CN113018109A - Series-parallel ankle joint rehabilitation device based on pneumatic soft body structure - Google Patents
Series-parallel ankle joint rehabilitation device based on pneumatic soft body structure Download PDFInfo
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- CN113018109A CN113018109A CN202110436909.1A CN202110436909A CN113018109A CN 113018109 A CN113018109 A CN 113018109A CN 202110436909 A CN202110436909 A CN 202110436909A CN 113018109 A CN113018109 A CN 113018109A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 65
- 210000002683 foot Anatomy 0.000 claims abstract description 16
- 210000003423 ankle Anatomy 0.000 claims abstract description 13
- 230000009467 reduction Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 238000012549 training Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 239000004636 vulcanized rubber Substances 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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Abstract
The invention discloses a hybrid ankle rehabilitation device based on a pneumatic soft body structure, which belongs to the technical field of ankle rehabilitation and comprises a left-right rotation motion structure, a pneumatic motion structure and an outer cover structure, wherein the left-right rotation motion structure executes left-right rotation motion of an ankle, and the pneumatic motion structure executes dorsiflexion and plantarflexion motion and inversion and eversion motion of the ankle. The multifunctional electric foot massager realizes left rotation/right rotation, inversion/eversion, dorsiflexion/plantarflexion and mutually independent motions, adopts a form of upper and lower structure assembly, realizes modular design, and has the advantages of adjustable multiple motion modes, convenient use and wide applicability.
Description
Technical Field
The invention relates to the technical field of ankle joint rehabilitation, in particular to a hybrid ankle joint rehabilitation device based on a pneumatic soft body structure.
Background
Ankle joint takes place the injury easily and the recovery ability is weaker after the injury, and the recovery cycle is longer, and ankle joint rehabilitation training needs professional medical personnel to assist in addition, brings heavier burden and pressure for the way of receive the injury patient's recovery. The ankle joint rehabilitation robot enables rehabilitation training to be adjustable and controllable, corresponding movement can be carried out by running a pre-programmed program, people can be assisted to carry out corresponding rehabilitation movement, and labor cost is saved.
But the ankle joint rehabilitation device that exists at present makes the material mostly be metal or rigid plastic etc. have the quality too big, stability is lower, can not fine adaptation environment shortcoming. Similarly, as a rehabilitation robot for assisting the ankle joint to perform rehabilitation training, a multi-link structure or a spherical structure is adopted, so that the structure is complex and the price is high. The ankle joint rehabilitation device has the advantages that the ankle joint rehabilitation device is simple in structure, safe and comfortable to use and complete in function, and has great practical value and important scientific research significance.
Based on the above, the invention designs a hybrid ankle joint rehabilitation device based on a pneumatic soft body structure to solve the above problems.
Disclosure of Invention
The invention aims to provide a hybrid ankle rehabilitation device based on a pneumatic soft body structure, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a series-parallel ankle joint rehabilitation device based on a pneumatic soft body structure comprises a left-right rotation movement structure, a pneumatic movement structure and an outer cover, wherein the left-right rotation movement structure executes left-right rotation movement of an ankle joint, and the pneumatic movement structure executes dorsiflexion and plantarflexion movement and inversion and eversion movement of the ankle joint;
the left-right rotation executing structure comprises a rotating disc, a disc flange, a snap nail, a vertical shaft bearing, a bolt-nut connecting piece, a fixed support, a transverse shaft bearing, a transverse shaft, a synchronous belt pulley, a fixed support mounting plate, a fixed support transverse bar, a stepping motor support, a stepping motor, a small bevel gear, a large bevel gear flange, a bolt and a vertical shaft;
the lower part of the rotating disc is sequentially provided with a disc flange, a vertical shaft bearing and a fixed support, a vertical shaft is arranged in the middle of the bottom surface of the fixed support, the upper end of the vertical shaft extends out of the fixed support and is connected with the disc flange, a large bevel gear flange is arranged below the vertical shaft, the middle part of the fixed support is rotatably connected with a cross shaft, two small bevel gears and synchronous pulleys are sequentially arranged on the cross shaft from left to right, the two ends of the cross shaft extend out of the fixed support and are provided with cross shaft bearings, a stepping motor is arranged below the fixed support, the right end of the stepping motor is provided with a stepping motor support, a synchronous pulley is further arranged on.
