CN107510924B

CN107510924B - Multi-degree-of-freedom ankle rehabilitation training device

Info

Publication number: CN107510924B
Application number: CN201710964768.4A
Authority: CN
Inventors: 张永德; 代雪松; 姜金刚; 霍彪; 左思浩; 杨吉超
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2017-10-17
Filing date: 2017-10-17
Publication date: 2022-09-23
Anticipated expiration: 2037-10-17
Also published as: CN107510924A

Abstract

The invention discloses an ankle rehabilitation trainer with multiple degrees of freedom, which comprises a supporting table, a lifting seat, armrests, a seat, a telescopic rotating device, an adjuster, pedals, a magic tape fixing belt and a stabilizing magnetic disc, wherein the lifting seat is arranged at the horizontal plane of the supporting table and comprises an outer seat and an inner seat, the outer seat and the inner seat are clamped and connected together through an outer clamping piece and an inner clamping piece, the telescopic rotating device is fixedly arranged on the supporting table, the pedals are hinged with the telescopic rotating device through pin shafts, the adjuster is hinged with the tail end of the rotary telescopic device through pin shafts, and the stabilizing magnetic disc is adsorbed on the outer surface of the telescopic rotating device through magnetic force. The ankle rehabilitation trainer with multiple degrees of freedom has the advantages of convenience in use, low manufacturing cost, easiness in marketing and wide application prospect.

Description

Multi-degree-of-freedom ankle rehabilitation training device

Technical Field

The invention relates to the field of medical instruments, in particular to an ankle rehabilitation trainer with multiple degrees of freedom.

Background

With the improvement of living standard, people pay more and more attention to body maintenance and health, ankles are important joints of human bodies, and the ankles also have very important body sensing function, namely the function of maintaining body balance. After the acute period of time elapses, the ankle disease patient needs to take active full-range appropriate weight-bearing rehabilitation exercise to enhance the stability of the ankle and avoid the ankle sprain caused by the unstable ankle.

The Chinese patent 'ankle joint rehabilitative apparatus' (patent number: 201410180305.5) comprises: chassis, backup pad, running-board, pin, commentaries on classics cake. The method is characterized in that: the supporting plate is arranged at the rear end part of the chassis, the rotary cake is arranged at the front end part of the chassis, and the pedal plate is connected with the rotary cake into a whole up and down through a pin. The solution, in which the patient stands with one foot on the support plate and steps into the foot plate with the other foot, can rotate up and down around the pin, but also can make a circular movement around the rotor disk, is technically effective, but it still has some drawbacks. Firstly, the hidden danger that the patient's foot revolved the cake and does the circular motion has the secondary damage, and if the rotatory dynamics of patient's foot did not control well and lead to the power too big, the cake that changes can continue to rotate because of inertia and drive the ankle continuation motion to surpass the normal motion range of ankle, cause the secondary damage. Secondly, the ankle only simply rotates in the rotation process of the foot up and down around the pin, the ankle does not overcome resistance to train, and the rehabilitation effect of the ankle is not ideal. Thirdly, the patient cannot perform weight training using the mechanism, and the stiffness of the ankle cannot be trained. Finally, when the patient used this recovered ware, a foot stood in the backup pad, the running-board was stepped on to another foot, because the unable adjustment of height of backup pad and running-board, this just made this recovered ware can't satisfy the patient of co-altitude and go to carry out the rehabilitation training, if the patient all had the wound simultaneously, the patient need a foot to step on the footboard carrying out the rehabilitation training in, another foot supports the atress, this atress that will make the patient aggravate another foot is heavier state of an illness, this kind of posture also lets the injured patient of both feet lose balance easily.

The Chinese patent 'ankle joint rehabilitation training device' (patent number: 201520168087.3) comprises: base, handrail, shoes type footboard, hinge, buckle area, rubber band, pulley, becket, pothook. The method is characterized in that: the front end is equipped with the handrail on the base, has a pair of shoes shape footboard behind the handrail, and the footboard rear end passes through the hinge to be fixed on the base, and anterior system has detained the area on the footboard, has a rubber band area under the footboard front end, and rubber band one end is fixed below the footboard, and the other end stretches out the hole behind the base through the pulley, and the metal loop is equipped with to the area end, is equipped with the pothook under the drill way, can adjust the training dynamics through adjusting the pothook. The patient steps on the shoe-shaped pedal with both feet, and the ankle and the back stretch exercise are carried out by overcoming the elasticity of the rubber band. This solution is technically effective, but it has some technical drawbacks. First, the patient cannot perform weight training using this mechanism, and the stiffness of the ankle cannot be trained. Secondly, the mechanism has only one degree of freedom, and the patient can only carry out the back of the body of ankle through overcoming rubber band elasticity and stretch the motion, and the mechanism degree of freedom is too little, and patient's ankle can not the omnidirectional carries out the rehabilitation training, and the rehabilitation effect is unsatisfactory.

