Ankle joint auxiliary movement robot

Abstract

The invention relates to the technical field of rehabilitation auxiliary devices, and discloses an ankle joint auxiliary movement robot which comprises a base frame, a supporting plate is arranged above the base frame, a placing frame for placing the ankle joint part of a patient is arranged above the supporting plate, a placing groove is formed in the placing frame, a rotating mechanism is arranged below the supporting plate, and the rotating mechanism is arranged below the supporting plate. A rotating mechanism is fixedly installed on the base frame, the flexibility of the ankle joint part of a patient can be improved through the rotating mechanism, a side plate is fixedly installed on the side edge of the base frame, a fluctuating mechanism is arranged in the side plate, and the fluctuating mechanism can make a containing frame move up and down in a reciprocating mode. Through cooperation of a connecting pin column, a rack column, a third rotating gear disc and other components, the containing frame can be twisted left and right in a reciprocating mode, the rotating angle of the third rotating gear disc is small, small-angle rotation can be achieved, and the flexibility of the ankle joint of the patient can be effectively exercised.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation auxiliary devices, in particular to an ankle joint auxiliary motion robot. Background Art

[0002] In orthopedics, ankle surgery is one of the most common clinical surgeries. The ankle joint of patients is initially swollen after surgery, and according to medical requirements, they need to slowly perform plantar flexion, dorsiflexion, inversion, and eversion exercises of the ankle joint. In addition to the patient's own movements, the use of auxiliary exercise equipment to assist ankle joint activities is one of the common and effective treatment methods; however, in actual applications, we have found that existing auxiliary exercise equipment often has certain shortcomings, such as: Some rehabilitation devices can only provide movement in a single direction or a simple pattern and cannot comprehensively train the flexibility of the ankle joint. For example, some devices can only realize one of the up and down movement or left and right rotation of the ankle joint, which cannot meet the complex movement rehabilitation needs of the ankle joint, resulting in limited rehabilitation effects, insufficient recovery of the patient's ankle joint function, and failure to effectively improve the flexibility of the ankle joint in all directions. Therefore, there is an urgent need for a rehabilitation auxiliary exercise device that can comprehensively exercise the flexibility of the ankle joint and effectively fix the ankle joint. Summary of the invention

[0003] The object of the present invention is to provide an ankle joint assisted motion robot to solve the problems raised in the above background technology.

[0004] Technical Solution The present invention provides the following technical solutions: an ankle joint assisted motion robot, comprising a base frame, a support plate is arranged above the base frame, a placement frame for placing the patient's ankle joint is arranged above the support plate, a placement slot is arranged in the placement frame, a rotating mechanism is arranged below the support plate, the rotating mechanism can make the placement frame reciprocate and twist, thereby increasing the flexibility of the patient's ankle joint, side plates are fixedly installed on the sides of the base frame, an ups and downs mechanism is arranged in the side plates, the ups and downs mechanism can make the placement frame reciprocate up and down, thereby exercising the up and down movement performance of the patient's ankle joint.

[0005] Preferably, support columns and a first motor are fixedly mounted on the base frame, the top ends of several support columns are fixedly connected to the bottom ends of the support plates, a first rotating gear plate is fixedly mounted on the first motor, and a third rotating gear plate is movably mounted on the bottom ends of the support plates.

[0006] Preferably, the rotating mechanism includes a rack column, a connecting pin is fixedly installed on the eccentric part of the first rotating gear plate, the rack column is movably installed on the connecting pin, and the rack column is meshingly connected with the third rotating gear plate.

[0007] Preferably, a stabilizing column is fixedly mounted on the bottom end of the rack column, and a stabilizing groove matching the stabilizing column is provided on the base frame, and the shape of the stabilizing groove is the same as the rotation trajectory of the rack column driven by the first rotating gear plate.

[0008] Preferably, a telescopic cylinder is movably installed inside the support plate, a telescopic column is movably installed in the telescopic cylinder, several of the telescopic columns are fixedly connected to the placement frame, a sliding groove that rotates with the several telescopic cylinders is opened in the support plate, and the bottom end link center of several of the telescopic cylinders is fixedly connected to the third rotating gear plate.

[0009] Preferably, the rotating mechanism includes an undulating plate and a cam column, the undulating plate is located below the placement frame, the cam column is located below the undulating plate, and the cam column drives the placement frame to reciprocate up and down through the undulating plate.

