CN113813566B

CN113813566B - Ankle joint rehabilitation training device

Info

Publication number: CN113813566B
Application number: CN202111172227.0A
Authority: CN
Inventors: 余灵; 李继才; 胡杰; 豆勇森; 易金花; 简卓; 王道雨
Original assignee: Shanghai Zhuodao Medical Technology Co ltd
Current assignee: Shanghai Zhuodao Medical Technology Co ltd
Priority date: 2021-10-08
Filing date: 2021-10-08
Publication date: 2022-07-19
Anticipated expiration: 2041-10-08
Also published as: CN113813566A

Abstract

The invention discloses ankle joint rehabilitation training equipment which comprises an equipment main body, a posture adjusting device and a training device. The posture adjustment device is swingably mounted to the apparatus main body. The attitude adjustment device includes an adjustment assembly and a transmission arm. The adjusting component is arranged on the device main body, and the transmission arm can be arranged on the adjusting component in a swinging mode. The transmission arm is provided with a transmission end and a swinging end which are opposite, the adjusting component is connected with the transmission end, and the swinging end is arranged on one side far away from the transmission end. The training device is installed in the swing end, and when adjusting part drive transmission arm swung, the training device followed the synchronous swing of transmission arm to the relative distance when compensating the patient and changing different training gestures on the training device. The ankle joint rehabilitation training device provided by the invention has the advantages of high comfort and safety, rich training scenes, quick switching of the training scenes and capability of reducing the adjustment of human postures to a great extent.

Description

Ankle joint rehabilitation training device

Technical Field

The invention relates to the technical field of limb joint rehabilitation, in particular to ankle joint rehabilitation training equipment.

Background

The ankle joint is composed of a joint surface at the lower end of a tibia and a fibula and a talus pulley, so the ankle joint is also called a talus calf joint. In the process of daily activities of people, the ankle joint bears most of the weight of the human body, so that the ankle joint is one of the joints which are most prone to causing sports injury in the process of daily activities of people. Diseases of the nervous system or the skeletal muscular system, such as stroke, sports injuries, traffic accidents, etc., may all cause functional disorders of the ankle joint. A large amount of clinical research and rehabilitation medical theory show that through carrying out the active and passive rehabilitation training that bends and stretches to ankle joint, can strengthen the proprioception of the articular of suffering from side and the reflection of limbs to can induce active movement, prevent muscle atrophy, and then can improve the activity degree of joint greatly, of course, it can also promote enough and the motion relearning to nervous system at to a great extent, supplementary ankle joint will lose the function and resume gradually.

Clinically, the most popular ankle joint exercise rehabilitation treatment modes include one-to-one manual treatment by a therapist and a patient and auxiliary exercise treatment by a rehabilitation instrument. The therapeutic effect is often determined by the level of the therapist and the physical strength of the patient. Currently, ankle joint exercise rehabilitation apparatuses that have been applied to clinical use may include ankle joint Continuous passive exercise apparatuses (also referred to as ankle joint CPMs) and intelligent ankle joint training robots. However, the ankle joint CPM can only provide continuous passive motion of the joint, and active interactive training of the patient and the device is not possible. In the current market, the types of intelligent ankle joint training robots are few, wherein the invention patent with the application number of CN201910132733.3 discloses a single-joint rehabilitation robot, the height of a power output shaft from the ground can be adjusted only by adjusting the height of a supporting foot cup, and the robot can only be used for ankle joint flexion and extension training of lower limb postures of patients. Further, utility model patent with application number CN201821177180.0 discloses an ankle joint training adapter and ankle joint rehabilitation training device, it is one kind through installing power take off subassembly and adjusting power take off shaft apart from the equipment of ground height on the lift post, can be applicable to the position of sitting ankle joint training that the knee joint extends and bucking, and in-process switching over different gestures, need be to the height of seat, the seat is with the fore-and-aft position of equipment, a great deal of parameters such as leg support are adjusted, so can improve the loaded down with trivial details degree of regulation step at to a great extent, and this complete machine mechanism's implementation mode is not succinct, lead to making and use cost all higher. Further, the structure of above-mentioned two patents all has about to suffer from the limb training and switches inconvenient problem, leads to in-process that switches, must adjust the position of display screen, the position about of equipment and the position about the seat, and the practicality is relatively poor, influences patient's use and experiences. And when the patient trains under different postures, the extension distance of shank changes, and patient's relative position must also be changed, if patient's relative position does not change, then the patient can bring very big inadaptability when carrying out ankle joint training.

Therefore, based on the defects in the prior art, the inventor(s) have made extensive research for many years to develop an ankle rehabilitation training device which is comfortable and high in safety, has rich training scenes, can be switched quickly, and can reduce the adjustment of human postures.

Disclosure of Invention

The invention aims to provide ankle joint rehabilitation training equipment, which effectively solves the problems that in the prior art, the ankle joint training process is complicated, the training scene is not convenient to switch, and the patient experience is poor.

The technical scheme provided by the invention is as follows:

an ankle joint rehabilitation training device comprising:

an apparatus main body; and

an attitude adjusting device swingably mounted to the apparatus main body;

the attitude adjusting device comprises an adjusting component and a transmission arm, the adjusting component is arranged on the equipment main body, the transmission arm is arranged on the adjusting component in a swinging manner, the transmission arm is provided with a transmission end and a swinging end which are opposite, the adjusting component is connected to the transmission end, and the swinging end is arranged on one side far away from the transmission end; and

and the training device is arranged at the swinging end, and when the adjusting component drives the transmission arm to swing, the training device follows the transmission arm to swing synchronously so as to compensate the relative distance of the patient when different training postures are changed on the training device.

