CN216496401U

CN216496401U - Ankle joint rehabilitation robot

Info

Publication number: CN216496401U
Application number: CN202122542686.5U
Authority: CN
Inventors: 樊炎军; 王孝泽; 常永杰; 李鲁亚; 陈雪华; 杨森
Original assignee: Zhengzhou Anjeli Intelligent Technology Co ltd
Current assignee: Zhengzhou Anjeli Intelligent Technology Co ltd
Priority date: 2021-10-21
Filing date: 2021-10-21
Publication date: 2022-05-13
Anticipated expiration: 2031-10-21

Abstract

The invention discloses an ankle joint rehabilitation robot, which aims to solve the problem of overhigh cost caused by a complex structure in the prior art and comprises a sick side rehabilitation device, wherein the sick side rehabilitation device is used for assisting the rehabilitation movement of a sick side ankle joint and comprises a first leg bracket, a first foot bracket, a first support, a first driving device, a second support, a second driving device, a third support and a transmission part, the transmission part is connected between the first support and the third support, the first support, the second support, the third support and the transmission part form a spatial link mechanism, and if the second support rotates on the first support, the third support can be driven to rotate on the first support.

Description

Ankle joint rehabilitation robot

Technical Field

The invention belongs to medical appliances, and particularly relates to an ankle joint rehabilitation robot.

Background

The ankle joint rehabilitation robot is a medical instrument for assisting the ankle joint of a patient to carry out passive movement and daily activities and promoting rehabilitation, wherein the ankle joint rehabilitation robot comprises a mechanical joint, and the mechanical joint can be driven by a motor and used for assisting the ankle joint of the patient to carry out rehabilitation movement. The ankle joint of the human body includes three degrees of freedom in normal activities, which are the degree of freedom in the plantarflexion-dorsal extension direction, the degree of freedom in the internal rotation-external rotation direction, and the degree of freedom in the varus-valgus direction, respectively.

For example, the publication number "CN 101596139B" discloses a three-degree-of-freedom ankle joint auxiliary exercise exoskeleton, which can realize respective motions and encircling cooperative motions of three degrees of freedom, i.e., ankle joint dorsiflexion/plantar flexion, inversion/eversion and internal rotation/external rotation, by controlling the rotation angles of an X-axis motor, a Y-axis motor and a Z-axis motor for assisting an exoskeleton assisting patient. Compared with the existing ankle joint exoskeleton, the ankle joint exoskeleton has more freedom of movement and realizes the cooperative motion of surrounding, has novel structure, is light and flexible, is convenient to wear and control, and can be used as a medical rehabilitation auxiliary instrument for human ankle joint muscular atrophy or disabled people.

However, the prior art is not perfect, and needs to be improved in the following aspects:

(1) the problem that the motions of the rehabilitation robot in each degree of freedom are independent of each other: the existing ankle joint rehabilitation robot adopts a plurality of motors to respectively carry out independent control on ankle joint motion on a plurality of degrees of freedom, the motors lack correlation with each other, in order to enable the rehabilitation robot to drive the ankle joint to move on the plurality of degrees of freedom, the motors are required to drive the ankle joint simultaneously, and the problems that the control is complex and the control mode conforming to human body motion engineering is difficult to design are caused.

(2) The motion of the rehabilitation robot in each degree of freedom needs an independent motor to drive, and the structure of a plurality of motors causes the problems of complex equipment structure and high cost.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects and problems in the prior art, the invention provides the ankle joint rehabilitation robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a recovered robot of ankle joint, includes the recovered device of affected side, and the recovered device of affected side is used for assisting the recovered motion of affected side ankle joint, and the recovered device of affected side includes:

the first leg bracket is used for fixing the lower leg on the affected side;

a first foot bracket for fixing the foot on the affected side;

the first foot bracket is hinged to the first leg bracket through the first bracket, and the first bracket can rotate back and forth on the first leg bracket;

the first driving device is in transmission connection with the first support and is used for driving the first support to rotate on the first leg bracket;

the first foot bracket is hinged to the first bracket through the second bracket, and the second bracket can rotate left and right on the first bracket;

the second driving device is in transmission connection with the second bracket and is used for driving the second bracket to rotate left and right on the first bracket;

the first foot bracket is hinged to the second bracket through the third bracket, and the third bracket can be turned left and right on the second bracket;

the transmission part is connected between the first support and the third support, the first support, the second support, the third support and the transmission part form a space link mechanism, and if the second support rotates on the first support, the third support can be driven to rotate on the first support.

In some forms, the transmission member includes a first link fixedly disposed on the first bracket, a second link rotatably and slidably disposed on the second link, and a third link rotatably and slidably disposed on the second link, the third link further being hinged to the third bracket.