[0010] Preferably, a second rotating gear plate is movably mounted on the base frame, the second rotating gear plate is meshingly connected with the first rotating gear plate, a second rotating column is fixedly mounted on the second rotating gear plate, the second rotating column does not contact the rack column, and a third bevel gear is fixedly mounted on the other end of the second rotating column.

[0011] Preferably, a side plate is fixedly installed on the side of the base frame, and a first rotating column and a third rotating column are movably installed on the side of the side plate respectively, a first bevel gear is fixedly installed on the outer side of the first rotating column, and a second bevel gear is fixedly installed on the outer side of the third rotating column, and the second bevel gear is meshedly connected with the first bevel gear and the third bevel gear respectively.

[0012] Preferably, an undulating groove is provided in the side plate, a fixed column is fixedly installed in the undulating groove, a movable plate and a compression spring are respectively provided on the outer side of the fixed column, and one side of the movable plate is fixedly connected to the undulating plate.

[0013] Preferably, an extrusion plate is provided on the side of the placement groove, and a second motor, a fourth rotating column and a threaded column are respectively provided in the placement frame. The second motor, the fourth rotating column and the threaded column are meshed and connected through bevel gears, and the outer side of the threaded column is connected to the extrusion plate.

[0014] Beneficial Effects Compared with the prior art, the present invention provides an ankle joint auxiliary motion robot, which has the following beneficial effects: 1. The ankle joint auxiliary motion robot, through the rotating mechanism, drives the first rotating gear plate to rotate when the first motor is working, and through the cooperation of the connecting pin column, the rack column, the third rotating gear plate and other components, the placement frame can be twisted back and forth, and the small rotation angle of the third rotating gear plate can realize small-angle rotation, which can effectively exercise the flexibility of the patient's ankle joint.

[0015] 2. The ankle joint auxiliary motion robot utilizes an undulating mechanism. After the first motor drives the first rotating gear plate to rotate, the cam column is rotated through a series of transmissions, driving the undulating plate to reciprocate up and down, thereby enabling the placement frame to move up and down, which is beneficial for the patient's ankle joint to be lifted up and down. Combined with the extrusion spring assistance, the up and down motion training effect of the ankle joint is further enhanced.

[0016] 3. In the ankle-assisted motion robot, the stabilizing column at the bottom end of the rack column cooperates with the stabilizing groove on the base frame. The shape of the stabilizing groove is the same as the rotation trajectory of the rack column driven by the first rotating gear plate, which not only ensures that the direction of the rack column is controllable during movement, but also provides stable rotation power for the third rotating gear plate to prevent the normal operation of the device from being affected by the rack column being out of control. The design of the telescopic cylinder and the telescopic column ensures that when the undulating plate drives the placement frame to move up and down, the telescopic cylinder can be always fixedly connected to the placement frame through the telescopic column, which can prevent the placement frame from deviating from the straight up and down movement state when it moves up and down, thereby ensuring the stability of the movement.

[0017] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. This application document provides an overview of various implementations or examples of the technology described in the present disclosure, and is not a comprehensive disclosure of the entire scope or all features of the disclosed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a front view of the overall structure of the present invention; Figure 2 It is a bottom view of the overall structure of the present invention; Figure 3 It is a schematic diagram of the rotating mechanism and the heaving mechanism of the present invention; Figure 4 It is a cross-sectional view of the support plate of the present invention; Figure 5 It is a schematic diagram of the stabilization tank of the present invention; Figure 6 It is a side view of the side panel of the present invention; Figure 7 It is a schematic diagram of the undulating mechanism of the present invention; Figure 8 This is a working diagram of the undulating plate of the present invention; Fig. 9 It is a schematic diagram of the placement frame of the present invention; Fig.10 This is a working diagram of the interior of the placement tank of the present invention.

[0020] Description of reference numerals: In the figure: 1. base frame; 2. support column; 3. first motor; 4. support plate; 5. telescopic cylinder; 6. placement frame; 7. placement slot; 8. undulating plate; 9. telescopic column; 10. sliding slot; 11. first rotating gear plate; 12. second rotating gear plate; 13. cam column; 14. rack column; 15. third rotating gear plate; 16. stabilizing column; 17. stabilizing slot; 18. side plate; 19. connecting pin column; 20. undulating slot; 21. first rotating column; 22. second rotating column; 23. movable plate; 24. fixed column; 25. extrusion spring; 26. third rotating column; 27. first bevel gear; 28. second bevel gear; 29. ​​third bevel gear; 30. extrusion plate; 31. second motor; 32. fourth rotating column; 33. threaded column. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Example: See also Figure 1-Figure 8 The present invention provides a technical solution: an ankle joint assisted motion robot, comprising a base frame 1, a support plate 4 is arranged above the base frame 1, a placement frame 6 for placing the patient's ankle joint is arranged above the support plate 4, a placement slot 7 is arranged in the placement frame 6, a rotating mechanism is arranged below the support plate 4, the rotating mechanism can make the placement frame 6 reciprocate and twist, thereby increasing the flexibility of the patient's ankle joint, a side plate 18 is fixedly installed on the side of the base frame 1, an ups and downs mechanism is arranged in the side plate 18, the ups and downs mechanism can make the placement frame 6 reciprocate up and down, thereby exercising the patient's ankle joint up and down movement performance.

