CN208799724U - Ankle-joint training adapter and ankle joint rehabilitation training equipment - Google Patents

Ankle-joint training adapter and ankle joint rehabilitation training equipment Download PDF

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Publication number
CN208799724U
CN208799724U CN201821177180.0U CN201821177180U CN208799724U CN 208799724 U CN208799724 U CN 208799724U CN 201821177180 U CN201821177180 U CN 201821177180U CN 208799724 U CN208799724 U CN 208799724U
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CN
China
Prior art keywords
ankle
joint
foot
seat
connecting rod
Prior art date
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Active
Application number
CN201821177180.0U
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Chinese (zh)
Inventor
任宇鹏
王卫卫
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Beijing Force Tek Medical Technology Co Ltd
Beijing Litech Technology Co Ltd
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Beijing Force Tek Medical Technology Co Ltd
Beijing Litech Technology Co Ltd
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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266Foot
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178Exercising 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
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/08Exercising 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
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14Special force transmission means, i.e. between the driving means and the interface with the user
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • A61H2201/5064Position sensors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • A61H2201/5069Angle sensors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/12Feet
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00Measuring of physical parameters relating to sporting activity
    • A63B2220/18Inclination, slope or curvature
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00Measuring of physical parameters relating to sporting activity
    • A63B2220/80Special sensors, transducers or devices therefor
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00Measuring physiological parameters of the user
    • A63B2230/60Measuring physiological parameters of the user muscle strain, i.e. measured on the user
    • A63B2230/605Measuring physiological parameters of the user muscle strain, i.e. measured on the user used as a control parameter for the apparatus

Abstract

The utility model discloses a kind of ankle-joint training adapter and ankle joint rehabilitation training equipment, and ankle-joint training adapter includes foot's adapter and motion control host.Foot's adapter includes adjuster, ankle-joint location regulating mechanism, pedal and the foot's fixing piece being arranged on pedal, and ankle-joint location regulating mechanism one end is connect with adjuster, the other end and pedal connect.Motion control host includes driving device and control module, and driving device includes motor and is connected to the motor the retarder connect, and adjuster connect the output shaft relative to retarder with retarder and can rotate, and control module is connected to motor.Control module includes Angle Position change detection module, current of electric change detection module and mode selection module.The utility model can effectively assist patient to carry out joint exercise, promote muscle strength, improve range of motion, and stiff joint is loosened in drawing-off.

Description

Ankle-joint training adapter and ankle joint rehabilitation training equipment
Technical field
The utility model relates to medical instruments field more particularly to a kind of ankle-joint training adapters and rehabilitation of anklebone Training equipment.
Background technique
In public exercise rehabilitation training field, cerebral apoplexy, multiple sclerosis, spinal cord injury, brain paralysis influence millions of people's Life.For the patient that most of nervous function is damaged, dyskinesia is often increased with limb spasm related, and physiotherapy is existing The main means of stage rehabilitation training, but the status of existing training technique has many limitations.
In traditional stretching treatment, stretching, auxiliary and other physics intervention gimmick is can be used to mitigate in physiotherapist The spasm and contracture of patient limb restore balance, harmony and joint and the motor function of limbs of patient.However, passing System is caused high effort for by the stretching of physics gimmick, and general therapeutic teacher needs arduously to be stretched the four limbs of patient's spasm with hand; Meanwhile the intensity stretched by hand depends on the experience and subjective feeling of therapist.
In inducing active movement training, if patient is due to that cannot generate without physiotherapist or the auxiliary of equipment The active limb of continuous-stable moves, so being difficult to attempt by the movement of itself to reach and restore extremity motor function completely Purpose.Further, since shortage knowledge of rehabilitation or over training, patient may during attempting to carry out autonomous limb motion Potentially aggravate degree of injury.
Due to the shortage of therapist's resource, patient cannot get the exercise rehabilitation training of sufficient amount, so as to cause short-term health Refreshment effect of doing exercises cannot maintain long time.
Traditional passive drawing training device (CPM, cont i nuous pass ive mot ion) is widely used in In hospital and the family of patient.CPM is mainly provided in the joint microinching in the fixed range pre-established, to prevent kan setsu waza Posterior synechia reduces anchylosis.Its technology limitation is that CPM machine is between two preset articulated positions with slower The mobile limbs of constant speed or joint.Although system can provide very big stretch force moment, in entire drawing process, by In the limitation of its mechanical structure, the resistance that suffering limb is generated due to spasm cannot be detected, so preset motion range is usually small In the range of joint flexible motion, otherwise the danger of joint injury be will increase.Under this function restriction, the passive function that pulls is led to It cannot often be stretched to the higher position of limited Muscle tensility, and this physiological location exactly contracture and the most apparent position of spasm It sets, and really needs physiological location that is with high safety and effectively stretching.Due to lacking the detection to human synovial resistance, so Traditional continuous passive drawing training aids cannot be used for the rehabilitation of the dyskinesia due to caused by neurotrosis.
