CN113012547A

CN113012547A - Rehabilitation teaching device simulating human wrist-ankle joint structure

Info

Publication number: CN113012547A
Application number: CN202110279257.5A
Authority: CN
Inventors: 尹燕飞; 杨雪彬; 刘艳菊; 王一心; 曹世霞; 王永飞
Original assignee: Zhengzhou University of Industrial Technology
Current assignee: Zhengzhou University of Industrial Technology
Priority date: 2021-03-16
Filing date: 2021-03-16
Publication date: 2021-06-22

Abstract

The invention discloses a rehabilitation teaching device for simulating a human body wrist and ankle joint structure, which comprises a base, wherein the upper surface of the base is fixedly connected with a motor, the left end of an output shaft on the motor is fixedly connected with a first shaft, the surface of the first shaft, which is close to the left end, is fixedly sleeved with a first conical gear, the surface of the first conical gear is meshed with a second conical gear, the inner wall of the second conical gear is fixedly connected with a second shaft, and the bottom of the second shaft is in fixed-axis rotary connection with the upper surface of the base. The rehabilitation teaching demonstration device solves the problems that in the actual use process, the traditional rehabilitation teaching demonstration device is difficult to fully simulate the degree of freedom and the range of motion of the wrist and ankle joints of a human body, and simultaneously, in the teaching demonstration process, the wrist and ankle joints of the human body are difficult to display in all directions and at multiple angles, and meanwhile, students in the back row in a classroom are difficult to learn teaching contents, so that the teaching efficiency and the teaching quality are difficult to improve.

Description

Rehabilitation teaching device simulating human wrist-ankle joint structure

Technical Field

The invention relates to the technical field of medical rehabilitation equipment, in particular to a rehabilitation teaching device for simulating a wrist-ankle joint structure of a human body.

Background

As the field of robots, simulating each joint in the upper and lower limbs of a human body is a key point and a difficult point of research. In the field, at present, the bionics of each joint only realizes general motion function, structural appearance characteristic and intelligent bionics, and can realize various degrees of freedom and moving ranges similar to the upper and lower limbs of a real human body in the motion function.

However, the movement of each joint in the real human body is greatly related to the tendon group, the movement is driven by the tendon group, and different rotation angles of the wrist and ankle joints have rehabilitation operations with different effects in the driving process. Traditional recovered teaching presentation device is difficult to carry out abundant simulation with human wrist ankle joint's degree of freedom and home range, simultaneously in teaching demonstration in-process, also is difficult to carry out the show of all-round multi-angle with human wrist ankle joint, makes the student that is in the back row in the classroom be difficult to learn the teaching content simultaneously, makes teaching efficiency and quality be difficult to promote.

Disclosure of Invention

The invention aims to provide a rehabilitation teaching device for simulating a human wrist and ankle joint structure, which has the advantages of omnibearing and multi-angle display and simulation of wrist and ankle joint motion teaching and solves the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a recovered teaching device of human wrist ankle joint structure of simulation, includes the base, the last fixed surface of base is connected with the motor, the left end fixedly connected with axle one of output shaft on the motor, the fixed surface cover that is close to the left end on the axle one has conical gear one, conical gear one's surface meshing has conical gear two.

The inner wall of the second conical gear is fixedly connected with a second shaft, the bottom of the second shaft is rotatably connected with the upper surface dead axle of the base, the top of the second shaft is fixedly connected with a rotary table, the upper surface dead axle close to the edge of the rotary table is rotatably connected with a third shaft, the surface of the third shaft close to the bottom is fixedly sleeved with a first transmission gear, the upper surface of the base is fixedly connected with an inner toothed pipe, teeth on the inner wall of the inner toothed pipe are meshed with teeth on the surface of the first transmission gear, the upper surface dead axle of the rotary table is rotatably connected with a cylindrical cam, the surface of the cylindrical cam close to the bottom is fixedly sleeved with a second transmission gear, the teeth on the second transmission gear are meshed with teeth on the first transmission gear, the inner wall of the outer contour sliding groove on the cylindrical cam is slidably connected with a sliding block, the side surface of the sliding block is fixedly connected with, the simulation device is provided with a twisting rod, and the surface of the twisting rod is fixedly connected with an auxiliary display device.

