CN206577092U - A kind of rehabilitation of anklebone servicing unit - Google Patents
A kind of rehabilitation of anklebone servicing unit Download PDFInfo
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- CN206577092U CN206577092U CN201621090562.0U CN201621090562U CN206577092U CN 206577092 U CN206577092 U CN 206577092U CN 201621090562 U CN201621090562 U CN 201621090562U CN 206577092 U CN206577092 U CN 206577092U
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- hinge
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- bandage
- foot
- sleeve
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Abstract
The utility model discloses a kind of rehabilitation of anklebone servicing unit.Need a kind of light and handy wearing, convenience badly and the ankle-joint auxiliary rehabilitation device of compliance can be provided.The front portion of shank bandage is fixed with hinge seat in the utility model；Hinge seat is hinged with two composite rotation hinge rear portions；Electric cylinders take-off lever constitutes sliding pair with socket cover；Sleeve top is fixed with socket cover, and bottom is fixed with bottom bulb top of hinge；The end that electric cylinders take-off lever is stretched into sleeve is fixed with spring stop；At the top of spring stop spring is respectively provided between socket cover and between spring stop bottom and sleeve bottom；Front portion of the electric cylinders cylinder body of two flexible drive devices respectively with a corresponding composite rotation hinge is hinged；The bottom button-head hinge bottom of two flexible drive devices with foot's bandage ball-joint.The utility model movable joint position is connected using composite rotation hinge and button-head hinge, it is to avoid constraint is produced during mechanism kinematic；Flexible member adds mechanism compliance.
Description
Technical field
The utility model is related to a kind of medical auxiliary rehabilitation device, and in particular to a kind of submissive ankle-joint driving rehabilitation is auxiliary
Help device.
Background technology
Because ankle-joint is the weight-bearing joint of human body, people carries whole gravity of body in standing and walking enough, especially
It is running, jumped and when body heavy burden, and ankle-joint subjects huge load and impact, because of disease or contingency
The ankle motion obstacle or damage brought has been common in daily life.Clinical treatment proves, the rehabilitation under external force auxiliary
Physiotherapy can effectively prevent the atrophy of articular muscle, help to realize the recovery of limbs and joint function, but medical personnel's such as physiotherapy
The shortage of expert can not meet growing rehabilitation demands.
CN201168163Y discloses a kind of rehabilitation training machine for ankle joint device people, is driven using DC torque drive device,
Patient is helped to carry out ankle joint rehabilitation training.CN201310014261 discloses a kind of active/passive rehabilitation apparatus for ankle joints, uses
Rectangular coordinate system form, 3 frees degree realize the different motion of ankle-joint respectively.
Have that simple in construction, Work space is big, inertia is small, manufacturing cost is low using electric cylinders parallel institution, be easy into
The series of advantages such as row structure change, are just progressively applied in the active control of rehabilitation exercise.Therefore invent a kind of based on electricity
The convalescence device of cylinder parallel institution is to meet rehabilitation demands of the different patients to ankle-joint, and for ankle, podarthrum injured patient provides one
The rehabilitation equipment of safety and reliability is planted, with important practical significance.
In recent years, based on biology and physiology in terms of research show, tendon tissue etc. flexibility stored energy mechanism to human body
The stability and energy efficiency of walking have particularly important effect.And existing device is all rigid driving joint motion,
And can not have compliance as the ankle-joint of people.Submissive joint in motion process, be alternately carried out storage energy with
Release energy, kinetic energy, gravitional force and elastic potential energy are changed, this not only increases the utilization of energy during people's walking
Efficiency, further improves the adaptability to environment of walking, therefore, and ankle joint rehabilitation device should have when driving articulation
Compliance.In summary, a kind of light and handy wearing, convenience are needed badly and the ankle-joint auxiliary rehabilitation device of compliance can be provided.
The content of the invention
The purpose of this utility model be in view of the shortcomings of the prior art, propose it is a kind of it is easy to wear, simple in construction, based on drive
Dynamic, submissive compound rehabilitation of anklebone servicing unit.
To achieve the above object, the utility model takes following technical scheme：
The utility model includes shank bindiny mechanism, flexible drive device and foot's fixed mechanism；Described shank connection
Mechanism includes shank bandage, hinge seat and composite rotation hinge；The front portion of shank bandage is fixed on hinge seat；Described hinge
The rear portion of seat and two composite rotation hinges is hinged；Described flexible drive device is by electric cylinders, compliant mechanism and bottom bulb
Hinge is constituted；Described compliant mechanism includes sleeve, spring, spring stop and socket cover；The take-off lever of electric cylinders and socket cover structure
Into sliding pair；The top of sleeve is connected through a screw thread with socket cover, and bottom and the top of bottom button-head hinge are fixed；Electric cylinders it is defeated
The end that rod is stretched into sleeve is fixed by nut with spring stop；Between the top of the spring stop and socket cover and
Spring is respectively provided between the bottom of spring stop and sleeve bottom；The electric cylinders cylinder body of two flexible drive devices is respectively with corresponding one
The front portion of individual composite rotation hinge is hinged；Described foot's fixed mechanism includes sole and foot's bandage；The two ends of foot's bandage
It is fixed on sole；The bottom button-head hinge of two flexible drive devices is arranged on foot's bandage two ends, and bottom button-head hinge
Bottom with foot's bandage ball-joint.
