CN110064172B

CN110064172B - Ankle rehabilitation robot with inertia force dumping balance prevention function

Info

Publication number: CN110064172B
Application number: CN201910354248.0A
Authority: CN
Inventors: 王聪杰; 蔡秋菊; 邓秋婷
Original assignee: Weihai Huisheng Intelligent Equipment Co ltd
Current assignee: Weihai Huisheng Intelligent Equipment Co.,Ltd.
Priority date: 2019-04-29
Filing date: 2019-04-29
Publication date: 2021-04-06
Anticipated expiration: 2039-04-29
Also published as: CN112933542A; CN110064172A

Abstract

The invention discloses an ankle rehabilitation robot with inertia force dumping balance prevention, which structurally comprises a base, a main shaft rod, parallel plates, a sole positioning soft groove, a linear motion template and a motion hinge. Has the advantages that: the rubber ball is extruded when moving along with the moving track of the user through the annular air bag arranged in the parallel plates, so that the oblate body is pushed to the opposite direction of the moving track of the user, the slight balance in the training process is increased, the secondary damage caused by the fact that the rubber ball slides downwards (upwarps) in a prolonged way under the action of inertia due to excessive force is prevented, the friction force is increased under the control of the moving hinge by the permanent magnet ball arranged in the anti-skidding buckle ring, meanwhile, the anti-skidding buckle ring and the steel ball generate certain extrusion force under the driving of the moving hinge, the situation that the user cannot return timely according to self intention due to the flexibility of parts when the user carries out rehabilitation training is effectively prevented, the situation that the user takes great return stroke due to the inertia force is avoided, and the situation that the patient cannot be injured due to the inertia force when the.

Description

Ankle rehabilitation robot with inertia force dumping balance prevention function

Technical Field

The invention relates to the field of lower limb rehabilitation machines, in particular to an ankle rehabilitation robot with inertia force dumping balance prevention function.

Background

Along with more and more people health state appears, more people drop into in the motion body-building trade, in each item sport item, wherein run most popular of receiving everybody, but meanwhile, when running in-process because of exerting oneself or step uncoordinated, ankle damage appears easily, when doing the rehabilitation training to the ankle, need do the rehabilitation training to ankle joint's muscle and nervous system, for guaranteeing patient's convenient to use, need carry out the heavy burden rehabilitation exercise training of initiative full scale moderate degree with the help of triangle ankle rehabilitation training ware, but this kind of ankle rehabilitation training ware at present:

1. when a patient exercises rehabilitation, the patient exerts too hard, so that the equipment generates inertia, and slides down (upwarps) at a moment to cause secondary injury.

2. Mechanical activity, unable cooperation user's motion, it is extension orbit development because inertia when the use, its movable track when the activity for the ankle is when doing the rehabilitation training, and the user can't in time return according to oneself's wish, makes the user return when the original way after the motion it because the inertia is great, and the return stroke is comparatively labouring, is injured easily.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an ankle rehabilitation robot with inertia force dumping balance prevention function, and the ankle rehabilitation robot can be used for solving the defects that a patient in the prior art exerts too hard force to enable equipment to generate inertia when doing rehabilitation training, and then slips down (upwarps) at once to cause secondary damage, mechanical activity cannot be matched with the movement of the user, the movement track of the ankle during the movement is developed in an extension track due to the inertia when using the ankle rehabilitation training, so that the user cannot return back in time according to the self intention, and the user is easy to be injured due to larger inertia force when returning to the original path after the movement.

In order to achieve the purpose, the invention is realized by the following technical scheme:

the utility model provides an ankle rehabilitation robot with prevent that inertia force emptys balance, its structure includes base, main shaft pole, parallel plate, sole location soft groove, linear motion template, motion hinge, the base is the triangle-shaped structure, the main shaft pole is arranged in base upper surface middle part and is connected through electric welding perpendicularly, the parallel plate is located the main shaft pole upper end and is connected through electric welding, sole location soft groove is installed in parallel plate upper surface middle part, the linear motion template is equipped with three altogether and installs respectively in base trilateral angle department, the linear motion template is connected through electric welding perpendicularly with the base, the motion hinge is equipped with three altogether and is connected one end with the parallel plate respectively and is connected with the linear motion template, the parallel plate includes circular frame, promotion structure, rubber ball, oblate body, anti-skidding buckle circle, the middle part is interior parallel plate is interior tangent circle shape for circular frame, the utility model discloses a rubber ball, including promotion structure, rubber ball, oblate body, antiskid buckle circle, parallel plate lower surface set-square, promotion structure installation and circular frame inboard and laminating mutually, the rubber ball is equipped with six and locates middle part in the circular frame, the oblate body is equipped with four altogether and is two liang of a set of and is connected with promotion structure respectively, antiskid buckle circle is equipped with three altogether and is even equidistance form installation in parallel plate lower surface set-square respectively.

