Ankle joint rehabilitation training robot and method

Abstract

The application discloses an ankle joint rehabilitation training robot and method; comprising a pedal, a driving mechanism and a spherical execution mechanism, the driving mechanism is connected with the spherical execution mechanism, and is used for driving the spherical execution mechanism to move, the spherical execution mechanism is connected with the pedal, and is used for driving the pedal to make spherical rotary motion, and fitting the rotary motion of the ankle joint. The driving mechanism drives the spherical execution mechanism to move, the spherical execution mechanism drives the pedal to make spherical rotary motion, fitting the rotary motion of the ankle joint, the pedal supports the foot, and drives the foot to rotate with the ankle joint as the center, so that the ankle joint makes rotary motion, and the ankle joint is comprehensively rehabilitated. The application conforms to the physiological structure and motion characteristics of the human ankle joint, and improves the effect of ankle joint rehabilitation training.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training technology, and in particular to an ankle joint rehabilitation training robot and method. Background Technology

[0002] The ankle joint is the joint that maintains gait balance and bears the body weight during human movement. It has the physiological characteristic of three degrees of freedom of rotation around the anatomical plane. During standing, walking, jumping and other actions, it will bear huge impacts and loads, making the ankle joint one of the joints most prone to sports injuries in people's daily activities. Its incidence rate ranks second among lower limb injuries, which seriously affects the normal quality of life.

[0003] Numerous clinical studies and rehabilitation medicine theories have shown that ankle flexion-extension rehabilitation exercises can enhance ankle joint movement stimulation and limb reflexes, induce active movement to improve joint range of motion, and assist and accelerate the recovery of ankle joint function. Clinically, common ankle joint rehabilitation treatments include one-on-one manual therapy and simple rehabilitation equipment-assisted exercise therapy. The effectiveness of these treatments often depends on the therapist's skill level and the patient's physical condition.

[0004] Utilizing intelligent rehabilitation robot technology for assisted rehabilitation exercise training can independently provide patients with a large amount of repetitive walking training, alleviating the pressure on rehabilitation therapists and compensating for the current shortage of therapists. It also supports therapists in developing various targeted rehabilitation training programs, while collecting data to quantitatively assess and analyze the subjects' training status and recovery level, which is of great significance for the rapid recovery of patients.

[0005] Existing ankle rehabilitation robots typically perform dorsiflexion exercises, which can have a certain effect on ankle rehabilitation. However, the ankle joint does not only perform simple dorsiflexion exercises, but also lateral rotational movements. Therefore, the movement of the ankle joint is approximately a rotational movement around a certain node. Thus, simply performing dorsiflexion exercises on the ankle joint cannot achieve a good rehabilitation training effect. Summary of the Invention

[0006] The main technical problem solved by this invention is to provide an ankle joint rehabilitation training robot that addresses the issue that simple dorsiflexion exercises of the ankle joint cannot achieve good rehabilitation training results.

[0007] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is to provide an ankle joint rehabilitation training robot, including: a pedal, a drive mechanism and a spherical actuator. The drive mechanism is connected to the spherical actuator and is used to drive the spherical actuator to move. The spherical actuator is connected to the pedal and is used to drive the pedal to perform spherical rotational motion to fit the rotational motion of the ankle joint.

[0008] Preferably, the drive mechanism includes a housing, within which a first worm gear, a second worm gear, and a third worm gear are arranged sequentially from bottom to top. The first worm gear, the second worm gear, and the third worm gear are respectively meshed with a first worm, a second worm, and a third worm. The first worm, the second worm, and the third worm are respectively connected to the output shafts of a first drive motor, a second drive motor, and a third drive motor. The first worm gear, the second worm gear, and the third worm gear are respectively fixedly connected to a first rotating component, a second rotating component, and a third rotating component. The first rotating component, the second rotating component, and the third rotating component are respectively connected to a first external connector, a second external connector, and a third external connector. The first external connector, the second external connector, and the third external connector are connected to the spherical actuator, driving the pedal to perform a spherical rotational motion, matching the rotational motion of the ankle joint.

[0009] Preferably, the first external connector, the second external connector, and the third external connector each include a horizontal portion and an inclined portion connected to each other. The lengths of the horizontal portions of the first external connector, the second external connector, and the third external connector decrease sequentially, so that the upper ends of the inclined portions of the first external connector, the second external connector, and the third external connector are on the same plane.