Preferably, the rotating disc is connected with the disc flange through a snap nail, the vertical shaft bearing is connected with the fixed support through a bolt-nut connecting piece, the horizontal shaft bearing is connected with the fixed support through a bolt-nut connecting piece, the fixed support is welded with the fixed support cross bar, the fixed support cross bar is connected with the fixed support mounting plate through a snap nail, the fixed support mounting plate is connected with the bottom of the shell through a snap nail, the stepping motor support is connected with the fixed support mounting plate through a bolt-nut connecting piece, the large bevel gear is connected with the large bevel gear flange through a bolt, the disc flange, the large bevel gear flange and the vertical shaft are connected through machine-meter screws, and the small bevel gear is connected with the horizontal shaft, the horizontal shaft and the horizontal; two coaxial bevel pinions on the transverse shaft are meshed with the big bevel gear in sequence.
Preferably, the bevel pinion is an incomplete gear, and the theoretical number of complete teeth is greater than twice the actual number of teeth present.
Preferably, the pneumatic movement structure comprises a pedal, an air bag, a control window, a stepping motor driver, a switching power supply, a 24-to-12 voltage reduction module, a brushless diaphragm pump, a 12-to-9 voltage reduction module, an electromagnetic valve, a four-position relay, a mega2560 control panel and a pulse generator;
an air bag is arranged below the pedal plate, the air bag is positioned on the rotating disc, the stepping motor driver is positioned on the rear side of the bottom surface of the rotating disc, the switching power supply is positioned on the right side of the stepping motor driver, the brushless diaphragm pump is positioned on the right side of the bottom surface of the rotating disc, a 12-to-9 voltage reduction module and an electromagnetic valve are sequentially arranged on the front side of the brushless diaphragm pump, and a four-position relay, a mega2560 control panel and a pulse generator are sequentially arranged on;
the gasbag passes through vulcanized rubber and the running-board is connected, and all the other parts that are located the fixed bolster mounting panel are pasted through the magic and are connected, fixed bolster mounting panel and dustcoat.
Preferably, the pneumatic control system controls dorsiflexion/plantarflexion movement and inversion/eversion movement, different parameters can be set according to the weight of the human body, the movement mode, the movement amplitude and the movement frequency, and a user selects a corresponding rehabilitation training scheme according to actual needs.
Preferably, the stepping motor is provided with an encoder, and the position of the motor shaft of the stepping motor is recorded when the disc is in the balance position.
Preferably, the outer cover is made of high-strength composite materials, the thickness of the outer cover is 5mm, and the outer cover is provided with a control window.
