Mechanical structure capable of realizing various motions

Abstract

The utility model provides a mechanical structure capable of realizing various motions, which is used for solving the problems of complex structure and insufficient degree of freedom in the prior art. The training device comprises a supporting plate, a lower barrel is arranged on the supporting plate, the lower barrel drives a middle barrel to rotate along the Z axis through a lower rotating shaft, the axis of the middle barrel coincides with the Z axis, the middle barrel is hinged to an upper connecting piece through a Y-direction rotating shaft, the axis of the upper connecting piece is perpendicular to the Y axis, the upper connecting piece drives an upper barrel to rotate along the X axis through an upper rotating shaft, and the axis of the upper barrel coincides with the X axis. An upper platform is fixed to the side wall of the upper barrel, and the rotating shaft, the upper rotating shaft and the Y-direction rotating shaft are all driven by a driving motor. The ankle training device can simulate various natural movements of ankles, including lateral movements, dorsal flexion, plantar flexion, introversion and extroversion, and provides comprehensive exercise training for users. In addition, the device is compact in design and small in occupied area, the effect of simulating natural movement of the ankle is achieved through multi-degree-of-freedom rotation, and the stability and coordination of the ankle are improved.

Description

Technical Field

[0001] The utility model relates to the field of medical auxiliary equipment, in particular to a mechanical structure capable of realizing multiple movements. Background Art

[0002] The ankle is one of the most vulnerable parts of the human body. Common ankle injuries include sprains, ligament tears, fractures, etc. These injuries can cause symptoms such as ankle swelling, pain, and limited mobility. In severe cases, surgery may be required. The purpose of ankle exercise training is to promote healing and restore function of the injured ankle through a series of exercises and physical therapy methods. Exercise training can help patients restore ankle stability, flexibility, and strength, reduce the risk of re-injury, and improve daily life and sports ability.

[0003] However, the current ankle joint motion training equipment is complex in structural design and the movements are uncoordinated; and most ankle joint motion robots have insufficient degrees of freedom, resulting in a single motion training mode and poor flexibility. It is difficult to produce targeted ankle inversion and eversion traction stretching, and it is unable to meet the diverse training requirements for the ankle joint, so that the patient's ankle joint motion training cannot achieve the ideal effect. Utility Model Content

[0004] The utility model provides a mechanical structure capable of realizing multiple movements, thereby solving the problems of complex structure and insufficient number of degrees of freedom in the prior art.

[0005] The technical solution of the utility model is achieved in this way:

[0006] A mechanical structure capable of realizing multiple motions comprises a support plate, a lower cylinder is arranged on the support plate, the lower cylinder drives a middle cylinder to rotate along a Z axis through a lower rotating shaft, the axis of the middle cylinder coincides with the Z axis, the middle cylinder is hinged with an upper connecting piece through a Y-axis rotating shaft, the axis of the upper connecting piece is perpendicular to the Y axis, the upper connecting piece drives an upper cylinder to rotate along an X axis through an upper rotating shaft, the axis of the upper cylinder coincides with the X axis, an upper platform is fixed to a side wall of the upper cylinder, and the lower rotating shaft, the upper rotating shaft and the Y-axis rotating shaft are all driven by a driving motor.

[0007] Furthermore, the lower cylinder and the upper cylinder both include a cylinder, a driving motor is fixed in the cylinder, and an output shaft of the driving motor is fixedly connected to the upper connecting piece or the middle cylinder.

[0008] Furthermore, the cylinder is sleeved on the upper connecting piece and the middle cylinder, which helps to improve the stability and connection strength of the structure, thereby providing safer and more reliable sports training for users.

[0009] Furthermore, a positioning ring is fixed to the inner wall of the cylinder at the lower rotating shaft and the upper rotating shaft, and the positioning ring is connected to the upper connecting piece or the middle cylinder through a plane bearing. When the plane bearing is worn or damaged, it can be quickly replaced, reducing maintenance time and cost.

[0010] Furthermore, the upper connecting member and the side wall of the middle cylinder are provided with an annular groove, the cross section of the groove is semicircular, and the side wall of the cylinder is provided with a plurality of threaded holes, the threaded holes correspond to the grooves, and balls are placed in the threaded holes, one end of the balls are placed in the grooves, and the other end is placed in the threaded holes, and positioning bolts are screwed in the threaded holes, and the positioning bolts and the balls are against each other. Through the coordinated use of the positioning bolts and the balls, the upper connecting member and the middle cylinder can be accurately positioned and fixed in the cylinder. Through the coordination of the balls and the positioning bolts, it helps to reduce the shaking or misalignment that may occur during the training process, and makes the connection between the upper connecting member and the middle cylinder and the cylinder more stable.