[0010] Preferably, the first rotating component includes a lower rotating shaft and an upper rotating shaft fixedly connected to the lower rotating shaft. The upper end of the lower rotating shaft is axially provided with a connecting hole, and the lower end of the upper rotating shaft passes through the connecting hole. The upper end of the upper rotating shaft is connected to the first external connector. The second rotating component and the third rotating component are both annular. The second rotating component is sleeved around the first rotating component, and the third rotating component is sleeved around the second rotating component.

[0011] Preferably, the spherical actuator includes connectors and support members. There are three connectors, one end of each connector is connected to the first external connector, the second external connector, and the third external connector, respectively, and the other end is connected to the support member. The support member is used to mount the pedal.

[0012] Preferably, the connector includes a first connector and a second connector, the first end of the first connector is hinged to the inclined portion of the first external connector, the second external connector or the third external connector, the second end of the first connector is hinged to the first end of the second connector, and the second end of the second connector is connected to the support member.

[0013] Preferably, the connection position between the first connecting sub-component and the first external connector is adjustable, the length of the adjusting member is adjustable, and the adjusting member includes a first adjusting sub-component and a second adjusting sub-component that are slidably connected; the connection position between the second connecting sub-component and the support member is adjustable.

[0014] Preferably, the first connecting component includes a first hinge portion, a second hinge portion, and an adjusting component connecting the first hinge portion and the second hinge portion. A sliding groove is provided on the inclined portion. A screw is passed through the lower end of the first hinge portion. A nut is connected to the screw after it passes through the sliding groove. A protrusion is provided around the middle of the sliding groove. Flange bearings adapted to the screw are provided on both the upper and lower sides of the protrusion. The outer ring of the flange bearing contacts the sliding groove, and the inner ring of the flange bearing contacts the screw.

[0015] Preferably, the pedal is provided with an inertial measurement unit, which is used to measure the rotation angle of the pedal.

[0016] The present invention also provides an ankle joint rehabilitation training robot, comprising the following steps:

[0017] Step S1: After the trainee sits down, their feet are strapped to the footrest;

[0018] Step S2: Start the first drive motor, the second drive motor, and the third drive motor. The first drive motor drives the first worm to rotate, the first worm to rotate the first worm wheel, and the first worm wheel to rotate the first rotating component. The second drive motor drives the second worm to rotate, the second worm to rotate the second worm wheel, and the second worm wheel to rotate the second rotating component. The third drive motor drives the third worm to rotate, the third worm to rotate the third worm wheel, and the third worm wheel to rotate the third rotating component. The rotation of the first, second, and third rotating components respectively drives the rotation of the first, second, and third external connecting components. The reciprocating motion of the first, second, and third external connecting components respectively drives the three connecting components to swing accordingly, thereby making the pedal rotate on the spherical surface, which is equivalent to the rotational motion of the ankle joint.

[0019] Step S3: If the trainee's ankle joint does not coincide with the rotation center, adjust the length of the adjusting component and the connection position between the second connecting component and the support component to adjust the vertical position of the rotation center. After the trainee's ankle joint coincides with the rotation center, repeat step S2 to carry out rehabilitation training.

[0020] The beneficial effects of this invention are as follows: This invention uses a drive mechanism to move a spherical actuator, which in turn drives the pedal to rotate spherically, mimicking the rotational movement of the ankle joint. The pedal supports the foot, causing the foot to rotate around the ankle joint, thus enabling comprehensive ankle joint rehabilitation training. This conforms to the physiological structure and movement characteristics of the human ankle joint, improving the effectiveness of ankle joint rehabilitation training. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a structure of an ankle joint rehabilitation training robot according to an embodiment of the present invention;

[0022] Figure 2 This is a side view structural schematic diagram of an embodiment of an ankle joint rehabilitation training robot according to the present invention;

[0023] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure along the AA direction;

[0024] Figure 4 This is a schematic diagram of the internal drive mechanism of an embodiment of the ankle joint rehabilitation training robot according to the present invention;

[0025] Figure 5 This is a schematic diagram of the connection between the drive mechanism and the spherical actuator in an embodiment of the ankle joint rehabilitation training robot according to the present invention;

[0026] Figure 6 This is a schematic diagram of the connection structure of the third rotating component and the connecting component according to an embodiment of the ankle joint rehabilitation training robot of the present invention;

[0027] Figure 7 This is an exploded structural diagram of the first connecting component according to an embodiment of the ankle joint rehabilitation training robot of the present invention;

[0028] Figure 8 This is an exploded structural diagram of the connection between the first connecting component and the second connecting component according to an embodiment of the ankle joint rehabilitation training robot of the present invention.

