A single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism

Abstract

The present invention relates to the technical field of ankle joint rehabilitation equipment, and specifically to a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism, comprising a base, a bracket, a spherical four-bar mechanism, a U-shaped frame, an ankle placement seat, a connecting plate, an expansion module and two sets of fixing modules. A motor is provided to drive the single-degree-of-freedom rotation of the spherical four-bar mechanism, thereby driving the ankle placement seat to rotate up and down and the U-shaped frame to rotate left and right, thereby realizing spatial compound movement of ankle dorsiflexion / plantar flexion, inversion / eversion, and internal rotation / external rotation; the expansion module meets the treatment needs of patients with different foot shapes, thereby further expanding the applicable population; the two sets of fixing modules enhance the stability of the ankle and effectively prevent the risk of secondary ankle injury; the mechanism has the characteristics of simple structure, easy operation, low cost, etc., and can achieve adaptation to different foot shapes of patients with ankle joint injuries without relying on a complex control system, while being effectively tightened and performing passive rehabilitation training simultaneously.

Description

Technical Field

[0001] The present invention relates to the technical field of ankle joint rehabilitation equipment, and in particular to a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism. Background Art

[0002] The ankle joint is one of the body's most important weight-bearing and motion-prone joints, possessing complex three-dimensional motion characteristics. It is primarily responsible for supporting the body's weight and enabling flexible foot movement. Ankle injuries are extremely common in daily life and exercise, impacting patients' daily lives and potentially leading to functional impairment and long-term chronic pain, significantly reducing their quality of life. To restore joint function early and reduce complications, scientific and appropriate rehabilitation training is crucial.

[0003] At present, rehabilitation training for ankle injuries mainly includes manual rehabilitation, physical therapy and functional training. Among them, physical therapy and manual rehabilitation mostly rely on the technical level and experience of the rehabilitation therapist, and there are problems such as difficult standardization of operation, low efficiency and poor patient compliance with training. Functional training is mostly carried out with the help of rehabilitation devices. However, although the ankle rehabilitation devices on the current market can help to restore ankle function to a certain extent, they still have certain limitations in practical applications: First, the existing ankle rehabilitation devices are mostly multi-degree-of-freedom structures, and their complex mechanical design makes the devices expensive and large in size, making them difficult to promote and apply; second, facing patients with different foot shapes, the ankle placement seat of the current ankle rehabilitation device fails to achieve effective fit with the patient's foot shape; third, the ankle fixation method of the currently widely used ankle rehabilitation device fails to effectively ensure stability, thereby increasing the risk of secondary ankle injury.

[0004] In order to address the shortcomings of the existing technology, a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism is provided. The mechanism has the characteristics of simple structure, easy operation and low cost. It can adapt to the different foot shapes of patients with ankle injuries without relying on a complex control system, and effectively tighten the feet while performing passive rehabilitation training simultaneously, thereby meeting the rehabilitation needs of patients with different degrees of joint injuries and reducing the risk of re-injury. Summary of the Invention

[0005] The purpose of the present invention is to provide a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism.

[0006] The present invention adopts the following technical solutions:

[0007] A single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism comprises a base, a bracket, a spherical four-bar mechanism, a U-shaped frame, an ankle placement seat, a connecting plate, an expansion module and two groups of fixing modules, wherein the bracket is fixedly connected to the base and is located above the base, the U-shaped frame is movably connected to the bracket and is located above the bracket, the ankle placement seat is movably connected to the U-shaped frame and is located inside the U-shaped frame, the connecting plate is fixedly connected to the ankle placement seat and is located above the ankle placement seat, the expansion module is connected to the ankle placement seat, and the two groups of fixing modules are both connected to the ankle placement seat and are both located above the ankle placement seat.

