CN114177567B - Ankle joint rehabilitation training device - Google Patents

Ankle joint rehabilitation training device Download PDF

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Publication number
CN114177567B
CN114177567B CN202111563475.8A CN202111563475A CN114177567B CN 114177567 B CN114177567 B CN 114177567B CN 202111563475 A CN202111563475 A CN 202111563475A CN 114177567 B CN114177567 B CN 114177567B
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China
Prior art keywords
assembly
base
rocker
crank
rehabilitation training
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Active
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CN202111563475.8A
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Chinese (zh)
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CN114177567A (en
Inventor
张鑫
曹莹瑜
黄军芬
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Beijing Institute of Petrochemical Technology
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Beijing Institute of Petrochemical Technology
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Priority to CN202111563475.8A priority Critical patent/CN114177567B/en
Publication of CN114177567A publication Critical patent/CN114177567A/en
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
    • 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
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4011—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs
    • A63B21/4015—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs to the foot
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal

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  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention provides an ankle joint rehabilitation training device, relates to the technical field of medical auxiliary instruments, and solves the problems that the existing ankle joint rehabilitation training device adopts a single degree of freedom, a training mode is single, and the ankle joint rehabilitation effect of a patient is not ideal. The device includes base subassembly and motion mechanism subassembly, footboard subassembly and power component, the motion mechanism subassembly sets up on the base subassembly, the base subassembly is used for supporting whole ankle joint rehabilitation training device, the motion mechanism subassembly includes crank rocker motion structure and ball hinged joint support, crank rocker motion structure sets up on the base subassembly, crank rocker motion structure is ball hinged joint with the tiptoe end of footboard subassembly, the heel end of footboard subassembly is connected with ball hinged joint support through the ball hinge, power component is connected with crank rocker motion structure, and power component can drive the motion of footboard subassembly through crank rocker motion structure and can drive the relative base subassembly of ball hinged joint support through the footboard subassembly and slide.

Description

Ankle joint rehabilitation training device
Technical Field
The invention relates to the technical field related to medical auxiliary instruments, in particular to an ankle joint rehabilitation training device.
Background
In recent years, with the rapid development of robotics, robots have been no longer limited to the manufacturing industry, and have also been advancing toward the field of medical services. At present, hospitals and rehabilitation medical institutions at home and abroad use rehabilitation robots to provide rehabilitation training services for patients. The lower limb rehabilitation robot has higher automation degree, can effectively improve the lower limb movement ability of a patient by using the rehabilitation robot for rehabilitation training, and is the development key direction of the current medical rehabilitation equipment.
Aiming at the requirements that rehabilitation training is needed for ankle joint functional disorder caused by cerebral palsy children, cerebral apoplexy hemiplegia and sports injury, the ankle joint rehabilitation training robot is applied to assist patients to perform rehabilitation training at home and abroad. However, the existing ankle joint rehabilitation training equipment is complex in structural design and is uncoordinated in movement; most ankle joint rehabilitation robots have insufficient degrees of freedom, so that a rehabilitation training mode is single, the flexibility is poor, targeted ankle joint inversion and eversion are difficult to generate to carry out traction and stretching, the diversified training requirements on ankle joints cannot be met, and the ankle joint rehabilitation training of a patient cannot achieve an ideal rehabilitation effect.
Disclosure of Invention
In view of this, the present invention provides an ankle joint rehabilitation training device to solve the technical problems that most ankle joint rehabilitation training devices in the prior art adopt a single degree of freedom, so that the training mode is single, and the ankle joint rehabilitation effect of the patient is not ideal.
In order to achieve the above object, the present invention provides an ankle joint rehabilitation training device, including a base assembly, and a movement mechanism assembly, a pedal assembly and a power assembly which are arranged on the base assembly, the movement mechanism assembly being arranged on the base assembly, the base assembly being used for supporting the entire ankle joint rehabilitation training device, wherein:
the motion mechanism component comprises a crank rocker motion structure and a ball hinge connecting support, the crank rocker motion structure is arranged on the base component, the crank rocker motion structure is connected with the toe end of the pedal component through a ball hinge, the heel end of the pedal component is connected with the ball hinge connecting support through a ball hinge, the power component is connected with the crank rocker motion structure, the power component can drive the pedal component to move through the crank rocker motion structure and can drive the ball hinge connecting support to slide relative to the base component through the pedal component.