In this patent, adjusting part installs in the equipment principal, and adjusting part drive transmission arm swings along vertically, so, the transmission arm is at the wobbling in-process, and the longitudinal position and the transverse position of its swing end also change in step to can adjust trainer's transverse position and longitudinal position in step. That is, the training device can present an arc-shaped lifting motion track through the rotating lifting mode, when the position of the training device is gradually raised, the distance between the training device and the patient is gradually increased, and the patient can gradually transit from the knee bending state to the knee straightening state; as the position of the exercise device is gradually lowered, the distance between the exercise device and the patient is gradually reduced, and the patient can gradually transit from the straight knee state to the bent knee state. Above-mentioned setting can compensate the change of patient's ankle joint position for the patient is when the state transform of bending the knee and straightening the knee, and shank displacement is still less, and need not adjust human posture by a wide margin, thereby can improve the comfort level of patient when carrying out the rehabilitation training greatly, and then can accelerate the rehabilitation process.

Further preferably, the exercise device comprises a foot pedal member and a leg rest member; the pedal component is detachably arranged at the swinging end, the leg support component is rotatably arranged at the swinging end, and the pedal component and the leg support component are arranged on the same side; when the feet of the patient step on the pedal parts to perform ankle joint rehabilitation training, the leg support parts are used for supporting the lower limbs of the patient.

Further preferably, the swing end has two power output parts which are oppositely arranged and located on the same axis, and each power output part is connected with a transmission shaft in a driving manner; the pedal part is selectively arranged on one of the transmission shafts, and the transmission shafts are used for driving the pedal part to rotate; and the leg support part is at least arranged on one of the transmission shafts, and the leg support part automatically rotates around the transmission shaft and is self-locked at any position in the rotating process.

Further preferably, the pedal part comprises a pedal and transmission cylinders respectively arranged at two opposite sides of the pedal; each transmission shaft is provided with an installation head; the pedal is in butt joint with any mounting head through any transmission cylinder so as to realize transmission connection with the power output part.

Further preferably, the mounting head includes a guide member and a retaining member; the guide piece is arranged at the free end of the transmission shaft and is used for butting the transmission cylinder; and the backstop piece is arranged on the guide piece and used for locking the transmission cylinder on the guide piece.

Further preferably, the foot rest bottom portion is adjustably mounted with a stop for abutting the heel of the patient's foot.

Further preferably, the leg rest comprises a swing arm, a locking assembly and a leg holder; the swing arm is provided with two swing parts which are arranged oppositely, and the two swing parts are respectively connected with the two transmission shafts in a rotating way so as to realize that the leg support part swings relative to the two transmission shafts; the leg bracket is hinged to the swing arm through a rotating rod; and the locking assembly is arranged on the transmission arm and/or the swing arm, and is used for limiting the swing arm to swing back and forth within a preset stroke range and fixing the swing arm at any position in the swing process.

Further preferably, each swing part is provided with a limiting disc; each limiting disc is internally embedded with a bearing; the two bearings are respectively sleeved on the two transmission shafts, so that the swing arm can swing relative to the two transmission shafts.

Further preferably, a pin shaft is inserted in the guide member, a first limit bump and a second limit bump which are matched with the pin shaft in a preset distance and are respectively arranged on the limit disc, and a first limit switch matched with the first limit bump in a function and a second limit switch matched with the second limit bump in a function are also arranged on the limit disc; wherein the pedal member has a rotational stroke; when the pin shaft abuts against the first limit bump, the second limit bump and the second limit switch are matched with each other in an action manner so as to limit the pin shaft to rotate continuously; when the pin shaft is abutted against the second limiting lug, the first limiting lug is matched with the first limiting switch in an action manner so as to limit the pin shaft to rotate continuously; the first limit switch and the second limit switch are jointly used for limiting the pin shaft to move back and forth in the rotation stroke.

Further preferably, a power output assembly is arranged in the transmission arm, the adjusting assembly comprises a linear driver fixed in the device body, and the linear driver is connected to the transmission end of the transmission arm in a driving manner and used for driving the transmission arm to swing relative to the device body; and the power output assembly comprises a motor, a speed reducer, a torque sensor and a commutator which are sequentially driven and butted, the commutator is provided with two power output parts, and the connecting direction of the two power output parts is vertical to the transmission direction of the power output assembly.

Further preferably, the equipment main body comprises a base and an electrical cabinet arranged on the base; the electric cabinet is provided with an interaction device and a supporting device; the electrical cabinet is provided with at least one information input interface and at least one information output interface; one side of the transmission arm, which is adjacent to the training device, is provided with a safety control; and one end of the base, which is back to the electrical cabinet, is provided with a fixing part and a traveling part.

Further preferably, the electrical cabinet has an inclined slope surface, the inclined slope surface is provided with a rotating groove, the rotating groove is communicated with the inside of the electrical cabinet, a transmission end of the transmission arm is hinged to the rotating groove, and the transmission end extends to the inside of the electrical cabinet through the rotating groove and is used for butting the adjusting component.

The invention has the technical effects that:

1. in this patent, adjusting part installs in the equipment main part, and adjusting part drive transmission arm swings along vertically, so, transmission arm is at the wobbling in-process, and the longitudinal position and the transverse position of its swing end also change in step to can adjust trainer's transverse position and longitudinal position in step. That is, the training device can present an arc-shaped lifting motion track through the rotating lifting mode, when the position of the training device is gradually raised, the distance between the training device and the patient is gradually increased, and the patient can gradually transit from the knee bending state to the knee straightening state; as the position of the exercise device is gradually lowered, the distance between the exercise device and the patient is gradually reduced, and the patient can gradually transit from the straight knee state to the bent knee state. Above-mentioned setting can compensate the change of patient's ankle joint position for the patient is when the state transform of bending the knee and straightening the knee, and shank displacement is still less, and need not adjust human posture by a wide margin, thereby can improve the comfort level of patient when carrying out the rehabilitation training greatly, and then can accelerate the rehabilitation process.

2. In this patent, rehabilitation training device can use with supporting such as ordinary seat, wheelchair and sick bed, and the use scene is abundant.

3. In this patent, through setting up two power take off portion symmetries, so can realize the two side output of power to can realize that the initiative of left side or right side ankle joint is passively bent and is stretched the training, and can also realize the synchronous initiative passive training of bending and stretching of the left and right sides ankle joint.