[0023] In this embodiment, support columns 2 and a first motor 3 are fixedly mounted on the base frame 1, the top ends of several support columns 2 are fixedly connected to the bottom ends of the support plates 4, a first rotating gear disk 11 is fixedly mounted on the first motor 3, a third rotating gear disk 15 is movably mounted on the bottom end of the support plate 4, and the third rotating gear disk 15 passes through the inner wall of the bottom end of the support plate 4.

[0024] In this embodiment, the rotating mechanism includes a rack column 14, a connecting pin 19 is fixedly installed at the eccentric upper part of the first rotating gear plate 11, and the rack column 14 is movably installed on the connecting pin 19. The rack column 14 is meshedly connected with the third rotating gear plate 15. When the first rotating gear plate 11 rotates, the rack column 14 is driven to rotate through the connecting pin 19, and the rack column 14 is always meshed and connected with the third rotating gear plate 15 during movement and will not fall off. When the rack column 14 moves, it will be affected by the mutual cooperation of the stabilizing column 16 and the stabilizing groove 17, which prevents the rack column 14 from being unable to control the direction during movement and prevents the third rotating gear plate 15 from having no rotational power.

[0025] In this embodiment, a stabilizing column 16 is fixedly installed at the bottom end of the rack column 14, and a stabilizing groove 17 matching the stabilizing column 16 is opened on the base frame 1. The shape of the stabilizing groove 17 is the same as the rotation trajectory of the rack column 14 driven by the first rotating gear plate 11.

[0026] In this embodiment, a telescopic cylinder 5 is movably installed inside the support plate 4, and a telescopic column 9 is movably installed in the telescopic cylinder 5. Several telescopic columns 9 are fixedly connected to the placement frame 6. A sliding groove 10 that rotates with the several telescopic cylinders 5 is opened in the support plate 4. The bottom end link center of the several telescopic cylinders 5 is fixedly connected to the third rotating gear plate 15. The telescopic column 10 can move up and down in the telescopic cylinder 5. In this way, the undulating plate 8 drives the placement frame 6 to move up and down. The telescopic cylinder 5 can always be fixedly connected to the placement frame 6 through the telescopic column 10, and at the same time, it prevents the placement frame 6 from being unable to maintain a straight up and down movement state when it is lifted by the undulating plate 8.

[0027] In this embodiment, the rotating mechanism includes an undulating plate 8 and a cam column 13. The undulating plate 8 is located below the placement frame 6 and is not fixedly connected to the bottom of the placement frame 6. The cam column 13 is located below the undulating plate 8. The cam column 13 drives the placement frame 6 to reciprocate up and down through the undulating plate 8.

[0028] In this embodiment, a second rotating gear plate 12 is movably mounted on the base frame 1, and the second rotating gear plate 12 is meshingly connected with the first rotating gear plate 11. A second rotating column 22 is fixedly mounted on the second rotating gear plate 12, and the second rotating column 22 does not contact the rack column 14. A third bevel gear 29 is fixedly mounted on the other end of the second rotating column 22.

[0029] In this embodiment, a side plate 18 is fixedly installed on the side of the base frame 1, and a first rotating column 21 and a third rotating column 26 are movably installed on the side of the side plate 18. A first bevel gear 27 is fixedly installed on the outer side of the first rotating column 21, and a second bevel gear 28 is fixedly installed on the outer side of the third rotating column 26. The second bevel gear 28 is meshed and connected with the first bevel gear 27 and the third bevel gear 29 respectively.

[0030] In this embodiment, an undulating groove 20 is opened in the side plate 18, and a fixed column 24 is fixedly installed in the undulating groove 20. A movable plate 23 and an extrusion spring 25 are respectively arranged on the outer side of the fixed column 24. One side of the movable plate 23 is fixedly connected to the undulating plate 8. The extrusion spring 25 is located below the movable plate 23, and the bottom end of the movable plate 23 is fixedly connected to the top end of the extrusion spring 25. At the same time, the fixed column 24 can ensure that the undulating plate 8 will not fall off when driving the movable plate 23 to move, and at the same time provide assistance for the undulating plate 8 to drive the placement frame 6 to move up and down.