In some modes, the first connecting rod comprises a first shaft shoulder, the third connecting rod comprises a second shaft shoulder, a first shaft hole and a second shaft hole are formed in the second connecting rod respectively, the axial direction of the first shaft hole is perpendicular to the axial direction of the second shaft hole, the cross section of the first shaft shoulder, the cross section of the second shaft shoulder, the cross section of the first shaft hole and the cross section of the second shaft hole are circular, the first shaft shoulder is arranged in the first shaft hole, and the second shaft hole is arranged in the second shaft hole.

In some modes, the first shaft hole and the second shaft hole are blind holes, the second connecting rod is detachably provided with a first end cover and a second end cover, the first end cover is arranged at the outer end of the first shaft hole, and the second end cover is arranged at the outer end of the second shaft hole.

In some forms, the foot support further comprises a first floor frame on which the first foot bracket is disposed.

In some forms, an angle adjusting mechanism is disposed between the first floor stand and the first foot bracket, and the angle adjusting mechanism is used for adjusting the angle of the first foot bracket on the first floor stand.

In some aspects, the first leg bracket includes a first leg rest and a first length adjustment mechanism disposed between the first leg rest and the first support for adjusting a distance between the first leg rest and a first foot bracket on the first support.

In some modes, the rehabilitation device for the side health is further included and used for assisting the rehabilitation movement of the ankle joint for the side health.

In some modes, the side-care rehabilitation device comprises a second leg bracket, a fourth bracket, a universal joint and a second foot bracket, wherein the second leg bracket is used for fixing a lower leg of the side-care device, the second foot bracket is used for fixing a foot of the side-care device, the fourth bracket is hinged on the second leg bracket, the fourth bracket can rotate back and forth on the second leg bracket, the universal joint is arranged between the fourth bracket and the second foot bracket, and the second foot bracket can deflect left and right and turn left and right on the fourth bracket through the universal joint.

In some forms the universal joint comprises a first member fixedly disposed on the fourth support, a second member fixedly disposed on the second foot bracket, and a third member hingedly connected to the first member, the second member further hingedly connected to the third member, the direction of rotation of the first member on the second member and the direction of rotation of the third member on the second member being perpendicular to one another.

Compared with the prior art, the invention has the outstanding and beneficial technical effects that:

in the invention, the first support, the second support, the third support and the transmission part form a space link mechanism, so that the left-right rotation of the second support on the first support and the left-right turning of the third support on the second support form linkage, the second driving device drives the third support to turn left and right on the second support when driving the second support to rotate left and right on the first support, the single second driving device can realize the cooperative action of the affected ankle joint on the internal rotation-external rotation freedom degree and the internal turning-external turning freedom degree, and a control mode conforming to human body motion engineering can be designed through the design of the space link mechanism, so the invention has the advantages of simple control, convenient design, simple structure, low cost and good rehabilitation effect.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural diagram of the lateral rehabilitation device of the present invention;

FIG. 3 is a schematic cross-sectional view of the lateral rehabilitation device of the present invention;

FIG. 4 is an enlarged schematic view of the invention at "A" in FIG. 3;

FIG. 5 is one of the exploded structural diagrams of the lateral rehabilitation device of the present invention;

fig. 6 is a second schematic diagram of the exploded structure of the lateral rehabilitation device of the present invention;

FIG. 7 is a schematic structural diagram of the exercise side rehabilitation device of the present invention;

fig. 8 is one of the exploded structural diagrams of the exercise side rehabilitation device created by the present invention;

fig. 9 is a second schematic diagram of the exploded structure of the exercise side rehabilitation device according to the present invention;

FIG. 10 is a schematic cross-sectional view of the inventive gimbal;

FIG. 11 is a schematic diagram of the structure of the usage state of the patient created by the present invention;

FIG. 12 is a schematic diagram of the ankle joint dorsiflexion and plantarflexion created by the present invention;

FIG. 13 is a schematic structural view of the internal and external rotation of the ankle joint of the present invention;

FIG. 14 is a schematic diagram of the eversion and inversion structures of the ankle joint of the present invention;