Compared with the prior art, the invention has the beneficial effects that:
1. the left-right rotation executing structure is arranged, is a support and a foundation of the whole movement device, is a single-degree-of-freedom rotation structure which rotates around a central vertical shaft to realize left-right rotation, namely the left-right rotation executing structure, adjusts the installation position of a small bevel gear through parameter selection and meshing matching of relevant bevel gears, realizes left-right reciprocating rotation of a rotating disc through driving of a stepping motor and transmission of a belt and the bevel gears, can simulate left-right rotation of ankle joints, and is convenient for rehabilitation training of ankles of patients;
2. according to the ankle joint pneumatic control device, the pneumatic movement structure is arranged, the inflation deformation of different TPU air bags is realized through the pneumatic circuit, the pedal plate is pushed to simulate different movement characteristics of the ankle joint, including inversion/eversion, dorsiflexion/plantarflexion, different control modes are realized through the combination of different control buttons, and the rehabilitation training with different degrees and types can be realized according to the requirements of a user;
3. according to the invention, the outer cover is arranged, and the left-right rotation structure bottom plate and the outer shell are connected by the snap nails, so that the outer cover can realize the sealing property of rehabilitation training, protect the safety of the device and personnel safety, and is beneficial to the installation of an external control system and the production packaging;
4. the device is controlled by adopting the encoder matched with the stepping motor driver, the encoder is coaxial with the motor output shaft, the encoder can record the position of the motor shaft when the disc is in the balance position, when the device is started to execute left-right rotation movement, whether the disc is in the balance position is judged by detecting the position of the motor shaft, if the disc is not in the balance position, the disc is corrected to the balance position, after a trainer places feet, a starting button is pressed, and then a program is executed, so that the rehabilitation training of the rehabilitation personnel can be safely and normally carried out.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the right-view portion of the present invention;
FIG. 3 is a schematic view of the construction of the housing of the present invention;
FIG. 4 is a schematic view of the pneumatic circuit connection of the present invention;
FIG. 5 is a schematic view of the position of the foot and foot pedal of the pneumatic exercise mechanism of the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-rotating disc, 2-disc flange, 3-snap nail, 4-vertical shaft bearing, 5-bolt-nut connector, 6-fixed support, 7-horizontal shaft bearing, 8-horizontal shaft, 9-synchronous belt, 10-synchronous pulley, 11-fixed support mounting plate, 12-fixed support cross bar, 13-stepping motor support, 14-stepping motor, 15-bevel pinion, 16-bevel gear, 17-bevel gear flange, 18-bolt, 19-vertical shaft, 20-outer cover, 21-pedal, 22-air bag, 23-control window, 24-stepping motor driver, 25-switching power supply, 26-24-12-turn-over voltage reduction module, 27-brushless diaphragm pump, 28-12-turn-over 9-over voltage reduction module, 28-12-over voltage reduction module, 29-solenoid valve, 30-four-position relay, 31-mega2560 control board, 32-pulse generator.
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 embodiments, and all other embodiments obtained by a person of ordinary skill in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
Referring to the drawings, the present invention provides a technical solution: a series-parallel ankle joint rehabilitation device based on a pneumatic soft body structure comprises a left-handed and right-handed movement structure, a pneumatic movement structure and an outer cover 20, wherein the left-handed and right-handed movement structure executes left-handed and right-handed movement of an ankle joint, and the pneumatic movement structure executes dorsiflexion and plantarflexion movement and inversion and eversion movement of the ankle joint;
the left-right rotation executing structure comprises a rotating disc 1, a disc flange 2, a snap nail 3, a vertical shaft bearing 4, a bolt-nut connecting piece 5, a fixed support 6, a transverse shaft bearing 7, a transverse shaft 8, a synchronous belt 9, a synchronous belt pulley 10, a fixed support mounting plate 11, a fixed support transverse bar 12, a stepping motor support 13, a stepping motor 14, a small bevel gear 15, a large bevel gear 16, a large bevel gear flange 17, a bolt 18 and a vertical shaft 19;
the disc flange 2, the vertical shaft bearing 4 and the fixed support 6 are sequentially arranged below the rotating disc 1, the vertical shaft 19 is arranged in the middle of the bottom surface of the fixed support 6, the fixed support 6 extends out of the upper end of the vertical shaft 19 and is connected with the disc flange 2, the large bevel gear flange 17 is arranged below the vertical shaft 19, the transverse shaft 8 is rotatably connected to the middle of the fixed support 6, two small bevel gears 15 and synchronous pulleys 10 are sequentially arranged on the transverse shaft 8 from left to right, the fixed support 6 extends out of the two ends of the transverse shaft 8 and is provided with the transverse shaft bearing 7, the stepping motor 14 is arranged below the fixed support 1, the stepping motor support 13 is arranged at the right end of the stepping motor 14, the synchronous pulleys 10 are further arranged on the output end, and the.
