WO2018191876A1 - 踝关节康复训练装置 - Google Patents

踝关节康复训练装置 Download PDF

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Publication number
WO2018191876A1
WO2018191876A1 PCT/CN2017/081018 CN2017081018W WO2018191876A1 WO 2018191876 A1 WO2018191876 A1 WO 2018191876A1 CN 2017081018 W CN2017081018 W CN 2017081018W WO 2018191876 A1 WO2018191876 A1 WO 2018191876A1
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WO
WIPO (PCT)
Prior art keywords
axis
annular
rehabilitation training
rotation mechanism
training device
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PCT/CN2017/081018
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English (en)
French (fr)
Inventor
王春宝
段丽红
刘铨权
申亚京
尚万峰
林焯华
孙同阳
夏金凤
孙正迪
陈晓娇
李伟光
吴正治
王玉龙
龙建军
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王春宝
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Application filed by 王春宝 filed Critical 王春宝
Priority to PCT/CN2017/081018 priority Critical patent/WO2018191876A1/zh
Priority to EP17872874.7A priority patent/EP3613398B1/en
Priority to US15/781,684 priority patent/US11096855B2/en
Priority to JP2018526814A priority patent/JP6626575B2/ja
Publication of WO2018191876A1 publication Critical patent/WO2018191876A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/005—Moveable platforms, e.g. vibrating or oscillating platforms for standing, sitting, laying or leaning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0207—Nutating movement of a body part around its articulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1671—Movement of interface, i.e. force application means rotational
    • A61H2201/1673—Multidimensional rotation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

Definitions

  • the present disclosure relates to the field of medical device technology, for example, to an ankle rehabilitation training device.
  • the present disclosure provides an ankle rehabilitation training device that is highly automated and capable of achieving multiple degrees of freedom of ankle joint movement.
  • An embodiment of the present disclosure provides an ankle rehabilitation training device, including a table, a Z-axis rotation mechanism mounted on the table and rotating around a Z-axis of the table, and connected to the Z-axis rotation mechanism and surrounding the table a Y-axis rotating Y-axis rotating mechanism, an X-axis rotating mechanism connected to the Y-axis rotating mechanism and rotating around the X-axis of the table, and a table disposed at a lower end of the X-axis rotating mechanism and the table a parallel pedal; wherein the Y-axis rotation mechanism includes an annular bracket vertically fastened to a driving arm of the Z-axis rotating mechanism, and an annular sliding cover slidably disposed with a side wall of the annular bracket, a Y-axis driving mechanism that drives the annular slider to rotate about an axis of the annular bracket and a slider for positioning the annular sliding cover, wherein the Y-axis driving mechanism rotates synchronously with the annular sliding cover, the X A shaft
  • bracket wall of the annular bracket is radially disposed with an arcuate long slot, and the slot wall of the arcuate slot is provided with a rack, and the rack is opposite to the driving wheel of the Y-axis driving mechanism. Engage.
  • the inner side wall of the annular sliding cover extends inwardly with a positioning seat, the positioning seat is fastened with a Y-axis driving mechanism, and the Y-axis driving mechanism is disposed opposite to the X-axis rotating mechanism.
  • the inner sidewall of the annular sliding cover is uniformly distributed with a plurality of positioning protrusions in a circumferential direction, and the positioning protrusion is fastened with a slider for positioning the annular sliding cover.
  • a plurality of first balls are annularly distributed between the annular sliding cover and the annular bracket.
  • the slider has an L-shaped cross section, and the first sidewall of the slider is located outside the annular bracket and annularly distributed with the plurality of second balls between the annular brackets, An end of the second side wall of the slider is fastened to the positioning projection.
  • the X-axis rotating mechanism includes a base, an arc-shaped sliding rail that is slidably engaged with a slideway on one side of the base, and is disposed in the base for driving the curved sliding rail along the sliding path
  • An X-axis driving mechanism that moves up and down and a support beam for horizontally extending the lower end of the curved rail for erecting the footboard.
  • the foot pedal is horizontally disposed above the support beam.
  • a plurality of third balls are evenly distributed between the sidewall of the curved rail and the sidewall of the slide.
