Ankle joint rehabilitation device

Abstract

The ankle joint rehabilitation device comprises a platform, an upper movement platform, a lower movement platform, a first driving branch chain, a second driving branch chain and a base, the first driving branch chain and the second driving branch chain are located on the two sides of the lower movement platform and the two sides of the upper movement platform respectively and fixed to the lower movement platform and the platform, and the base is fixed to the lower movement platform. The lower motion platform is connected with the swing mechanism, the upper motion platform is located above the lower motion platform, the upper motion platform and the lower motion platform are connected through a foot plate height adjusting device, a supporting rod is arranged below a lower straight connecting rod, a servo motor and a large-hole bevel gear are arranged on the base, the servo motor is provided with a small-hole bevel gear, and the small-hole bevel gear is provided with a small-hole bevel gear. The large-hole bevel gear is meshed with the small-hole bevel gear, and the supporting rod penetrates through the large-hole bevel gear and is fixed to the base through a bearing. The ankle joint rehabilitation training device has the advantages that the requirements for adduction / abduction, dorsal extension / toe flexion and introversion / extroversion of ankle joints can be met, and the ankle joint rehabilitation training device can be adjusted according to different heights of human bodies and different ankles.

Description

Technical Field

[0001] The present application belongs to the field of mechanical manufacturing, and specifically relates to an ankle joint rehabilitation device. Background Art

[0002] The ankle joint is one of the main load-bearing structures of the human body, and it bears the entire weight of the body when the human body stands and walks. Especially when running, jumping, and carrying weight, the ankle joint bears huge loads and impacts, so joint injuries or sprains are the most common in daily life. After an ankle injury, if it is not properly treated and recovered, traumatic arthritis will form, causing long-term ankle pain, lameness, dysfunction and other symptoms, thus affecting work and life. Relevant clinical medicine has shown that correct and scientific ankle rehabilitation training plays a very important role in the recovery and improvement of limb motor function. It can not only maintain joint mobility, prevent joint contracture and adhesion, but also significantly improve the final recovery of the patient's motor function.

[0003] Ankle rehabilitation mechanisms are a hot topic in today's era and are studied by scholars at home and abroad. However, some rehabilitation forms are relatively simple and cannot meet all the requirements of ankle rehabilitation, or the rotation center of the ankle is inconsistent with the actual ankle, which may cause secondary damage to our ankles. Other ankle rehabilitation mechanisms are complex in design and high in cost, which may be a burden for patients in ordinary families and cannot meet the needs of most people. There are also some lower-priced ankle rehabilitation robots on the market, but some of them have fixed rotation centers, which are not suitable for people of different heights, and this type of robot uses a series mechanism, which has poor stability and poor load-bearing capacity. For example, the prior art CN219307279U is an ankle rehabilitation device, which discloses that the support column moves in a cross groove, so that the foot standing on the placement frame, including the ankle joint, can perform rehabilitation movements forward, backward, left and right. This structure is affected by the track, the round-trip time is long, and it is not comfortable and flexible enough. Utility Model Content

[0004] Based on the above problems, this application relates to an ankle joint rehabilitation device that is not affected by the track and can achieve three angle adjustments. Its technical solution is:

[0005] An ankle joint rehabilitation device comprises a platform, an upper motion platform, a lower motion platform, a first drive branch chain, a second drive branch chain and a base, wherein the first drive branch chain and the second drive branch chain are respectively located on both sides of the lower motion platform and the upper motion platform, and are fixed on the lower motion platform and the upper platform, the lower motion platform is connected to a swing mechanism, the upper motion platform is located above the lower motion platform, and the two are connected by a foot plate height adjustment device, a support rod is provided under the lower straight connecting rod, a servo motor and a large-hole bevel gear are provided on the base, the servo motor is provided with a small-hole bevel gear, the large-hole bevel gear is meshed with the small-hole bevel gear, and the support rod passes through the large-hole bevel gear and is fixed to the base by a bearing.

[0006] Preferably, the swing mechanism includes a C-shaped connecting rod, whose two ends are respectively provided with a left supporting connecting rod and a right supporting connecting rod, a lower straight connecting rod is fixed between the left supporting connecting rod and the right supporting connecting rod, a first encoder is provided on the C-shaped connecting rod, and a second encoder is provided on the left supporting connecting rod or the right supporting connecting rod, and the first encoder, the second encoder, the first drive branch chain and the second drive branch chain are communicatively connected with the controller.

