CN113648183A - Ankle joint rehabilitation training device - Google Patents
Ankle joint rehabilitation training device Download PDFInfo
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- CN113648183A CN113648183A CN202110953126.0A CN202110953126A CN113648183A CN 113648183 A CN113648183 A CN 113648183A CN 202110953126 A CN202110953126 A CN 202110953126A CN 113648183 A CN113648183 A CN 113648183A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 27
- 210000003423 ankle Anatomy 0.000 claims abstract description 51
- 210000000689 upper leg Anatomy 0.000 claims abstract description 32
- 210000002414 leg Anatomy 0.000 claims description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 abstract description 17
- 230000006378 damage Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
- 210000002683 foot Anatomy 0.000 description 7
- 230000000474 nursing effect Effects 0.000 description 5
- 241001227561 Valgus Species 0.000 description 3
- 241000469816 Varus Species 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 208000032170 Congenital Abnormalities Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 210000000549 articulatio subtalaris Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 210000001519 tissue Anatomy 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
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/024—Knee
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to an ankle joint rehabilitation training device. The ankle training device comprises a bottom plate, a thigh adjusting and supporting component arranged on the bottom plate, a shank adjusting component rotationally connected with the thigh adjusting and supporting component, an ankle training component connected with the shank adjusting component and at least one pitching push rod; the ankle training subassembly includes: the device comprises a fixed platform, a movable platform, a pedal, a UPS branched chain, an SPU branched chain and a 3R branched chain, wherein the UPS branched chain, the SPU branched chain and the 3R branched chain are arranged between the fixed platform and the movable platform in parallel; the UPS branched chain, the SPU branched chain and the 3R branched chain which are arranged in parallel are adopted to jointly control the movement of the ankles of the patients, so that the ankles of the patients can be driven to realize the inward turning/outward turning, the dorsiflexion/plantar flexion and the inward turning/outward extending movement, the ankle training device can adapt to the patients with different body types, and has higher man-machine compatibility; the ankle joint training device can ensure that the motion center of the ankle joint is coincident with the rotation center of the training device, and can effectively avoid secondary damage to a patient.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to an ankle joint rehabilitation training device.
Background
The ankle joint is an important pivot of human body movement, bears the weight of the whole body, is the most important joint in lower limb joints, and in daily life, the ankle joint directly participates in actions such as standing, striding and jumping, absorbs impact from the ground and plays a role in protecting the joint, but the human being is evolved from a ape walking on four feet, so that the foot joint of the human being has congenital defects after being evolved into two-foot upright walking, the congenital defects enable the ankle joint of the human being to become one of the joints which are most easily damaged, the ankle joint is in a sagging state for a long time, and irreversible loss can be caused if the ankle joint cannot be treated in time. At present, limb rehabilitation training is mainly realized by manually simulating joint movement of a limb of a patient by professional nursing staff, the method has higher requirement on the quality of the professional nursing staff, the labor intensity of the professional nursing staff is higher, the medical cost is high for the patient, the flexibility is poorer, the burden of the rehabilitation doctors is also increased by the limitation of the number of the rehabilitation doctors and the monotonous and heavy rehabilitation training, and under the large background that the rehabilitation nursing staff is limited, the patient can effectively exercise by oneself as much as possible so as to achieve the aim of maintaining the self-care ability.
With the progress of the robot technology, in order to enable vast people to obtain timely rescue and scientific rehabilitation training when ankles are injured, reduce the workload of doctors and relieve the condition that fewer rehabilitation doctors exist, the robot with the three-degree-of-freedom series-parallel structure is designed, and can simulate the back extension/plantar flexion, inversion/eversion and internal rotation/external rotation movement of the ankles to perform rehabilitation training on the ankles of patients.
