Ankle rehabilitation robot

Abstract

The present application relates to the technical field of rehabilitation robots, and discloses an ankle joint rehabilitation robot. The ankle joint rehabilitation robot comprises two robot bodies, and each robot body comprises: a supporting leg plate and a leg fixing assembly, the leg fixing assembly is arranged on one side of the supporting leg plate, and the leg fixing assembly can be fixed to the leg of a patient; a driving assembly and a leg connecting plate, the output end of the driving assembly can be in transmission connection with one end of the leg connecting plate, the other end of the leg connecting plate is fixedly connected with a foot plate for placing the foot of the patient, and the driving assembly is used for driving the leg connecting plate and the foot plate to swing relative to the leg of the patient; a limiting assembly is used for limiting the leg connecting plate to swing within a preset angle range; and a disengaging assembly is connected between the leg connecting plate and the output end of the driving assembly, so that the transmission connection between the leg connecting plate and the output end of the driving assembly can be disconnected. The ankle joint rehabilitation robot has high safety in use.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation robots, in particular to an ankle joint rehabilitation robot. BACKGROUND

[0002] In the process of rehabilitation of hemiplegic patients, early rehabilitation training of the ankle joint is very important because it affects whether the patient can recover normal gait in the future. In the clinical treatment of limb function movement disorders, the current treatment priority is focused on the overall rehabilitation training of the functions of proximal joints such as the hip joint, the knee joint, the shoulder joint and the elbow joint. As an important pivot for controlling the stability of human walking, the rehabilitation of the ankle joint is of great significance to the overall rehabilitation of hemiplegic patients.

[0003] At present, early rehabilitation training of the ankle joint of hemiplegic patients is carried out through an ankle joint rehabilitation robot to ensure sufficient training time and sufficient training intensity for the ankle joint of the patient. However, in the treatment process of the current ankle joint rehabilitation robot, the patient is still subjected to rehabilitation training when the patient has foot spasm, or the problem of excessive movement angle of the ankle joint occurs, resulting in relatively low use safety of the entire ankle joint rehabilitation robot.

[0004] Therefore, there is an urgent need for an ankle joint rehabilitation robot that can solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide an ankle joint rehabilitation robot that can ensure the safety of the ankle joint during treatment and has high use safety.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] The ankle joint rehabilitation robot comprises two robot bodies, and the robot body comprises:

[0008] A leg supporting plate and a leg fixing assembly are arranged on one side of the leg supporting plate, and the leg fixing assembly can be fixed to the leg of the patient.

[0009] A driving assembly and a leg connecting plate are arranged on the leg supporting plate, the output end of the driving assembly is in transmission connection with one end of the leg connecting plate, the other end of the leg connecting plate is fixedly connected with a foot plate for placing the foot of the patient, and the driving assembly is used to drive the leg connecting plate and the foot plate to swing relative to the leg of the patient.

[0010] A limiting assembly is arranged to limit the leg connecting plate to swing within a preset angle range.

[0011] A disconnecting assembly is connected between the leg connecting plate and the output end of the driving assembly to disconnect the transmission connection between the leg connecting plate and the output end of the driving assembly.

[0012] Further, the driving assembly comprises:

[0013] A driving member, a fixed end of the driving member is arranged on the leg plate;

[0014] A speed reduction module, comprising a first gear reducer and a second worm and gear reducer in transmission connection with each other, a driving end of the driving member is in transmission connection with an input end of the first gear reducer, the second worm and gear reducer comprises a worm and a gear in transmission connection, an output end of the first gear reducer is in transmission connection with the worm, and an output end of the gear can be in transmission connection with the leg connecting plate.

[0015] Further, the second worm and gear reducer further comprises:

[0016] A speed reduction box and a worm shaft arranged in the speed reduction box, the worm is fixedly sleeved on the worm shaft and located in the speed reduction box, and the worm shaft can rotate relative to the speed reduction box;

[0017] A first positioning wheel, a guide ring and a second positioning wheel located outside the speed reduction box, the first positioning wheel is fixedly connected with the second positioning wheel, the second positioning wheel is fixedly connected with one end of the worm shaft, the guide ring is sleeved on the first positioning wheel, one end of the leg connecting plate is sleeved on the guide ring and the second positioning wheel, and the leg connecting plate can swing relative to the second positioning wheel, the guide ring forms an output end of the driving assembly, and the guide ring can be in transmission connection with the leg connecting plate.

[0018] Further, a dovetail groove is formed between an inner side surface of the leg connecting plate, a side surface of the first positioning wheel and an outer peripheral surface of the second positioning wheel, and a plurality of steel balls are annularly arranged in the dovetail groove and rollingly arranged.

[0019] Further, the limiting assembly comprises:

[0020] A magnet and a Hall sensor, the Hall sensor is in communication connection with the driving member, the magnet is mounted to the first positioning wheel, and the Hall sensor is mounted to the speed reduction box, the Hall sensor is used to detect the rotational position of the magnet relative to the Hall sensor.