In recent years, another kind of active assisted class training equipment was used to help improve based on multi-freedom robot product Control and neural rehabilitation of the patient to the active movement of limbs after cerebral apoplexy and other neurotrosises.But from Point of View of Clinical It sees, for patient's (such as cerebral apoplexy, brain paralysis etc.) with high Muscle tensility/limb spasm, it is necessary to consider Muscle tensility variation or flesh Group's spasm problem could implement suitable autonomous synkinesia and train, but to train equipment often to ignore such for existing assisted class Pathological characters directly implement supplemental training to patient, do not solve the prerequisite function of Muscle tensility variation or muscle group spasm, Ci Zhongmo The problem of formula is likely to result in patient during supplemental training, high Muscle tensility/limb spasm more deteriorates.
In addition, some training experiment platform robots, the resistance generated by suffering limb spasm or active can be accurately measured Movement tendency, but the realization for being limited in that entire function and control of its technology is depended on to additional Cont rol Method of Precise Force/moment sensing The use of device.So structure determines that the cost of whole system increases, price is prohibitively expensive, be not suitable in grass-roots community and Family widely uses.And due to the difference of structure composition, device can only provide active-assistive exercise training function, same On device, the passive drawing with larger output torque cannot be realized simultaneously, ignore controlling for active/passive training combination Assessment after treatment mode and training.
It is domestic that commercialized product, similar product mainly include walking training bed, foot-operated self vehicle type training aids and CPM instrument Forms such as (continuity passive movement device for rehabilitation).Foot-operated self vehicle type training aids is suitable for the initiative and passivity of upper and lower limb Training.The product is trained by the initiative of upper limb and lower limb and passivity is trained, and gradually improves blood circulation, increases suffering limb flesh Power and endurance keep the flexibility of muscle, reduce Muscle tensility.It is simple to be mainly characterized by function, staff is facilitated to operate;It is suitable Close many and meanwhile use and monitoring management.KLW-SKF intelligent rehabilitation training system is furnished with safeguard measure simultaneously, and patient used Once spasm occurs in journey, machine will start intelligent counter motion mode, to alleviate spasm symptom.Although having actively and passively Mode, but due to the limitation of Design of Mechanical Structure and movement control technology, it is only possible to produce the connection of repeated " stepping on bicycle type " Close limb motion;To the limb spasm problem of brain injury patients, targeted flexibility of joint drawing-off cannot be provided.Such product Provided training mode is confined to basic Exercycle motor pattern, is suitble to improve cardiopulmonary ability and keeps basic exercise Ability, but improve limb spasm problem for alleviating, it is very limited.
Utility model content
In view of problems of the prior art, the utility model provides a kind of ankle-joint training adapter first, with It at least is partially solved the deficiencies in the prior art.
Ankle-joint training adapter provided by the utility model includes foot's adapter and motion control host.Foot is suitable Orchestration includes adjuster, ankle-joint location regulating mechanism, pedal and the foot's fixing piece being arranged on the pedal, and the ankle closes Position adjusting mechanism one end is connect section with the adjuster, the other end is connect with the pedal.Motion control host includes driving Device and control module, the driving device include motor and the retarder that is connected with the motor, the adjuster and institute Stating retarder connection can rotate relative to the output shaft of the retarder, and the control module is connect with the motor;Wherein, institute Stating control module includes Angle Position change detection module, current of electric change detection module and mode selection module, the mould Formula selecting module is separately connected with the Angle Position change detection module and the current of electric change detection module.
Preferably, the ankle-joint location regulating mechanism is to be existed by a first connecting rod and one second connecting rod interconnection Right-angled intersection connecting rod together.
Preferably, the first connecting rod and the crossover location of second connecting rod can be adjusted, and the pedal can It is connected on one end far from the crossover location of the first connecting rod to adjustment, the adjuster is connected to described second On one end far from the crossover location of connecting rod.
Preferably, in second connecting rod along its length on be provided with adjusting sliding slot, the first connecting rod Being set in the length direction in second connecting rod along the first connecting rod can slide, and set on the first connecting rod It is equipped with the location hole passed through for positioning and locking part corresponding with sliding slot with the adjusting.
Preferably, the pedal is connect by a pedal fixing piece with the first connecting rod, the pedal fixing piece energy Enough adjustment ground is arranged on the first connecting rod, and the adjustment direction of the pedal fixing piece is up and down direction.
Preferably, the position-limit mechanism of limit electric machine rotary motion, institute are provided between the adjuster and the retarder Stating position-limit mechanism includes limiting slot and limited block, and the limiting slot and limited block are being arranged in the adjuster with the retarder On opposite end face, the retarder the and described adjuster is provided with rolling corresponding with the limiting slot on opposite end face Son.
Preferably, foot's fixing piece has shoes shape;Or, foot's fixing piece includes instep fixing belt and foot With limiting band, the instep fixing belt and heel limit band are all set up directly on the pedal.
The utility model further provides for a kind of ankle joint rehabilitation training equipment, including the sliding bottom with sliding rail, height Regulating mechanism, above-mentioned ankle-joint training adapter, display device and rotatably trained seat.Height adjustment mechanism is mounted on On the sliding bottom.Ankle-joint training adapter is mounted on the height adjustment mechanism.Display device passes through screen mount Adjustable supports are in the top of the motion control host.The relatively described ankle-joint is arranged on the sliding rail in rotary training seat Training adapter position-adjustable.