Disclosure of Invention
The ankle rehabilitation training device aims to overcome the defects that in the prior art, professional nursing personnel are required to perform rehabilitation training, the labor intensity is high, the number is small, the functions of the conventional rehabilitation device are single, and the like, and provides the ankle rehabilitation training device which can perform three-degree-of-freedom training on ankles, can reduce the burden of rehabilitation doctors, is convenient to move, and is safer and more reliable.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an ankle joint rehabilitation training device which characterized in that: the ankle training device comprises a bottom plate, a thigh adjusting and supporting assembly arranged on the bottom plate, a shank adjusting assembly rotatably connected with the thigh adjusting and supporting assembly, an ankle training assembly connected with the shank adjusting assembly and at least one pitching push rod used for adjusting the pitching angle of the ankle training assembly; the fixed end of the pitching push rod is connected with the thigh adjusting and supporting component in a sliding manner, and the telescopic end of the pitching push rod is coaxially connected with the ankle training component; the ankle training assembly comprises: the device comprises a fixed platform, a movable platform, a pedal arranged above the movable platform, and a UPS branched chain, an SPU branched chain and a 3R branched chain which are arranged between the fixed platform and the movable platform in parallel;
further, the UPS branch chain includes: the first U pair, the first electric push rod and the first hook joint are arranged on the first side of the first U pair; the first U pair comprises a first hinge seat, a first rotating shaft rotationally connected to the first hinge seat, a second rotating shaft vertically and fixedly connected with the first rotating shaft and a fixed platform connecting seat rotationally mounted on the second rotating shaft; the fixed platform connecting seat is fixedly connected with the fixed platform; one end of the first hook hinge is rotatably connected with the movable platform, and the other end of the first hook hinge is fixedly connected with the fixed end of the first electric push rod; the telescopic end of the first electric push rod is fixedly connected to the first hinge seat.
Further, the SPU branched chain includes: the second hook joint, the second electric push rod and the second U pair; one end of the second hook hinge is rotatably connected with the fixed platform, and the other end of the second hook hinge is fixedly connected with the telescopic end of the second electric push rod; the second U pair comprises: the second hinge seat is fixedly connected with the fixed end of the second electric push rod, the third rotating shaft is rotatably connected to the second hinge seat, the fourth rotating shaft is vertically and fixedly connected with the third rotating shaft, and the moving platform connecting seat is rotatably installed on the fourth rotating shaft; the movable platform connecting seat is fixedly connected with the movable platform.
Further, the 3R branches include: the device comprises a branched chain motor, a first connecting rod, a second connecting rod and a support frame; the branched chain motor is fixed at the bottom end of the fixed platform through a motor base; one end of the first connecting rod is coaxially and rotatably connected with an output shaft of the branched chain motor, and the other end of the first connecting rod is coaxially and rotatably connected with one end of the second connecting rod; the other end of the second connecting rod is coaxially and rotatably connected with one end of the supporting frame, and the other end of the supporting frame is fixedly connected with the movable platform; the UPS branch chain and the SPU branch chain are symmetrically arranged about the 3R branch chain.
Further, the thigh adjusting support assembly comprises: the lifting device comprises a height adjusting motor, a right-angle speed reducer, a lead screw, a nut, a supporting seat, a lifting platform, two first guide rails and a first sliding block, wherein the height adjusting motor is installed on a bottom plate, the right-angle speed reducer is coaxially connected with an output shaft of the height adjusting motor, one end of the lead screw is coaxially connected with the right-angle speed reducer, the nut is sleeved on the lead screw, the supporting seat is fixedly connected with the nut, the lifting platform is fixed on the bottom plate, the two first guide rails are vertically arranged on the lifting platform in parallel, and the first sliding block slides along the first guide rails; the supporting seat is fixedly connected with the first sliding block, an arc-shaped thigh supporting frame is fixed on the upper surface of the supporting seat, and the other end of the lead screw is fixedly connected with the top end of the lifting platform.
Further, the lower leg adjustment assembly comprises: two vertical fixes the second guide rail of deciding platform tip, follow the gliding second slider of second guide rail and one end with second slider fixed connection's arc shank mount, one side of second slider is provided with and is used for coming up with the retaining member that the second slider locked, the other end of arc shank mount with arc thigh support frame is connected through the coaxial rotation of pivot.
Furthermore, a lifting assembly used for adjusting the position of an ankle is arranged between the movable platform and the pedal plate; the lifting assembly comprises a diamond-shaped expansion bracket fixed on the movable platform, an expansion bracket fixing bolt with one end horizontally extending out of the diagonal of the diamond-shaped expansion bracket, and a fixing nut sleeved on the expansion bracket fixing bolt and used with the expansion bracket fixing bolt in a matched mode.