[0011] Furthermore, the driving motor is a stepper motor or a servo motor, and the driving motor in the middle cylinder is connected to the Y-axis rotating shaft through a right-angle reducer. Through the high control accuracy and performance of the stepper motor or the servo motor, the speed and torque of the Y-axis rotating shaft can be accurately controlled, thereby achieving high-precision motion control and achieving the effect of adapting to the training needs of different users.

[0012] Furthermore, the upper platform is provided with a plurality of fixing straps, which make the length of the foot parallel to the axis of the upper cylinder. The design of the fixing straps enables the user's foot to be stably placed on the upper platform, thereby ensuring that the ankle can be trained according to a predetermined motion trajectory.

[0013] Furthermore, the center of gravity of the support plate and the center of gravity of the upper platform are on the same vertical line, and the area of ​​the support plate is larger than the maximum area of ​​the upper platform driven by the upper connecting member to rotate. A larger support plate area can prevent users from slipping or falling due to the instability of the device during exercise training, thereby improving overall safety.

[0014] Beneficial effects:

[0015] The utility model can simulate a variety of natural movements of the ankle, including lateral movement (rotation along the Z axis), dorsiflexion and plantar flexion (rotation along the Y axis), inversion and eversion (rotation along the X axis), providing users with comprehensive sports training. The support plate and the fixed platform provide stable support for the user to ensure the safety of the user's ankle during sports training. The device has a compact design and a small footprint. Through multi-degree-of-freedom rotation, it can achieve the effect of simulating the natural movement of the ankle and improve the stability and coordination of the ankle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the internal structure of the utility model;

[0018] Figure 2 It is a right view of the utility model;

[0019] Figure 3 It is a schematic diagram of the local structure of the cylinder connection of the utility model;

[0020] Figure 4 for Figure 3 A local enlarged schematic diagram of point A in the middle.

[0021] Among them: 1. support plate, 2. lower cylinder, 3. middle cylinder, 4. upper connecting piece, 5. upper cylinder, 6. cylinder, 7. positioning ring, 8. plane bearing, 9. groove, 10. threaded hole, 11. ball, 12. positioning bolt, 13. Y-axis rotating shaft, 14. fixing belt, 15. lower rotating shaft, 16. upper rotating shaft, 17. upper platform. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] like Figure 1-4 As shown, an embodiment of the utility model provides a mechanical structure that can realize multiple movements, including: a support plate 1, a lower cylinder 2 is provided on the support plate 1, the lower cylinder 2 drives the middle cylinder 3 to rotate along the Z axis through the lower rotating shaft 15, the axis of the middle cylinder 3 coincides with the Z axis, the middle cylinder 3 is hinged with an upper connecting member 4 through the Y-axis rotating shaft 13, the axis of the upper connecting member 4 is perpendicular to the Y axis, the upper connecting member 4 drives the upper cylinder 5 to rotate along the X axis through the upper rotating shaft 16, the axis of the upper cylinder 5 coincides with the X axis, the side wall of the upper cylinder 5 is fixed with an upper platform 17, and the lower rotating shaft 15, the upper rotating shaft 16 and the Y-axis rotating shaft 13 are driven by a driving motor.

[0024] During use, the user sits on a higher seat and places a foot to be trained on the upper platform 17. The lower rotating shaft 15 drives the middle cylinder 3 to rotate, so that the middle cylinder 3 can drive the upper platform 17 to rotate along the Z axis to achieve lateral movement of the ankle. The middle cylinder 3 drives the upper connecting member 4 to rotate through the Y-axis rotating shaft 13 to achieve dorsiflexion and plantar flexion of the ankle. The inversion and eversion of the ankle are achieved by the rotation of the upper cylinder 5 along the X axis. The rotation angle of the ankle is affected by factors such as age, health status and exercise habits, and the range of joint motion of each person may be different. In order to facilitate the user to adjust the movement angle, the drive motor is driven by a motor controller, and the parameters of the drive motor are adjusted by the user to achieve the effect of sports training. The motor controller is a prior art, such as a DRV8833 motor driver or a PMC100 series stepper motor controller. By adjusting the parameters of the drive motor, the intensity and speed of the movement can be changed to adapt to the user's training progress and comfort.