[0007] Preferably, a support column is provided between the platform and the base; a U-shaped groove is provided on the platform, and the first drive branch chain and the second drive branch chain are located at two ends of the U-shaped groove.

[0008] Preferably, the footboard height adjustment device includes a bolt and a nut, a knob is provided below the nut, and a pin is provided above the nut, the pin is connected to the upper motion platform through a connecting column, and the nut is located in the lower motion platform and fixed to the lower motion platform through the knob.

[0009] Preferably, a lower base plate is provided below the base, an inclination drive branch chain is provided between the lower base plate and the base, and the inclination drive branch chain is communicatively connected with the controller.

[0010] Compared with the prior art, the beneficial effects are as follows:

[0011] The present invention can be adjusted in three dimensions to realize the control corresponding to adduction / abduction, dorsiflexion / flexion, inversion / valgus. It is easy to use, three-dimensionally adjustable, comfortable and flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the structure of this application.

[0013] Figure 2 Schematic diagram of the first drive branch chain structure.

[0014] Figure 3 It is a schematic diagram of the swing mechanism structure.

[0015] Figure 4 A schematic diagram of the base.

[0016] Figure 5 It is an overall schematic diagram of the upper moving platform and the lower moving platform.

[0017] Figure 6 It is a schematic diagram of the structure of the foot height adjustment device.

[0018] Figure 7 A schematic diagram of the bottom of the base.

[0019] Figure 8 Schematic diagram of the inclination-driven branch chain structure.

[0020] In the figure: 1-platform, 2-first drive branch chain, 3-upper motion platform, 4-lower motion platform, 5-second drive branch chain, 6-first encoder, 7-second encoder, 8-inclination drive branch chain, 9-Hook hinge, 10-ball joint, 11-Z-axis, 12-X-axis, 13-left support link, 14-right support link, 15-lower straight link, 16-support rod, 18-C-type link, 19-middle support link, 20-foot height adjustment device, 21-pin, 22-nut, 23-knob, 24-bolt, 25-motor frame, 26-base, 27-large hole bevel gear, 28-small hole bevel gear, 29-servo motor, 210-connecting block one, 30-bearing, 32-lower base plate, 34-support column, 35-connecting column, 81-connecting block two. DETAILED DESCRIPTION

[0021] 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.

[0022] An ankle joint rehabilitation device includes a platform 1, an upper motion platform 3, a lower motion platform 4, a first drive branch chain 2, a second drive branch chain 5 and a base 26 (the first drive branch chain 2 and the second drive branch chain 5 can use cylinders), the first drive branch chain 2 and the second drive branch chain 5 are respectively located on both sides of the lower motion platform 4 and the upper motion platform 3, and are fixed on the lower motion platform 4 and the platform 1, the swing mechanism includes a C-shaped connecting rod 18, a left supporting connecting rod 13 and a right supporting connecting rod 14 are respectively provided at both ends, and a middle supporting connecting rod 19 is provided in the middle, a lower straight connecting rod 15 is fixed between the left supporting connecting rod 13 and the right supporting connecting rod 14, and the lower A support rod 16 is provided below the straight connecting rod 15, and the lower straight connecting rod 15 is connected to the support rod 16 by welding. The middle support connecting rod 19 is connected to the lower motion platform 4; the upper motion platform 3 is located above the lower motion platform 4, and the two are connected by an adjusting device 20. A large-hole bevel gear 27 is provided on the base 26, and the servo motor 29 is fixed to the base 26 through a motor frame 25. The servo motor 29 is provided with a small-hole bevel gear 28, and the large-hole bevel gear 27 is meshed with the small-hole bevel gear 28. The support rod 16 is sleeved in the large-hole bevel gear 27 and fixed to the base 26 by a bearing 30. The support rod 16 realizes Y-axis movement.

[0023] Figure 2 As shown, the first driving branch chain 2 has the same structure as the second driving branch chain 5 , one end of which is fixed to the platform 1 through a Hooke's joint 9 , and the other end is fixed to the lower motion platform 4 through a ball joint 10 .

