An ankle rehabilitation robot

Abstract

The present invention discloses an ankle rehabilitation robot, aiming to overcome the problem of excessively high costs caused by complex structures in the prior art. It includes a rehabilitation device for the affected side, which is used to assist the rehabilitation movement of the ankle joint on the affected side. The rehabilitation device for the affected side includes a first leg bracket, a first foot bracket, a first bracket, a first driving device, a second bracket, a second driving device, a third bracket, and a transmission member. The transmission member is connected between the first bracket and the third bracket. The first bracket, the second bracket, the third bracket, and the transmission member form a spatial linkage mechanism. When the second bracket rotates on the first bracket, it can drive the third bracket to rotate on the first bracket.

Description

Technical Field

[0001] The present invention belongs to medical devices, and particularly relates to an ankle rehabilitation robot. Background Art

[0002] An ankle rehabilitation robot is a medical device that assists patients' ankle joints in performing passive movements, daily activities, and promoting rehabilitation. Among them, the ankle rehabilitation robot includes mechanical joints, which can be driven by motors to assist the ankle organs of patients in performing rehabilitation exercises for the ankle joints. The ankle joints of the human body include three degrees of freedom during normal activities, namely the degrees of freedom in the plantar flexion - dorsiflexion direction, the internal rotation - external rotation direction, and the varus - valgus direction.

[0003] For example, the patent with publication number "CN101596139B" discloses a three - degree - of - freedom ankle - assisted motion exoskeleton. By controlling the rotation angles of the X - axis motor, Y - axis motor, and Z - axis motor, the exoskeleton can assist patients in achieving separate movements and circumferential coordinated movements in the three degrees of freedom of ankle dorsiflexion / plantar flexion, varus / valgus, and internal rotation / external rotation. Compared with the existing ankle exoskeletons, this structure has more degrees of freedom of movement and realizes the circumferential coordinated movement. Its structure is novel, lightweight, convenient to wear, and easy to control, and can be used as a medical rehabilitation assistance device for human ankle muscle atrophy or disabled people.

[0004] However, the existing technology is not perfect and there are several aspects that need to be improved urgently as follows:

[0005] (1) The problem that the movements of the rehabilitation robot in each degree of freedom are independent: The existing ankle rehabilitation robots use multiple motors to separately control the ankle movements in multiple degrees of freedom, lacking connection with each other. In order to make the rehabilitation robot drive the ankle to move in multiple degrees of freedom, multiple motors need to drive the ankle simultaneously, which leads to the problems of complex control and difficulty in designing a control method that conforms to human motion ergonomics.

[0006] (2) The movement of the rehabilitation robot in each degree of freedom requires an independent motor for driving, and the structure of multiple motors causes the problems of complex device structure and high cost. Content of the Invention

[0007] To overcome the deficiencies and problems of the existing technology, the present invention provides an ankle rehabilitation robot.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] An ankle rehabilitation robot includes a affected - side rehabilitation device for assisting the rehabilitation movement of the affected - side ankle joint. The affected - side rehabilitation device includes:

[0010] A first leg bracket, which is used to fix the lower leg of the affected side;

[0011] The first foot support is used to fix the foot on the affected side;

[0012] A first bracket, wherein the first foot bracket is hingedly connected to the first leg bracket through the first bracket, and the first bracket can rotate forward and backward on the first leg bracket;

[0013] A first driving device, drivingly connected to the first bracket, for driving the first bracket to rotate on the first leg bracket;

[0014] A second bracket, the first foot bracket is hinged on the first bracket through the second bracket, and the second bracket can rotate left and right on the first bracket;

[0015] A second driving device is transmission-connected to the second bracket and is used to drive the second bracket to rotate left and right on the first bracket;

[0016] A third bracket, the first foot bracket is hinged on the second bracket through the third bracket, and the third bracket can be turned left and right on the second bracket;

[0017] The transmission member is connected between the first bracket and the third bracket. The first bracket, the second bracket, the third bracket and the transmission member constitute a spatial linkage mechanism. If the second bracket rotates on the first bracket, the third bracket can be driven to rotate on the first bracket.

[0018] In some embodiments, the transmission member includes a first connecting rod, a second connecting rod and a third connecting rod, the first connecting rod is fixedly arranged on the first bracket, the first connecting rod is rotatably and slidably arranged on the second connecting rod, the third connecting rod is rotatably and slidably arranged on the second connecting rod, and the third connecting rod is also hinged on the third bracket.

[0019] In some embodiments, the first connecting rod includes a first shoulder, the third connecting rod includes a second shoulder, the second connecting rod is respectively provided with a first axial hole and a second axial hole, the axial direction of the first axial hole and the axial direction of the second axial hole are perpendicular to each other, the cross-section of the first shoulder, the cross-section of the second shoulder, the cross-section of the first axial hole and the cross-section of the second axial hole are all circular, the first shoulder is arranged in the first axial hole, and the second axial hole is arranged in the second axial hole.

[0020] In some embodiments, the first axial hole and the second axial hole are both blind holes, and the second connecting rod is detachably provided with a first end cover and a second end cover, the first end cover is arranged at the outer end of the first axial hole, and the second end cover is arranged at the outer end of the second axial hole.