4. In this patent, through the mode that adopts the two side output of power, can effectively solve equipment and the biased problem of display that unilateral output caused for overall structure symmetry and atress are even, so, can realize tearing open the running-board fast and trade to relative opposite side, and can rotate the leg bracket to corresponding side fast.

5. In this patent, the running-board is fixed in on the transmission shaft through the installation head, and the interval of predetermineeing between the running-board of both sides can adapt to the both feet interval of the most patient, and the patient is at the in-process of training, and this interval can not influence ankle joint's normal initiative and passive bending and stretching training.

6. In this patent, leg holds in the palm the part and articulates in two transmission shafts through the swing arm, and the accessible locking Assembly is fixed in and rotates arbitrary position of in-process along two transmission shafts, so can effectively avoid the height of leg bracket and the trouble of angle secondary control.

7. In this patent, the footboard bottom is inserted and is equipped with a gliding baffle of fore-and-aft direction along the footboard, and this baffle can be used to butt patient's heel to can realize adjusting patient's ankle joint position.

8. In this patent, the patient is when using this rehabilitation training device, and its health is located the position directly in front of equipment all the time, can reduce the adjustment frequency of human gesture to a great extent. That is, when the patient wants to switch between the application scenes such as the left and right ankle joints and adjust the position of the lower limb, the user only needs to operate the mounting head to disassemble and assemble the pedal member and operate the locking assembly to adjust the positions of the swing arm and the leg holder. The adjusting steps of the process are few, the adjusting mode is fast and convenient, and the patient or the equipment does not need to be moved greatly, so that the comfort level of the patient in the training process can be improved to a great extent, and the rehabilitation process is accelerated.

9. In this patent, the swing arm can swing for two transmission shafts, and the dwang can rotate for the swing arm, and the leg bracket can rotate for the dwang, so, can adjust the position of leg bracket on a large scale, make only need to shift patient's low limbs in the sagittal plane can accomplish the adjustment of training posture, can significantly reduce because of the unexpected push-pull power of low limbs removal on a large scale in the space, thereby reduce pain and muscle damage because of dragging and bring.

10. In this patent, the leg holds in the palm the part and can be provided with a series of accessories according to the actual size of a dimension with pedal part, so can realize carrying out quick assembly disassembly to it for the lower limbs physique of different patient groups of adaptation.

11. In this patent, through setting up safety control and a series of spacing protection, can improve the security of patient in the training process to a great extent.

12. In this patent, power take off subassembly is including driving a motor, a reduction gear, a torque sensor and the commutator that docks in proper order, and two power take off portion set up on the commutator, so, can realize the enlarged output of power.

Drawings

The invention is described in further detail below with reference to the following figures and embodiments:

FIG. 1 is a schematic structural view of a product of the present invention;

fig. 2 is a schematic diagram of the electrical cabinet shown in fig. 1;

fig. 3 is a schematic structural view of the posture adjustment apparatus shown in fig. 1;

FIG. 4 is a schematic view of the assembled commutator and drive shaft of FIG. 3;

FIG. 5 is a schematic view of the exercise device shown in FIG. 1 in one state;

FIG. 6 is a schematic view of the exercise device shown in FIG. 1 in another configuration;

FIG. 7 is a schematic structural view of the oscillating member shown in FIG. 6;

FIG. 8 is a schematic structural view of the assembly of a limiting disc and a flange shaft of the product of the invention;

FIG. 9 is a schematic view of the structure of the assembly of the flange shaft, the clasping sleeve and the locking clamp of the product of the invention;

FIG. 10 is a schematic structural view of the footrest member shown in FIG. 6;

FIG. 11 is a diagram of the use of the product of the present invention in one state;

FIG. 12 is a diagram of the use of the product of the present invention in another state;

FIG. 13 is a diagram illustrating the use of the product of the present invention in still another state;

fig. 14 is a using state diagram of the product of the invention in still another state.

The reference numbers illustrate:

a rehabilitation training device 100; an apparatus main body 1; a base 11; a fixing member 111; a traveling member 112; an electrical cabinet 12; an inclined ramp 121; the rotation grooves 122; a rotary hole 1221; a support frame 123; an interaction means 13; an interactive screen 131; an interaction panel 132; a holding device 14; a frame 15; an attitude adjusting device 2; an electric push rod 21; a body portion 211; a push rod part 212; a transmission arm 22; a transmission arm body 221; security controls 2211; swing arm 2212; a support arm body 22121; a hinge 22122; a drive end 2213; swing end 2214; a power take-off assembly 222; a motor 2221; a speed reducer 2222; torque sensor 2223; a commutator 2224; a power take-off 22241; a drive shaft 223; a training device 3; a leg rest member 31; a swing arm 311; the swing member 3111; a swing portion 31111; a leg rest lever 3112; a butt-joint end 31121; a chute 31122; first end wall 31123; second end wall 31124; a slide hole 31125; a movable groove 31126; a first locking member 3121; an arc-shaped rack 31211; a lock shaft 31212; a spring 31213; a cam handle 31214; a first limit pin 31215; insections 31216; the second locking piece 3122; a first stop 31221; a second stopper 31222; a second restraint pin 31223; rotating the lever 3131; a leg bracket 3132; a limiting disk 314; a first limit bump 3141; a second limit bump 3142; a first limit switch 3143; a second limit switch 3144; a foot pedal member 32; a foot pedal 321; a baffle 3211; a knob 3212; a transmission cylinder 322; spline grooves 3221; a mounting head 33; a flange shaft 331; a pin 3311; a clasping sleeve 332; a locking clip 333.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

For the sake of simplicity, only the parts relevant to the present invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "a" means not only "only one of this but also a case of" more than one ".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.