The anterior jointed shaft of the composite rotation hinge is axially left and right direction, the jointed shaft axle at composite rotation hinge rear portion
To for front and rear direction.
The utility model is due to using above technical scheme, and it has advantages below：
1st, the utility model is provided with flexible member in drive end, effectively increases the compliance of mechanism, has more answered trouble
The rehabilitation demands of person；
2nd, the utility model is simple in construction, significantly reduces the cost needed for Rehabilitation, and easy to wear, rehabilitation
When do not limited by place；
3rd, the utility model employs electric cylinders as drive device, the controllability of device is improved, with efficient, corresponding speed
Fast the features such as.
Brief description of the drawings
Fig. 1 is overall structure stereogram of the present utility model；
Fig. 2 is kinematic sketch of mechanism of the present utility model；
Fig. 3 is flexible drive device schematic diagram of the present utility model；
Fig. 4 is ankle motion schematic diagram；
Fig. 5 is wearing schematic diagram of the present utility model.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1,2 and 3, a kind of rehabilitation of anklebone servicing unit, including shank bindiny mechanism, flexible drive device and
Foot's fixed mechanism；Shank bindiny mechanism includes shank bandage 5, hinge seat 8 and composite rotation hinge 1；The front portion of shank bandage 5
It is fixed on hinge seat 8；The rear portion of hinge seat 8 and two composite rotation hinges 1 is hinged；Need to be by shank bandage 5 first during wearing
It is worn on shank and fraps, plays a part of fixed and support；Flexible drive device is by electric cylinders 2, compliant mechanism 3 and bottom bulb
Hinge 7 is constituted；Compliant mechanism 3 includes sleeve 9, spring 12, spring stop 13 and socket cover 14；The take-off lever 11 of electric cylinders 2 and set
Cover 14 constitutes sliding pair；The top of sleeve 9 is connected through a screw thread with socket cover 14, bottom and the top of bottom button-head hinge 7
It is fixed；The end that the take-off lever 11 of electric cylinders is stretched into sleeve 9 is fixed by nut 10 with spring stop 13；The top of spring stop 13
Spring 12 is respectively provided between portion and socket cover 14 and between the bottom and the bottom of sleeve 9 of spring stop 13, spring 12 is output
Bar 11 is flexible to provide flexible, and socket cover 14 can carry out pre-screwing to spring 12.The cylinder body of electric cylinders 2 difference of two flexible drive devices
It is hinged with the front portion of a corresponding composite rotation hinge 1.Foot's fixed mechanism includes sole 4 and foot's bandage 6；Foot's bandage 6
Two ends be fixed on sole 4, the adjustable-tightness of foot's bandage 6；The bottom button-head hinge 7 of two flexible drive devices is arranged on
The two ends of foot's bandage 6, and bottom button-head hinge 7 bottom with the ball-joint of foot bandage 6.
The anterior jointed shaft of composite rotation hinge 1 is axially left and right direction, the jointed shaft axial direction at the rear portion of composite rotation hinge 1
For front and rear direction.
The operation principle of the rehabilitation of anklebone servicing unit is as follows:
It is made up of, is carrying out the action such as inversion/eversion, dorsiflexion/plantar flexion as shown in figure 4, the ankle motion of human body is main
During rehabilitation training, convalescence device need to aid in patient to complete to act above.
As described in figures 1 and 5, the electric cylinders 2 of two flexible drive devices can drive take-off lever 11 to carry out stretching motion, when two
The dorsiflexion and plantar flexion of foot can be realized during root 11 synchronization telescope of take-off lever, foot can be driven to enter when two 11 differential runnings of connecting rod
Row varus and valgus, the different rehabilitation demands of patient are suitable for according to the speed regulation that electric cylinders 2 are different.When take-off lever 11 is flexible
When, the elastic force and pulling force that the spring 12 in sleeve 9 is produced can play a part of necessarily buffering, it is to avoid electric cylinders are too fast during rehabilitation training
Mechanical movement bring secondary injury to patient.When the foot of patient is by external impacts, the buffering of spring 12 can also rise
To certain protective effect.When the patient is standing, the synchronous elongation of two take-off levers 11, directly plays a supporting role, and mitigates and stands
To the burden of ankle-joint.
