Rehabilitation robot for ankle joints on two affected sides

Abstract

The utility model provides a rehabilitation robot for ankle joints on double affected sides, which relates to the technical field of rehabilitation equipment and comprises a first affected side base, a first floating plate, a magnetic attraction female seat, a second affected side base, a second floating plate and a magnetic attraction male seat. Wherein the first floating plate is installed in the first affected side base and has the floating amount relative to the first affected side base in the butt joint direction of the first affected side base and the second affected side base, and the magnetic attraction female base is fixedly connected with the first floating plate; the second floating plate is installed in the second affected side base and has the floating amount relative to the second affected side base in the butt joint direction, and the magnetic attraction male base is fixedly connected with the second floating plate and used for being in butt joint with the magnetic attraction female base. According to the double-affected-side ankle joint rehabilitation robot, a wire harness connected with the magnetic attraction male seat can be prevented from being pulled when the first affected-side base and the second affected-side base are separated, and the butt joint success rate after long-time use is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to a double-affected-side ankle joint rehabilitation robot. Background Art

[0002] In the existing ankle joint rehabilitation robots, one side is the affected side and the other side is the healthy side. A magnetic attraction female terminal connector is fixed on the affected-side base, and a magnetic attraction male terminal connector is connected to the healthy-side base. The magnetic attraction male terminal connector has a certain amount of movement. When the affected side and the healthy side approach and dock, the magnetic attraction female terminal connector and the magnetic attraction male terminal connector can automatically align and engage. When the two bases are separated, due to the magnetic force between them, the wire of the magnetic attraction male terminal connector will be stressed. When the stress is greater than the magnetic force, the two will separate. The disadvantage of such a design is that the wire of the magnetic attraction male terminal connector will be subjected to a pulling force when the two bases are separated, and the connection part between the wire of the magnetic attraction male terminal connector and the magnetic attraction male terminal connector is easily damaged, or the fixing seat of the wire of the magnetic attraction male terminal connector does not firmly press the wire of the magnetic attraction male terminal connector, resulting in the magnetic attraction male terminal connector being gradually pulled out, and the docking success rate will be reduced after long-term use.

[0003] In addition, when the patient switches between sitting and lying postures, it is necessary to rotate the handle in the ankle joint rehabilitation robot to change the orientation of the foot support. The existing handle is in surface contact with the support beam. Since the handle uses a screw locking method, the axial force generated is very large, resulting in a large frictional force between the handle and the support beam. A relatively large force is required to lock or loosen the handle, and it is easy to damage the contact appearance surface at the same time.

[0004] Therefore, there is an urgent need for a double-affected-side ankle joint rehabilitation robot that can solve at least one of the above technical problems. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a double-affected-side ankle joint rehabilitation robot, which can avoid the wire harness connected to the magnetic attraction male seat being subjected to a pulling force when the first affected-side base and the second affected-side base are separated, and ensure the docking success rate after long-term use.

[0006] To achieve the above purpose, the utility model provides the following technical solutions:

[0007] The utility model provides a double-affected-side ankle joint rehabilitation robot, including a first affected-side base, a first floating plate, a magnetic attraction female seat, a second affected-side base, a second floating plate and a magnetic attraction male seat, wherein:

[0008] The first floating plate is installed inside the first affected-side base and has a floating amount relative to the first affected-side base along the docking direction of the first affected-side base and the second affected-side base, and the magnetic attraction female seat is fixedly connected to the first floating plate;

[0009] The second floating plate is installed inside the second affected - side base and has a floating amount relative to the second affected - side base along the docking direction. The magnetic - attraction male seat is fixedly connected to the second floating plate and is used for docking with the magnetic - attraction female seat.

[0010] Further, the first floating plate is connected to the first affected - side base through a first connecting member. The first connecting member has a first limiting surface. The first floating plate is limited between the first limiting surface and the inner wall of the first affected - side base along the docking direction, and the distance between the first limiting surface and the inner wall of the first affected - side base is greater than the thickness of the first floating plate.

[0011] Further, the second floating plate is connected to the second affected - side base through a second connecting member. The second connecting member has a second limiting surface. The second floating plate is limited between the second limiting surface and the inner wall of the second affected - side base along the docking direction, and the distance between the second limiting surface and the inner wall of the second affected - side base is greater than the thickness of the second floating plate.