[0021] In some embodiments, the device further comprises a first floor stand, wherein the first foot bracket is disposed on the first floor stand.

[0022] In some ways, an angle adjustment mechanism is provided between the first floor stand and the first foot support bracket, and the angle adjustment mechanism is used to adjust the angle of the first foot support bracket on the first floor stand.

[0023] In some ways, the first leg support bracket includes a first leg support plate and a first length adjustment mechanism. The first length adjustment mechanism is arranged between the first leg support plate and the first bracket, and the first length adjustment mechanism is used to adjust the distance between the first leg support plate and the first foot support bracket on the first bracket.

[0024] In some ways, it further includes a healthy-side rehabilitation device, and the healthy-side rehabilitation device is used to assist the rehabilitation movement of the healthy-side ankle joint.

[0025] In some ways, the healthy-side rehabilitation device includes a second leg support bracket, a fourth bracket, a universal joint, and a second foot support bracket. The second leg support bracket is used to fix the calf on the healthy side, the second foot support bracket is used to fix the foot on the healthy side, the fourth bracket is hinged on the second leg support bracket, the fourth bracket can rotate back and forth on the second leg support bracket, the universal joint is arranged between the fourth bracket and the second foot support bracket, and the second foot support bracket can deflect left and right and flip left and right on the fourth bracket through the universal joint.

[0026] In some ways, the universal joint includes a first member, a second member, and a third member. The first member is fixedly arranged on the fourth bracket, the third member is fixedly arranged on the second foot support bracket, the second member is hinged on the first member, the second member is also hinged on the third member, and the rotation direction of the first member on the second member and the rotation direction of the third member on the second member are perpendicular to each other.

[0027] The prominent and beneficial technical effects of the present invention compared with the prior art are:

[0028] In the present invention, the first bracket, the second bracket, the third bracket, and the transmission member form a spatial linkage mechanism, so that the left-right rotation of the second bracket on the first bracket and the left-right flipping of the third bracket on the second bracket are linked. When the second driving device drives the second bracket to rotate left and right on the first bracket, it also drives the third bracket to flip left and right on the second bracket. A single second driving device can achieve the coordinated movement of the affected-side ankle joint in the internal rotation-external rotation degree of freedom and the internal eversion-external eversion degree of freedom. By designing the spatial linkage mechanism, a control method that conforms to human motion ergonomics can be designed. Therefore, the present invention has the advantages of simple control, easy design, concise structure, low cost, and good rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0030] Figure 2 is a structural schematic diagram of the affected-side rehabilitation device of the present invention;

[0031] Figure 3 is a schematic cross-sectional structure diagram of the affected-side rehabilitation device of the present invention;

[0032] Figure 4 is of the present invention Figure 3 schematic enlarged structure diagram at "A" in;

[0033] Figure 5 is one of the exploded structure diagrams of the affected-side rehabilitation device of the present invention;

[0034] Figure 6 is another exploded structure diagram of the affected-side rehabilitation device of the present invention;

[0035] Figure 7 is a schematic structure diagram of the healthy-side rehabilitation device of the present invention;

[0036] Figure 8 is one of the exploded structure diagrams of the healthy-side rehabilitation device of the present invention;

[0037] Figure 9 is another exploded structure diagram of the healthy-side rehabilitation device of the present invention;

[0038] Figure 10 is a schematic cross-sectional structure diagram of the universal joint of the present invention;

[0039] Figure 11 is a schematic structure diagram of the usage state of the patient of the present invention;

[0040] Figure 12 is a schematic structure diagram of the dorsiflexion and plantar flexion of the ankle joint of the present invention;

[0041] Figure 13 is a schematic structure diagram of the internal rotation and external rotation of the ankle joint of the present invention;

[0042] Figure 14 is a schematic structure diagram of the eversion and inversion of the ankle joint of the present invention;

[0043] In the figure: 1 - affected - side rehabilitation device, 2 - healthy - side rehabilitation device, 3 - connecting plate, 4 - patient, 11 - first floor stand, 12 - first angle - adjusting mechanism, 13 - first leg bracket, 14 - first driving device, 15 - first support, 16 - second driving device, 17 - second support, 18 - third support, 19 - transmission part, 20 - first foot bracket, 21 - second floor stand, 22 - second angle - adjusting mechanism, 23 - fourth support, 24 - universal joint, 25 - second foot bracket, 26 - second leg bracket, 41 - healthy side, 42 - affected side, 43 - ankle joint, 431 - foot, 432 - calf, 111 - first floor frame, 121 - first rotating shaft, 122 - first sleeve, 123 - first end - face gear, 124 - second end - face gear, 125 - third connecting piece, 1211 - third threaded hole, 131 - first leg support plate, 132 - first pipe body, 133 - first rod body, 134 - first connecting piece, 1321 - first threaded hole, 151 - first support rod, 152 - first sliding sleeve, 153 - second connecting piece, 1521 - second threaded hole, 191 - first connecting rod, 192 - second connecting rod, 193 - third connecting rod, 194 - first end - cover, 195 - second end - cover, 1911 - first shaft shoulder, 1921 - first shaft hole, 1922 - second shaft hole, 1931 - second shaft shoulder, 211 - second floor frame, 221 - second rotating shaft, 222 - second sleeve, 223 - third end - face gear, 224 - fourth end - face gear, 225 - fifth connecting piece, 2211 - fifth threaded hole, 241 - first component, 242 - second component, 243 - third component, 261 - second support rod, 262 - second sliding sleeve, 263 - fourth connecting piece, 2621 - fourth threaded hole, 264 - second leg support plate. Detailed implementation mode