In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

In addition, in the description of the present application, the terms "first," "second," and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

According to an embodiment of the present invention, as shown in fig. 1 to 3, an ankle joint rehabilitation training apparatus 100 includes an apparatus main body 1, a posture adjusting device 2, and a training device 3. The posture adjusting device 2 is swingably mounted to the apparatus main body 1. The attitude adjustment means 2 comprises an adjustment assembly and a drive arm 22. The adjusting unit is mounted to the apparatus body 1, and the transmission arm 22 is swingably mounted to the adjusting unit. Actuator arm 22 has opposite actuator end 2213 and a swing end 2214, and adjustment assembly is connected to actuator end 2213, and swing end 2214 is disposed on a side away from actuator end 2213. The training device 3 is mounted at the swing end 2214, and when the adjusting assembly drives the driving arm 22 to swing, the training device 3 synchronously swings along with the driving arm 22 to compensate the relative distance of the patient when changing different training postures on the training device 3.

In this embodiment, the adjusting assembly is mounted on the apparatus body 1, and the adjusting assembly drives the driving arm 22 to swing along the longitudinal direction, so that the longitudinal position and the transverse position of the swinging end 2214 of the driving arm 22 are synchronously changed in the swinging process, thereby synchronously adjusting the transverse position and the longitudinal position of the training device 3. That is, the training device 3 can present an arc-shaped lifting motion track by the way of rotating and lifting, and when the position of the training device 3 is gradually raised, the distance between the training device and the patient is gradually increased, so that the patient can gradually transit from the knee bending state to the straight knee state; as the position of the exercise device 3 is gradually lowered, its distance from the patient is gradually drawn, which may gradually transition the patient from a straight knee condition to a bent knee condition. Above-mentioned setting can compensate the change of patient's ankle joint position for the patient is when the state transform of bending the knee and straightening the knee, and shank displacement is still less, and need not adjust human posture by a wide margin, thereby can improve the comfort level of patient when carrying out the rehabilitation training greatly, and then can accelerate the rehabilitation process.

Further, in this embodiment, referring to fig. 1, the apparatus main body 1 may include a base 11 and an electrical cabinet 12 disposed on the base 11, and various components and circuits may be disposed in the electrical cabinet 12. It should be noted that, in order to effectively improve the stability of the whole rehabilitation training device 100 in the operation process, the base 11 and the electrical cabinet 12 may be designed in an integrated manner, but are not limited thereto. It is worth mentioning that the electrical cabinet 12 can be disposed on one side of the base 11, so as to provide a sufficient training space for the patient and improve the compactness of the overall equipment structure layout. Of course, such a structural arrangement can also make the patient when using this rehabilitation training device 100, its health can be located the position directly in front of equipment all the time, and just to regulator cubicle 12, can reduce the adjustment frequency of human gesture to a great extent, and then accelerate the rehabilitation process.

Further, in the present embodiment, referring to fig. 1, a fixing member 111 and a traveling member 112 are disposed at an end of the base 11 opposite to the electrical cabinet 12, that is, a bottom position of the base 11. Specifically, as a preferred example of the present embodiment, referring to fig. 1, the base 11 may have a square plate-shaped structure, which may be made of a high-strength metal material, but is not limited thereto. The moving member 112 may include a plurality of universal rollers, and at least four corners of the base 11 are ensured to be installed with a universal roller, and the universal roller is used for driving the whole rehabilitation training device 100 to move. Preferably, the universal roller may be constructed in a quick-release manner, so that when the rehabilitation training device 100 needs to operate, the universal roller can be detached from the base 11, so that the fixing member 111 can be supported at a predetermined position on the ground to fix the rehabilitation training device 100. Of course, in this example, the universal roller may also be of a foldable structure, and when the rehabilitation training device 100 needs to operate, the universal roller may be folded inside the base 11, so that the fixing member 111 can be supported on the ground. That is, any structure is within the scope of protection of the present patent as long as it can ensure that the lowest end of the universal roller is higher than the lowest end of the fixing member 111, so that the fixing member 111 can play a role of supporting and fixing. Further, in this example, the fixing member 111 may include a plurality of foot cups detachably assembled to the lower end of the base 11, and after the rehabilitation training device 100 is moved to a designated position, the universal rollers may be detached or folded from the base 11, and the foot cups may be mounted to the lower end of the base 11 to fix the rehabilitation training device 100. It is worth mentioning that the diameter of the foot cup gradually increases from the base 11 to the ground, which can greatly improve the stability during the fixing process, but is not limited thereto.

Further, in this embodiment, a control device for controlling the adjustment assembly may be disposed in the electrical cabinet 12. Specifically, the control device may include an electrical panel and various control modules or control components, which are all within the protection scope of the present patent and are not described herein.

Further, the electrical cabinet 12 is provided with at least one information input interface and at least one information output interface for the patient to perform operations such as data input and output, which are connected to a signal and/or electrically connected to the control device. It should be noted that the information input interface may include, for example, a USB terminal, and the information output interface may include, for example, a printer, and the like, which is not limited herein and may be specifically configured according to actual use requirements.

Further, in this embodiment, referring to fig. 1, an interaction device 13 may be disposed on the electrical cabinet 12. Preferably, the interaction device 13 may include an interaction screen 131 and an interaction panel 132, which are signal-connected and/or electrically connected to the control device. Specifically, a rack 15 may be assembled on top of the electrical cabinet 12, and the interactive screen 131 may be assembled on an upper end of the rack 15. Wherein, this frame 15 can adopt over-and-under type design, and this mutual screen 131 can adopt the articulated mode to assemble in the upper end of frame 15, so, can realize the regulation to mutual screen 131 height and every single move range, the patient of the different heights of being convenient for all can carry out the interactive operation, and can assemble mutual panel 132 in the top of regulator cubicle 12, and be close to frame 15 setting, so can be convenient for the patient to carry out the interactive operation, but not be limited to this.

It should be noted that, in this embodiment, the interactive screen 131 may include a touch screen on which the patient may play various rehabilitation training games. Certainly, the patient can also watch audio-video videos and the like through the touch screen during training so as to relieve fatigue in the training process and enhance the interestingness of training. Of course, the interactive screen 131 can also be a display screen with a keyboard, which is within the protection scope of the present patent and will not be described herein.

