CN111821656A - Multifunctional ankle joint rehabilitation training device - Google Patents
Multifunctional ankle joint rehabilitation training device Download PDFInfo
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- CN111821656A CN111821656A CN202010929842.0A CN202010929842A CN111821656A CN 111821656 A CN111821656 A CN 111821656A CN 202010929842 A CN202010929842 A CN 202010929842A CN 111821656 A CN111821656 A CN 111821656A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 49
- 210000002414 leg Anatomy 0.000 claims abstract description 50
- 210000000689 upper leg Anatomy 0.000 claims abstract description 49
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000033001 locomotion Effects 0.000 claims description 28
- 210000002683 foot Anatomy 0.000 claims description 21
- 241001227561 Valgus Species 0.000 claims description 10
- 241000469816 Varus Species 0.000 claims description 8
- 210000003423 ankle Anatomy 0.000 claims description 7
- 230000001174 ascending effect Effects 0.000 claims description 4
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 2
- 229960001030 mephenoxalone Drugs 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 19
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 210000003205 muscle Anatomy 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 244000309466 calf Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
- A63B23/085—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints by rotational movement of the joint in a plane substantially parallel to the body-symmetrical-plane
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a multifunctional ankle joint rehabilitation training device which comprises a pedal part, a shank fixing part, a thigh fixing part, a first slide block, a second slide block, a dorsiflexion/plantarflexion transmission assembly, an inversion/eversion transmission assembly and a slide block driving arm, wherein the first slide block is connected with the second slide block through a hinge; the first slide block and the second slide block can be arranged on the shank fixing part in a vertically moving manner; the thigh fixing part drives the first sliding block and the second sliding block to move through the sliding block driving arm, so that the thigh drives the first sliding block and the second sliding block to move up and down when lifting or extending the leg; the first slide block drives the pedal part to rotate through the dorsiflexion/plantarflexion transmission component; the second slide block drives the pedal part to rotate through the inversion/eversion transmission component. The training device has simple and reliable structure, can hold the support by hands to adopt a standing position or a lying position after being worn, can finish dorsiflexion/plantar flexion and inversion/eversion actions of the ankle joint through leg lifting and leg stretching actions, and enables a patient to carry out sensible rehabilitation training with pertinence on the ankle joint according to personal conditions.
Description
Technical Field
The invention relates to the field of medical rehabilitation instruments, in particular to a multifunctional ankle joint rehabilitation training device.
Background
The ankle joint rehabilitation training can usually adopt one-to-one training of medical staff to realize dorsiflexion/plantarflexion and inversion/eversion rehabilitation training of the ankle joint, but the mode is time-consuming and labor-consuming, so that the ankle joint rehabilitation training can also be carried out by means of ankle joint rehabilitation equipment. The ankle joint rehabilitation training device in the prior art, for example, a wearable ankle joint rehabilitation training device disclosed in chinese patent document No. CN106333826A, comprises a lower leg sleeve, a coil spring chamber, a coil spring assembly composed of a coil spring and a coil spring shaft, a curved link, a straight link and a foot sleeve, and assists the ankle joint to perform dorsiflexion and plantarflexion training by using the elastic potential energy of the coil spring. An ankle joint rehabilitation training device disclosed in Chinese patent document with application number CN111202657A is characterized in that a set of external power driving components is adopted to automatically drive a pedal part to do circular motion, dorsiflexion and plantarflexion motions of the ankle joint can be completed, the device can realize continuous activity training of the ankle joint of a patient without complex control procedures, but the ankle joint cannot be turned inside out or turned outside out, and in a control mode, the ankle joint can be promoted to perform single passive activity training only by means of an external power driver, adaptive training cannot be performed according to the self condition of the patient, and secondary damage can be caused to the affected part of the patient.
Disclosure of Invention
The invention provides a multifunctional ankle joint rehabilitation training device, which aims to solve the problems that dorsiflexion and plantarflexion training of ankle joints can only be performed but inversion and eversion training can not be performed, and secondary damage to affected parts of patients can not be caused by adaptive training according to self conditions of the patients in a control mode in the prior art.