Preferably, the rotary trained seat includes seat body, seat body backing board and seat riser, the seat Chair body is mounted on the upper end of the seat riser by the seat body backing board.
Preferably, the seat riser includes lifting driving hydraulic cylinder, telescopic prop and foot-operated control stick, institute It states telescopic prop to be connected with the lifting driving hydraulic cylinder, the foot-operated control stick is connected with the lifting driving hydraulic cylinder.
Preferably, lifting driving hydraulic cylinder is arranged on seat plate, and the seat plate passes through seat position locking piece It is locked on the sliding rail.
Preferably, the rotary trained seat further includes thigh support device, and the thigh support device includes:
Knee torch, the knee torch include length-adjustable telescopic supporting rod, described telescopic supporting rod one end and the seat Chair body backing board is pivotably connected;And
Leg disk is held in the palm, the support leg disk is pivotably connected to one end far from the knee torch of the telescopic supporting rod.
Preferably, the support leg disk includes the foot hold for being used to support patient's foot and the foot being arranged on the foot hold Fixing belt.
Preferably, thigh bandage is provided in the seat body.
Preferably, the sliding bottom is locked on the guide rail by position of host machine locking piece, the position of host machine lock Determine part be located at the sliding bottom back on the side of the rotary trained seat.
Preferably, the sliding rail includes the first sliding rail and the second sliding rail, and first sliding rail and second sliding rail dock At T-shaped slide rail.
The design of the utility model combination foot's adapter and motion control host can effectively assist patient to carry out joint It takes exercise, muscle strength, improves range of motion, stiff joint is loosened in drawing-off;In addition, due to being become according to Angle Position variation and electric current Change the variation of monitoring Muscle tensility, implements flexible adaptive drawing-off treatment, that is, dynamic monitoring joint kinematic parameter is guaranteeing safety On the basis of property and validity, the strength that can be accurately regulated the speed to greatest extent with drawing-off range of motion, economical and practical, structure Simply.Patient can be facilitated cosily to use in own home, increase training for treatment frequency, shorten recovery period.Compared to pervious Training equipment, the utility model can cut down the volume, weight and manufacturing cost of rehabilitation training system significantly, and patient can be in It neutralizes local clinic and uses the training equipment of low cost;For Patients with Acute, patient can also during early stage bed rehabilitation, Obtain necessary convenient rehabilitation training.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide a further understanding of the present invention, this is practical Novel illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.
Fig. 1 is the overall schematic of the ankle joint rehabilitation training equipment of the utility model;
Fig. 2 is the structural schematic diagram that the ankle joint rehabilitation training equipment of the utility model removes rotary training seat;
Fig. 3 is two kinds of emergent stopping schematic diagrames of the ankle joint rehabilitation training equipment of the utility model;
Fig. 4 is that showing for position of host machine locking piece is arranged on the sliding bottom of the ankle joint rehabilitation training equipment of the utility model It is intended to;
Fig. 5 A, 5B, 5C, 5D, 5E are the schematic diagram of foot's adapter of the utility model ankle-joint training adapter;
Fig. 6 is the structural block diagram of the control module of the utility model ankle-joint training adapter;
Fig. 7 A, 7B are the sliding schematic diagram of the ankle joint rehabilitation training equipment of the utility model;
Fig. 8 A is the overall schematic (looking up from another party) of the ankle joint rehabilitation training equipment of the utility model;
Fig. 8 B is the seat rotary stopper schematic diagram of the ankle joint rehabilitation training equipment of the utility model;
Fig. 9 is the partial schematic diagram of the ankle joint rehabilitation training equipment of the utility model;
Figure 10 is the partial schematic diagram of the rotary trained seat of the ankle joint rehabilitation training equipment of the utility model;
Figure 11 is the overall schematic of the ankle joint rehabilitation training equipment of the utility model (in terms of other direction);
Figure 12 is the bending knee regulating allocation structural schematic diagram (side view of the ankle joint rehabilitation training equipment of the utility model Figure);
Figure 13 is the straight knee regulating allocation structural schematic diagram (side view of the ankle joint rehabilitation training equipment of the utility model Figure).
Specific embodiment
In order to enable the purpose of this utility model, technical solution and advantage become apparent, retouch in detail below with reference to accompanying drawings State example embodiment according to the present utility model.Obviously, described embodiment is only that a part of the utility model is implemented Example, rather than the whole embodiments of the utility model, it should be appreciated that the utility model is not by the limit of example embodiment described herein System.Based on the utility model embodiment described in the utility model, those skilled in the art are not being made the creative labor In the case where obtained all other embodiment should all fall within the protection scope of the utility model.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular Directly ", the term of the orientation or positional relationship of instructions such as "horizontal", "inner", "outside", " preceding " and " rear " is relative to standing at this For the surrounding observer of ankle joint rehabilitation training equipment or patient, it is merely for convenience of description the utility model and simplification is retouched It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, Therefore it should not be understood as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection;It can be mechanical connection, be also possible to be electrically connected;Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For electricity and the communications field, it can be wired connection, be also possible to wirelessly connect It connects.For the ordinary skill in the art, above-mentioned term in the present invention specific can be understood with concrete condition Meaning.