Further, in this embodiment, the interactive panel 132 may include a control panel with buttons for the patient to operate to implement various interactive training functions. For example, the operation of the adjustment assembly can be controlled by operating the interface panel 132 to realize the lifting movement of the driving arm 22, which is the solution that can be realized by the present embodiment. Of course, the interactive panel 132 may also be an independently installed remote controller, and the same effect as above can be achieved by remote control of the remote controller.

Further, in this embodiment, with reference to fig. 1, a supporting device 14 is further disposed on the electrical cabinet 12. Specifically, the supporting device 14 may be an armrest for supporting the patient, which is preferably assembled on the frame 15, but not limited thereto, and the embodiment may not set any limit to the specific configuration of the armrest.

Further, in this embodiment, with reference to fig. 1, a safety control 2211 may be disposed on a side of the driving arm 22 adjacent to the training device 3, and the safety control 2211 is used for providing a near-body safety protection for the patient when an emergency situation occurs during the rehabilitation training of the patient. For example, the safety control 2211 can be a magnetic element, and when a sudden situation occurs, the patient can directly pull the magnetic element away from the original position, so as to achieve an emergency stop of the rehabilitation training device 100, thereby avoiding an unexpected situation, i.e. similar to the magnetic function of a treadmill, which is not described herein.

In this embodiment, the adjustment assembly may be installed inside the electrical cabinet 12 of the apparatus main body 1. It is noted that the adjusting assembly can be any member capable of driving the transmission arm 22 to swing longitudinally, and it is within the scope of the present patent disclosure. As a preferred example of this embodiment, referring to fig. 2 and 3, the adjustment assembly may include a linear actuator, such as an electric push rod 21, fixed inside the electrical cabinet 12. The electric putter 21 may include a body 211 and a putter portion 212 drivingly connected to the body 211. Further, electrical cabinet 12 is formed with an inclined slope surface 121 facing the patient training direction, wherein the main body 211 is fixed on the base 11 corresponding to the bottom of electrical cabinet 12, and the main body 211 is inclined towards the inclined slope surface 121, so that the push rod portion 212 can point to the inclined slope surface 121.

As a further optimization of the present embodiment, referring to fig. 2, a position of the inclined slope surface 121 corresponding to the free end of the push rod portion 212 is provided with a rotating groove 122, the rotating groove 122 is recessed towards the inside of the electrical cabinet 12, and the rotating groove 122 is communicated with the inside of the electrical cabinet 12. The driving arm 22 is hinged to the rotating groove 122, and one end of the driving arm 22, which is used for hinging the rotating groove 122, extends into the electrical cabinet 12 through the rotating groove 122 to butt against the adjusting component, specifically against the free end of the push rod part 212, so as to realize the longitudinal swing of the driving arm 22 under the driving of the body part 211.

Preferably, in the present embodiment, referring to fig. 2 and 3, the transmission arm 22 may include a transmission arm body 221 and a power take-off assembly 222 assembled in the transmission arm body 221. The transmission arm body 221 may be a hollow long arm structure, and a swing arm 2212 for carrying the power output assembly 222 is further installed in the transmission arm body 221, and the swing arm 2212 may also be a long arm structure.

Further, referring to fig. 3, the swing arm 2212 may include an arm body 22121 and a hinge 22122 at the end of the arm body 22121. The arm body 22121 is located inside the transmission arm body 221, and the hinge portion 22122 extends to the outside of the transmission arm body 221. A rotating shaft is inserted at the joint of the hinge portion 22122 and the support arm body 22121, two inner walls of the rotating groove 122 opposite to each other are respectively provided with a rotating hole 1221, two ends of the rotating shaft are respectively inserted into the two rotating holes 1221, and one end of the hinge portion 22122 far away from the support arm body 22121 is hinged to the free end of the push rod portion 212, so that the longitudinal swing of the whole transmission arm 22 can be realized under the driving action of the electric push rod 21.

Further, referring to fig. 3, in order to strengthen the stability of the driving arm 22 during the swinging process, a supporting frame 123 may be disposed inside the electrical cabinet 12 and at a position corresponding to the rotating groove 122, and two end portions of the rotating shaft extending to the outside of the two rotating holes 1221 are respectively hinged to the top of the supporting frame 123, so that the stability of the hinged portion can be strengthened to a great extent under the auxiliary support of the supporting frame 123, thereby improving the stability of the whole driving arm 22 during the swinging process.

In this embodiment, referring to fig. 3 and 4, the swinging end 2214 of the transmission arm 22 has two oppositely disposed power output portions 22241 located on the same axis, and a transmission shaft 223 is assembled on each power output portion 22241, and the power output assembly 222 is used for driving the transmission shaft 223 to rotate. It is worth mentioning that the axes of the two transmission shafts 223 and the rotation axis of the transmission arm 22 are arranged in parallel to each other.

Specifically, the power output assembly 222 is signally and/or electrically connected to the control device. As a further optimization, the power take-off assembly 222 may include a motor 2221, a speed reducer 2222, a torque sensor 2223, and a commutator 2224, which are sequentially driven into engagement. It should be noted that the motor 2221, the speed reducer 2222, the torque sensor 2223 and the commutator 2224 can be sequentially driven and butted in the direction from the driving end 2213 to the swinging end 2214. The control device is used for controlling the motor 2221 to operate, the motor 2221 is decelerated by the speed reducer 2222 and then is connected with the commutator 2224 in series through the torque sensor 2223, and output power can be amplified under the action of the speed reducer 2222.