Rehabilitation of anklebone servicing unit of the present utility model, movable joint position uses composite rotation hinge and button-head hinge
Connection, it is to avoid constraint is produced during mechanism kinematic：Composite rotation hinge 1 connects the hinge seat 8 on electric cylinders and shank bandage 5, bottom
The sleeve 9 of the connection compliant mechanism of button-head hinge 7 and foot's bandage 6 of foot's fixed mechanism.
Claims (1)
1. a kind of rehabilitation of anklebone servicing unit, including shank bindiny mechanism, flexible drive device and foot's fixed mechanism, it is special
Levy and be：Described shank bindiny mechanism includes shank bandage, hinge seat and composite rotation hinge；The front portion of shank bandage is fixed
On hinge seat；The rear portion of described hinge seat and two composite rotation hinges is hinged；Described flexible drive device is by electricity
Cylinder, compliant mechanism and bottom bulb hinge set into；Described compliant mechanism includes sleeve, spring, spring stop and socket cover；Electricity
The take-off lever of cylinder constitutes sliding pair with socket cover；The top of sleeve is connected through a screw thread with socket cover, and bottom is cut with scissors with bottom bulb
The top of chain is fixed；The end that the take-off lever of electric cylinders is stretched into sleeve is fixed by nut with spring stop；The spring stop
Top and socket cover between and the bottom of spring stop and sleeve bottom between be respectively provided with spring；Two flexible drive devices
Front portion of the electric cylinders cylinder body respectively with a corresponding composite rotation hinge be hinged；Described foot's fixed mechanism includes sole and pin
Portion's bandage；The two ends of foot's bandage are fixed on sole；The bottom button-head hinge of two flexible drive devices is arranged on foot and tied up
Band two ends, and bottom button-head hinge bottom with foot's bandage ball-joint；
The anterior jointed shaft of the composite rotation hinge is axially left and right direction, and the jointed shaft at composite rotation hinge rear portion is axially
Front and rear direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621090562.0U CN206577092U (en) | 2016-09-29 | 2016-09-29 | A kind of rehabilitation of anklebone servicing unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621090562.0U CN206577092U (en) | 2016-09-29 | 2016-09-29 | A kind of rehabilitation of anklebone servicing unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206577092U true CN206577092U (en) | 2017-10-24 |
Family
ID=60109119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621090562.0U Expired - Fee Related CN206577092U (en) | 2016-09-29 | 2016-09-29 | A kind of rehabilitation of anklebone servicing unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206577092U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338893A (en) * | 2018-04-10 | 2018-07-31 | 超微（上海）骨科医院管理股份有限公司 | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone |
| CN108354788A (en) * | 2018-04-10 | 2018-08-03 | 超微（上海）骨科医院管理股份有限公司 | A kind of four bar parallel connection ankle recovery exercising robot of interactive |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| CN109431745A (en) * | 2018-11-12 | 2019-03-08 | 上海市东方医院 | A kind of ankle joint rehabilitation device and its training method |
| CN109528442A (en) * | 2018-11-20 | 2019-03-29 | 上海市第十人民医院 | A kind of ankle joint rehabilitation training auxiliary device |
| CN112587373A (en) * | 2021-01-06 | 2021-04-02 | 合肥工业大学 | Wearable rehabilitation instrument glove based on pneumatic series elastic driver |
-
2016
- 2016-09-29 CN CN201621090562.0U patent/CN206577092U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338893A (en) * | 2018-04-10 | 2018-07-31 | 超微（上海）骨科医院管理股份有限公司 | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone |
| CN108354788A (en) * | 2018-04-10 | 2018-08-03 | 超微（上海）骨科医院管理股份有限公司 | A kind of four bar parallel connection ankle recovery exercising robot of interactive |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| CN109431745A (en) * | 2018-11-12 | 2019-03-08 | 上海市东方医院 | A kind of ankle joint rehabilitation device and its training method |
| CN109431745B (en) * | 2018-11-12 | 2020-07-28 | 上海市东方医院 | Ankle joint rehabilitation device and training method thereof |
| CN109528442A (en) * | 2018-11-20 | 2019-03-29 | 上海市第十人民医院 | A kind of ankle joint rehabilitation training auxiliary device |
| CN109528442B (en) * | 2018-11-20 | 2020-09-15 | 上海市第十人民医院 | Ankle joint rehabilitation training auxiliary device |
| CN112587373A (en) * | 2021-01-06 | 2021-04-02 | 合肥工业大学 | Wearable rehabilitation instrument glove based on pneumatic series elastic driver |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171024 Termination date: 20180929 |