  • the Z-axis rotation mechanism includes a driving motor, a fan-shaped driving handle connected to the power output end of the driving motor, a driving shaft embedded in the working table and meshing with the fan-shaped driving handle, and a torque sensor that cooperates with the upper end of the drive shaft and a drive arm of the Z-axis rotation mechanism that is fastened to the torque sensor.
  • the embodiment provides an ankle joint rehabilitation training device, comprising a table, a Z-axis rotation mechanism mounted on the table and rotating around the Z axis of the table, and connected to the Z-axis rotation mechanism and surrounding a Y-axis rotation mechanism for rotating the Y-axis of the table, an X-axis rotation mechanism connected to the Y-axis rotation mechanism and rotating around the X-axis of the table, and a lower end of the X-axis rotation mechanism and the table a stepped parallel pedal; wherein the Y-axis rotating mechanism includes an annular bracket vertically fastened to a driving arm of the Z-axis rotating mechanism, and an annular sliding cover slidably disposed with a side wall of the annular bracket, a Y-axis driving mechanism for driving the annular sliding cover about an axis of the annular bracket and a slider for positioning the annular sliding cover, wherein the Y-axis driving mechanism rotates synchronously with the annular sliding cover
  • the X-axis rotating mechanism is
  • FIG. 1 is a perspective view of an ankle joint rehabilitation training device provided by the embodiment
  • Figure 2 is a perspective view of the Y-axis rotation mechanism of Figure 1;
  • Figure 3 is an exploded view of the Y-axis rotating mechanism of Figure 2;
  • Figure 4 is a perspective view of the X-axis rotating mechanism of Figure 1;
  • Figure 5 is a front elevational view of the X-axis rotating mechanism of Figure 4.
  • Figure 6 is a cross-sectional view taken along line AA of Figure 5;
  • Figure 7 is a perspective view of the lower bottom surface of the Z-axis rotating mechanism of Figure 1.
  • an ankle joint rehabilitation training apparatus includes a table 1 , a Z-axis rotating mechanism 2 mounted on the table 1 and rotating around the Z axis of the table, and rotating with the Z axis.
  • a Y-axis rotating mechanism 3 connected to the mechanism 2 and rotating around the Y axis of the table, and connected to the Y-axis rotating mechanism 3
  • an X-axis rotating mechanism 4 that rotates around the X axis of the table, and a footboard 45 that is disposed at a lower end of the X-axis rotating mechanism 4 and is parallel to the table surface of the table 1;
  • the Y-axis rotating mechanism 3 An annular bracket 31 that is vertically fastened to the driving arm 24 of the Z-axis rotating mechanism 2, and an annular sliding cover 32 that is slidably disposed with a side wall of the annular bracket 31 for driving the annular sliding cover 32 to surround the a Y-axis driving mechanism 33 for rotating the axis of the ring holder 31
  • the bracket wall of the annular bracket 31 is radially disposed with an arcuate long slot 311, and the slot wall of the arcuate slot 311 is provided with a rack, the rack and the rack
  • the driving wheels of the Y-axis driving mechanism 33 are engaged, and the inner side wall of the annular sliding cover 32 is extended inwardly with a positioning seat 321 which is fastened with the Y-axis driving mechanism 33.
  • the strip is fixed to the groove wall of the curved long groove 311, and then meshed with the driving wheel of the Y-axis driving mechanism 33, and the Y-axis driving mechanism 33 is fastened to the positioning seat 321 extending inwardly of the inner side wall of the annular sliding cover 32, thereby
  • the annular sliding cover 32 and the Y-axis driving mechanism 33 are integrally moved in the circumferential direction of the annular bracket 31, and the reciprocating angle is limited by the length of the rack provided on the groove wall of the curved long groove 311.
  • the inner side wall of the annular sliding cover 32 is uniformly distributed with a plurality of positioning protrusions 323 in the circumferential direction.
  • the positioning protrusion 323 is fastened with a slider 34 for positioning the annular slider 32.
  • a plurality of first balls are annularly distributed between the annular sliding cover 32 and the annular bracket 31.
  • the slider 34 has an L-shaped cross section, and the first side wall of the sliding block 34 is located in the annular bracket.
  • a plurality of second balls are annularly distributed between the outer side of the 31 and the annular bracket 31, and the ends of the second side walls of the slider 34 are fastened to the positioning protrusions 323.