[0021] Further, the disconnecting assembly comprises:

[0022] The inner side of the leg connecting plate is provided with the built-in round hole, and the outer wall surface of the guide ring is provided with the notch;

[0023] The spring top block, the elastic member and the steel ball guide rod are sequentially arranged in the built-in round hole from bottom to top, and the two ends of the elastic member are fixedly connected with the spring top block and the steel ball guide rod respectively, one end of the steel ball guide rod not connected with the elastic member is provided with a protrusion, and the protrusion is located outside the built-in round hole;

[0024] The steel ball guide rod can drive the protrusion to abut against the notch under the elastic force of the elastic member, or the protrusion can be separated from the notch.

[0025] Further, the disengagement assembly further comprises:

[0026] The tight screw is located below the spring top block and is threadedly connected to the inner side of the threaded sleeve, and screwing the tight screw towards the elastic member can make the tight screw abut against the spring top block to compress the elastic member.

[0027] Further, the ankle rehabilitation robot further comprises:

[0028] The mechanical protection assembly comprises a sliding block and an arc-shaped sliding groove, the arc-shaped sliding groove is arranged on the speed reducer box, the sliding block is protruded on the leg connecting plate, the sliding block can slide in the arc-shaped sliding groove, and when the sliding block slides to abut against the inner side wall of the arc-shaped sliding groove, the protrusion can be separated from the notch.

[0029] Further, the ankle rehabilitation robot further comprises:

[0030] The force collection assembly comprises a top rod, a force sensor, a foot plate fixing seat and a pair of screws, the force sensor is in communication connection with the driving member, the force sensor is fixed to the top rod and the foot plate fixing seat respectively, the top rod is fixedly connected to the leg connecting plate, the foot plate fixing seat is fixedly connected to the leg connecting plate through the pair of screws, the foot plate is fixedly connected to the foot plate fixing seat, and the force sensor is used for detecting the acting force of the foot of the patient on the foot plate.

[0031] Further, the foot plate is provided with a foot strap, the foot strap is used for fixing the foot of the patient to the foot plate; the leg fixing assembly comprises:

[0032] U-shaped fixing block, plastic fixing block, cushion and fixing band, one end of the U-shaped fixing block is fixedly connected to the support leg plate, the other end of the U-shaped fixing block is hingedly connected with the plastic fixing block, the fixing band is fixedly arranged at the one end of the U-shaped fixing block, the cushion is adhered to the U-shaped fixing block and the plastic fixing block, and the fixing band can be adhered to the plastic fixing block.

[0033] The present application has the following advantages:

[0034] The ankle joint rehabilitation robot provided by the present application has the following advantages: the leg fixing assembly is arranged on one side of the support leg plate, so that the robot body can be fixed on the leg of the patient through the leg fixing assembly; the fixed end of the driving assembly is arranged on the support leg plate, so that the output end of the driving assembly can be in transmission connection with one end of the leg connecting plate, and the other end of the leg connecting plate is fixedly connected with the foot plate for placing the foot of the patient, so that the driving assembly can drive the leg connecting plate and the foot plate to swing relative to the leg of the patient, thereby driving the foot of the patient to swing relative to the leg, and the rehabilitation training of the ankle joint of the patient is realized; meanwhile, the limiting assembly can be used to limit the leg connecting plate to swing within a preset angle range, so as to ensure that the ankle joint of the patient can only swing within the preset angle range, and the problem of injury to the ankle joint of the patient due to the too large swing range of the leg connecting plate is avoided; and the disengagement assembly is arranged between the leg connecting plate and the output end of the driving assembly, so that the transmission connection between the leg connecting plate and the output end of the driving assembly can be disconnected in time when the patient has foot spasm, thereby avoiding the problem that the driving force of the driving assembly is still transmitted to the leg connecting plate when the patient has foot spasm, and the patient can be better protected, so that the use safety of the entire ankle joint rehabilitation robot is higher. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a structural schematic view of the ankle joint rehabilitation robot provided by the present application;

[0036] Figure 2 is an assembly structure schematic view between the driving assembly and the force collecting assembly provided by the present application;

[0037] Figure 3 is an assembly structure schematic view between the leg connecting plate and the secondary worm gear reducer (without the reduction box) provided by the present application;

[0038] Figure 4 is Figure 3 is a structural schematic view in another view after removing the guide ring, the worm, the driving piece and the primary gear reducer in the

[0039] Figure 5is the assembly structure schematic view between the disengagement assembly and the secondary worm and gear reducer provided by the application;

[0040] Figure 6 is Figure 5 is the local enlarged schematic view at A in the figure;

[0041] Figure 7 is the structure schematic view of the protrusion not abutting to the gap provided by the application;

[0042] Figure 8 is the structure schematic view of the mechanical protection assembly provided by the application.

