Parallel type ankle joint recovery device

Abstract

The invention discloses a parallel type ankle joint recovery device. A lower rotary mechanism is arranged on a base through a base plate bearing block, a middle lifting device is arranged in the middle of the lower rotary mechanism, a movable platform is hinged to the top end of the middle lifting device, first motion branch chains are hinged to the left side and right side of the movable platform respectively, second motion branch chains are hinged to the bottom surfaces of the front side and back side of the movable platform respectively, two third motion branch chains are hinged to the front side wall of the middle lifting device, and two third motion branch chains are hinged to the rear side wall of the middle lifting device; the other end of each first motion branch chain is hinged to a pulley rope mechanism which is located on the same side with the first motion branch chain and fixed to the edge of the base, the second motion branch chains and the third motion branch chains on the same side are located on the same vertical plane, the other ends of the second motion branch chains and the third motion branch chains are hinged to connecting frames located on corresponding sides, and the two sides of each connecting frame are hinged to the lower rotary mechanism through rotary shafts. The device can be matched with complicated motions of the ankle joint, and motions of three freedom degrees including dorsal flexion / plantar flexion, inward turning / outward turning and foot lifting can be realized.

Description

technical field [0001] The invention relates to a rehabilitation device. In particular, it relates to an ankle joint parallel rehabilitation device which is driven flexibly and assists the rehabilitation treatment of the human ankle joint. Background technique [0002] The ankle joint is the main load-bearing structure and flexor joint of the human body. In the daily life of the human body, the ankle joint will bear a large load and continuous joint rotation, so the ankle joint is also one of the most vulnerable joints in the human body. If the ankle joint is damaged without timely and reasonable treatment, it will cause long-term joint pain, inconvenient walking and other symptoms. Clinical medicine proves that with the help of correct and scientific external force, joint adhesion can be prevented, joint flexibility can be maintained, and the rehabilitation of damaged ankle joint can be accelerated. [0003] Existing ankle joint parallel rehabilitation devices generally u...

AI Technical Summary

Problems solved by technology

[0003] Existing ankle joint parallel rehabilitation devices generally use a rigid drive mechanism as the driving force. This rigid drive device is likely to cause the patient to feel uncomfortable during the rehabilitation process, and it is also likely to cause secondary injuries, which is not conducive to the patient's recovery.

At the same time, the existing ankle joint rehabilitation devices usually have only 1 to 2 degrees of freedom, the rehabilitation training mode is single, and it is difficult to fit the movement of the ankle joint during the exercise process.

[0004] Chinese patent publication CN102499854A discloses a "parallel structure type ankle joint rehabilitation trainer", which relates to a parallel ankle joint rehabilitation device, but the device uses a rigid drive, and the patient is prone to discomfort or even pain during the training process; Chinese patent CN103110500A discloses a "pneumatic Muscle-driven two-degree-of-freedom ankle rehabilitation parallel robot" involves a pneumatically driven ankle joint device, but the device has two degrees of freedom, which is difficult to fit the complex movement of the ankle joint, and the rehabilitation training mode is single

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