A mechanical device for the rehabilitation of injured ankle and knee joints
By designing a mechanical device including space linkage, slider and flexible synchronization belt, the six degrees of freedom movement compensation of the ankle and knee joints is achieved, and the problem that existing rehabilitation training equipment cannot reduce the pressure of injured joints is achieved. Effective rehabilitation training effects and personalized adaptation.
Patent Information
- Application Number
- CN201911270895.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2019-12-12
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2039-12-12
AI Technical Summary
Existing rehabilitation training equipment cannot effectively relieve the stress of patients with ankle or knee injuries during training, resulting in poor rehabilitation results.
A mechanical device including a base, a vertical plate, a pedal, a support rod, a space link, a slider, a flexible synchronous belt and an adjustable torque, a damper, and a single-turn absolute value angle sensor are designed, which is realized through a space mechanism and a transmission system. Six degrees of freedom of the ankle and knee joints compensate for stress relief and provide torque and impedance adjustment.
The device can adapt to the patient's ankle and knee joint activities, reduce training pressure, promote rapid recovery, and provide personalized rehabilitation guidance through single-lank absolute angle sensor. It is suitable for different groups of people, with small space, light weight, and energy. save.
Smart Images
Figure CN110860068B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to medical equipment, in particular to a mechanical device for rehabilitation of injured ankle joints and knee joints. Background Art
[0002] When using some existing sports equipment for fitness, if the amount of exercise is too large, it may sometimes cause ankle or knee joint injuries; in addition, some middle-aged and elderly people take brisk walking exercises for fitness, and their ankle or knee joints are also easily injured due to physical fitness or improper methods. For patients with ankle or knee joint injuries, joint rehabilitation training should be carried out to reduce the pressure on the ankle or knee joint as much as possible during the training process to promote the recovery of the injured joint as soon as possible. However, no rehabilitation training equipment for this purpose has been found yet. Summary of the invention
[0003] The purpose of the present invention is to provide a mechanical device for the rehabilitation of injured ankle and knee joints, so that patients with injured ankle or knee joints can relieve the pressure on the ankle and knee joints during rehabilitation training and promote the rapid recovery of the injured joints.
[0004] The mechanical device for the rehabilitation of injured ankle and knee joints provided by the present invention comprises a support consisting of a base and two vertical plates symmetrically fixed at both ends of the base; a pedal with a certain distance between the two vertical plates at both ends is provided between the two vertical plates, and two support rods arranged in parallel and extending out of the pedals at both ends are fixed on the pedal, and the parts of the two support rods extending out of the pedals respectively pass through vertical holes opened on the two vertical plates, and the ends form a spatial ball pair with an oil film (the oil film plays a role in maintaining a stable position) with the lower ends of four spatial connecting rods, and the upper end of the spatial connecting rod forms a spatial ball pair with an oil film (the oil film plays a role in maintaining a stable position) with a slider, and the four sliders can slide up and down along four guide rails vertically fixed on the vertical plates to form a linear lifting motion pair; the two support rods The two ends are fixedly connected by connecting rods, the center of the connecting rod is fixedly connected to the middle of the elastic part of the vertically arranged annular flexible synchronous belt, the upper and lower ends of the toothed part connected to the elastic part of the flexible synchronous belt are respectively meshed with the upper synchronous pulley and the lower synchronous pulley for transmission, the axis of the upper synchronous pulley is installed on the fixed axis located at the upper end of the vertical plate (the upper synchronous pulley can rotate relative to the vertical plate), the axis of the lower synchronous pulley is installed on the output shaft of the driven device, the driven device is composed of an adjustable torque torsion spring, an adjustable impedance damper and a single-turn absolute angle sensor module connected by a mechanical coupling, and the housing of the driven device is fixedly installed on the base; the lower end of the elastic part of the flexible synchronous belt has an end fixedly installed on the housing of the driven device.
[0005] In order to maintain a stable position, a tension spring is connected to the upper end of the guide rail and the slider of the space ball pair which forms an oil film with the upper end of the space connecting rod.
[0006] Working principle and beneficial effects of the device of the present invention:
[0007] When the device of the present invention is used, the patient sits on a chair, and the device of the present invention is placed on the ground, at an ergonomic angle (such as 37°) to the ground, and the patient's feet (or one foot) are stepped on the pedal, and the toes are perpendicular to the support rod on the pedal. When the front parts of the two feet move up and down at the same time, the pedal is in a pitching motion state, and the front and rear sliders located on both sides of the feet respectively move up and down at the same time, and the relevant space connecting rods move with them, thereby compensating for the spatial motion; when one of the two feet moves forward and the other moves backward, the pedal is in a twisting motion state, and the two sliders on one side of the foot move up and down respectively, and the two sliders on the other side of the foot move up and down in the opposite direction at the same time, and the relevant space connecting rods move with them, thereby compensating for the spatial motion; when one of the two feet moves up and the other moves down, the pedal is in a sideways motion state, and the two sliders on one side of the foot move up and down, and the two sliders on the other side move in the opposite direction at the same time, and the relevant space connecting rods move with them, thereby compensating for the spatial motion; when the two feet move left and right at the same time, the pedal is in a left-right swinging state, and the two sliders on one side of the foot move up at the same time, and the two sliders on the other side move down at the same time, and the relevant space connecting rods move with them, thereby compensating for the spatial motion. As a result, the pedal can achieve six degrees of freedom (i.e. movement in three directions and rotation in three directions) in space as the patient's ankle and knee joints move, adapting to the patient's ankle and knee joint movements, giving the patient the feeling of stepping on cotton or a water bed, and through spatial compensation of the spatial mechanism, effectively alleviating the pressure on the injured ankle and knee joints during rehabilitation training, promoting the speedy recovery of the injured joints.
