CN214910015U

CN214910015U - Ankle rehabilitation robot with three degrees of freedom

Info

Publication number: CN214910015U
Application number: CN202120128507.0U
Authority: CN
Inventors: 李伟; 杨晨; 陈林林
Original assignee: Zhengzhou University of Science and Technology
Current assignee: Zhengzhou University of Science and Technology
Priority date: 2021-01-18
Filing date: 2021-01-18
Publication date: 2021-11-30
Anticipated expiration: 2031-01-18

Abstract

Three-degree-of-freedom ankle rehabilitation robot solves the problem that the medical staff help to exercise and work intensity of the medical staff is high at present. The sole fixing device comprises a bottom plate, a rotatable hollow barrel is arranged above the bottom plate, a vertically sliding supporting plate is arranged above the barrel, a pedal plate which reciprocates along the length direction of the supporting plate is arranged above the supporting plate, a sole groove is formed in the pedal plate, and a sole fixing device is arranged on the outer side of the sole groove. The utility model discloses novel structure thinks about ingeniously, and easy operation is convenient, has three degree of freedom, can carry out many-sided exercise to patient's ankle position for patient's recovered speed alleviates medical personnel's working strength.

Description

Ankle rehabilitation robot with three degrees of freedom

Technical Field

The utility model belongs to the technical field of the recovered technique of ankle and specifically relates to a recovered robot of three degree of freedom ankles.

Background

Anatomically, the ankle, or ankle joint, is the portion of the human foot that connects to the leg and consists of 7 tarsal bones plus the metatarsal bones of the foot and the bones of the lower leg.

The foot is the second heart of a person, and the ankle is an important gateway for blood flow of the left foot and the right foot, so that the ankle is protected, and it is important time to avoid lesion of the ankle. However, in our daily life, there are cases such as sprain of the ankle inevitably occurring, and once the ankle is strained, it is basically necessary to take a bed rest to accelerate the recovery of the ankle, but it is necessary to take appropriate rehabilitation exercise for the ankle in the later stage, thereby increasing the recovery rate of the ankle.

At present, the rehabilitation exercise to the ankle all lets the patient oneself activity ankle or medical personnel help carry out the exercise of ankle, but this kind of mode is great to personnel's loss, can increase medical personnel's working strength in the very big degree.

SUMMERY OF THE UTILITY MODEL

To the above situation, for overcoming prior art's defect, the utility model provides a three degree of freedom ankle rehabilitation robot, the effectual current medical personnel of having solved help take exercise, the big problem of medical personnel working strength.

In order to achieve the above object, the utility model discloses a bottom plate, bottom plate top are equipped with rotatable hollow barrel, and the barrel top is equipped with vertical gliding backup pad, and the backup pad top is equipped with along backup pad length direction reciprocating motion's running-board, is equipped with the sole groove on the running-board, and the sole inslot side is equipped with sole fixing device.

Preferably, the sole fixing device comprises a first fixing belt hinged to the pedal, the other end of the pedal is hinged to a second fixing belt, and the first fixing belt and the second fixing belt are matched to form a structure for fixing the sole.

Preferably, a first magic tape is fixed at the lower end of the first fixing belt, a second magic tape is fixed at the upper end of the second fixing belt, and the first magic tape and the second magic tape are matched to form a structure for connecting the two fixing belts.

Preferably, the upper end of the bottom plate is rotatably provided with a large gear, the lower end of the barrel is fixedly connected with the large gear, a small gear is meshed with the outer side of the large gear, a first motor is fixed on the bottom plate, and the first motor is fixedly connected with the small gear.

Preferably, backup pad lower extreme fixedly connected with threaded rod, threaded rod lower extreme slidable arrange the barrel in and fixedly connected with deflector, the barrel inner wall is fixed with vertical arc arch, and the arc arch runs through the deflector.

Preferably, the upper end of the barrel is rotatably provided with a nut block, the nut block is in threaded connection with a threaded rod, and the nut block rotates to form a structure that the threaded rod vertically slides.

Preferably, a second motor is fixed at the upper end of the cylinder, a driving wheel is fixedly connected to the shaft end of the second motor, and the driving wheel is connected with the nut block through a triangular belt.

