CN211485521U

CN211485521U - Comprehensive ankle joint rehabilitation training device

Info

Publication number: CN211485521U
Application number: CN201921761867.3U
Authority: CN
Inventors: 杨凯盛; 季建; 徐颖俊; 杨会成
Original assignee: Zhejiang Marine Development Research Institute
Current assignee: Ningbo Zhangliang Space Intelligent Technology Co.,Ltd.; Zhenjiang Jacobi Robot Technology Co.,Ltd.; Ningbo University; Zhejiang Marine Development Research Institute
Priority date: 2019-10-19
Filing date: 2019-10-19
Publication date: 2020-09-15
Anticipated expiration: 2029-10-19

Abstract

The utility model discloses a comprehensive rehabilitation training device of ankle joint, including base, shank support frame, sole backup pad and rope drive module, the shank support frame articulates on the base, and the sole backup pad can be dismantled with the shank support frame and be connected, even can be respectively to the tensile cable of side application about the upper and lower extreme of sole backup pad, on the rope drive module, the cable passes the shank support frame and is connected with the sole backup pad, is equipped with the toe in the sole backup pad and curls guiding mechanism. The utility model discloses can carry out the motion exercise of three dimension to injured ankle joint, still can make patient's foot carry out the toe through the toe adjustment mechanism that curls and stretch the exercise, the function is more comprehensive. Furthermore the utility model discloses the cable has been adopted more as the driving medium, can reduce impact, the vibration that rigid drive produced for the motion is more gentle and agreeable, prevents injured ankle joint secondary damage.

Description

Comprehensive ankle joint rehabilitation training device

Technical Field

The utility model relates to a rehabilitation apparatus, more specifically say, it relates to comprehensive rehabilitation training device of ankle joint.

Background

The ankle joint, as a hinge for the contact between the human body and the ground, plays an important role in daily life, including cushioning, load bearing, walking, and the like of foot pressure. If the ankle joint is injured, the ankle joint not only can bring pain to people and influence normal activities of people, but also can further influence normal exertion of mechanical functions of other parts such as lower limbs, pelvis, spine and the like under severe conditions. The ankle joint consists of the tibia of the calf, as well as the fibular end joint surface and talar trochlear, and is therefore also commonly referred to as the talar calf joint. The ankle joint of a normal person can realize the rotation of three degrees of freedom of plantar flexion/dorsiflexion pitching, inversion/eversion foot sole surface overturning and inversion/supination tiptoe turning. For ankle-injured patients, these three-directional rotations are often not fully achieved. If the injured ankle joint cannot be treated timely and thoroughly, repeated sprain and functional loss are easily caused, so that great inconvenience is caused to the fast-paced life of modern people. The number of ankle joint injury patients is large, and the demand for ankle joint rehabilitation therapy is increasing. At present, ankle joint's rehabilitation training mainly relies on physiotherapy teacher, and physiotherapy teacher is according to patient's recovery state, and the adjustment power is said and is driven ankle joint motion until recovering the perception, and this kind of treatment mode that relies on physiotherapy teacher has following not enoughly: the physical therapist has high working strength; the treatment process mainly depends on the experience of physical therapists and is difficult to quantify; this imprecise treatment regimen limits the improvement in efficacy; the treatment mode is difficult to quantify, so the method is not suitable for large-area popularization and application. Therefore, research and development of ankle rehabilitation training devices are necessary to replace physical therapists in rehabilitation training of the ankle of patients. Various ankle joint rehabilitation training devices researched and developed at home and abroad at present have the following problems in different degrees:

1. the mechanism has a single function. The ankle joint rehabilitation training mechanisms have insufficient number of degrees of freedom, can only rotate around 1 or 2 shafts, and cannot realize 3-degree-of-freedom rotation around the central point of the ankle joint, so that the recovery effect is influenced;

2. there are redundant degrees of freedom for the mechanism. Some mechanisms comprise 1 rotational degree of freedom and 1 movement degree of freedom, when a movable platform of the mechanism moves, if a shank cannot follow up or cannot follow up timely, the ankle of a patient is fixed, and the ankle is forced to be driven at the moment, so that secondary damage to the ankle is easily caused;