[0008] In which, the spherical four-bar mechanism includes a first curved bar, a second curved bar, a third curved bar and a fourth curved bar, the first curved bar is fixedly connected to the bracket and is located on the bracket, the fourth curved bar is movably connected to the connecting plate and is located on the outside of the connecting plate, the two ends of the second curved bar are movably connected to the first curved bar and the fourth curved bar respectively, and the two ends of the third curved bar are movably connected to the first curved bar and the fourth curved bar respectively.

[0009] In which, the expansion module includes an expansion plate, a plug-in plate, a supporting spring and a supporting block. The ankle placement seat has a movable groove and multiple fixing holes. One end of the plug-in plate is fixedly connected to the expansion plate, and the other end of the plug-in plate is slidably connected to the ankle placement seat and is located in the movable groove. The plug-in plate has a groove, and the supporting block is respectively adapted to the groove and multiple fixing holes. The supporting spring is arranged in the groove and fixedly connected to the supporting block.

[0010] Among them, the fixing module includes a sliding rod, a limiting spring, a sleeve and a stopper. The sliding rod is slidably connected to the ankle placement seat and passes through the ankle placement seat. The stopper is fixedly connected to one end of the sliding rod, and the sleeve is fixedly connected to the other end of the sliding rod. The two ends of the limiting spring are respectively fixedly connected to the sleeve and the ankle placement seat, and are sleeved on the outer wall of the sliding rod.

[0011] The present invention provides a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism. When treating a patient, first, the expansion module is adjusted to the size of the patient's foot, and the patient's ankle is placed in the ankle placement seat. Secondly, the two sets of fixing modules are used to stabilize the patient's ankle. Then, the output end of the motor is connected to the intersection of the first curved rod and the second curved rod. The motor is set to drive the second curved rod to rotate in a circle. The other end of the second curved rod pulls the fourth curved rod. The fourth curved rod rotates with a single degree of freedom according to a trajectory. The fourth curved rod pulls the ankle placement seats through the connecting plate. The seat rotates back and forth up and down and the U-shaped frame rotates back and forth left and right above the bracket. The rotational movement can better simulate the natural movement trajectory of the ankle joint, and realize the spatial compound movement of ankle joint dorsiflexion / plantar flexion, inversion / eversion, and internal rotation / external rotation. The patient's ankle is driven by the ankle placement seat, and the patient's ankle does not need to apply force, and the patient's ankle can be passively rehabilitated. Through the above method, the needs of patients with different foot shapes are met, the scope of application is expanded, the stability of the ankle is increased, the risk of secondary injury is avoided, the hands of the rehabilitation therapist are released, the labor intensity is greatly reduced, and the recovery of ankle joint function is effectively promoted.

[0012] The beneficial effects of the present invention are:

[0013] The present invention provides a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism, which utilizes a motor to drive the single-degree-of-freedom rotation of a spherical four-bar mechanism, thereby driving the ankle placement seat to rotate back and forth up and down and the U-shaped frame to rotate back and forth left and right, thereby realizing the spatial compound movement of ankle dorsiflexion / plantar flexion, inversion / eversion, and internal rotation / external rotation. The use of expansion modules effectively meets the treatment needs of patients with different foot types, thereby further expanding the applicable population. The use of two sets of fixing modules enhances the stability of the ankle, effectively prevents the risk of ankle joint reinjury, greatly reduces the workload of rehabilitation therapists, and thereby more effectively promotes the recovery of the patient's ankle joint function. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism of the present invention.

[0015] Figure 2 It is a structural side view of the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism of the present invention.

[0016] Figure 3 It is a top view of the structure of the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism of the present invention.

[0017] Figure 4 It is a cross-sectional view of the internal structure of the expansion component of the present invention.

[0018] Figure 5 The present invention Figure 4 A magnified view of the local structure at point A.

