CN107260485B - Ankle Rehabilitation Device with Ball Joints - Google Patents

Abstract

The invention discloses an ankle rehabilitation device with a moving pair of ball joints, which includes a working platform, a guide rod sleeve, a first ejector rod, a camshaft, a first cam, a motor, a second cam, a base, a universal wheel, and a bracket , cross arm, intermediate shaft, first spring, fourth ejector rod, intermediate guide rod, first roller, third cam, second roller, third roller, second spring, ejector sleeve, motor speed controller, etc. ; The present invention uses the cooperation of the cam mechanism and the spring to realize the buffering of the movement of the mechanism, which is beneficial to the protection of the ankle. One output shaft of the motor of the present invention provides two kinds of power in two directions, that is, one is transmitted to the camshaft through the sprocket to make the platform move up and down, left and right, and the other direction uses the second cam and the third roller installed on the base and A spring fit rotates the entire unit back and forth.

Description

Ankle Rehabilitation Device with Ball Joints

technical field

The invention relates to the technical field of medical rehabilitation equipment, in particular to an ankle rehabilitation device with a spherical joint support moving pair.

Background technique

The ankle joint can bear about 5 times body weight. It has been measured that 60% of the power is produced by the ankle joint. The ankle joint muscles and the hip joint muscles coordinate and exert force during the lower limb movement. When kicking back (mainly the ankle joint), the hip joint muscles become a little relaxed. The power generated by the flexors (moving the thigh forward) and extensors (moving the thigh backward) of the hip joint only accounts for 30% to 50% of the total forward thrust. The ankle joint is a very important joint that promotes the movement of the human body, and the flexibility of the ankle joint also plays a great role in the coordinated movement of the human body. Studies have shown that a lack of mobility in the ankle joint increases the rotational moment at the knee joint. However, in daily life and physical exercise, ankle sprains are the most common, and severe cases may even cause health problems such as bone fractures. In order to avoid sequelae of ankle joint dysfunction caused by insufficient treatment and unscientific methods after injury, physical therapy is urgently needed to assist a series of rehabilitation after injury. The damaged ankle must be fully rehabilitated through repeated circuit training.

Contents of the invention

Aiming at the above-mentioned deficiencies, the present invention provides an ankle rehabilitation device with a spherical joint support moving pair. The invention solves the shortcomings of the prior art, simplifies the structure of the ankle rehabilitation device, and adopts a cam to provide a multi-degree-of-freedom movement and realize ankle rehabilitation. The simple ankle rehabilitation training equipment controlled by motion parallel synergy helps the ankle to move in all directions, and single-degree-of-freedom or multi-degree-of-freedom movements can be used according to the injury to achieve a gradual rehabilitation effect.

The technical solution adopted by the present invention to solve the technical problem is as follows: a kind of ankle rehabilitation device containing the moving pair of spherical joints, including a working platform, a guide rod sleeve, a first ejector rod, a camshaft, a first cam, a motor, and a second cam , base, universal wheel, bracket, cross arm, intermediate shaft, first spring, fourth ejector rod, intermediate guide rod, first roller, third cam, second roller, third roller, second spring, ejector rod Set, motor speed controller;

The intermediate shaft is vertically supported on the base, the bracket is fixedly connected to the intermediate shaft, at least three universal wheels are installed on the bottom of the bracket, the universal wheels abut against the upper surface of the base, and the motor is fixedly connected At the bottom of the bracket, the second cam is installed on the output shaft of the motor, the camshaft is supported on the bracket, a first cam and a third cam are installed on the camshaft in turn, between the output shaft of the motor and the camshaft Transmission of power through the transmission mechanism;

The upper end of the middle guide rod is ball-hinged with the center of the working platform, a guide rod sleeve is installed at the center of the upper end of the bracket, and the middle guide rod slides through the guide rod sleeve;

The upper ends of the first ejector pin and the fourth ejector pin are hinged with the working platform ball, and the first ejector pin and the fourth ejector pin are respectively slidably arranged in respective ejector rod sleeves, and the ejector rod sleeves are fixedly installed on the bracket At the top of the top, the axes of the first ejector rod, the middle guide rod and the fourth ejector rod are not in the same plane;

A first roller is hinged to the lower end of the first push rod, and the first roller abuts against the first cam;

One end of the cross arm is hinged with the bracket, and the middle part of the cross arm is hinged with a second roller, and the second roller abuts against the third cam, and the lower end of the fourth push rod matches the other end of the cross arm. The other end is connected with one end of the first spring, and the other end of the first spring is connected with the bracket;

A third roller is hinged on the base, the third roller abuts against the second cam, one end of the second spring is fixedly connected to the bracket, the other end of the second spring is fixedly connected to the base, and the motor and the motor The speed controller is connected.

Further, the transmission mechanism is a chain transmission mechanism or a belt transmission mechanism, and the belt transmission mechanism is preferably a synchronous belt transmission.