[0044] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0045] As Figures 11 to 14As shown in the figure, the ankle joint 43 refers to the joint between the lower leg 431 and the foot 432 of the human body. The movements of the ankle joint 43 include plantar flexion, dorsiflexion, internal rotation, external rotation, inversion, and eversion, etc. When the foot 432 and the lower leg 431 are nearly perpendicular and the foot 432 does not swing or flip to the left or right, the ankle joint 43 is in a natural state, which is generally called the neutral position. When the ankle joint 43 is in plantar flexion, the maximum angle at which the foot 432 deviates downward from the neutral position is about 40 - 50°. When the ankle joint 43 is in dorsiflexion, the maximum angle at which the foot 432 deviates upward from the neutral position is about 20 - 30°. When the ankle joint 43 is in internal rotation, the maximum angle at which the foot 432 deviates inward from the neutral position is about 8°. When the ankle joint 43 is in external rotation, the maximum angle at which the foot 432 deviates outward from the neutral position is about 85°. When the ankle joint 43 is in inversion, the maximum angle at which the foot 432 deviates inward from the neutral position is about 30°. When the ankle joint 43 is in eversion, the maximum angle at which the foot 432 deviates outward from the neutral position is about 30 - 35°.

[0046] It should be noted that when the ankle joint 43 is moving normally, it can not only perform the actions of plantar flexion, dorsiflexion, internal rotation, external rotation, inversion, and eversion separately, but also perform the actions combined with at least two degrees of freedom among the plantar flexion - dorsiflexion degree of freedom, internal rotation - external rotation degree of freedom, and inversion - eversion degree of freedom. For example, when the ankle joint 43 is in internal rotation, it can also perform inversion, and when the ankle joint 43 is in external rotation, it can also perform eversion.

[0047] In an existing three - degree - of - freedom ankle - joint assisted - movement exoskeleton disclosed in the prior art, by controlling the rotation angles of the X - axis motor, Y - axis motor, and Z - axis motor, the exoskeleton can be respectively driven to separately control the three degrees of freedom of dorsiflexion / plantar flexion, inversion / eversion, and internal rotation / external rotation of the patient's ankle joint. In order to achieve the coordinated actions of the above - mentioned multiple degrees of freedom, multiple motors need to participate in the control together, which leads to complex control and it is difficult to plan a clear and ergonomic control method. In addition, the way of separately controlling multiple motors also causes problems of complex structure and high cost. Moreover, due to long - term bed rest, the healthy - side ankle joint and muscles of the patient cannot move normally for a long time, and appropriate rehabilitation training is also needed.

[0048] As Figures 1 to 10 shown in the figure, a rehabilitation robot for the ankle joint provided by an embodiment of the present invention includes a affected - side rehabilitation device 1 and a healthy - side rehabilitation device 2. The affected - side rehabilitation device 1 is used to assist the rehabilitation movement of the affected - side 42 ankle joint 43, and the healthy - side rehabilitation device 2 is used to assist the rehabilitation movement of the healthy - side 41 ankle joint 43.

[0049] The affected - side rehabilitation device 1 includes a first floor stand 11, a first leg bracket 13, a first foot bracket 20, a first bracket 15, a second bracket 17, a third bracket 18, a first driving device 14, a second driving device 16, and a transmission member 19.

[0050] In actual use, the first landing frame 11 can be placed on the ground, enabling the ankle joint rehabilitation robot to be used on the ground.

[0051] Specifically, the first landing frame 11 includes a first landing frame body 111, and the overall structure of the first landing frame body 111 is a rectangular frame. When the first landing frame 11 is placed on the ground, the first landing frame body 111 is arranged on the ground, improving the stability of support.

[0052] The first leg bracket 13 is arranged on the first landing frame 11 and is used to fix the calf 431 of the affected side 42. In actual use, the first leg bracket 13 can be tightened on the calf 431 of the affected side 42 through a strap.

[0053] Specifically, the first leg bracket 13 includes a first leg support plate 131, and an arc surface is formed on the first leg support plate 131. The calf 431 of the patient 4 can be adapted to the arc surface of the first leg support plate 131, improving the firmness of positioning between the calf 431 and the first leg support plate 131, and also improving the comfort of the first leg support plate 131 in supporting the calf 431.