The multifunctional ankle joint rehabilitation training device adopts the following technical scheme:
a multifunctional ankle joint rehabilitation training device is characterized by comprising a pedal part, a shank fixing part, a thigh fixing part, a first slide block, a second slide block, a dorsiflexion/plantarflexion transmission assembly, an inversion/eversion transmission assembly and a slide block driving arm; the foot pedal part is used for being arranged on the foot of a patient, the shank fixing part is used for being arranged at a preset position on the shank of the patient, and the thigh fixing part is used for being arranged at a preset position on the thigh of the patient; the first slide block and the second slide block can be arranged on the shank fixing part in a vertically moving manner;
the thigh fixing part drives the first sliding block and the second sliding block to move through the sliding block driving arm, so that the thigh drives the first sliding block and the second sliding block to move up and down when lifting or extending the leg; the first sliding block drives the pedal part to rotate through the dorsiflexion/plantarflexion transmission component, so that the first sliding block drives the foot of the patient to dorsiflex when ascending, and drives the foot of the patient to plantarflex when descending; the second sliding block drives the pedal part to rotate through the varus/valgus transmission component, so that the second sliding block drives the foot of the patient to be inverted or valgus when ascending or descending.
Optionally, the multifunctional ankle joint rehabilitation training device further comprises a slider locking mechanism; the lower end of the slider driving arm is detachably and alternatively mounted to the first slider and the second slider, and the slider locking mechanism is configured to fix one of the first slider and the second slider to the lower leg fixing portion when the other is connected to the lower end of the slider driving arm.
Optionally, the pedal part comprises a pedal plate and a lower leg sleeve support rod; the shank fixing part comprises a shank sleeve and a shank sleeve upper supporting rod; the lower supporting rod of the shank sleeve is vertically arranged, and the lower end of the lower supporting rod of the shank sleeve is fixedly connected to the pedal; the supporting rod on the shank sleeve is vertically arranged, and the upper end of the supporting rod is fixedly connected to the bottom of the shank sleeve; the upper supporting rod of the shank sleeve is hinged with the lower supporting rod of the shank sleeve by a right rear cross axle.
Optionally, the shank fixing part further comprises two guide rods and a guide rod support; the guide rod support frame is welded on the shank sleeve, the two guide rods are arranged on the guide rod support frame, and the first sliding block and the second sliding block are respectively arranged on the two guide rods; the upper end of the supporting rod on the shank sleeve is fixedly connected to the bottom of the guide rod supporting frame through a bolt.
Optionally, the thigh fixing part comprises a thigh sleeve, an upper end of the slider driving arm is rotatably mounted on a lower end of the thigh sleeve, and a lower end of the slider driving arm is rotatably mounted on the first slider or the second slider.
Optionally, the dorsiflexion/plantarflexion transmission assembly comprises a first push-pull rod and a first push-pull rod connection base; the first push-pull rod connecting base is fixed on the pedal, one end of the first push-pull rod is hinged with the upper end of the first push-pull rod connecting base through a front cross shaft, and the other end of the first push-pull rod is hinged with the lower end of the first sliding block.
Optionally, the varus/valgus transmission assembly comprises a second push-pull rod and a second push-pull rod connection base; the second push-pull rod connecting base is fixed on the pedal, one end of the second push-pull rod is hinged with the upper end of the second push-pull rod connecting base through a left rear cross axle, and the other end of the second push-pull rod is hinged with the lower end of the second sliding block.
Optionally, the slide block locking mechanism comprises a first slide block locking mechanism and a second slide block locking mechanism; the first sliding block locking mechanism comprises a wedge-shaped driving block, a sliding block locking pin, a spring and a knob; the first sliding block is provided with a first sliding hole, a second sliding hole and a threaded hole, the opening of the first sliding hole faces to the corresponding guide rod, the second sliding hole is perpendicular to the first sliding hole, and the threaded hole is coaxial with the second sliding hole and is arranged at one end of the second sliding hole; the sliding block locking pin slides in the hole of the first sliding hole, and a locking groove with a first inclined surface is formed in the sliding block locking pin; the wedge-shaped driving block is arranged in the second sliding hole and is provided with a second inclined surface matched with the first inclined surface; the knob is arranged in the threaded hole so as to drive the wedge-shaped driving block to be inserted into the locking groove to press the second inclined surface against the first inclined surface when rotating, and drive the sliding block locking pin to move towards the direction far away from the corresponding guide rod; a spring mounted within the first sliding aperture configured to urge the slider lock pin toward the corresponding guide rod; the structure of the second sliding block locking mechanism is the same as that of the first sliding block locking mechanism.
Optionally, the lower end of the slide block driving arm is alternatively hinged with the upper ends of the first slide block and the second slide block by a quick release pin.
Optionally, the multifunctional ankle rehabilitation training device further comprises a motion stress mechanism, which is arranged on the thigh fixing part and is configured to generate a force for resisting the movement of the thigh when the thigh moves relative to the shank.