  • the front and back side walls of the annular sliding cover 32 and the annular bracket 31 are correspondingly recessed with grooves for receiving the first ball and the second ball, so that the annular sliding cover 32 is annular
  • the circumferential direction of the bracket 31 is stably and reliably slid.
  • the Y-axis driving mechanism 33 is disposed opposite to the X-axis rotating mechanism 4 and is fastened to the annular sliding cover 32.
  • the X-axis rotating mechanism 4 includes a base 41 and a curved sliding rail 42 that is slidably engaged with the slide 411 on the side of the base 41 .
  • An X-axis driving mechanism 43 disposed in the base 41 for driving the curved sliding rail 42 to move up and down along the sliding path 411 and a horizontal extension extending at a lower end of the curved sliding rail 42
  • a support beam 44 for erecting the footrest 45 is horizontally mounted above the support beam 44, and the side wall of the curved slide rail 42 and the side wall of the slide 411 are evenly distributed.
  • the opposite wall surfaces for accommodating the plurality of third balls are correspondingly provided with grooves.
  • the outer curved surface of the curved slide rail 42 is provided with a curved rack 421, which is curved.
  • the rack 421 meshes with a drive gear provided on the drive shaft 431 of the X-axis drive mechanism 43, thereby driving the curved slide rail 42 to move up and down, thereby driving the foot pedal 45 to move synchronously.
  • the Z-axis rotation mechanism 2 includes a drive motor 21, a fan-shaped drive handle 22 connected to the power output end of the drive motor 21, and is embedded in the table 1 and The drive shaft 23 that the sector drive handle 22 is engaged with, the torque sensor that cooperates with the upper end of the drive shaft 23, and the drive arm 24 of the Z-axis rotation mechanism 2 that is fastened to the torque sensor.
  • the driving motor 21 fastened to the table in the present embodiment is disposed on the upper surface of the table 1 surface, thereby reducing the lower surface of the table 1 on the surface. The spacing between them.