As shown in Figure 1, the utility model provides a kind of ankle joint rehabilitation training equipment, including the sliding bottom with sliding rail 800, height adjustment mechanism 300, ankle-joint training adapter 1000, display device 400 and rotatably training seat 500.It is high Degree regulating mechanism 300 is mounted on sliding bottom 800.Ankle-joint training adapter 1000 is mounted on height adjustment mechanism 300 On.Display device 400 is by screen mount adjustable supports in the top of the motion control host of ankle-joint training adapter.Rotation Opposite ankle-joint training adapter position-adjustable is arranged on sliding rail 600 in rotatable trained seat 500.Sliding bottom 800 passes through Position of host machine locking piece (sliding block 302 hereinafter referred to) is locked on sliding rail 600, and position of host machine locking piece is located at sliding Pedestal 800 back to it is rotary training seat 500 side on.Sliding rail 600 includes the first sliding rail 601 and the second sliding rail 602, the One sliding rail 601 and the second sliding rail 602 are butted into T-shaped slide rail.
Specifically, referring to Fig. 1, ankle-joint training adapter 1000 includes foot's adapter 100 and motion control host.Fortune Dynamic control host includes driving device 200 and control module 700.
In conjunction with refering to 2, motion control main machine structure schematic diagram.Sliding bottom 800 includes pedestal 307 and T-shaped slide rail 600, The pedestal 307 is arranged in the shoulder of T-shaped slide rail 600, lifting column 301 is equipped on the base, on the lifting column 301 The motion control host is set, as previously mentioned, motion control host mainly has the control module 700 and the driving device 200.On the pedestal 307, the back side opposite with seat is disposed with the sliding block 302 of host adjusting, lifting column power supply Switch 303, main power socket 304, nameplate 305 and hand-held emergency stop switch 306.It is set in the driving device 200 It is equipped with emergency stop switch 201A and hand-held emergency switch 201B, emergency stop switch 201A and hand-held emergency switch 201B and hand-held emergency stop switch noted earlier effect 306 are identical.Design has input port on the back side opposite with user 204 and data connection serial ports 205.
As shown in figure 3, being the partial, detailed view of two kinds of emergency stop switch.Show emergency stop switch 201A and hand Formula emergency switch 201B is held, the two effect is identical, and the latter is to provide for patient conveniently.
As shown in figure 4, system host has the sliding block 302 that can be locked, it, can be according to left and right based on the setting of sliding rail 600 Leg position adjusts the position of host machine, to obtain the rehabilitation training of left lower extremity or right lower extremity.The sliding block 302 is unclamped, it is described Device Host can horizontally slip on the sliding rail, facilitate equipment mobile.
In conjunction with refering to Fig. 5 A- Fig. 5 E, retarder 202A and motor 202B, foot's adapter are equipped with inside driving device 200 100 connect with retarder 202A, and rotatable as axis using A-A central axis.
It is the driving device internal structure chart with connecting rod as shown in Fig. 5 A, 5B, 5C.Include inside driving device 200 Retarder 202A and motor 202B is connect by screw with foot adapter in the front of retarder.Before Fig. 5 B shows motor Retarder before position-limit mechanism 140.For example, the position-limit mechanism 140 is adjusted, with described when patient is trained Foot's adapter adjusts to adjust the angle of the pedal, reaches the training effect of different foot's ankle-joints.Fig. 5 C is driving The perspective view of device.
In a specific embodiment, foot's adapter 100 includes adjuster 102, pedal 101 and foot's fixing piece.It steps on Plate 101 is used to provide support to the foot of patient.Pedal 101 passes through ankle-joint location tune under the driving of driving device 200 It is rotatable around axis to save mechanism 104.Foot's fixing piece is on pedal 101, for the foot of patient to be fixed on pedal 101.Having In body embodiment, foot's fixing piece may include the instep fixing belt for being fixed on left foot (or right crus of diaphragm) on pedal 101 105 and heel limit band 106.Instep fixing belt 105 can be used for instep that is fixed and constraining patient, prevent the foot of patient from It falls off on pedal 101.Heel limit band 106 can be used for constraining and limiting the heel of patient, and the heel of patient is avoided to use During slid from pedal 101.Alternatively it is also possible to which instep fixing belt 105 and the heel limit setting of band 106 are integrated Structure type.In addition, foot's fixing piece also can have other structures, such as similar to the structure of shoes, as long as can incite somebody to action The foot of patient is fixed on pedal 101.104 one end of ankle-joint location regulating mechanism connect with the adjuster 102, is another End is connect with the pedal 101.Ankle-joint location regulating mechanism 104 is by a first connecting rod 1041 and one second connecting rod The right-angled intersection connecting rod of 1042 interconnections together.First connecting rod and the crossover location of second connecting rod can be adjusted Section, the pedal 101 can be connected on one end far from the crossover location of the first connecting rod 1041 with adjusting, institute Adjuster 102 is stated to be connected on one end far from the crossover location of second connecting rod 1042.Second connecting rod On 1042 along its length on be provided with adjusting sliding slot 10421, first connecting rod 1041 is set in the second connecting rod 1042 On can be slided along the length direction of first connecting rod 1041, and be provided on first connecting rod 1041 and adjusting sliding slot The 10421 corresponding location holes 10411 passed through for positioning and locking part 107.Pedal 101 passes through a pedal fixing piece 103 and the The connection of one connecting rod 1041, pedal fixing piece 103 can be arranged on first connecting rod 1041 with adjusting, and pedal fixing piece 103 adjustment direction is up and down direction.Refering to Fig. 5 B and Fig. 5 C, limit electricity is provided between adjuster 102 and retarder 202A The position-limit mechanism 140 of machine rotary motion, position-limit mechanism 140 include limiting slot 141 and limited block 142, limiting slot 141 and limited block 142 are arranged on the end face opposite with retarder 202A of adjuster 102, the end opposite with adjuster 102 of retarder 202A Roller 2021 corresponding with limiting slot 141 is provided on face.