The invention has the beneficial effects that: the training device is simple and reliable in structure, after being worn, the ankle joint can be dorsiflexed/plantarflexed, inverted/everted by holding the support in a standing position or a lying-up position, and the ankle joint can be dorsiflexed/plantarflexed and inverted/everted by the leg lifting and stretching actions, so that a patient can perform sensible rehabilitation training on the ankle joint in a targeted manner according to the personal condition. Furthermore, the thigh muscles are also subjected to certain auxiliary stress exercise, so that the device is safer and more efficient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1: the general structure of the embodiment of the invention is shown schematically;
FIG. 2: an enlarged exploded view of section i in fig. 1;
FIG. 3: the embodiment of the invention is a schematic structural state diagram of ankle joint plantarflexion movement by lifting legs;
FIG. 4: the embodiment of the invention is a schematic structural state diagram of ankle joint dorsiflexion movement by stretching legs;
FIG. 5: the embodiment of the invention adopts a schematic structural state diagram of ankle joint eversion movement by lifting legs;
FIG. 6: the embodiment of the invention is a schematic structural state diagram of ankle joint inversion movement by extending legs;
FIG. 7: an enlarged cross-sectional view of section II of FIG. 3;
FIG. 8: an enlarged cross-sectional view of section III of FIG. 3;
FIG. 9: the section structure schematic diagram of the first sliding block locking mechanism of the embodiment of the invention;
FIG. 10: the section structure schematic diagram of the second sliding block locking mechanism of the embodiment of the invention.
In the figure: 1. a foot pedal; 2. the first push-pull rod is connected with the base; 3. a front cross shaft; 4. a first push-pull rod; 5. a first guide bar; 501. a slider locking hole; 6. a first slider locking knob; 7. a first slider; 701. a slider body; 7011. a first slide hole; 7012. a second slide hole; 7013. a threaded hole; 702. a slider locking pin; 7021. a first inclined plane; 7022. a locking groove; 703. a wedge-shaped driving block; 7031. a second inclined plane; 704. a spring; 8. a calf sleeve; 801. a guide rod support frame; 8011. a positioning boss is arranged on the second guide rod; 8012. a positioning boss is arranged below the first guide rod; 9. a first guide rod fixing seat; 901. a positioning boss is arranged on the first guide rod; 10. the leg sleeves wrap the fixing pieces; 11. a thigh sleeve; 1101. a protection plate; 11011. mounting holes; 1102. a supporting seat is installed on the cam; 12. a quick release clamp; 1201. an end connecting sheet; 1202. a fixed ring sheet; 13. a roller arm; 1301. a roller; 14. a force application spring; 15. a cam; 1501. a first profile section; 1502. a second profile section; 1503. a cam profile; 16. a crank; 1601. a first crank section; 1602. a second crank section; 1603. a pulley chute; 17. adjusting a rod; 1701. a pulley; 1702. adjusting the lead screw; 18. adjusting a knob; 1801. a connecting cylinder; 1802. a knob; 1803. positioning the clamping table; 1804. a cotter pin; 19. a U-shaped bracket; 20. a cam connecting arm; 21. a slider drive arm; 22. a quick release pin; 23. a second slider locking knob; 24. a second slider; 25. a second guide bar; 26. a support rod is sleeved on the shank sleeve; 2601. a positioning boss is arranged below the second guide rod; 27. a second push-pull rod; 28. a right rear cross shaft; 29. a left rear cross shaft; 30. the second push-pull rod is connected with the base; 31. the lower supporting rod is sleeved on the shank; 32. the bandage hole is tied; 33. a cotter pin; 34. a slotted nut; 35. a first rotating shaft; 36. a second rotating shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the multifunctional ankle joint rehabilitation training device of the invention is shown in fig. 1 to 10 and comprises a pedal 1, a calf sleeve 8, a thigh sleeve 11, a first slide block 7, a second slide block 24, a first slide block locking knob 6, a second slide block locking knob 23, a slide block locking mechanism, a front cross shaft 3, a left rear cross shaft 29, a right rear cross shaft 28, a slide block driving arm 21, a cam connecting arm 20, a movement force applying device and a force application balancing adjusting device.