Preferably, the analogue means includes the diaphragm, the diaphragm is run through by axle three and with three swing joint of axle, diaphragm and the spacing sliding connection of supplementary display device, the upper surface sliding connection of diaphragm has the rack, the top fixedly connected with of axle three carries the thing board, the last fixed surface who carries the thing board is connected with the curb plate, the right side dead axle of curb plate rotates and is connected with axle four, the fixed surface that is close to the left end on the axle four overlaps and has drive gear three, tooth meshing on the tooth and the rack front side on the three rear sides of drive gear, the rack runs through the upper surface of carrying the thing board and with carry thing board spacing sliding connection from top to bottom, turn round the bottom of stick and the fixed surface connection of axle four.

Preferably, supplementary display device is including the connection lantern ring, the inner wall of the connection lantern ring is connected with the fixed surface of wrench movement stick, the side fixedly connected with connective bar of the connection lantern ring, the last fixed surface of carousel is connected with the support frame, the support frame run through the upper surface of diaphragm and with diaphragm sliding connection, spacing sliding connection has the mount pad about the left side of support frame, the left side fixedly connected with camera of mount pad, the lower fixed surface of mount pad is connected with and connects protrudingly, it is connected with the rotation strip to connect bellied rear side through the round pin axle rotation, the bottom fixedly connected with casing of rotation strip, the spacing sliding connection of inner wall of casing has universal ball, the left side of universal ball and the right-hand member fixed connection of connective bar.

Preferably, the sliding block is a spherical sliding block, and the sliding block is in sliding connection with the inner wall of the outer contour sliding groove on the cylindrical cam through the arc-shaped surface of the sliding block.

Preferably, a torsion spring is sleeved on the surface of the shaft IV close to the left end, and two ends of the torsion spring are fixedly connected with the side plate and the opposite side of the transmission gear III.

Preferably, the inner wall of the inner gear tube is provided with an annular groove, and the inner wall of the annular groove is in sliding connection with the surface of the turntable.

Preferably, the right side of the mounting seat is fixedly connected with a limiting protrusion, and the left side of the support frame is provided with a limiting sliding groove for limiting the limiting protrusion to slide up and down.

Preferably, the base is a circular truncated cone-shaped base, and the bottom of the base is provided with anti-skid grains.

Compared with the prior art, the invention has the following beneficial effects: the base is arranged, so that the whole device is fixedly supported, when the device is used, a model of a hand or a foot is arranged at the top of the twisting rod, then the motor is powered on, and the preparation work is finished;

the output shaft on the motor drives the first shaft to rotate, the first shaft synchronously drives the first bevel gear to rotate, the second bevel gear meshed with the first bevel gear drives the second shaft to rotate on the base, the turntable synchronously rotates along with the second shaft, and after the turntable rotates, the whole device can rotate in a fixed shaft mode, so that the twisting rod and a model displayed on the twisting rod can be displayed in an all-around mode, and a better teaching display effect is achieved;

the third shaft and the transmission gear on the upper surface of the turntable revolve along the vertical central line of the turntable, through the arrangement of the inner toothed pipe, the first transmission gear drives the third shaft to perform fixed-axis rotation on the upper surface of the turntable while the first transmission gear revolves on the turntable, and the second transmission gear meshed with the first transmission gear drives the cylindrical cam to perform fixed-axis rotation on the turntable synchronously; through the independent fixed shaft rotation of the third shaft and the cylindrical cam and the matching of the sliding block and the lifting rod, the simulation device can drive the twisting rod to twist by taking the vertical central line of the third shaft as a symmetrical center, the twisting track of the twisting rod is shown by a dotted line in the figure, the arc track can simulate the twisting track of the ankle and the wrist joint of a person, and the real-time teaching can be more vivid and vivid for students;

through supplementary display device's cooperation, can carry out diversified shooting to the wrench movement stick of wrench movement to transmit the picture in real time to projection cloth or wall through multimedia equipment on, further improve the teaching effect, at the teaching in-process, the doctor can read and introduce to the wrench movement stick of rotating and the model on the wrench movement stick one by one of angle.