In conjunction with refering to Fig. 6, control module 700 includes Angle Position change detection module 710, current of electric change detection module 720 and mode selection module 730, the active movement that Angle Position change detection module 710 is used to detect suffering limb drives the tune The Angle Position that section device is moved synchronously and generated changes;Current of electric change detection module 720 applies adjuster for detecting suffering limb Reinforcing square and the curent change in the motor driven that generates;Mode selection module 730 and Angle Position change detection module 710 and electricity Machine curent change detection module 720 is separately connected, solid to be used according to Angle Position variation and/or curent change selection There are resistance mode, stretch mode, auxiliary and resistance mode or induces active movement mode.
Specifically, referring again to Fig. 1, under passive exercise mode, the driving device 200 drives the foot to be adapted to Device 100 moves, and then the foot of patient is driven to be trained ankle-joint;Under active training mode, the driving device 200 It does not work, foot's adapter movement is driven by the autokinetic movement of patient, so that patient feet's ankle-joint be made to be trained. Preferably, in patient after passive exercise after a period of time, detection can select active training after reaching requirement again.
Such as Fig. 7 A, shown in 7B, the top view of utility model device shows the different conditions of left and right leg training.This reality It can be according to left ankle-joint or the training of right ankle-joint with new device.For example, shifting the motion control host onto relative rotation Left thigh or right thigh are placed on leg branch when needing left or right ankle-joint training by the appropriate location of formula training seat 500 On support arrangement, huckle is stretched, and left foot portion or right foot part are placed on pedal, and then adjusting slider locks sliding rail.
In conjunction with refering to shown in Fig. 8 A to Figure 10, showing the main component of rotary training seat 500: seat body 510, seat Chair body backing board 511, seat riser 512 and movable armrest 503, seat body 510 pass through seat body backing board 511 It is mounted on the upper end of seat riser 512, thigh bandage 502 is provided in seat body 510.Seat riser 512 includes Go up and down driving hydraulic cylinder 509, telescopic prop 508 and foot-operated control stick 505, telescopic prop 508 and lifting driving hydraulic cylinder 509 are connected, and foot-operated control stick 505 is connected with lifting driving hydraulic cylinder 509.Driving hydraulic cylinder 509 is gone up and down to be arranged in seat bottom On plate 513, seat plate 513 is locked on guide rail 600 by seat position locking piece 507.The rotary trained seat 500 further include thigh support device 501, and thigh support device 501 includes knee torch 5011 and support leg disk 5012, knee torch 5011 include length-adjustable telescopic supporting rod, and telescopic supporting rod one end is pivotably connected with seat body backing board 511.Hold in the palm leg Disk 5012 is pivotably connected to one end of the separate knee torch 5011 of telescopic supporting rod.Support leg disk 5012 includes being used to support trouble The foot hold 50121 of person's foot and the foot's fixing belt 50122 being arranged on foot hold 50121.
For example, the armrest 503 and the chair back are all adjustable in order to facilitate patient.In order to patient sit it is reliable, The seat body 510 has upper part of the body bandage 504 and thigh bandage 502.The thigh support device 501 of the utility model setting, It can be connect to pivot with seat by connecting rod, and the thigh of patient is used to support.Term " thigh " in the utility model refers to knee Position more than joint between thigh root, accordingly it is also possible to which thigh support device is known as thigh support device.Leg branch Support arrangement 501 can make the thigh of patient be properly supported always in the motion process of foot's adapter 100.Figure 8B is trained seat rotary stopper internal structure chart.
As shown in figure 9, the partial schematic diagram of thigh support device, the connection type for showing thigh support device adjusts rotation Button 501A, length knob 501B, adjusting knob 501C.For example, pressing adjusting knob 501A, rotating shaft will after patient takes a seat Patient thigh holds up, and stretches degree according to patient is kneed, adjusts rotational angle, after adjusting to proper angle, decontrols and adjusts Knob is saved to fasten 501 position of knee torch;It unclamps and adjusts the knob 501B in the middle part of support frame, according to height of seat and patient Lower-leg length is adjusted along the direction of leg, and adjusting finishes tightening knob 501B;It unclamps and holder for regulating leg spirals button 501C, root Gradient adjusting appropriate is carried out according to the actual conditions of different patients;It adjusts comfortably to support patient's shank as principle.