[0025] The lower cylinder 2 and the upper cylinder 5 have the same structure. Both the lower cylinder 2 and the upper cylinder 5 include a cylinder 6, in which a driving motor is fixed, and the output shaft of the driving motor is fixedly connected to the upper connecting member 4 or the middle cylinder 3. A connecting sleeve is clamped at the ends of the upper connecting member 4 and the middle cylinder 3, and a driving plate is fixed in the connecting sleeve. The driving plate is connected to the driving shaft by a key, and the top of the driving shaft is screwed with a bolt, and the bolt fixes the connecting sleeve through the driving plate. The same structure of the lower cylinder 2 and the upper cylinder 5 helps to achieve standardization of design and manufacturing, simplify the production process and reduce costs, and improve the reliability and maintenance efficiency of the equipment. By adopting the clamping and screwing methods, the assembly process is simplified, and quick disassembly can also be performed when cleaning, maintenance or replacement of parts is required. This device can be easily customized according to specific sports needs by facilitating disassembly and maintenance to meet the personalized needs of different users. A heating module can be set in the upper platform 17 to heat the soles of the feet to promote blood circulation, or a vibration module can be set in the upper cylinder 5 to massage and relax the soles of the feet. The heating module uses electric heating and the vibration module uses a vibration motor, and both are prior arts.

[0026] The cylinder 6 is sleeved on the upper connecting member 4 and the middle cylinder 3. The sleeve design of the cylinder 6 can provide additional structural support, enhance the connection stability between the upper connecting member 4 and the middle cylinder 3, and ensure reliability during exercise. The sleeve connection helps to reduce the shaking or deformation that may occur during training, ensuring that the ankle can be stably and effectively trained.

[0027] A positioning ring 7 is fixed to the inner wall of the cylinder 6 at the lower rotating shaft 15 and the upper rotating shaft 16, and the positioning ring 7 is connected to the upper connecting member 4 or the middle cylinder 3 through a plane bearing 8. The plane bearing 8 can reduce the friction and wear at the connection of the cylinder 6, extend the service life, and provide smoother movement performance. The combination of the positioning ring 7 and the plane bearing 8 provides a stable support platform for the lower rotating shaft 15, reduces the swing and vibration during the movement, and improves the overall stability of the device.

[0028] like Figure 3-4 As shown, the upper connecting member 4 and the side wall of the middle cylinder 3 are provided with an annular groove 9, the cross section of the groove 9 is semicircular, and the side wall of the cylinder 6 is provided with a plurality of threaded holes 10, the threaded holes 10 correspond to the grooves 9, and a ball 11 is placed in the threaded hole 10, one end of the ball 11 is placed in the groove 9, and the other end is placed in the threaded hole 10, and a positioning bolt 12 is screwed in the threaded hole 10, and the positioning bolt 12 is against the ball 11. Through the combination of the ball 11 and the positioning bolt 12, the upper connecting member 4 and the middle cylinder 3 can be quickly positioned and fixed, simplifying the assembly and adjustment process of the device. The sliding of the ball 11 in the threaded hole 10 and the groove 9 reduces friction, making the rotation smoother and more accurate.

[0029] A gap is provided at the connection between the lower cylinder 2 and the middle cylinder 3, and the relative position of the middle cylinder 3 and the lower cylinder 2 can be fine-tuned by adjusting the depth of the positioning bolt 12 screwed into the threaded hole 10. Through the ball 11 and the positioning bolt 12, the user can fine-tune the position of the upper connecting member 4 and the middle cylinder 3 by rotating the positioning bolt 12, so that the upper cylinder 5 and the middle cylinder 3 rotate eccentrically, ensuring that it is more in line with the user's own habits during sports training, and this adjustment method is simple and intuitive, and does not require complicated tools or steps.

[0030] The driving motor is a stepper motor or a servo motor, and the driving motor in the middle cylinder 3 is connected to the Y-axis rotating shaft 13 through a right-angle reducer. The stepper motor, servo motor and right-angle reducer are all prior art. The right-angle reducer forms a 90-degree angle between the input shaft and the output shaft through the meshing of a worm gear or two bevel gears, and the right-angle reducer can reduce the output speed of the driving motor. Both the stepper motor and the servo motor have the characteristics of high-precision control and adjustable speed and output torque, can achieve precise speed and position control, and can also ensure accurate simulation of the required motion trajectory and speed during training, thereby improving the training effect.