[0012] Further, training frames are connected to both the first affected - side base and the second affected - side base. The training frame includes a main angle arm, a support beam, a thrust bearing, and a handle assembly;

[0013] The end face of the main angle arm has a first tooth structure and a protrusion extending into the support beam;

[0014] One end face of the support beam has a second tooth structure that engages with the first tooth structure relatively, and the other end is rotationally matched with the handle assembly through the thrust bearing. The handle assembly extends into the support beam and is threadedly connected to the protrusion.

[0015] Further, the handle assembly includes a handle body and a third connecting member. The handle body is rotationally matched with the support beam through the thrust bearing. One end of the third connecting member is fixedly connected to the handle body, and the other end passes through the thrust bearing and extends into the support beam and is threadedly connected to the protrusion.

[0016] Further, there is a gap between the end face of the handle body for abutting against the thrust bearing and the support beam.

[0017] Further, in the end faces of the main angle arm and the support beam that are engaged with each other, one is recessed with an annular groove, and the other is protruded with a convex ring extending into the annular groove. The convex ring is used to block the first tooth structure and the second tooth structure.

[0018] Further, the first tooth structure is integrally formed on the end face of the main angle arm.

[0019] Further, the training racks on the first affected - side base and the second affected - side base both include a driving mechanism for driving the patient's ankle to perform rehabilitation training, and an angle encoder is arranged inside the driving mechanism.

[0020] Further, a groove is concave - formed between the first affected - side base and the second affected - side base, and an emergency - stop socket is arranged in the groove.

[0021] The double - affected - side ankle joint rehabilitation robot provided by the present utility model can produce the following beneficial effects:

[0022] Since the first floating plate has a floating amount relative to the first affected - side base along the docking direction, the magnetic - attraction female seat has a floating amount relative to the first affected - side base along the docking direction. Similarly, since the second floating plate has a floating amount relative to the second affected - side base along the docking direction, the magnetic - attraction male seat has a floating amount relative to the second affected - side base along the docking direction. When the first affected - side base and the second affected - side base approach and dock, the magnetic - attraction female seat and the magnetic - attraction male seat can automatically align and engage. When the first affected - side base and the second affected - side base are separated, the first affected - side base hinders the outward movement of the magnetic - attraction female seat through the first floating plate, and the second affected - side base hinders the outward movement of the magnetic - attraction male seat through the second floating plate, so that the final force is borne by the first floating plate and the second floating plate, rather than the wire harness connected to the magnetic - attraction male seat.

[0023] Compared with the prior art, when the first affected - side base and the second affected - side base of the double - affected - side ankle joint rehabilitation robot provided by the present utility model are separated, the wire harness connected to the magnetic - attraction male seat will not be subjected to tensile force, the connection part between the wire harness and the magnetic - attraction male seat is not easily damaged, and the wire harness will not be gradually pulled out. After long - term use, the position of the magnetic - attraction female seat relative to the first affected - side base and the position of the magnetic - attraction male seat relative to the second affected - side base are still stable, and the docking success rate will not be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following - described drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0025] Figure 1 It is the front view of a double - affected - side ankle joint rehabilitation robot provided by an embodiment of the present utility model;

[0026] Figure 2 For Figure 1 the A - A cross - sectional view of

[0027] Figure 3 For Figure 2Partial enlarged schematic view at position C;

[0028] Figure 4 is Figure 1 Cross-sectional view taken along line B - B;

[0029] Figure 5 is Figure 4 Partial enlarged schematic view at position D;

[0030] Figure 6 3D structural schematic diagram of a main angle arm provided by an embodiment of the present invention;

[0031] Figure 7 3D structural schematic diagram of a support beam provided by an embodiment of the present invention.

[0032] Icon: 1 - First affected - side base; 2 - First floating plate; 3 - Magnetic - attracting female seat; 4 - Second affected - side base; 5 - Second floating plate; 6 - Magnetic - attracting male seat; 7 - First connecting member; 71 - First limiting surface; 8 - Second connecting member; 81 - Second limiting surface; 9 - Training rack; 91 - Main angle arm; 911 - First tooth structure; 912 - Protrusion; 913 - Convex ring; 92 - Support beam; 921 - Second tooth structure; 922 - Ring groove; 93 - Thrust bearing; 94 - Handle assembly; 941 - Handle body; 942 - Third connecting member; 95 - First driver; 96 - Second driver; 10 - Groove; 101 - Emergency - stop socket. Detailed implementation manners

[0033] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] In the description of the present invention, it should be noted that the orientation or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0035] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0036] The following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present utility model, and are not used to limit the present utility model.