3. the rotation center of the ankle joint rehabilitation training mechanism is not coincident with the rotation center of the ankle joint. The rotation center of the existing ankle joint rehabilitation training robot is mostly arranged in the mechanism, the ankle joint rotation center cannot coincide with the mechanism, the ankle joint rotates along with the mechanism in the rehabilitation training process, at the moment, the shank is forced to follow up, the requirement on the shank coordination is increased, if the shank coordination is not in place, the specified motion angle cannot be reached to influence the rehabilitation progress, and the secondary damage to the ankle joint is caused if the shank coordination is not in place;

4. most mechanisms adopt a rigid connecting rod as a transmission medium, so that the flexibility is poor, the inertia is large, the structure is not easy to change, and the rigid connecting rod is easy to generate harmful impact in the rehabilitation training process, so that the patient is uncomfortable;

5. the existing ankle joint rehabilitation training equipment has the advantages of complex structure, heavy weight and high price, and can be borne by a few hospitals or rehabilitation centers with good conditions.

Utility model with publication number CN109172091A specially adapted for 2019, 1 month and 11 days discloses an ankle joint rehabilitation device, including: the foot holds in the palm, the shank board, the pivot, the controller, the motor, distance sensor, rope and pulley. The utility model discloses an on prior art's ankle joint draft device, the increase has set up controller and distance sensor, and this sensor can detect the distance on heel and ground, and when patient's heel and the distance on ground reached peak range, send data to the controller, then the controller carries out corresponding periodic dynamic adjustment according to real-time feedback data to the motion of motor. The utility model discloses a scheme's advantage lies in, can be according to different individual condition to and the condition of same individual under the motion gesture of difference, have pointed to ground dynamic adjustment and be fit for user's draft mechanism's tensile angle, the position of catching the heel through distance sensor is as action condition, and simple fixed draft among the prior art not, and the time point of catching ankle dorsiflexion that can be more accurate intervenes, improves treatment. However, the utility model can only realize the adjustment of the pitch state of the ankle joint, does not have the three-degree-of-freedom rotation adjustment capability, and has limited ankle joint recovery effect.

SUMMERY OF THE UTILITY MODEL

Present ankle joint rehabilitation training equipment has that the structure is complicated, the function is single, the compliance is poor, the price is expensive, for overcoming these defects, the utility model provides a structure is simpler, the function is more comprehensive, the motion is more gentle and agreeable, the lower comprehensive rehabilitation training device of ankle joint of price.

The technical scheme of the utility model is that: comprehensive rehabilitation training device of ankle joint, including base, shank support frame, sole backup pad and rope drive module, the shank support frame articulates on the base, and the sole backup pad can be dismantled with the shank support frame and be connected, even can be respectively to the tensile cable of sole backup pad upper and lower extreme and left and right sides application, the cable passes the shank support frame and is connected with the sole backup pad, is equipped with the toe in the sole backup pad and curls guiding mechanism. Use the utility model discloses when carrying out ankle joint rehabilitation training, patient's foot is fixed in the sole backup pad, and the shank is put on the shank support frame. The upper end or the lower end of the sole supporting plate is pulled by the single side of the inhaul cable driven by the rope driving module, so that the plantar flexion/dorsiflexion movement of the ankle joint can be completed; the left side or the right side of the sole supporting plate is pulled by the single side of the inhaul cable, so that the varus/valgus movement of the ankle joint can be completed; the internal rotation/external rotation of the ankle joint can be completed by the paired traction of the guy cable at the diagonal position. In addition, the toe curling adjustment mechanism enables the foot of the patient to do toe curling/stretching exercises, and the toe curling/stretching exercises can draw a plurality of tendons of the foot to enable the ankle joint to do more complex compound actions, so that the ankle joint can be rehabilitated more comprehensively. Consequently the utility model discloses can carry out the motion of three dimension to injured ankle joint and take exercise to the peripheral tissue of ankle joint is transferred and is carried out profitable drive and amazing to the ankle joint, promotes better recovering, therefore the function is more comprehensive. Furthermore the utility model discloses the cable has been adopted more as the driving medium, can reduce impact, the vibration that rigid drive produced for the motion is more gentle and agreeable, prevents injured ankle joint secondary damage.