Further, the commutator 2224 has two power output parts 22241, and the connecting line of the two power output parts 22241 is perpendicular to the transmission direction of the power output assembly 222, so that the conversion of the power direction and the bidirectional output can be realized. Of course, the power take-off assembly 222 may have any other configuration and be within the scope of the present patent. It should be mentioned that, in this embodiment, the two power output portions 22241 are symmetrically arranged, so that the bilateral output of power can be realized, and thus the active and passive flexion and extension training of the left or right ankle joint can be realized, and the synchronous active and passive flexion and extension training of the left and right ankle joints can also be realized. And the mode of power bilateral output is adopted, the problem of equipment and display offset caused by unilateral output can be effectively solved, and the whole structure is symmetrical and the stress is uniform.

In this embodiment, referring to fig. 3, the training device 3 comprises a footrest part 31 and a footrest part 32. The footrest member 32 is removably mounted to the swing end 2214, the footrest member 31 is rotatably mounted to the swing end 2214, and the footrest member 32 and the footrest member 31 are disposed on the same side. The leg rest 31 is used to support the lower leg of the patient when the foot of the patient steps on the foot rest 32 to perform ankle rehabilitation training.

Further, the leg rest member 31 is mounted on at least one of the transmission shafts 223, and the leg rest member 31 can rotate around the transmission shaft 223 and can be self-locked at any position along the rotation process. Specifically, referring to fig. 3 to 8, the leg rest 31 may include a swing arm 311, two limiting plates 314, a locking assembly and a leg bracket 3132. The swing arm 311 has a swing member 3111 in a U shape and a leg rest 3112 connected to the swing member 3111. The leg rest 3112 is preferably installed at a middle position of the swing member 3111, so as to ensure that both sides of the leg rest 3112 are uniformly stressed during the swing of the swing arm 311, so that the swing arm 311 swings more smoothly and steadily.

Further, the swing piece 3111 has two swing portions 31111, and each swing portion 31111 is provided with a through hole, the two transmission shafts 223 respectively extend to the outer side of the swing portion 31111 through the through holes, and the transmission shafts 223 are in clearance fit with the through holes. And two limiting discs 314 fixed to the outer wall surfaces of the two swing portions 31111, respectively, and disposed coaxially with the through holes. A bearing is installed at the center of each limiting disc 314, and the two bearings are respectively sleeved on the two transmission shafts 223, so that the two limiting discs 314 and the swing arm 311 can swing back and forth relative to the two transmission shafts 223 under the driving of the two bearings.

Further, a locking assembly is assembled on the commutator 2224 of the driving arm 22 and/or the leg rest lever 3112 of the swing arm 311 for limiting the swing arm 311 to swing back and forth within a preset stroke range, and for fixing the swing arm 311 at any position during the swing along the two transmission shafts 223, thereby realizing the adjustment and fixation of the position of the leg rest member 31, and further realizing the support of the leg of the patient.

In this embodiment, referring to fig. 5 and 6, the locking assembly may include a first locking member 3121. Specifically, the first locking member 3121 may include an arc-shaped rack 31211, a locking shaft 31212, a spring 31213, and a cam handle 31214. A sliding groove 31122 may be formed on a side wall of the leg rest lever 3112, the sliding groove 31122 includes a first end wall 31123 facing the swinging member 3111 and a second end wall 31124 away from the swinging member 3111, and a sliding hole 31125 may be formed on the first end wall 31123 and extend to an inner side of the swinging member 3111. Further, referring to fig. 7, a first limit pin 31215 may be disposed on the locking shaft 31212, and an axis of the first limit pin 31215 and an axis of the locking shaft 31212 may be perpendicular to each other. When the locking shaft 31212 is assembled in the slide groove 31122, one end of the locking shaft 31212 is inserted into the slide hole 31125 and can reciprocate in the axial direction of the slide hole 31125. The spring 31213 is sleeved on the locking shaft 31212, and two ends thereof respectively abut against the first limit pin 31215 and the first end wall 31123. Further, a cam handle 31214 is hinged to both the leg rest 3112 and the end of the locking shaft 31212 remote from the slide hole 31125 for cooperation with the second end wall 31124. It should be noted that, referring to fig. 6 and 7, the cam handle 31214 may be hinged to an end portion of the locking shaft 31212 by a pin shaft, and a movable groove 31126 may be respectively formed at positions of the leg rest 3112 corresponding to side walls of both ends of the pin shaft, for inserting the end portion of the pin shaft therein. Here, the movable groove 31126 may be a strip-shaped groove structure and is extended along the axial direction of the locking shaft 31212.

Further, referring to fig. 5-7, an arcuate rack 31211 is mounted to the diverter 2224 and directly below the slide aperture 31125. The extending direction of the arc-shaped rack 31211 is the swinging direction of the swinging arm 311. The end of the locking shaft 31212 facing the sliding hole 31125 is provided with a tooth mark 31216 matching with the arc-shaped rack 31211, when the swing arm 311 is operatively swung to a predetermined position, the cam handle 31214 is operated to abut against the second end wall 31124, and the pin 3311 abuts against the lower end wall of the movable groove 31126, so that the locking shaft 31212 abuts against the predetermined position on the arc-shaped rack 31211, thereby fixing the swing arm 311 at any predetermined position in the swinging process along the two transmission shafts 223. When the cam handle 31214 is separated from the second end wall 31124, the spring 31213 drives the locking shaft 31212 to separate from the arc-shaped rack 31211, so that the swing arm 311 continues to swing along the two transmission shafts 223, i.e. the spacing between the swing arm 311 and the two transmission shafts 223 is released, and thus the adjustment of the tilting range of the leg rest 31 can be realized.

In this embodiment, in order to limit the swing arm 311 to swing back and forth within a predetermined range of travel, the locking assembly may further include a second locking member 3122. Specifically, referring to fig. 3 and 5, the second locking member 3122 may include a first stopper 31221 and a second stopper 31222 assembled to the commutator 2224, and two second limit pins 31223 respectively assembled to inner wall surfaces of the two swing portions 31111. The two second limit pins 31223 are symmetrically disposed along a center line of the swing arm 311, and the two second limit pins 31223 are located on the same axis, and the axis is perpendicular to a connection line between the first stop 31221 and the second stop 31222. And the two second limit pins 31223 are both positioned between the first stop 31221 and the second stop 31222, so that in the swinging process of the swinging arm 311, the two second limit pins 31223 are respectively matched with the first stop 31221 and the second stop 31222 in an abutting mode, so that the swinging arm 311 is limited within the stroke range between the first stop 31221 and the second stop 31222 to perform reciprocating motion.