The foot pedal 1 is used for supporting the foot of a patient, the lower leg sleeve 8 is worn and fixed on the lower leg of the patient, the upper leg sleeve 11 is worn and fixed on the upper leg of the patient, and the upper leg sleeve and the lower leg sleeve together form a main structure supporting part of the embodiment of the invention. Specifically, the foot pedal 1 is provided with a strap hole 32 for a strap to pass through, and after the patient steps on the foot pedal 1, the foot of the patient is fixed through the strap, so that the foot of the patient is prevented from slipping when the foot pedal 1 moves. Leg cover parcel stationary blade 10 and quick detach clamp 12 are provided with respectively on shank cover 8 and the thigh cover 11 for dress and fix the shank cover on patient's leg fast, the leg cover slides when preventing to move. Connecting sheets 1201 at the two ends of the quick release clamp 12 are fixed on the shank sleeve 8 and the thigh sleeve 11, and a fixed ring sheet 1202 and a leg sleeve wrapping fixing sheet 10 are connected together. Optionally, the inner layer of the leg cuff surrounding the stator 10 in contact with the patient's leg may be padded to improve the comfort of the patient. A lower leg sleeve lower support rod 31 is fixed on the pedal 1 through a bolt, a lower leg sleeve upper support rod 26 is fixedly connected on the lower leg sleeve 8 through a bolt, and the lower leg sleeve upper support rod 26 and the lower leg sleeve support rod 31 are hinged together through a right rear cross axle 28, so that the pedal 1 and the lower leg sleeve 8 are connected together. The footrest 1 is rotatable relative to the lower leg cover 8 in the axial direction of the two mounting shafts of the right rear cross 28.
A guide rod support frame 801 is welded on the lower leg sleeve 8, and a first guide rod 5 and a second guide rod 25 which are used for installing a sliding block and sliding up and down are arranged on the guide rod support frame 801. In the embodiment of the present invention, the first guide rod 5 is preferably a square cross-section tube, and is mounted and positioned by using a first guide rod mounting and positioning boss 901 formed on a first guide rod fixing seat 9 and a first guide rod lower mounting and positioning boss 8012 formed on a guide rod supporting frame 801, and the first guide rod fixing seat 9 is fixedly connected to the guide rod supporting frame 801 by bolts; the second guide rod 25 is preferably a square cross-section tube, and is mounted and positioned by a second guide rod mounting and positioning boss 8011 formed on the guide rod support frame 801 and a second guide rod lower mounting and positioning boss 26011 formed on the lower leg sleeve support rod 26. The first sliding block 7 is sleeved on the first guide rod 5 to slide up and down, and the movement of the first sliding block 7 can be locked by the first sliding block locking knob 6; the second slider 24 is sleeved on the second guide rod 25 to slide up and down, and the second slider 24 can be locked by the second slider locking knob 23.
A first push-pull rod connecting base 2 and a second push-pull rod connecting base 30 are welded on the pedal plate 1, the first push-pull rod connecting base 2 and the first push-pull rod 4 jointly form a dorsiflexion/plantarflexion transmission assembly of the embodiment of the present invention, and the second push-pull rod connecting base 30 and the second push-pull rod 27 jointly form an inversion/eversion transmission assembly of the embodiment of the present invention. One end of the first push-pull rod 4 is hinged with the upper end of the first push-pull rod connecting base 2 by adopting the front cross axle 3, and the other end is hinged with the lower end of the first sliding block 7. One end of the second push-pull rod 27 is hinged with the upper end of the second push-pull rod connection base 30 by a left rear cross axle 29, and the other end is hinged with the lower end of the second slide block 24. The collinear portions of the axes of the mounting shafts of the left and right rear cross shafts 29, 28 form a first rotating shaft 35, and the collinear portions of the axes of the mounting shafts of the front cross shaft 3 and the right rear cross shaft 28 form a second rotating shaft 36. When the first sliding block 7 slides up and down on the first guide rod 5, the first push-pull rod 4 is driven to move, and the pedal plate 1 is further pushed to rotate along the first rotating shaft 35, so that dorsiflexion/plantarflexion actions of the ankle joint are realized. When the second sliding block 24 slides up and down on the first guide rod 25, the second push-pull rod 27 is driven to move, and the pedal plate 1 is further driven to rotate along the first rotating shaft 36, so that the varus/valgus movement of the ankle joint is realized.
One end of a sliding block driving arm 21 is hinged with the upper ends of the first sliding block 7 and the second sliding block 24 alternatively by a quick-release pin 22, and the other end is hinged with a protection plate 1101 welded on the thigh sleeve 11; when the thigh lifts and stretches the leg, the slide block driving arm 21 is used for pushing the slide block to slide, and particularly, when the slide block driving arm 21 is connected with the first slide block 7, the slide block driving arm is used for dorsiflexion/plantarflexion training of the ankle joint; when the slider driving arm 21 is connected with the second slider 24, the ankle joint is used for varus/valgus training.
