclic training is necessary to achieve complete rehabilitation of the damaged ankle.
Disclosure of Invention
In order to overcome the defects, the ankle rehabilitation device with the spherical hinge moving pair provided by the invention solves the problems of the short plate in the prior art, simplifies the structure of the ankle rehabilitation device, adopts the cam to provide a multi-freedom-degree motion and realize the ankle motion parallel cooperative control simple ankle rehabilitation training device, is beneficial to the omnibearing motion of the ankle, and can achieve the progressive rehabilitation effect by adopting single-freedom-degree motion or multi-freedom-degree motion according to the injury.
The technical scheme adopted for solving the technical problems is as follows: an ankle rehabilitation device with a ball hinge support moving pair comprises a working platform, a guide rod sleeve, a first ejector rod, a cam shaft, a first cam, a motor, a second cam, a base, a universal wheel, a bracket, a cross arm, a middle shaft, a first spring, a fourth ejector rod, a middle guide rod, a first roller, a third cam, a second roller, a third roller, a second spring, an ejector rod sleeve and a motor speed regulation controller;
the middle shaft is vertically supported on the base, the support is fixedly connected to the middle shaft, at least three universal wheels are mounted at the bottom of the support and are in butt joint with the upper surface of the base, the motor is fixedly connected to the bottom of the support, the second cam is mounted on an output shaft of the motor, the cam shaft is supported on the support, a first cam and a third cam are sequentially mounted on the cam shaft, and power is transmitted between the output shaft of the motor and the cam shaft through the transmission mechanism;
the upper end of the middle guide rod is in spherical hinge connection with the center of the working platform, a guide rod sleeve is arranged at the center of the upper end of the bracket, and the middle guide rod is arranged in the guide rod sleeve in a sliding penetrating manner;
the upper ends of the first ejector rod and the fourth ejector rod are hinged with the working platform ball, the first ejector rod and the fourth ejector rod are respectively arranged in respective ejector rod sleeves in a sliding manner, the ejector rod sleeves are fixedly arranged at the top ends of the brackets, and the axes of the first ejector rod, the middle guide rod and the fourth ejector rod are not coplanar;
the lower end of the first ejector rod is hinged with a first roller, and the first roller is abutted against the first cam;
one end of the cross arm is hinged with the bracket, the middle part of the cross arm is hinged with a second roller, the second roller is abutted against the third cam, the lower end of the fourth ejector rod is matched with the other end of the cross arm, the other end of the cross arm is connected with one end of the first spring, and the other end of the first spring is connected with the bracket;
the base is hinged with a third roller, the third roller is in butt joint with the second cam, one end of the second spring is fixedly connected with the support, the other end of the second spring is fixedly connected with the base, and the motor is connected with the motor speed regulation controller.
Further, the transmission mechanism is a chain transmission mechanism or a belt transmission mechanism, and the belt transmission mechanism preferably carries out synchronous belt transmission.
Further, the device also comprises a second ejector rod and a third ejector rod, wherein the upper ends of the second ejector rod and the third ejector rod are hinged with the working platform through hinges, the second ejector rod and the third ejector rod are respectively arranged in respective ejector rod sleeves in a sliding mode, the ejector rod sleeves are fixedly arranged at the top ends of the brackets, and the four ejector rod sleeves are distributed in the left, right, front and back directions.
Further, another first cam is further mounted on the cam shaft, a first roller is hinged to the lower end of the third ejector rod, and the first roller at the lower end of the third ejector rod is abutted to the other first cam.
Further, a sliding block sleeve is sleeved on the other end of the cross arm in a sliding way, and the lower end of the fourth ejector rod is hinged with the sliding block sleeve.
Further, a clamping groove is formed in the lower end of the fourth ejector rod, and the other end of the cross arm is arranged in the clamping groove.
Further, the lower end of the fourth ejector rod is hinged with the other end of the cross arm through a ball hinge.
The beneficial effects of the invention are as follows:
1. the back and forth repeated motion can be realized without manual operation, and compared with the existing instruments on the market, the device has the advantages of automation and multiple directions.
2. The cam mechanism and the spring are matched to buffer the turning movement of the mechanism, so that the ankle is protected.
3. The ankle rehabilitation therapy reference in medical treatment is read through, and the speed-adjustable controller is adopted in combination with the actual situation, so that the speed can be adjusted according to the rehabilitation situation of the user to achieve a better rehabilitation effect.
4. The ankle rehabilitation robot has the advantages that the ankle rehabilitation robot is simplified in structure, compared with the ankle rehabilitation robot in the market, the ankle rehabilitation robot is simple in structure, parallel-connection, cooperative and easy to control, and good rehabilitation effect is achieved
5. Two kinds of power in two directions are provided on one output shaft of the motor (one is transmitted to a cam shaft through a chain wheel to enable the platform to move up and down and left and right, and the other direction is matched with a third roller wheel and a spring which are arranged on the base by utilizing a second cam to enable the whole device to rotate back and forth.