[0031] The upper platform 17 is provided with a plurality of fixing straps 14, and the fixing straps 14 make the direction of the foot length parallel to the axis of the upper cylinder 5. The fixing straps 14 are Velcro straps or buckle adjustment straps, and both the Velcro straps and buckle adjustment straps are prior art. The foot is stably fixed to the upper platform 17 by the fixing straps 14, which ensures the stability of the foot during exercise training, reduces the risk of accidental injury caused by foot sliding or displacement, and helps to improve the training effect, so that the user can more accurately simulate and repeat the desired movement pattern. By adjusting the tightness and position of the fixing straps 14, it can adapt to the foot shape and size of different users, making the device more versatile and flexible, and able to meet the needs of different users.

[0032] The center of gravity of the support plate 1 and the center of gravity of the platform are on the same vertical line, and the area of ​​the support plate 1 is larger than the maximum area of ​​the upper platform 17 driven by the upper connecting member 4 to rotate. A larger support plate 1 can provide a more stable support base, reduce the swing and vibration of the device during exercise, thereby ensuring the stability and continuity of the user's ankle exercise training. The support plate 1 provides sufficient support to prevent the device from tipping over or sliding, thereby avoiding injuries to the user.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mechanical structure capable of realizing multiple movements, comprising a support plate (1), characterized in that: A lower cylinder (2) is provided on the support plate (1). The lower cylinder (2) drives the middle cylinder (3) to rotate along the Z axis through a lower rotating shaft (15). The axis of the middle cylinder (3) coincides with the Z axis. The middle cylinder (3) is hinged with an upper connecting member (4) through a Y rotating shaft (13). The axis of the upper connecting member (4) is perpendicular to the Y axis. The upper connecting member (4) drives the upper cylinder (5) to rotate along the X axis through an upper rotating shaft (16). The axis of the upper cylinder (5) coincides with the X axis. An upper platform (17) is fixed to the side wall of the upper cylinder (5). The lower rotating shaft (15), the upper rotating shaft (16) and the Y rotating shaft (13) are all driven by a driving motor.

2. A mechanical structure capable of realizing multiple movements according to claim 1, characterized in that: The lower cylinder (2) and the upper cylinder (5) both include a cylinder (6), a driving motor is fixed inside the cylinder (6), and the output shaft of the driving motor is fixedly connected to the upper connecting member (4) or the middle cylinder (3).

3. A mechanical structure capable of realizing multiple movements according to claim 2, characterized in that: The cylinder (6) is sleeved on the upper connecting piece (4) and the middle cylinder (3).

4. A mechanical structure capable of realizing multiple movements according to claim 3, characterized in that: A positioning ring (7) is fixed to the inner wall of the cylinder (6) at the lower rotating shaft (15) and the upper rotating shaft (16), and the positioning ring (7) is connected to the upper connecting piece (4) or the middle cylinder (3) via a plane bearing (8).

5. A mechanical structure capable of realizing multiple movements according to claim 3, characterized in that: The upper connecting member (4) and the side wall of the middle cylinder (3) are provided with a circular groove (9), the cross section of the groove (9) is semicircular, the side wall of the cylinder (6) is provided with a plurality of threaded holes (10), the threaded holes (10) correspond to the grooves (9), a ball (11) is placed in the threaded hole (10), one end of the ball (11) is placed in the groove (9), and the other end is placed in the threaded hole (10), a positioning bolt (12) is screwed in the threaded hole (10), and the positioning bolt (12) and the ball (11) are abutted.

6. A mechanical structure capable of realizing multiple movements according to claim 1, characterized in that: The driving motor is a stepping motor or a servo motor. The driving motor in the middle cylinder (3) is connected to the Y-axis rotating shaft (13) via a right-angle reducer.

7. A mechanical structure capable of realizing multiple movements according to claim 1, characterized in that: The upper platform (17) is provided with a plurality of fixing belts (14), and the fixing belts (14) make the direction of the foot length parallel to the axis of the upper cylinder (5).

8. A mechanical structure capable of realizing multiple movements according to claim 1, characterized in that: The center of gravity of the support plate (1) and the center of gravity of the upper platform (17) are on the same vertical line, and the area of ​​the support plate (1) is larger than the maximum area of ​​the upper platform (17) driven by the upper connecting member (4) to rotate.

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