[0054] The first leg bracket 13 further includes a first length adjustment mechanism, which is arranged between the first leg support plate 131 and the first bracket 15 and is used to adjust the distance between the first leg support plate 131 and the first foot bracket 20 on the first bracket 15. The first length adjustment mechanism can be extended or shortened, thereby adjusting the distance between the first leg support plate 131 and the first bracket 15. In actual use, when the first length adjustment mechanism is extended or shortened, the distance between the first leg support plate 131 and the first foot bracket 20 on the first bracket 15 also increases or decreases, enabling patients 4 with different physiques to comfortably wear the rehabilitation device 1 for the affected side, improving the applicable range of the rehabilitation device 1 for the affected side.

[0055] The first length adjustment mechanism includes a first tube body 132, a first rod body 133, and a first connecting member 134. The first rod body 133 is slidably arranged in the first tube body 132, and the first connecting member 134 is detachably arranged between the first rod body 133 and the first tube body 132. When the first connecting member 134 is disassembled from the first rod body 133 or the first tube body 132, the first rod body 133 can freely slide in the first tube body 132.

[0056] Specifically, the first connecting member 134 is a screw. A first threaded hole 1321 is formed on the first tube body 132, and the first connecting member 134 is threadedly connected in the first threaded hole 1321, with one end of the first connecting member 134 pressing on the first rod body 133. When the first connecting member 134 is turned in the first threaded hole 1321, the first connecting member 134 can be loosened from the first rod body 133.

[0057] The first leg support plate 131 is fixedly arranged on the first rod body 133, and the first bracket 15 is hinged on the first pipe body 132. When the first rod body 133 extends or contracts within the first pipe body 132, the distance between the first leg support plate 131 and the first foot support bracket 20 on the first bracket 15 can be increased or decreased.

[0058] A first angle adjustment mechanism 12 is arranged between the first floor stand 11 and the first leg support 13. The first angle adjustment mechanism 12 is used to adjust the angle of the first leg support 13 on the first floor stand 11. In actual use, the angle of the first leg support 13 on the first floor stand 11 can be increased or decreased, enabling the patient 4 to use the affected-side rehabilitation device 1 in different postures. For example, the patient 4 can use the affected-side rehabilitation device 1 while sitting on a seat or lying in bed, improving the diversity of usage methods.

[0059] The first angle adjustment mechanism 12 includes a first rotating shaft 121, a first sleeve 122, a first end face gear 123, a second end face gear 124, and a third connecting member 125. The first end face gear 123 is fixedly arranged on the first rotating shaft 121, the second end face gear 124 is fixedly arranged on the first sleeve 122, the first rotating shaft 121 passes through the first sleeve 122, the third connecting member 125 is detachably arranged on the first rotating shaft 121, the first end face gear 123 and the third connecting member 125 are respectively arranged at both ends of the first sleeve 122, the third connecting member 125 axially fixes the first rotating shaft 121 on the first sleeve 122, and the first end face gear 123 meshes with the second end face gear 124, thereby circumferentially fixing the first rotating shaft 121 on the first sleeve 122.

[0060] When the third connecting member 125 is loosened on the first rotating shaft 121, the first rotating shaft 121 can slide axially within the first sleeve 122, the first end face gear 123 can disengage from the second end face gear 124, and the first rotating shaft 121 can rotate around the first sleeve 122. When the first rotating shaft 121 rotates around the first sleeve 122, the angle between the first leg support 13 and the first floor stand 11 increases or decreases. In actual use, when the angle of the first leg support 13 adjusted on the first floor stand 11 is adjusted to the required angle, the first connecting member 134 is tightened on the first rotating shaft 121, and the first end face gear 123 meshes with the second end face gear 124, thereby positioning the first leg support 13 on the first floor stand 11.

[0061] Specifically, the third connecting member 125 is also a screw, and a third threaded hole 1211 is provided on the first rotating shaft 121. The third connecting member 125 is threadedly connected in the third threaded hole 1211, and the third connecting member 125 is pressed tightly against one end of the first sleeve 122. When the third connecting member 125 is screwed in the third threaded hole 1211, the third connecting member 125 can loosen the first sleeve 122. The first tube body 132 is fixedly disposed on the first rotating shaft 121, and the first landing frame 11 is fixedly disposed on the first sleeve 122.

[0062] The first foot support 20 is used to fix the foot 432 of the affected side 42. In actual use, the foot 432 of the affected side 42 can be fixed on the first foot support 20 by a strap. Specifically, the overall structure of the first foot support 20 is plate-shaped, which improves the supporting effect of the first foot support 20 on the foot 432 of the affected side 42.

[0063] The first foot bracket 20 is hinged to the first leg bracket 13 through the first bracket 15, and the first bracket 15 can rotate forward and backward on the first leg bracket 13. In actual use, if the first bracket 15 rotates forward and backward on the first leg bracket 13, the ankle joint 43 of the affected side 42 can be driven to plantar flex or dorsiflex.

[0064] The first driving device 14 is transmission-connected to the first bracket 15 , and is used for driving the first bracket 15 to rotate forward and backward on the first leg bracket 13 .

[0065] Specifically, the first driving device 14 is a motor, the first bracket 15 is hinged to the first leg bracket 13 through the first driving device 14 , the first driving device 14 is fixedly disposed on the first tube body 132 , and the first bracket 15 is fixedly disposed on the shaft of the first driving device 14 .