[0019] In the figure, 100-base, 101-bracket, 102-first curved rod, 103-second curved rod, 104-third curved rod, 105-fourth curved rod, 106-U-shaped frame, 107-ankle placement seat, 108-connecting plate, 109-expansion plate, 110-plug-in plate, 111-holding spring, 112-holding block, 113-movable groove, 114-fixing hole, 115-groove, 116-sliding rod, 117-limiting spring, 118-jacket, 119-stop block. DETAILED DESCRIPTION

[0020] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0021] See also Figures 1 to 5 The present invention provides a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism, comprising a base 100, a bracket 101, a first curved rod 102, a second curved rod 103, a third curved rod 104, a fourth curved rod 105, a U-shaped frame 106, an ankle placement seat 107 and a connecting plate 108, wherein the bracket 101 is fixedly connected to the base 100 and is located above the base 100, the U-shaped frame 106 is movably connected to the bracket 101 and is located above the bracket 101, the ankle placement seat 107 is movably connected to the U-shaped frame 106 and is located above the U-shaped frame 106, the connecting plate 108 is fixedly connected to the ankle rest seat 107 and is located above the ankle rest seat 107, the first curved bar 102 is fixedly connected to the bracket 101 and is located on the bracket 101, the fourth curved bar 105 is movably connected to the connecting plate 108 and is located on the outside of the connecting plate 108, the two ends of the second curved bar 103 are movably connected to the first curved bar 102 and the fourth curved bar 105 respectively, and the two ends of the third curved bar 104 are movably connected to the first curved bar 102 and the fourth curved bar 105 respectively.

[0022] In this embodiment, when treating a patient, the patient's ankle is first placed in the ankle placement seat 107, and a motor is set up, and the output end of the motor is connected to the intersection of the first curved rod 102 and the second curved rod 103. The motor drives the second curved rod 103 to rotate in a circle, and the other end of the second curved rod 103 pulls the fourth curved rod 105. The third curved rod 104 will move with the fourth curved rod 105. The fourth curved rod 105 moves along a trajectory and rotates with a single degree of freedom. The fourth curved rod 105 is connected to The plate 108 pulls the ankle support seat 107 to rotate back and forth up and down and the U-shaped frame 106 to rotate back and forth left and right above the bracket 101. The rotational movement can better simulate the natural movement trajectory of the ankle joint, and realize the spatial compound movement of ankle joint dorsiflexion / plantar flexion, inversion / eversion, and internal rotation / external rotation. The patient's ankle is driven by the ankle support seat 107, and the patient's ankle does not need to apply force, and the patient's ankle can be passively rehabilitated. Through the above method, the hands of the rehabilitation therapist are effectively freed, the labor intensity is greatly reduced, and it is beneficial to the rehabilitation of the patient's ankle joint function.

[0023] Furthermore, the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism also includes an expansion module, which is connected to the ankle placement seat 107.

[0024] In this embodiment, by providing the expansion module on the ankle rest seat 107, the use length of the ankle rest seat 107 can be increased by utilizing the expansion module, thereby being able to meet the needs of patients with different foot sizes and increasing the scope of application.

[0025] Furthermore, the expansion module includes an expansion plate 109, a plug-in plate 110, a supporting spring 111 and a supporting block 112. The ankle placement seat 107 has a movable groove 113 and multiple fixing holes 114. One end of the plug-in plate 110 is fixedly connected to the expansion plate 109, and the other end of the plug-in plate 110 is slidingly connected to the ankle placement seat 107 and is located in the movable groove 113. The plug-in plate 110 has a groove 115. The supporting block 112 is respectively adapted to the groove 115 and the multiple fixing holes 114. The supporting spring 111 is arranged in the groove 115 and fixedly connected to the supporting block 112.