Further, the crank and rocker motion structure comprises a crank, a rocker and a connecting rod assembly, the connecting rod assembly is rotatably connected between the crank and the rocker, the power assembly is mounted on the base assembly, an output shaft of the power assembly is connected with the end part, far away from the connecting rod assembly, of the crank, the end part, far away from the connecting rod assembly, of the rocker is rotatably arranged on the base assembly, and the connecting rod assembly is connected with the toe end of the pedal assembly through a ball hinge.
Furthermore, the connecting rod assembly comprises a connecting rod and a ball hinge connecting rod, the connecting rod is rotatably arranged between the crank and the rocker, the toe end of the pedal assembly is connected with the ball hinge connecting rod through a first ball hinge, and the end part, far away from the pedal assembly, of the ball hinge connecting rod is fixedly connected with the connecting rod. Further, the base subassembly includes base, linear slide rail, first mounting bracket and second mounting bracket, the last fixed surface of base is provided with linear slide rail first mounting bracket with the second mounting bracket, ball hinged joint support with linear slide rail sliding fit, power component installs on the first mounting bracket just power component's output shaft passes first mounting bracket with the crank is connected, the rocker rotates to set up on the second mounting bracket.
Further, first mounting bracket includes first base and power component mount pad, first base is fixed to be set up on the base, power component mount pad detachably fixed connection is in on the first base, power component installs power component just power component's output shaft can pass on the power component mount pad with the crank passes through the key-type connection.
Further, the second mounting rack comprises a second base and a rocker mounting seat, the second base is fixedly arranged on the base, the rocker mounting seat is detachably and fixedly connected to the second base, and the rocker is rotatably connected with the second base.
Further, the rocker mount pad includes fixed part and installation department, the installation department with fixed part fixed connection, the fixed part is fixed on the second base, the installation department includes first supporting rod and second supporting rod, first supporting rod with the second supporting rod sets up relatively, the tip setting of rocker is in first supporting rod with between the second supporting rod, just first supporting rod the rocker with through round pin hub connection between the second supporting rod.
Further, the power assembly is a servo motor, and an output shaft of the servo motor is connected with a short rod of the crank through an axial connecting bolt so as to prevent the crank from moving along the axial direction of the output shaft of the servo motor.
Further, ball hinged joint support includes backup pad and A-frame, the A-frame is fixed to be set up in the backup pad, the backup pad with linear slide rail sliding connection, the upper end of A-frame is provided with second ball hinge, second ball hinge includes the pedestal and rotates to be connected spheroid in the pedestal, the pedestal is connected on the A-frame, the spheroid pass through the footboard connecting axle with the bottom of footboard subassembly is connected.
Further, the pedal assembly comprises a pedal body and a heel protection part, the heel protection part is fixedly connected with the pedal body, and the pedal connecting shaft is connected to the bottom of the pedal body and close to the heel end of the pedal body.
The invention provides an ankle joint rehabilitation training device which comprises a base assembly, a movement mechanism assembly, a pedal assembly and a power assembly, wherein the movement mechanism assembly is arranged on the base assembly, the base assembly is used for supporting the whole ankle joint rehabilitation training device, the movement mechanism assembly comprises a crank rocker movement structure and a ball hinge connecting support, the crank rocker movement structure is arranged on the base assembly, the crank rocker movement structure is in ball hinge connection with the toe end of the pedal assembly, the heel end of the pedal assembly is connected with the ball hinge connecting support through a ball hinge, the power assembly is connected with the crank rocker movement structure, and the power assembly can drive the pedal assembly to move through the crank rocker movement structure and can drive the ball hinge connecting support to slide relative to the base assembly through the pedal assembly. The device has a simple structure, can simultaneously realize the rehabilitation training of three degrees of freedom of plantar flexion and dorsiflexion, eversion and inversion and outward rotation and inward rotation of the ankle joint by applying one servo motor, and also can realize the rehabilitation training action of any two or single degree of freedom of the ankle joint so as to be suitable for different stages of ankle joint rehabilitation and realize the active and passive rehabilitation training of the ankle joint.
Drawings
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.