[0031] During operation, the first motor 3 drives the first rotating gear plate 11 to rotate. When the first rotating gear plate 11 rotates, it will drive the rack column 14 to rotate through the connecting pin 19, and at the same time drive the second rotating gear plate 12 to rotate. When the rack column 14 rotates, it will always be meshed and connected with the third rotating gear plate 15 through the stabilizing column 16 and the stabilizing groove 17, so that the third rotating gear plate 15 will rotate. When the third rotating gear plate 15 rotates, it will drive the placement frame 6 to rotate through the telescopic cylinder 5 and the telescopic column 9. Since the first rotating gear plate 11 reciprocates through the connecting pin 19, the rack column 14 will drive the third rotating gear plate 15 to reciprocate, which can drive the placement frame 6 to rotate left and right. Since the rotation angle of the third rotating gear plate 15 is small, the rotation angle of the placement frame 6 is also small, which can enable the patient's ankle joint to perform a small-angle rotation exercise.

[0032] When the second rotating gear plate 12 rotates, the third rotating column 26 will be driven to rotate through the second rotating column 22 and the third bevel gear 29. When the third rotating column 26 rotates, the first rotating column 21 will be driven to rotate through the second bevel gear 29 and the first bevel gear 27. When the first rotating column 21 rotates, the cam column 13 will be driven to rotate. When the cam column 13 rotates, it will drive the up and down plate 8 to reciprocate up and down. When the up and down plate 8 moves, it will drive the placement frame 6 to move up and down at the same time, which is beneficial for the patient's ankle joint to be lifted up and down. At the same time, during the up and down movement of the up and down plate 8, the extrusion spring 25 will assist the placement frame 6 to move up and down.

[0033] See also Figure 1 , Fig. 9 , Fig.10 The present invention provides a technical solution: in this embodiment, an extrusion plate 30 is provided on the side of the placement groove 7, and a second motor 31, a fourth rotating column 32 and a threaded column 33 are respectively provided in the placement frame 6. The second motor 31, the fourth rotating column 32 and the threaded column 33 are all meshed and connected through bevel gears, and the outer side of the threaded column 33 is connected to the extrusion plate 30.

[0034] The ankle joint of the patient is placed in the placement slot 7, and the second motor 31 is controlled by the controller, and the fourth rotating column 32 is driven to rotate by the second motor 31 and the bevel gear. When the fourth rotating column 32 rotates, the threaded column 33 is also driven to rotate through the bevel gear, and the extrusion plate 30 can be driven to move to one side of the placement slot 7. The ankle joint of the patient can be fixed in the placement frame 6 through two adjacent extrusion plates 30, so that the ankle joint is prevented from falling off during exercise, thereby reducing the risk of exercise and increasing the exercise effect.

[0035] The working principle of this embodiment is as follows: the ankle joint of the patient is placed in the placement slot 7, and the first motor 3 drives the first rotating gear plate 11 to rotate. When the first rotating gear plate 11 rotates, it will drive the rack column 14 to rotate through the connecting pin 19, and at the same time drive the second rotating gear plate 12 to rotate. When the rack column 14 rotates, it will always be meshed and connected with the third rotating gear plate 15 through the stabilizing column 16 and the stabilizing slot 17, so that the third rotating gear plate 15 will rotate. When the third rotating gear plate 15 rotates, it will drive the placement frame 6 to rotate through the telescopic cylinder 5 and the telescopic column 9. Since the first rotating gear plate 11 reciprocates through the connecting pin 19, the rack column 14 will drive the third rotating gear plate 15 to rotate. The three rotating gear plates 15 rotate back and forth, which can drive the placement frame 6 to rotate left and right. Since the rotation angle of the third rotating gear plate 15 is small, the rotation angle of the placement frame 6 is also small, which can enable the patient's ankle joint to perform a small-angle rotation exercise. The second motor 31 is controlled by the controller, and the fourth rotating column 32 is driven to rotate by the second motor 31 and the bevel gear. When the fourth rotating column 32 rotates, it will also drive the threaded column 33 to rotate through the bevel gear, and can drive the extrusion plate 30 to move to one side of the placement slot 7. The patient's ankle joint can be fixed in the placement frame 6 through two adjacent extrusion plates 30, which prevents the ankle joint from falling off during exercise, reduces the risk of exercise, and increases the exercise effect.

