CN112022610A - An ankle joint rehabilitation mechanism with adjustable rotation center - Google Patents

Abstract

The invention provides an ankle joint rehabilitation mechanism with an adjustable rotation center, belonging to the technical field of ankle joint rehabilitation devices. A central column and three cylindrical bodies are fixed on a base; a cylindrical sleeve and the cylindrical body form a cylindrical pair; The lower frame and the upper frame; the lower frame includes the bottom rod and the lower side rod, the connecting column in the center of the bottom rod and the central column form a rotating pair, the height of the lower side rod can be adjusted and the height can be fixed; the upper frame includes the top rod , the frame block and the upper side rod, the center of the frame block and the top rod form a rotating pair, the upper side rod and the lower side rod form a rotating pair; the foot pedal is fixed on the frame block, and is provided with a strap and a ball hinge sleeve The bottom end of the drive branch and the cylindrical sleeve form a rotating pair, the top sphere and the spherical hinge sleeve form a ball pair; the motor drives the cylindrical sleeve to move along the cylinder. The above mechanism can effectively carry out the rehabilitation training of the patient's ankle, can realize the movement posture of the ankle rehabilitation training rotation, and can adjust the rotation center according to the difference of the rotation center of the ankle joint of the human body.

Description

An ankle joint rehabilitation mechanism with adjustable rotation center

technical field

The invention belongs to the technical field of ankle joint rehabilitation devices, and specifically discloses an ankle joint rehabilitation mechanism with an adjustable rotation center.

Background technique

my country's population base is relatively large, and the problem of population aging is obvious at present. There are more and more elderly people with walking inconvenience caused by the degradation of lower limb ankle joint function. In addition, the number of patients with walking inconvenience caused by traffic accidents and sports accidents is also increasing. . Therefore, medical rehabilitation equipment for ankle joint rehabilitation has attracted more and more attention. At present, the commonly used rehabilitation equipment still has obvious shortcomings: many rehabilitation equipment requires the cooperation of multiple caregivers during rehabilitation training, and the physical therapist helps the patient to swing the limbs, which is time-consuming, laborious, and inefficient; some institutions have complex structures and are expensive to manufacture. It is relatively high, and it is inconvenient for patients to wear; some ankle joint rehabilitation institutions do not match the rotation center of the patient’s ankle joint, which cannot ensure that the patient and the rehabilitation institution can achieve sympathetic movement, and the patient’s rehabilitation training effect is limited. Therefore, the invention of an ankle joint rehabilitation robot with an adjustable rotation center can not only realize the rehabilitation movement of the patient's ankle joint, but also meet the rehabilitation needs of patients of different ages in medical applications, which has important practical significance.

SUMMARY OF THE INVENTION

In order to improve the above problems, the present invention provides an ankle joint rehabilitation mechanism with an adjustable rotation center, which can effectively carry out the rehabilitation training of the patient's ankle. The difference is adjusted for the center of rotation.

In order to achieve the above purpose, the present invention provides an ankle joint rehabilitation mechanism with an adjustable rotation center, including a base, a cylinder, a cylindrical sleeve, a central column, an adjustable frame, a foot pedal, a drive chain and a motor; three The cylinder is fixed on the base and is distributed in an equilateral triangle; the cylindrical sleeve is sleeved on the cylinder and forms a cylinder pair with the cylinder; the central column is fixed on the base and is located in the center of the equilateral triangle; the adjustable frame It includes a lower frame and an upper frame; the lower frame includes a bottom rod and a lower side rod vertically arranged at both ends of the bottom rod. The center of the bottom rod is provided with a connecting column, and the connecting column and the central column constitute a rotating pair. The height of the lower side rod Adjustable and can be fixed in height; the upper frame includes a top rod, a rack block and an upper side rod vertically arranged at both ends of the top rod, the top rod is located on one side of the bottom rod, and the center of the rack block and the top rod constitute a rotating pair, The upper rod and the lower rod form a rotating pair; the pedal is fixed on the frame block, and the pedal is provided with a strap and a spherical hinge sleeve; the three spherical hinge sleeves are distributed in an equilateral triangle, and the equilateral triangle The projection of its center on the base is located on the central column; the bottom end of the drive branch and the cylindrical sleeve form a rotating pair, the top is a sphere, and the sphere and the spherical hinge sleeve form a spherical pair; the motor drives the cylindrical sleeve up and down the cylinder move.