in the figure: 1-affected side rehabilitation device, 2-healthy side rehabilitation device, 3-connecting plate, 4-patient, 11-first ground bracket, 12-first angle adjusting mechanism, 13-first leg bracket, 14-first driving device, 15-first bracket, 16-second driving device, 17-second bracket, 18-third bracket, 19-transmission member, 20-first foot bracket, 21-second ground bracket, 22-second angle adjusting mechanism, 23-fourth bracket, 24-universal joint, 25-second foot bracket, 26-second leg bracket, 41-healthy side, 42-affected side, 43-ankle joint, 431-foot, 432-shank, 111-first ground frame, 121-first rotating shaft, 122-first sleeve, 123-a first face gear, 124-a second face gear, 125-a third connecting piece, 1211-a third threaded hole, 131-a first leg supporting plate, 132-a first pipe body, 133-a first rod body, 134-a first connecting piece, 1321-a first threaded hole, 151-a first supporting rod, 152-a first sliding sleeve, 153-a second connecting piece, 1521-a second threaded hole, 191-a first connecting rod, 192-a second connecting rod, 193-a third connecting rod, 194-a first end cover, 195-a second end cover, 1911-a first shaft shoulder, 1921-a first shaft hole, 1922-a second shaft hole, 1931-a second shaft shoulder, 211-a second floor frame, 221-a second rotating shaft, 222-a second sleeve, 223-a third face gear, 224-a fourth face gear, 225-a fifth connector, 2211-a fifth threaded hole, 241-a first member, 242-a second member, 243-a third member, 261-a second support rod, 262-a second sliding sleeve, 263-a fourth connector, 2621-a fourth threaded hole and 264-a second leg supporting plate.

Detailed Description

In order to facilitate the understanding of those skilled in the art, the invention will be further described with reference to the accompanying drawings and specific embodiments.

As shown in fig. 11 to 14, the ankle joint 43 refers to a joint between a shank 431 and a foot 432 of a human body. The motion of the ankle joint 43 includes plantarflexion, dorsiflexion, pronation, supination, inversion, and eversion, among others. If the foot 432 and the lower leg 431 are approximately vertical and the foot 432 does not swing, roll, left or right, the ankle joint 43 is in a natural state, which is generally referred to as neutral. If the ankle joint 43 is plantarflexed, the foot 432 is deflected downwardly away from neutral by an extreme angle of about 40-50. If ankle joint 43 is dorsiflexed, foot 432 is deflected upwardly from neutral by an extreme angle of about 20-30. If ankle joint 43 is pronated, foot section 432 is deflected inward approximately 8 from neutral at the extreme angle. If ankle joint 43 is supinated, foot section 432 is deflected outward from neutral by an extreme angle of about 85. If ankle joint 43 is inverted, foot section 432 is deflected inward approximately 30 from neutral at the extreme angle. If ankle joint 43 is everted, foot 432 is deflected outward from neutral by a limited angle of about 30-35.

It should be noted that, in normal activities, the ankle joint 43 can perform not only sole plantarflexion, dorsiflexion, pronation, supination, inversion and eversion motions, but also motions in which at least two degrees of freedom among the plantarflexion-dorsiflexion degree of freedom, pronation-supination degree of freedom and pronation-eversion degree of freedom are combined. For example, the ankle joint 43 may also be inverted when pronating and the ankle joint 43 may also be everted when pronating.

In the three-degree-of-freedom ankle joint auxiliary exercise exoskeleton disclosed in the prior art, the rotation angles of an X-axis motor, a Y-axis motor and a Z-axis motor are controlled to respectively drive the exoskeleton to assist three degrees of freedom of ankle joint dorsiflexion/plantar flexion, inversion/eversion and internal rotation/external rotation of a patient to be independently controlled, and in order to realize the cooperative action of the multiple degrees of freedom, a plurality of motors are required to participate in control together, so that the problems of complex control, difficulty in planning a clear and ergonomic control mode are caused, and the problems of complex structure and high cost are caused by the independent control mode of the plurality of motors. In addition, the ankle and muscle of the patient cannot normally move for a long time due to long-term bed rest, and appropriate rehabilitation training is also required.

As shown in fig. 1 to 10, the rehabilitation robot for ankle joint according to the embodiment of the present invention includes a patient side rehabilitation device 1 and a health side rehabilitation device 2. The affected side rehabilitation device 1 is used for assisting the rehabilitation exercise of the affected side 42 ankle joint 43, and the healthy side rehabilitation device 2 is used for assisting the rehabilitation exercise of the healthy side 41 ankle joint 43.

The affected side rehabilitation device 1 comprises a first floor stand 11, a first leg bracket 13, a first foot bracket 20, a first support 15, a second support 17, a third support 18, a first driving device 14, a second driving device 16 and a transmission piece 19.

In practical use, the first floor frame 11 can be placed on the ground, so that the rehabilitation robot for the ankle joint can be used on the ground.

Specifically, the first floor frame 11 includes a first floor frame 111, and the overall structure of the first floor frame 111 is a rectangular frame body. If the first floor frame 11 is placed on the ground, the first floor frame 111 is disposed on the ground, thereby improving the stability of the support.

The first leg rest 13 is provided on the first floor frame 11 for fixing the lower leg 431 of the affected side 42. In actual use, the first leg rest 13 may be strapped tightly to the lower leg 431 of the affected side 42 by a strap.