[0043] Reference signs:

[0044] 10 - robot body; 20 - controller; 30 - control handle; 40 - power supply box;

[0045] 1 - leg plate;

[0046] 2 - leg fixing assembly; 21 - U-shaped fixing block; 22 - plastic fixing block; 23 - cushion; 24 - fixing bandage;

[0047] 3 - driving assembly; 31 - driving piece; 32 - primary gear reducer; 33 - secondary worm and gear reducer; 331 - worm wheel; 332 - worm; 333 - speed reducer box body; 334 - worm wheel shaft; 335 - first positioning wheel; 336 - second positioning wheel; 337 - guide ring; 338 - dovetail groove; 339 - steel ball;

[0048] 4 - leg connecting plate;

[0049] 5 - limiting assembly; 51 - magnet; 52 - Hall sensor;

[0050] 6 - disengagement assembly; 61 - built-in round hole; 62 - gap; 63 - spring top block; 64 - elastic piece; 65 - steel ball guide rod; 66 - protrusion; 67 - set screw; 68 - threaded sleeve;

[0051] 7 - mechanical protection assembly; 71 - sliding block; 72 - arc-shaped sliding groove;

[0052] 8 - force collection assembly; 81 - jacking rod; 82 - force sensor; 83 - foot plate fixing seat; 84 - opposite screw;

[0053] 9 - foot plate; 91 - foot bandage. DETAILED DESCRIPTION

[0054] In order to make the technical problems solved by the application, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the application will be further described below in combination with the drawings and through specific embodiments.

[0055] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0057] In the description of the present embodiment, the terms "up", "down", "left", "right" and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the structure or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0058] At present, the ankle joint of a hemiplegic patient is subjected to early rehabilitation training by an ankle joint rehabilitation robot to ensure sufficient training time and sufficient training intensity for the patient's ankle joint. However, in the process of treatment of the current ankle joint rehabilitation robot, it is easy to continue rehabilitation training when the patient has foot spasm, or the problem of excessive movement angle of the ankle joint occurs, resulting in relatively low safety of the ankle joint rehabilitation robot.

[0059] To this end, an ankle joint rehabilitation robot is provided in the present embodiment for rehabilitation training of the ankle joint of a patient's foot to enable early hemiplegic patients to recover normal walking function, and to ensure the safety of the patient during the entire rehabilitation training process. Specifically, as shown in Figure 1 The ankle joint rehabilitation robot includes two robot bodies 10 of the same structure, which are used to drive the ankle joint of a patient to move. One or two robot bodies 10 can be selected for rehabilitation training of a patient according to the patient's hemiplegia and the specific rehabilitation training mode.

[0060] Specifically, such as Figures 1-8 As shown, the robot body 10 includes a leg support plate 1, a leg fixation component 2, a drive component 3, a leg connection plate 4, a limiting component 5, and a disengagement component 6. The leg fixation component 2 is located on one side of the leg support plate 1 and can be used to fix it to the patient's leg. The fixed end of the drive component 3 is located on the leg support plate 1, and the output end of the drive component 3 can form a transmission connection with one end of the leg connection plate 4. The other end of the leg connection plate 4 is fixedly connected to a footplate 9 for placing the patient's foot. The drive component 3 drives the leg connection plate 4 and the footplate 9 to swing relative to the patient's leg. The limiting component 5 restricts the swinging of the leg connection plate 4 within a preset angle range. The disengagement component 6 is connected between the leg connection plate 4 and the output end of the drive component 3 to disconnect the transmission connection formed between the leg connection plate 4 and the output end of the drive component 3. The specific preset angle range needs to be determined according to the patient's hemiplegia and actual rehabilitation needs, and is not specifically limited here.

[0061] By setting the leg fixation component 2 on one side of the leg support plate 1, the robot body 10 can be fixed to the patient's leg through the leg fixation component 2; and the fixed end of the drive component 3 is set on the leg support plate 1, so that the output end of the drive component 3 can form a transmission connection with one end of the leg connection plate 4, and the foot plate 9 for placing the patient's foot is fixedly connected to the other end of the leg connection plate 4, so that the drive component 3 can drive the leg connection plate 4 and the foot plate 9 to swing relative to the patient's leg, thereby driving the patient's foot to swing relative to the leg, so that the patient's ankle joint can move, thereby realizing the rehabilitation training of the patient's ankle joint.

[0062] Meanwhile, by using the limiting component 5 to restrict the swing of the leg connecting plate 4 within a preset angle range, the patient's ankle joint can only swing within the preset angle range, preventing damage to the patient's ankle joint due to excessive swing range of the leg connecting plate 4. Furthermore, a disengagement component 6 is provided between the leg connecting plate 4 and the output end of the drive component 3 to disconnect the transmission connection formed between the leg connecting plate 4 and the output end of the drive component 3 when the patient experiences foot spasm. This avoids the problem that the driving force of the drive component 3 will still be transmitted to the leg connecting plate 4 when the patient experiences foot spasm, thus better protecting the patient. This ensures that the entire ankle joint rehabilitation robot is highly safe to use and will not cause injury to the patient during rehabilitation training.