Preferably, the toe curling adjusting mechanism comprises an air bag and two parallel binding bands, the air bag is embedded in a groove at the middle upper part of the sole supporting plate, the air bag is connected with a pneumatic source through a pipeline, and two ends of the binding bands are fixed on the sole supporting plate. The binding band can fix the sole surface with the fixing column, so that the sole and the sole supporting plate are tightly fixed, and the foot can better move along with the sole supporting plate. When toes curl, only the included angle of the toes relative to the sole changes, one of the two binding bands is used for fixing the toe part, the other one of the two binding bands is used for fixing the foot arch part close to the ankle part, the air bag is positioned corresponding to the combined part of the sole and the toes, and when the air bag is inflated and expanded, the combined part of the sole and the toes is extruded, so that the included angle of the toes relative to the sole changes, the toe curling adjustment is realized, ankle joints are driven and stimulated, and the recovery of the motion function of the ankle joints is promoted.

Preferably, the leg support frame comprises a groove-shaped frame capable of accommodating the leg, an end plate is fixedly connected to the end part of the groove-shaped frame, and a detachable origin positioning rod is arranged between the end plate and the sole support plate. The shape of the slotted frame can be better matched with the shape of the leg of the patient, so that the leg can be stably placed on the leg supporting frame. The detachable connection between the leg support frame and the sole support plate is realized through the original point locating rod.

Preferably, the base is fixedly provided with a stand column, and the bottom of the leg support frame is hinged on the stand column. The leg support frame can change the lifting height of the legs by changing the pitching angle, so that the patient can receive rehabilitation training in a more comfortable state.

Preferably, a toe curl adjusting mechanism trigger mechanism is provided at a hinge portion between the leg support frame and the upright. The toe curling adjusting mechanism triggering mechanism is arranged on the hinge portion of the leg supporting frame and the upright post, a patient only needs to adjust the levelness of the leg, the included angle between the leg supporting frame and the upright post is changed, the start and stop of the toe curling adjusting mechanism can be automatically controlled, and the operation is convenient.

Preferably, the toe curl adjustment mechanism trigger mechanism is a travel switch. The travel switch has simple structure, small volume and convenient installation.

Preferably, the rope drive module is fixed to the base. The rope driving module is integrated on the base, so that the structure compactness of the ankle joint rehabilitation training device can be improved.

The utility model has the advantages that:

the function is more comprehensive. The utility model discloses can carry out the motion exercise of three dimension to injured ankle joint, go back accessible toe curl guiding mechanism and make patient's foot carry out the toe curl/stretch and take exercise to draw the many places tendon of foot, make ankle joint make more complicated compound action, consequently the function is more comprehensive, is favorable to ankle joint to obtain more comprehensive rehabilitation training, and ankle joint is recovered with higher speed.

The man-machine cooperation effect is good. Use the utility model discloses the time, the rotation of sole backup pad all directly uses patient's ankle joint as rotation center, and the rotation center of device highly coincides with human ankle joint rotation center, can subduct mechanism motion redundancy and mechanism to human restriction, lead greatly, and man-machine cooperation effect is better.

The movement is more flexible. The utility model discloses the cable has been adopted as the driving medium more, can reduce impact, the vibration that rigid drive produced for the motion is more gentle and agreeable, prevents injured ankle joint secondary damage.

Simple structure and low cost. The utility model discloses not too much adopt complicated mechanical transmission mechanism, can simplify the structure greatly, reduce the cost, the more be convenient for marketing.

Drawings

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

fig. 2 is a schematic view of a usage state of the present invention;

FIG. 3 is another schematic structural diagram of the present invention;

FIG. 4 is a schematic view of the back structure of the middle sole supporting plate of the present invention;

fig. 5 is a schematic structural view of the variable stiffness device of the present invention;

fig. 6 is a schematic structural diagram of the rope driving module according to the present invention.

In the figure, 1-base, 2-leg support, 3-sole support plate, 4-rope driving module, 5-stay, 6-air bag, 7-bandage, 8-upright column, 9-rigidity changing device, 10-bracket, 11-stay fixing rod, 12-torsion spring, 13-stay motor, 14-rope winding shaft, 15-origin positioning rod, 16-stay guide bayonet, 17-sling, 18-stay fixer.