[0029] Figure 9 This is a schematic diagram of the connection between the second connecting component and the support component according to an embodiment of the ankle joint rehabilitation training robot of the present invention;

[0030] Figure 10 This is a schematic diagram of the rotation center of an embodiment of the ankle joint rehabilitation training robot according to the present invention;

[0031] Figure 11 This is a flowchart of an embodiment of an ankle joint rehabilitation training method according to the present invention. Detailed Implementation

[0032] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0033] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0034] Figures 1-10 An embodiment of the ankle joint rehabilitation training robot of the present invention is shown, including: a pedal 1, a drive mechanism 2 and a spherical actuator 3. The drive mechanism 2 is connected to the spherical actuator 3 and is used to drive the spherical actuator 3 to move. The spherical actuator 3 is connected to the pedal 1 and is used to drive the pedal 1 to perform spherical rotational motion to match the rotational motion of the ankle joint.

[0035] This invention uses a drive mechanism 2 to move a spherical actuator 3, which in turn drives a pedal 1 to rotate spherically, mimicking the rotational movement of the ankle joint. The foot can be strapped to the pedal 1, and the movement of the pedal 1 causes the foot to rotate around the ankle joint, thus providing comprehensive ankle joint rehabilitation training. This design conforms to the physiological structure and movement characteristics of the human ankle joint, improving the effectiveness of ankle joint rehabilitation training.

[0036] A simple drive mechanism can be multiple telescopic rods arranged in a circle, and the spherical actuator 3 can be a circular plate. The telescopic rods extend and retract sequentially, simulating rotational motion on a spherical surface. This is then fitted to the rotational motion of the ankle joint.

[0037] Preferred, such as Figures 1-5As shown, the drive mechanism 2 includes a housing 24. Inside the housing 24, from bottom to top, are arranged a first worm gear 211, a second worm gear 221, and a third worm gear 231. The first worm gear 211, the second worm gear 221, and the third worm gear 231 respectively mesh with a first worm 212, a second worm 222, and a third worm 232. One end of each of the first worm 212, the second worm 222, and the third worm 232 is connected to the output shaft of a first drive motor 213, a second drive motor 223, and a third drive motor 233, respectively, and the other end is connected to the inner ring of a bearing. The outer ring of the bearing is fixed to the inner wall of the housing 24 or fixed to the inner wall of the housing 24 via a bearing seat. The first worm gear 211, the second worm gear 221, and the third worm gear 231 are respectively fixedly connected to the first rotating component 214, the second rotating component 224, and the third rotating component 234. The first rotating component 214, the second rotating component 224, and the third rotating component 234 are respectively connected to the first external connecting component 215, the second external connecting component 225, and the third external connecting component 235. The first external connecting component 215, the second external connecting component 225, and the third external connecting component 235 are connected to the spherical actuator 3.

[0038] The first drive motor 213 drives the first worm gear 212 to rotate, which in turn drives the first worm wheel 211 to rotate. The first worm wheel 211 then drives the first rotating component 214 to rotate. The second drive motor 223 drives the second worm gear 222 to rotate, which in turn drives the second worm wheel 221 to rotate. The second worm wheel 221 then drives the second rotating component 224 to rotate. The third drive motor 233 drives the third worm gear 232 to rotate, which in turn drives the third worm wheel 231 to rotate. The third worm wheel 231 then drives the third rotating component 234 to rotate. The rotation of the first rotating component 214, the second rotating component 224, and the third rotating component 234 respectively drives the rotation of the first external connecting component 215, the second external connecting component 225, and the third external connecting component 235. This worm gear transmission method offers advantages such as smooth transmission and low noise, making it convenient for daily use by trainees.