[0063] Furthermore, such as Figures 1-3As shown, the drive assembly 3 includes a drive component 31 and a reduction module; the fixed end of the drive component 31 is mounted on the leg plate 1; the reduction module includes a primary gear reducer 32 and a secondary worm gear reducer 33 that are connected to each other. The drive end of the drive component 31 is connected to the input end of the primary gear reducer 32. The secondary worm gear reducer 33 includes a worm wheel 331 and a worm 332 that are connected to each other. The output end of the primary gear reducer 32 is connected to the worm 332. The output end of the worm wheel 331 can form a transmission connection with the leg connecting plate 4. In this embodiment, the drive component 31 can specifically be a motor.

[0064] By using a two-stage reducer, a primary gear reducer 32 and a secondary worm gear reducer 33, the output speed of the drive component 31 can be reduced as much as possible. This results in a lower swing rate of the leg connecting plate 4, preventing injury to the patient caused by high-speed swinging of the leg connecting plate 4, and further enhancing the safety of the entire ankle joint rehabilitation robot. In this embodiment, the primary gear reducer 32 is a common gear reduction structure in the prior art, and its specific structure and reduction principle will not be described in detail here. The primary gear reducer 32 and the secondary worm gear reducer 33 can be configured as single-stage or multi-stage reduction structures, without specific limitations. In this embodiment, the primary gear reducer 32 is specifically a two-stage gear reduction structure, and the secondary worm gear reducer 33 is specifically a single-stage worm gear reduction structure.

[0065] Furthermore, such as Figures 3-5As shown, the two-stage worm gear reducer 33 also includes a reduction gearbox 333, a worm gear shaft 334, a first positioning wheel 335, a guide ring 337, and a second positioning wheel 336. The worm gear shaft 334 is located inside the reduction gearbox 333 and can rotate relative to the reduction gearbox 333. The worm gear 331 is fixedly sleeved on the worm gear shaft 334 and located inside the reduction gearbox 333. The first positioning wheel 335, the guide ring 337, and the second positioning wheel 336 are all located outside the reduction gearbox 333. The first positioning wheel 335 is fixedly connected to the second positioning wheel 336, and the second positioning wheel 336 is fixedly connected to one end of the worm gear shaft 334. The guide ring 337 is sleeved on the first positioning wheel 335. The leg connecting plate 4... One end is fitted onto the guide ring 337 and the second positioning wheel 336, and the leg connecting plate 4 can swing relative to the second positioning wheel 336; that is, the guide ring 337 forms the output end of the aforementioned drive component 3, and the guide ring 337 can form a transmission connection with the leg connecting plate 4; that is, the worm gear 331 can drive the worm gear shaft 334 to rotate, the worm gear shaft 334 can drive the second positioning wheel 336 to rotate, the second positioning wheel 336 can drive the first positioning wheel 335 to rotate but will not drive the leg connecting plate 4 to rotate, the rotation of the first positioning wheel 335 can drive the guide ring 337 to rotate, and the rotation of the guide ring 337 can drive the leg connecting plate 4 to swing, thereby driving the foot on the foot plate 9 to perform ankle joint rehabilitation.

[0066] like Figure 5 As shown, by setting the worm gear shaft 334 inside the reduction gearbox 333 and providing an end cap at one end of the reduction gearbox 333, one end of the worm gear shaft 334 is axially limited; at the same time, a second positioning wheel 336 is provided, which is fixedly connected to the other end of the worm gear shaft 334 to axially limit the other end of the worm gear shaft 334. This allows the worm gear shaft 334 to be axially limited inside the reduction gearbox 333, preventing axial movement of the worm gear shaft 334 and ensuring the smooth rotation of the worm gear shaft 334.

[0067] Furthermore, such as Figure 4 and Figure 5 As shown, the inner side of the leg connecting plate 4, one side of the first positioning wheel 335, and the outer peripheral surface of the second positioning wheel 336 can form a dovetail groove 338. Several steel balls 339 are arranged in a ring and rolling within the dovetail groove 338. Through the guiding effect of each steel ball 339, the leg connecting plate 4 can swing relative to the second positioning wheel 336. That is, when the worm gear shaft 334 drives the second positioning wheel 336 to rotate, the leg connecting plate 4 will not swing with the rotation of the second positioning wheel 336.