Further, the length of the footrest is adjustable and the length can be fixed.

Further, a footrest is fixed on the footboard, the footrest is fixedly connected with the frame block, and the height of the footrest is adjustable and can be fixed.

Further, the height of the lower side rod, the length of the footrest and the height of the footrest are all adjusted by the rack and pinion structure, the lower side rod is provided with a rack adjustment knob, and the footboard is provided with a pedal adjustment knob, The footrest is provided with a footrest adjustment knob.

Further, a flexible material is provided on the footboard.

Further, the motor adopts a servo motor.

The present invention has the following beneficial effects:

1. In the above-mentioned ankle joint rehabilitation mechanism, the rotating pair formed by the connecting column and the central column is the first rotating pair, which realizes the abduction and adduction of the ankle joint, and the rotating pair formed by the upper rod and the lower rod is the second rotating pair, Realize the flexion and extension of the ankle joint. The intersection of the two rotation axes is the midpoint of the hinge point of the upper rod and the lower rod. The rotation pair formed by the center of the frame block and the ejector rod is the third rotation pair. The three rotation pairs swing in the vertical direction with the rotation center as the center of the circle to realize the internal and external rotation of the ankle joint. The first rotation pair, the second rotation pair and the third rotation pair are equivalent to the rotation center and the upper and lower rod hinges The ball pair (S pair) with the midpoint of the point-connected line coincident, that is, the rotation center of the above-mentioned ankle joint rehabilitation mechanism is located above the foot pedal, which is consistent with the rotation center of the human ankle, which conforms to the natural motion state of the human ankle and improves the performance of the ankle joint. The degree of human-machine integration ensures that patients are comfortable and safe in rehabilitation exercises, reduce secondary injuries, and obtain more effective rehabilitation exercises;

2. The above-mentioned ankle joint rehabilitation mechanism is simple in structure, and fully meets the functions of flexion, extension, abduction, adduction, external rotation and internal rotation of the internal ankle joint rehabilitation exercise. Adjust the height of the lower rod to adjust the rotation center of the ankle joint rehabilitation mechanism, which can adapt to the needs of different patients;

3. It adopts the form of three driving branches in parallel, with strong load capacity. The driving branch is a CRS branch, C represents a cylinder pair, R represents a rotating pair, and S represents a ball pair, with simple control and high precision;

4. The length of the foot pedal can be adjusted to adapt to the feet of different patients. The part in contact with the human body is made of flexible material, which is convenient to wear and has a comfortable effect.

Description of drawings

Fig. 1 is the structural representation of the ankle joint rehabilitation mechanism with adjustable rotation center;

Fig. 2 is the structural representation of the foot pedal in the ankle joint rehabilitation mechanism shown in Fig. 1;

Fig. 3 is the structural schematic diagram of the adjustable frame in the ankle joint rehabilitation mechanism shown in Fig. 1;

Fig. 4 is the structural schematic diagram of the upper frame in the adjustable frame shown in Fig. 3;

Fig. 5 is the structural schematic diagram of the rack and pinion structure in the lower side rod;

Fig. 6 is the equivalent schematic diagram of the ankle joint rehabilitation mechanism shown in Fig. 1;

FIG. 7 is a schematic diagram of the use of the ankle joint rehabilitation mechanism shown in FIG. 1 .

In the figure, 1- base; 2- cylinder; 3- cylinder sleeve; 4- center column; 5- foot pedal; 5.1- foot pedal adjustment knob; 6- drive branch; 7.1- bottom rod; 7.2- Lower side rod; 7.21-Fixed rod; 7.22-Sliding rod; 7.23-Rack; 7.24-Strip hole; 7.25-Gear shaft; 7.26-Gear; 7.6-upper side bar; 7.7-frame block mounting post; 7.8-side bar connecting post; 7.9-frame adjustment knob; 8-strap; 9-ball hinge sleeve; 10-footrest; 10.1-footrest adjustment knob.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