[0066] The first foot bracket 20 is hinged on the first bracket 15 through the second bracket 17, and the second bracket 17 can rotate left and right on the first bracket 15. In actual use, if the second bracket 17 rotates left and right on the first bracket 15, the ankle joint 43 of the affected side 42 can be driven to rotate inward or outward.

[0067] The second driving device 16 is transmission-connected to the second bracket 17 , and is used for driving the second bracket 17 to rotate left and right on the first bracket 15 .

[0068] Specifically, the second driving device 16 is a motor, the second bracket 17 is hinged to the first bracket 15 through the second driving device 16 , the second driving device 16 is fixedly disposed on the first bracket 15 , and the second bracket 17 is fixedly disposed on the shaft of the second driving device 16 .

[0069] The first bracket 15 includes a second length adjustment mechanism which is disposed between the first leg bracket 13 and the third bracket 18 and is used to adjust the distance between the first leg bracket 13 and the third bracket 18. In actual use, when the distance between the first leg bracket 13 and the third bracket 18 increases or decreases, the distance between the first leg support plate 131 and the first foot bracket 20 increases or decreases, enabling patients 4 of different physiques to comfortably wear the affected-side rehabilitation device 1, thus expanding the applicable range of the affected-side rehabilitation device 1.

[0070] The second length adjustment mechanism includes a first support rod 151, a first sliding sleeve 152, and a second connecting member 153. The first sliding sleeve 152 is sleeved on the first support rod 151, and the second connecting member 153 is detachably disposed between the first support rod 151 and the first sliding sleeve 152. When the second connecting member 153 is detached from the first support rod 151 or the first sliding sleeve 152, the first sliding sleeve 152 can freely slide on the first support rod 151.

[0071] Specifically, the second connecting member 153 is a screw. A second threaded hole 1521 is formed in the first sliding sleeve 152, and the second connecting member 153 is threadedly connected in the second threaded hole 1521. One end of the second connecting member 153 presses against the first support rod 151. When the second connecting member 153 is screwed in the second threaded hole 1521, the second connecting member 153 can be loosened from the first support rod 151.

[0072] The overall structure of the first support rod 151 is rod-shaped. The first support rod 151 is fixedly disposed on the shaft of the first driving device 14, and the first sliding sleeve 152 is fixedly disposed on the second driving device 16.

[0073] The first foot bracket 20 is hinged to the second bracket 17 through the third bracket 18. The first foot bracket 20 is fixedly disposed on the third bracket 18, and the third bracket 18 can be turned left and right on the second bracket 17. In actual use, when the third bracket 18 turns left and right on the second bracket 17, it can drive the ankle joint 43 of the affected side 42 to turn inwards or outwards.

[0074] Specifically, the overall structures of both the third bracket 18 and the second bracket 17 are "U"-shaped plates. The third bracket 18 is disposed inside the second bracket 17. One end of the third bracket 18 is hinged to one end of the second bracket 17, and the other end of the third bracket 18 is hinged to the other end of the second bracket 17, improving the rationality of the structure.

[0075] The transmission member 19 is connected between the first bracket 15 and the third bracket 18. The first bracket 15, the second bracket 17, the third bracket 18 and the transmission member 19 form a spatial linkage mechanism. When the second bracket 17 rotates left and right on the first bracket 15, it can drive the third bracket 18 to turn left and right on the second bracket 17. In actual use, when the second bracket 17 drives the ankle joint 43 of the affected side 42 to rotate internally, it also drives the ankle joint 43 of the affected side 42 to turn inwards through the third bracket 18; when the second bracket 17 drives the ankle joint 43 of the affected side 42 to rotate externally, it also drives the ankle joint 43 of the affected side 42 to turn outwards through the third bracket 18.

[0076] The direction in which the first bracket 15 rotates on the first leg bracket 13, the direction in which the second bracket 17 rotates on the first bracket 15, and the direction in which the third bracket 18 turns on the second bracket 17 are perpendicular to each other pairwise.

[0077] In the present invention, the first bracket 15, the second bracket 17, the third bracket 18 and the transmission member 19 form a spatial linkage mechanism, such that the left and right rotation of the second bracket 17 on the first bracket 15 and the left and right turning of the third bracket 18 on the second bracket 17 are linked. When the second driving device 16 drives the second bracket 17 to rotate left and right on the first bracket 15, it also drives the third bracket 18 to turn left and right on the second bracket 17. A single second driving device 16 can achieve the coordinated movement of the ankle joint 43 of the affected side 42 in the internal rotation - external rotation degree of freedom and the internal turning - external turning degree of freedom. By designing the spatial linkage mechanism, a control method that conforms to human motion ergonomics can be designed. Therefore, the present invention has the advantages of simple control, easy design, compact structure, low cost and good rehabilitation effect.

[0078] The transmission member 19 includes a first connecting rod 191, a second connecting rod 192 and a third connecting rod 193. The first connecting rod 191 is fixedly arranged on the first bracket 15. The first connecting rod 191 is rotatably and slidably arranged on the second connecting rod 192. The third connecting rod 193 is rotatably and slidably arranged on the second connecting rod 192. The third connecting rod 193 is also hinged on the third bracket 18. The rotation direction of the third connecting rod 193 on the third bracket 18 is the same as the rotation direction of the first bracket 15 on the first leg bracket 13.