FIG. 1 is a first schematic structural view of an ankle rehabilitation training device provided by an embodiment of the present invention;
FIG. 2 is a second schematic structural view of an ankle rehabilitation training device provided by an embodiment of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a third schematic view of an ankle rehabilitation training device according to an embodiment of the present invention;
FIG. 5 is a fourth structural view of the ankle rehabilitation training device according to the embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a base assembly provided in accordance with an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a first mounting frame according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a second mounting bracket provided in the embodiment of the present invention;
fig. 9 is a schematic diagram of the movement mechanism assembly and the pedal assembly provided by the embodiment of the invention.
Reference numerals are as follows: 1. a base assembly; 11. a base; 12. a linear slide rail; 13. a first mounting bracket; 131. a first base; 132. a power component mounting base; 14. a second mounting bracket; 141. a second base; 142. a rocker mounting base; 1421. a fixed part; 1422. a first clamping rod; 1423. a second clamping rod; 2. a motion mechanism assembly; 21. a crank rocker motion structure; 211. a crank; 2111. a short bar; 212. a rocker; 213. a connecting rod assembly; 2131. a connecting rod; 2132. a ball hinge connecting rod; 22. the ball hinge is connected with the bracket; 221. a support plate; 222. a triangular bracket; 223. a rolling bearing; 3. a pedal assembly; 31. a pedal body; 32. a heel protection part; 4. a power assembly; 5. a first ball hinge; 6. a second ball hinge; 7. an axial connecting bolt; 8. the footboard connecting axle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
Referring to fig. 1 to 9, the invention provides an ankle joint rehabilitation training device, which comprises a base assembly 1, and a movement mechanism assembly 2, a pedal assembly 3 and a power assembly 4 which are arranged on the base assembly 1, wherein the movement mechanism assembly 2 is arranged on the base assembly 1, and the base assembly 1 is used for supporting the whole ankle joint rehabilitation training device and is convenient to move.
Wherein, as shown in fig. 2, the motion mechanism assembly 2 includes a crank rocker motion structure 21 and a ball hinge connecting support 22, the crank rocker motion structure 21 is disposed on the base assembly 1, the crank rocker motion structure 21 is connected with the pedal assembly 3 at the toe end by a ball hinge, the pedal assembly 3 at the heel end is connected with the ball hinge connecting support 22 by a ball hinge, the power assembly 4 is connected with the crank rocker motion structure 21, the power assembly 4 can drive the pedal assembly 3 to move by the crank rocker motion structure 21 and can drive the ball hinge connecting support 22 to slide relative to the base assembly 1 by the pedal assembly 3.
Specifically, as shown in fig. 4, the crank and rocker movement structure 21 includes a crank 211, a rocker 212 and a connecting rod assembly 213, the connecting rod assembly 213 is rotatably connected between the crank 211 and the rocker 212, the power assembly 4 is mounted on the base assembly 1, an output shaft of the power assembly 4 is connected to an end of the crank 211 far from the connecting rod assembly 213, an end of the rocker 212 far from the connecting rod assembly 213 is rotatably disposed on the base assembly 1, and the connecting rod assembly 213 is connected to a toe end of the pedal assembly 3 by a ball hinge.
Referring to fig. 9, the connecting rod assembly 213 includes a connecting rod 2131 and a ball hinge connecting rod 2132, the connecting rod 2131 is rotatably disposed between the crank 211 and the rocker 212, the toe end of the pedal assembly 3 is connected to the ball hinge connecting rod 2132 through a first ball hinge 5, and the end of the ball hinge connecting rod 2132 away from the pedal assembly 3 is fixedly connected to the connecting rod 2131.
In this embodiment, the base assembly 1 shown in fig. 6 includes a base 11, a linear sliding rail 12, a first mounting frame 13 and a second mounting frame 14, the linear sliding rail 12, the first mounting frame 13 and the second mounting frame 14 are fixedly arranged on an upper surface of the base 11, the ball hinge connecting support 22 is in sliding fit with the linear sliding rail 12, a rolling bearing 223 is arranged at the bottom of the specific ball hinge connecting support 22, the rolling bearing 223 is arranged in a sliding groove in the linear sliding rail 12, the power assembly 4 is mounted on the first mounting frame 13, an output shaft of the power assembly 4 passes through the first mounting frame 13 and is connected with a crank 211, a rocker 212 is rotatably arranged on the second mounting frame 14, and the power assembly 4 can drive the rolling bearing 223 on the ball hinge connecting support 22 to slide in the sliding groove through a rocker 212 motion mechanism of the crank 211 and a pedal assembly 3.