6. The mechanism adopts the cooperation of cam, fixed roller and spring to generate reciprocating rotation motion, and contributes to simplifying the mechanism and the weight.
Drawings
FIG. 1 is an isometric view of an embodiment of the invention;
FIG. 2 is a front view of an embodiment of the present invention;
FIG. 3 is a right side view of an embodiment of the present invention;
FIG. 4 is a rear view of an embodiment of the present invention;
in the figure: the device comprises a working platform 1, a guide rod sleeve 2, a first ejector rod 3, a second ejector rod 4, a cam shaft 5, a first cam 6, a motor 7, a driving sprocket 8, a second cam 9, a universal wheel 10, a base 11, a bracket 12, a cross arm 13, an intermediate shaft 14, a first spring 15, a driven sprocket 16, a third ejector rod 17, a fourth ejector rod 18, an intermediate guide rod 19, a first roller 20, a third cam 21, a second roller 22, a third roller 23, a motor mounting seat 24, a second spring 25, an ejector rod sleeve 26, a spring fixing frame 27 and a cross arm frame 28.
Detailed Description
The invention is further illustrated below with reference to examples.
As shown in fig. 1-4, the invention provides an ankle rehabilitation device with a ball hinge support moving pair, which comprises a working platform 1, a guide rod sleeve 2, a first ejector rod 3, a second ejector rod 4, a cam shaft 5, a first cam 6, a motor 7, a driving sprocket 8, a second cam 9, a base 11, a universal wheel 10, a bracket 12, a cross arm 13, a middle shaft 14, a first spring 15, a driven sprocket 16, a third ejector rod 17, a fourth ejector rod 18, a middle guide rod 19, a first roller 20, a third cam 21, a second roller 22, a third roller 23, a motor mounting seat 24, a second spring 25, an ejector rod sleeve 26, a spring fixing bracket 27, a cross arm frame 28 and a motor speed regulation controller;
the middle shaft 14 is vertically supported on the base 11 through a thrust ball bearing, a motor mounting seat 24 is fixedly arranged at the center of the bottom of the bracket 12, the motor mounting seat 24 is fixedly connected to the middle shaft 14, four universal wheels 10 are arranged at the bottom of the bracket 12, the four universal wheels 10 are abutted to the upper surface of the base 11, the motor 7 is arranged on the motor mounting seat 24, a second cam 9 and a driving sprocket 8 are arranged on an output shaft of the motor 7, the cam shaft 5 is supported on the bracket 12 through a bearing seat, a first cam 6, a third cam 21, a driven sprocket 16 and a first cam 6 are sequentially arranged on the cam shaft 5, and the driven sprocket 16 is connected with the driving sprocket 8 through a chain; the upper end of the middle guide rod 19 is hinged with the center of the working platform 1 through a ball hinge, a guide rod sleeve 2 is arranged at the center of the upper end of the bracket 12, and the middle guide rod 19 is arranged in the guide rod sleeve 2 in a sliding way; the upper ends of the first ejector rod 3, the second ejector rod 4, the third ejector rod 17 and the fourth ejector rod 18 are all hinged with the working platform 1 through hinges, the first ejector rod 3, the second ejector rod 4, the third ejector rod 17 and the fourth ejector rod 18 are respectively arranged in respective ejector rod sleeves 26 in a sliding way, the four ejector rod sleeves 26 are fixedly arranged at the top end of the bracket 12, the four ejector rod sleeves 26 are distributed in the left, right, front and back four directions,
the lower ends of the first ejector rod 3 and the third ejector rod 17 are hinged with a first roller 20, and the first roller 20 is abutted against the first cam 6;
the cross arm frame 28 is fixedly arranged on the bracket 12, one end of the cross arm 13 is hinged with the upper end of the cross arm frame 28, the middle part of the cross arm 13 is hinged with a second roller 22, the second roller 22 is abutted against the third cam 21, the lower end of the fourth ejector rod 18 is matched with the other end of the cross arm 13 (a sliding block can be sleeved on the cross arm 13, the lower end of the fourth ejector rod 18 is hinged with the sliding block, a clamping groove is formed in the lower end of the fourth ejector rod 18 and clamped on the cross arm 13, or the lower end of the fourth ejector rod 18 is hinged with the other end of the cross arm 13 through a ball hinge, and the like), meanwhile, the other end of the cross arm 13 is connected with one end of the first spring 15, the other end of the first spring 15 is connected with the bracket 12, and the first spring 15 is in a stretching state, so that the second roller 22 is always contacted with the third cam 21;
the first ejector rod 3 and the third ejector rod 17 are arranged oppositely to realize the up-and-down movement of the working platform 1, and the stroke of the working platform is about 10cm; the second ejector rod 4 and the fourth ejector rod 18 are arranged oppositely, so that the left-right movement of the working platform 1 is realized;
the base 11 is hinged with a third roller 23, the third roller 23 is abutted against the second cam 9, one end of a second spring 25 is fixedly connected with a motor mounting seat 24, the other end of the second spring 25 is connected with a spring fixing frame 27 fixed on the base 11, the second spring 25 is in a stretching state, the third roller 23 is always contacted with the second cam 9, and the third roller 23 and the second cam 9 drive the whole base 11 to rotate along with the intermediate shaft 14 by 15 degrees.