Preferably, the support plate is provided with a T-shaped groove along the length direction of the support plate, a T-shaped block is slidably arranged in the T-shaped groove, and the upper end of the T-shaped block penetrates through the T-shaped groove and is fixedly connected with the pedal plate.

Preferably, the outer end of the pedal is hinged with a connecting rod, the other end of the connecting rod is hinged with a crank, a third motor is fixed on the supporting plate, and the shaft end of the third motor is fixedly connected with the crank.

Preferably, the front side and the rear side of the bottom plate are provided with friction plates which vertically slide, and the friction plates are in contact with the ground and are extruded to form a structure for fixing the bottom plate.

Preferably, the front end and the rear end of the bottom plate are both fixed with fixing plates, the upper end of the friction plate is rotatably provided with a lead screw, the lead screw is in threaded connection with the fixing plates, and the upper end of the lead screw is arranged above the fixing plates.

Preferably, a guide rod is fixed at the upper end of the friction plate, and the upper end of the guide rod can slidably penetrate through the fixing plate and is arranged above the fixing plate.

Preferably, the lower end of the bottom plate is fixed with two universal wheels and two directional wheels.

The utility model discloses novel structure thinks about ingeniously, and easy operation is convenient, has three degree of freedom, can carry out many-sided exercise to patient's ankle position for patient's recovered speed alleviates medical personnel's working strength.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic diagram of the side-axis structure of the present invention.

Fig. 3 is the structure schematic diagram after the bottom plate is removed.

Fig. 4 is the vertical sliding structure diagram of the support plate of the present invention (the cylinder is partially cut open).

Fig. 5 is a schematic view of the reciprocating sliding structure of the pedal of the present invention.

Fig. 6 is an enlarged view of the part a in fig. 5.

Fig. 7 is a schematic view of the vertical sliding structure of the friction plate of the present invention.

Detailed Description

The following describes the present invention in further detail with reference to fig. 1-7.

As shown in fig. 1-7, the utility model comprises a bottom plate 1, a hollow rotary cylinder 2 is arranged above the bottom plate 1, a vertically sliding support plate 3 is arranged above the cylinder 2, a pedal plate 4 which reciprocates along the length direction of the support plate 3 is arranged above the support plate 3, a sole groove is arranged on the pedal plate 4, and a sole fixing device is arranged outside the sole groove.

As shown in fig. 1 and 2, bottom plate 1 can remove, it can to remove to the position back fixing that needs, make things convenient for the removal of whole equipment like this, the patient places the sole at the sole inslot, in order to reach universalization's purpose as far as, we set up the sole groove than great, fix patient's foot at the sole inslot through sole fixing device, the vertical lift of backup pad 3 can drive sole board lift together, the rotation through barrel 2 drives the sole board and rotates, the sole board can also carry out reciprocating slip in addition, thereby exercise to the ankle provides three kinds of degrees of freedom, the effect of patient's recovered exercise has been guaranteed, accelerate the recovered speed of patient's ankle.

In addition, the equipment is driven by complete intelligence, so that the working intensity of medical staff is reduced.

The sole fixing device comprises a first fixing belt 5 hinged with the pedal 4, the other end of the pedal 4 is hinged with a second fixing belt 6, and the first fixing belt 5 and the second fixing belt 6 are matched to form a structure for fixing the sole.

The lower extreme of first fixed band 5 is fixed with first magic subsides, and 6 upper ends of second fixed band are fixed with the second magic subsides, and the cooperation of first magic subsides and second magic subsides constitutes the structure that two fixed bands are connected.

As shown in fig. 5 and 6, the sole fixing device is somewhat similar to the sticking on our shoes, and when the sole fixing device is set, we set the first magic tape and the second magic tape as long as possible, so that the diversity of length selection of the first magic tape and the second magic tape can be ensured, and thus, no matter the thickness and the width of the sole of a patient, we can fix the sole of the patient in the sole groove through the sole fixing device.

The upper end of the bottom plate 1 is rotatably provided with a large gear 7, the lower end of the barrel 2 is fixedly connected with the large gear 7, a small gear 8 is meshed with the outer side of the large gear 7, a first motor 9 is fixed on the bottom plate 1, and the first motor 9 is fixedly connected with the small gear 8.