If Figure 10 shows the internal structure of seat riser 512, lifting driving hydraulic cylinder 509 is passive foot-operated liter Oil cylinder drops, and lifting driving hydraulic cylinder 509 connects four telescopic props 508.The passive Pedals type lifting oil cylinder is safe and reliable, It is easy to use.Adding four telescopic props 508 is the stability in order to enhance the seat 500.Leg support in Figure 10 Rotating part A, leg support pars contractilis B and leg support support rod rotating part C have enlarged drawing.It asks leg disk 5012 rotatable, passes through knob A1 Realize limit;Knee torch 5011 is scalable, adjusts to after target length, passes through rotation B1 knob locking;Press " button C1 " support Leg support 5011 can realize the selection of up and down direction, lock after release button.
As shown in figure 11, display device 400 can be used to various data (including the foot motion of display control unit 700 Data and various other information).In conjunction with Fig. 1, display device 400 may include display screen 401 and/or image projecting equipment (projector) support rod 402, the projection device support rod 402 are arranged in behind the control module 700 of main body control mechanism, 500 opposite of seat, facilitates patient to watch.Preferably, by that main body control mechanism can be arranged in the support rod of 360 degree rotation Upper rear portion.Preferably, display screen 401 can be touch screen, and have both the function of the input unit of control device.
As shown in Figures 12 and 13, by adjust seat 500 front-rear position and high and low position, it is adjustable it is kneed Bending angle in ankle-joint training process, while the adjustable rotation angle of thigh support device 501 and length support shank Lower section, to be suitble to different knee flexion angles.That is, this structure can be user in the item of different knee joint fixed angles Under part, implement the ankle-joint training of different modes.
In a specific embodiment, as shown in Figure 8 A, movable armrest 503 is lifted, patient is allowed to be sitting in seat body On 510, the shank of patient is placed on thigh support device 501, to front/rear adjustment bracket, it is ensured that the leg of patient is straight, seat Upper part of the body bandage 504 on chair is used for fixing human upper body, and the armrest 503 can be with up and down adjustment.Under the seat Thigh support device 501 can front and back adjust and pitch regulation, it is lockable after adjusting, unclamp sliding block counterclockwise, seat 500 exists It can be slid back and forth on sliding rail 600, according to the length of different patient's legs, moved seat 500 arrives appropriate location forwards, backwards.It adjusts Finish locking sliding block.By jamming on foot-operated control stick 505 repeatedly, the telescopic prop 508 (such as Figure 10) under seat is adjusted, according to The height of patient adjusts chair to suitable height.The seat can rotate, and unclamp rotation set lever D1 first (as schemed 8B), after rotating to certain angle, set lever D1 is unclamped.Back can need pitch tune according to patient Section, when adjusting, first press the handle of chair side, push the handle of locking side after backrest to certain angle.The chair band There are safety belt and thigh bandage can be fixed on the seat by the upper body of patient and thigh, it is not easy to shake.The armrest Tilt angle can be needed to adjust according to patient, tighten then fix armrest positions clockwise, then unclamp handrail fastening counterclockwise Position.
Under control model, activity point of view can be set the utility model, can set 3 location parameters: ankle respectively Joint motion zero point, maximum dorsiflex, maximum plantar flexion.The drawing-off intensity can be arranged according to the actual conditions of patient's ankle-joint The maximum dorsiflex of drawing-off ankle-joint and maximum plantar flexion data.Setting model of the training device for the maximum dorsiflex of ankle-joint Enclosing is 0~25 degree, and the setting range of maximum plantar flexion is 0~45 degree.
The control module 700 of the utility model can be pulled by monitoring limbs resistance or Muscle tensility variation with soft readjustment Intensity, speed and motion range, to safely and effectively reduce Muscle tensility, alleviation and inhibit spasm.Effective ankle can be provided to close Dorsiflex/curvature movement guidance is saved, induces ankle-joint autokinetic movement, tone up the muscles strength.