Specifically, the first leg bracket 13 comprises the first leg supporting plate 131, an arc-shaped surface is formed on the first leg supporting plate 131, and the lower leg 431 of the patient 4 can be fitted on the arc-shaped surface of the first leg supporting plate 131, so that the firmness of positioning between the lower leg 431 and the first leg supporting plate 131 is improved, and the comfort of the first leg supporting plate 131 for supporting the lower leg 431 is also improved.

The first leg bracket 13 further includes a first length adjustment mechanism provided between the first leg bracket 131 and the first support 15 for adjusting a distance between the first leg bracket 131 and the first foot bracket 20 on the first support 15, the first length adjustment mechanism being extendable or retractable so that the distance between the first leg bracket 131 and the first support 15 can be adjusted. In actual use, if the first length adjustment mechanism is extended or shortened, the distance between the first leg support plate 131 and the first foot bracket 20 on the first support 15 is also increased or decreased, so that patients 4 with different physiques can comfortably wear the affected side rehabilitation device 1, and the application range of the affected side rehabilitation device 1 is improved.

The first length adjustment mechanism includes a first tube 132, a first rod 133 and a first connector 134, the first rod 133 is slidably disposed in the first tube 132, the first connector 134 is detachably disposed between the first rod 133 and the first tube 132, and if the first connector 134 is detached from the first rod 133 or the first tube 132, the first rod 133 can freely slide in the first tube 132.

Specifically, the first connecting element 134 is a screw, a first threaded hole 1321 is formed in the first tube 132, the first connecting element 134 is screwed into the first threaded hole 1321, and one end of the first connecting element 134 is pressed against the first rod 133. If the first connector 134 is screwed in the first screw hole 1321, the first connector 134 may be loosened on the first rod 133.

The first leg support 131 is fixedly disposed on the first rod 133, and the first bracket 15 is hinged to the first tube 132. If the first rod 133 is extended or retracted within the first tube 132, the distance between the first leg bracket 131 and the first foot bracket 20 on the first support 15 can be increased or decreased.

A first angle adjusting mechanism 12 is arranged between the first floor standing frame 11 and the first leg bracket 13, and the first angle adjusting mechanism 12 is used for adjusting the angle of the first leg bracket 13 on the first floor standing frame 11. In practical use, the angle of the first leg rest 13 on the first floor frame 11 can be increased or decreased, so that the patient 4 can use the apparatus 1 in different postures, for example, the patient 4 can use the apparatus 1 while sitting on a seat or lying on a bed, and the diversity of use modes is improved.

The first angle adjusting mechanism 12 includes a first rotating shaft 121, a first sleeve 122, a first end face gear 123, a second end face gear 124 and a third connecting member 125, the first end face gear 123 is fixedly disposed on the first rotating shaft 121, the second end face gear 124 is fixedly disposed on the first sleeve 122, the first rotating shaft 121 is disposed through the first sleeve 122, the third connecting member 125 is detachably disposed on the first rotating shaft 121, the first end face gear 123 and the third connecting member 125 are respectively disposed at two ends of the first sleeve 122, the third connecting member 125 axially fixes the first rotating shaft 121 on the first sleeve 122, the first end face gear 123 is engaged with the second end face gear 124, and thus the first rotating shaft 121 is circumferentially fixed on the first sleeve 122.

If the third connecting member 125 is released from the first rotating shaft 121, the first rotating shaft 121 can slide in the axial direction of the first sleeve 122, the first face gear 123 can be disengaged from the second face gear 124, and the first rotating shaft 121 can rotate around the first sleeve 122. If the first rotating shaft 121 rotates around the first bushing 122, the angle between the first leg bracket 13 and the first floor frame 11 increases or decreases. In actual use, if the first leg bracket 13 is adjusted to a desired angle on the first floor frame 11, the first connecting member 134 is screwed on the first rotating shaft 121, and the first end face gear 123 is engaged with the second end face gear 124, so that the first leg bracket 13 is positioned on the first floor frame 11.

Specifically, the third connecting member 125 is also a screw, the first shaft 121 is formed with a third threaded hole 1211, the third connecting member 125 is screwed into the third threaded hole 1211, and the third connecting member 125 is pressed against one end of the first sleeve 122. The third connector 125 may loosen the first sleeve 122 if the third connector 125 is screwed in the third threaded hole 1211. The first tube 132 is fixedly disposed on the first shaft 121, and the first floor frame 11 is fixedly disposed on the first sleeve 122.

The first foot support 20 is used to secure the foot 432 of the affected side 42. In actual use, the foot 432 of the affected side 42 can be fixedly disposed on the first foot bracket 20 by a strap. Specifically, the overall structure of the first foot bracket 20 is plate-shaped, which improves the supporting effect of the first foot bracket 20 on the foot 432 on the affected side 42.