[0037] An embodiment of the first aspect of the present utility model is to provide a dual-affected-side ankle rehabilitation robot, as Figures 1 to 3 shown, including a first affected-side base 1, a first floating plate 2, a magnetic female seat 3, a second affected-side base 4, a second floating plate 5, and a magnetic male seat 6, wherein:

[0038] The first floating plate 2 is installed inside the first affected-side base 1 and has a floating amount relative to the first affected-side base 1 along the docking direction of the first affected-side base 1 and the second affected-side base 4. The magnetic female seat 3 is fixedly connected to the first floating plate 2.

[0039] The second floating plate 5 is installed inside the second affected-side base 4 and has a floating amount relative to the second affected-side base 4 along the docking direction. The magnetic male seat 6 is fixedly connected to the second floating plate 5 and the magnetic male seat 6 is used to dock with the magnetic female seat 3.

[0040] As Figure 3 shown, since the first floating plate 2 has a first floating amount d 1 along the docking direction relative to the first affected-side base 1, the magnetic female seat 3 has a floating amount along the docking direction relative to the first affected-side base 1. Similarly, since the second floating plate 5 has a second floating amount d 2 along the docking direction relative to the second affected-side base 4, the magnetic male seat 6 has a floating amount along the docking direction relative to the second affected-side base 4. When the first affected-side base 1 and the second affected-side base 4 approach and dock, the magnetic female seat 3 and the magnetic male seat 6 can automatically align and attract. When the first affected-side base 1 and the second affected-side base 4 are separated, the first affected-side base 1 hinders the outward movement of the magnetic female seat 3 through the first floating plate 2, and the second affected-side base 4 hinders the outward movement of the magnetic male seat 6 through the second floating plate 5, so that the final force is applied to the first floating plate 2 and the second floating plate 5, rather than the wire harness connected to the magnetic male seat 6.

[0041] When the first affected-side base 1 and the second affected-side base 4 in the dual-affected-side ankle rehabilitation robot provided by the above embodiments are separated, the wire harness connected to the magnetic male seat 6 will not be subjected to tensile force, the connection between the wire harness and the magnetic male seat 6 is not easily damaged, and the wire harness will not be gradually pulled out. After long-term use, the position of the magnetic female seat 3 relative to the first affected-side base 1 and the position of the magnetic male seat 6 relative to the second affected-side base 4 are still stable, and the docking success rate will not be reduced.

[0042] It can be understood that when the magnetic female seat 3 and the magnetic male seat 6 are in the docking state, the magnetic female seat 3 protrudes out of the outer wall of the first affected-side base 1, and / or the magnetic male seat 6 protrudes out of the outer wall of the second affected-side base 4.

[0043] In an alternative embodiment, as Figure 3 shown, the first floating plate 2 is connected to the first affected-side base 1 through a first connecting member 7. The first connecting member 7 has a first limiting surface 71. The first floating plate 2 is limited in the docking direction between the first limiting surface 71 and the inner wall of the first affected-side base 1. The distance between the first limiting surface 71 and the inner wall of the first affected-side base 1 is greater than the thickness of the first floating plate 2, so that the first floating plate 2 has a first floating amount d between the first limiting surface 71 and the inner wall of the first affected-side base 1. 1 .

[0044] Among them, the first connecting member 7 can be a screw, a pin, etc.

[0045] In a preferred embodiment, the first connecting member 7 is a screw, and the end surface of the screw head facing the second affected-side base 4 has a first limiting surface 71.

[0046] As Figure 3 shown, the first connecting member 7 can be configured as two, and the two first connecting members 7 can respectively pass through both ends of the first floating plate 2 and be connected to the first affected-side base 1.

[0047] In an alternative embodiment, as Figure 3 shown, the second floating plate 5 is connected to the second affected-side base 4 through a second connecting member 8. The second connecting member 8 has a second limiting surface 81. The second floating plate 5 is limited in the docking direction between the second limiting surface 81 and the inner wall of the second affected-side base 4. The distance between the second limiting surface 81 and the inner wall of the second affected-side base 4 is greater than the thickness of the second floating plate 5, so that the second floating plate 5 has a second floating amount d between the second limiting surface 81 and the inner wall of the second affected-side base 4. 2 .