Based on the defects in the prior art, the technical problem to be solved by the invention is to provide a multi-degree-of-freedom ankle rehabilitation training device, a patient can sit on a chair or stand on both legs for rehabilitation training, and meanwhile, the device can meet the requirements of patients with different heights on the back stretching, plantar flexion, adduction, abduction and load rehabilitation training of ankles under the condition of ensuring safety, and the functions of muscles and bones are strengthened and recovered so as to strengthen the stability of the ankles and enable the patient to recover early.

Disclosure of Invention

In order to solve the problems, the invention provides an ankle rehabilitation training device with multiple degrees of freedom.

An ankle rehabilitation trainer with multiple degrees of freedom comprises a supporting table, a lifting seat, armrests, a seat, a telescopic rotating device, an adjuster, pedals, a magic tape fixing band and a stable magnetic disk, wherein the left side of the upper surface of the supporting table is an inclined plane, the right side of the upper surface of the supporting table is a horizontal plane, 4 same adjusters are uniformly distributed on the inclined plane on the left side of the supporting table, each adjuster comprises an adjusting block II, an adjusting block I, a connecting rod, a spring, a chute I and a chute II, the upper end of the connecting rod of each adjuster is hinged with the tail end of the telescopic rotating device through a pin shaft, the tail end of the connecting rod is hinged with the adjusting block 1, the adjusting block 1 is connected with the adjusting block 2 through a round-head bolt, the head of the bolt is embedded into the chute, the adjusting block I is connected with the spring, the horizontal plane of the supporting table is provided with the lifting seat, the lifting seat comprises an outer seat and an inner seat, the outer seat is fixedly arranged on the horizontal plane of the supporting table, an outer clamping piece is arranged on the inner side wall of the outer seat, an adjusting track is arranged on the outer side wall of the outer seat, an inner clamping piece is arranged on the outer side wall of the middle part of the inner seat, an adjusting rod is arranged on the inner clamping piece, the outer seat and the inner seat are clamped together through the outer clamping piece and the inner clamping piece, the telescopic rotating device comprises a base, a fixing rod, a spring, a driving rod, an alligator clip torsion spring, a pin shaft and a rotating connecting table, the base is fixedly arranged on the inclined plane of the supporting table, the fixing rod is welded at the middle part of the base, the spring is wound on the periphery of the fixing rod, the bottom end of the spring is connected with the base, two joints at the top end of the spring are welded together with the driving rod, a stable magnetic disk is arranged on the periphery of the driving rod, the fixing rod is arranged in the inner cavity of the driving rod, and four bending springs are disposed on the two arc-shaped grooves at the top end of the driving rod, the top end of the driving rod is provided with a rotary connecting table, the rotary connecting table is hinged with the pedal through a pin shaft, and an alligator clip torsion spring is arranged on the pin shaft.

Preferably, the two arc-shaped grooves at the top end of the driving rod are provided with four bending springs.

Preferably, the pedal is provided with a magic tape fixing band.

Preferably, the pin shaft is provided with an alligator clip torsion spring.

Preferably, the periphery of the driving rod is provided with a stable magnetic disk.

The invention has the beneficial effects that:

(1) according to the invention, the telescopic rotating device is arranged at the lower part of the pedal, so that the patient can carry out the back extension, plantar flexion, adduction and external rehabilitation and exhibition training of the ankle, and can also carry out the load rehabilitation training of the ankle, and the strength of the ankle can be trained;

(2) the invention can adjust the height of the lifting seat to ensure that the rehabilitation training device can meet the requirements of patients with different heights for rehabilitation training;

(3) the invention changes the degree of freedom of the ankle rehabilitation trainer by adjusting the adjuster, thereby realizing personalized rehabilitation training;

(4) the ankle rehabilitation trainer with multiple degrees of freedom has two rehabilitation training modes of sitting posture and standing posture so as to meet the requirements of different people.

Description of the drawings:

for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the telescopic rotary device;

FIG. 3 is a schematic view showing the structure of a rotary part of the rotary telescopic device;

fig. 4 is a schematic structural view of a pitch rotating portion of the telescopic rotating apparatus;

FIG. 5 is a schematic diagram of the regulator;

FIG. 6 is a cross-sectional view of the elevator base;

fig. 7 is a schematic structural view of the lifting base.