The first foot bracket 20 is hinged to the first leg bracket 13 by a first bracket 15, the first bracket 15 being rotatable back and forth on the first leg bracket 13. In practice, if the first support 15 rotates back and forth on the first leg support 13, the ankle joint 43 of the affected side 42 can be plantar flexed or dorsiflexed.

The first driving device 14 is connected to the first bracket 15 for driving the first bracket 15 to rotate back and forth on the first leg bracket 13.

Specifically, the first driving device 14 is a motor, the first bracket 15 is hinged on the first leg bracket 13 through the first driving device 14, the first driving device 14 is fixedly arranged on the first pipe 132, and the first bracket 15 is fixedly arranged on a machine shaft of the first driving device 14.

The first foot bracket 20 is hinged on the first bracket 15 through the second bracket 17, and the second bracket 17 can rotate left and right on the first bracket 15. In practical use, when the second support 17 is rotated left and right on the first support 15, the ankle joint 43 of the affected side 42 can be driven to rotate inwards or outwards.

The second driving device 16 is connected to the second bracket 17 in a transmission manner, and is used for driving the second bracket 17 to rotate left and right on the first bracket 15.

Specifically, the second driving device 16 is a motor, the second bracket 17 is hinged on the first bracket 15 through the second driving device 16, the second driving device 16 is fixedly arranged on the first bracket 15, and the second bracket 17 is fixedly arranged on a crankshaft of the second driving device 16.

The first bracket 15 includes a second length adjustment mechanism provided between the first leg bracket 13 and the third bracket 18 for adjusting a distance between the first leg bracket 13 and the third bracket 18. In actual use, if the distance between the first leg rest 13 and the third support 18 is increased or decreased, the distance between the first leg rest 131 and the first foot rest 20 is increased or decreased, so that patients 4 with different sizes can comfortably wear the affected side rehabilitation device 1, and the application range of the affected side rehabilitation device 1 is increased.

The second length adjustment mechanism comprises a first support rod 151, a first sliding sleeve 152 and a second connecting piece 153, the first sliding sleeve 152 is sleeved on the first support rod 151, the second connecting piece 153 is detachably arranged between the first support rod 151 and the first sliding sleeve 152, and if the second connecting piece 153 is detached from the first support rod 151 or the first sliding sleeve 152, the first sliding sleeve 152 can freely slide on the first support rod 151.

Specifically, the second connecting member 153 is a screw, a second threaded hole 1521 is formed in the first sliding sleeve 152, the second connecting member 153 is screwed into the second threaded hole 1521, and one end of the second connecting member 153 is pressed against the first support rod 151. If the second connector 153 is screwed in the second screw hole 1521, the second connector 153 may be loosened on the first support rod 151.

The first supporting rod 151 is rod-shaped, and the first supporting rod 151 is fixedly disposed on the crankshaft of the first driving device 14, and the first sliding sleeve 152 is fixedly disposed on the second driving device 16.

The first foot bracket 20 is hinged on the second bracket 17 through the third bracket 18, the first foot bracket 20 is fixedly arranged on the third bracket 18, and the third bracket 18 can be overturned left and right on the second bracket 17. In practical use, if the third frame 18 is turned left and right on the second frame 17, the ankle joint 43 of the affected side 42 can be driven to turn inwards or outwards.

Specifically, the overall structure of the third support 18 and the overall structure of the second support 17 are both in a U-shaped plate shape, the third support 18 is arranged in the second support 17, one end of the third support 18 is hinged to one end of the second support 17, and the other end of the third support 18 is hinged to the other end of the second support 17, so that the structural rationality is improved.

The transmission member 19 is connected between the first bracket 15 and the third bracket 18, the first bracket 15, the second bracket 17, the third bracket 18 and the transmission member 19 form a space link mechanism, and if the second bracket 17 rotates left and right on the first bracket 15, the third bracket 18 can be driven to turn left and right on the second bracket 17. In practical use, if the second support 17 drives the ankle joint 43 of the affected side 42 to rotate inwards, the third support 18 also drives the ankle joint 43 of the affected side 42 to invert inwards; if the second support 17 drives the ankle joint 43 of the affected side 42 to rotate outwards, the third support 18 also drives the ankle joint 43 of the affected side 42 to evert outwards.

The direction in which the first leg 15 is turned on the first leg rest 13, the direction in which the second leg 17 is turned on the first leg 15, and the direction in which the third leg 18 is turned over on the second leg 17 are perpendicular to each other.