The first mounting bracket 13 shown in fig. 7 includes a first base 131 and a power assembly mounting seat 132, the first base 131 is fixedly disposed on the base 11, the power assembly mounting seat 132 is detachably and fixedly connected to the first base 131, the power assembly 4 is mounted on the power assembly mounting seat 132, and an output shaft of the power assembly 4 can pass through the power assembly mounting seat 132 and is connected with the crank 211 through a key. The power assembly 4 in this embodiment is a servo motor, and further, as shown in fig. 3, the output shaft of the servo motor is connected to the short rod 2111 of the crank 211 by an axial connecting bolt 7 to prevent the crank 211 from moving along the axial direction of the output shaft of the servo motor.
Referring to fig. 6 and 8, the second mounting frame 14 in this embodiment includes a second base 141 and a rocker mounting seat 142, the second base 141 is fixedly disposed on the base 11, the rocker mounting seat 142 is detachably and fixedly connected to the second base 141, and the rocker 212 is rotatably connected to the second base 141. The rocker mounting seat 142 includes a fixing portion 1421 and a mounting portion, the mounting portion is fixedly connected to the fixing portion 1421, the fixing portion 1421 is fixed on the second base 141, the mounting portion includes a first clamping bar 1422 and a second clamping bar 1423, the first clamping bar 1422 and the second clamping bar 1423 are disposed oppositely, the end of the rocker 212 is disposed between the first clamping bar 1422 and the second clamping bar 1423, and the first clamping bar 1422, the rocker 212 and the second clamping bar 1423 are connected by a pin.
In addition, referring to fig. 4, the ball hinge connecting bracket 22 includes a supporting plate 221 and a triangular bracket 222, the triangular bracket 222 is fixedly disposed on the supporting plate 221, the supporting plate 221 is slidably connected with the linear slide rail 12, and the upper end of the triangular bracket 222 is provided with a second ball hinge 6, as shown in fig. 5, the second ball hinge 6 includes a seat body and a ball body rotatably connected in the seat body, the seat body is connected to the triangular bracket 222, and the ball body is connected with the bottom of the pedal assembly 3 through a pedal connecting shaft 8.
The pedal assembly 3 in this embodiment includes the pedal body 31 and the heel protection portion 32, the heel protection portion 32 and the pedal body 31 fixed connection, the pedal connecting shaft 8 is connected at the bottom of the pedal body 31 and near the heel end of the pedal body 31, and the purpose is to make the centre of gyration of this rehabilitation training device coincide with the centre of gyration of the ankle joint of the human body as far as possible. The pedal component 3 can be driven by one servo motor to realize three-degree-of-freedom rehabilitation training of plantarflexion, dorsiflexion, eversion, inversion and outward rotation, and various rehabilitation training modes can be realized. In addition, a foot adjusting and fixing structure, such as an adjusting strap, may also be disposed on the pedal body 31 to better fix the foot of the patient on the pedal assembly 3.
The ankle joint rehabilitation training device provided by the invention has a simple integral structure, and solves the problem that the existing rehabilitation training robot can only realize plantarflexion and dorsiflexion single-degree-of-freedom rehabilitation training or eversion and inversion single-degree-of-freedom rehabilitation training or outward rotation and inward rotation single-degree-of-freedom rehabilitation training, or can realize multi-degree-of-freedom rehabilitation training by mutually matching a plurality of motors, but the structure of the rehabilitation robot is complicated.