In the above drawings: 1-supporting platform, 2-lifting seat, 201-outer seat, 202-inner seat, 203-outer clamping piece, 204-inner clamping piece, 205-adjusting rod, 206-adjusting track, 3-stable disk, 4-telescopic rotating device, 401-base, 402-fixing rod, 403-spring I, 404-driving rod, 405-alligator clip torsion spring, 406-pin shaft, 407-rotating connecting platform, 408-bending spring I, 409-bending spring II, 410-bending spring III, 411-bending spring IV, 5-pedal, 6-armrest, 7-counter, 8-seat, 9-adjuster, 901-adjusting block II, 902-adjusting block II, 903-connecting rod, 904-spring II, 905-sliding groove I, 906-chute II, 10-magic tape fixing band.

The specific implementation mode is as follows:

in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

The first specific implementation way is as follows:

the embodiment is described below with reference to fig. 1, 2, 3, 4, 6, and 7, and the ankle rehabilitation training device with multiple degrees of freedom includes a supporting table 1, a lifting seat 2, a stable magnetic disk 3, a telescopic rotating device 4, a pedal 5, an armrest 6, a counter 7, a seat 8, an adjuster 9, and a fastening band 10 for hook and loop fastener, wherein the left side of the upper surface of the supporting table 1 is an inclined plane, the right side of the upper surface of the supporting table 1 is a horizontal plane, 4 identical adjusters 9 are uniformly distributed on the inclined plane of the left side of the supporting table 1, the upper end of a connecting rod 903 of the adjuster 9 is hinged to the end of the telescopic rotating device 4 through a pin shaft, the end of the connecting rod 903 is hinged to an adjusting block i 902, the adjusting block i 902 is connected to an adjusting block ii 901 through a round head bolt, the head of the bolt is embedded into a sliding groove 905 i, and the length of the adjusting block ii 901 is greater than the width of the sliding groove 906 ii, the adjuster 9 is limited to be in a fixed state, the telescopic freedom degree of the telescopic rotating device 4 is limited, an adjusting block I902 is connected with the supporting table 1 through a spring 904 II, a lifting seat 2 is arranged at the horizontal plane of the supporting table 1, the lifting seat 2 comprises an outer seat 201 and an inner seat 202, the outer seat 201 is fixedly installed on the horizontal plane of the supporting table 1, an outer clamping piece 203 is arranged on the inner side wall of the outer seat 201, an adjusting track 206 is arranged on the outer side wall of the outer seat 201, an inner clamping piece 204 is arranged on the outer side wall of the middle part of the inner seat 202, an adjusting rod 205 is arranged on the inner clamping piece 204, the outer seat 201 and the inner seat 202 are clamped together through the outer clamping piece 203 and the inner clamping piece 204, the telescopic rotating device 4 comprises a base 401, a fixing rod 402, a spring I403, a driving rod 404, an alligator clamp torsion spring 405, a pin 406 and a rotary connecting table 407, the base 401 is fixedly installed on the inclined plane of the supporting table 1, the middle part welding of base 401 has fixed stick 402, the periphery of fixed stick 402 has twined spring I403, the bottom and the base 401 of spring I403 are connected, two joints on spring I403 top are in the same place with the welding of drive rod 404, the periphery of drive rod 404 is equipped with stabilization disk 3, fixed stick 402 stands in the inner chamber of drive rod 404, two arc recesses at drive rod 404 top are dealt with four crooked springs, the top of drive rod 404 articulates there is swivelling joint platform 407, swivelling joint platform 407 articulates through round pin axle 406 with pedal 5, round pin axle 406 on twine and connect alligator clip torsion spring 405.

When the patient needs to carry out the rehabilitation training, the patient steps on a foot on the seat 2 that goes up and down, adjust the relative position of outer fastener 203 and interior fastener 204 according to the height, adjust the relative position of outer seat 201 and interior seat 202 with this, then another foot is stepped on pedal 5 and is pasted fixed band 10 with the magic, patient's ankle can carry out the horizontal rotation motion, two dials the post of swivelling joint platform 406 lower extreme and arranges respectively in two arc recesses on driving rod 404 upper portion, and separate two bending spring in the arc recess, two dial the post and overcome bending spring 409 when the ankle clockwise turning, bending spring 411's elasticity, the ankle overcomes the elasticity of two springs and carries out the rehabilitation training, two dials the post and overcomes bending spring 408 when the ankle anticlockwise rotation, bending spring 410's elasticity, the ankle overcomes the elasticity of two springs and carries out the rehabilitation training. Simultaneously the patient can carry out the motion of pitching of ankle, and the contained angle between two links that alligator clip torsion spring is 45, and alligator clip torsion spring's the connection upper end is connected the recess lower extreme and is cured the recess of swivelling joint platform 407 upper surface as to the recess alligator clip torsion spring of pedal 5 bottom surfaces, and the ankle carries out rehabilitation training through the elasticity of overcoming alligator clip torsion spring 405. The counter counts once every time the patient performs pitching or left-right rotation training of the ankle, so that quantitative training is achieved, and the rehabilitation speed is improved.