According to a further scheme of the invention, the pushing structure comprises an annular air bag, fixed arc tubes, four soft folding rods, limiting plates, springs, push rods and claw plates, the annular air bag is attached to the inner wall of the circular frame, the fixed arc tubes are uniformly arranged in four and are respectively arranged in the annular air bag at equal intervals, the four soft folding rods are respectively arranged in four, one end of each soft folding rod is connected with the inner side wall of the annular air bag, the other end of each soft folding rod penetrates through the fixed arc tubes, the springs are arranged in the fixed arc tubes, one end of each push rod extends into the fixed arc tubes and penetrates through the springs to be connected with the soft folding rods through the limiting plates, the four claw plates are respectively arranged at the tail ends of the push rods and are connected through electric welding, and the situation that a user can avoid over-force during movement.

As a further proposal of the invention, the oblate body is arranged between the gripper plates on opposite surfaces, which is beneficial to the parallel plates and the oblate body to move in opposite direction tracks when the gripper plate is operated by a user, so that the inertia can be reduced when the gripper plate moves, and the user is damaged secondarily.

As a further scheme of the invention, the oblate body is made of solid steel, and the total weight of the rubber ball is smaller than that of the oblate body, so that the movement in the opposite direction is realized.

As a further scheme of the invention, the annular air bag is made of a telescopic material.

As a further scheme of the invention, the inner wall of the anti-skid buckle ring is provided with four neck rings which are uniformly and equidistantly arranged, and the four permanent magnet balls are arranged in the neck rings, so that the device is prevented from being too flexible and extending the movement track when a user moves by increasing the friction with the movement hinge.

As a further scheme of the invention, the middle part of the inner side wall of the necklace is provided with a circular ring with a smaller diameter than the inner side wall of the necklace and connected with the circular ring through electric welding, the surface of the circular ring is embedded with a plurality of steel balls, and the steel balls are of movable structures.

As a further scheme of the invention, the surface of the permanent magnet ball is of a rough structure, so that the motion of the motion hinge is slowed down through friction, the user can return easily, and the equipment can be controlled according to the self intention.

Advantageous effects of the invention

Compared with the traditional ankle rehabilitation training device, the ankle rehabilitation training device has the following beneficial effects:

the invention pushes the oblate body to the opposite direction of the moving track of the user by the annular air bag arranged in the parallel plates when the rubber ball moves along with the moving track of the user, thereby increasing the slight balance in the training process, preventing the training angle of the rubber ball from being far larger than 30 degrees born by a person when the person normally walks under the action of inertia due to over-strong force, and avoiding secondary damage caused by sliding (upwarping) during movement.

The anti-skid buckle ring is utilized, the friction force between the permanent magnet ball and the anti-skid buckle ring is increased under the control of the motion hinge by the permanent magnet ball arranged in the anti-skid buckle ring, and meanwhile, the permanent magnet ball and the steel ball generate certain extrusion force under the driving of the motion hinge, so that the situation that a user cannot return timely according to self will due to the flexibility of parts when doing rehabilitation training is effectively prevented, the situation that the return is difficult due to large return stroke of inertia force is caused, and the damage of the inertia force cannot be caused when the patient uses the anti-skid buckle ring.

Drawings

Other features, objects and advantages of the invention will become more apparent from a reading of the detailed description of non-limiting embodiments with reference to the attached drawings.

In the drawings:

fig. 1 is a schematic structural diagram of an ankle rehabilitation robot with inertial force dumping balance prevention according to the present invention.

FIG. 2 is a plan view of the internal top structure of the parallel plate of the present invention.

FIG. 3 is a cross-sectional view of the interior of a parallel plate of the present invention.

FIG. 4 is a second cross-sectional view of the interior of the parallel plate of the present invention.