[0068] In other words, one purpose of setting the second positioning wheel 336 in this embodiment is to axially limit one end of the worm gear shaft 334; another purpose is to enable the leg connecting plate 4 to swing with the rotation of the first positioning wheel 335, but not with the rotation of the second positioning wheel 336. That is, at this time, the second positioning wheel 336 and the steel ball 339 act as a bearing. By setting the second positioning wheel 336, the dovetail groove 338 and the steel ball 339 to replace the bearing, on the one hand, it can save installation space and make the structure of the entire robot body 10 more compact; on the other hand, it can reduce the weight of the robot body 10, making the weight of the entire ankle joint rehabilitation robot lighter, which is beneficial to the patient's rehabilitation training.

[0069] Furthermore, such as Figure 5 and Figure 6 As shown, the limiting component 5 includes a magnet 51 and a Hall sensor 52. The Hall sensor 52 is communicatively connected to the drive component 31. The magnet 51 is fixedly mounted on the first positioning wheel 335, and the Hall sensor 52 is fixedly mounted on the reduction gearbox 333. During rehabilitation training, the first positioning wheel 335 rotates while the reduction gearbox 333 remains stationary. Therefore, the Hall sensor 52 can detect the rotational position of the magnet 51 relative to the Hall sensor 52. Specifically, when the first positioning wheel 335 drives the magnet 51 to a preset position, the Hall sensor 52 detects the position information of the magnet 51 and feeds it back to the drive component 31, causing the drive component 31 to change its rotation direction or stop rotating. This ensures that the leg connecting plate 4 can always swing within a preset angle range, avoiding excessive swing range of the leg connecting plate 4 that could cause damage to the patient's ankle joint. The detection principle between the Hall sensor 52 and the magnet 51 in this embodiment is a common technique in the prior art, and the working principle between the magnet 51 and the Hall sensor 52 will not be described in detail here.

[0070] By setting up a magnet 51 and a Hall sensor 52 to detect the maximum swing position of the leg connecting plate 4 relative to the axis of the worm gear shaft 334, compared to directly setting a proximity switch to detect the maximum swing position of the leg connecting plate 4, a longer axial installation space can be saved, so that the structure of the robot body 10 can be made more compact.

[0071] Specifically, such as Figure 4 , Figure 5 and Figure 7As shown, the disengagement assembly 6 includes a built-in circular hole 61, a notch 62, a spring top block 63, an elastic element 64, and a steel ball guide rod 65. The built-in circular hole 61 is located on the inner side of the leg connecting plate 4, extending vertically. The notch 62 is located on the outer wall of the guide ring 337. The spring top block 63, the elastic element 64, and the steel ball guide rod 65 are sequentially arranged from bottom to top within the built-in circular hole 61. Both ends of the elastic element 64 are fixedly connected to the spring top block 63 and the steel ball guide rod 65, respectively. A protrusion 66 is located on the end of the steel ball guide rod 65 not connected to the elastic element 64, and this protrusion 66 is located outside the built-in circular hole 61. The structure and size of the protrusion 66 match the structure and size of the notch 62. In this embodiment, the elastic element 64 can specifically be a compression spring.

[0072] Specifically, during normal rehabilitation training, the ball bearing guide rod 65, under the elastic force of the elastic element 64, can drive the protrusion 66 to tightly press against the notch 62, so that a transmission connection is formed between the ball bearing guide rod 65 and the guide ring 337. That is, the ball bearing guide rod 65 can swing relative to the axis of the worm gear shaft 334 as the guide ring 337 rotates, so that the leg connecting plate 4 can swing relative to the axis of the worm gear shaft 334. At this time, a transmission connection is formed between the guide ring 337 and the leg connecting plate 4. In other words, when the protrusion 66 is tightly pressed against the notch 62, a transmission connection is formed between the guide ring 337 and the leg connecting plate 4.

[0073] When a patient experiences leg spasm, the foot can no longer move actively, which restricts the continued swinging of the footplate 9 and leg connecting plate 4. Meanwhile, the drive unit 31 continues to output driving force. Therefore, the relative force between the leg connecting plate 4 and the guide ring 337 is greater than the elastic force of the elastic element 64, causing the protrusion 66 to disengage from the notch 62. This disconnects the transmission connection between the guide ring 337 and the leg connecting plate 4, preventing the leg connecting plate 4 from swinging with the rotation of the guide ring 337. In other words, once the protrusion 66 disengages from the notch 62, there is no transmission connection between the guide ring 337 and the leg connecting plate 4. The drive unit 31 continues to transmit power, but the power cannot be transmitted to the leg connecting plate 4, and therefore not to the patient, thus protecting the patient.