The rotary disc 1 is connected with a disc flange 2 through a snap nail 3, a vertical shaft bearing 4 is connected with a fixed support 6 through a bolt-nut connecting piece 5, a horizontal shaft bearing 7 is connected with the fixed support 6 through a bolt-nut connecting piece 5, the fixed support 6 is welded with a fixed support cross bar 12, the fixed support cross bar 12 is connected with a fixed support mounting plate 11 through the snap nail 3, the fixed support mounting plate 11 is connected with the bottom of a shell through the snap nail 3, a stepping motor support 13 is connected with the fixed support mounting plate 11 through the bolt-nut connecting piece 5, a big bevel gear 16 is connected with a big bevel gear flange 17 through a bolt 18, the disc flange 2, the big bevel gear flange 17 and the vertical shaft 19 are connected through machine-meter screws, and a small bevel gear 15 is connected with a horizontal shaft 8, the horizontal shaft 8 is connected with the horizontal; two coaxial bevel pinions 15 on the transverse shaft 8 in turn mesh with a bevel bull gear 16.
Wherein the bevel pinion 15 is an incomplete gear, and the theoretical number of complete teeth is more than twice the actual number of teeth.
The pneumatic motion structure comprises a pedal 21, an air bag 22, a control window 23, a stepping motor driver 24, a switching power supply 25, a 24-to-12 voltage reduction module 26, a brushless diaphragm pump 27, a 12-to-9 voltage reduction module 28, an electromagnetic valve 29, a four-position relay 30, a mega2560 control board 31 and a pulse generator 32;
an air bag 22 is arranged below the pedal 21, the air bag 22 is positioned on the rotating disc 1, the stepping motor driver 24 is positioned on the rear side of the bottom surface of the rotating disc 1, the switching power supply 25 is positioned on the right side of the stepping motor driver 24, the brushless diaphragm pump 27 is positioned on the right side of the bottom surface of the rotating disc 1, a 12-to-9 voltage reduction module 28 and an electromagnetic valve 29 are sequentially arranged on the front side of the brushless diaphragm pump 27, and a four-position relay 30, a mega2560 control board 31 and a pulse generator 32 are sequentially arranged on the left side;
the air bag 22 is connected with the pedal 21 through vulcanized rubber, and other components positioned on the fixing support mounting plate 11 are connected in a sticking way through magic tapes, and the fixing support mounting plate 11 is connected with the outer cover 20.
The pneumatic control system controls dorsiflexion/plantarflexion movement and inversion/eversion movement, different parameters can be set according to the weight of a human body, a movement mode, movement amplitude and movement frequency, and a user selects a corresponding rehabilitation training scheme according to actual needs.
Wherein, the stepping motor 14 is provided with an encoder, and the position of the motor shaft of the stepping motor 14 when the disc is at the balance position is recorded.
Wherein, dustcoat 20 adopts high strength combined material, and thickness is 5mm, is equipped with control window 23 on the dustcoat 20.
One specific application of this embodiment is:
in the pneumatic movement structure, relays 1, 2, 3 and 4 are respectively and correspondingly connected with and control electromagnetic valves 1, 2, 3 and 4 and correspond to air bags 1, 2, 3 and 4; in the motion process, the gas of air pump is toward outer output, and program control relay 1 outage is closed promptly relay 1 outage, and solenoid valve 1 circular telegram this moment, and solenoid valve 1's gas circuit is closed by initial state's outage and is become the circular telegram and open, and gas reaches gasbag 1 through solenoid valve 1, and gasbag 1 lasts to inflate and then takes place deformation. The foot pedal is pushed to move to push the foot of the human body to move, so that the ankle joint makes dorsiflexion movement to reach a preset angle;
after the electric appliance 1 is electrified after the air inflation is finished, namely the relay 1 is electrified and disconnected, the connected electromagnetic valve 1 is also powered off, the air path for the air inflation is interrupted, the air pump stops delivering air flow at the moment, the air pressure in the air bag 1 has air pressure difference with the external air pressure, the air pressure in the air bag 1 is greater than the external atmospheric pressure, and the air bag is under the pressure action of the foot of the human body, so that the air in the air bag can be exhausted into the atmosphere through the electromagnetic valve;