[0026] In this embodiment, when treating patients with different foot shapes, the expansion plate 109 is first adjusted according to the size of the patient's foot, and the abutment block 112 is pressed into the groove 115 of the plug-in plate 110. The abutment block 112 squeezes the abutment spring 111 in the groove 115, and then the expansion plate 109 is pulled outward. The expansion plate 109 drives the plug-in plate 110 to move outward in the movable groove 113 of the ankle placement seat 107. After the expansion plate 109 is moved into place, the expansion plate 109 is used to The force of the resisting spring 111 is used to drive the resisting block 112 into the corresponding fixing hole 114 of the ankle seat 107, and the plug-in board 110 is fixed in the ankle seat 107. Subsequently, a sponge pad of corresponding length can be laid between the expansion board 109 and the ankle seat 107 to facilitate the placement of the patient's foot, and then the patient's ankle joint can be rehabilitated. In this way, the usable length of the ankle seat 107 can be increased to meet the needs of patients with different foot shapes, thereby expanding the scope of application.

[0027] Furthermore, the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism also includes two groups of fixing modules, and the two groups of fixing modules are both connected to the ankle placement seat 107 and are both located above the ankle placement seat.

[0028] In this embodiment, by arranging the two sets of fixing modules on the ankle rest seat 107, the ankle of the patient placed on the ankle rest seat 107 can be tightened by using the two sets of fixing modules, thereby reducing the risk of secondary injury.

[0029] Furthermore, the fixing module includes a sliding rod 116, a limiting spring 117, a sleeve 118 and a stopper 119. The sliding rod 116 is slidably connected to the ankle seat 107 and passes through the ankle seat 107. The stopper 119 is fixedly connected to one end of the sliding rod 116. The sleeve 118 is fixedly connected to the other end of the sliding rod 116. The two ends of the limiting spring 117 are respectively fixedly connected to the sleeve 118 and the ankle seat 107, and are sleeved on the outer wall of the sliding rod 116.

[0030] In this embodiment, when tightening the patient's ankle, first pull the bilateral blocks 119, and the blocks 119 drive the slide bar 116 and the sleeve 118 to slide outward, and the bilateral limit springs 117 squeeze the ankle seat 107, placing the patient's ankle in the ankle seat 107, and the limit spring 117 applies a reaction force to the ankle through the squeezing force of the sleeve 118, thereby achieving the tightening effect of the ankle.

[0031] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of the rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism, characterized in that: The invention comprises a base, a bracket, a spherical four-bar mechanism, a U-shaped frame, an ankle placement seat, a connecting plate, an expansion module and two sets of fixing modules, wherein the bracket is fixedly connected to the base and is located above the base, the U-shaped frame is movably connected to the bracket and is located above the bracket, the ankle placement seat is movably connected to the U-shaped frame and is located inside the U-shaped frame, the connecting plate is fixedly connected to the ankle placement seat and is located above the ankle placement seat, the expansion module is connected to the ankle placement seat, and the two sets of fixing modules are both connected to the ankle placement seat and are both located above the ankle placement seat; the spherical four-bar mechanism comprises a first curved rod, a second curved rod, a third curved rod and a fourth curved rod, the first curved rod is fixedly connected to the bracket The second end of the second crankshaft is connected to the first crankshaft and the second crankshaft respectively, and the second end of the second crankshaft is connected to the first crankshaft and the second crankshaft respectively.

2. A single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism according to claim 1, characterized in that: The expansion module includes an expansion plate, a plug-in plate, a supporting spring and a supporting block. The ankle placement seat has a movable groove and multiple fixing holes. One end of the plug-in plate is fixedly connected to the expansion plate, and the other end of the plug-in plate is slidably connected to the ankle placement seat and is located in the movable groove. The plug-in plate has a groove, and the supporting block is respectively adapted to the groove and multiple fixing holes. The supporting spring is arranged in the groove and fixedly connected to the supporting block.

3. The single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism according to claim 1, characterized in that: The fixing module includes a sliding rod, a limit spring, a sleeve and a stopper. The sliding rod is slidably connected to the ankle placement seat and passes through the ankle placement seat. The stopper is fixedly connected to one end of the sliding rod, and the sleeve is fixedly connected to the other end of the sliding rod. The two ends of the limit spring are respectively fixedly connected to the sleeve and the ankle placement seat, and are sleeved on the outer wall of the sliding rod.

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