[0079] Specifically, the first connecting rod 191 is fixedly arranged on the first bracket 15 through the second driving device 16. The first connecting rod 191 is fixedly arranged on the second driving device 16.

[0080] The first link 191 includes a first shoulder 1911, the third link 193 includes a second shoulder 1931, the second link 192 is respectively provided with a first shaft hole 1921 and a second shaft hole 1922, the axial directions of the first shaft hole 1921 and the second shaft hole 1922 are perpendicular to each other, the cross-sections of the first shoulder 1911, the second shoulder 1931, the first shaft hole 1921 and the second shaft hole 1922 are all circular, the first shoulder 1911 is arranged in the first shaft hole 1921, and the second shaft hole 1922 is arranged in the second shaft hole 1922. The first shoulder 1911 is fitted in the first shaft hole 1921, the first shoulder 1911 can slide in the axial direction of the first shaft hole 1921 and can also rotate around the first shaft hole 1921. The second shoulder 1931 is fitted in the second shaft hole 1922, the second shoulder 1931 can slide in the axial direction of the second shaft hole 1922 and can also rotate around the second shaft hole 1922.

[0081] Both the first shaft hole 1921 and the second shaft hole 1922 are blind holes, a first end cover 194 and a second end cover 195 are detachably arranged on the second link 192, the first end cover 194 and the second end cover 195 can be fixed on the second link 192 by means of bolt connection, the first link 191 passes through the first end cover 194, the first end cover 194 is arranged at the outer end of the first shaft hole 1921, and the first end cover 194 limits the first shoulder 1911 in the first shaft hole 1921. The second link 192 passes through the second end cover 195, the second end cover 195 is arranged at the outer end of the second shaft hole 1922, and the second end cover 195 limits the second shoulder 1931 in the second shaft hole 1922.

[0082] The overall structure of the first link 191 is in a "one" shape, the first shoulder 1911 is arranged at one end of the first link 191, the overall structure of the second link 192 is in an "L" shape, the first shaft hole 1921 and the second shaft hole 1922 are arranged at both ends of the second link 192, the overall structure of the third link 193 is in a "one" shape, and the second shoulder 1931 is arranged at one end of the third link 193.

[0083] The healthy-side rehabilitation device 2 includes a second floor stand 21, a second leg bracket 26, a fourth bracket 23, a universal joint 24 and a second foot bracket 25.

[0084] In actual use, the second floor stand 21 can be placed on the ground, so that the healthy-side rehabilitation device 2 can be used on the ground.

[0085] Specifically, the second floor stand 21 includes a second floor frame 211, and the overall structure of the second floor frame 211 is a rectangular frame. When the second floor stand 21 is placed on the ground, the second floor frame 211 is arranged on the ground, which improves the stability of the support.

[0086] The second leg bracket 26 is arranged on the second floor stand 21 and is used to fix the calf 431 of the healthy side 41. In actual use, the second leg bracket 26 can be fastened to the calf 431 of the healthy side 41 by a strap.

[0087] Specifically, the second leg bracket 26 includes a second leg support plate 264. An arc surface is formed on the second leg support plate 264. The calf 431 of the patient 4 can be adapted to the arc surface of the second leg support plate 264, which improves the firmness of the positioning between the calf 431 and the second leg support plate 264, and also improves the comfort of the second leg support plate 264 in supporting the calf 431.

[0088] A second angle adjustment mechanism 22 is arranged between the second floor stand 21 and the second leg bracket 26. The second angle adjustment mechanism 22 is used to adjust the angle of the second leg bracket 26 on the second floor stand 21. The overall structure of the second angle adjustment mechanism 22 is the same as that of the first angle adjustment mechanism 12. In actual use, the angle of the second leg bracket 26 on the second floor stand 21 can be increased or decreased, so that the patient 4 can use the healthy side rehabilitation device 2 in different postures. For example, the patient 4 can sit on a seat or lie in bed to use the healthy side rehabilitation device 2, which improves the diversity of usage methods.

[0089] The second angle adjustment mechanism 22 includes a second rotating shaft 221, a second sleeve 222, a third end face gear 223, a fourth end face gear 224 and a fifth connecting piece 225. The third end face gear 223 is fixedly arranged on the second rotating shaft 221. The fourth end face gear 224 is fixedly arranged on the second sleeve 222. The second rotating shaft 221 passes through the second sleeve 222. The fifth connecting piece 225 is detachably arranged on the second rotating shaft 221. The third end face gear 223 and the fifth connecting piece 225 are respectively arranged at both ends of the second sleeve 222. The fifth connecting piece 225 axially fixes the second rotating shaft 221 on the second sleeve 222. The third end face gear 223 meshes with the fourth end face gear 224, thereby circumferentially fixing the second rotating shaft 221 on the second sleeve 222.