[0074] Furthermore, such as Figure 4 , Figure 5 and Figure 7As shown, the disengagement assembly 6 also includes a set screw 67 and a threaded sleeve 68; wherein, the threaded sleeve 68 is fixedly disposed in the built-in circular hole 61, and the set screw 67 is located below the spring top block 63 and is threadedly connected to the inner side of the threaded sleeve 68; when assembling the robot body 10, the protrusion 66 is first placed in the notch 62, and then the set screw 67 is screwed toward the elastic member 64, so that the set screw 67 moves to press against the spring top block 63, so that the spring top block 63 can press against the elastic member 64; at the same time, since the protrusion 66 abuts against the notch 62, the elastic member 64 can be compressed during the screwing of the set screw 67, so that the elastic member 64 can spring back. The force ensures that the protrusion 66 is tightly abutted against the notch 62, so that the protrusion 66 will not detach from the notch 62 during normal rehabilitation training. That is to say, when assembling the robot body 10, the set screw 67 has been tightened and adjusted so that the elastic element 64 is kept in a compressed state, so that the protrusion 66 is tightly abutted against the notch 62 throughout the normal rehabilitation training process. That is, the normal state between the guide ring 337 and the leg connecting plate 4 is the transmission connection state. Only in the event of an accident such as foot spasm, in order to ensure the safety of the patient, can the protrusion 66 detach from the notch 62 under the action of external force.

[0075] It is worth noting that since the elastic element 64 is always kept in a compressed state, if the protrusion 66 is accidentally dislodged from the notch 62, the protrusion 66 will automatically abut against the outer circumferential surface of the guide ring 337 under the elastic force of the elastic element 64. Since the elastic force of the elastic element 64 is small and the rotation speed of the guide ring 337 is small, the abutment between the protrusion 66 and the guide ring 337 will not generate much noise, nor will it cause much wear to the protrusion 66 and the guide ring 337.

[0076] Furthermore, such as Figure 8 As shown, the ankle rehabilitation robot also includes a mechanical protection component 7, which includes a slider 71 and an arc-shaped groove 72. The arc-shaped groove 72 is disposed on the gearbox 333. The slider 71 is protruding on the leg connecting plate 4. The slider 71 can slide in the arc-shaped groove 72, and when the slider 71 slides to abut against the inner wall of the arc-shaped groove 72, the protrusion 66 can disengage from the notch 62.

[0077] Specifically, during normal rehabilitation training, the slider 71 can slide within the arc angle range of the arc-shaped groove 72, allowing the leg connecting plate 4 to swing within a preset angle range. When an unexpected situation occurs causing the guide coil 337 to cause the leg connecting plate 4 to swing outside the preset angle range, the arc-shaped groove 72 limits the slider 71, ensuring it slides against the inner wall of the arc-shaped groove 72. Since the deceleration box 333 remains stationary, further swinging of the leg connecting plate 4 is restricted. Simultaneously, the guide coil 337 continues to rotate, and the interaction force between the slider 71 and the arc-shaped groove 72 is greater than the elastic force of the elastic element 64. This forces the protrusion 66 on the leg connecting plate 4 to disengage from the notch 62 on the guide coil 337, thus better protecting the patient in case of an accident and enhancing safety. The arc angle range of the arc-shaped groove 72 needs to be determined based on specific rehabilitation needs and exercise conditions, and is not specifically limited here.

[0078] This embodiment provides three layers of protection for patients during rehabilitation training. The first layer of protection is the protection of the limiting component 5, which ensures that the leg connecting plate 4 can always swing within a preset angle range. The second layer of protection is the protection of the disengagement component 6, which can disconnect the transmission connection between the leg connecting plate 4 and the guide coil 337 when the patient experiences foot spasm. The third layer of protection is the protection of the mechanical protection component 7, which can forcibly disconnect the connection between the protrusion 66 and the notch 62 in the disengagement component 6 through the relative force between the slider 71 and the arc-shaped groove 72 when the limiting component 5 fails, the disengagement component 6 fails, or other unexpected situations occur. This disconnects the driving force transmitted from the drive component 31 to the leg connecting plate 4, thereby better protecting the patient's safety and making the use of the entire ankle joint rehabilitation robot highly safe.

[0079] Furthermore, such as Figure 2 As shown, the ankle rehabilitation robot also includes a force acquisition component 8, which includes a push rod 81, a force sensor 82, a footplate fixing seat 83, and a screw 84. The force sensor 82 is communicatively connected to the drive unit 31. The force sensor 82 is fixed to the push rod 81 and the footplate fixing seat 83 respectively. The push rod 81 is fixedly connected to the leg connecting plate 4. The footplate fixing seat 83 is fixedly connected to the leg connecting plate 4 through the screw 84. The footplate 9 is fixedly connected to the footplate fixing seat 83. The force sensor 82 is used to detect the force exerted by the patient's foot on the footplate 9.

[0080] Specifically, when the patient's foot is placed on the footplate 9, the weight of the foot causes the footplate 9 and the footplate fixing seat 83 to tend to move relative to the leg connecting plate 4 around the screw 84. This allows the force sensor 82 to collect the force exerted by the patient's foot on the footplate 9. Multiplying the collected force value by the distance yields the torque of the leg connecting plate 4. Compared to directly placing the torque sensor on the leg connecting plate 4, this design allows for a more compact structure and lighter weight for the leg connecting plate 4, resulting in a more compact and lighter overall robot body 10. In this embodiment, the overall weight of the robot body 10 reaches 3.5 kg.