Further, a distance sensor is fixed on the movable platform and is positioned below the pedal.
Furthermore, an arc-shaped leg support is fixed on the lower surface of the fixed platform, and binding bands for fixing legs are fixed on the two sides of the arc-shaped thigh support frame, the two sides of the arc-shaped shank fixing frame, the two sides of the pedal plate and the two ends of the arc-shaped leg support.
Furthermore, a shell used for protecting the height adjusting motor and the right-angle reducer is fixed on the bottom plate, a third guide rail is vertically fixed on one side of the shell, a third sliding block is connected onto the third guide rail in a sliding mode, a baffle is fixed on the lower surface of the supporting seat, and the baffle is fixedly connected with the third sliding block; the fixed end of the pitching push rod is fixed on the baffle, and the telescopic end of the pitching push rod is fixedly connected with the motor base; the lifting platform is fixed at the top end of the shell.
The ankle joint rehabilitation training device has the beneficial effects that:
1. the ankle training component disclosed by the invention adopts the UPS branched chain, the SPU branched chain and the 3R branched chain which are arranged in parallel to jointly control the movement of the ankle of a patient, can drive the ankle of the patient to realize the varus/valgus, dorsiflexion/plantarflexion and adduction/abduction movements, adopts a parallel structure, is high in bearing capacity, can effectively reduce the burden of a damaged joint, can truly simulate the spherical movement of the ankle joint, and has high man-machine compatibility.
2. The invention can respectively adjust the positions of the arc-shaped thigh supporting frame and the arc-shaped shank fixing frame through the thigh adjusting supporting component and the shank adjusting component according to the statures of different patients, can adapt to patients with different body sizes, has wide application and simple structure, can also adjust the pitching angle of the ankle training component through the pitching push rod, meets the requirement of comfortable rehabilitation of the patient, can also realize the bending/stretching training of the knee joint of the patient through the pitching push rod, has safe and reliable mechanism and is convenient for large-area popularization.
3. The distance from the pedal to the movable platform can be adjusted through the lifting assembly, so that the movement center of the ankle joint is ensured to be coincident with the rotation center of the training device, and the risk of secondary injury to a patient is reduced.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is a block diagram of an ankle training assembly according to an embodiment of the present invention;
FIG. 3 is a block diagram of a branch of a UPS according to an embodiment of the present invention;
FIG. 4 is a branched structure diagram of an SPU in accordance with an embodiment of the present invention;
FIG. 5 is a 3R branched chain structural diagram of an embodiment of the present invention;
FIG. 6 is a block diagram of a thigh support assembly of an embodiment of the present invention;
FIG. 7 is a block diagram of a lower leg adjustment assembly of an embodiment of the present invention;
FIG. 8 is a diagram of the connection of the movable platform and the lifting assembly according to the embodiment of the present invention.
In the figure, 1, a bottom plate, 2, a thigh adjusting and supporting component, 20, a height adjusting motor, 21, a right angle reducer, 22, a screw rod, 23, a nut, 24, a supporting seat, 25, a lifting platform, 26, a first guide rail, 27, a first slide block, 28, an arc-shaped thigh supporting frame, 3, a shank adjusting component, 31, a second guide rail, 32, a second slide block, 33, an arc-shaped shank fixing frame, 34, a locking component, 4, an ankle training component, 41, a fixed platform, 42, a movable platform, 43, a pedal, 44, a UPS branched chain, 441, a first U pair, 4411, a first hinge seat, 4412, a first rotating shaft, 4413, a second rotating shaft, 4414, a fixed platform connecting seat, 442, a first electric push rod, 443, a first hooke hinge, 45, an SPU branched chain, 451, a second hooke hinge, 452, a second electric push rod, 453, a second U pair, 4531, a second hinge seat, 4532, a third rotating shaft, 4533, a fourth rotating shaft, 4534. move platform connecting seat, 46, 3R branch chain, 460, motor cabinet, 461, branch motor, 462, first connecting rod, 463, second connecting rod, 464, support frame, 5, every single move push rod, 6, lifting unit, 61, rhombus expansion bracket, 62, expansion bracket fixing bolt, 63, fixing nut, 7, distance sensor, 8, arc leg support, 9, shell, 10, third guide rail, 11, third slider, 12, baffle.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The embodiment of the ankle rehabilitation training device of the invention shown in fig. 1-8 comprises a base plate 1, a thigh adjusting and supporting component 2 mounted on the base plate 1, a shank adjusting component 3 rotatably connected with the thigh adjusting and supporting component 2, an ankle training component 4 fixedly connected with the shank adjusting component 3, and at least one pitching push rod 5 for adjusting the pitching angle of the ankle training component 4; the fixed end of the pitching push rod 5 is connected with the thigh adjusting and supporting component 2 in a sliding manner, and the telescopic end is coaxially connected with the ankle training component 4; the ankle training device has the advantages that the pitching angle of the ankle training component 4 can be adjusted under the telescopic motion of the pitching push rod 5, meanwhile, the bending/stretching training of the knee joint of a patient can be realized, and the varus/valgus, dorsiflexion/plantarflexion and adduction/abduction training of the ankle joint of the patient can be completed through the ankle training component 4.