[0036] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An ankle-assisted motion robot, comprising a base frame (1), characterized in that: A support plate (4) is arranged above the base frame (1); a placement frame (6) for placing the patient's ankle joint is arranged above the support plate (4); a placement slot (7) is arranged in the placement frame (6); a rotating mechanism is arranged below the support plate (4); the rotating mechanism can cause the placement frame (6) to reciprocate and twist, thereby increasing the flexibility of the patient's ankle joint; a side plate (18) is fixedly mounted on the side of the base frame (1); an undulating mechanism is arranged in the side plate (18); the undulating mechanism can cause the placement frame (6) to reciprocate up and down, thereby exercising the up and down movement performance of the patient's ankle joint.

2. The ankle joint assisted motion robot according to claim 1, characterized in that: The base frame (1) is respectively fixedly mounted with support columns (2) and a first motor (3); the top ends of a plurality of the support columns (2) are fixedly connected to the bottom ends of the support plates (4); a first rotating gear plate (11) is fixedly mounted on the first motor (3); and a third rotating gear plate (15) is movably mounted on the bottom end of the support plates (4).

3. The ankle-assisted motion robot according to claim 2, characterized in that: The rotating mechanism comprises a rack column (14), a connecting pin column (19) is fixedly mounted on the eccentric portion of the first rotating gear plate (11), the rack column (14) is movably mounted on the connecting pin column (19), and the rack column (14) is meshingly connected to the third rotating gear plate (15).

4. The ankle-assisted motion robot according to claim 3, characterized in that: A stabilizing column (16) is fixedly mounted on the bottom end of the rack column (14), and a stabilizing groove (17) matching the stabilizing column (16) is provided on the base frame (1), wherein the shape of the stabilizing groove (17) is the same as the rotation trajectory of the rack column (14) driven by the first rotating gear plate (11).

5. The ankle-assisted motion robot according to claim 2, characterized in that: A telescopic cylinder (5) is movably installed inside the support plate (4), a telescopic column (9) is movably installed in the telescopic cylinder (5), a plurality of the telescopic columns (9) are fixedly connected to the placement frame (6), a sliding groove (10) is provided in the support plate (4) for rotating with the plurality of the telescopic cylinders (5), and the bottom end connection center of the plurality of the telescopic cylinders (5) is fixedly connected to the third rotating gear plate (15).

6. The ankle-assisted motion robot according to claim 4, characterized in that: The rotating mechanism comprises an undulating plate (8) and a cam column (13); the undulating plate (8) is located below the placement frame (6); the cam column (13) is located below the undulating plate (8); and the cam column (13) drives the placement frame (6) to reciprocate up and down via the undulating plate (8).

7. The ankle-assisted motion robot according to claim 6, characterized in that: A second rotating gear plate (12) is movably mounted on the base frame (1), the second rotating gear plate (12) is meshingly connected with the first rotating gear plate (11), a second rotating column (22) is fixedly mounted on the second rotating gear plate (12), the second rotating column (22) does not contact the rack column (14), and a third bevel gear (29) is fixedly mounted on the other end of the second rotating column (22).

8. The ankle-assisted motion robot according to claim 7, characterized in that: A side plate (18) is fixedly mounted on the side of the base frame (1); a first rotating column (21) and a third rotating column (26) are movably mounted on the side of the side plate (18); a first bevel gear (27) is fixedly mounted on the outer side of the first rotating column (21); a second bevel gear (28) is fixedly mounted on the outer side of the third rotating column (26); the second bevel gear (28) is meshingly connected with the first bevel gear (27) and the third bevel gear (29), respectively.

9. The ankle-assisted motion robot according to claim 8, characterized in that: An undulating groove (20) is provided in the side plate (18), a fixed column (24) is fixedly installed in the undulating groove (20), a movable plate (23) and a compression spring (25) are respectively provided on the outside of the fixed column (24), and one side of the movable plate (23) is fixedly connected to the undulating plate (8).

10. The ankle-assisted motion robot according to claim 1, characterized in that: An extrusion plate (30) is arranged on the side of the placement groove (7), and a second motor (31), a fourth rotating column (32) and a threaded column (33) are respectively arranged in the placement frame (6). The second motor (31), the fourth rotating column (32) and the threaded column (33) are meshedly connected via bevel gears, and the outer side of the threaded column (33) is connected to the extrusion plate (30).

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