Since the dorsiflexion/plantarflexion action and the inversion/eversion action of the ankle joint are carried out on two planes which are perpendicular to each other in space, the embodiment of the invention limits the inversion/eversion action while carrying out the dorsiflexion/plantarflexion action of the ankle joint, and conversely limits the inversion/plantarflexion action while carrying out the inversion/eversion action of the ankle joint, and a special slide block locking mechanism is arranged for achieving the purpose of limiting. The sliding block locking mechanism comprises a first sliding block locking mechanism and a second sliding block locking mechanism, wherein the first sliding block locking mechanism comprises a wedge-shaped driving block 703, a sliding block locking pin 702, a spring 704 and a first sliding block locking knob 6; a first sliding hole 7011, a second sliding hole 7012 and a threaded hole 7013 are formed in the slider body 701 of the first slider 7 in a machining mode, the opening of the first sliding hole 7011 faces the corresponding guide rod, the second sliding hole 7012 is perpendicular to the first sliding hole 7011, and the threaded hole 7013 and the second sliding hole 7012 are coaxial and are arranged at one end of the second sliding hole 7012; the slider locking pin 702 slides in the first sliding hole 7011, and a locking groove 7022 with a first inclined surface 7021 is formed on the slider locking pin 702; the wedge-shaped driving block 703 is installed in the second sliding hole 7012 and has a second inclined surface 7031 that cooperates with the first inclined surface 7021; the first slider locking knob 6 is knob-mounted in the threaded hole 7013 to drive the wedge-shaped driving block 703 to be inserted into the locking slot 7022 to press the second inclined surface 7031 against the first inclined surface 7021 and to drive the slider locking pin 702 to move away from the corresponding guide rod when rotated; a spring 704 is mounted within the first sliding aperture 7011 and is configured to urge the slider lock pin 702 toward the corresponding guide bar; the structure of the second sliding block locking mechanism is the same as that of the first sliding block locking mechanism; the advantage of adopting this locking mechanism lies in, when needing to lock a certain slider, for example lock first slider 7, only need first screw out first slider locking knob 6, then adopt the mode that reciprocates the slider, when slider locking round pin 702 moves the coaxial position of the slider locking hole 501 who processes the shaping on first guide arm 5, slider locking round pin 702 can be under the effort of spring 704 automatic outwards stretch out and insert in slider locking hole 501, make first slider 7 locking on first guide arm 5, consequently can save the hole to the operation of observing with the eye, and is more convenient and swift. In particular, during the dorsiflexion/plantarflexion action, the first slider locking knob 6 can be screwed in so that the first slider 7 can slide freely along the first guide bar 5, and the second slider locking knob 23 can be screwed out so that the second slider 24 is locked on the second guide bar 25, at which time the varus/valgus action is limited by the formation of a triangular structure in the plane of its rotational movement. Conversely, during the varus/valgus movement, the second slider locking knob 23 can be turned in to allow the second slider 24 to slide freely along the second guide bar 25, and the first slider locking knob 6 can be turned out to lock the first slider 7 on the first guide bar 5, while the dorsiflexion/plantarflexion movement is limited by the formation of a triangular structure in the plane of its rotational movement.
The specific working process of the leg lifting plantarflexion and leg stretching dorsiflexion motions of the embodiment of the invention is as follows: after being worn, the user can hold the support by hands to adopt a standing position or a lying position. Firstly, the upper ends of a slide block driving arm 21 and a first slide block 7 are hinged together through a quick-release pin 22; then, screwing in the first sliding block locking knob 6 to enable the first sliding block 7 to freely slide up and down along the first guide rod 5; then, the second slider locking knob 23 is unscrewed, and the second slider 24 is locked to the second guide rod 25 by moving the second slider 24 up and down. When lifting the leg, the slider driving arm 21 hinged to the thigh sleeve 11 pushes the first slider 7 to move downward, the lower end of the first slider 7 is hinged to the first push-pull rod 4, the first slider 7 continues to push the first push-pull rod 4 to move, and then the pedal 1 is driven to rotate counterclockwise along the first rotating shaft 35 to complete plantarflexion. When the user stretches legs, the sliding block driving arm 21 hinged with the thigh sleeve 11 pulls the first sliding block 7 to move upwards, the first sliding block 7 pulls the first push-pull rod 4 to move, and then the foot pedal 1 is driven to rotate clockwise along the first rotating shaft 35 to finish dorsiflexion movement.