As shown in fig. 3, the first motor 9 is located below the bottom plate 1, the first motor 9 is detachably connected with the bottom plate 1, the first motor 9 rotates to drive the pinion 8 to rotate, the pinion 8 is meshed with the gearwheel 7, so that the gearwheel 7 is driven to rotate, the barrel 2 is fixedly connected with the gearwheel 7, the barrel 2 is driven to rotate circumferentially, and the rotation of the barrel 2 can drive the ankle to rotate.

3 lower extreme fixedly connected with threaded rod 10 of backup pad, threaded rod 10 lower extreme slidable arranges barrel 2 in and fixedly connected with deflector 11 in, and 2 inner walls of barrel are fixed with vertical arc arch 12, and arc arch 12 runs through deflector 11.

As shown in fig. 4, arc-shaped protrusion 12 is provided with four, the circumference equipartition is in barrel 2, run through deflector 11 through arc-shaped protrusion 12, thereby play the effect of direction to deflector 11, the vertical slidability of deflector 11 has been guaranteed like this, in addition, we are fixed with extension spring 22 at 11 circumference equipartitions of deflector, extension spring 22 lower extreme and barrel 2 fixed connection, when backup pad 3 area deflector 11 carries out vertical rising like this, extension spring 22 is stretched, the pulling force increases, guarantee backup pad 3's that like this can be fine stability, avoid rocking of backup pad 3.

The upper end of the barrel body 2 is rotatably provided with a nut block 13, the nut block 13 is in threaded connection with the threaded rod 10, and the nut block 13 rotates to form a structure that the threaded rod 10 vertically slides.

A second motor 15 is fixed at the upper end of the barrel 2, a driving wheel 14 is fixedly connected to the shaft end of the second motor 15, and the driving wheel 14 is connected with the nut block 13 through a triangular belt.

As shown in fig. 4, the second motor 15 is fixedly connected with the barrel 2, the rotation of the second motor 15 drives the nut block 13 to rotate through the driving wheel 14, thereby the nut block 13 rotates to drive the threaded rod 10 to vertically slide, and the support plate 3 is fixedly connected with the threaded rod 10, so that the vertical sliding of the support plate 3 is realized.

The supporting plate 3 is provided with a T-shaped groove along the length direction of the supporting plate 3, a T-shaped block is slidably arranged in the T-shaped groove, and the upper end of the T-shaped block penetrates through the T-shaped groove and is fixedly connected with the pedal plate 4.

As shown in fig. 5, the horizontal sliding effect of the pedal plate 4 is ensured by the T-shaped groove and the T-shaped block.

The outer end of the pedal 4 is hinged with a connecting rod 16, the other end of the connecting rod 16 is hinged with a crank 17, a third motor is fixed on the supporting plate 3, and the shaft end of the third motor is fixedly connected with the crank 17.

As shown in FIG. 5, the crank 17, the connecting rod 16 and the pedal 4 form a crank 17 slider structure, the pedal 4 is driven to slide back and forth by the rotation of the crank 17, and the crank 17 is driven to rotate by the rotation of the third motor.

Preferably, the front side and the rear side of the bottom plate 1 are provided with friction plates 18 which vertically slide, and the friction plates 18 contact with the ground and are extruded to form a structure for fixing the bottom plate 1.

The front end and the rear end of the bottom plate 1 are both fixed with fixing plates 19, the upper end of the friction plate 18 is rotatably provided with a screw rod 20, the screw rod 20 is in threaded connection with the fixing plates 19, and the upper end of the screw rod 20 is arranged above the fixing plates 19.

The upper end of the friction plate 18 is fixed with a guide rod 21, and the upper end of the guide rod 21 is slidably arranged above the fixed plate 19 through the fixed plate 19.

As shown in fig. 6, a hand wheel is fixedly connected to the upper end of the screw rod 20, the screw rod 20 is driven to rotate by the rotation of the hand wheel, the screw rod 20 is driven to rotate so as to drive the screw rod 20 to slide, the screw rod 20 slides to drive the friction plate 18 to slide and contact with the ground in a squeezing manner, so that the whole device is fixed, and here, a plug is fixed to the upper end of the guide rod 21 to prevent the guide rod 21 and the fixing plate 19 from being separated.

Two universal wheels and two directional wheels are fixed at the lower end of the bottom plate 1.

As shown in figures 1 and 2, the universal wheels and the directional wheels are arranged to facilitate the movement of the equipment.