As shown in fig. 1-5, the ankle training assembly 4 includes: the device comprises a fixed platform 41, a movable platform 42, a pedal 43 arranged above the movable platform 42, and a UPS branched chain 44, an SPU branched chain 45 and a 3R branched chain 46 which are arranged between the fixed platform 41 and the movable platform 42 in parallel; the movable platform 42 is designed to be circular, and the UPS branch chain 44 includes: the first U pair 441, the first electric push rod 442 and the first hook joint 443; the first U pair 441 comprises a first hinge seat 4411, a first rotating shaft 4412 rotatably connected to the first hinge seat 4411, a second rotating shaft 4413 vertically and fixedly connected with the first rotating shaft 4412, and a fixed platform connecting seat 4414 rotatably mounted on the second rotating shaft 4413; the fixed platform connecting seat 4414 is fixedly connected with the fixed platform 41; one end of the first hooke joint 443 is rotatably connected with the movable platform 42, and the other end is fixedly connected with the fixed end of the first electric push rod 442; the telescopic end of the first electric push rod 442 is fixedly connected to the first hinge seat 4411; the first hooke joint 443 is rotatably connected with the movable platform 42 to form a ball pair; the fixed platform 41 is designed into a U shape, when in use, the legs of a patient extend into the U-shaped opening end, and the fixed platform connecting seat 4414 is fixed on the lower surface of one end of the U-shaped opening ends of the fixed platform 41; the SPU branch chain 45 includes: a second hooke joint 451, a second electric push rod 452 and a second U-pair 453; one end of the second hook hinge 451 is rotatably connected with the fixed platform 41, and the other end is fixedly connected with the telescopic end of the second electric push rod 452; the second U pair 453 includes: a second hinge base 4531 fixedly connected with a fixed end of the second electric push rod 452, a third rotating shaft 4532 rotatably connected to the second hinge base 4531, a fourth rotating shaft 4533 vertically and fixedly connected with the third rotating shaft 4532, and a moving platform connecting base 4534 rotatably mounted on the fourth rotating shaft 4533; the fixed end of the second electric push rod 452 is fixedly connected to the second hinge mount 4531; the second hook joint 451 is rotatably connected with the fixed platform 41 to form a ball pair together; the movable platform connecting seat 4534 is fixed on the upper surface of the movable platform 42; the UPS branched chain 44 and the SPU branched chain 45 are arranged in parallel to control the movement of the ankle of the patient, the UPS branched chain 44 and the SPU branched chain 45 are symmetrical about the 3R branched chain 46, the UPS branched chain 44 and the SPU branched chain 45 have three degrees of freedom and can drive the ankle of the patient to realize the inward turning/outward turning, the dorsiflexion/plantar flexion and the inward turning/outward turning movements, the UPS branched chain 44 and the SPU branched chain 45 are matched with each other, the four movements of the dorsiflexion/plantar flexion and the inward turning/outward turning are realized mainly through the action of the first electric push rod 442 and the second electric push rod 452, the dorsiflexion/plantar flexion is realized mainly through the simultaneous extension or shortening of the first electric push rod 442 and the second electric push rod 452, and the support frame 464 of the 3R branched chain 46 is vertically fixed at the rear end of the movable platform 42, so that the rotation along with the movement of the first electric push rod 442 and the second electric push rod 452 can not be generated, and the lifting or the descending of the whole movable platform 42 can be realized, thereby realizing dorsiflexion/plantarflexion of the ankle and up-and-down stretching of the ankle. The first electric push rod 442 and the second electric push rod 452 perform opposite motions to achieve adduction/abduction, and the rear 3R branched chain 46 correspondingly rotates at the revolute pair, so as to drive the ankle to achieve adduction/abduction.