Through the cooperation use between the above-mentioned structure, solved in the in-service use, because traditional recovered teaching presentation device is difficult to carry out abundant simulation with human wrist ankle joint's degree of freedom and home range, simultaneously in teaching demonstration in-process, also be difficult to carry out the show of all-round multi-angle with human wrist ankle joint, make the student that is in the back row in the classroom be difficult to learn the teaching content simultaneously, make teaching efficiency and quality be difficult to the problem that promotes.

Drawings

FIG. 1 is a front cross-sectional view of the structure of the present invention;

FIG. 2 is a front cross-sectional view of a carrier plate according to the present invention;

FIG. 3 is a front cross-sectional view of the support of the present invention;

FIG. 4 is a top view of the inner gear tube of the present invention;

fig. 5 is a perspective view of the base of the present invention.

In the figure: 1. a base; 2. a motor; 3. a first shaft; 4. a first conical gear; 5. a second bevel gear; 6. a second shaft; 7. a turntable; 8. a third shaft; 9. a first transmission gear; 91. an inner gear tube; 10. a cylindrical cam; 11. a second transmission gear; 12. a slider; 13. a lifting rod; 14. a simulation device; 15. twisting the rod; 16. an auxiliary display device; 17. a transverse plate; 18. a rack; 19. a loading plate; 20. a side plate; 21. shaft four; 22. a third transmission gear; 23. a connecting lantern ring; 24. a connecting rod; 25. a support frame; 26. a mounting seat; 27. a camera; 28. a connecting projection; 29. rotating the strip; 30. a housing; 31. a universal ball; 32. a torsion spring; 33. an annular groove; 34. a limiting bulge; 35. and a limiting sliding groove.

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.

Referring to fig. 1 to 5, the present invention provides a technical solution: the utility model provides a recovered teaching device of human wrist ankle joint structure of simulation, including base 1, setting through base 1 plays the fixed stay effect to the device is whole, base 1 is round platform shape base, and the bottom of base 1 has seted up anti-skidding line, setting for round platform shape base through base 1 for base 1 can be more stable to the holistic support nature of device, and the offering of anti-skidding line on its lower surface, resistance when also further strengthening base 1 removes or squints, make the holistic stability of device further obtain improving.

The upper surface of base 1 is fixedly connected with motor 2, and the left end fixedly connected with axle one 3 of output shaft on the motor 2, the fixed surface that is close to the left end on axle one 3 overlaps and has conical gear one 4, drives the rotation of axle one 3 through the output shaft on the motor 2, and axle one 3 drives the rotation of conical gear one 4 in step, and the surface meshing of conical gear one 4 has conical gear two 5.

The inner wall fixedly connected with axle two 6 of two 5 conical gears, the bottom of axle two 6 rotates with the upper surface dead axle of base 1 to be connected, conical gear two 5 with a 4 meshing conical gears can drive axle two 6 thereupon and rotate on base 1, the top fixedly connected with carousel 7 of axle two 6, carousel 7 also can rotate along with axle two 6 in step, after carousel 7 rotates, can make the device wholly carry out the dead axle and rotate, and then make the model that demonstrates on wrench movement stick 15 and the wrench movement stick 15 can the omnidirectional show, reach better teaching show effect.

The upper surface of the turntable 7 close to the edge is fixedly and rotatably connected with a third shaft 8, the surface of the third shaft 8 close to the bottom is fixedly sleeved with a first transmission gear 9, and the third shaft 8 and the first transmission gear 9 on the upper surface can revolve around the vertical central line of the turntable 7 along with the rotation of the turntable 7.

An inner gear 91 is fixedly connected to the upper surface of the base 1, and through the arrangement of the inner gear 91, the transmission gear I9 revolves on the rotary table 7, and the inner gear 91 meshed with the transmission gear I9 can drive the transmission gear I9 to drive the shaft III 8 to perform fixed-axis rotation on the upper surface of the rotary table 7.