after the air inflation is finished, the electric appliance 2 is powered on, namely the relay 2 is powered on and off, the connected electromagnetic valve 2 is powered off, the air inflation channel is interrupted, the air pump stops delivering air flow, the air pressure in the air bag 2 has air pressure difference with the external air pressure, the internal air pressure of the air bag 2 is greater than the external atmospheric pressure, and the air bag is under the pressure action of the foot of the human body, so that the air in the air bag is discharged into the atmosphere through the electromagnetic valve, and then the four steps are repeated in sequence;
wherein the connection mode is as follows: the power supply 25 is connected with 220V commercial power, can output 24V direct current and directly supplies power to the motor driver 24, and the power supply of the stepping motor is connected out from a power supply output interface of the motor driver 24; the output 24V direct current is reduced into 12V direct current and 9V direct current by connecting corresponding voltage reduction modules, and the electromagnetic valve 29, the vacuum diaphragm pump 27 and the Mega2560 control board 31 are respectively supplied with power; the Mega2560 control board 31 supplies power for the relay 30, the pulse generator 32 and the like, and the control buttons are connected with a Mega2560 digital pin interface. When the program is executed, the control system scans the closed state of the control interface button 23, the button is a non-self-locking film button, the button is pressed to be connected, and the button is disconnected by loosening hands. The system can record the state of the related button by pressing the button once and closing the system, and the control system can start the preset corresponding parameter program after pressing the corresponding button combination of the specific motion mode. The combined trigger program of the control buttons is executed, and signals are sent to the pulse generator, the relay, the motor driver and the like by the Mega2560 control board, so that the rotation of the motor and the inflation of the pneumatic circuit are controlled, the corresponding left-right rotation movement and the corresponding air bag inflation movement are realized, and the ankle joint rehabilitation training is carried out. Tx and Rx interfaces with serial port communication function are arranged on the pulse generator and the Mega2560 control board, and the connection mode is as follows: a Tx pin of serial port communication on a Mega2560 control board is connected with an Rx pin of a pulse generator, the Rx pin is connected with the Tx pin of the pulse generator, a 5V pin is connected with a VCC pin of the pulse generator, a GND pin is connected with a GND pin of the pulse generator, an air pump PWM control line is connected with a PWM pin of the pulse generator, the GND of the air pump is connected with the GND of the pulse generator, and the positive and negative electrodes of the air pump are connected with the positive and negative electrodes of a 12V power interface to complete signal.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The utility model provides a series-parallel ankle joint rehabilitation device based on pneumatic software structure, includes left right-handed rotation motion structure, pneumatic motion structure and dustcoat (20), its characterized in that: the left-right rotation movement structure executes left-right rotation movement of the ankle joint, and the pneumatic movement structure executes dorsiflexion and plantarflexion movement and inversion and eversion movement of the ankle joint;
the left-right rotation executing structure comprises a rotating disc (1), a disc flange (2), a snap nail (3), a vertical shaft bearing (4), a bolt and nut connecting piece (5), a fixing support (6), a transverse shaft bearing (7), a transverse shaft (8), a synchronous belt (9), a synchronous belt wheel (10), a fixing support mounting plate (11), a fixing support transverse bar (12), a stepping motor support (13), a stepping motor (14), a small bevel gear (15), a large bevel gear (16), a large bevel gear flange (17), a bolt (18) and a vertical shaft (19);
a disc flange (2), a vertical shaft bearing (4) and a fixed support (6) are sequentially arranged below the rotating disc (1), a vertical shaft (19) is arranged in the middle of the bottom surface of the fixed support (6), the upper end of the vertical shaft (19) extends out of the fixed support (6), is connected with a disc flange (2), a big bevel gear flange (17) is arranged below a vertical shaft (19), a transverse shaft (8) is rotatably connected at the middle part of the fixed support (6), two small bevel gears (15) and a synchronous belt wheel (10) are sequentially arranged on the transverse shaft (8) from left to right, two ends of the transverse shaft (8) extend out of the fixed support (6), the device is provided with a cross shaft bearing (7), a stepping motor (14) is arranged below the fixed support (1), a stepping motor support (13) is arranged at the right end of the stepping motor (14), a synchronous pulley (10) is further arranged at the output end, and a synchronous belt (9) is arranged between the two synchronous pulleys (10).