Detailed Description

The present invention will be further described with reference to the following detailed description of the embodiments.

Example 1:

as shown in fig. 1, 2 and 6, the comprehensive ankle rehabilitation training device comprises a base 1, a leg support frame 2, a sole support plate 3 and a rope driving module 4, wherein the leg support frame 2 is hinged on the base 1, and the sole support plate 3 is detachably connected with the leg support frame 2. Rope drive module 4 is fixed on base 1, even has on the rope drive module 4 to apply tensile cable 5 to sole backup pad 3 upper and lower extreme and left and right sides respectively, and cable 5 passes shank support frame 2 and is connected with sole backup pad 3. The sole supporting plate 3 is provided with a toe curling adjusting mechanism, the toe curling adjusting mechanism comprises an air bag 6 and two parallel binding bands 7, the air bag 6 is embedded in a groove which is approximately corresponding to the connecting part of the sole and the toes at the middle upper part of the sole supporting plate 3, the air bag 6 is connected with a pneumatic source through a pipeline, the pneumatic source is an air pump, the pipeline is provided with an electromagnetic valve, and the two ends of the binding bands 7 are fixed on the sole supporting plate 3. The top of the sole supporting plate 3 is also connected with a sling 17, the sling 17 is wound on a torsion rope winder, and the torsion rope winder is fixed on the ceiling of a rehabilitation training field or a matched bracket additionally arranged. The pulling force of hoist cable 17 to sole backup pad 3 is used for balancing the dead weight of sole backup pad 3, avoids sole backup pad 3 dead weight to lead to the fact extra burden to the ankle joint during rehabilitation training. Base 1 internal fixation has the mounting panel, and rope drive module 4 is four, and every rope drive module 4 all includes cable motor 13 and serving 14, and cable motor 13 is fixed on the mounting panel, serving 14 rotates to be connected on the mounting panel, cable motor 13 passes through synchronous belt drive with serving 14 in same rope drive module 4 and is connected, and serving 14 is parallel with cable motor 13's output shaft, convolutes a cable 5 on every serving 14 respectively, and sole backup pad 3 is the rectangle, and 3 tops of sole backup pad, bottom and both sides edge all are equipped with cable direction bayonet 16 for move towards to keeping cable 5. The sole supporting plate 3 is respectively fixed with a cable end fixing part at four corners, the cable end fixing part is annular, the end of the cable 5 is tied with a ball head, the diameter of the ball head is larger than that of the ring, and the ball head is clamped on the ring. The cable motor 13 is a servo motor with an encoder. The inhaul cable motor 13, the air pump and the electromagnetic valve are all electrically connected with a single chip microcomputer, and the single chip microcomputer is also electrically connected with an operation panel. Shank support frame 2 is equipped with the half slot including the cell-shaped frame that can hold the shank on the cell-shaped frame, and the cell-shaped frame tip has linked firmly the end panel, is equipped with detachable initial point locating lever 15 between end panel and sole backup pad 3, and initial point locating lever 15 is the square column body, all is equipped with the square jack with 15 adaptations of initial point locating lever on end panel and the sole backup pad 3. The base 1 is fixedly provided with a stand column 8, the bottom of the leg support frame 2 is hinged on the stand column 8, the hinged part of the leg support frame 2 and the stand column 8 is provided with a toe curling adjusting mechanism triggering mechanism, the toe curling adjusting mechanism triggering mechanism is a travel switch, and the travel switch is also electrically connected with the single chip microcomputer.