[0008] The device of the present invention can manually adjust the torque and impedance by utilizing the torque adjusting device and the impedance adjusting device to meet the personalized needs of different groups of people (such as adults and children), and is applicable to a wide range of people.
[0009] The device of the present invention can extract the pedal reversal speed information of a person by using a single-turn absolute angle sensor, so as to provide the health care doctor with pathological analysis and guide the rehabilitation training of the patient.
[0010] The device of the present invention occupies a small space, is light in weight, and is easy to use and move; the space ball pair in the device has an oil film that plays a damping role, and there is a tension spring between the pulley and the guide rail that plays a stabilizing role, so the operation is stable and the noise is small (less than 30 decibels).
[0011] The device of the present invention does not require AC power supply, thus saving energy. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 It is a schematic diagram of the structure of the whole machine according to an embodiment of the present invention;
[0013] Figure 2 for Figure 1An enlarged view of a component connected to the left end of the pedal (the components connected to the left and right ends of the pedal have the same structure and are arranged correspondingly to each other);
[0014] Figure 3 for Figure 2 Schematic diagram of some components;
[0015] Figure 4 for Figure 1 and Figure 2 3D schematic diagram of the driven device without the upper casing.
[0016] Explanation of symbols in the figure: 1-base, 2-vertical plate, 3-pedal, 4-support rod, 5-vertical channel (on the two vertical plates), 6-spatial connecting rod, 7-slider, 8-guide rail, 9-connecting rod, 10-flexible synchronous belt, 101-elastic part (of flexible synchronous belt), 102-toothed part (of flexible synchronous belt), 11-upper synchronous pulley, 12-lower synchronous pulley, 13-fixed axis, 14-driven device, 141-output shaft (of synchronous device), 142-mechanical coupling, 143-torsion spring with adjustable torque, 144-damper with adjustable impedance, 145-single-turn absolute angle sensor, 146-torque adjustment device, 147-impedance adjustment device, 148-housing of driven device, 15-holding wheel, 16-tension spring. DETAILED DESCRIPTION
[0017] The present invention is further described below in conjunction with the accompanying drawings and embodiments.
[0018] Figure 1 FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention. Figures 1 to 3The mechanical device for the rehabilitation of injured ankle and knee joints comprises a support consisting of a base 1 and two vertical plates 2 symmetrically fixed at both ends of the base; a pedal 3 is provided between the two vertical plates with a certain distance between the two ends and the vertical plates, and two support rods 4 are fixed on the pedals, which are arranged in parallel and extend out of the pedals at both ends respectively, and the parts of the two support rods extending out of the pedals respectively pass through vertical channels 5 opened on the two vertical plates, and the ends and the lower ends of four spatial connecting rods 6 form a spatial ball pair with an oil film (not shown in the figure), and the oil film can play a role in maintaining a stable position, and the upper end of the spatial connecting rod and the slider 7 form a spatial ball pair with an oil film (not shown in the figure), and the oil film can play a role in maintaining a stable position; the four sliders can slide up and down along four guide rails 8 vertically fixed on the vertical plates, respectively, to form a linear lifting motion pair, wherein the upper end of the spatial connecting rod is formed with a slider 7. The slider 7 of the space ball pair is connected to the upper end of the guide rail with a tension spring 16, which plays a role in maintaining a stable position; the two ends of the two support rods are fixedly connected by a connecting rod 9, the center of the connecting rod is fixedly connected to the middle of the elastic part 101 of the vertically arranged annular flexible synchronous belt 10 (the connecting rod is placed between the elastic part and the toothed part), the elastic part is made of a rubber belt with certain elasticity and damping, and the toothed part 102 connected to the elastic part of the flexible synchronous belt is made of polyurethane containing a steel wire rope core (not shown), the upper and lower ends of the toothed part are respectively meshed with the upper synchronous pulley 11 and the lower synchronous pulley 12 for transmission, the axis of the upper synchronous pulley is installed on the fixed axis 13 located at the upper end of the vertical plate, and can rotate relative to the vertical plate, and the axis of the lower synchronous pulley is installed on the output shaft 141 of the driven device 14; the driven device is as shown in FIG. Figure 4 As shown, it is composed of a torsion spring 143 with adjustable torque, a damper 144 with adjustable impedance and a single-turn absolute angle sensor 145 connected by a mechanical coupling 142; the torsion spring with adjustable torque is composed of a stator, a torsion spring and a rotor, and one end of the torsion spring can be manually adjusted to different positions of the stator slot through a torque adjustment device 146 to provide initial torques of different sizes, so that the pedal obtains different torques to meet the personalized needs of different groups of people; the damper with adjustable impedance adopts the M50A0-502 (G) type M series sliding door damper, and the torque adjustment nut at the bottom of the damper can be adjusted by the impedance adjustment device 147 The torque size of the damper (clockwise adjustment increases the torque, counterclockwise adjustment decreases the torque) is used to adapt its impedance to the personalized needs of different groups of people for pedal reversal speed; the single-turn absolute angle sensor adopts the BL29-R small-size single-turn absolute angle sensor, which is used to extract the reversal speed information of human pedaling for health care doctors to conduct pathological analysis and guide patient rehabilitation training; the housing 148 of the driven device is fixedly mounted on the base; a holding wheel 15 is provided at the lower end of the elastic part of the flexible synchronous belt, and its end is fixedly mounted on the housing of the driven device, so that the toothed part and the lower synchronous belt pulley can always be effectively engaged when the elastic part of the flexible synchronous belt is extended or retracted.