In the actual use process, different rehabilitation training modes can be realized by applying the servo motor according to different rehabilitation stages of the patient, and in the early rehabilitation stage of the patient, the servo motor actively moves to drive the patient to perform passive rehabilitation training; in the middle stage of the rehabilitation of the patient, a certain muscle force is recovered, and the servo motor assists to drive the patient to perform rehabilitation training; the muscle strength of the patient is basically recovered in the later period of rehabilitation, and the patient can carry out active rehabilitation training without being driven by a servo motor.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. The utility model provides an ankle joint rehabilitation training device which characterized in that includes the base subassembly and sets up motion mechanism component, footboard subassembly and power component on the base subassembly, the motion mechanism component sets up on the base subassembly, the base subassembly is used for supporting whole ankle joint rehabilitation training device, wherein:
the motion mechanism assembly comprises a crank rocker motion structure and a ball hinge connecting support, the crank rocker motion structure is arranged on the base assembly, the crank rocker motion structure is connected with the toe end of the pedal assembly through a ball hinge, the heel end of the pedal assembly is connected with the ball hinge connecting support through a ball hinge, the power assembly is connected with the crank rocker motion structure, and the power assembly can drive the pedal assembly to move through the crank rocker motion structure and can drive the ball hinge connecting support to slide relative to the base assembly through the pedal assembly;
the crank and rocker movement structure comprises a crank, a rocker and a connecting rod assembly, wherein the connecting rod assembly is connected between the crank and the rocker in a rotating mode, the power assembly is installed on the base assembly, the output shaft of the power assembly is connected with the end portion, far away from the connecting rod assembly, of the crank, the end portion, far away from the connecting rod assembly, of the rocker is arranged on the base assembly in a rotating mode, and the connecting rod assembly is connected with the toe end of the pedal assembly through a ball hinge.
2. The ankle joint rehabilitation training device of claim 1, wherein the linkage assembly comprises a connecting rod and a ball hinge connecting rod, the connecting rod is rotatably arranged between the crank and the rocker, the toe end of the pedal assembly is connected with the ball hinge connecting rod through a first ball hinge, and the end of the ball hinge connecting rod, which is far away from the pedal assembly, is fixedly connected with the connecting rod.
3. The ankle joint rehabilitation training device according to claim 1, wherein the base assembly comprises a base, a linear slide rail, a first mounting frame and a second mounting frame, the linear slide rail, the first mounting frame and the second mounting frame are fixedly arranged on the upper surface of the base, the ball hinge connecting support is in sliding fit with the linear slide rail, the power assembly is mounted on the first mounting frame, an output shaft of the power assembly penetrates through the first mounting frame to be connected with the crank, and the rocker is rotatably arranged on the second mounting frame.
4. The ankle joint rehabilitation training device according to claim 3, wherein the first mounting bracket comprises a first base and a power assembly mounting seat, the first base is fixedly arranged on the base, the power assembly mounting seat is detachably and fixedly connected to the first base, the power assembly is mounted on the power assembly mounting seat, and an output shaft of the power assembly can penetrate through the power assembly mounting seat and is in key connection with the crank.
5. The ankle joint rehabilitation training device of claim 3, wherein the second mounting bracket comprises a second base and a rocker mounting base, the second base is fixedly arranged on the base, the rocker mounting base is detachably and fixedly connected to the second base, and the rocker is rotatably connected with the second base.
6. The ankle joint rehabilitation training device of claim 5, wherein the rocker mounting seat comprises a fixing portion and a mounting portion, the mounting portion is fixedly connected with the fixing portion, the fixing portion is fixed on the second base, the mounting portion comprises a first clamping rod and a second clamping rod, the first clamping rod and the second clamping rod are arranged oppositely, the end portion of the rocker is arranged between the first clamping rod and the second clamping rod, and the first clamping rod, the rocker and the second clamping rod are connected through a pin shaft.
7. The ankle joint rehabilitation training device according to claim 4, wherein the power assembly is a servo motor, and an output shaft of the servo motor is connected with a short rod of the crank through an axial connecting bolt so as to prevent the crank from moving along the axial direction of the output shaft of the servo motor.
8. The ankle joint rehabilitation training device according to claim 3, wherein the ball hinge connecting bracket comprises a supporting plate and a triangular bracket, the triangular bracket is fixedly arranged on the supporting plate, the supporting plate is slidably connected with the linear slide rail, a second ball hinge is arranged at the upper end of the triangular bracket, the second ball hinge comprises a seat body and a ball body rotatably connected in the seat body, the seat body is connected on the triangular bracket, and the ball body is connected with the bottom of the pedal assembly through a pedal connecting shaft.
9. The ankle joint rehabilitation training device according to claim 8, wherein the pedal assembly includes a pedal body and a heel protection part, the heel protection part is fixedly connected with the pedal body, and the pedal connecting shaft is connected to the bottom of the pedal body and is close to the heel end of the pedal body.
CN202111563475.8A 2021-12-20 2021-12-20 Ankle joint rehabilitation training device Active CN114177567B (en)

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Citations (9)

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JP2003190235A (en) * 2001-12-28 2003-07-08 Shunichi Iijima Ankle turning health device
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