In the invention, the first support 15, the second support 17, the third support 18 and the transmission piece 19 form a spatial link mechanism, so that the left-right rotation of the second support 17 on the first support 15 and the left-right turning of the third support 18 on the second support 17 form linkage, the second drive device 16 drives the third support 18 to turn left and right on the second support 17 when driving the second support 17 to rotate left and right on the first support 15, the single second drive device 16 can realize the cooperative action of the ankle joint 43 on the affected side 42 on the inward-outward rotation degree of freedom and the inward-outward rotation degree of freedom, and a control mode conforming to human body movement engineering can be designed through the design of the spatial link mechanism, therefore, the invention has the advantages of simple control, convenient design, simple structure, low cost and good rehabilitation effect.

The transmission member 19 comprises a first connecting rod 191, a second connecting rod 192 and a third connecting rod 193, the first connecting rod 191 is fixedly arranged on the first bracket 15, the first connecting rod 191 is rotatably and slidably arranged on the second connecting rod 192, the third connecting rod 193 is further hinged on the third bracket 18, and the rotating direction of the third connecting rod 193 on the third bracket 18 is consistent with the rotating direction of the first bracket 15 on the first leg bracket 13.

Specifically, the first link 191 is fixedly provided on the first bracket 15 by the second driving device 16, and the first link 191 is fixedly provided on the second driving device 16.

The first connecting rod 191 comprises a first shaft shoulder 1911, the third connecting rod 193 comprises a second shaft shoulder 1931, the second connecting rod 192 is respectively provided with a first shaft hole 1921 and a second shaft hole 1922, the axial direction of the first shaft hole 1921 is perpendicular to the axial direction of the second shaft hole 1922, the cross section of the first shaft shoulder 1911, the cross section of the second shaft shoulder 1931, the cross section of the first shaft hole 1921 and the cross section of the second shaft hole 1922 are circular, the first shaft shoulder 1911 is arranged in the first shaft hole 1921, and the second shaft hole 1922 is arranged in the second shaft hole 1922. First shoulder 1911 fits within first shaft hole 1921, and first shoulder 1911 is slidable in the axial direction of first shaft hole 1921 and also rotatable about first shaft hole 1921. The second shoulder 1931 fits into the second shaft hole 1922, and the second shoulder 1931 can slide in the axial direction of the second shaft hole 1922 and can rotate around the second shaft hole 1922.

The first shaft hole 1921 and the second shaft hole 1922 are both blind holes, the first end cover 194 and the second end cover 195 are detachably disposed on the second connecting rod 192, the first end cover 194 and the second end cover 195 can be fixed on the second connecting rod 192 in a bolt connection manner, the first connecting rod 191 penetrates through the first end cover 194, the first end cover 194 is disposed at the outer end of the first shaft hole 1921, the first shoulder 1911 is limited in the first shaft hole 1921 by the first end cover 194, the second connecting rod 192 penetrates through the second end cover 195, the second end cover 195 is disposed at the outer end of the second shaft hole 1922, and the second shoulder 1931 is limited in the second shaft hole 1922 by the second end cover 195.

The overall structure of the first link 191 is in a shape of a "line", the first shoulder 1911 is disposed at one end of the first link 191, the overall structure of the second link 192 is in a shape of an "L", the first shaft hole 1921 and the second shaft hole 1922 are disposed at both ends of the second link 192, the overall structure of the third link 193 is in a shape of a "line", and the second shoulder 1931 is disposed at one end of the third link 193.

The side-exercising rehabilitation device 2 comprises a second floor frame 21, a second leg bracket 26, a fourth support 23, a universal joint 24 and a second foot bracket 25.

In practical use, the second floor stand 21 can be placed on the ground so that the present health-care rehabilitation apparatus 2 can be used on the floor.

Specifically, the second floor frame 21 includes a second floor frame 211, and the overall structure of the second floor frame 211 is a rectangular frame body. If the second floor frame 21 falls to the ground and is placed on the ground, the second floor frame 211 is disposed on the ground, thereby improving the stability of the support.

The second leg rest 26 is provided on the second floor frame 21 for fixing the lower leg 431 of the exercise side 41. In actual use, the second leg rest 26 may be strapped down on the lower leg 431 of the exercise side 41 by a strap.

Specifically, the second leg bracket 26 comprises a second leg support plate 264, an arc-shaped surface is formed on the second leg support plate 264, and the lower leg 431 of the patient 4 can be fitted on the arc-shaped surface of the second leg support plate 264, so that the positioning firmness between the lower leg 431 and the second leg support plate 264 is improved, and the comfort of the second leg support plate 264 on the lower leg 431 is also improved.

A second angle adjusting mechanism 22 is arranged between the second floor standing frame 21 and the second leg bracket 26, the second angle adjusting mechanism 22 is used for adjusting the angle of the second leg bracket 26 on the second floor standing frame 21, and the integral structure of the second angle adjusting mechanism 22 is consistent with that of the first angle adjusting mechanism 12. In practical use, the angle of the second leg rest 26 on the second floor frame 21 can be increased or decreased, so that the patient 4 can use the exercise side rehabilitation device 2 in different postures, for example, the patient 4 can sit on a seat or lie on a bed to use the exercise side rehabilitation device 2, and the diversity of use modes is improved.