Claims
1. A mechanical device for the rehabilitation of injured ankle and knee joints, characterized in that: The invention comprises a support consisting of a base (1) and two vertical plates (2) symmetrically fixed at both ends of the base; a pedal (3) with a certain distance between the two vertical plates and the two ends thereof; two support rods (4) arranged in parallel and extending out of the pedals at both ends thereof are fixed on the pedals; the parts of the two support rods extending out of the pedals respectively pass through vertical holes (5) opened on the two vertical plates; the ends of the two support rods and the lower ends of four spatial connecting rods (6) form a spatial ball pair with an oil film; the upper ends of the spatial connecting rods and the sliders (7) form a spatial ball pair with an oil film; the four sliders can slide up and down along four guide rails (8) fixed vertically on the vertical plates respectively, forming a linear lifting motion pair; the two ends of the two support rods are respectively fixedly connected by connecting rods (9); the center of the connecting rods and the vertically arranged annular flexible synchronous belt (10 ) is fixedly connected to the middle of the elastic part (101) of the flexible synchronous belt, the upper and lower ends of the toothed part (102) connected to the elastic part of the flexible synchronous belt are respectively meshed with the upper synchronous pulley (11) and the lower synchronous pulley (12) for transmission, the axis of the upper synchronous pulley is installed on the fixed shaft (13) located at the upper end of the vertical plate, and the axis of the lower synchronous pulley is installed on the output shaft (141) of the driven device (14), the driven device is composed of an adjustable torque torsion spring (143), an adjustable impedance damper (144) and a single-turn absolute angle sensor module (145) connected through a mechanical coupling (142), and the housing (148) of the driven device is fixedly installed on the base; the lower end of the elastic part of the flexible synchronous belt has an end portion fixedly installed on the housing of the driven device. A slider (7) of a space ball pair with an oil film formed with the upper end of the space connecting rod and the upper end of the guide rail (8) are connected with a tension spring (16); The damper (144) with adjustable impedance is a damper for M series sliding doors; When the device is used, the patient sits on a chair and places the device on the ground at an ergonomic angle to the ground. The patient's feet or one foot steps on the pedal, with the toes pointing perpendicular to the support rod on the pedal; when the front parts of the two feet move up and down at the same time, the pedal is in a pitching motion state, and the front and rear sliders located on both sides of the feet respectively move up and down at the same time, and the relevant space connecting rods move with it, thereby compensating for the spatial motion; when one of the two feet moves forward and the other moves backward, the pedal is in a twisting motion state, and the two sliders on one side of the foot move up and down respectively, and the two sliders on the other side of the foot move up and down in opposite directions at the same time, and the relevant space connecting rods move with it, thereby compensating for the spatial motion; when one of the two feet moves up and the other moves down, the pedal is in a sideways swing motion state, and the two sliders on one side of the foot move up and down, and the two sliders on the other side move in opposite directions at the same time, and the relevant space connecting rods move with it, thereby compensating for the spatial motion; when the two feet move left and right at the same time, the pedal is in a left-right swinging state, and the two sliders on one side of the foot move up at the same time, and the two sliders on the other side move down at the same time, and the relevant space connecting rods move with it, thereby compensating for the spatial motion.
2. The mechanical device for rehabilitation of injured ankle and knee joints according to claim 1, characterized in that: The elastic part of the flexible synchronous belt is made of a rubber belt with certain elasticity and damping; the toothed part (102) connected to the elastic part of the flexible synchronous belt is made of polyurethane containing a steel wire rope core.