Use the utility model discloses before beginning ankle joint rehabilitation training, during the square jack on end panel and the sole backup pad 3 was inserted respectively at 15 both ends of initial point locating lever, made sole backup pad 3 and shank support frame 2 be in the initial point of relative position. Then the patient puts the legs into the semicircular grooves of the leg support frame 2, the sole is fixed on the sole support plate 3, one of the two binding bands 7 is used for fixing the position of the toes, the other one is used for fixing the position of the arch of foot close to the ankle, the air bag 6 is positioned corresponding to the combination position of the sole and the toes, and the relative positions of the legs and the sole are fixed at the moment. The length of each cable 5 is then adjusted so that they are tensioned. The original point locating rod 15 is drawn out, the leg and the sole of the patient are directly connected with the sole supporting plate 3 and the leg supporting frame 2, the patient is connected with the ankle joint rehabilitation training device into a whole, the ankle joint of the patient is directly used as the axis in all directions of rotation of the sole supporting plate 3, the rotation center of the ankle joint rehabilitation training device is coincided with the rotation center of the ankle joint, and therefore the best man-machine cooperation is formed. Then, the working method of the ankle joint rehabilitation training device can be implemented, and the method can be used for pulling the upper end or the lower end of the sole supporting plate 3 through the pull rope 5 on one side to finish the plantar flexion/dorsiflexion movement of the ankle joint; the left side or the right side of the sole supporting plate 3 is pulled by the guy 5 on one side to complete the inversion/eversion movement of the ankle joint; the internal rotation/external rotation movement of the ankle joint is completed through the paired traction of the inhaul cable 5 at the diagonal position. That is, when the two guys 5 at the upper end of the sole supporting plate 3 are driven by the corresponding guy motor 13 to be wound and tensioned, and at the same time, the two guys 5 at the lower end of the sole supporting plate 3 are kept still or slightly loosened, so that the foot surface of a patient fixed on the sole supporting plate 3 stands up, otherwise, the two guys 5 at the upper end of the sole supporting plate 3 are still or slightly loosened, and when the two guys 5 at the lower end of the sole supporting plate 3 are wound and tensioned, the foot surface is laid flat, so that the ankle joint is exercised in a pitching manner; when the two guys 5 on the left side of the sole supporting plate 3 are driven by the corresponding guy motor 13 to be wound and tensioned, and meanwhile, the two guys 5 on the right side of the sole supporting plate 3 are kept still or slightly loosened, so that the sole is turned outwards if the left foot is treated, and the sole is turned inwards if the right foot is treated, otherwise, the two guys 5 on the left side of the sole supporting plate 3 are still or slightly loosened, and when the two guys 5 on the right side of the sole supporting plate 3 are wound and tensioned, the left sole is turned inwards, and the right sole is turned outwards, so that the ankle joint is turned inwards and outwards for exercise; when the left upper and right lower two pull cables 5 of the sole supporting plate 3 are driven by the corresponding pull cable motor 13 to be wound and tensioned, and meanwhile, the left lower and right upper two pull cables 5 of the sole supporting plate 3 are loosened, so that the tiptoe is outward buckled if the left foot is treated, and the tiptoe is inward buckled if the right foot is treated, otherwise, the left upper and right lower two pull cables 5 of the sole supporting plate 3 are loosened, and when the left lower and right upper two pull cables 5 of the sole supporting plate 3 are wound and tensioned, the left tiptoe is inward buckled and the right tiptoe is outward buckled, so that the ankle joint is internally and externally exercised. When the ankle joint carries out plantar flexion/dorsiflexion and inversion/eversion movements, each guy cable 5 needs to be embedded into the corresponding guy cable guide bayonets 16 at the upper and lower end edges of the sole supporting plate 3; when the ankle joint rotates inwards/outwards, the pull cables 5 are respectively transferred into the pull cable guide bayonets 16 corresponding to the left and right edges of the sole supporting plate 3. If the toe curling adjustment is needed, the legs of the patient can exert force downwards slightly to enable the leg support frame 2 to incline further around the hinged point, the travel switch is pressed, the air pump and the electromagnetic valve are started under the control of the single chip microcomputer, the air bag 6 is inflated and expanded to extrude the combined part of the sole and the toes, so that the included angle of the toes relative to the sole is changed, the toe curling adjustment is achieved, and the ankle joint is driven and stimulated. The single chip microcomputer stores ten ankle joint rehabilitation training programs, the rope winding stroke and the running speed of the inhaul cable motor 13 in each program are different, and a patient can select a proper program according to the injury degree of the ankle joint so as to achieve an ideal rehabilitation effect.