[0039] The forward and reverse rotation of the first drive motor 213, the second drive motor 223, and the third drive motor 233 causes the first worm gear 211, the second worm gear 221, and the third worm gear 231 to reciprocate, thereby causing the first external coupling 215, the second external coupling 225, and the third external coupling 235 to reciprocate. The angle of reciprocating motion of the first external coupling 215, the second external coupling 225, and the third external coupling 235 can be 10°-60°. The rotation angle of the first external coupling 215, the second external coupling 225, and the third external coupling 235 can be adjusted according to the timing of the forward and reverse rotation of the first drive motor 213, the second drive motor 223, and the third drive motor 233. The larger the rotation angle, the stronger the training intensity. Therefore, the training intensity can be adjusted according to the training needs of different trainees.

[0040] Preferably, there are gaps between the first worm gear 211 and the second worm gear 221, and between the second worm gear 221 and the third worm gear 231, so that the rotation of the first worm gear 211, the second worm gear 221, and the third worm gear 231 does not affect each other. The stacked arrangement of the first worm gear 211, the second worm gear 221, and the third worm gear 231 can greatly reduce the space occupied by the drive mechanism 2 and lower the height of the pedal 1. It has the advantages of small size and compact structure.

[0041] Preferably, the first drive motor 213, the second drive motor 223, and / or the third drive motor 233 are oriented differently, and their positional relationship can be parallel or perpendicular. This helps to balance the center of gravity of the rehabilitation training robot.

[0042] Preferred, such as Figure 4 As shown, the first external connector 215, the second external connector 225, and the third external connector 235 each include a connected horizontal portion 2151 and an inclined portion 2152, with a first included angle between the horizontal portion 2151 and the inclined portion 2152. The first included angle is an obtuse angle. The lengths of the horizontal portions 2151 of the first external connector 215, the second external connector 225, and the third external connector 235 decrease sequentially, so that the upper ends of the inclined portions 2152 of the first external connector 215, the second external connector 225, and the third external connector 235 are on the same plane, and the upper ends of the inclined portions 2152 are evenly distributed on the same circumference. This allows the first external connector 215, the second external connector 225, and the third external connector 235 to rotate evenly on the same circumference, ensuring the smoothness of the movement.

[0043] Preferred, such as Figure 3 and Figure 5 As shown, a support 241 is provided at the bottom of the housing 24, and a lower bearing seat 242 is provided on the upper part of the support 241. A lower bearing 2421 is provided inside the lower bearing seat 242. The first rotating member 214 includes a lower rotating shaft 2141 and an upper rotating shaft 2142 fixedly connected to the lower rotating shaft 2141. The lower end of the lower rotating shaft 2141 is connected to the inner ring of the lower bearing 2421, and a connecting hole is provided axially at the upper end of the lower rotating shaft 2141. The lower end of the upper rotating shaft 2142 passes through the connecting hole. The upper end of the upper rotating shaft 2142 is connected to the first external coupling 215.

[0044] Preferred, such as Figure 3 and Figure 5 As shown, both the second rotating member 224 and the third rotating member 234 are annular. The second rotating member 224 is fitted around the first rotating member 214, and the third rotating member 234 is fitted around the second rotating member 224. This reduces the space occupied and prevents them from interfering with each other during rotation.

[0045] Preferred, such as Figure 3As shown, the first worm gear 211 has a first stepped hole 2111 at its center, and the lower rotating shaft 2141 has a first stepped part 21411 in its middle. The first stepped part 21411 is adapted to the first stepped hole 2111 and is fixedly connected to the first worm gear 211 and the lower rotating shaft 2141.

[0046] Preferred, such as Figure 3 As shown, a second stepped portion 21421 is provided in the middle of the upper rotating shaft 2142. Intermediate bearings 2345 are provided on both the upper and lower sides of the second stepped portion 21421. The outer ring of the intermediate bearing 2345 is connected to the inner wall of the second rotating member 224, and the inner ring of the intermediate bearing 2345 is connected to the outer wall of the upper rotating shaft 2142. The second stepped portion 21421 is used to support the upper intermediate bearing 2345 and to hold the lower intermediate bearing 2345 in place. The lower intermediate bearing 2345 is supported by the upper end of the lower rotating shaft 2141.