[0090] When the fifth connecting piece 225 is loosened on the second rotating shaft 221, the second rotating shaft 221 can slide axially in the second sleeve 222, the third end face gear 223 can disengage from the fourth end face gear 224, and the second rotating shaft 221 can rotate around the second sleeve 222. When the second rotating shaft 221 rotates around the second sleeve 222, the angle between the second leg bracket 26 and the second floor stand 21 increases or decreases. In actual use, when the angle of the second leg bracket 26 adjusted on the second floor stand 21 is adjusted to the required angle, the fifth connecting piece 225 is tightened on the second rotating shaft 221, and the third end face gear 223 meshes with the fourth end face gear 224, so that the second leg bracket 26 is positioned on the second floor stand 21.

[0091] Specifically, the fifth connecting member 225 is also a screw. A fifth threaded hole 2211 is provided on the second rotating shaft 221. The fifth connecting member 225 is threadedly connected in the fifth threaded hole 2211, and the fifth connecting member 225 presses against one end of the second sleeve 222. When the fifth connecting member 225 is turned in the fifth threaded hole 2211, the fifth connecting member 225 can loosen the second sleeve 222. The second support rod 261 is fixedly arranged on the second rotating shaft 221, and the floor stand is fixedly arranged on the second sleeve 222.

[0092] The second foot bracket 25 is used to fix the foot 432 of the healthy side 41. In actual use, the foot 432 of the healthy side 41 can be fixedly arranged on the second foot bracket 25 through a strap. Specifically, the overall structure of the second foot bracket 25 is plate-shaped, which improves the supporting effect of the second foot bracket 25 on the foot 432 of the healthy side 41.

[0093] The second foot bracket 25 is hinged to the second leg bracket 26 through the fourth bracket 23, and the fourth bracket 23 can rotate back and forth on the second leg bracket 26. In actual use, when the fourth bracket 23 rotates back and forth on the second leg bracket 26, it can drive the ankle joint 43 of the healthy side 41 to plantarflex or dorsiflex.

[0094] The second leg bracket 26 includes a third length adjustment mechanism. The third length adjustment mechanism has the same structure as the second length adjustment mechanism. The third length adjustment mechanism is arranged between the second leg support plate 264 and the fourth bracket 23. The third length adjustment mechanism can be extended or shortened, so as to adjust the distance between the second leg support plate 264 and the fourth bracket 23. In actual use, when the third length adjustment mechanism is extended or shortened, the distance between the second leg support plate 264 and the second foot bracket 25 on the fourth bracket 23 also increases or decreases, so that patients 4 with different physiques can all comfortably wear the rehabilitation device 2 for the healthy side, improving the applicable range of the rehabilitation device 2 for the healthy side.

[0095] The third length adjustment mechanism includes a second support rod 261, a second sliding sleeve 262 and a fourth connecting member 263. The second sliding sleeve 262 is sleeved on the second support rod 261. The fourth connecting member 263 is detachably arranged between the second sliding sleeve 262 and the second support rod 261. When the fourth connecting member 263 is detached from the second sliding sleeve 262 or the second support rod 261, the second sliding sleeve 262 can freely slide in the length direction of the second support rod 261.

[0096] Specifically, the fourth connecting member 263 is a screw. A fourth threaded hole 2621 is provided on the second sliding sleeve 262. The fourth connecting member 263 is threadedly connected in the fourth threaded hole 2621, and one end of the fourth connecting member 263 presses against the second support rod 261. When the fourth connecting member 263 is turned in the fourth threaded hole 2621, the fourth connecting member 263 can be loosened on the second support rod 261.

[0097] The second leg bracket 26 is hinged on the second sliding sleeve 262, and the universal joint 24 is arranged on the second support rod 261. When the second sliding sleeve 262 slides on the second support rod 261, the distance between the second leg support plate 264 and the second foot bracket 25 can be increased or decreased.

[0098] The second foot bracket 25 is connected to the fourth bracket 23 through the universal joint 24, and the second foot bracket 25 can deflect left and right and flip left and right on the fourth bracket 23 through the universal joint 24. In actual use, when the second foot bracket 25 deflects left and right and flips left and right on the fourth bracket 23, the actions of internal rotation, external rotation, varus and valgus of the ankle joint 43 of the healthy side 41 can be realized.

[0099] In the present invention, the ankle joint 43 of the healthy side 41 can perform rehabilitation exercises on the healthy side rehabilitation device 2, and the healthy side rehabilitation device 2 can limit the rotation angle of the ankle joint 43 of the healthy side 41 to avoid problems such as sprains and strains of the healthy side 41. Therefore, the present invention has the advantages of being able to exercise the healthy side 41 and the affected side 42 simultaneously and having a high safety factor.

[0100] The universal joint 24 includes a first member 241, a second member 242 and a third member 243. The first member 241 is fixedly arranged on the fourth bracket 23, the third member 243 is fixedly arranged on the second foot bracket 25, the second member 242 is hinged on the first member 241, the second member 242 is also hinged on the third member 243, and the rotation direction of the first member 241 on the second member 242 and the rotation direction of the third member 243 on the second member 242 are perpendicular to each other, so as to realize that the second foot bracket 25 can deflect and flip on the fourth bracket 23 through the universal joint 24.