Further, in the present embodiment, referring to fig. 5 and 6, an end of the leg rest lever 3112 remote from the swing member 3111 forms a butt end 31121, and the leg rest 3132 may be hinged to the butt end 31121 by a rotation lever 3131. Wherein the axis of rotation of the leg bracket 3132 and the axis of rotation of the rotation lever 3131 are mutually perpendicular. Thus, while the swing arm 311 swings, the rotation rod 3131 can rotate relative to the butt end 31121 and the leg holder 3132 can rotate relative to the rotation rod 3131, so that the position of the leg holder 3132 can be adjusted in a large range, and the adjustment of the training posture can be completed only by moving the lower limb of the patient in the sagittal plane, which can greatly reduce the unexpected push-pull force caused by the large-range movement of the lower limb in space, thereby reducing pain and muscle injury caused by pulling.

It should be noted that, in this embodiment, because the technical scheme of power double-side output is adopted, the problem of offset of the device and the display caused by power single-side output can be effectively solved, so that the whole structure is symmetrical and the stress is uniform. Further, the footrest member 32 can be selectively mounted to one of the transmission shafts 223, and the transmission shaft 223 can be used to rotate the footrest member 32. That is, each of the transmission shafts 223 is optionally assembled with a footrest member 32, thereby enabling active and passive flexion and extension exercises of the left or right ankle of the patient. Of course, the number of the pedal members 32 can also be two, and the pedal members are respectively assembled on the two transmission shafts 223, so as to realize synchronous active and passive flexion and extension training of the left and right ankle joints.

For example, referring to fig. 12, when a patient needs to do a left ankle training, the footrest part 32 can be assembled to the driving shaft 223 at the left side for a rehabilitation training, and the leg-bracket 3132 can be rotated to the corresponding side at the same time for supporting the left lower limb of the patient. When the left ankle training is finished and the right ankle training is ready, the footrest section 32 can be quickly removed to the opposite side of the driving shaft 223 and the leg-bracket 3132 can be quickly rotated to the corresponding side, see fig. 13. It should be mentioned that, in this embodiment, the rotation rod 3131 only needs to rotate 180 degrees around the butt-joint end 31121 of the leg supporting rod 3112 to complete the switching of the positions of the two side leg supporting seats 3132, which is convenient and fast, so that the distance between the left and right movements of the patient is smaller, and it is convenient for the patient to train on the computer and reduce the probability of the lower limb being gouged. And the preset distance between the pedal parts 32 at the two sides can be adapted to the distance between the two feet of most patients, and the distance does not influence the normal active and passive flexion and extension training of the ankle joint in the training process of the patients. Further, referring to fig. 14, the leg bracket 3132 may be folded to the inside of the leg of the patient, and after the lower limb of the patient is placed on the footrest 32, the leg bracket 3132 is rotated to the lower side of the lower limb, and then locked.

It should be noted that, in the present embodiment, referring to fig. 11 to 13, the rehabilitation training device 100 can be used in cooperation with a common seat, a wheelchair, a hospital bed, and the like to realize rehabilitation training in knee bending and knee straightening states, and the use scenarios are rich. And the switching between the two states can be realized by changing the height of the transmission arm 22, and the matching of the states can be quickly realized by further adjusting the position relation between the leg support part 31 and the pedal part 32, thereby ensuring the diversification of the training and the comfort level of the training.

Further, in the present embodiment, referring to fig. 6, 8 and 9, each transmission shaft 223 is assembled with a mounting head 33 for fixing the footrest part 32. Referring also to fig. 10, the pedal assembly 32 may include a pedal 321 and two transmission cylinders 322 disposed on opposite sides of the pedal 321. The pedal 321 can be connected to any mounting head 33 through any transmission cylinder 322 to realize transmission connection with the power output part 22241.

Specifically, the mounting head may include a guide member and a backstop member. A guide is mounted to the free end of drive shaft 223 for abutting against drive cylinder 322. And the backstop member is mounted on the guide member for locking the transmission cylinder 322 to the guide member, thereby realizing the mounting and fixing of the pedal 321. Preferably, the guide member may include a flange shaft 331, and the retaining member may include a clasping sleeve 332 and a locking clip 333. The flange shaft 331 is fixed to the free end of the transmission shaft 223, is inserted into the inner side of the limiting disc 314, and is disposed coaxially with the limiting disc 314. The clasping sleeve 332 is assembled on the flange shaft 331 and is coaxially arranged with the flange shaft 331, and the locking clamp 333 is sleeved on the clasping sleeve 332. A transmission cylinder 322 can be selected to be inserted into the clasping sleeve 332, and the locking clamp 333 is used for locking the transmission cylinder 322 in the clasping sleeve 332 so as to fix the pedal 321. In a preferred example, a spline groove 3221 may be formed in the driving cylinder 322, and at least the free end of the driving shaft 223 has a spline shaft-like configuration, and the free end of the driving shaft 223 is inserted into the spline groove 3221, so as to prevent the driving cylinder 322 from rotating in the radial direction of the driving shaft 223, and then the clasping sleeve 332 is sleeved on the driving cylinder 322 and the driving cylinder 322 is locked by the locking clamp 333.

