CN209286065U - A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means - Google Patents
A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means Download PDFInfo
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- CN209286065U CN209286065U CN201820501848.6U CN201820501848U CN209286065U CN 209286065 U CN209286065 U CN 209286065U CN 201820501848 U CN201820501848 U CN 201820501848U CN 209286065 U CN209286065 U CN 209286065U
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- rod
- electric pushrod
- push
- connector
- shank
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Abstract
A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means, it includes fixes sleeve on shank, fixes sleeve and rigid sole under shank, fixes sleeve two sides are respectively equipped with first on shank, second upper connector, fixes sleeve two sides are respectively equipped with first under shank, second lower connector, rigid sole front end two sides are respectively equipped with first, second front connector, rigid sole rear end sides are respectively equipped with first, second rear connectors, electric pushrod before being flexibly connected first between first upper connector and the first front connector, electric pushrod before being flexibly connected second between second upper connector and the second front connector, electric pushrod after being flexibly connected first between first lower connector and the first rear connectors, electric pushrod after being flexibly connected second between second lower connector and the second rear connectors.The utility model at least has many advantages, such as that structure is simple, saving production cost, patient is used and restores more convenient and efficient, is easy to storage and is convenient for carrying.
Description
Technical field
The utility model relates to apply a kind of four-degree-of-freedom booster type in the rehabilitation training medical instruments field of ankle and foot
Ankle rehabilitation shunting means.
Background technique
For the rehabilitation training of ankles bit, there is also following defects:
One, what traditional foot convalescence device used is all 3DOF or the parallel institution of 6DOF, and 3DOF
Mechanism be easy to appear ankle damage position not adaptive device the problem of, this is because with 3 drive rods 3DOF rehabilitation dress
Set that driving is very few, and 6DOF parallel institution is for the rehabilitation at this single position of profession of ankle part, then structure and function
Energy redundancy is excessive, is bound to cause many unnecessary mechanical materials wastes.
Two, in use, previous control program generally first makes push rod in servo-actuated state, by doctor based on teaching
The raw first rehabilitation training to damage ankle, the time-variable data of recording bar, then reappear these operations, the mode of teaching excessively relies on
The first actuation of doctor, and without carrying out any communication between patient, once the parameter of rehabilitation training is set by doctor for the first time,
Patient can not automatically carry out rehabilitation training, and the fine tuning for restoring gimmick, patient can not be carried out with the recovery of damage location
It can only passively be trained to.
Three, general foot convalescence device volume is larger, not foldable, it has not been convenient to carry.
Utility model content
To solve defect existing for above-mentioned technology, the utility model is intended to provide a kind of four-degree-of-freedom booster type ankle rehabilitation
Shunting means, the utility model at least have structure is simple, save production cost, patient is used and restore it is more convenient and
Efficiently, it is easy to store the advantages that being convenient for carrying.
Specific utility model content is as follows:
A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means, it includes fixes sleeve on shank, fixing sleeve under shank
Cylinder and rigid sole are connected on the shank between fixes sleeve and rigid sole under fixes sleeve, shank and are coated on
The binding structure of flexible material on shank, ankle-joint and instep, fixes sleeve two sides are respectively equipped with first on the shank
Upper connector and the second upper connector, fixes sleeve two sides are respectively equipped with the first lower connector and the second lower connection under the shank
Part, rigid sole front end two sides are respectively equipped with the first front connector and the second front connector, the rigid sole rear end two
Side is respectively equipped with the first rear connectors and the second rear connectors, connects before first upper connector, the first lower connector, first
Part and the first rear connectors are located at the same side, second upper connector, the second lower connector, the second front connector and the
Two rear connectors are each provided at the other side, and being connected between first upper connector and the first front connector flexibly to stretch
First before electric pushrod, can flexibly stretch second is connected between second upper connector and the second front connector
Preceding electric pushrod is connected with electronic after can flexibly stretch first between the described first lower connector and the first rear connectors
Push rod is connected with electric pushrod after can flexibly stretch second between the described second lower connector and the second rear connectors,
It is electric behind the bottom end of electric pushrod and second after the bottom end of electric pushrod, first before electric pushrod bottom end, second before described first
The bottom end of dynamic push rod is equipped with pressure sensor, and the pressure sensor passes through flexural pivot and first front connector, second
Front connector, the first rear connectors and the second rear connectors are flexibly connected；It is electronic before electric pushrod, second before described first to push away
Electric pushrod is driven by the control of push rod driving device after electric pushrod and second after bar, first, the push rod driving device and institute
Pressure sensor control connection is stated, electric pushrod is foldable after electric pushrod and first, second before described first, second.