Annular groove 33 has been seted up to the inner wall of interior toothpipe 91, and annular groove 33's inner wall and carousel 7's surperficial sliding connection do not make carousel 7 further obtain the restriction in the rotation of interior toothpipe 91 through offering of annular groove 33 on the inner wall of interior toothpipe 91, stability when guaranteeing carousel 7 rotation.

The teeth on the inner wall of the inner toothed tube 91 are meshed with the teeth on the surface of the first transmission gear 9, the upper surface of the rotary table 7 is fixedly connected with a cylindrical cam 10 in a shaft-fixing mode, the surface of the cylindrical cam 10, which is close to the bottom, is fixedly sleeved with a second transmission gear 11, and the second transmission gear 11 meshed with the first transmission gear 9 can synchronously drive the cylindrical cam 10 to rotate on the rotary table 7 in a shaft-fixing mode. The teeth on the second transmission gear 11 are meshed with the teeth on the first transmission gear 9, the inner wall of the outer contour sliding groove on the cylindrical cam 10 is connected with the sliding block 12 in a sliding mode, the sliding block 12 is a spherical sliding block, the sliding block 12 is connected with the inner wall of the outer contour sliding groove on the cylindrical cam 10 in a sliding mode through the arc-shaped surface of the sliding block, the sliding block 12 is arranged in the spherical sliding block through the sliding block 12, sliding of the sliding block 12 in the outer contour sliding groove on the cylindrical cam 10 can be smooth, resistance is small, the sliding motion can be stable, abrasion can be small, and the service life is prolonged.

The side fixedly connected with lifter 13 of slider 12, the top fixedly connected with analogue means 14 of lifter 13, through the three 8 independent dead axles of axle and cylindrical cam 10 rotate and slider 12 and lifter 13's cooperation, make analogue means 14 can take the vertical central line that twists stick 15 and use axle three 8 to twist as the center of symmetry, the orbit of twisting stick 15 is shown as dotted line in fig. 1, the orbit of twisting of this arc track can simulate the ankle of people and the orbit of twisting of wrist joint department, can be vivid more and more teach the student on the spot.

The simulation device 14 comprises a transverse plate 17, the transverse plate 17 is penetrated by a third shaft 8 and movably connected with the third shaft 8, the transverse plate 17 is in limited sliding connection with an auxiliary display device 16, a rack 18 is connected to the upper surface of the transverse plate 17 in a sliding mode, a carrier plate 19 is fixedly connected to the top of the third shaft 8, a side plate 20 is fixedly connected to the upper surface of the carrier plate 19, a fourth shaft 21 is rotatably connected to the right side of the side plate 20 in a fixed-shaft mode, a third transmission gear 22 is sleeved on the surface of the fourth shaft 21 close to the left end, teeth on the rear side of the third transmission gear 22 are meshed with teeth on the front side of the rack 18, the rack 18 penetrates through the upper surface of the carrier plate 19 and is in limited sliding connection with the carrier plate 19 up and down, and the.

When the auxiliary display device is used, the transverse plate 17 is penetrated by the third shaft 8 and then is in limit sliding connection with the auxiliary display device 16, so that the movement track of the transverse plate 17 is limited, only up-and-down limit sliding can be carried out, and the movement tracks of the lifting rod 13 and the sliding block 12 on the lower surface of the transverse plate 17 are limited; through the transmission of the second transmission gear 11, after the cylindrical cam 10 can perform fixed-axis rotation on the rotary table 7, the sliding block 12 and the inner wall of the outer contour sliding groove on the cylindrical cam 10 can generate relative sliding, and under the guidance of the outer contour sliding groove on the cylindrical cam 10, the sliding block 12 can drive the lifting rod 13 and the transverse plate 17 to perform reciprocating lifting along with the continuous rotation of the cylindrical cam 10;