Further, in the present embodiment, referring to fig. 8 and 9, a pin 3311 is inserted into the guiding member, that is, a pin 3311 is inserted into the flange shaft 331, and a first limiting protrusion 3141 and a second limiting protrusion 3142, which have a predetermined distance and are matched with the pin 3311 and are respectively disposed on the limiting disc 314. And a first limit switch 3143 which is matched with the first limit bump 3141 in an action way and a second limit switch 3144 which is matched with the second limit bump 3142 in an action way are also arranged on the limit disc 314. When the pin 3311 abuts against the first limit bump 3141, the second limit bump 3142 and the second limit switch 3144 cooperate with each other to limit the pin 3311 from continuing to rotate. When the pin 3311 abuts against the second limit bump 3142, the first limit bump 3141 and the first limit switch 3143 cooperate with each other to limit the pin 3311 from continuing to rotate. The pedal member 32 has a rotation stroke, and the first limit switch 3143 and the second limit switch 3144 are used together to limit the pin 3311 to perform a back-and-forth movement within the rotation stroke, so that unintended push-pull force generated by a large-range movement of the lower limb body in space can be greatly reduced, thereby reducing pain and muscle injury caused by pulling.

Further, in this embodiment, referring to fig. 6, a blocking plate 3211 sliding along the front-back direction of the foot pedal 321 is inserted at the bottom of the foot pedal 321, the blocking plate 3211 is used for abutting against the heel of the patient, and the blocking plate 3211 can be fixed at any position along the sliding process by a knob 3212, so as to adjust the position of the ankle joint of the patient.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An ankle joint rehabilitation training device, comprising:

an apparatus main body; and

an attitude adjusting device swingably mounted to the apparatus main body;

The training device is arranged at the swinging end, and when the adjusting component drives the transmission arm to swing, the training device synchronously swings along with the transmission arm so as to compensate the relative distance of a patient when different training postures are changed on the training device;

the equipment main body comprises a base and an electric cabinet arranged on the base;

the electric cabinet is provided with an interaction device and a supporting device; and

the electrical cabinet is provided with at least one information input interface and at least one information output interface; and

a safety control is arranged on one side, adjacent to the training device, of the transmission arm; and

one end of the base, which is back to the electrical cabinet, is provided with a fixing part and a traveling part.

2. The ankle joint rehabilitation training device according to claim 1,

the training device comprises a pedal part and a leg support part;

the pedal component is detachably arranged at the swinging end, the leg support component is rotatably arranged at the swinging end, and the pedal component and the leg support component are arranged on the same side;

when the feet of the patient step on the pedal parts to perform ankle joint rehabilitation training, the leg support parts are used for supporting the lower limbs of the patient.

3. The ankle joint rehabilitation training device according to claim 2,

the swing end is provided with two power output parts which are oppositely arranged and are positioned on the same axis, and each power output part is in driving connection with a transmission shaft;

the pedal part is selectively arranged on one of the transmission shafts, and the transmission shafts are used for driving the pedal part to rotate; and

the leg support part is at least arranged on one of the transmission shafts, and the leg support part automatically rotates around the transmission shafts and is self-locked at any position in the rotating process.

4. The ankle joint rehabilitation training device according to claim 3,

the pedal part comprises a pedal and transmission cylinders which are respectively arranged on two opposite sides of the pedal; and

each transmission shaft is provided with an installation head;

the pedal is in butt joint with any mounting head through any transmission cylinder so as to realize transmission connection with the power output part.

5. The ankle joint rehabilitation training device of claim 4,

the mounting head comprises a guide piece and a backstop piece;

the guide piece is arranged at the free end of the transmission shaft and is used for butting the transmission cylinder; and

The backstop piece is arranged on the guide piece and used for locking the transmission cylinder on the guide piece.

6. The ankle joint rehabilitation training device according to claim 4,

the bottom of the pedal plate is adjustably provided with a baffle plate used for abutting against the heel part of the foot of the patient.

7. The ankle joint rehabilitation training device according to claim 5,

the leg support component comprises a swing arm, a locking component and a leg bracket;

the swing arm is provided with two swing parts which are arranged oppositely, and the two swing parts are respectively connected with the two transmission shafts in a rotating way so as to realize that the leg support part swings relative to the two transmission shafts; and

the leg bracket is hinged to the swing arm through a rotating rod; and

the locking assembly is mounted on the transmission arm and/or the swing arm, and is used for limiting the swing arm to swing back and forth within a preset stroke range and fixing the swing arm at any position along the swing process.

8. The ankle joint rehabilitation training device according to claim 7,

each swinging part is provided with a limiting disc; and

a bearing is embedded in each limiting disc;

The two bearings are respectively sleeved on the two transmission shafts to realize that the swing arm swings relative to the two transmission shafts.

9. The ankle joint rehabilitation training device according to claim 8,

a pin shaft is inserted in the guide piece, a first limit bump and a second limit bump which are matched with the pin shaft in a preset distance and are arranged on the limit disc respectively, and a first limit switch matched with the first limit bump in a function and a second limit switch matched with the second limit bump in a function are also arranged on the limit disc;

wherein the pedal member has a rotational stroke;

when the pin shaft abuts against the first limit bump, the second limit bump and the second limit switch are matched with each other in an action manner so as to limit the pin shaft to rotate continuously;

when the pin shaft is abutted against the second limiting lug, the first limiting lug is matched with the first limiting switch in an action manner so as to limit the pin shaft to rotate continuously;

the first limit switch and the second limit switch are jointly used for limiting the pin shaft to move back and forth in the rotation stroke.

10. The ankle rehabilitation training device according to any one of claims 3 to 9,

the transmission arm is internally provided with a power output assembly, the adjusting assembly comprises a linear driver fixed in the equipment main body, and the linear driver is connected to the transmission end of the transmission arm in a driving manner and used for driving the transmission arm to swing relative to the equipment main body; and

the power output assembly comprises a motor, a speed reducer, a torque sensor and a commutator which are sequentially driven and butted, the commutator is provided with two power output parts, and the connecting direction of the two power output parts is vertical to the transmission direction of the power output assembly.

11. The ankle joint rehabilitation training device according to claim 1,

the regulator cubicle has an inclined slope surface, inclined slope surface is equipped with a rotation groove, the rotation groove with the regulator cubicle is inside to be linked together, the transmission end of transmission arm articulate in rotate the groove, just the transmission end warp rotate the groove and extend to inside the regulator cubicle for the butt joint regulating unit.