Fig. 5 is a side view structural view of the anti-slip buckle ring of the present invention.

Fig. 6 is a bottom view of the anti-slip buckle ring according to the present invention.

In the figure: the device comprises a base-1, a main shaft rod-2, a parallel plate-3, a sole positioning soft groove-4, a linear motion template-5, a motion hinge-6, a circular frame-30, a pushing structure-31, a rubber ball-32, a oblate body-33, an anti-skid buckle ring-34, an annular air bag-310, a fixed arc tube-311, a soft folding rod-312, a limiting plate-313, a spring-314, a push rod-315, a gripper plate-316, a collar-340, a permanent magnet ball-341, a circular ring-3401 and a steel ball-3402.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 6, the present invention provides an ankle rehabilitation robot with anti-inertia dump balance, which comprises:

as shown in figures 1-2, an ankle rehabilitation robot with anti-inertia dumping balance structurally comprises a base 1, a spindle shaft 2, parallel plates 3, sole positioning soft grooves 4, linear motion templates 5 and a motion hinge 6, wherein the base 1 is of a triangular structure, the spindle shaft 2 is arranged in the middle of the upper surface of the base 1 and is vertically connected through electric welding, the parallel plates 3 are arranged at the upper end of the spindle shaft 2 and are connected through electric welding, the sole positioning soft grooves 4 are arranged in the middle of the upper surface of the parallel plates 3, the linear motion templates 5 are three and are respectively arranged at three edges of the base 1, the linear motion templates 5 are vertically connected with the base 1 through electric welding, the motion hinge 6 is three and is respectively connected with one end of the parallel plates 3 and connected with one end of the linear motion templates 5, each parallel plate 3 comprises a circular frame 30, Promote structure 31, rubber ball 32, oblate body 33, anti-skidding knot circle 34, circular frame 30 is located in the parallel plate 3 middle part and is inscribe circle form, promote the structure 31 installation and laminate mutually with circular frame 30 inboard, rubber ball 32 is equipped with six and locates middle part in circular frame 30, oblate body 33 is equipped with four altogether and is two liang of a set of respectively and is connected with promotion structure 31, anti-skidding knot circle 34 is equipped with three altogether and is even equidistance form respectively and installs in the 3 lower surface set-squares of parallel plate.

As shown in fig. 2, promote structure 31 and include annular gasbag 310, fixed arc tube 311, soft pole 312, limiting plate 313, spring 314, push rod 315, gripper plate 316, annular gasbag 310 is laminated with circular frame 30 inner wall mutually, fixed arc tube 311 is equipped with four altogether and is even equidistance form respectively and installs inside annular gasbag 310, soft pole 312 is equipped with four altogether and one end is connected the other end with annular gasbag 310 inside wall respectively and passes fixed arc tube 311, spring 314 locates inside fixed arc tube 311, push rod 315 one end is stretched into in fixed arc tube 311 and is passed spring 314 and be connected with soft pole 312 through limiting plate 313, gripper plate 316 is equipped with four altogether and installs respectively in push rod 315 end and be connected through the electric welding, is favorable to realizing that the user is when the motion, can avoid it to exert oneself too hard, leads to the secondary damage.

As shown in fig. 2-4, the oblate body 33 is disposed between the opposing claw plates 316, which is advantageous for users to move the parallel plate 3 and the oblate body 33 along the opposite tracks during operation, so that the inertia of the parallel plate can be reduced during the movement, resulting in secondary damage to the users.

As shown in fig. 2, the oblate body 33 is made of solid steel, and the total weight of the rubber ball 32 is smaller than that of the oblate body 33, so that the movement in the opposite direction is realized.

As shown in fig. 2, the annular bladder 310 is made of a stretchable material.

As shown in fig. 5-6, the inner wall of the anti-slip buckle 34 is provided with four collars 340 installed in an even and equidistant manner, and the collars 340 are provided with four permanent magnetic balls 341 therein, so as to prevent the device from being too flexible and extending the movement track when the user moves by increasing the friction with the movement hinge 6.

As shown in fig. 5-6, a ring 3401 with a smaller diameter than the inner side wall of the collar 340 is arranged in the middle of the inner side wall of the collar 340 and connected by electric welding, a plurality of steel balls 3402 are embedded on the surface of the ring 3401, and the steel balls 3402 are of a movable structure.