[0048] Among them, the second connecting member 8 can be a screw, a pin, etc.

[0049] In a preferred embodiment, the second connecting member 8 is a screw, and the end surface of the screw head facing the first affected-side base 1 has a second limiting surface 81.

[0050] As shown Figure 3 in the figure, two second connectors 8 can be configured. The two second connectors 8 can respectively penetrate through both ends of the second floating plate 5 and be connected to the second affected side base 4.

[0051] In an alternative embodiment, as Figures 4 to 6 shown in the figure, training frames 9 are connected to both the first affected side base 1 and the second affected side base 4. The training frame 9 includes a main angle arm 91, a support beam 92, a thrust bearing 93, and a handle assembly 94, where:

[0052] The end face of the main angle arm 91 has a first tooth structure 911 and a protrusion 912 extending into the support beam 92;

[0053] One end face of the support beam 92 has a second tooth structure 921 that engages with the first tooth structure 911 relatively. The other end is rotatably fitted with the handle assembly 94 through the thrust bearing 93. The handle assembly 94 extends into the support beam 92 and is threadedly connected to the protrusion 912.

[0054] When it is necessary to adjust the position of the main angle arm 91 relative to the support beam 92, the handle assembly 94 can be rotated so that the handle assembly 94 is loosened a certain distance to the right relative to the protrusion 912, and then there is a large enough gap between the first tooth structure 911 and the second tooth structure 921 that enables the first tooth structure 911 to rotate relative to the second tooth structure 921; after rotating to the appropriate angle, the handle assembly 94 is rotated in the reverse direction so that the handle assembly 94 is tightened to the left relative to the protrusion 912, and then the first tooth structure 911 and the second tooth structure 921 are firmly engaged.

[0055] In the above process, since the support beam 92 is rotatably fitted with the handle assembly 94 through the thrust bearing 93, the thrust bearing 93 can effectively reduce the friction suffered by the user when rotating the handle assembly 94 and reduce the force required to lock or loosen the handle assembly 94.

[0056] In an alternative embodiment, as Figure 5 shown in the figure, the handle assembly 94 includes a handle body 941 and a third connector 942. The handle body 941 is rotatably fitted with the support beam 92 through the thrust bearing 93. One end of the third connector 942 is fixedly connected to the handle body 941, and the other end penetrates through the thrust bearing 93 and extends into the support beam 92 and is threadedly connected to the protrusion 912.

[0057] The above setting facilitates the cooperation between the handle assembly 94 and the thrust bearing 93 and also facilitates the connection between the handle assembly 94 and the protrusion 912.

[0058] Among them, the third connector 942 and the handle body 941 can adopt an interference fit connection method.

[0059] In an alternative embodiment, as Figure 5 shown, there is a gap between the end face of the handle body 941 for abutting against the thrust bearing 93 and the support beam 92. This gap prevents the handle body 941 from rubbing against the end face of the support beam 92 during rotation, thereby protecting the appearance surface.

[0060] In an alternative embodiment, as Figure 5 shown, in the end faces where the main angle arm 91 and the support beam 92 are engaged, one is recessed with an annular groove 922, and the other is protruded with a convex ring 913 extending into the annular groove 922. The convex ring 913 is used to block the first tooth structure 911 and the second tooth structure 921.

[0061] The arrangement of the convex ring 913 and the annular groove 922 can prevent the first tooth structure 911 and the second tooth structure 921 from being exposed, ensuring operation safety.

[0062] In a preferred embodiment, the end face of the support beam 92 is recessed with an annular groove 922, and the end face of the main angle arm 91 is protruded with a convex ring 913 extending into the annular groove 922. After the convex ring 913 extends into the annular groove 922, it can block the first tooth structure 911 and the second tooth structure 921.

[0063] In an alternative embodiment, the first tooth structure 911 is integrally formed on the end face of the main angle arm 91.

[0064] In an alternative embodiment, the training frames 9 on the first affected side base 1 and the second affected side base 4 both include a driving mechanism for driving the patient's ankle to perform rehabilitation training. An angle encoder for detecting the magnitude of the movement angle of the driving mechanism driving the training frame 9 is provided in the driving mechanism.

[0065] The driving mechanism includes a first driver 95 and a second driver 96. Angle encoders are provided in both the first driver 95 and the second driver 96. The first driver 95 is used to drive the training frame 9 to perform plantar flexion or dorsiflexion movement of the ankle joint, and the second driver 96 is used to drive the training frame 9 to achieve internal rotation and external rotation movement of the ankle joint.