[0101] The first floor stand 11 and the second floor stand 21 are arranged side by side, and a connecting plate 3 is arranged between the first floor stand 11 and the second floor stand 21. One end of the connecting plate 3 can be bolted to the first floor stand 11, and the other end of the connecting plate 3 can be bolted to the second floor stand 21, which conforms to the ergonomic design and improves the comfort of use.

[0102] The above embodiments are only preferred embodiments of the present invention, and do not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A rehabilitation robot for ankle joints, It is characterized in that The affected side rehabilitation device is used to assist the rehabilitation exercise of the affected side ankle joint. The affected side rehabilitation device includes: A first leg bracket, which is used to fix the lower leg of the affected side; The first foot support is used to fix the foot on the affected side; A first bracket, wherein the first foot bracket is hingedly connected to the first leg bracket through the first bracket, and the first bracket can rotate forward and backward on the first leg bracket; A first driving device, drivingly connected to the first bracket, for driving the first bracket to rotate on the first leg bracket; A second bracket, the first foot bracket is hinged on the first bracket through the second bracket, and the second bracket can rotate left and right on the first bracket; A second driving device is transmission-connected to the second bracket and is used to drive the second bracket to rotate left and right on the first bracket; A third bracket, the first foot bracket is hinged on the second bracket through the third bracket, and the third bracket can be turned left and right on the second bracket; A transmission member, the transmission member is connected between the first bracket and the third bracket, the first bracket, the second bracket, the third bracket and the transmission member constitute a spatial linkage mechanism, when the second bracket rotates on the first bracket, the third bracket can be driven to rotate on the first bracket; The transmission member includes a first connecting rod, a second connecting rod and a third connecting rod, wherein the first connecting rod is fixedly arranged on the first bracket, the first connecting rod is rotatably and slidably arranged on the second connecting rod, the third connecting rod is rotatably and slidably arranged on the second connecting rod, the third connecting rod is also hinged on the third bracket, and the rotation direction of the third connecting rod on the third bracket is consistent with the rotation direction of the first bracket on the first leg bracket; the first connecting rod is fixedly arranged on the first bracket through the second driving device, and the first connecting rod is fixedly arranged on the second driving device; The overall structure of the third bracket and the overall structure of the second bracket are both "U"-shaped plates. The third bracket is arranged in the second bracket, and one end of the third bracket is hinged to one end of the second bracket.

2. The ankle joint rehabilitation robot according to claim 1, It is characterized in that The first connecting rod includes a first shaft shoulder, the third connecting rod includes a second shaft shoulder, the second connecting rod is respectively provided with a first shaft hole and a second shaft hole, the axial direction of the first shaft hole and the axial direction of the second shaft hole are perpendicular to each other, the cross-section of the first shaft shoulder, the cross-section of the second shaft shoulder, the cross-section of the first shaft hole and the cross-section of the second shaft hole are all circular, the first shaft shoulder is arranged in the first shaft hole, and the second shaft hole is arranged in the second shaft hole.

3. The ankle joint rehabilitation robot according to claim 2, It is characterized in that The first axial hole and the second axial hole are both blind holes. The second connecting rod is detachably provided with a first end cover and a second end cover. The first end cover is arranged at the outer end of the first axial hole, and the second end cover is arranged at the outer end of the second axial hole.

4. The ankle joint rehabilitation robot according to claim 1, It is characterized in that It also includes a first floor stand, and the first foot bracket is arranged on the first floor stand.

5. The ankle joint rehabilitation robot according to claim 4, It is characterized in that An angle adjustment mechanism is provided between the first floor stand and the first foot bracket, and the angle adjustment mechanism is used to adjust the angle of the first foot bracket on the first floor stand.

6. A rehabilitation robot for an ankle joint according to claim 1, wherein, the first leg bracket includes a first leg support plate and a first length adjustment mechanism. The first length adjustment mechanism is arranged between the first leg support plate and the first bracket, and the first length adjustment mechanism is used to adjust the distance between the first leg support plate and the first foot bracket on the first bracket.

7. A rehabilitation robot for an ankle joint according to claim 1, wherein, it further includes a healthy-side rehabilitation device, and the healthy-side rehabilitation device is used to assist the rehabilitation movement of the healthy-side ankle joint.

8. A rehabilitation robot for an ankle joint according to claim 7, wherein, the healthy-side rehabilitation device includes a second leg bracket, a fourth bracket, a universal joint and a second foot bracket. The second leg bracket is used to fix the calf on the healthy side, and the second foot bracket is used to fix the foot on the healthy side. The fourth bracket is hinged to the second leg bracket, and the fourth bracket can rotate back and forth on the second leg bracket. The universal joint is arranged between the fourth bracket and the second foot bracket, and the second foot bracket can deflect left and right and flip left and right on the fourth bracket through the universal joint.

9. A rehabilitation robot for an ankle joint according to claim 8, wherein, the universal joint includes a first component, a second component and a third component. The first component is fixedly arranged on the fourth bracket, the third component is fixedly arranged on the second foot bracket, the second component is hinged to the first component, and the second component is also hinged to the third component. The rotation direction of the first component on the second component and the rotation direction of the third component on the second component are perpendicular to each other.

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