As shown in fig. 5, the surface of the permanent magnet ball 341 is a rough structure, which is beneficial to reducing the flexibility of the motion hinge 6 through friction, so that the user can return easily and control the device according to his will.

To sum up, one end of the annular air bag 310 is squeezed by the rubber ball 32 to push the oblate body 33 when the patient falls down, so that the parallel plate 3 is prevented from causing secondary loss due to over-force when the patient uses the annular air bag, and meanwhile, the contact between the permanent magnet ball 341 and the moving hinge 6 is utilized to increase the squeezing force and the friction force of the contact, so that the situation that the moving hinge 6 is too flexible when the patient moves and cannot return timely according to self consciousness is avoided.

The specific realization principle is as follows: the injured foot is placed on the upper surface of the parallel plate 3, the sole of the foot is fixed through the sole positioning soft groove 4, the injured ankle can be rehabilitated by the patient through moving the foot up and down left and right, when the foot of the patient moves downwards along the whole parallel plate 3, the rubber ball 32 moves downwards together, so that one side of the annular air bag 310 attached to the rubber ball 32 is in a shriveled shape, the air flow inside the annular air bag is extruded to the opposite surface, the annular air bag 310 on the extruded side pushes the soft folding rod 312 and the push rod 315 connected with the soft folding rod to move towards two sides, the flat round bodies 33 on two sides are pushed together through the claw plate 316, one side of the inside of the annular air bag 310 is in a shriveled shape under the action of the rubber ball 32, the flat round bodies 33 are arranged at the other end in a concentrated manner, and the total weight of the flat round bodies 33 is larger than that of the rubber ball 32, so that when the user slides downwards, because the gravity force of the patient is inclined to the gliding part, the total weight force of the oblate body 33 on the other side is smaller and the gravity force on the other side is smaller, the patient can be balanced slightly when operating the rehabilitation trainer, so that the situation that the patient exercises rehabilitation by himself is avoided, the rehabilitation robot generates larger extension gliding inertia to cause the ankle of the patient to be lost for the second time, when the parallel plates 3 move under the operation of the patient, the anti-slip buckle ring 34 moves synchronously with the parallel plates, and the top end of the moving hinge 6 is connected with the anti-slip buckle ring 34, so that the permanent magnetic balls 341 are squeezed mutually when being connected with the moving hinge 6 to move, the friction force of the parallel plates 3 under the operation of the patient can be larger through the contact with the moving hinge 6 to reduce the flexibility of the parallel plates, and simultaneously, the friction force of the steel ball 3402 arranged in the neck ring 340 is increased under the control of the moving hinge 6, the effectual user that prevents makes it can't in time return according to oneself's wish because of the flexibility of part when doing the rehabilitation training to it is comparatively hard because of the big return stroke of inertia when leading to returning, with this injury that can not cause the inertia when guaranteeing that the patient uses.