Referring to fig. 3 and 4, the first hooke joint 443 and the second hooke joint 451 have the same structure, the middle portion of the first hooke joint 443 is a cross-shaped pipe, in order to enable the cross-shaped pipe to be successfully installed, the round sleeve portion of the first hooke joint 443 is cut to serve as a bearing seat to facilitate installation of a bearing and the cross-shaped pipe, a screw M2 is connected with and screwed to the cut upper half portion of the first hooke joint 443, in order to achieve the normal function of the first hooke joint 443, namely, the rotation mode, the cut portion inside the first hooke joint 443 needs to be provided with a bearing, in order to achieve that the bearing at the end portion of the cross-shaped pipe does not move axially, a shaft sleeve is added as a limiting part, a blocking sleeve is arranged outside to prevent the bearing from moving axially, an outer blocking sleeve is added outside, the bearing seat is fixed with the bearing seat through the screw, the bearing seat is split, the shaft sleeve is respectively matched according to the round hole, the connection is made by means of screws.
As shown in fig. 5, the 3R branch 46 includes: a branched motor 461, a first connecting rod 462, a second connecting rod 463 and a supporting frame 464; the branched motor 461 is fixed at the bottom end of the fixed platform 41 through a motor base 460; one end of the first link 462 is coaxially and rotatably connected to an output shaft of the branched motor 461, and the other end is coaxially and rotatably connected to one end of the second link 463; the other end of the second connecting rod 463 is coaxially and rotatably connected with one end of a supporting frame 464, and the other end of the supporting frame 464 is fixedly connected with the movable platform 42. The branched motor 461 is fixed at two points to avoid generating unnecessary torque, the first connecting rod 462 and the second connecting rod 463 and the support frame 464 are fixed through shaft sleeves and retaining rings, so that the basic rotating function can be ensured, one end of the first connecting rod 462 is synchronously rotated with the output shaft of the branched motor 461 through a set screw, and the retaining ring is sleeved at the end part of the branched motor 461 to further avoid the first connecting rod 462 from axially moving on the output shaft of the branched motor 461. The first connecting rod 462 and the second connecting rod 463 are driven to rotate by the branched motor 461, so that the movable platform 42 is driven to turn left and right, and the ankle is driven to realize the varus/valgus training.
Referring to fig. 6, the thigh adjusting support assembly 2 includes: the device comprises a height adjusting motor 20 arranged on a bottom plate 1, a right-angle speed reducer 21 coaxially connected with an output shaft of the height adjusting motor 20, a lead screw 22 with one end coaxially connected with the right-angle speed reducer 21 through a coupler, a nut 23 sleeved on the lead screw 22, a supporting seat 24 fixedly connected with the nut 23, a lifting platform 25 fixed on the bottom plate 1, two first guide rails 26 vertically arranged on the lifting platform 25 in parallel and a first sliding block 27 sliding along the first guide rails 26; the supporting seat 24 is fixedly connected with a first sliding block 27, the arc-shaped thigh supporting frame 28 is fixed on the supporting seat 24 through a connecting rod, the other end of the screw rod 22 is fixedly connected with the top end of the lifting platform 25, the bottom plate 1 is fixed with a shell 9 used for protecting the height adjusting motor 20 and the right-angle reducer 21, one side of the shell 9 is vertically fixed with a third guide rail 10, the third guide rail 10 is connected with a third sliding block 11 in a sliding manner, the lower surface of the supporting seat 24 is fixed with a baffle 12, and the baffle 12 is fixedly connected with the third sliding block 11; the fixed end of the pitching push rod 5 is fixed on the baffle 12, and the telescopic end is fixedly connected with the motor base 460; the elevating platform 25 is fixed on the top end of the housing 9. The height adjusting motor 20 works to enable the nut 23 to move up and down along the lead screw 22, so that the arc-shaped thigh supporting frame 28 is adjusted to be at a proper height, compared with a rehabilitation robot which only provides a position for placing feet on the market, the rehabilitation robot can provide a leg support and can adjust a rehabilitation posture at the same time, and the requirement of comfortable rehabilitation of a patient is met.