The second angle adjusting mechanism 22 includes a second rotating shaft 221, a second sleeve 222, a third end gear 223, a fourth end gear 224 and a fifth connecting member 225, the third end gear 223 is fixedly disposed on the second rotating shaft 221, the fourth end gear 224 is fixedly disposed on the second sleeve 222, the second rotating shaft 221 is disposed through the second sleeve 222, the fifth connecting member 225 is detachably disposed on the second rotating shaft 221, the third end gear 223 and the fifth connecting member 225 are respectively disposed at two ends of the second sleeve 222, the fifth connecting member 225 axially fixes the second rotating shaft 221 on the second sleeve 222, and the third end gear 223 is engaged with the fourth end gear 224, so as to circumferentially fix the second rotating shaft 221 on the second sleeve 222.

If the fifth connecting member 225 is released from the second rotating shaft 221, the second rotating shaft 221 can slide in the axial direction of the second sleeve 222, the third face gear 223 can be disengaged from the fourth face gear 224, and the second rotating shaft 221 can rotate around the second sleeve 222. When the second rotating shaft 221 rotates around the second bushing 222, the angle between the second leg bracket 26 and the second floor frame 21 increases or decreases. In actual use, when the angle of the second leg bracket 26 on the second floor frame 21 is adjusted to a desired angle, the fifth connecting member 225 is screwed on the second rotating shaft 221, and the third end gear 223 is engaged with the fourth end gear 224, so that the second leg bracket 26 is positioned on the second floor frame 21.

Specifically, the fifth connecting member 225 is also a screw, a fifth threaded hole 2211 is formed in the second rotating shaft 221, the fifth connecting member 225 is screwed in the fifth threaded hole 2211, and the fifth connecting member 225 is pressed against one end of the second sleeve 222. If the fifth connector 225 is screwed into the fifth threaded hole 2211, the fifth connector 225 may loosen the second sleeve 222. The second support bar 261 is fixedly disposed on the second shaft 221, and the floor stand is fixedly disposed on the second sleeve 222.

The second foot bracket 25 is used to secure the foot 432 of the exercising side 41. In actual use, the foot 432 of the exercise side 41 may be fixedly disposed on the second foot bracket 25 by a strap. Specifically, the overall structure of the second foot bracket 25 is plate-shaped, and the effect of supporting the foot 432 on the healthy side 41 by the second foot bracket 25 is improved.

The second foot bracket 25 is hinged to the second leg bracket 26 by a fourth bracket 23, the fourth bracket 23 being rotatable back and forth on the second leg bracket 26. In practical use, if the fourth support 23 is rotated back and forth on the second leg support 26, the ankle joint 43 of the healthy side 41 can be plantar-flexed or dorsiflexed.

The second leg bracket 26 includes a third length adjustment mechanism that is structurally identical to the second length adjustment mechanism, the third length adjustment mechanism being disposed between the second leg rest 264 and the fourth support 23, the third length adjustment mechanism being extendable or retractable so as to adjust the distance between the second leg rest 264 and the fourth support 23. In actual use, if the third length adjustment mechanism is extended or shortened, the distance between the second leg support plate 264 and the second foot bracket 25 on the fourth support 23 is also increased or decreased, so that patients 4 with different body sizes can comfortably wear the exercise side rehabilitation device 2, and the application range of the exercise side rehabilitation device 2 is improved.

The third length adjustment mechanism includes a second support bar 261, a second sliding sleeve 262 and a fourth connecting element 263, the second sliding sleeve 262 is sleeved on the second support bar 261, the fourth connecting element 263 is detachably disposed between the second sliding sleeve 262 and the second support bar 261, if the fourth connecting element 263 is detached from the second sliding sleeve 262 or the second support bar 261, the second sliding sleeve 262 can freely slide in the length direction of the second support bar 261.

Specifically, the fourth connecting element 263 is a screw, a fourth threaded hole 2621 is opened on the second sliding sleeve 262, the fourth connecting element 263 is screwed into the fourth threaded hole 2621, and one end of the fourth connecting element 263 is pressed against the second supporting rod 261. If the fourth connector 263 is screwed in the fourth threaded hole 2621, the fourth connector 263 can be loosened on the second support rod 261.

The second leg bracket 26 is hinged on the second sliding sleeve 262, and the universal joint 24 is arranged on the second supporting rod 261. The distance between the second leg rest 264 and the second foot bracket 25 can be increased or decreased if the second sliding sleeve 262 slides on the second support bar 261.