2. The hybrid ankle rehabilitation device based on the pneumatic soft body structure, according to claim 1, is characterized in that: the rotary disc (1) is connected with a disc flange (2) through a snap nail (3), a vertical shaft bearing (4) is connected with a fixed support (6) through a bolt-nut connecting piece (5), a horizontal shaft bearing (7) is connected with the fixed support (6) through the bolt-nut connecting piece (5), the fixed support (6) is welded with a fixed support cross bar (12), the fixed support cross bar (12) is connected with a fixed support mounting plate (11) through the snap nail (3), the fixed support mounting plate (11) is connected with the bottom of a shell through the snap nail (3), a stepping motor support (13) is connected with the fixed support mounting plate (11) through the bolt-nut connecting piece (5), a large bevel gear (16) is connected with a large bevel gear flange (17) through a bolt (18), the disc flange (2), the large bevel gear flange (17) and the vertical shaft (19) are connected through a machine-meter screw, the small bevel gear (15) is connected with the transverse shaft (8), the transverse shaft (8) is connected with the transverse shaft bearing (7) through a machine meter screw; two coaxial bevel pinion gears (15) on the transverse shaft (8) are meshed with a bevel gear wheel (16) in sequence.
3. The hybrid ankle rehabilitation device based on the pneumatic soft body structure, according to claim 2, is characterized in that: the small bevel gear (15) is an incomplete gear, and the theoretical complete tooth number is more than twice the actual tooth number.
4. The hybrid ankle rehabilitation device based on the pneumatic soft body structure, according to claim 1, is characterized in that: the pneumatic motion structure comprises a pedal (21), an air bag (22), a control window (23), a stepping motor driver (24), a switching power supply (25), a 24-to-12 voltage reduction module (26), a brushless diaphragm pump (27), a 12-to-9 voltage reduction module (28), an electromagnetic valve (29), a four-position relay (30), a mega2560 control board (31) and a pulse generator (32);
an air bag (22) is arranged below the pedal (21), the air bag (22) is positioned on the rotating disc (1), the stepping motor driver (24) is positioned on the rear side of the bottom surface of the rotating disc (1), the switching power supply (25) is positioned on the right side of the stepping motor driver (24), the brushless diaphragm pump (27) is positioned on the right side of the bottom surface of the rotating disc (1), a 12-to-9 voltage reduction module (28) and an electromagnetic valve (29) are sequentially arranged on the front side of the brushless diaphragm pump (27), and a four-position relay (30), a mega2560 control panel (31) and a pulse generator (32) are sequentially arranged on the left side of the electromagnetic valve (;
the air bag (22) is connected with the pedal (21) through vulcanized rubber, other components positioned on the fixing support mounting plate (11) are pasted and connected through magic tapes, and the fixing support mounting plate (11) is connected with the outer cover (20).
5. The hybrid ankle rehabilitation device based on the pneumatic soft body structure, according to claim 1, is characterized in that: the pneumatic control system controls dorsiflexion/plantarflexion movement and inversion/eversion movement, different parameters can be set according to the weight of a human body, a movement mode, movement amplitude and movement frequency, and a user selects a corresponding rehabilitation training scheme according to actual needs.
6. The hybrid ankle rehabilitation device based on the pneumatic soft body structure, according to claim 1, is characterized in that: the stepping motor (14) is provided with an encoder, and the position of a motor shaft of the stepping motor (14) is recorded when the disc is in a balance position.
7. The hybrid ankle rehabilitation device based on the pneumatic soft body structure, according to claim 1, is characterized in that: the outer cover (20) is made of a high-strength composite material, the thickness of the outer cover is 5mm, and a control window (23) is arranged on the outer cover (20).