The specific working process of the leg raising eversion and leg stretching eversion movement of the embodiment of the invention is that after the leg raising eversion and leg stretching eversion movement is worn, the hand can hold the support to adopt a standing position or a lying position, and the support is worn on the right foot. First, the upper ends of the slider driving arm 21 and the second slider 24 are hinged together by the quick release pin 22. Then, the second slider locking knob 23 is screwed in so that the second slider 24 can freely slide up and down along the second guide rod 25. Then, the first sliding block locking knob 6 is screwed out, and the first sliding block 7 is locked on the first guide rod 5 in a mode of moving the first sliding block 7 up and down. When lifting legs, the sliding block driving arm 21 hinged with the thigh sleeve 11 pushes the second sliding block 24 to move downwards, the lower end of the second sliding block 24 is hinged with the second push-pull rod 27, the second sliding block 24 can continue to push the second push-pull rod 27 to move, and then the pedal plate 1 is driven to rotate clockwise along the second rotating shaft 36 to complete eversion movement. When the leg is extended, the slide block driving arm 21 hinged with the thigh sleeve 11 pulls the second slide block 24 to move upwards, the second slide block 24 pulls the second push-pull rod 27 to move, and then the pedal 1 is driven to rotate anticlockwise along the second rotating shaft 36, so that the inversion movement is completed.
The ankle joint is usually damaged and the leg muscles are usually atrophied due to insufficient leg movement. Therefore, auxiliary force can be applied when the thigh lifts and stretches the leg, and the strength training of the thigh is strengthened. The motion force-applying device comprises a cam 15, a crank 16, a roller arm 13 and a force-applying spring 14; the cam 15 and the crank 16 are sleeved on the cam installation supporting seat 1102 welded on the thigh sleeve 11 and can rotate along the axis of the cam installation supporting seat 1102; cam profile 1503 on cam 15 is provided as a grooved surface, cam profile 1503 comprising first profile section 1501 and second profile section 1502, the junction of first profile section 1501 and second profile section 1502 being at the minimum radius of curvature of cam profile 1503; the crank 16 comprises a first crank section 1601 and a second crank section 1602, wherein the first crank section 1601 and the second crank section 1602 are arranged in a crossed manner and connected with each other; one end of the roller arm 13 is hinged with the first crank section 1601, the other end is connected with the second crank section 1602 by a force spring 14, and the roller 1301 on the roller arm 13 is pressed against the cam profile 1503 on the cam 15 by the spring force of the force spring 14 and can roll along the cam profile 1503.
One end of the cam connecting arm 20 is hinged with the cam 15, and the other end is hinged with the guide rod supporting frame 801 on the shank sleeve 8, and is used for pushing the cam 15 to rotate when a thigh lifts a leg and pulling the cam 15 to rotate when the leg extends; rotation of cam 15 forces roller 1301 of roller arm 13 away from the minimum radius of curvature of cam profile 1503 and onto first profile segment 1501 or second profile segment 1502, and force spring 14 is stretched and provides resistance to rotation of cam 15.
The working process of the leg lifting and extending motion stressing device provided by the embodiment of the invention is as follows: when lifting legs, the cam connecting arm 20 hinged with the lower leg sleeve 8 can push the cam 15 to move clockwise around the cam installation supporting seat 1102, the cam 15 can push the roller 1301 away, the roller 1301 rolls along the cam profile 1503 and is pressed against the first profile section 1501, and the force application spring 14 can be stretched, so that the spring force is overcome in the leg lifting action process, and the leg lifting and force application effects are achieved; the roller 1301 then tends to return to the minimum radius of curvature of the cam profile 1503 with the assistance of the sensed spring force, assisting the thigh to return to the initial wearing position prior to leg lifting. When the leg is extended, the cam connecting arm 20 hinged with the lower leg sleeve 8 can pull the cam 15 to move anticlockwise around the cam installation supporting seat 1102, the cam 15 can push the roller 1301 away, the roller 1301 rolls along the cam profile 1503 and is pressed on the second profile section 1502, the stressing spring 14 can be lengthened, and therefore the spring force is overcome in the leg extending process, and the leg extending stressing effect is achieved; then under the assistance of the sensed spring force, the roller 1301 also tends to return to the minimum curvature radius of the cam profile 1503 to assist the thigh to return to the initial wearing position before the leg is extended; the leg raising action, the leg stretching action or the combination action of the leg raising and the leg stretching are carried out in a circulating reciprocating way, so that the effect of auxiliary stress application training on thigh muscles is achieved.