When the utility model is used, the device is moved to a needed position, then the friction plate 18 is in extrusion contact with the ground by rotating the hand wheel, the fixation of the device is completed, the sole of a patient is placed in the sole groove, the foot of the patient is fixed by the cooperation of the first fixing band 5 and the second fixing band 6, then the foot of the patient can be driven to rotate circularly by the rotation of the first timer, the second motor 15 drives the supporting plate 3 to vertically slide, the foot is driven to vertically move, the pedal plate 4 is driven to reciprocate by the third motor, thereby realizing the reciprocating sliding of the foot, the device has three degrees of freedom, the time of the three degrees of freedom motions is distributed according to the actual condition of the patient, thereby the ankle part of the patient is rehabilitated and exercised, the rehabilitation speed of the patient is accelerated, and the whole process basically does not need the help of medical care personnel, the working strength of medical staff is greatly reduced.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Three degree of freedom ankle rehabilitation robot, its characterized in that is including bottom plate (1), and bottom plate (1) top is equipped with rotatable hollow barrel (2), and barrel (2) top is equipped with vertical gliding backup pad (3), and backup pad (3) top is equipped with along backup pad (3) length direction reciprocating motion's running-board (4), is equipped with the sole groove on running-board (4), and the sole groove outside is equipped with sole fixing device.

2. The ankle rehabilitation robot with three degrees of freedom according to claim 1, wherein the sole fixing device comprises a first fixing strap (5) hinged with the pedal plate (4), the other end of the pedal plate (4) is hinged with a second fixing strap (6), and the first fixing strap (5) and the second fixing strap (6) are matched to form a structure for fixing the sole.

3. The three-degree-of-freedom ankle rehabilitation robot according to claim 2, wherein a first magic tape is fixed at the lower end of the first fixing strap (5), a second magic tape is fixed at the upper end of the second fixing strap (6), and the first magic tape and the second magic tape are matched to form a structure in which the two fixing straps are connected.

4. The ankle rehabilitation robot with three degrees of freedom according to claim 1, wherein a large gear (7) is rotatably arranged at the upper end of the bottom plate (1), the lower end of the cylinder body (2) is fixedly connected with the large gear (7), a small gear (8) is meshed with the outer side of the large gear (7), a first motor (9) is fixed on the bottom plate (1), and the first motor (9) is fixedly connected with the small gear (8).

5. The ankle rehabilitation robot with three degrees of freedom according to claim 1, wherein a threaded rod (10) is fixedly connected to the lower end of the supporting plate (3), the lower end of the threaded rod (10) is slidably arranged in the cylinder (2) and is fixedly connected with a guide plate (11), a vertical arc-shaped protrusion (12) is fixed to the inner wall of the cylinder (2), and the arc-shaped protrusion (12) penetrates through the guide plate (11).

6. The ankle rehabilitation robot with three degrees of freedom according to claim 5, characterized in that a nut block (13) is rotatably arranged at the upper end of the cylinder (2), the nut block (13) is in threaded connection with the threaded rod (10), and the nut block (13) rotates to form a structure that the threaded rod (10) vertically slides.

7. The ankle rehabilitation robot with three degrees of freedom according to claim 6, wherein a second motor (15) is fixed to the upper end of the cylinder body (2), a driving wheel (14) is fixedly connected to the shaft end of the second motor (15), and the driving wheel (14) is connected with the nut block (13) through a triangular belt.

8. The ankle rehabilitation robot with three degrees of freedom according to claim 1, wherein a T-shaped groove is formed in the support plate (3) along the length direction of the support plate (3), a T-shaped block is slidably arranged in the T-shaped groove, and the upper end of the T-shaped block penetrates through the T-shaped groove and is fixedly connected with the pedal plate (4).

9. The ankle rehabilitation robot with three degrees of freedom according to claim 1, wherein a connecting rod (16) is hinged to the outer end of the pedal plate (4), a crank (17) is hinged to the other end of the connecting rod (16), a third motor is fixed on the support plate (3), and the shaft end of the third motor is fixedly connected with the crank (17).

10. The ankle rehabilitation robot with three degrees of freedom according to claim 1, wherein the bottom plate (1) is provided with friction plates (18) which vertically slide on the front side and the rear side, and the friction plates (18) are in contact with the ground and are extruded to form a structure for fixing the bottom plate (1).