[0047] Preferred, such as Figure 3 As shown, a bearing cover 2346 is provided on the upper side of the intermediate bearing 2345. The bearing cover 2346 covers the upper end of the second rotating member 224 and is adapted to the upper end of the second rotating member 224 to seal the upper opening of the second rotating member 224.

[0048] Preferred, such as Figure 3 As shown, the second worm gear 221 has a second stepped hole 2211 at its center, and the second stepped hole 2211 surrounds the outer side of the lower rotating shaft 2141 on the upper side of the first stepped part 21411. The lower end of the second rotating member 224 is located at the step of the second stepped hole 2211.

[0049] Preferred, such as Figure 3 As shown, the lower end of the second rotating member 224 includes an inwardly extending first protrusion 2241, which is fixedly connected to the second worm gear 221.

[0050] Preferred, such as Figure 3 As shown, the upper end of the second rotating member 224 includes a second protrusion 2242 extending outward. The second protrusion 2242 is connected to the second external connecting member 225. An external bearing 2243 is provided on the lower side of the second protrusion 2242. The outer ring of the external bearing 2243 is connected to the inner wall of the third rotating member 234, and the inner ring of the external bearing 2243 is connected to the outer ring of the second rotating member 224.

[0051] Preferred, such as Figure 3As shown, a circular hole 2341 is provided in the center of the third worm gear 231, and the circular hole 2341 surrounds the outside of the second rotating member 224. The lower end of the third rotating member 234 includes an inwardly extending third protrusion 2342, which is fixedly connected to the second worm gear 221 and is used to support the outer bearing 2243. The upper end of the third rotating member 234 is connected to the third external coupling 235, and the upper end of the third rotating member 234 is flush with the upper end surface of the housing 24. A cover portion 2343 extends outward from the middle of the third rotating member 234, and a cover plate 2344 is provided on the upper side of the cover portion 2343. The cover plate 2344 is used to cover the third rotating member 234 and prevent the second rotating member 224 from falling out. The upper end surface of the cover plate 2344 is flush with the upper end surface of the housing 24.

[0052] The above configuration securely mounts the first rotating member 214, the second rotating member 224, and the third rotating member 234 within the housing 24, allowing them to rotate stably within the housing 24.

[0053] Preferred, such as Figure 5 As shown, the spherical actuator 3 includes a connector 31 and a support 32. Three connectors 31 are provided; one end of each connector 31 is connected to a first external connector 215, a second external connector 225, and a third external connector 235, respectively, and the other end is connected to the support 32. The support 32 is used to mount the pedal 1.

[0054] Preferred, such as Figure 6 As shown, the connector 31 includes a first connector 311 and a second connector 312. The first end of the first connector 311 is hinged to the inclined portion 2152 of the first external connector 215, the second external connector 225 or the third external connector 235. The second end of the first connector 311 is hinged to the first end of the second connector 312. The second end of the second connector 312 is connected to the support member 32.

[0055] Preferred, such as Figure 7 As shown, the first connecting component 311 includes a first hinge portion 3111, a second hinge portion 3112, and an adjusting member 3113 connecting the first hinge portion 3111 and the second hinge portion 3112. The first hinge portion 3111 and the adjusting member 3113 have a second included angle, which is an obtuse angle.

[0056] Preferred, such as Figure 8 As shown, the second connecting part 312 includes a third hinge portion 3121 and an inner through portion 3122. The third hinge portion 3121 is hinged to the second hinge portion 3112. The third included angle portion and the inner through portion 3122 have a third included angle, which is an acute angle, so that the inner through portion 3122 is in a horizontal state.

[0057] Preferred, such as Figure 9As shown, the support member 32 includes a circumferential portion 320 and three extension portions 321 extending outward from the outer side of the circumferential portion 320. The extension portions 321 are evenly distributed on the outer side of the circumferential portion 320 and are used to connect the inner through portion 3122 of the second connecting sub-member 312.

[0058] In the above structure, the length of the adjusting member 3113 can be fixed, and the adjusting member can be integrated with the first and second hinge parts for convenient application of the training robot. The connection position between the second connecting sub-member 312 and the support member 32 can be fixed. The second connecting sub-member 312 and the support member 32 can also be integrated. In this case, the rotation center of the spherical actuator 3 is fixed. However, in use, different trainees may have slightly different ankle joint heights. If the rotation center of the spherical actuator 3 is fixed, it is not convenient to apply to different training groups.