In order to better match with the daily training mode of the ankle joint, sometimes the ankle joint needs to be maintained at a limit angle which can be borne by the body to perform continuous stress tension and compression training for a certain time so as to improve the protection function of the ankle joint ligament. In the embodiment of the invention, because the thigh muscles feel the action of the spring force all the time during the leg lifting and extending process, the spring force needs to be relieved when the ankle joint moves to the limit angle which can be born by an individual through the leg lifting and extending action, so that the thigh muscles are not fatigued due to the spring force when the angle action is kept for a long time. The force application trim adjusting device comprises a U-shaped bracket 19, an adjusting rod 17 and an adjusting knob 18. The U-shaped support 19 is fixed on the inner side of the protection plate 1101 on the thigh sleeve 11 through bolts; the adjusting rod 17 comprises a pulley 1701 and an adjusting screw 1702, the pulley 1701 is hinged with one end of the adjusting screw 1702, the pulley 1701 slides in a pulley chute 1603 processed by the second crank section 1602, the other end of the adjusting screw 1702 is in threaded connection with an adjusting knob 18, and the adjusting screw 1702 is driven to extend or retract by the rotation of the adjusting knob 18; the adjusting knob 18 comprises a connecting cylinder 1801 with internal threads, a knob 1802, a positioning clamping table 1803 and a split pin 1804, wherein the connecting cylinder 1801 is inserted into a mounting hole 11011 formed in the protection plate 1101, the inner end of the connecting cylinder 1801 abuts against the U-shaped bracket 19 and is connected with the adjusting screw 1702 in a mounting mode, and the other end of the connecting cylinder 1801 is fixedly connected with the knob 1802 through the split pin 1804; the locator clamp 1803 is welded to the connector barrel 1801 and is pressed against the mounting U-shaped bracket 19 on the fender 1101.
The working process of the force application and balancing adjusting device provided by the embodiment of the invention comprises the following steps: when lifting the leg, the cam 15 moves clockwise around the cam installation support 1102, the cam 15 pushes away the roller 1301 and moves the roller 1301 to the first profile section 1501, the stress spring 14 is lengthened, after the ankle joint moves to a limit angle which can be accepted by an individual, the adjusting knob 18 is rotated to retract the adjusting rod 17, the pulley 1701 on the adjusting rod slides along the pulley chute 1603 on the crank 16, then the crank 16 is pulled to rotate clockwise around the cam installation support 1102, the first crank section 1601 on the crank 16 is hinged with one end of the roller arm 13, the rotation of the crank 16 drives the roller arm 13 to move until the roller 1301 returns to the minimum curvature radius of the cam profile 1503 again, and the force release of the spring force is completed. When the leg is extended, the cam 15 moves counterclockwise around the cam mounting support 1102, the cam 15 pushes the roller 1301 away and moves the roller 1301 to the second profile section 1502, and the force spring 14 is extended. After the ankle joint moves to the limit angle which can be borne by an individual, the adjusting knob 18 is rotated to extend the adjusting rod 17, the pulley 1701 on the adjusting rod slides along the pulley chute 1603 on the crank 16, then the crank 16 is pushed to rotate anticlockwise around the cam mounting support 1102, the first crank section 1601 of the crank 16 is hinged with one end of the roller arm 13, the rotation of the crank 16 drives the roller arm 13 to move, and the roller 1301 returns to the position of the minimum curvature radius of the cam profile 1503 again to complete the force relief of the spring force. And at the two extreme angular positions, if the motion is deformed, the roller 1301 moves away from the minimum curvature radius of the cam profile 1503 to generate a new spring force, and the new spring force generates a certain boosting effect on maintaining the extreme motion.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A multifunctional ankle joint rehabilitation training device is characterized by comprising a pedal part, a shank fixing part, a thigh fixing part, a first slide block, a second slide block, a dorsiflexion/plantarflexion transmission assembly, an inversion/eversion transmission assembly and a slide block driving arm; the foot pedal part is used for being arranged on the foot of a patient, the shank fixing part is used for being arranged at a preset position on the shank of the patient, and the thigh fixing part is used for being arranged at a preset position on the thigh of the patient; the first slide block and the second slide block can be arranged on the shank fixing part in a vertically moving manner; the thigh fixing part drives the first sliding block and the second sliding block to move through the sliding block driving arm, so that the thigh drives the first sliding block and the second sliding block to move up and down when lifting or extending the leg; the first sliding block drives the pedal part to rotate through the dorsiflexion/plantarflexion transmission component, so that the first sliding block drives the foot of the patient to dorsiflex when ascending, and drives the foot of the patient to plantarflex when descending; the second sliding block drives the pedal part to rotate through the varus/valgus transmission component, so that the second sliding block drives the foot of the patient to be inverted or valgus when ascending or descending.
2. The multifunctional ankle joint rehabilitation training device according to claim 1, further comprising a slider locking mechanism; the lower end of the slider driving arm is detachably and alternatively mounted to the first slider and the second slider, and the slider locking mechanism is configured to fix one of the first slider and the second slider to the lower leg fixing portion when the other is connected to the lower end of the slider driving arm.