[0066] In an alternative embodiment, a groove 10 is recessed between the first affected side base 1 and the second affected side base 4. An emergency stop socket 101 is provided in the groove 10. This arrangement makes the emergency stop socket 101 hidden and there is no risk of being kicked and damaged.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bilateral ankle joint rehabilitation robot, characterized in that: It comprises a first affected-side base (1), a first floating plate (2), a magnetic female base (3), a second affected-side base (4), a second floating plate (5) and a magnetic male base (6), wherein: The first floating plate (2) is installed inside the first affected-side base (1) and has a floating amount relative to the first affected-side base (1) along the docking direction of the first affected-side base (1) and the second affected-side base (4), and the magnetic mother base (3) is fixedly connected to the first floating plate (2); The second floating plate (5) is installed inside the second affected-side base (4) and has a floating amount relative to the second affected-side base (4) along the docking direction; the magnetic male seat (6) is fixedly connected to the second floating plate (5) and the magnetic male seat (6) is used to dock with the magnetic female seat (3).

2. The bilateral ankle joint rehabilitation robot according to claim 1, characterized in that: The first floating plate (2) is connected to the first affected-side base (1) via a first connecting member (7); the first connecting member (7) has a first limiting surface (71); the first floating plate (2) is limited along the docking direction between the first limiting surface (71) and the inner wall of the first affected-side base (1); the distance between the first limiting surface (71) and the inner wall of the first affected-side base (1) is greater than the thickness of the first floating plate (2).

3. The bilateral ankle joint rehabilitation robot according to claim 1, characterized in that: The second floating plate (5) is connected to the second affected-side base (4) via a second connecting member (8); the second connecting member (8) has a second limiting surface (81); the second floating plate (5) is limited along the docking direction between the second limiting surface (81) and the inner wall of the second affected-side base (4); the distance between the second limiting surface (81) and the inner wall of the second affected-side base (4) is greater than the thickness of the second floating plate (5).

4. The bilateral ankle joint rehabilitation robot according to claim 3, characterized in that: The first affected-side base (1) and the second affected-side base (4) are both connected to a training frame (9), wherein the training frame (9) comprises a main angle arm (91), a support beam (92), a thrust bearing (93) and a handle assembly (94); The end surface of the main angle arm (91) has a first tooth structure (911) and a protrusion (912) extending into the support beam (92); The end surface of one end of the support beam (92) has a second tooth structure (921) that is relatively engaged with the first tooth structure (911), and the other end is rotatably matched with the handle assembly (94) through the thrust bearing (93), and the handle assembly (94) extends into the support beam (92) and is threadedly connected to the protrusion (912).

5. The bilateral ankle joint rehabilitation robot according to claim 4, characterized in that: The handle assembly (94) includes a handle body (941) and a third connecting member (942); the handle body (941) is rotatably matched with the support beam (92) via the thrust bearing (93); one end of the third connecting member (942) is fixedly connected to the handle body (941), and the other end passes through the thrust bearing (93) and extends into the support beam (92) to be threadedly connected to the protrusion (912).

6. The bilateral ankle joint rehabilitation robot according to claim 5, characterized in that: There is a gap between the end surface of the handle body (941) that abuts against the thrust bearing (93) and the support beam (92).

7. The bilateral ankle joint rehabilitation robot according to claim 4, characterized in that: One of the end surfaces where the main angle arm (91) and the support beam (92) are engaged is provided with a recessed annular groove (922), and the other is provided with a convex ring (913) extending into the annular groove (922), and the convex ring (913) is used to cover the first tooth structure (911) and the second tooth structure (921).

8. The bilateral ankle joint rehabilitation robot according to claim 7, characterized in that: The first tooth structure (911) is integrally formed on the end surface of the main angle arm (91).

9. The bilateral ankle joint rehabilitation robot according to claim 8, characterized in that: The training frame (9) on the first affected-side base (1) and the second affected-side base (4) both comprise a driving mechanism for driving the patient's ankle to perform rehabilitation training, and an angle encoder is arranged inside the driving mechanism.

10. The bilateral ankle joint rehabilitation robot according to any one of claims 1 to 9, characterized in that: A groove (10) is formed between the first affected-side base (1) and the second affected-side base (4), and an emergency stop socket (101) is provided in the groove (10).

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