  • the arrangement of the fan-shaped driving handle 22 effectively improves the stability of the power transmission, and the material is saved effectively with respect to the setting of the gear.
  • the ankle joint rehabilitation training device adopting the above-mentioned structure design is connected to an external electronic control device, and then the pedal is placed on the foot pedal 45, and the corresponding rotation mechanism is activated as needed, thereby continuously implementing the The movement of the bare joints now satisfies the multi-degree of freedom movement of the bare joints, effectively changing the many troubles caused by the manual work in the traditional rehabilitation treatment. And can effectively ensure sufficient training time and sufficient training intensity.
  • the present disclosure provides an ankle joint rehabilitation training device, which adopts the above-mentioned structural design, can realize the multi-degree-of-freedom movement of the ankle joint conveniently and quickly, and thereby effectively improve the efficiency of rehabilitation training.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种踝关节康复训练装置，包括工作台（1），架设于工作台（1）且围绕工作台（1）Z轴旋转的Z轴旋转机构（2），与Z轴旋转机构（2）相连接且围绕工作台（1）Y轴旋转的Y轴旋转机构（3），与Y轴旋转机构（3）相连接且围绕工作台（1）X轴旋转的X轴旋转机构（4），以及设置于X轴旋转机构（4）的下端并与工作台（1）的台面平行的脚踏板（45）；其中，Y轴旋转机构（3）包括与Z轴旋转机构（2）的驱动臂（24）垂直紧固的环形支架（31）、与环形支架（31）的一侧壁滑动设置的环形滑盖（32）、用于驱动环形滑盖（32）围绕环形支架（31）的轴线旋转的Y轴驱动机构（33）以及用于定位环形滑盖（32）的滑块（34），其中，Y轴驱动机构（33）随环形滑盖（32）同步旋转，X轴旋转机构（4）紧固于环形滑盖（32）的一侧。

Description

踝关节康复训练装置 技术领域
本公开涉及医疗器械技术领域，例如涉及一种踝关节康复训练装置。
背景技术
我国老龄化问题日益严重，而中风偏瘫又是老年人中的高发病，因此针对老年人偏瘫后的康复治疗显得尤为重要。偏瘫患者踝背屈障碍由于在步行摆动相中不能克服足下垂，从而严重影响步行能力的恢复，因此踝关节的康复对偏瘫患者的整体性康复有着极其重要的意义。
对于偏瘫患者的传统康复手段需理疗师手把手进行，消耗了大量的时间与体力，并且无法保证充足的训练时间和足够的训练强度。
发明内容
本公开提供了一种自动化程度高，能够实现踝关节多自由度运动的踝关节康复训练装置。
本公开实施例提供了一种踝关节康复训练装置，包括工作台，架设于所述工作台且围绕工作台Z轴旋转的Z轴旋转机构，与所述Z轴旋转机构相连接且围绕工作台Y轴旋转的Y轴旋转机构，与所述Y轴旋转机构相连接且围绕工作台X轴旋转的X轴旋转机构，以及设置于所述X轴旋转机构的下端并与所述工作台的台面平行的脚踏板；其中，所述Y轴旋转机构包括与所述Z轴旋转机构的驱动臂垂直紧固的环形支架、与所述环形支架的一侧壁滑动设置的环形滑盖、用于驱动所述环形滑盖围绕所述环形支架的轴线旋转的Y轴驱动机构以及用于定位环形滑盖的滑块，其中，所述Y轴驱动机构随所述环形滑盖同步旋转，所述X轴旋转机构紧固于所述环形滑盖的一侧。