One of preferably, electric pushrod after electric pushrod and first, second before described first, second
Intermediate position, is equipped with folding structure, any one described folding structure includes upper push-rod and lower push-rod, the upper push-rod
It is detachably connected among lower push-rod by a connecting piece and screw cooperation.
Further, the upper push-rod and lower push-rod connecting pin are equipped with connection sheet accommodation groove, the both ends of the connection sheet
Be respectively provided in the accommodation groove of the upper push-rod and lower push-rod, be equipped with strip through-hole in the connection sheet both ends of the surface, it is described on
Rotary shaft is equipped in the accommodation groove of push rod and lower push-rod, the rotary shaft, which passes through the strip through-hole, distinguishes connection sheet both ends
Be rotatablely connected with the upper push-rod and lower push-rod, the end that the upper push-rod and lower push-rod are connect with connection sheet pass through screw and
Connection sheet is fixed, and the screw passes through the strip through-hole.
Further, the length of the connection sheet is less than or equal to the sum of upper push-rod and the length of accommodation groove of lower push-rod, greatly
The sum of width in two ends of upper push-rod and lower push-rod.
One of preferably, the tightness of the binding structure for being coated on shank and ankle-joint can pass through
Bandage adjustment, the tightness for wrapping up in the binding structure being tied at instep can be adjusted by nylon paste button.
The utility model has the advantages that
The utility model uses a kind of four bar parallel connection ankle recovery exercising robot of interactive, has first, second
Electric pushrod after preceding electric pushrod and first, second, 4 bar driven Parallel Kinematic Manipulator provided by the utility model both meet difference
The therapeutic scheme of ankle, structure and function again will not redundancy it is excessive, save mechanical material and cost；
The rehabilitation training mode of booster type solves the problems, such as that previous foot rehabilitation mechanical mechanism and patient link are insufficient,
There is provided one kind for patient can be in a manner of the ankle rehabilitation oneself participated in, the control mode of the assistance type of half active of the utility model
It can first pass through before computer installation first, second that the corresponding pressure of electric pushrod passes after electric pushrod and first, second
The numerical threshold of sensor can instruct the wounded to carry out autonomous rehabilitation training, and when pressure sensor detects that patient overcomes, it pushes away
Bar is acted again, so that four electric pushrods reach the threshold value of setting, is restored just after the position of setting stays for some time
Chang Weizi carries out the movement of rehabilitation next time again.Allow patient is semi-autonomous to participate in itself resume training, more convenient and efficient；
Electric pushrod center after electric pushrod and first, second before first, second is set as to roll over by the utility model
Folded mechanical structure, more easily storage are convenient for carrying, convenient and practical.
To sum up, the utility model at least has that structure is simple, saves production cost, patient is used and is restored more just
It is prompt and efficiently, be easy to store the advantages that being convenient for carrying.
Detailed description of the invention
Fig. 1 is the volume rendering structural schematic diagram of one preferred embodiment of the utility model；
Fig. 2 is the forward sight structural schematic diagram of one preferred embodiment of the utility model；
Fig. 3 is the schematic perspective view of the foldable mechanism of one preferred embodiment of the utility model；
Fig. 4 is the main view the schematic diagram of the section structure of the folding structure of one preferred embodiment of the utility model；
Fig. 5 is the schematic perspective view of the connection sheet of one preferred embodiment of the utility model.
Fig. 6 is the end construction side view perspective structure signal of the upper push-rod or lower push-rod of one preferred embodiment of the utility model
Figure.
Appended drawing reference:
1, fixes sleeve on shank；2, fixes sleeve under shank；3, rigid sole；4, binding structure；5, it connects on first
Part；6, the second upper connector；7, the first lower connector；8, the second lower connector；9, the first front connector；10, it connects before second
Part；11, the first rear connectors；12, the second rear connectors；13, electric pushrod before first；14, electric pushrod before second；15,
Electric pushrod after one；16, electric pushrod after second；17, rotary shaft；18, folding structure；19, upper push-rod；20, lower push-rod；
21, connection sheet；22, screw；23, accommodation groove；24, strip through-hole；25, screw installing hole.