The utility model additionally provides a kind of method for carrying out ankle joint rehabilitation training using above-mentioned apparatus, the method The following steps are included: needing to be implemented following one or more modes according to suffering limb training: 1) the proper drag mould of bucking-out system Formula.In this mode, the active movement of the Angle Position change detection module detection suffering limb drives foot's adapter synchronous The Angle Position variation for moving and generating, the mode selection module change according to Angle Position described in the unit time, control motor Driving is generated along current control amount identical with the Angle Position change direction, is overcome described in the drive of mechanical resistance driving motor Foot's adapter is moved along direction identical with the suffering limb direction of motion, so that suffering limb carries out free movement.2) stretch mode.? In the mode, the current of electric change detection module detection is generated since suffering limb applies torque to foot's adapter Curent change in motor driven, the curent change that will test is by low-pass filtering to obtain smooth numerical value, the mode Selecting module is adjusted motor rotation speed and range according to curent change and is used for the velocity of rotation and range that adjust the suffering limb Stretch suffering limb muscle.3) auxiliary and draught control mode.In this mode, the Angle Position change detection module detects the foot The Angle Position of portion's adapter changes, and the mode selection module change according to the Angle Position, calculates required with suffering limb fortune The size of the dynamic identical auxiliary force in direction or the resistance opposite with the suffering limb direction of motion, to control the motor to the foot Adapter applies the auxiliary force or resistance, so that the suffering limb carries out supplemental training or resistance exercise.4) active movement is induced Mode.In this mode, Angle Position change detection module detection since suffering limb applies torque to foot's adapter and The curent change of generation, the mode selection module are calculated the autokinetic movement because of suffering limb by the detected curent change And the moment variations generated, the motor driven is controlled when the moment variations are less than a particular value to be shown with driving suffering limb to do The passive movement of plasticity, and the movement of limbs is fed back to patient in a manner of vision or the sense of hearing, then allow patient to do autonomous fortune It is dynamic, and the moment variations after change ratio are fed back into patient.
The beneficial effects of the utility model are as follows:
1. this product can pull intensity, speed and movement with soft readjustment by monitoring limbs resistance or Muscle tensility variation Range, to safely and effectively reduce Muscle tensility, alleviation and inhibit spasm.
2. realizing the flexible isotonic drawing of ankle dorsal flexion extreme position under the premise of guaranteeing limbs safety, increasing joint Scope of activities.
3. this product focuses on " drop foot " problem in rehabilitation, effective ankle dorsal flexion/curvature movement guidance is provided, ankle is induced Joint autokinetic movement, tone up the muscles strength.
4. the training of a variety of ankle-joint strengthening coolings can be achieved at the same time: free resistanceless motion, auxiliary and resistive exercise, soft Property drawing-off, interactive game induce active movement mode.
5. stressing the induction of active movement and the new paragon of perception, intelligent sound guidance and interaction, entertaining acrognosis are provided Know game interaction.
6. utilizing new control system patented technology, core component cost is greatly reduced, for the following household and community rehabilitation Feasible equipment solution is provided.
Although describing example embodiment by reference to attached drawing here, it should be understood that above example embodiment are only exemplary , and be not intended to the scope of the utility model limited to this.Those of ordinary skill in the art can carry out various wherein Change and modify, without departing from the scope of the utility model and spirit.All such changes and modifications are intended to be included in appended Within the scope of the utility model required by claim.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the utility model Embodiment can be practiced without these specific details.In some instances, be not been shown in detail well known method, Structure and technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the utility model and help to understand one in each utility model aspect Or at least two, in the description to the exemplary embodiment of the utility model, each feature of the utility model is sometimes by one It rises and is grouped into single embodiment, figure or descriptions thereof.However, the method for the utility model should not be construed to Reflect an intention that the requires of the utility model i.e. claimed more than feature expressly recited in each claim More features.More precisely, as corresponding claims reflect, practical novel point is can be with being less than The features of all features of some disclosed single embodiment solves corresponding technical problem.Therefore, it then follows specific embodiment party Thus claims of formula are expressly incorporated in the specific embodiment, wherein each claim itself is practical new as this The separate embodiments of type.
It will be understood to those skilled in the art that any combination pair can be used other than mutually exclusive between feature All features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any method Or all processes or device of equipment are combined.Unless expressly stated otherwise, this specification (is wanted including adjoint right Ask, make a summary and attached drawing) disclosed in each feature can be replaced with an alternative feature that provides the same, equivalent, or similar purpose.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is practical new in this Within the scope of type and form different embodiments.For example, in detail in the claims, embodiment claimed it is any One of can in any combination mode come using.
The utility model is limited it should be noted that above-described embodiment illustrates rather than the utility model, And those skilled in the art can be designed alternative embodiment without departing from the scope of the appended claims.In right In it is required that, any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" is not arranged Except there are element or steps not listed in the claims.Word "a" or "an" located in front of the element do not exclude the presence of to Few two such elements.The utility model can be by means of including the hardware of several different elements and by means of suitably compiling The computer of journey is realized.If several in these devices can be logical in the device claim for listing equipment for drying The same hardware branch is crossed to embody.The use of word first, second, and third does not indicate any sequence.It can be by this A little words are construed to title.
Above description is only a specific implementation of the present invention or to the explanation of specific embodiment, this is practical new The protection scope of type is not limited thereto, the technology model that anyone skilled in the art discloses in the utility model In enclosing, it can easily think of the change or the replacement, should be covered within the scope of the utility model.The protection of the utility model Range should be subject to the protection scope in claims.

Claims (16)

1. a kind of ankle-joint training adapter characterized by comprising
Foot's adapter, foot's adapter include that adjuster, ankle-joint location regulating mechanism, pedal and setting are stepped on described Foot's fixing piece on plate, ankle-joint location regulating mechanism one end connect with the adjuster, the other end and the pedal Connection;And
Motion control host, the motion control host include driving device and control module, and the driving device includes motor The retarder being connected with the motor, the adjuster connect the output shaft energy of the relatively described retarder with the retarder Enough rotations, the control module are connect with the motor;
Wherein, the control module includes Angle Position change detection module, current of electric change detection module and model selection Module, the mode selection module connect respectively with the Angle Position change detection module and the current of electric change detection module It connects.