可选的，所述环形支架的支架壁径向设置有弧形长槽，所述弧形长槽的槽壁上设置有齿条，所述齿条与所述Y轴驱动机构的驱动轮相啮合。
可选的，所述环形滑盖的内侧壁向内延伸设置有定位座，所述定位座与Y轴驱动机构紧固，所述Y轴驱动机构与所述X轴旋转机构相对设置。
可选的，所述环形滑盖的内侧壁沿周向均布有多个定位凸起，所述定位凸起与用于所述环形滑盖定位的滑块紧固。
可选的，所述环形滑盖与所述环形支架之间环形均布有多个第一滚珠。
可选的，所述滑块的横截面呈L形设置，所述滑块的第一侧壁位于环形支架的外侧且与所述环形支架之间环形均布有多个第二滚珠，所述滑块的第二侧壁的端部与所述定位凸起紧固。
可选的，所述X轴旋转机构包括底座、与所述底座一侧的滑道滑动配合的弧形滑轨、设置于所述底座内用于驱动所述弧形滑轨沿所述滑道上下往返运动的X轴驱动机构以及在所述弧形滑轨的下端水平延伸设置的用于架设脚踏板的支撑梁。
可选的，所述脚踏板水平架设于所述支撑梁的上方。
可选的，所述弧形滑轨的侧壁与所述滑道的侧壁之间均布有多个第三滚珠。
可选的，所述Z轴旋转机构包括驱动电机、与所述驱动电机的动力输出端相连接的扇形驱动柄、埋设于所述工作台且与所述扇形驱动柄相啮合的驱动轴，与所述驱动轴上端相配合的扭力传感器以及与所述扭力传感器紧固设置的Z轴旋转机构的驱动臂。
本实施例提供了一种踝关节康复训练装置，包括工作台，架设于所述工作台且围绕工作台Z轴旋转的Z轴旋转机构，与所述Z轴旋转机构相连接且围绕 工作台Y轴旋转的Y轴旋转机构，与所述Y轴旋转机构相连接且围绕工作台X轴旋转的X轴旋转机构，以及设置于所述X轴旋转机构的下端并与所述工作台的台面平行的脚踏板；其中，所述Y轴旋转机构包括与所述Z轴旋转机构的驱动臂垂直紧固的环形支架、与所述环形支架的一侧壁滑动设置的环形滑盖、用于驱动所述环形滑盖围绕所述环形支架的轴线旋转的Y轴驱动机构以及用于定位环形滑盖的滑块，其中，所述Y轴驱动机构随所述环形滑盖同步旋转，所述X轴旋转机构紧固于所述环形滑盖的一侧。采用上述结构设计，能够方便快捷的实现踝关节多自由度运动，进而有效提升康复训练的效率。
附图说明
图1是本实施例提供的一种踝关节康复训练装置的轴测图；
图2是图1中Y轴旋转机构的轴测图；
图3是图2中Y轴旋转机构的分解图；
图4是图1中X轴旋转机构的轴测图；
图5是图4中X轴旋转机构的主视图；
图6是图5中AA截面的剖视图；以及
图7是图1中Z轴旋转机构下底面的轴测图。
具体实施方式
下面结合附图并通过可选实施方式来说明本公开的技术方案。在不冲突的情况下，实施例和实施例中的特征可以相互任意组合。
如图1所示，本实施例中一种踝关节康复训练装置，包括工作台1、架设于所述工作台1且围绕工作台Z轴旋转的Z轴旋转机构2、与所述Z轴旋转机构2相连接且围绕工作台Y轴旋转的Y轴旋转机构3、与所述Y轴旋转机构3相连 接且围绕工作台X轴旋转的X轴旋转机构4，以及设置于所述X轴旋转机构4的下端并与所述工作台1的台面平行的脚踏板45；所述Y轴旋转机构3包括与所述Z轴旋转机构2的驱动臂24垂直紧固的环形支架31、与所述环形支架31的一侧壁滑动设置的环形滑盖32、用于驱动所述环形滑盖32围绕所述环形支架31的轴线旋转的Y轴驱动机构33以及用于定位环形滑盖32的滑块34，所述Y轴驱动机构33随所述环形滑盖32同步旋转，所述X轴旋转机构4紧固于所述环形滑盖32的一侧。
可选的，本实施例中，所述环形支架31的支架壁径向设置有弧形长槽311，所述弧形长槽311的槽壁上设置有齿条，所述齿条与所述Y轴驱动机构33的驱动轮相啮合，所述环形滑盖32的内侧壁向内延伸设置有定位座321，所述定位座321与Y轴驱动机构33紧固，以此结构设计，将齿条固定于弧形长槽311的槽壁，之后与Y轴驱动机构33的驱动轮相啮合，由于Y轴驱动机构33与环形滑盖32的内侧壁向内延伸的定位座321紧固，因而使得环形滑盖32与Y轴驱动机构33沿环形支架31周向一体运动，往返运动角度受到设置于弧形长槽311的槽壁上的齿条长度的限制。
可选的，结合图2和图3所示，为了使得环形滑盖32沿环形支架31的周向稳定可靠的滑动，所述环形滑盖32的内侧壁沿周向均布有多个定位凸起323，所述定位凸起323与用于所述环形滑盖32定位的滑块34紧固。所述环形滑盖32与所述环形支架31之间环形均布有多个第一滚珠，所述滑块34的横截面呈L形设置，所述滑块34的第一侧壁位于环形支架31的外侧且与所述环形支架31之间环形均布有多个第二滚珠，所述滑块34的第二侧壁的端部与所述定位凸起323紧固。本实施中，环形滑盖32和环形支架31的正反两侧壁上均对应凹设有用于容纳第一滚珠和第二滚珠的凹槽，以此使得环形滑盖32沿环形 支架31的周向稳定可靠的滑动。