Specific embodiment
The utility model is illustrated below with reference to specific embodiment:
A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means, it includes fixing sleeve under fixes sleeve 1, shank on shank
Cylinder 2 and rigid sole 3 is connected with packet under fixes sleeve 1, shank on the shank between fixes sleeve 2 and rigid sole 3
The binding structure 4 of the flexible material on shank, ankle-joint and instep is overlayed on, 1 two sides of fixes sleeve are set respectively on the shank
There are the first upper connector 5 and the second upper connector 6,2 two sides of fixes sleeve are respectively equipped with the first lower 7 He of connector under the shank
Second descends connector 8, and 3 end two sides are respectively equipped with the first front connector 9 and the second front connector 10 before the rigid sole, described
3 rear end sides of rigid sole are respectively equipped with the first rear connectors 11 and the second rear connectors 12, first upper connector 5,
Once connector 7, the first front connector 9 and the first rear connectors 11 are located at the same side, second upper connector 6, second
Lower connector 8, the second front connector 10 and the second rear connectors 12 are each provided at the other side, first upper connector 5 and
Electric pushrod 13 before can flexibly stretch first, second upper connector 6 and second are connected between one front connector 9
Electric pushrod 14 before can flexibly stretch second, the described first lower connector 7 and first are connected between front connector 10
Electric pushrod 15 after can flexibly stretch first, the described second lower connector 8 and second are connected between rear connectors 11
Electric pushrod 16 after can flexibly stretch second, 13 bottom of electric pushrod before described first are connected between rear connectors 12
The bottom end of electric pushrod 16 is equal behind the bottom end and second of electric pushrod 15 after the bottom end of electric pushrod 14, first before end, second
Equipped with pressure sensor, the pressure sensor passes through flexural pivot and first front connector 9, the second front connector 10, the
One rear connectors 11 and the second rear connectors 12 are flexibly connected；Electric pushrod 14 before electric pushrod 13, second before described first,
Electric pushrod 16 is driven by the control of push rod driving device after electric pushrod 15 and second after first, the push rod driving device and institute
Pressure sensor control connection is stated, electric pushrod 15,16 after electric pushrod 13,14 and first, second before described first, second
It is foldable.
One of preferably, it is electronic after electric pushrod 13,14 and first, second before described first, second
The intermediate position of push rod 15,16, is equipped with folding structure 18, any one described folding structure 18 includes 19 He of upper push-rod
Lower push-rod 20 is cooperated among the upper push-rod 19 and lower push-rod 20 by a connecting piece 21 and screw 22 and is detachably connected.
Further, the upper push-rod 19 is equipped with connection sheet accommodation groove 23, the connection sheet with 20 connecting pin of lower push-rod
21 both ends are respectively provided in the accommodation groove 23 of the upper push-rod 19 and lower push-rod 20, are equipped in 21 both ends of the surface of connection sheet
Rotary shaft 17 is equipped in the accommodation groove 23 of strip through-hole 24, the upper push-rod 19 and lower push-rod 20, the rotary shaft 17 passes through
The strip through-hole 24 is rotatablely connected 21 both ends of connection sheet with the upper push-rod 19 and lower push-rod 20 respectively, and upper push-rod 19 is under
The screw installing hole 25 for installing screw 22 is equipped on push rod, the upper push-rod 19 and lower push-rod 20 are connect with connection sheet 21
End pass through that screw 22 and connection sheet 21 are fixed, and the screw 22 passes through the strip through-hole 24.
Further, the length of the connection sheet 21 is less than or equal to the length of the accommodation groove 23 of upper push-rod 19 and lower push-rod 20
The sum of, greater than the sum of the width of 20 two ends of upper push-rod 19 and lower push-rod.This design is convenient for that 21 both ends of connection sheet will be fixed on
Screw 22 loosen after or take out after, can make the end of lower push-rod 20 along rotary shaft 17 rotate after folding storage.All electricity
Dynamic push rod is stored after folding by this structure, and the utility model easily facilitates carrying, saves space.
One of preferably, the tightness of the binding structure 4 for being coated on shank and ankle-joint can lead to
Bandage adjustment is crossed, the tightness for wrapping up in the binding structure being tied at instep can be adjusted by nylon paste button.
One of as a preferred embodiment, the utility model may include following operating procedure:
(1) it first opens at constraint, is placed on patient foot on the rigid sole 3, then with binding structure 4 ankle part
It is tightened with calf, pressure sensor is connect with computer system, electric pushrod 13,14, before then making first, second
One, electric pushrod 15,16 freedom of entry follower models after second carry out rehabilitation training to damage location by doctor, by computer
Record and analysis doctor at the scene operation training when, electric pushrod is stretched after electric pushrod and first, second before first, second
The direction of the pressure of the threshold value and pressure sensor transmission of contracting amount variation and the delta data of size, including different training actions
Threshold value.
(2) after doctor does not operate at the scene, rehabilitation training is independently carried out by patient, is passed from pressure sensor to computer
The real-time stroke of electric pushrod 15,16 and pressure side after electric pushrod 13,14 and first, second before defeated first, second
To the data of the situation of change with size, identify the training action data that patient is done and upload, when patient oneself is to first, the
The size of any one or several active forces before two after electric pushrod 13,14 and first, second in electric pushrod 15,16
Or direction is when die-offing, computer is according to the training data of the doctor recorded in step 1, into assistant mode, before first, second
After electric pushrod 13,14 and first, second in electric pushrod 15,16 any one or it is several, drive ankle and foot activity arrive
The position for the training action threshold value that computer has recorded in step 1, and the time of one section of setting is stopped, eventually pass back to initial bit
It sets, waits next training action.