[0059] To address the aforementioned issues, the connection position between the first connecting component 311 and the first external connector 215 is further adjustable.

[0060] Preferred, such as Figure 7 As shown, a groove 2153 is provided on the inclined portion 2152. A screw 2161 passes through the lower end of the first hinge portion 3111 of the first connecting sub-part 311. After the screw 2161 passes through the groove 2153, a nut 2162 is connected. When the nut is loosened, the screw 2161 can slide in the groove 2153, thus connecting the first connecting sub-part 311 and the first external connector 215. When the nut 2162 is tightened, the position of the screw 2161 is locked and cannot slide in the groove, that is, the connection position of the first connecting sub-part 311 and the first external connector 215 is fixed. At this time, the first connecting sub-part 311 can only rotate relative to the first external connector 215 and cannot slide. When the first external connector 215 reciprocates, the first connecting sub-part 311 swings accordingly.

[0061] The connection methods of the second external connector 225 and the second connecting sub-component 312, as well as the connection methods of the third external connector 235 and the third connecting sub-component, are set in the same manner. When the first external connector 215, the second external connector 225, and the third external connector 235 all reciprocate, the three first connecting sub-components 311 can swing accordingly relative to the first external connector 215, the second external connector 225, and the third external connector 235. This allows the rear part of the pedal 1 to rotate on the spherical surface, thus mimicking the rotational movement of the ankle joint.

[0062] Preferred, such as Figure 6As shown, to facilitate the rotation of the screw 2161, a protrusion 2154 is provided around the center of the slide groove 2153. Flange bearings 2163, adapted to the screw 2161, are provided on both the upper and lower sides of the protrusion 2154. The outer ring of the flange bearing 2163 contacts the slide groove 2153, and the inner ring of the flange bearing 2163 contacts the screw 2161. When the screw 2161 slides within the slide groove 2153, the flange bearings 2163 improve the smoothness of its rotation. The protruding outer edge of the flange bearing 2163 is engaged with the outer wall of the first external coupling 215 to prevent the flange bearing 2163 from slipping into the slide groove 2153.

[0063] Similarly, two flange bearings are also provided at the hinge of the first connecting sub-part 311 and the second connecting sub-part 312 to improve the smoothness of rotation when the first connecting sub-part 311 and the second connecting sub-part 312 are hinged.

[0064] Furthermore, the length of the adjusting member 3113 is adjustable. Preferably, as shown below... Figure 7 As shown, the adjusting member 3113 includes a first adjusting sub-member 31131 and a second adjusting sub-member 31132 that are slidably connected. The first adjusting sub-member 31131 and the first hinge portion 3111 are integral structures, and the second adjusting member 3113 and the second hinge portion 3112 are integral structures. The first adjusting sub-component 31131 has a through hole 311311 on the side away from the first hinge portion 3111. Sliding holes 311312 are provided on the outer walls of both sides of the first adjusting sub-component 31131, and these sliding holes 311312 are elongated. The second adjusting sub-component 31132 has a screw hole at the end away from the second hinge portion 3112. The side of the second adjusting sub-component 31132 away from the second hinge portion 3112 passes through the through hole 311311. A screw enters from the upper sliding hole 311312, passes through the screw hole, and exits from the lower sliding hole 311312 before connecting to a nut. When the nut is loosened, the screw can slide within the sliding hole 311312, changing the connection position of the first adjusting sub-component 31131 and the second adjusting sub-component 31132 of the corresponding adjusting member 3113, thus adjusting the length of the adjusting member 3113. After determining the length of the adjusting component 3113, tighten the nut to lock the length of the adjusting component 3113.

[0065] Furthermore, such as Figure 9 As shown, the connection position between the second connecting component 312 and the support component 32 is adjustable. The connection method between the second connecting component 312 and the support component 32 is the same as the connection method between the first adjusting component 31131 and the second adjusting component 31132, and will not be described again.

[0066] Preferred, such as Figure 7 and Figure 9As shown, on the second adjusting sub-components 31132 on both sides of the sliding hole 311312, anti-slip grooves 311313 are provided on both sides of the outer extension 321 of the support member 32. The roughness of the anti-slip grooves 311313 is greater than that of the second adjusting sub-components 31132 and the support member 32, thereby preventing the nut from sliding and avoiding axial movement and vibration at the connection position after tightening the nut.

