Multi-degree-of-freedom rehabilitation training device applied to ankle joint

Abstract

The utility model discloses a multi-degree-of-freedom rehabilitation training device applied to ankle joints, which comprises an xy plane deflection structure, an xz plane deflection structure and a yz plane deflection structure which are respectively driven by a first motor, a second motor and a third motor, and a pedal fixer is arranged on the yz plane deflection structure. The xy plane deflection structure comprises a base, a rotary table and a first transmission assembly. The xz plane deflection structure comprises a hollow shell with an arc-shaped bottom shell and a second transmission assembly; the yz plane deflection structure comprises a pedal bearing plate and a third transmission assembly. Each transmission assembly comprises a precise transmission element, and stable operation is ensured. The device is based on motion bionics, cooperates with a three-plane deflection structure, simulates ankle joint movement, achieves various training actions of ankles, and enhances strength, flexibility and stability. The device is especially suitable for training of ankle joint dyskinesia caused by cerebral apoplexy, cerebral trauma, spinal cord injury and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to a multi-degree-of-freedom rehabilitation training device applied to ankle joints. Background Art

[0002] Neurological diseases, such as stroke, brain trauma, spinal cord injury, etc., may lead to ankle motor dysfunction, manifested as weakened muscle strength, limited range of joint motion, abnormal gait, etc. These dysfunctions not only affect patients' daily living ability, but may also increase the risk of falls and re-injury. Therefore, neurologists need to pay attention to the functional status of the ankle joint when evaluating and treating neurological diseases. Once ankle dysfunction is found, the doctor will develop a personalized rehabilitation training plan based on the patient's specific situation. The goal of rehabilitation training is to enhance the strength and endurance of the muscles around the ankle joint, improve the flexibility and stability of the joints, and improve gait and balance through a series of targeted exercises. Common training methods include muscle strength training, joint range of motion training, balance training, gait training, etc.

[0003] With the development of mechanical exoskeleton technology, some professional equipment can be used to achieve the training purpose during ankle rehabilitation. For example, the Chinese invention patent application with application number CN201811024210.9 discloses an ankle rehabilitation training device, which includes a fixed bracket, a motor mounting plate is provided between the bottom ends of the fixed bracket, and the two ends of the motor mounting plate are fixed to the fixed brackets on both sides by screws, a driving motor is fixedly installed at the outer end surface of the motor mounting plate, one end of the bottom of the fixed bracket is fixedly connected to the load-bearing frame, and the load-bearing frame is movably connected to the pedal through a movable connecting piece, a mounting end plate is installed on the fixed bracket, a driven wheel is rotatably installed on the mounting end plate, a driving wheel is installed at the output end of the driving motor, and the driving wheel and the driven wheel are connected by a transmission belt, a mounting block is fixed at the outer end surface of the driven wheel, and an adjustment rod is passed between the mounting block on the driven wheel and the mounting block on the pedal. This device can assist patients with ankle injuries in rehabilitation training.

[0004] However, since the above-mentioned training device has only one degree of freedom, it can only perform ankle flexion and dorsiflexion training, which has great restrictions on the ankle and is difficult to achieve an ideal training effect. Utility Model Content

[0005] The purpose of the utility model is to provide a multi-degree-of-freedom rehabilitation training device for ankle joints, which can independently adjust the deflection angles in the xy plane, xz plane and yz plane to simulate the ankle joint activities in real life and realize plantar flexion, dorsiflexion, inversion, eversion, abduction and adduction training of the ankle, thereby solving the technical problems described in the background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides a multi-degree-of-freedom rehabilitation training device for ankle joints, the key of which is: it includes an xy plane deflection structure driven by a first motor, an xz plane deflection structure driven by a second motor is arranged on the xy plane deflection structure, a yz plane deflection structure driven by a third motor is arranged on the xz plane deflection structure, and a pedal fixer is arranged on the yz plane deflection structure.

[0007] Furthermore, the xy plane deflection structure includes a base, a turntable is mounted on the base via a ball bearing, and the first motor is mounted in the base and is transmission-connected to the turntable via a first transmission assembly.

[0008] Furthermore, the first transmission assembly includes a gear ring arranged in the turntable and a first gear arranged on the output shaft of the first motor, and the first gear is meshed with the gear ring.

[0009] Furthermore, the xz plane deflection structure includes a hollow shell with an arc-shaped bottom shell, the hollow shell is supported on the turntable through a wheel frame, the second motor is installed on the turntable and is transmission-connected to the hollow shell through a second transmission assembly.

[0010] Furthermore, the second transmission assembly includes an arc-shaped rack arranged on the outer contour surface of the arc-shaped bottom shell, a second gear is meshed on one side of the arc-shaped rack, a worm wheel is connected to the rotating shaft of the second gear, a worm is meshed on one side of the worm wheel, and a worm is meshed on one side of the worm wheel, and the transmission shaft of the worm is connected to the output shaft of the second motor through a first pulley.