The above content is only the preferred embodiment of the utility model, for those of ordinary skill in the art, according to this reality
With novel thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as
Limitations of the present invention.
Claims (4)
1. a kind of four-degree-of-freedom booster type ankle rehabilitation shunting means, it is characterised in that: it includes fixes sleeve on shank, shank
Lower fixes sleeve and rigid sole connect under fixes sleeve, shank between fixes sleeve and rigid sole on the shank
There is the binding structure for the flexible material being coated on shank, ankle-joint and instep, fixes sleeve two sides are distinguished on the shank
Equipped with the first upper connector and the second upper connector, fixes sleeve two sides are respectively equipped with the first lower connector and the under the shank
Two lower connectors, rigid sole front end two sides are respectively equipped with the first front connector and the second front connector, the rigidity shoes
Bottom rear end sides are respectively equipped with the first rear connectors and the second rear connectors, first upper connector, the first lower connector, the
One front connector and the first rear connectors are located at the same side, connect before second upper connector, the second lower connector, second
Part and the second rear connectors are each provided at the other side, and being connected between first upper connector and the first front connector can
Electric pushrod before first flexibly to stretch, being connected between second upper connector and the second front connector flexibly to stretch
Electric pushrod before the second of contracting is connected with can flexibly stretch the between described first lower connector and the first rear connectors
Electric pushrod after one is connected with electricity after can flexibly stretch second between described second lower connector and the second rear connectors
Dynamic push rod, the bottom end of electric pushrod and the after the bottom end of electric pushrod, first before electric pushrod bottom end, second before described first
The bottom end of electric pushrod is equipped with pressure sensor after two, and the pressure sensor connects before passing through flexural pivot and described first
Part, the second front connector, the first rear connectors and the second rear connectors are flexibly connected；Electric pushrod, second before described first
Electric pushrod is driven by the control of push rod driving device after electric pushrod and second after preceding electric pushrod, first, push rod driving
Device and pressure sensor control connect, and electric pushrod is equal after electric pushrod and first, second before described first, second
It is foldable.
2. a kind of four-degree-of-freedom booster type ankle rehabilitation shunting means according to claim 1, it is characterised in that: described
One, before second after electric pushrod and first, second electric pushrod intermediate position, be equipped with folding structure, it is described any
One folding structure includes upper push-rod and lower push-rod, is cooperated among the upper push-rod and lower push-rod by a connecting piece and screw
It is detachably connected.
3. a kind of four-degree-of-freedom booster type ankle rehabilitation shunting means according to claim 2, it is characterised in that: on described
Push rod and lower push-rod connecting pin are equipped with connection sheet accommodation groove, and the both ends of the connection sheet are respectively provided at the upper push-rod and push away under
In the accommodation groove of bar, it is equipped with strip through-hole in the connection sheet both ends of the surface, in the accommodation groove of the upper push-rod and lower push-rod
Equipped with rotary shaft, the rotary shaft, which passes through the strip through-hole, rotates connection sheet both ends with the upper push-rod and lower push-rod respectively
Connection, the end that the upper push-rod and lower push-rod are connect with connection sheet pass through screw and fix with connection sheet, and the screw passes through
The strip through-hole.
4. a kind of four-degree-of-freedom booster type ankle rehabilitation shunting means according to claim 3, it is characterised in that: the company
The length of contact pin is less than or equal to the sum of upper push-rod and the length of accommodation groove of lower push-rod, is greater than two ends of upper push-rod and lower push-rod
The sum of width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820501848.6U CN209286065U (en) | 2018-04-10 | 2018-04-10 | A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820501848.6U CN209286065U (en) | 2018-04-10 | 2018-04-10 | A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means |
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| Publication Number | Publication Date |
|---|---|
| CN209286065U true CN209286065U (en) | 2019-08-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820501848.6U Expired - Fee Related CN209286065U (en) | 2018-04-10 | 2018-04-10 | A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means |
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| CN (1) | CN209286065U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420678A (en) * | 2018-04-10 | 2018-08-21 | 超微（上海）骨科医院管理股份有限公司 | A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means and its application method |
-
2018
- 2018-04-10 CN CN201820501848.6U patent/CN209286065U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420678A (en) * | 2018-04-10 | 2018-08-21 | 超微（上海）骨科医院管理股份有限公司 | A kind of four-degree-of-freedom booster type ankle rehabilitation shunting means and its application method |
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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: 20190823 Termination date: 20200410 |