As shown in fig. 7, the lower leg adjustment assembly 3 includes: the two second guide rails 31 vertically fixed at the end parts of the fixed platform 41, the second sliding blocks 32 sliding along the second guide rails 31 and the arc-shaped lower leg fixing frames 33 with one ends fixedly connected with the second sliding blocks 32, locking pieces 34 used for locking the second sliding blocks 32 are arranged on one sides of the second sliding blocks 32, the other ends of the arc-shaped lower leg fixing frames 33 are coaxially and rotatably connected with the end parts of the arc-shaped thigh supporting frames 28 through rotating shafts, the second sliding blocks 32 are manually adjusted according to the lengths of the lower legs of patients, the arc-shaped lower leg fixing frames 33 are adjusted to proper positions, and the lower legs of the patients are fixed through binding bands fixed at the two ends of the arc-shaped lower leg fixing frames 33.
Referring to fig. 8, a lifting assembly 6 for adjusting the position of an ankle is installed between the movable platform 42 and the foot pedal 43; the design of running-board 43 is designed according to the overall size of human foot, is used for restricting patient sole board 1, can avoid the emergence of the condition of falling into good condition, and the size of whole running-board 43 design is great, can adapt to different patients, and the both sides of running-board 43 are fixed with the bandage that is used for fixing patient's foot, can more conveniently carry out the luffing motion of ankle.
As shown in fig. 8, the lifting assembly 6 includes a diamond-shaped expansion bracket 61 fixed on the movable platform 42, an expansion bracket fixing bolt 62 with one end horizontally penetrating through the opposite angle of the diamond-shaped expansion bracket 61, and a fixing nut 63 sleeved on the expansion bracket fixing bolt 62 and used in cooperation therewith to fix, the fixing nut 63 is used in cooperation with the fixing bolt to limit the diamond-shaped expansion bracket 61, the movable platform 42 is fixed with a distance sensor 7, the distance sensor 7 is located below the foot plate 43, according to the difference in height from the ankle to the sole of different patients, firstly, the patients go to the hospital to take CT nuclear magnetic examination to determine the distance from the subtalar joint to the sole in the ankle, then the height from the foot plate 43 to the movable platform 42 is adjusted through the distance sensor 7 and the lifting assembly 6, thereby ensuring that the rotation center of the ankle of the patient coincides with the rotation center of the rehabilitation device.
Referring to fig. 1, be fixed with arc leg support 8 on the lower surface of deciding platform 41, the both sides of arc thigh support frame 28, the both sides of arc shank mount 33, the both sides of running-board 43 and the both ends that arc leg supported 8 all are fixed with the bandage that is used for fixed shank, not only can adopt the bandage, also can adopt the magic subsides to realize the soft fixed to patient's leg, just so can guarantee that the thickness of no matter patient's leg can all obtain the fixed of compacting, simultaneously can be at arc thigh support frame 28, the inner circle upper berth of arc shank mount 33 and arc leg support 8 is gone up one deck soft spongy tissue or flexible glue, patient's comfort level can be increased, and can avoid hard fixed to cause the injury to patient's health.