[0011] Furthermore, the yz plane deflection structure includes a pedal supporting plate rotatably connected to the hollow shell, and the third motor is arranged in the shell cavity of the hollow shell and is transmission-connected to the pedal supporting plate through a third transmission assembly.

[0012] Furthermore, the third transmission assembly includes a slide arranged on the hollow shell, a slider is provided on the slide, a connecting rod is hinged on the slider, the end of the connecting rod is hinged on the pedal bearing plate, and a screw cooperating with the slider is also passed through the slide, the end of the screw extends out of the slide and is connected to the output shaft of the third motor through a second pulley.

[0013] Furthermore, the first motor, the second motor and the third motor are all servo motors.

[0014] Compared with the prior art, the remarkable effects of the utility model are:

[0015] (1) The utility model is based on the principle of motion bionics, and utilizes the coordination of an xy plane deflection structure, an xz plane deflection structure, and a yz plane deflection structure, and the first motor, the second motor, and the third motor independently control the deflection angles of the pedal holder in the xy plane, the xz plane, and the yz plane, respectively, so as to simulate the ankle joint activities in real life, realize the plantar flexion, dorsiflexion, inversion, eversion, abduction, and adduction training of the ankle, help to enhance the strength, flexibility, and stability of the ankle, and is particularly suitable for the training of ankle joint movement dysfunction caused by stroke, brain trauma, spinal cord injury, etc., and relieve ankle joint stiffness and muscle atrophy;

[0016] (2) By controlling the angular momentum changes of the first motor, the second motor, and the third motor, complex compound movements of the ankle fixator can also be achieved, thereby meeting the training needs of patients at various stages of ankle rehabilitation. The ankle fixator can be widely used in various scenarios such as at home, in hospitals, or in rehabilitation centers. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a corresponding relationship diagram of the multi-degree-of-freedom rehabilitation training device in the first embodiment in the xy, xz, and yz planes;

[0019] Figure 2 1 is a schematic diagram of the internal structure of the turntable of the multi-degree-of-freedom rehabilitation training device in Example 1 (I);

[0020] Figure 3 Schematic diagram of the internal structure of the turntable of the multi-degree-of-freedom rehabilitation training device in Example 1 (II);

[0021] Figure 4 is a schematic diagram of the overall structure of the multi-degree-of-freedom rehabilitation training device in Example 1 (I);

[0022] Figure 5 is a schematic diagram of the overall structure of the multi-degree-of-freedom rehabilitation training device in Example 1 (II);

[0023] Figure 6 Schematic diagram of the overall structure of the multi-degree-of-freedom rehabilitation training device in Example 1 (III);

[0024] Numbers in the figure: 1-first motor, 2-xy plane deflection structure, 3-second motor, 4-xz plane deflection structure, 5-third motor, 6-yz plane deflection structure, 7-pedal holder, 201-base, 202-ball bearing, 203-turntable, 204-first transmission assembly, 205-gear ring, 206-first gear, 401-hollow shell, 402-wheel frame, 403-second transmission assembly, 404-arc rack, 405-second gear, 406-worm wheel, 407-worm, 408-first pulley, 601-pedal bearing plate, 602-third transmission assembly, 603-slide, 604-slider, 605-connecting rod, 606-screw, 607-second pulley. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below, and examples of the embodiments 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 should not be construed as limiting the present invention.

[0026] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0027] Figures 1 to 6 The first embodiment of the utility model is shown: a multi-degree-of-freedom rehabilitation training device applied to an ankle joint, comprising an xy plane deflection structure 2 driven by a first motor 1, an xz plane deflection structure 4 driven by a second motor 3 being arranged on the xy plane deflection structure 2, a yz plane deflection structure 6 driven by a third motor 5 being arranged on the xz plane deflection structure 4, and a pedal holder 7 being arranged on the yz plane deflection structure 6.

[0028] See also Figure 2 and Figure 3In a specific implementation, the xy plane deflection structure 2 includes a base 201, a turntable 203 is mounted on the base 201 through a ball bearing 202, the first motor 1 is mounted in the base 201, and is in transmission connection with the turntable 203 through a first transmission assembly 204. The first transmission assembly 204 includes a gear ring 205 disposed in the turntable 203 and a first gear 206 disposed on the output shaft of the first motor 1, and the first gear 206 is meshed with the gear ring 205. When the first motor 1 drives the first gear 206 to rotate, the first gear 206 can drive the gear ring 205 to rotate, so that the turntable 203 rotates on the ball bearing 202, thereby realizing the deflection of the xy plane.

[0029] like Figures 2 to 6 As shown, in this embodiment, the xz plane deflection structure 4 includes a hollow shell 401 with an arc bottom shell, the hollow shell 401 is supported on the turntable 203 through a wheel frame 402, and the second motor 3 is installed on the turntable 203 and is connected to the hollow shell 401 through a second transmission assembly 403. Specifically, the second transmission assembly 403 includes an arc rack 404 provided on the outer contour surface of the arc bottom shell, a second gear 405 is meshed on one side of the arc rack 404, a worm wheel 406 is connected to the rotating shaft of the second gear 405, a worm 407 is meshed on one side of the worm wheel 406, and the transmission shaft of the worm 407 is connected to the output shaft of the second motor 3 through a first pulley 408. When the second motor 3 drives the worm 407 to rotate through the first pulley 408, the worm 407 can simultaneously drive the worm wheel 406 to rotate, so that the coaxial second gear 405 rotates, thereby driving the hollow shell 401 to deflect on the wheel frame 402 through the breathing rack, that is, deflect on the xz plane.