8. The use method of the hybrid ankle rehabilitation device based on the pneumatic soft body structure as claimed in any one of claims 1 to 9, characterized by comprising the following steps:
s1, in the pneumatic movement structure, relays 1, 2, 3 and 4 are respectively and correspondingly connected with and control electromagnetic valves 1, 2, 3 and 4 and correspond to air bags 1, 2, 3 and 4;
in the motion process, the gas of air pump is toward outer output, and program control relay 1 outage is closed promptly relay 1 outage, and solenoid valve 1 circular telegram this moment, and solenoid valve 1's gas circuit is closed by initial state's outage and is become the circular telegram and open, and gas reaches gasbag 1 through solenoid valve 1, and gasbag 1 lasts to inflate and then takes place deformation. The foot pedal is pushed to move to push the foot of the human body to move, so that the ankle joint makes dorsiflexion movement to reach a preset angle;
s2, after the electric appliance 1 is powered on after the air inflation is finished, namely the relay 1 is powered off, the connected electromagnetic valve 1 is powered off, the air inflation path is interrupted, the air pump stops delivering air flow at the moment, the air pressure in the air bag 1 is different from the external air pressure, the air pressure in the air bag 1 is greater than the external atmospheric pressure, and the air bag is under the pressure action of the foot of the human body, so the air in the air bag can be exhausted to the atmosphere through the electromagnetic valve;
s3 the relay 2 outage afterwards, namely relay 2 outage is closed, solenoid valve 2 circular telegram this moment, and the gas circuit of solenoid valve 2 is closed by the outage of initial state and is become the circular telegram and open, and gas reaches gasbag 2 through solenoid valve 2, and gasbag 2 continuously inflates and then takes place deformation. The foot pedal is pushed to move to push the foot of the human body to move, so that the ankle joint makes plantarflexion movement to reach a preset angle;
s4, after the electric appliance 2 is powered on after the air inflation is finished, namely the relay 2 is powered off, the connected electromagnetic valve 2 is powered off, the air path for the air inflation is interrupted, the air pump stops delivering air flow, the air pressure in the air bag 2 is different from the external air pressure, the air pressure in the air bag 2 is larger than the external atmospheric pressure, and the air bag is acted by the pressure of the feet of the human body, so that the air in the air bag is exhausted into the atmosphere through the electromagnetic valve, and then the steps S1, S2, S3 and S4 are repeated in sequence.
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| US5186698A (en) * | 1991-06-20 | 1993-02-16 | Breg, Inc. | Ankle exercise system |
| US6277057B1 (en) * | 2000-02-28 | 2001-08-21 | Craig Hayden | Ankle rehabilitation device |
| CN103767815A (en) * | 2014-01-14 | 2014-05-07 | 北京理工大学 | Front dynamic ankle rehabilitation orthotics device |
| CN111166607A (en) * | 2019-10-19 | 2020-05-19 | 浙江省海洋开发研究院 | Comprehensive ankle joint rehabilitation training device |
| CN111904801A (en) * | 2020-09-21 | 2020-11-10 | 东北大学秦皇岛分校 | Series-parallel flexible ankle joint rehabilitation device |
| CN111973401A (en) * | 2020-09-03 | 2020-11-24 | 温州市中西医结合医院 | Ankle joint wound rehabilitation device |
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2021
- 2021-04-22 CN CN202110436909.1A patent/CN113018109B/en active Active
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|---|---|---|---|---|
| US5186698A (en) * | 1991-06-20 | 1993-02-16 | Breg, Inc. | Ankle exercise system |
| US6277057B1 (en) * | 2000-02-28 | 2001-08-21 | Craig Hayden | Ankle rehabilitation device |
| CN103767815A (en) * | 2014-01-14 | 2014-05-07 | 北京理工大学 | Front dynamic ankle rehabilitation orthotics device |
| CN111166607A (en) * | 2019-10-19 | 2020-05-19 | 浙江省海洋开发研究院 | Comprehensive ankle joint rehabilitation training device |
| CN111973401A (en) * | 2020-09-03 | 2020-11-24 | 温州市中西医结合医院 | Ankle joint wound rehabilitation device |
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