The motor 7 is connected with the motor speed regulation controller, and the running speed of the motor 7 can be regulated according to the rehabilitation condition of a user so as to achieve a better rehabilitation effect. Through looking into the medical ankle rehabilitation reference, the motor speed regulating controller can adopt an east ocean (Liduote) DYG motor speed regulator, but is not limited to the east ocean; the motor 7 may be a taiwan TWT speed-regulating motor, wherein the type of the ac motor is 5IK40RGN-C, and the type of the speed-reducing motor is 5GN-50K, but is not limited thereto.
In this embodiment, in order to achieve the purpose of enabling the ankle to move up and down and forward and backward, the invention designs 5 ejector pins (a first ejector pin 3, a second ejector pin 4, a third ejector pin 17, a fourth ejector pin 18 and a middle guide rod 19) under the working platform 1, wherein the middle guide rod 19 plays a supporting role, the first ejector pin 3 and the fourth ejector pin 18 are working ejector pins, the up and down movement of the working platform 1 can be achieved through the first ejector pin 3, and because the first ejector pin 3, the fourth ejector pin 18 and the middle guide rod 19 form three supporting points, and the first ejector pin 3, the fourth ejector pin 18 and the middle guide rod 19 only move up and down, the up and down movement of the working platform 1 can be achieved through the first ejector pin 3, the left and right movement of the working platform 1 can be achieved through the fourth ejector pin 18, and the second ejector pin 4 and the third ejector pin 17 are arranged to mainly improve the stability of the movement.
The working process of the invention is as follows:
the motor 7 operates to drive the chain wheel 8 and the second cam 9 fixed on the output shaft thereof to rotate, and the second cam 9 is matched with the third roller 23 to realize small-angle back and forth rotary motion of the base 11;
the chain wheel 8 is connected with a driven chain wheel 16 fixed on the cam shaft 5 through a chain to drive the cam shaft 5 to rotate; the cam shaft 5 is provided with a first cam 6, and the first cam 6 is propped against the first ejector rod 3 and the third ejector rod 17, so that the first ejector rod 3 and the third ejector rod 17 generate up-and-down motion, and the up-and-down movement of the working platform 1 is realized.
The third cam 21 rotates along with the cam shaft 5, the third cam 21 drives the second roller 22 on the cross arm 13 to swing the cross arm 13, the lower end of the fourth ejector rod 18 is matched with the other end of the cross arm 13, and the fourth ejector rod 18 is driven to move up and down through the swing of the cross arm 13, so that the left and right swing of the working platform 1 is realized.
Through the rotation input of a motor, the up-and-down movement, the left-and-right swinging and the back-and-forth rotation movement of the working platform 1 are realized at the same time.
The invention has simple structure, convenient operation, reliable performance and various working modes, and is suitable for hospitals, communities and families. According to the human engineering principle, the connecting position of the working platform 1 and the support 10 is at a proper height from the base plate, and the rotating mechanism can basically take the ankle joint as the center, so that the effective movement of the ankle joint can be ensured. Aiming at the individual differences of different patients, the area of the working platform 1 is enough, the adjustable amplitude of the working platform 1 is large, the degree of freedom is high, and the personalized treatment requirement of the patients can be better met.
In contrast to the prior art, the present invention uses only one motor 7, one motor output shaft providing movement in both directions, and the contours of the first cam 6, the second cam 9 and the third cam 21 are designed according to the required magnitude of the movement of the working platform 1. The first spring 15 and the second spring 25 act as self-return and cushioning, which is not known in the prior art designs. The invention uses lever principle to simplify the structure and make the movement reliable.