[0030] In a specific application scenario, the yz plane deflection structure 6 includes a pedal support plate 601 rotatably connected to the hollow shell 401, and the third motor 5 is arranged in the shell cavity of the hollow shell 401 and is transmission-connected to the pedal support plate 601 through a third transmission assembly 602. The third transmission assembly 602 includes a slide 603 arranged on the hollow shell 401, a slider 604 is arranged on the slide 603, a connecting rod 605 is hinged on the slider 604, and the end of the connecting rod 605 is hinged on the pedal support plate 601, and a lead screw 606 cooperating with the slider 604 is also passed through the slide 603, and the end of the lead screw 606 extends out of the slide 603 and is connected to the output shaft of the third motor 5 through a second pulley 607. When the third motor 5 drives the lead screw 606 to rotate via the second pulley 607 , the slider 604 can slide along the slide 603 , and the angle of the connecting rod 605 changes accordingly, thereby forcing the pedal supporting plate 601 to rotate in the yz plane.

[0031] It can be understood that in this embodiment, the first radial direction of the turntable 203 is used as the x-axis, the second radial direction of the turntable 203 is used as the y-axis, and the central axis direction of the turntable 203 is used as the z-axis; wherein: the angle between the first radial direction and the second radial direction is 90°.

[0032] In order to improve the deflection accuracy of the device and ensure the ankle training effect, the first motor 1, the second motor 3 and the third motor 5 are all servo motors.

[0033] In summary, the utility model is based on the principle of motion bionics, and utilizes the coordination of the xy plane deflection structure 2, the xz plane deflection structure 4, and the yz plane deflection structure 6, and the first motor 1, the second motor 3 and the third motor 5 independently control the deflection angles of the pedal fixer 7 in the xy plane, the xz plane and the yz plane respectively, so as to simulate the ankle joint activities in real life, and realize the plantar flexion, dorsiflexion, inversion, eversion, abduction and adduction training of the ankle, which helps to enhance the strength, flexibility and stability of the ankle, and is particularly suitable for the training of ankle joint movement dysfunction caused by stroke, brain trauma, spinal cord injury, etc., and relieves ankle joint stiffness and muscle atrophy; by controlling the angular momentum changes of the first motor 1, the second motor 3 and the third motor 5, the complex compound movement of the ankle fixator can also be realized, thereby meeting the training needs of the patient's ankle in various rehabilitation stages, and can be widely used in various scenarios such as home, hospital or rehabilitation center.

[0034] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of 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 according to the claims of the present invention still fall within the scope covered by the utility model.

Claims

1. A multi-degree-of-freedom rehabilitation training device for ankle joints, characterized in that: It comprises an xy plane deflection structure driven by a first motor, an xz plane deflection structure driven by a second motor is arranged on the xy plane deflection structure, a yz plane deflection structure driven by a third motor is arranged on the xz plane deflection structure, and a pedal holder is arranged on the yz plane deflection structure; wherein: The xy plane deflection structure comprises a base, a turntable is mounted on the base via a ball bearing, the first motor is mounted in the base and is in transmission connection with the turntable via a first transmission assembly, the first transmission assembly comprises a gear ring arranged in the turntable and a first gear arranged on an output shaft of the first motor, the first gear is meshed with the gear ring; The xz plane deflection structure comprises a hollow shell with an arc-shaped bottom shell, the hollow shell is supported on the turntable by a wheel frame, the second motor is mounted on the turntable and is connected to the hollow shell by a second transmission assembly, the second transmission assembly comprises an arc-shaped rack provided on the outer contour surface of the arc-shaped bottom shell, a second gear is meshed on one side of the arc-shaped rack, a worm wheel is connected to the rotating shaft of the second gear, a worm is meshed on one side of the worm wheel, and the transmission shaft of the worm is connected to the output shaft of the second motor through a first pulley; The yz plane deflection structure includes a pedal supporting plate rotatably connected to the hollow shell, the third motor is arranged in the shell cavity of the hollow shell, and is connected to the pedal supporting plate through a third transmission assembly, the third transmission assembly includes a slide arranged on the hollow shell, a slider is arranged on the slide, a connecting rod is hinged on the slider, the end of the connecting rod is hinged to the pedal supporting plate, and a lead screw cooperating with the slider is also passed through the slide, the end of the lead screw extends out of the slide and is connected to the output shaft of the third motor through a second pulley.

2. The multi-degree-of-freedom rehabilitation training device for ankle joint according to claim 1, characterized in that: The first motor, the second motor and the third motor are all servo motors.

Images