Example 2:

as shown in fig. 3 to 5, the sole support plate 3 is further provided with a stiffness varying device 9, and the cable 5 is connected to the stiffness varying device 9. Become rigidity device 9 and include support 10, cable dead lever 11 and torsional spring 12, support 10 is fixed on rotating base 23, cable dead lever 11 rotates through a pivot and connects on support 10, torsional spring 12 connects between support 10 and cable dead lever 11, torsional spring 12 cup joints in the pivot and 12 one end joints of torsional spring on support 10, the other end joint is on cable dead lever 11, be equipped with cable fixer 18 on the cable dead lever 11, the end of cable 5 is fixed on cable fixer 18, cable fixer 12 is cable endpoint fixed part promptly. The four screw mounting hole positions of each variable stiffness device 9 on the sole supporting plate 3 are arranged in a square shape, and the variable stiffness device has mounting modes in longitudinal and transverse directions, so that the variable stiffness devices 9 can change the direction according to the rehabilitation training requirement and the change requirement of the tension direction of the inhaul cable 5. The rest is the same as example 1.

Before carrying out plantar flexion/dorsiflexion and inversion/eversion training of the ankle joint, the left and right stay cable fixing rods 11 at the top end of the sole supporting plate 3 are ensured to point to the upper end edge of the sole supporting plate 3, the left and right stay cable fixing rods 11 at the bottom end of the sole supporting plate 3 point to the lower end edge of the sole supporting plate 3, the spring positioning pins 20 corresponding to the rotating bases 23 are inserted into the corresponding positioning holes 18, and the stay cables 5 are also respectively clamped into the stay cable guide bayonets 16 at the upper and lower end edges of the corresponding sole supporting plate 3; when carrying out ankle joint's internal rotation/external rotation training, dismantle each variable rigidity device 9 one by one and fix again after rotating 90, the cable dead lever 11 on the variable rigidity device 9 on palm backup pad 3 left side all points to sole backup pad 3 left side edge this moment, and variable rigidity device 9 on sole backup pad 3 right side goes up cable dead lever 11 and all points to sole backup pad 3 right side edge. In addition, each cable 5 is also transferred into the corresponding cable guide bayonet 16 at the left and right side edges of the sole support plate 3.

Example 3:

six rope driving modules 4 are used for controlling six inhaul cables 5, and the six inhaul cables 5 are respectively correspondingly connected with the four corners of the sole supporting plate 3 and the middle parts of the two sides. The rest is the same as example 1.

Claims

1. Comprehensive rehabilitation training device of ankle joint, characterized by includes base (1), shank support frame (2), sole backup pad (3) and rope drive module (4), shank support frame (2) articulate on base (1), sole backup pad (3) can be dismantled with shank support frame (2) and be connected, it can be respectively on sole backup pad (3) to link on rope drive module (4), tensile cable (5) are exerted to the lower extreme and the side of controlling, cable (5) pass shank support frame (2) and are connected with sole backup pad (3), be equipped with the toe on sole backup pad (3) and curl guiding mechanism.

2. The ankle joint comprehensive rehabilitation training device as claimed in claim 1, wherein the toe curling adjustment mechanism comprises an air bag (6) and two parallel binding bands (7), the air bag (6) is embedded in a groove at the middle upper part of the sole supporting plate (3), the air bag (6) is connected with a pneumatic source through a pipeline, and two ends of the binding bands (7) are fixed on the sole supporting plate (3).

3. The ankle joint comprehensive rehabilitation training device as claimed in claim 1, wherein the leg support frame (2) comprises a groove frame for accommodating the leg, an end plate is fixedly connected to the end of the groove frame, and a detachable origin positioning rod (15) is arranged between the end plate and the sole support plate (3).

4. The ankle joint comprehensive rehabilitation training device as claimed in claim 1, wherein the base (1) is fixedly provided with a column (8), and the bottom of the leg support frame (2) is hinged on the column (8).

5. The ankle joint comprehensive rehabilitation training device as claimed in claim 4, wherein the hinge joint of the leg support frame (2) and the upright post (8) is provided with a toe curling adjustment mechanism triggering mechanism.

6. The ankle joint rehabilitating apparatus according to claim 5, wherein the trigger mechanism of the toe curl adjusting mechanism is a travel switch.

7. The ankle joint overall rehabilitation training device according to any one of claims 1 to 6, characterized in that the rope drive module (4) is fixed on the base (1).