Further, it also includes a second ejector rod and a third ejector rod, the upper ends of the second ejector rod and the third ejector rod are hinged with the working platform through a hinge, and the second ejector rod and the third ejector rod are respectively slidably arranged on the respective ejector rods. Among the rod sleeves, the ejector rod sleeves are all fixedly installed on the top of the bracket, and the four ejector rod sleeves are distributed in four positions of left, right, front and rear.

Further, another first cam is installed on the camshaft, and 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 abuts against another first cam .

Further, the sliding sleeve at the other end of the cross arm is provided with a slider sleeve, and the lower end of the fourth push rod is hinged to the slider sleeve.

Further, the lower end of the fourth push rod is provided with a slot, and the other end of the cross arm is arranged in the slot.

Further, the lower end of the fourth push rod is hinged to the other end of the cross arm through a ball hinge.

The beneficial effects of the present invention are as follows:

1. It can realize repeated movement back and forth without manual operation, which has the advantages of automation and multi-directional compared with the existing equipment on the market.

2. The combination of the cam mechanism and the spring realizes the cushioning of the mechanism's direction-changing movement, which is beneficial to protect the ankle.

3. After consulting the medical ankle rehabilitation treatment reference, combined with the actual situation, the speed-adjustable controller is adopted, and the speed can be adjusted according to the user's rehabilitation situation to achieve a better rehabilitation effect.

4. The structure has been simplified. Compared with the existing ankle rehabilitation robots on the market, it has a simple structure, parallel synergy and easy control, and achieves a better rehabilitation effect.

5. One output shaft of the motor provides two kinds of power in two directions (one is transmitted to the camshaft through the sprocket to make the platform move up and down, left and right; the other direction uses the second cam to cooperate with the third roller and spring installed on the base Rotate the entire device back and forth.

6. This mechanism adopts the cooperation of cam-fixed roller-spring to generate reciprocating rotation motion, which contributes to the simplification of mechanism and weight.

Description of drawings

Fig. 1 is an axonometric view of an 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 rear view of the embodiment of the present invention;

In the figure: working platform 1, guide rod sleeve 2, first ejector rod 3, second ejector rod 4, camshaft 5, first cam 6, motor 7, driving sprocket 8, second cam 9, universal wheel 10 , base 11, bracket 12, cross arm 13, intermediate shaft 14, first spring 15, driven sprocket 16, third push rod 17, fourth push rod 18, middle guide rod 19, first roller 20, third Cam 21, the second roller 22, the third roller 23, the motor mount 24, the second spring 25, the mandrel cover 26, the spring holder 27, the cross arm frame 28.

Detailed ways

Below in conjunction with embodiment the present invention will be further described.

As shown in Figures 1-4, the present invention provides an ankle rehabilitation device with a moving pair of spherical joints, including a working platform 1, a guide rod sleeve 2, a first ejector rod 3, a second ejector rod 4, a camshaft 5, First cam 6, motor 7, driving sprocket 8, second cam 9, base 11, universal wheel 10, bracket 12, cross arm 13, intermediate shaft 14, first spring 15, driven sprocket 16, third Push rod 17, fourth push rod 18, middle guide rod 19, first roller 20, third cam 21, second roller 22, third roller 23, motor mount 24, second spring 25, push rod cover 26, Spring fixing frame 27, cross arm frame 28, motor speed regulating controller;

The intermediate shaft 14 is vertically supported on the base 11 through a thrust ball bearing, and a motor mount 24 is fixedly installed at the center of the bottom of the support 12, and the motor mount 24 is fixedly connected to the intermediate shaft 14. Four universal wheels 10 are installed at the bottom, and the four universal wheels 10 abut against the upper surface of the base 11. The motor 7 is installed on the motor mount 24, and the second cam 9 and the driving motor 7 are installed on the output shaft of the motor 7. The sprocket 8, the camshaft 5 is supported on the bracket 12 through the bearing seat, a first cam 6, a third cam 21, a driven sprocket 16 and a first cam 6 are installed on the camshaft 5 in sequence, The driven sprocket 16 is connected to 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, and the guide rod cover 2 is installed at the center of the upper end of the bracket 12 , the middle guide rod 19 slides through the guide rod sleeve 2; 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 connected to the working platform through a hinge 1 is hinged, the first push rod 3, the second push rod 4, the third push rod 17, and the fourth push rod 18 are respectively slidably arranged in the respective push rod sleeves 26, and the four push rod sleeves 26 are all fixedly installed on the On the top of the bracket 12, four ejector rod sleeves 26 are distributed in four directions of left, right, front and rear,

The lower end of the first push rod 3 and the lower end of the third push rod 17 are hinged with a first roller 20, and the first roller 20 abuts against the first cam 6;