The second foot bracket 25 is connected to the fourth support 23 by a universal joint 24, and the second foot bracket 25 can be pivoted left and right and flipped left and right on the fourth support 23 by the universal joint 24. In actual use, when the second foot support 25 is deflected left and right and flipped left and right on the fourth support 23, the ankle joint 43 of the healthy side 41 can be rotated in, out, in, and out.

In the invention, the ankle joint 43 of the healthy side 41 can perform rehabilitation exercise on the healthy side rehabilitation device 2, the healthy side rehabilitation device 2 can limit the rotation angle of the ankle joint 43 of the healthy side 41, and the problems of sprain, strain and the like of the healthy side 41 are avoided, so that the invention has the advantages of capability of exercising the healthy side 41 and the affected side 42 simultaneously and high safety factor.

The universal joint 24 comprises a first member 241, a second member 242 and a third member 243, the first member 241 is fixedly arranged on the fourth bracket 23, the third member 243 is fixedly arranged on the second foot bracket 25, the second member 242 is hinged on the first member 241, the second member 242 is also hinged on the third member 243, the rotating direction of the first member 241 on the second member 242 and the rotating direction of the third member 243 on the second member 242 are perpendicular to each other, so that the second foot bracket 25 can be deflected and overturned on the fourth bracket 23 through the universal joint 24.

First frame 11 and the second frame 21 that falls to the ground sets up together side by side, but first frame 11 and the second frame 21 that falls to the ground between be provided with connecting plate 3, but the one end bolted connection of connecting plate 3 on first frame 11 that falls to the ground, but the other end bolted connection of connecting plate 3 on the second frame 21 that falls to the ground accords with human engineering's design, has improved the travelling comfort of using.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, so: all equivalent changes made according to the structure, shape and principle of the invention shall be covered within the protection scope of the invention.

Claims

1. The utility model provides an ankle joint rehabilitation robot which characterized in that, including the recovered device of affected side, the recovered device of affected side is used for assisting the recovered motion of affected side ankle joint, and the recovered device of affected side includes:

the first leg bracket is used for fixing the lower leg on the affected side;

a first foot bracket for fixing the foot on the affected side;

2. The ankle rehabilitation robot according to claim 1, wherein the transmission member includes a first link fixedly disposed on the first bracket, a second link rotatably and slidably disposed on the second link, and a third link rotatably and slidably disposed on the second link, and the third link is further hinged to the third bracket.

3. The ankle joint rehabilitation robot according to claim 2, wherein the first link comprises a first shaft shoulder, the third link comprises a second shaft shoulder, the second link is provided with a first shaft hole and a second shaft hole respectively, the axial direction of the first shaft hole is perpendicular to the axial direction of the second shaft hole, the cross section of the first shaft shoulder, the cross section of the second shaft shoulder, the cross section of the first shaft hole and the cross section of the second shaft hole are circular, the first shaft shoulder is arranged in the first shaft hole, and the second shaft hole is arranged in the second shaft hole.

4. The ankle joint rehabilitation robot according to claim 3, wherein the first shaft hole and the second shaft hole are blind holes, the second connecting rod is detachably provided with a first end cover and a second end cover, the first end cover is arranged at the outer end of the first shaft hole, and the second end cover is arranged at the outer end of the second shaft hole.

5. The ankle joint rehabilitation robot according to claim 1, further comprising a first floor frame on which the first foot bracket is provided.

6. The ankle joint rehabilitation robot according to claim 5, wherein an angle adjusting mechanism is disposed between the first floor frame and the first foot bracket, and the angle adjusting mechanism is used for adjusting the angle of the first foot bracket on the first floor frame.

7. The ankle rehabilitation robot according to claim 1, wherein the first leg bracket includes a first leg rest and a first length adjustment mechanism provided between the first leg rest and the first bracket for adjusting a distance between the first leg rest and a first foot rest on the first bracket.

8. The ankle joint rehabilitation robot according to claim 1, further comprising a side-exercising rehabilitation device for assisting rehabilitation exercise of a side-exercising ankle joint.

9. The ankle rehabilitation robot according to claim 8, wherein the side-care rehabilitation device comprises a second leg bracket for fixing the lower leg of the side-care, a fourth bracket hinged to the second leg bracket for fixing the foot of the side-care, a universal joint provided between the fourth bracket and the second leg bracket, and a second foot bracket for enabling the second leg bracket to pivot back and forth on the second leg bracket to be pivoted left and right and to be pivoted left and right on the fourth bracket by the universal joint.

10. The ankle rehabilitation robot according to claim 9, wherein the universal joint comprises a first member fixedly disposed on the fourth support, a second member fixedly disposed on the second foot rest, and a third member hinged to the first member, the second member being further hinged to the third member, a rotation direction of the first member on the second member and a rotation direction of the third member on the second member being perpendicular to each other.