[0081] By setting up a force sensor 82, on the one hand, it can detect the force exerted by the patient's foot on the footplate 9 to determine whether the patient has experienced foot cramps, thereby stopping the drive component 31 from working and achieving the purpose of protecting the patient; on the other hand, when the force sensor 82 fails, since the patient's foot can no longer move automatically, the protrusion 66 in the disengagement component 6 can also be directly disengaged from the notch 62 to achieve the purpose of protecting the patient. That is to say, for the problem of foot cramps, this embodiment also sets up two layers of protection: the first layer of protection is the control protection based on the detection value of the force sensor 82, and the second layer of protection is the mechanical protection of the disengagement component 6.

[0082] Meanwhile, by setting force sensor 82, the patient's hemiplegic foot can follow the force exerted on the footplate 9 by the healthy foot during rehabilitation training, thus playing an important role in the combined movement between the healthy and affected sides.

[0083] Furthermore, such as Figure 1 and Figure 2 As shown, a foot strap 91 is provided on the foot plate 9, which is used to fix the patient's foot to the foot plate 9; the leg fixation component 2 includes a U-shaped fixing block 21, a plastic fixing block 22, a pad 23, and a fixing strap 24; wherein, one end of the U-shaped fixing block 21 is fixedly connected to the leg plate 1, and the other end of the U-shaped fixing block 21 is hingedly connected to the plastic fixing block 22, the fixing strap 24 is fixedly disposed on one end of the U-shaped fixing block 21, the pad 23 is adhered to the U-shaped fixing block 21 and the plastic fixing block 22, and the fixing strap 24 can be adhered to the plastic fixing block 22 so that the fixing strap 24 can be wrapped around the patient's leg and then adhered to the plastic fixing block 22, thereby fixing the leg fixation component 2 to the patient's leg.

[0084] Furthermore, such as Figure 1As shown, the ankle rehabilitation robot also includes a controller 20, a control handle 30, and a power supply box 40. The power supply box 40 provides the necessary power to the drive unit 31, the controller 20, and the control handle 30. The controller 20 is connected to the control handle 30 and is also connected to the drive unit 31. The controller 20 is also connected to the Hall sensor 52 and the force sensor 82 for communication, so that the controller 20 can receive and process the detection values ​​of the Hall sensor 52 and the force sensor 82, and can control the operation of the drive unit 31 according to the detection values, so as to realize the communication connection between the Hall sensor 52 and the force sensor 82 and the drive unit 31 respectively, thereby realizing the automated rehabilitation process of the entire ankle rehabilitation robot.

[0085] Specifically, the control handle 30 is equipped with multiple control buttons, allowing direct control of the entire ankle rehabilitation robot by pressing each button, making operation simple and convenient. Furthermore, the control handle 30 also includes an emergency stop button, which, in case of an accident, immediately stops the entire ankle rehabilitation robot, providing a fourth layer of protection for the patient's rehabilitation activities and enhancing patient safety. The controller 20, control handle 30, and power supply box 40 in this embodiment are all common structures in the prior art; their specific structures and working principles will not be described in detail here.