[0067] Preferred, such as Figure 7 and Figure 9 As shown, the second adjusting sub-component 31132 adjacent to the sliding hole 311312 and the extension 321 of the support member 32 are both provided with scales 311314.

[0068] The location of the connection point can be accurately determined by the scale 311314, which makes it easy to adjust the lengths of the other two adjusting parts 3113 and the connection position between the second connecting part 312 and the support part 32 to the same scale 311314. This ensures the uniformity of the movement of the spherical actuator 3.

[0069] like Figure 10 As shown, point O is the rotation center of the drive mechanism 2, and point P is the projection point of the rotation center on the pedal 1. During use, the training effect is optimal when the rotation center coincides with the ankle joint. Therefore, different trainees can adjust the vertical position of the rotation center by adjusting the connection position of the first connecting component 311 and the first external connecting component 215, the length of the adjusting component 3113, and the connection position of the second connecting component 312 and the support component 32. When the connection position of the first connecting component 311 and the first external connecting component 215 is upward, the length of the adjusting component 3113 is extended, and the connection position of the second connecting component 312 and the support component 32 is outward, the position of the rotation center shifts downward. When the connection position of the first connecting component 311 and the first external connecting component 215 is downward, the length of the adjusting component 3113 is shortened, and the connection position of the second connecting component 312 and the support component 32 is inward, the position of the rotation center shifts upward. This allows for convenient adjustment of the rotation center's position, ensuring it coincides with the trainee's ankle joint, achieving a better training effect.

[0070] Preferably, an inertial measurement unit 4 is also provided at the projection of the rotation center on the pedal 1. The inertial measurement unit 4 is used to measure the rotation angle of the pedal 1. The rotation angle of the pedal 1 is calculated by the host computer to obtain the rotation angle of ankle joint movements such as plantar dorsiflexion and inversion / eversion. This provides training data for ankle joint rehabilitation training.

[0071] Furthermore, such as Figure 11 As shown, the present invention also includes an ankle joint training method, comprising the following steps:

[0072] Step S1: After the trainee sits down, their feet are strapped to the footrest;

[0073] Step S2: Start the first drive motor, the second drive motor, and the third drive motor. The first drive motor drives the first worm gear to rotate, which in turn drives the first worm wheel to rotate, which in turn drives the first rotating component to rotate. The second drive motor drives the second worm gear to rotate, which in turn drives the second worm wheel to rotate, which in turn drives the second rotating component to rotate. The third drive motor drives the third worm gear to rotate, which in turn drives the third worm wheel to rotate, which in turn drives the third rotating component to rotate. The rotation of the first, second, and third rotating components respectively drives the rotation of the first, second, and third external connecting parts. The reciprocating motion of the first, second, and third external connecting parts respectively drives the three connecting parts to swing accordingly; thus, the pedal rotates on the spherical surface, which is approximated as the rotational motion of the ankle joint.

[0074] Step S3: After use, if the trainee's ankle joint does not coincide with the rotation center of the drive mechanism, adjust the length of the adjusting component and the connection position between the second connecting component and the support component to adjust the vertical position of the rotation center. After the trainee's ankle joint coincides with the rotation center of the drive mechanism, repeat the above step S2 for rehabilitation training.

[0075] This invention uses a drive mechanism to move a spherical actuator, which in turn causes a pedal to rotate spherically, mimicking the rotational movement of the ankle joint. The foot can be strapped to the pedal, and the pedal's movement causes the foot to rotate around the ankle joint, thus providing comprehensive ankle rehabilitation training. This design conforms to the physiological structure and movement characteristics of the human ankle joint, improving the effectiveness of ankle rehabilitation training.