2. ankle-joint according to claim 1 training adapter, which is characterized in that the ankle-joint location regulating mechanism is By the right-angled intersection connecting rod of a first connecting rod and one second connecting rod interconnection together.
3. ankle-joint training adapter according to claim 2, which is characterized in that the first connecting rod and described second The crossover location of connecting rod can be adjusted, and the pedal can be connected to the separate intersection of the first connecting rod with adjusting On one end of position, the adjuster is connected on one end far from the crossover location of second connecting rod.
4. ankle-joint training adapter according to claim 3, which is characterized in that in second connecting rod along its length Adjusting sliding slot is provided on direction, the first connecting rod is set in second connecting rod along the first connecting rod Length direction can slide, and be provided on the first connecting rod corresponding with the adjusting sliding slot for positioning and locking part The location hole passed through.
5. ankle-joint training adapter according to claim 4, which is characterized in that the pedal passes through a pedal fixing piece It is connect with the first connecting rod, the pedal fixing piece can be arranged on the first connecting rod with adjusting, and described step on The adjustment direction of plate fixing piece is up and down direction.
6. ankle-joint according to claim 1 training adapter, which is characterized in that the adjuster and the retarder it Between be provided with the position-limit mechanism of limit electric machine rotary motion, the position-limit mechanism includes limiting slot and limited block, the limiting slot Be arranged on the end face opposite with the retarder of the adjuster with limited block, the retarder with the adjuster phase Pair end face on be provided with roller corresponding with the limiting slot.
7. ankle-joint training adapter according to claim 1, which is characterized in that foot's fixing piece has shoes shape Shape;Or, foot's fixing piece includes instep fixing belt and heel limit band, the instep fixing belt and the heel limit band All it is set up directly on the pedal.
8. a kind of ankle joint rehabilitation training equipment characterized by comprising
Sliding bottom with sliding rail;
Height adjustment mechanism, the height adjustment mechanism are mounted on the sliding bottom;
Ankle-joint training adapter as described in any one of claim 1-7, the ankle-joint training adapter are mounted on On the height adjustment mechanism;
Display device, the display device is by screen mount adjustable supports in the top of the motion control host;And
The relatively described ankle-joint training adapter position-adjustable is arranged on the sliding rail in rotary training seat.
9. ankle joint rehabilitation training equipment according to claim 8, which is characterized in that the rotary trained seat includes Seat body, seat body backing board and seat riser, the seat body are mounted on the seat by the seat body backing board The upper end of chair elevating mechanism.
10. ankle joint rehabilitation training equipment according to claim 9, which is characterized in that the seat riser includes Driving hydraulic cylinder is gone up and down, telescopic prop and foot-operated control stick, the telescopic prop are connected with the lifting driving hydraulic cylinder, The foot-operated control stick is connected with the lifting driving hydraulic cylinder.
11. ankle joint rehabilitation training equipment according to claim 10, which is characterized in that lifting driving hydraulic cylinder setting exists On seat plate, the seat plate is locked on the sliding rail by seat position locking piece.
12. ankle joint rehabilitation training equipment according to claim 9, which is characterized in that the rotary trained seat is also Including thigh support device, the thigh support device includes:
Knee torch, the knee torch include length-adjustable telescopic supporting rod, described telescopic supporting rod one end and the seat body Backing board is pivotably connected;And
Leg disk is held in the palm, the support leg disk is pivotably connected to one end far from the knee torch of the telescopic supporting rod.
13. ankle joint rehabilitation training equipment according to claim 12, which is characterized in that the support leg disk includes for branch The foot's fixing belt for supportting the foot hold of patient's foot and being arranged on the foot hold.
14. ankle joint rehabilitation training equipment according to claim 9, which is characterized in that be provided in the seat body big Leg bandage.
15. ankle joint rehabilitation training equipment according to claim 8, which is characterized in that the sliding bottom passes through host Position locking piece is locked on the sliding rail, the position of host machine locking piece be located at the sliding bottom back to described rotary On the side of training seat.
16. ankle joint rehabilitation training equipment according to claim 8, which is characterized in that the sliding rail includes the first sliding rail With the second sliding rail, first sliding rail and second sliding rail are butted into T-shaped slide rail.
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CN112691340A (en) * 2020-12-23 2021-04-23 吉林农业科技学院 Ankle joint rehabilitation robot
CN112933543A (en) * 2021-02-07 2021-06-11 河南师范大学新联学院 Ankle joint rehabilitation training device
CN114949726A (en) * 2022-05-26 2022-08-30 上海理工大学 Magneto-rheological damping active and passive ankle joint rehabilitation mechanism
EP4309638A4 (en) * 2022-06-06 2024-01-24 Zhengzhou Angelexo Intelligent Tech Co Ltd Ankle joint rehabilitation training apparatus

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