[0086] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. An ankle rehabilitation robot, comprising two robot bodies (10), characterized in that, The robot body (10) includes: The leg support plate (1) and the leg fixation component (2) are provided on one side of the leg support plate (1) and can be fixed to the patient's leg. The drive assembly (3) and the leg connecting plate (4) are provided. The fixed end of the drive assembly (3) is disposed on the leg plate (1). The output end of the drive assembly (3) can form a transmission connection with one end of the leg connecting plate (4). The other end of the leg connecting plate (4) is fixedly connected to a foot plate (9) for placing the patient's foot. The drive assembly (3) is used to drive the leg connecting plate (4) and the foot plate (9) to swing relative to the patient's leg. Limiting component (5) is used to limit the leg connecting plate (4) from swinging within a preset angle range; Disengagement component (6) is connected between the leg connecting plate (4) and the output end of the drive component (3) to disconnect the transmission connection formed between the leg connecting plate (4) and the output end of the drive component (3). The driving component (3) includes: A driving component (31) is provided with its fixed end on the support leg plate (1); The speed reduction module includes a primary gear reducer (32) and a secondary worm gear reducer (33) that are connected to each other. The driving end of the driving component (31) is connected to the input end of the primary gear reducer (32). The secondary worm gear reducer (33) includes a worm wheel (331) and a worm (332) that are connected to each other. The output end of the primary gear reducer (32) is connected to the worm (332). The output end of the worm wheel (331) can be connected to the leg connecting plate (4). The two-stage worm gear reducer (33) also includes: The gearbox (333) and the worm gear shaft (334) disposed in the gearbox (333) are provided. The worm gear (331) is fixedly sleeved on the worm gear shaft (334) and located in the gearbox (333), and the worm gear shaft (334) is rotatable relative to the gearbox (333). The first positioning wheel (335), guide ring (337), and second positioning wheel (336) are located outside the gearbox (333). The first positioning wheel (335) is fixedly connected to the second positioning wheel (336), and the second positioning wheel (336) is fixedly connected to one end of the worm gear shaft (334). The guide ring (337) is sleeved on the first positioning wheel (335). One end of the leg connecting plate (4) is sleeved on the guide ring (337) and the second positioning wheel (336), and the leg connecting plate (4) can swing relative to the second positioning wheel (336). The guide ring (337) forms the output end of the drive assembly (3), and the guide ring (337) can form a transmission connection with the leg connecting plate (4). The disengagement component (6) includes: The inner side of the leg connecting plate (4) is provided with the built-in round hole (61) and the outer wall surface of the guide ring (337) is provided with the notch (62). A spring top block (63), an elastic element (64), and a steel ball guide rod (65) are arranged sequentially from bottom to top in the built-in circular hole (61). The two ends of the elastic element (64) are fixedly connected to the spring top block (63) and the steel ball guide rod (65) respectively. A protrusion (66) is provided on the end of the steel ball guide rod (65) that is not connected to the elastic element (64), and the protrusion (66) is located outside the built-in circular hole (61). The ball guide rod (65) can drive the protrusion (66) to press against the notch (62) under the elastic force of the elastic member (64), or the protrusion (66) can disengage from the notch (62).

2. The ankle joint rehabilitation robot as described in claim 1, characterized in that, A dovetail groove (338) is formed between the inner side of the leg connecting plate (4), one side of the first positioning wheel (335) and the outer peripheral surface of the second positioning wheel (336), and a number of steel balls (339) are arranged in a ring and rolling inside the dovetail groove (338).

3. The ankle joint rehabilitation robot as described in claim 1, characterized in that, The limiting component (5) includes: A magnet (51) and a Hall sensor (52) are provided. The Hall sensor (52) is communicatively connected to the drive unit (31). The magnet (51) is mounted on the first positioning wheel (335). The Hall sensor (52) is mounted on the gearbox (333). The Hall sensor (52) is used to detect the rotational position of the magnet (51) relative to the Hall sensor (52).

4. The ankle joint rehabilitation robot as described in claim 1, characterized in that, The disengagement component (6) further includes: Set screw (67) and threaded sleeve (68), the threaded sleeve (68) is fixedly disposed in the built-in round hole (61), the set screw (67) is located below the spring top block (63) and is threaded to the inner side of the threaded sleeve (68), and the set screw (67) can be screwed toward the elastic element (64) to press the set screw (67) against the spring top block (63) to compress the elastic element (64).

5. The ankle rehabilitation robot as described in claim 1, characterized in that, The ankle rehabilitation robot also includes: The mechanical protection component (7) includes a slider (71) and an arc-shaped groove (72). The arc-shaped groove (72) is disposed on the gearbox body (333). The slider (71) is protruding on the leg connecting plate (4). The slider (71) can slide in the arc-shaped groove (72). When the slider (71) slides to abut against the inner wall of the arc-shaped groove (72), the protrusion (66) can disengage from the notch (62).

6. The ankle rehabilitation robot as described in any one of claims 1-5, characterized in that, The ankle rehabilitation robot also includes: The force acquisition component (8) includes a top rod (81), a force sensor (82), a foot plate fixing seat (83), and a screw (84). The force sensor (82) is communicatively connected to the drive component (31). The force sensor (82) is fixed to the top rod (81) and the foot plate fixing seat (83) respectively. The top rod (81) is fixedly connected to the leg connecting plate (4). The foot plate fixing seat (83) is fixedly connected to the leg connecting plate (4) through the screw (84). The foot plate (9) is fixedly connected to the foot plate fixing seat (83). The force sensor (82) is used to detect the force exerted by the patient's foot on the foot plate (9).

7. The ankle rehabilitation robot as described in any one of claims 1-5, characterized in that, A foot strap (91) is provided on the foot plate (9), the foot strap (91) being used to fix the patient's foot to the foot plate (9); the leg fixation assembly (2) includes: The system includes a U-shaped fixing block (21), a plastic fixing block (22), a pad (23), and a fixing strap (24). One end of the U-shaped fixing block (21) is fixedly connected to the support leg plate (1), and the other end of the U-shaped fixing block (21) is hinged to the plastic fixing block (22). The fixing strap (24) is fixedly installed at one end of the U-shaped fixing block (21). The pad (23) is attached to the U-shaped fixing block (21) and the plastic fixing block (22), and the fixing strap (24) can be attached to the plastic fixing block (22).

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