Claims (7)
1. The ankle rehabilitation device with the spherical hinge sliding pair is characterized by comprising a working platform (1), a guide rod sleeve (2), a first ejector rod (3), a cam shaft (5), a first cam (6), a motor (7), a second cam (9), a base (11), a universal wheel (10), a bracket (12), a cross arm (13), an intermediate shaft (14), a first spring (15), a fourth ejector rod (18), an intermediate guide rod (19), a first roller (20), a third cam (21), a second roller (22), a third roller (23), a second spring (25), an ejector rod sleeve (26) and a motor speed regulation controller;
the middle shaft (14) is vertically supported on the base (11), the support (12) is fixedly connected to the middle shaft (14), at least three universal wheels (10) are installed at the bottom of the support (12), the universal wheels (10) are abutted to the upper surface of the base (11), the motor (7) is fixedly connected to the bottom of the support (12), the second cam (9) is installed on an output shaft of the motor (7), the cam shaft (5) is supported on the support (12), a first cam (6) and a third cam (21) are sequentially installed on the cam shaft (5), and power is transmitted between the output shaft of the motor (7) and the cam shaft (5) through a transmission mechanism;
the upper end of the middle guide rod (19) is in spherical hinge connection with the center of the working platform (1), a guide rod sleeve (2) is arranged at the center of the upper end of the bracket (12), and the middle guide rod (19) is slidably arranged in the guide rod sleeve (2) in a penetrating manner;
the upper ends of the first ejector rod (3) and the fourth ejector rod (18) are in ball hinge joint with the working platform (1), the first ejector rod (3) and the fourth ejector rod (18) are respectively arranged in respective ejector rod sleeves (26) in a sliding manner, the ejector rod sleeves (26) are fixedly arranged at the top ends of the brackets (12), and the axes of the first ejector rod (3), the middle guide rod (19) and the fourth ejector rod (18) are not coplanar;
the lower end of the first ejector rod (3) is hinged with a first roller (20), and the first roller (20) is abutted with the first cam (6);
one end of the cross arm (13) is hinged with the bracket (12), a second roller (22) is hinged in the middle of the cross arm (13), the second roller (22) is abutted against the third cam (21), the lower end of the fourth ejector rod (18) is matched with the other end of the cross arm (13), the other end of the cross arm (13) is connected with one end of the first spring (15), and the other end of the first spring (15) is connected with the bracket (12);
the base (11) is hinged with a third roller (23), the third roller (23) is abutted against the second cam (9), one end of the second spring (25) is fixedly connected with the support (12), the other end of the second spring (25) is fixedly connected with the base (11), and the motor (7) is connected with the motor speed regulation controller.
2. The ankle rehabilitation device with the ball hinge moving pair according to claim 1, wherein the transmission mechanism is a chain transmission mechanism or a belt transmission mechanism.
3. The ankle rehabilitation device with the spherical hinge sliding pair according to claim 1, further comprising a second ejector rod (4) and a third ejector rod (17), wherein the upper ends of the second ejector rod (4) and the third ejector rod (17) are hinged with the working platform (1) through hinges, the second ejector rod (4) and the third ejector rod (17) are respectively arranged in respective ejector rod sleeves (26) in a sliding mode, the ejector rod sleeves (26) are fixedly arranged at the top ends of the supports (12), and the four ejector rod sleeves (26) are distributed in the left, right, front and back directions.
4. The ankle rehabilitation device with the spherical hinge sliding pair according to claim 3, wherein the cam shaft (5) is further provided with another first cam (6), the lower end of the third ejector rod (17) is also hinged with a first roller (20), and the first roller (20) at the lower end of the third ejector rod (17) is abutted against the other first cam (6).
5. The ankle rehabilitation device with the spherical hinge sliding pair according to claim 1, wherein a sliding sleeve is sleeved on the other end of the cross arm (13), and the lower end of the fourth ejector rod (18) is hinged with the sliding sleeve.
6. The ankle rehabilitation device with the spherical hinge sliding pair according to claim 1, wherein a clamping groove is formed in the lower end of the fourth ejector rod (18), and the other end of the cross arm (13) is arranged in the clamping groove.
7. The ankle rehabilitation device with the spherical hinge sliding pair according to claim 1, wherein the lower end of the fourth ejector rod (18) is hinged with the other end of the cross arm (13) through a spherical hinge.
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 |
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| 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 |
|---|---|
| CN107260485A CN107260485A (en) | 2017-10-20 |
| CN107260485B true CN107260485B (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710494233.5A Active CN107260485B (en) | 2017-06-26 | 2017-06-26 | Ankle rehabilitation device with ball hinge support moving pair |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN110076649B (en) * | 2019-03-26 | 2021-03-23 | 瑞迹工业技术(上海)有限公司 | Chamfer grinding device |
| CN110037893B (en) * | 2019-04-30 | 2021-06-29 | 合肥工业大学 | Flexible cable-driven wearable waist and lower limb rehabilitation robot |
| CN112603757B (en) * | 2020-12-18 | 2024-05-17 | 华侨大学 | Rehabilitation device for treating ankle injury by cam-ejector rod structure |
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