the third shaft 8 drives the rack 18, the loading plate 19, the side plate 20, the fourth shaft 21 and the third transmission gear 22 to synchronously rotate, so that the whole twisting rod 15 can rotate by taking the vertical central line of the third shaft 8 as a symmetric center; when the transverse plate 17 moves upwards relative to the third shaft 8, the transverse plate 17 can drive the rack 18 to synchronously move upwards relative to the loading plate 19, the third transmission gear 22 meshed with the rack 18 can rotate on the rack 18, the fourth transmission gear 21 can be driven to rotate on the side plate 20 through the rotation of the third transmission gear 22, then after the transverse plate 17 moves downwards, the rack 18 can synchronously move downwards along with the downward movement of the transverse plate 17 under the influence of gravity, along with the downward movement of the rack 18, the third transmission gear 22 can drive the fourth shaft 21 to reset and rotate on the side plate 20, along with the reciprocating rotation of the fourth shaft 21, the twisting rod 15 can also rotate by taking the horizontal central line of the fourth shaft 21 as a symmetrical center, and through the superposition of the rotation in two directions on the twisting rod 15, the twisting rod 15 can finally form a motion track shown by a dotted line in fig. 1 or 2; after the top of the twisting rod 15 is provided with the foot or hand model, the twisting rod 15 drives the model to twist, so that the twisting state of the wrist or ankle joint can be simulated, and doctors can give guidance for rehabilitation training in a targeted manner according to different states.

The surface of the shaft IV 21 close to the left end is sleeved with a torsion spring 32, and two ends of the torsion spring 32 are fixedly connected with the side plate 20 and the opposite side of the transmission gear III 22.

Through the setting of torsional spring 32, can be when the relative curb plate 20 of transmission gear three 22 rotates, filter and absorb the produced slight vibration when transmitting gear three 22 and rotate to guarantee to twist the accurate nature of the 15 wrench movement angles of stick, also guarantee the definition that camera 27 shot the picture simultaneously.

The simulation device 14 is provided with a twisting rod 15, when in use, a model of hands or feet is arranged on the top of the twisting rod 15, and then the motor 2 is powered on to finish the preparation work; twist round stick 15 and supplementary display device 16 of fixed surface connection, cooperation through supplementary display device 16 can carry out diversified shooting to the twisting stick 15 of wrench movement to transmit the picture to projection cloth or wall in real time through multimedia apparatus, further improve the teaching effect, at the teaching in-process, the doctor is through the twisting stick 15 to the rotating and the model on the twisting stick 15, can read the introduction to the recovered action angle one by one.

Supplementary display device 16 is including the connection lantern ring 23, the inner wall of the connection lantern ring 23 is connected with the fixed surface of wrench movement stick 15, the side fixedly connected with connective bar 24 of the connection lantern ring 23, the last fixed surface of carousel 7 is connected with support frame 25, support frame 25 run through the upper surface of diaphragm 17 and with diaphragm 17 sliding connection, spacing sliding connection has mount pad 26 about the left side of support frame 25, the left side fixedly connected with camera 27 of mount pad 26, the lower fixed surface of mount pad 26 is connected with and connects protruding 28, the rear side of connecting protruding 28 is rotated through the round pin axle and is connected with rotation strip 29, the bottom fixedly connected with casing 30 of rotation strip 29, the spacing sliding connection of inner wall of casing 30 has universal ball 31, the left side of universal ball 31 and the right-hand member fixed connection of connective bar 24.

During the use, along with the wrench movement of twisting stick 15, can make the synchronous wrench movement that carries on of the connecting collar 23 on it, at connecting stick 24, universal ball 31, casing 30, rotate under the normal running fit of strip 29 and connection arch 28, can pull about on the support frame 25 the mount pad 26, through reciprocating, can make camera 27 on the mount pad 26 can shoot in real time the model of twisting stick 15 and twisting on the stick 15 in different height position departments, the picture of shooing is enlargied by multimedia apparatus and is shown, the convenience is in big classroom, the back-row student also can see the real-time picture of rehabilitation teaching, the teaching efficiency of improvement.

Spacing arch 34 of right side fixedly connected with of mount pad 26, spacing gliding spacing spout 35 about supplying spacing arch 34 is seted up in the left side of support frame 25, spacing gliding about in the inner wall of spacing spout 35 about through spacing arch 34, further guarantee the stability of mount pad 26 when moving on support frame 25, cause unexpected interference to mount pad 26 when reducing connecting rod 24, universal ball 31, casing 30, rotate the transmission between strip 29 and the connection arch 28.