The pitch push rod 5, the first electric push rod 442 and the second electric push rod 452 are all provided with overload automatic protection devices, when the stroke of the telescopic rods of the first electric push rod 442 and the second electric push rod 452 reaches the limit position or the load exceeds the corresponding value of the rated thrust, the power supply is automatically cut off, the protection effect is achieved, the branched chain motor 461 and other components are prevented from being damaged, and the principle of the overload automatic protection devices is as follows: when the first electric push rod 442 and the second electric push rod 452 work, if the external force applied to the telescopic rod exceeds the rated output force or the telescopic rod reaches the end point, the branched-chain motor 461 still rotates, at this time, the oil pressure in the oil path is increased to the set pressure, the overflow valve quickly and accurately overflows, automatic overload protection is realized, although the motor rotates, the motor cannot be burnt, a hydraulic self-locking mechanism is designed in the oil path integrated block of the first electric push rod 442 and the second electric push rod 452, when the branched-chain motor 461 stops, the telescopic rod immediately stops at the corresponding position, the hydraulic oil is in a pressure maintaining state, the safety of the training device is effectively improved, and secondary injury to a patient can be effectively avoided.
When in specific use, the product is placed on the flat ground, the thighs are placed on the arc-shaped thigh supporting frame 28 by matching with a chair, according to the height required by the patient, the height of the arc-shaped thigh supporting frame 28 is adjusted by the height adjusting motor 20, the second slide block 32 is manually adjusted according to the length of the shank of the patient, the second slide block 32 is locked after the adjustment is completed, the legs of the patient are fixed through the bandage or the magic tape, the patient can adjust the pitching angle of the ankle training component 4 through the pitching push rod 5 according to the self requirement, after the adjustment, the ankle training component 4 is used for completing the inversion/eversion, dorsiflexion/plantar flexion and adduction/abduction training of the ankle joint of the patient, the pitching push rod 5 is used for realizing the flexion/extension training of the knee joint of the patient, the training device is safe and reliable, convenient to carry and move, high in man-machine compatibility and capable of adapting to patients of different body types.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. An ankle joint rehabilitation training device which characterized in that: the ankle training device comprises a bottom plate (1), a thigh adjusting and supporting component (2) arranged on the bottom plate (1), a shank adjusting component (3) rotatably connected with the thigh adjusting and supporting component (2), an ankle training component (4) connected with the shank adjusting component (3) and at least one pitching push rod (5) used for adjusting the pitching angle of the ankle training component (4); the fixed end of the pitching push rod (5) is connected with the thigh adjusting and supporting component (2) in a sliding way, and the telescopic end of the pitching push rod is connected with the ankle training component (4);
the ankle training assembly (4) comprises: the device comprises a fixed platform (41), a movable platform (42), a pedal plate (43) arranged above the movable platform (42), and a UPS branch chain (44), an SPU branch chain (45) and a 3R branch chain (46) which are arranged between the fixed platform (41) and the movable platform (42) in parallel.
2. The ankle joint rehabilitation training device according to claim 1, wherein: the UPS spur (44) includes: a first U pair (441), a first electric push rod (442) and a first Hooke joint (443); the first U pair (441) comprises a first hinge seat (4411), a first rotating shaft (4412) rotatably connected to the first hinge seat (4411), a second rotating shaft (4413) vertically and fixedly connected with the first rotating shaft (4412) and a fixed platform connecting seat (4414) rotatably mounted on the second rotating shaft (4413); the fixed platform connecting seat (4414) is fixedly connected with the fixed platform (41); one end of the first hook joint (443) is rotatably connected with the movable platform (42), and the other end of the first hook joint is fixedly connected with the fixed end of the first electric push rod (442); the telescopic end of the first electric push rod (442) is fixedly connected to the first hinge seat (4411).
3. The ankle joint rehabilitation training device according to claim 1, wherein: the SPU branched chain (45) includes: a second hook joint (451), a second electric push rod (452) and a second U pair (453); one end of the second hook joint (451) is rotatably connected with the fixed platform (41), and the other end of the second hook joint is fixedly connected with the telescopic end of the second electric push rod (452); the second U pair (453) includes: the second hinge seat (4531) is fixedly connected with the fixed end of the second electric push rod, the third rotating shaft (4532) is rotatably connected to the second hinge seat (4531), the fourth rotating shaft (4533) is vertically and fixedly connected with the third rotating shaft (4532), and the moving platform connecting seat (4534) is rotatably installed on the fourth rotating shaft (4533); the movable platform connecting seat (4534) is fixedly connected with the movable platform (42).