The second embodiment is as follows:

the following describes the embodiment with reference to fig. 5, which further describes the first embodiment, the adjusting block ii 901 rotates by 45 degrees, at this time, the length of the adjusting block ii 901 is equal to the width of the sliding slot 906 ii, the adjusting block i and the adjusting block ii 901 enter the sliding slot 906 ii, the expansion degree of freedom of the rotary expansion mechanism is not limited, the patient can step down, the driving rod 404 drives the spring i 403 to contract downward, the fixing rod 402 fixes the spring i 403, the adjusting block i and the adjusting block ii drive the spring 904 ii to stretch, the person overcomes the spring resistance in the process of spring expansion and stretching to perform strength recovery training, and the effect of recovering the ankle strength is achieved. The stabilizing magnetic disk 3 is arranged at the periphery of the driving rod 404, which plays a role of lowering the gravity center of the device, so that the telescopic rotating device is more stable.

The third concrete implementation mode:

if the patient needs rehabilitation training with both feet injured, the patient can sit on the seat 8 to perform the rehabilitation training.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims

1. A multi-degree-of-freedom ankle rehabilitation training device comprises a supporting table (1), a lifting seat (2), a stabilizing magnetic disc (3), a telescopic rotating device (4), pedals (5), handrails (6), a counter (7), a seat (8), an adjuster (9) and a magic tape fixing band (10), wherein the left side of the upper surface of the supporting table (1) is an inclined plane, the right side of the upper surface of the supporting table (1) is a horizontal plane, 4 identical adjusters (9) are uniformly distributed on the inclined plane on the left side of the supporting table (1), the adjuster (9) comprises an adjusting block II (901), an adjusting block I (902), a connecting rod (903), a spring II (904), a sliding groove I (905) and a sliding groove II (906), the upper end of a connecting rod (903) of the adjuster (9) is hinged with the tail end of the telescopic rotating device (4) through a pin shaft, and the tail end of the connecting rod (903) is hinged with the adjusting block I (902), the adjusting block I (902) is connected with the adjusting block II (901) through round-head bolts, the heads of the bolts are embedded into the sliding groove I (905), the length of the adjusting block II (901) is larger than the groove width of the sliding groove II (906), the adjuster (9) is limited to be in a fixed state at the moment, the telescopic freedom degree of the telescopic rotating device (4) is limited, the adjusting block II (901) rotates for 45 degrees, the length of the adjusting block II (901) is equal to the groove width of the sliding groove II (906), the adjusting block I (902) and the adjusting block II (901) enter the sliding groove II (906), the telescopic freedom degree of a rotary telescopic mechanism is not limited at the moment, the adjusting block I (902) is connected with the supporting table (1) through a spring II (904), a lifting seat (2) is arranged on the horizontal plane of the supporting table (1), the lifting seat (2) comprises an outer seat (201) and an inner seat (202), the outer seat (201) is fixedly installed on the horizontal plane of the supporting table (1), the utility model discloses a flexible connection platform, including outer seat (201), outer fastener (203) on the inside wall of outer seat (201), the lateral wall of outer seat (201) is equipped with regulation track (206), fastener (204) in the middle part lateral wall of interior seat (202) is equipped with, be equipped with regulation stick (205) on interior fastener (204), outer seat (201) and interior seat (202) are in the same place through outer fastener (203) and interior fastener (204) joint, flexible rotary device (4) include base (401), fixed rod (402), spring I (403), driving rod (404), alligator clip torsion spring (405), round pin axle (406), swivelling joint platform (407), bending spring I (408), bending spring II (409), bending spring III (410), bending spring IV (411), base (401) fixed mounting is on the inclined plane of brace table (1), the middle part welding of base (401) has fixed rod (402), the periphery of the fixed rod (402) is wound with a spring I (403), the bottom end of the spring I (403) is connected with the base (401), two joints at the top end of the spring I (403) are welded with the driving rod (404), a stabilizing disc (3) is arranged on the periphery of the driving rod (404), the fixed rod (402) is erected in the inner cavity of the driving rod (404), four bending springs are arranged in two arc-shaped grooves at the top end of the driving rod (404), a rotary connecting table (407) is arranged at the top end of the driving rod (404), the rotary connecting table (407) is hinged to the pedal (5) through a pin shaft (406), and an alligator clip torsion spring (405) is arranged on the pin shaft (406).

2. The ankle rehabilitation trainer with multiple degrees of freedom according to claim 1, wherein: the pedal (5) is provided with a magic tape fixing band (10).