The working principle is as follows: when the rehabilitation teaching device for simulating the wrist-ankle joint structure of the human body is used, the base 1 is arranged to fix and support the whole device, when the rehabilitation teaching device is used, a hand or foot model is arranged at the top of the twisting rod 15, then the motor 2 is powered on, and the preparation work is finished; the output shaft on the motor 2 drives the first shaft 3 to rotate, the first shaft 3 synchronously drives the first conical gear 4 to rotate, the second conical gear 5 meshed with the first conical gear 4 drives the second shaft 6 to rotate on the base 1, the turntable 7 synchronously rotates along with the second shaft 6, and after the turntable 7 rotates, the whole device can rotate in a fixed shaft mode, so that the twisting rod 15 and a model displayed on the twisting rod 15 can be displayed in an all-dimensional mode, and a better teaching display effect is achieved; with the rotation of the turntable 7, the third shaft 8 and the first transmission gear 9 on the upper surface of the turntable 7 revolve around the vertical central line of the turntable 7, and through the arrangement of the inner gear pipe 91, the first transmission gear 9 on the turntable 7 revolves, and simultaneously, the inner gear pipe 91 meshed with the first transmission gear can drive the third shaft 9 to perform fixed-axis rotation on the upper surface of the turntable 7, and the second transmission gear 11 meshed with the first transmission gear 9 can synchronously drive the cylindrical cam 10 to perform fixed-axis rotation on the turntable 7; through the independent fixed-axis rotation of the third shaft 8 and the cylindrical cam 10 and the matching of the slide block 12 and the lifting rod 13, the simulation device 14 can drive the twisting rod 15 to twist by taking the vertical central line of the third shaft 8 as a symmetrical center, the twisting track of the twisting rod 15 is shown by a dotted line in fig. 1, the arc-shaped track can simulate the twisting track of the ankle and wrist joints of a human, and the real-field teaching can be more vividly and vividly performed on-the-spot teaching on students; through the matching of the auxiliary display device 16, the twisting rod 15 can be shot in multiple directions, and pictures are transmitted to projection cloth or a wall surface in real time through multimedia equipment, so that the teaching effect is further improved, and in the teaching process, doctors can read and introduce rehabilitation actions in angles one by one through the twisting rod 15 and the model on the twisting rod 15; through the cooperation use between the above-mentioned structure, solved in the in-service use, because traditional recovered teaching presentation device is difficult to carry out abundant simulation with human wrist ankle joint's degree of freedom and home range, simultaneously in teaching demonstration in-process, also be difficult to carry out the show of all-round multi-angle with human wrist ankle joint, make the student that is in the back row in the classroom be difficult to learn the teaching content simultaneously, make teaching efficiency and quality be difficult to the problem that promotes.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a recovered teaching device of human wrist ankle joint structure of simulation which characterized in that: the device comprises a base (1), wherein a motor (2) is fixedly connected to the upper surface of the base (1), a first shaft (3) is fixedly connected to the left end of an upper output shaft of the motor (2), a first conical gear (4) is fixedly sleeved on the surface, close to the left end, of the first shaft (3), and a second conical gear (5) is meshed with the surface of the first conical gear (4);

the inner wall fixedly connected with axle two (6) of bevel gear two (5), the bottom of axle two (6) rotates with the upper surface dead axle of base (1) to be connected, the top fixedly connected with carousel (7) of axle two (6), the upper surface dead axle that is close to the edge on carousel (7) rotates and is connected with axle three (8), the fixed surface that is close to the bottom on axle three (8) overlaps and has drive gear one (9), the upper surface fixedly connected with internal tooth pipe (91) of base (1), the tooth on internal tooth pipe (91) inner wall meshes with the tooth on drive gear one (9) surface, the upper surface dead axle of carousel (7) rotates and is connected with cylindrical cam (10), the fixed surface that is close to the bottom on cylindrical cam (10) overlaps and has drive gear two (11), the tooth on drive gear two (11) meshes with the tooth on drive gear one (9), the inner wall sliding connection that the outline spout was gone up to cylindrical cam (10) has slider (12), the side fixedly connected with lifter (13) of slider (12), the top fixedly connected with analogue means (14) of lifter (13), be equipped with on analogue means (14) and turn round stick (15), turn round stick (15) and fixed surface is connected with supplementary display device (16).