[0076] The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An ankle joint rehabilitation training robot, characterized in that, include: The system includes a pedal, a drive mechanism, and a spherical actuator. The drive mechanism is connected to the spherical actuator and is used to drive the spherical actuator to move. The spherical actuator is connected to the pedal and is used to drive the pedal to perform spherical rotational motion to match the rotational motion of the ankle joint. The drive mechanism includes a housing, within which a first worm gear, a second worm gear, and a third worm gear are arranged sequentially from bottom to top. The first, second, and third worm gears are respectively meshed with a first worm, a second worm, and a third worm. The first, second, and third worms are respectively connected to the output shafts of a first drive motor, a second drive motor, and a third drive motor. The first, second, and third worm gears are respectively fixedly connected to a first rotating component, a second rotating component, and a third rotating component. The first, second, and third rotating components are respectively connected to a first external connector, a second external connector, and a third external connector. The first, second, and third external connectors are connected to the spherical actuator, driving the pedal to perform a spherical rotational motion, mimicking the rotational motion of the ankle joint. The first rotating component includes a lower rotating shaft and an upper rotating shaft fixedly connected to the lower rotating shaft. The upper end of the lower rotating shaft is axially provided with a connecting hole, and the lower end of the upper rotating shaft passes through the connecting hole. The upper end of the upper rotating shaft is connected to the first external connector. The second rotating component and the third rotating component are both annular. The second rotating component is sleeved around the first rotating component, and the third rotating component is sleeved around the second rotating component. The first, second, and third external connectors each include a horizontal portion and an inclined portion connected to each other. The lengths of the horizontal portions of the first, second, and third external connectors decrease sequentially, so that the upper ends of the inclined portions of the first, second, and third external connectors are on the same plane.

2. The ankle joint rehabilitation training robot according to claim 1, characterized in that, The spherical actuator includes connectors and support members. There are three connectors, one end of which is connected to the first external connector, the second external connector, and the third external connector, respectively, and the other end is connected to the support member. The support member is used to set the pedal.

3. The ankle joint rehabilitation training robot according to claim 2, characterized in that, The connector includes a first connector and a second connector. The first end of the first connector is hinged to the inclined portion of the first external connector, the second external connector, or the third external connector. The second end of the first connector is hinged to the first end of the second connector. The second end of the second connector is connected to the support member.

4. The ankle joint rehabilitation training robot according to claim 3, characterized in that, The connection position between the first connecting sub-component and the first external connector is adjustable, and the length of the adjusting component is adjustable. The adjusting component includes a first adjusting sub-component and a second adjusting sub-component that are slidably connected. The connection position between the second connecting sub-component and the support component is adjustable.

5. The ankle joint rehabilitation training robot according to claim 4, characterized in that, The first connecting component includes a first hinge portion, a second hinge portion, and an adjusting component connecting the first hinge portion and the second hinge portion. A sliding groove is provided on the inclined portion. A screw is passed through the lower end of the first hinge portion. After the screw passes through the sliding groove, a nut is connected to it. A protrusion is provided around the middle of the sliding groove. Flange bearings adapted to the screw are provided on both the upper and lower sides of the protrusion. The outer ring of the flange bearing contacts the sliding groove, and the inner ring of the flange bearing contacts the screw.

6. The ankle joint rehabilitation training robot according to any one of claims 1-5, characterized in that, An inertial measurement unit is provided on the pedal, which is used to measure the rotation angle of the pedal.

7. The ankle joint rehabilitation training robot according to claim 4, characterized in that, The ankle joint rehabilitation training method of the ankle joint rehabilitation training robot includes the following steps: Step S1: After the trainee sits down, their feet are strapped to the footrest; Step S2: Start the first drive motor, the second drive motor, and the third drive motor. The first drive motor drives the first worm to rotate, the first worm to rotate the first worm wheel, and the first worm wheel to rotate the first rotating component. The second drive motor drives the second worm to rotate, the second worm to rotate the second worm wheel, and the second worm wheel to rotate the second rotating component. The third drive motor drives the third worm to rotate, the third worm to rotate the third worm wheel, and the third worm wheel to rotate the third rotating component. The rotation of the first, second, and third rotating components respectively drives the rotation of the first, second, and third external connecting components. The reciprocating motion of the first, second, and third external connecting components respectively drives the three connecting components to swing accordingly, thereby making the pedal rotate on the spherical surface, which is equivalent to the rotational motion of the ankle joint. Step S3: If the trainee's ankle joint does not coincide with the rotation center, adjust the length of the adjusting component and the connection position between the second connecting component and the support component to adjust the vertical position of the rotation center. After the trainee's ankle joint coincides with the rotation center, repeat step S2 to carry out rehabilitation training.

Images