This embodiment provides an ankle joint rehabilitation mechanism with an adjustable rotation center, including a base 1, a cylindrical body 2, a cylindrical sleeve 3, a central column 4, an adjustable frame, a foot pedal 5, a drive branch 6 and a motor; The three cylindrical bodies 2 are fixed on the base 1 and are distributed in an equilateral triangle; the cylindrical sleeve 3 is sleeved on the cylindrical body 2 and forms a cylindrical pair with the cylindrical body 2; the central column 4 is fixed on the base 1 and is located at the same The center of the side triangle; the adjustable frame includes a lower frame and an upper frame; the lower frame includes a bottom rod 7.1 and lower side rods 7.2 vertically arranged at both ends of the bottom rod 7.1, and the center of the bottom rod 7.1 is provided with a connecting column 7.3, The connecting column 7.3 and the central column 4 constitute a rotating pair, and the height of the lower side rod 7.2 is adjustable and can be fixed; the upper frame includes a top rod 7.4, a frame block 7.5 and an upper side rod 7.6 vertically arranged at both ends of the top rod 7.4, The top rod 7.4 is located on one side of the bottom rod 7.1, and the center of the rack block 7.5 and the top rod 7.4 constitute a rotating pair (in this embodiment, the center of the top rod 7.4 is provided with a rack block mounting column 7.7, and the rack block 7.5 is rotated and installed On the rack block mounting column 7.7), the upper side rod 7.6 and the lower side rod 7.2 form a rotating pair (in this embodiment, the upper side rod 7.6 is provided with a side rod connecting column 7.8, and the side rod connecting column 7.8 rotates and passes through the lower side rod. The footboard 5 is fixed on the frame block 7.5, and the footboard 5 is provided with a strap 8 and a spherical hinge sleeve 9; the three spherical hinge sleeves 9 are distributed in an equilateral triangle , the projection of the center of the equilateral triangle on the base 1 is located on the central column 4; the bottom end of the driving branch 6 and the cylindrical sleeve 3 constitute a rotating pair (in this embodiment, the bottom end of the driving branch 6 is connected to the The hinged ears of the cylindrical sleeve 3 are connected), the top is a sphere, and the sphere and the spherical hinge sleeve 9 form a ball pair; the motor drives the cylindrical sleeve 3 to move up and down along the cylindrical body 2 .

In the above-mentioned ankle joint rehabilitation mechanism, the rotating pair formed by the connecting column 7.3 and the central column 4 is the first rotating pair, which realizes the abduction and adducting of the ankle joint, and the rotating pair formed by the upper rod 7.6 and the lower rod 7.2 is the second rotation. Pair, to achieve the flexion and extension of the ankle joint, the intersection of the two rotation axes is the midpoint of the hinge point of the upper rod 7.6 and the lower rod 7.2, and the rotation pair formed by the center of the frame block 7.5 and the ejector rod 7.4 is The third rotation pair, the third rotation pair swings in the vertical direction with the rotation center as the center of the circle to realize the internal rotation and external rotation of the ankle joint. The first rotation pair, the second rotation pair and the third rotation pair are equivalent to the rotation center and the upper side. The ball pair (S pair) coincides with the midpoint of the hinge point of the rod 7.6 and the lower rod 7.2, and the three driving branches are CRS branches, which together constitute the 3-CRS-S motion mechanism, which can restore the above-mentioned ankle joint. The rotation center of the mechanism is located above the foot pedal, which is consistent with the rotation center of the human ankle, and is used to complete the forward flexion, backward extension, abduction, adduction, external rotation and internal rotation of the human ankle joint. According to the individual differences in the rotation center of the ankle joint of patients, the rotation center of the ankle joint rehabilitation mechanism can be adjusted by adjusting the height of the lower rod 7.6, which can adapt to the needs of different patients. The height range of the targeted group is 1.5m-1.8m, and the adjustment range of the lower side bar 7.2 is 0-0.06m.

Further, the length of the footrest 5 is adjustable and can be fixed to adapt to the feet of different patients. , according to the ratio of foot length to height, the size in the initial state is 27cm, and the adjustment range is set to 0 ~ 10cm.