2. The rehabilitation teaching device simulating the structure of the wrist, ankle and joint of the human body according to claim 1, wherein: the simulation device (14) comprises a transverse plate (17), the transverse plate (17) is penetrated by the third shaft (8) and is movably connected with the third shaft (8), the transverse plate (17) is connected with the auxiliary display device (16) in a limiting and sliding manner, the upper surface of the transverse plate (17) is connected with a rack (18) in a sliding manner, the top of the third shaft (8) is fixedly connected with a carrying plate (19), the upper surface of the carrying plate (19) is fixedly connected with a side plate (20), a shaft IV (21) is rotationally connected with the right side dead axle of the side plate (20), a transmission gear III (22) is fixedly sleeved on the surface of the shaft IV (21) close to the left end, the teeth on the rear side of the third transmission gear (22) are meshed with the teeth on the front side of the rack (18), the rack (18) penetrates through the upper surface of the loading plate (19) and is in limited sliding connection with the loading plate (19) up and down, the bottom of the twisting rod (15) is fixedly connected with the upper surface of the shaft IV (21).

3. The rehabilitation teaching device simulating the structure of the wrist and ankle joint of the human body as claimed in claim 1 or 2, wherein: the auxiliary display device (16) comprises a connecting sleeve ring (23), the inner wall of the connecting sleeve ring (23) is fixedly connected with the surface of a twisting rod (15), the side surface of the connecting sleeve ring (23) is fixedly connected with a connecting rod (24), the upper surface of the rotary table (7) is fixedly connected with a support frame (25), the support frame (25) penetrates through the upper surface of the transverse plate (17) and is in sliding connection with the transverse plate (17), the left side upper and lower limiting sliding connection of the support frame (25) is provided with a mounting seat (26), the left side of the mounting seat (26) is fixedly connected with a camera (27), the lower surface of the mounting seat (26) is fixedly connected with a connecting bulge (28), the rear side of the connecting bulge (28) is rotatably connected with a rotating strip (29) through a pin shaft, the bottom of the rotating strip (29) is fixedly connected with a shell (30), the inner wall of the shell (30) is provided with, the left side of the universal ball (31) is fixedly connected with the right end of the connecting rod (24).

4. The rehabilitation teaching device simulating the structure of the wrist, ankle and joint of the human body according to claim 1, wherein: the sliding block (12) is a spherical sliding block, and the sliding block (12) is in sliding connection with the inner wall of the outer contour sliding groove on the cylindrical cam (10) through the arc-shaped surface of the sliding block.

5. The rehabilitation teaching device simulating the structure of the wrist, ankle and joint of the human body as claimed in claim 2, wherein: the surface of the shaft IV (21) close to the left end is sleeved with a torsion spring (32), and two ends of the torsion spring (32) are fixedly connected with the opposite sides of the side plate (20) and the transmission gear III (22).

6. The rehabilitation teaching device simulating the structure of the wrist, ankle and joint of the human body according to claim 1, wherein: annular groove (33) have been seted up to the inner wall of interior tooth pipe (91), the inner wall of annular groove (33) and the surperficial sliding connection of carousel (7).

7. The rehabilitation teaching device simulating the structure of the wrist, ankle and joint of the human body according to claim 1, wherein: the right side fixedly connected with of mount pad (26) is spacing protruding (34), spacing gliding spacing spout (35) about supplying spacing protruding (34) are seted up to the left side of support frame (25).

8. The rehabilitation teaching device simulating the structure of the wrist, ankle and joint of the human body according to claim 1, wherein: the base (1) is a round table-shaped base, and anti-skid grains are arranged at the bottom of the base (1).