The invention solves the problems that when a patient in the prior art carries out rehabilitation training, the patient exerts too hard force to ensure that the equipment generates inertia, the patient slides downwards (upwarps) at a stroke to cause secondary damage, the mechanical activity cannot be matched with the movement of the user, when the ankle rehabilitation training is used, the movement track of the ankle rehabilitation training develops into an extended track due to the inertia, so that the user cannot return timely according to self intention, and the user returns along the original path after the movement because of higher inertia force and more labored return stroke and is easy to be injured. Its training angle is far greater than the 30 that can bear when the people normally walks, in order to avoid gliding (upwarp) to lead to the secondary damage during the motion, utilize the anti-skidding snap ring that is equipped with, through some permanent magnet balls that its is built-in under the domination of motion hinge strengthen rather than the friction dynamics, permanent magnet ball has produced certain extrusion force with the steel ball under ordering about of motion hinge simultaneously, the effectual user that prevents is doing rehabilitation training, make it in time to return according to the oneself wish because of the flexibility of part, thereby lead to when returning because of the great return stroke of inertia comparatively hard, with this guarantee that the patient can not cause the injury of inertia when using.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a recovered robot of ankle with prevent that inertia force emptys balance, its structure includes base (1), main shaft pole (2), parallel plate (3), sole location soft groove (4), linear motion template (5), motion hinge (6), its characterized in that: the base (1) is of a triangular structure, the main shaft rod (2) is arranged in the middle of the upper surface of the base (1) and is vertically connected through electric welding, the parallel plates (3) are arranged at the upper ends of the main shaft rod (2) and are connected through electric welding, the sole positioning soft groove (4) is arranged in the middle of the upper surface of the parallel plates (3), the three linear motion templates (5) are arranged and are respectively arranged at three edge angles of the base (1), the linear motion templates (5) are vertically connected with the base (1) through electric welding, the three motion hinges (6) are arranged and are respectively connected with one end of each parallel plate (3) and the other end of each motion hinge is connected with the linear motion templates (5); the parallel plate (3) comprises a circular frame (30), a pushing structure (31), rubber balls (32), oblate bodies (33) and anti-slip buckle rings (34), wherein the circular frame (30) is arranged in the parallel plate (3), the middle of the circular frame is in an inscribed circle shape, the pushing structure (31) is arranged on the inner side of the circular frame (30) and is attached to the inner side of the circular frame, six rubber balls (32) are arranged in the middle of the circular frame (30), the oblate bodies (33) are provided with four rubber balls and are respectively connected with the pushing structure (31) in a pairwise mode, and the anti-slip buckle rings (34) are provided with three triangular plates which are respectively arranged on the lower surface of the parallel plate (3) in an even and equidistant mode; the pushing structure (31) comprises an annular air bag (310), a fixed arc tube (311), a soft folding rod (312), a limiting plate (313), a spring (314), a push rod (315) and a gripper plate (316), the annular air bag (310) is attached to the inner wall of the circular frame (30), the fixed arc tubes (311) are totally four and are respectively arranged in the annular air bag (310) in uniform and equidistant shapes, the soft folding rods (312) are provided with four soft folding rods, one end of each soft folding rod is connected with the inner side wall of the annular air bag (310), the other end of each soft folding rod penetrates through the fixed arc tube (311), the spring (314) is arranged inside the fixed arc tube (311), one end of the push rod (315) extends into the fixed arc tube (311) and penetrates through the spring (314) to be connected with the soft folding rod (312) through a limiting plate (313), the four claw plates (316) are respectively arranged at the tail ends of the push rods (315) and are connected through electric welding; the oblate body (33) is arranged between the claw plates (316) on the opposite surfaces; the oblate body (33) is made of solid steel, and the total weight of the rubber ball (32) is smaller than that of the oblate body (33); the annular air bag (310) is made of a telescopic material; the inner wall of the anti-skid buckle ring (34) is provided with four collars (340) which are uniformly and equidistantly arranged, and four permanent magnet balls (341) are arranged in the collars (340); a circular ring (3401) with a smaller diameter is arranged in the middle of the inner side wall of the collar (340) and is connected with the inner side wall through electric welding, a plurality of steel balls (3402) are embedded in the surface of the circular ring (3401), and the steel balls (3402) are of a movable structure; the surface of the permanent magnet ball (341) is in a rough structure;

the injured foot is placed on the upper surface of the parallel plate (3), the sole of the foot is fixed through the sole positioning soft groove (4), when the foot of a patient slides downwards and tends to move downwards integrally towards the parallel plate (3), the rubber ball (32) moves downwards together to move from one side of the annular air bag (310) jointed with the rubber ball (32) to be in a shriveled state, the annular air bag (310) at the extruded side pushes the soft folding rod (312) and the push rod (315) connected with the soft folding rod to move towards two sides, so that the oblate bodies (33) at two sides are pushed intensively through the claw plate (316), one side of the inner part of the annular air bag (310) is in the shriveled state under the action of the rubber ball (32), the oblate bodies (33) are centralized at the other end, the total weight of the oblate bodies (33) is larger than that of the rubber ball (32), and the total weight of the oblate bodies (33) at the other side is smaller than that of the center of gravity of the other side, when the parallel plates (3) move under the operation of a patient, the anti-skid buckle rings (34) move synchronously with the parallel plates, and the top ends of the motion hinges (6) are connected with the anti-skid buckle rings (34), so that the permanent magnetic balls (341) are mutually extruded when being connected with the motion hinges (6) to move, so that the friction force of the parallel plates (3) is larger to reduce the flexibility of the parallel plates through the contact with the motion hinges (6) under the operation of the patient, and the friction force is increased under the control of the motion hinges (6) through the steel balls (3402) arranged in the neck ring (340).