4. The ankle joint rehabilitation training device according to claim 1, wherein: the 3R branch (46) comprises: a branched motor (461), a first connecting rod (462), a second connecting rod (463) and a supporting frame (464); the branched chain motor (461) is fixed at the bottom end of the fixed platform (41) through a motor base (460); one end of the first connecting rod (462) is coaxially and rotatably connected with an output shaft of the branched motor (461), and the other end of the first connecting rod is coaxially and rotatably connected with one end of the second connecting rod (463); the other end of the second connecting rod (463) is coaxially and rotatably connected with one end of the supporting frame (464), and the other end of the supporting frame (464) is fixedly connected with the movable platform (42); the UPS branch (44) and the SPU branch (45) are symmetrically disposed about the 3R branch (46).
5. The ankle joint rehabilitation training device according to claim 1, wherein: the thigh-adjusting support assembly (2) comprises: the device comprises a height adjusting motor (20) arranged on a bottom plate (1), a right-angle speed reducer (21) coaxially connected with an output shaft of the height adjusting motor (20), a lead screw (22) with one end coaxially connected with the right-angle speed reducer (21), a nut (23) sleeved on the lead screw (22), a supporting seat (24) fixedly connected with the nut (23), a lifting platform (25) fixed on the bottom plate (1), two first guide rails (26) vertically arranged on the lifting platform (25) in parallel and a first sliding block (27) sliding along the first guide rails (26); the supporting seat (24) is fixedly connected with the first sliding block (27), an arc-shaped thigh supporting frame (28) is fixed on the upper surface of the supporting seat (24), and the other end of the lead screw (22) is fixedly connected with the top end of the lifting platform (25).
6. The ankle joint rehabilitation training device according to claim 5, wherein: the lower leg adjustment assembly (3) comprises: two vertical fixes second guide rail (31), edge of deciding platform (41) tip second slider (32) and one end of second guide rail (31) gliding and one end with second slider (32) fixed connection's arc shank mount (33), one side of second slider (32) is provided with will be used for retaining member (34) that second slider (32) locked, the other end of arc shank mount (33) with arc thigh support frame (28) are connected through the coaxial rotation of pivot.
7. The ankle joint rehabilitation training device according to claim 1, wherein: a lifting component (6) for adjusting the position of an ankle is arranged between the movable platform (42) and the pedal plate (43); lifting unit (6) are including fixing rhombus expansion bracket (61), one end level on movable platform (42) are followed expansion bracket fixing bolt (62) and the cover that the diagonal angle of rhombus expansion bracket (61) was worn out are established expansion bracket fixing bolt (62) are gone up and are used rather than the cooperation on expansion bracket fixing bolt (62) fixed nut (63).
8. The ankle joint rehabilitation training device according to claim 1, wherein: a distance sensor (7) is fixed on the movable platform (42), and the distance sensor (7) is positioned below the pedal plate (43).
9. The ankle joint rehabilitation training device according to claim 6, wherein: an arc-shaped leg support (8) is fixed on the lower surface of the bottom end of the fixed platform (41), and binding bands for fixing legs are fixed on the two sides of the arc-shaped thigh support frame (28), the two sides of the arc-shaped shank fixing frame (33), the two sides of the pedal plate (43) and the two ends of the arc-shaped leg support (8).
10. The ankle joint rehabilitation training device according to claim 5, wherein: a shell (9) used for protecting a height adjusting motor (20) and a right-angle speed reducer (21) is fixed on the bottom plate (1), a third guide rail (10) is vertically fixed on one side of the shell (9), a third sliding block (11) is connected onto the third guide rail (10) in a sliding mode, a baffle (12) is fixed on the lower surface of the supporting seat (24), and the baffle (12) is fixedly connected with the third sliding block (11); the fixed end of the pitching push rod (5) is fixed on the baffle (12), and the telescopic end is fixedly connected with the motor base (460); the lifting platform (25) is fixed at the top end of the shell (9).
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| CN202110953126.0A CN113648183A (en) | 2021-08-19 | 2021-08-19 | Ankle joint rehabilitation training device |
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| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
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| CN114732675B (en) * | 2022-05-10 | 2024-02-09 | 哈尔滨工业大学 | Ankle joint auxiliary resetting rehabilitation robot |
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