[0024] The C-shaped connecting rod 18 is provided with a first encoder 6, and the left supporting connecting rod 3 is provided with a second encoder 7. The first encoder 6 and the second encoder 7 are both connected to the controller for communication, and the first drive branch chain 2, the second drive branch chain 5, and the servo motor 29 are connected to the controller (PLC or single-chip microcomputer) for communication. The first drive branch chain 2, the second drive branch chain 5, and the servo motor 29 can realize different actions through the controller. The controller is a touch screen controller. According to the control branch chain and the parameters of the servo motor corresponding to adduction / abduction, dorsiflexion / flexion, inversion / valgus, the corresponding instructions are programmed and displayed on the controller screen in the form of text of adduction / abduction, dorsiflexion / flexion, inversion / valgus, and different rehabilitation actions can be realized by pressing different buttons. The second encoder 7 is installed on the left supporting link 13, and the sleeve of the second encoder 7 extends into the X-axis rotating shaft 12 on the left side of the C-shaped link 18 to feedback the rotation angle of the C-shaped link 18; similarly, the first encoder 6 is installed on the C-shaped link 18 and is connected to the moving platform through the Z-axis rotating shaft 11 to feedback the left and right rotation angle of the moving platform.

[0025] A support column 34 is provided between the platform 1 and the base 26 ; a U-shaped groove is provided on the platform, and the first drive branch chain and the second drive branch chain are located at two ends of the U-shaped groove.

[0026] Figure 6 As shown, the foot plate height adjustment device includes a bolt 24 and a nut 22, a knob 23 is provided below the nut 22, and a pin 21 is provided above the nut 22, the pin 21 is connected to the upper motion platform 3 through a connecting column 35, and the nut 22 is located in the lower motion platform 4 and fixed to the lower motion platform 4 through the knob 23. This ensures that the rotation center of the mechanism coincides with the rotation center of the ankle joint, effectively avoiding secondary damage to the ankle joint.

[0027] A connecting block 1 210 is provided below the base 26, and a connecting column 2 81 is provided on the upper end surface of the lower bottom plate 32. The connecting block 1 210 is hinged with the connecting column 2 81. An inclination drive branch chain 8 (cylinder) is provided between the lower bottom plate 32 and the base 26. The inclination drive branch chain 8 can be extended or shortened by a matching switch, so that the device can be tilted at a certain angle to make the patient more comfortable. When in use, step on the upper motion platform 3 and fix it with a strap.

[0028] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An ankle joint rehabilitation device, characterized in that: The invention comprises a platform (1), an upper motion platform (3), a lower motion platform (4), a first drive branch chain (2), a second drive branch chain (5), a lower straight connecting rod (15) and a base (26); the first drive branch chain (2) and the second drive branch chain (5) are respectively located on both sides of the lower motion platform (4) and the upper motion platform (3), and are fixed on the lower motion platform (4) and the platform (1); the lower motion platform (4) is connected to a swing mechanism; the upper motion platform (3) is located above the lower motion platform (4); the two are connected via a foot plate height adjustment device (20); a support rod (16) is provided below the lower straight connecting rod (15); a servo motor (29) and a large-hole bevel gear (27) are provided on the base (26); the servo motor (29) is provided with a small-hole bevel gear (28); the large-hole bevel gear (27) is meshed with the small-hole bevel gear (28); the support rod (16) passes through the large-hole bevel gear (27) and is fixed on the base (26) by a bearing.

2. An ankle joint rehabilitation device according to claim 1, characterized in that: The swing mechanism comprises a C-shaped connecting rod (18), two ends of which are respectively provided with a left supporting connecting rod (13) and a right supporting connecting rod (14), a lower straight connecting rod (15) is fixed between the left supporting connecting rod (13) and the right supporting connecting rod (14), a first encoder (6) is provided on the C-shaped connecting rod (18), and a second encoder (7) is provided on the left supporting connecting rod (13) or the right supporting connecting rod (14), and the first encoder (6), the second encoder (7), the first driving branch chain (2), and the second driving branch chain (5) are communicatively connected with a controller.

3. The ankle joint rehabilitation device according to claim 1, characterized in that: A support column (34) is provided between the platform (1) and the base (26); a U-shaped groove is provided on the platform (1), and the first drive branch chain (2) and the second drive branch chain (5) are located at both ends of the U-shaped groove.

4. The ankle joint rehabilitation device according to claim 1, characterized in that: The footboard height adjustment device (20) comprises a bolt (24) and a nut (22); a knob (23) is provided below the nut (22) and a pin (21) is provided above the nut (22); the pin (21) is connected to the upper motion platform (3) via a connecting column (35); the nut (22) is located inside the lower motion platform (4) and is fixed to the lower motion platform (4) via the knob (23).

5. The ankle joint rehabilitation device according to claim 1, characterized in that: A lower base plate (32) is provided below the base (26), an inclination drive branch chain (8) is provided between the lower base plate (32) and the base (26), and the inclination drive branch chain (8) is communicatively connected with a controller.

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