The cross arm frame 28 is fixedly installed on the support 12, one end of the cross arm 13 is hinged with the upper end of the cross arm frame 28, and the middle part of the cross arm 13 is hinged with a second roller 22, and the second roller 22 is connected to the third cam 21 abut against each other, the lower end of the fourth push rod 18 is matched with the other end of the cross arm 13 (the slider can be sleeved on the cross arm 13, and the lower end of the fourth push rod 18 is hinged to the slider; The lower end of the fourth push rod 18 has a card slot, and the draw slot is stuck on the cross arm 13, or the lower end of the fourth push rod 18 is hinged with the other end of the cross arm 13 through a ball hinge, etc.), and at the same time, the cross arm 13 The other end of the first spring 15 is connected to one end, and the other end of the first spring 15 is connected to the bracket 12, and the first spring 15 is in a stretched state, so that the second roller 22 is always in contact with the third cam 21;

The first ejector pin 3 and the third ejector pin 17 are relatively arranged to realize the up and down movement of the working platform 1, and the stroke is about 10 cm; the second ejector pin 4 and the fourth ejector pin 18 are arranged relatively to realize the left and right movement of the working platform 1;

The base 11 is hinged with a third roller 23, the third roller 23 abuts against the second cam 9, one end of the second spring 25 is fixedly connected with the motor mount 24, and the other end of the second spring 25 is connected to the The spring holder 27 fixed on the base 11 is connected, and the second spring 25 is in a stretched state, so that the third roller 23 is always in contact with the second cam 9, and the whole roller is driven by the third roller 23 and the second cam 9. The base 11 rotates following the intermediate shaft 14 with a rotation range of 15°.

The motor 7 is connected with the motor speed controller, and the operating speed of the motor 7 can be adjusted according to the rehabilitation situation of the user to achieve a better rehabilitation effect. After reviewing medical ankle rehabilitation treatment references, the motor speed controller can use Toyo (Lidote) DYG motor speed controller, but not limited to this; the motor 7 can use Taiwan TWT speed control motor, and the model of the AC motor is 5IK40RGN-C, the geared motor model is 5GN-50K, but not limited to this.

It should be noted that, in this embodiment, in order to achieve the purpose of allowing the ankle to move up and down, back and forth, and to rotate, the present invention adopts five ejector rods (the first ejector rod 3, the second ejector rod 4, The third push rod 17, the fourth push rod 18 and the middle guide rod 19), wherein the middle guide rod 19 plays a supporting role, the first push rod 3 and the fourth push rod 18 are working push rods, through the first push rod 3 that is The up and down movement of the working platform 1 can be realized because the first push rod 3, the fourth push rod 18 and the middle guide rod 19 have formed the support of three fulcrums, and the first push rod 3, the fourth push rod 18 and the middle The guide rod 19 also only has to move up and down, so the up and down movement of the working platform 1 can be realized by the first push rod 3, the left and right movement of the working platform 1 can be realized by the fourth push rod 18, and the second push rod 4 and the third push rod can be set. Push rod 17 mainly improves the stability of motion.

Working process of the present invention is as follows:

The operation of the motor 7 drives the sprocket 8 and the second cam 9 fixed on its output shaft to rotate, and the second cam 9 cooperates with the third roller 23 to realize the back and forth rotation of the base 11 at a small angle;

The sprocket 8 is connected with the driven sprocket 16 fixed on the camshaft 5 through a chain, and drives the camshaft 5 to rotate; the camshaft 5 is equipped with a first cam 6, and the first cam 6 pushes against the first push rod 3 and the third push rod. The rod 17 makes the first push rod 3 and the third push rod 17 move up and down, thereby realizing the up and down movement of the working platform 1 .

The third cam 21 rotates with the camshaft 5, and the third cam 21 drives the second roller 22 on the cross arm 13 to realize the swing of the cross arm 13. The lower end of the fourth push rod 18 is matched with the other end of the cross arm 13. The swing of the cross arm 13 drives the fourth push rod 18 to move up and down, thereby realizing the left and right swing of the working platform 1 .

Through the rotation input of a motor, the working platform 1 can move up and down, swing left and right, and rotate back and forth at the same time.

The invention has the advantages of simple structure, convenient operation, reliable performance and various working modes, and is suitable for use in hospitals, communities and families. In line with the principle of ergonomics, the connection position of the working platform 1 and the support 10 is at an appropriate height from the base plate, and the rotation mechanism can basically center on the ankle joint to ensure effective movement of the ankle joint. According to the individual differences of different patients, the area of the working platform 1 is sufficient, the working platform 1 can be adjusted in a large range, and has a high degree of freedom, which can better meet the personalized treatment needs of patients.

Compared with the prior art, the present invention only adopts one motor 7, and one motor output shaft provides motion in two directions, and designs the first cam 6, the second cam 9 and the The profile of the third cam 21. The first spring 15 and the second spring 25 play the role of automatic reset and buffer, which is not available in the existing design. The invention greatly simplifies the structural complexity by using the principle of leverage, and the movement is still 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.

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