3. The multifunctional ankle rehabilitation training device according to claim 1, wherein the pedal portion comprises a pedal plate and a lower leg sleeve support rod; the shank fixing part comprises a shank sleeve and a shank sleeve upper supporting rod; the lower supporting rod of the shank sleeve is vertically arranged, and the lower end of the lower supporting rod of the shank sleeve is fixedly connected to the pedal; the supporting rod on the shank sleeve is vertically arranged, and the upper end of the supporting rod is fixedly connected to the bottom of the shank sleeve; the upper supporting rod of the shank sleeve is hinged with the lower supporting rod of the shank sleeve by a right rear cross axle.
4. The multifunctional ankle joint rehabilitation training device according to claim 3, wherein the shank fixing portion further comprises two guide rods, a guide rod support; the guide rod support frame is welded on the shank sleeve, the two guide rods are arranged on the guide rod support frame, and the first sliding block and the second sliding block are respectively arranged on the two guide rods; the upper end of the supporting rod on the shank sleeve is fixedly connected to the bottom of the guide rod supporting frame through a bolt.
5. The multifunctional ankle rehabilitation training device according to claim 2, wherein the thigh fixing portion comprises a thigh sleeve, an upper end of the slider driving arm is rotatably mounted on a lower end of the thigh sleeve, and a lower end of the slider driving arm is rotatably mounted on the first slider or the second slider.
6. The multifunctional ankle rehabilitation training device according to claim 1, wherein the dorsiflexion/plantarflexion transmission assembly comprises a first push-pull rod and a first push-pull rod connection base; the first push-pull rod connecting base is fixed on the pedal, one end of the first push-pull rod is hinged with the upper end of the first push-pull rod connecting base through a front cross shaft, and the other end of the first push-pull rod is hinged with the lower end of the first sliding block.
7. The multifunctional ankle rehabilitation training device according to claim 1, wherein the varus/valgus transmission assembly comprises a second push-pull rod and a second push-pull rod connecting base; the second push-pull rod connecting base is fixed on the pedal, one end of the second push-pull rod is hinged with the upper end of the second push-pull rod connecting base through a left rear cross axle, and the other end of the second push-pull rod is hinged with the lower end of the second sliding block.
8. The multifunctional ankle rehabilitation training device according to claim 2, wherein the slider locking mechanism comprises a first slider locking mechanism and a second slider locking mechanism; the first sliding block locking mechanism comprises a wedge-shaped driving block, a sliding block locking pin, a spring and a knob; the first sliding block is provided with a first sliding hole, a second sliding hole and a threaded hole, the opening of the first sliding hole faces to the corresponding guide rod, the second sliding hole is perpendicular to the first sliding hole, and the threaded hole is coaxial with the second sliding hole and is arranged at one end of the second sliding hole; the sliding block locking pin slides in the hole of the first sliding hole, and a locking groove with a first inclined surface is formed in the sliding block locking pin; the wedge-shaped driving block is arranged in the second sliding hole and is provided with a second inclined surface matched with the first inclined surface; the knob is arranged in the threaded hole so as to drive the wedge-shaped driving block to be inserted into the locking groove to press the second inclined surface against the first inclined surface when rotating, and drive the sliding block locking pin to move towards the direction far away from the corresponding guide rod; a spring mounted within the first sliding aperture configured to urge the slider lock pin toward the corresponding guide rod; the structure of the second sliding block locking mechanism is the same as that of the first sliding block locking mechanism.
9. The multifunctional ankle joint rehabilitation training device according to claim 5, wherein the lower end of the sliding block driving arm is alternatively hinged with the upper ends of the first sliding block and the second sliding block by a quick release pin.
10. The multifunctional ankle rehabilitation training device according to claim 1, further comprising a motion stress mechanism mounted on the thigh fixing portion and configured to generate a force resisting movement of the thigh when the thigh moves relative to the shank.
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| CN202010929842.0A CN111821656B (en) | 2020-09-07 | 2020-09-07 | Multifunctional ankle joint rehabilitation training device |
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| CN202010929842.0A CN111821656B (en) | 2020-09-07 | 2020-09-07 | Multifunctional ankle joint rehabilitation training device |
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| CN111821656A true CN111821656A (en) | 2020-10-27 |
| CN111821656B CN111821656B (en) | 2021-07-30 |
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| CN113183131A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Exoskeleton robot ankle joint with double flexible driving branches |
| CN113648183A (en) * | 2021-08-19 | 2021-11-16 | 廊坊瑞立达智能机器有限公司 | Ankle joint rehabilitation training device |
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| CN111821656B (en) | 2021-07-30 |
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