Further, the footrest 10 is fixed on the footrest 5, the footrest 10 is clamped and fixed with the frame block 7.5, and the stabilizing mechanism, the height of the footrest 10 is adjustable and can be fixed, and is matched with the height of the adjustable frame.

Further, the height of the lower rod 7.2, the length of the footrest 5 and the height of the footrest 10 are adjusted through the rack and pinion structure, the lower rod 7.2 is provided with a rack adjustment knob 7.9, and the footrest 5 is provided with A footrest adjustment knob 5.1 is provided on the footrest 10, and a footrest adjustment knob 10.1 is provided. This embodiment provides a rack and pinion structure in the lower rod 7.2. The lower rod 7.2 includes a fixed rod 7.21 and a sliding rod 7.22 slidably inserted in the fixed rod 7.21. The sliding rod 7.22 is connected to the side rod of the upper rod 7.6 The column 7.8 is hinged, the inner wall of the sliding rod 7.22 is provided with a rack 7.23, the rod wall of the sliding rod 7.22 is provided with a strip hole 7.24, the fixed rod 7.21 is rotated through a gear shaft 7.25, and the gear shaft 7.25 passes through the strip hole 7.24 , the end of the gear shaft 7.25 located in the sliding rod 7.22 is a gear 7.26 meshing with the rack 7.23, the end of the gear shaft 7.25 located outside the fixed rod 7.22 is fixed with a height adjustment knob 7.9, the gear can be driven by rotating the height adjustment knob 7.9 The rack mechanism realizes the expansion and contraction of the sliding rod 7.22.

Further, the foot pedal 5 is provided with a flexible material, which is convenient to wear and has a comfortable effect.

Further, the motor adopts a servo motor.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (6)

1. An ankle joint rehabilitation mechanism with an adjustable rotation center is characterized by comprising a base, a cylinder sleeve, a center column, an adjustable rack, a pedal, a driving branched chain and a motor;

the three cylinders are fixed on the base and distributed in an equilateral triangle shape;

the cylindrical sleeve is sleeved on the cylinder and forms a cylindrical pair with the cylinder;

the central column is fixed on the base and positioned in the center of the equilateral triangle;

the adjustable frame comprises a lower frame and an upper frame;

the lower rack comprises a bottom rod and lower side rods vertically arranged at two ends of the bottom rod, a connecting column is arranged at the center of the bottom rod, the connecting column and the central column form a revolute pair, and the lower side rods are adjustable in height and fixable in height;

the upper frame comprises a top rod, a frame block and an upper side rod vertically arranged at two ends of the top rod, the top rod is positioned at one side of the bottom rod, the frame block and the center of the top rod form a revolute pair, and the upper side rod and the lower side rod form a revolute pair;

the pedal is fixed on the frame block and is provided with a binding band and a spherical hinge sleeve;

the three spherical hinge sleeves are distributed in an equilateral triangle shape, and the projection of the center of the equilateral triangle on the base is positioned on the central column;

the bottom end of the driving branched chain and the cylindrical sleeve form a revolute pair, the top end of the driving branched chain is a sphere, and the sphere and the spherical hinge sleeve form a spherical pair;

the motor drives the cylindrical sleeve to move up and down along the cylinder.

2. The center-of-rotation adjustable ankle rehabilitation mechanism according to claim 1, wherein the length of the foot pedal is adjustable and the length is fixable.

3. The ankle joint rehabilitation mechanism with the adjustable rotation center according to claim 2, wherein a foot back is fixed on the pedal plate, the foot back is fixedly connected with the rack block, and the height of the foot back is adjustable and fixable.

4. The ankle joint rehabilitation mechanism with the adjustable rotation center according to claim 3, wherein the height of the lower lever, the length of the pedal, and the height of the foot back are all adjusted by a rack and pinion structure, a rack adjusting knob is provided on the lower lever, a pedal adjusting knob is provided on the pedal, and a foot back adjusting knob is provided on the foot back.

5. The center-of-rotation adjustable ankle joint rehabilitation mechanism according to claim 4, wherein a flexible material is provided on the foot pedal.

6. The rotation center adjustable ankle joint rehabilitation mechanism according to claim 5, wherein the motor is a servo motor.

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