本实施例中，初始状态下，为了使得环形滑盖32的两侧相对平衡，所述Y轴驱动机构33与所述X轴旋转机构4相对设置且均于环形滑盖32紧固。
本实施例中，结合图1、图4、图5及图6所示，所述X轴旋转机构4包括底座41、与所述底座41一侧的滑道411滑动配合的弧形滑轨42、设置于所述底座41内用于驱动所述弧形滑轨42沿所述滑道411上下往返运动的X轴驱动机构43以及在所述弧形滑轨42的下端水平延伸设置的用于架设脚踏板45的支撑梁44，所述脚踏板45水平架设于所述支撑梁44的上方，所述弧形滑轨42的侧壁与所述滑道411的侧壁之间均布有第三滚珠。与上述结构类似，用于容纳多个第三滚珠的相对壁面上均对应设置有凹槽，结合图6所示，弧形滑轨42的外弧面设置有弧形齿条421，该弧形齿条421与设置于X轴驱动机构43的驱动轴431上的驱动齿轮相啮合，以此驱动弧形滑轨42上下运动，进而带动脚踏板45同步运动。
本实施例中，结合图7所示，所述Z轴旋转机构2包括驱动电机21、与所述驱动电机21的动力输出端相连接的扇形驱动柄22、埋设于所述工作台1且与所述扇形驱动柄22相啮合的驱动轴23，与所述驱动轴23上端相配合的扭力传感器以及与所述扭力传感器紧固设置的Z轴旋转机构2的驱动臂24。为了提升该踝关节康复训练装置摆放的稳定性，本实施中与工作台紧固的驱动电机21均设置于工作台1台面的上表面，以此减小工作台1下底面于摆放面之间的间距。此外，扇形驱动柄22的设置，有效提升了动力传输的稳定性，相对于齿轮的设置，有效的节省了材料。
采用上述结构设计的踝关节康复训练装置，通过与外部电控装置连接后，将脚踏放至脚踏板45，根据需要启动对应的旋转机构，以此能够持续不断的实 现裸关节的运动，进而满足裸关节的多自由度的运动，有效改变了传统康复治疗时采用手工作业所带来的诸多麻烦。且能够有效保证充足的训练时间和足够的训练强度。
以上结合可选实施例描述了本公开。这些描述只是为了解释本公开，而不能以任何方式解释为对本公开保护范围的限制。
工业实用性
本公开提供了一种踝关节康复训练装置，采用上述结构设计，能够方便快捷的实现踝关节多自由度运动，进而有效提升康复训练的效率。

Claims (10)

  1. 一种踝关节康复训练装置，包括：
    工作台，
    架设于所述工作台且围绕工作台Z轴旋转的Z轴旋转机构，
    与所述Z轴旋转机构相连接且围绕工作台Y轴旋转的Y轴旋转机构，与所述Y轴旋转机构相连接且围绕工作台X轴旋转的X轴旋转机构，以及设置于所述X轴旋转机构的下端并与所述工作台的台面平行的脚踏板；
    其中，所述Y轴旋转机构包括与所述Z轴旋转机构的驱动臂垂直紧固的环形支架、与所述环形支架的一侧壁滑动设置的环形滑盖、用于驱动所述环形滑盖围绕所述环形支架的轴线旋转的Y轴驱动机构以及用于定位环形滑盖的滑块，其中，所述Y轴驱动机构随所述环形滑盖同步旋转，所述X轴旋转机构紧固于所述环形滑盖的一侧。
  2. 根据权利要求1所述的一种踝关节康复训练装置，其中，所述环形支架的支架壁径向设置有弧形长槽，所述弧形长槽的槽壁上设置有齿条，所述齿条与所述Y轴驱动机构的驱动轮相啮合。
  3. 根据权利要求1所述的一种踝关节康复训练装置，其中，所述环形滑盖的内侧壁向内延伸设置有定位座，所述定位座与Y轴驱动机构紧固，所述Y轴驱动机构与所述X轴旋转机构相对设置。
  4. 根据权利要求1所述的一种踝关节康复训练装置，其中，所述环形滑盖的内侧壁沿周向均布有多个定位凸起，所述定位凸起与用于所述环形滑盖定位的滑块紧固。
  5. 根据权利要求1所述的一种踝关节康复训练装置，其中，所述环形滑盖与所述环形支架之间环形均布有多个第一滚珠。
  6. 根据权利要求4所述的一种踝关节康复训练装置，其中，所述滑块的横截面呈L形设置，所述滑块的第一侧壁位于环形支架的外侧且与所述环形支架之间环形均布有多个第二滚珠，所述滑块的第二侧壁的端部与所述定位凸起紧固。
  7. 根据权利要求1所述的一种踝关节康复训练装置，其中，所述X轴旋转 机构包括底座、与所述底座一侧的滑道滑动配合的弧形滑轨、设置于所述底座内用于驱动所述弧形滑轨沿所述滑道上下往返运动的X轴驱动机构以及在所述弧形滑轨的下端水平延伸设置的用于架设脚踏板的支撑梁。
  8. 根据权利要求7所述的一种踝关节康复训练装置，其中，所述脚踏板水平架设于所述支撑梁的上方。
  9. 根据权利要求7所述的一种踝关节康复训练装置，其中，所述弧形滑轨的两侧壁与所述滑道的两侧壁之间均布有多个第三滚珠。
  10. 根据权利要求1所述的一种踝关节康复训练装置，其中，所述Z轴旋转机构包括驱动电机、与所述驱动电机的动力输出端相连接的扇形驱动柄、埋设于所述工作台且与所述扇形驱动柄相啮合的驱动轴，与所述驱动轴上端相配合的扭力传感器以及与所述扭力传感器紧固设置的Z轴旋转机构的驱动臂。
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