Three-degree-of-freedom ankle rehabilitation and correction multifunctional device

Abstract

The utility model provides a three-degree-of-freedom ankle rehabilitation and correction multifunctional device which comprises a base. The horizontal plane moving part is arranged on the base and is rotationally connected with the base; the sagittal plane moving part is arranged on the horizontal plane moving part and is rotationally connected with the horizontal plane moving part; the coronal plane moving part is arranged on the sagittal plane moving part and is rotationally connected with the sagittal plane moving part; the driving assembly is used for driving all the moving parts to move; and the supporting assembly is fixed with the coronal plane moving part and reciprocates in the horizontal plane, the sagittal plane and the coronal plane under the action of the driving assembly, so that the feet are driven to realize adduction, abduction, dorsiflexion, plantar flexion, introversion and extroversion in the horizontal plane, the sagittal plane and the coronal plane. The driving part adopts the bag body, the flow and frequency of fluid charging and discharging of the bag body are measured and controlled in real time through the pressure sensor and the attitude sensor so as to control the amplitude and speed of foot movement, targeted training is conducted, the structure is simple, and the training effect is good.

Description

Technical Field

[0001] The utility model belongs to the technical field of rehabilitation and correction instruments, and particularly relates to a three-degree-of-freedom ankle rehabilitation and correction multifunctional device. Background Art

[0002] With the development of the economic level and the improvement of the living standard, stroke, cerebral hemorrhage, cerebral infarction, and cerebral thrombosis have become common diseases in China. Their sequelae often include foot stiffness, spasm, muscle weakness, and inability to walk normally. Cerebral palsy, burns, scalds, and other various accidents can also cause the above sequelae, seriously affecting the normal life of patients. In addition, due to the special position and structure of the ankle joint, it is prone to injury during daily exercise and movement. For the elderly, not only is there a situation of sports injury in the ankle joint, but also with the growth of age, the joint mobility and coordination are prone to decline, affecting normal life. Foot rehabilitation and correction are needed. Moreover, for groups who are bedridden or have less activity, there is also a problem that blood clots are prone to occur in the lower extremities.

[0003] Foot rehabilitation and correction need to be carried out step by step. At present, there is still a lack of a better three-dimensional adjustable correction device. Although the existing rehabilitation devices have a certain training effect, many do not have an active driving mechanism, or have a cumbersome structure, resulting in an oversized device volume, or a single function, high cost, inconvenient movement and use. Most of them are used in hospitals and cannot meet the needs of patients' personal training. Therefore, it is necessary to develop a foot rehabilitation and correction device with a simple structure, low cost, convenient to carry, capable of achieving a better rehabilitation and correction effect and convenient for home use. At the same time, there are few existing ankle movement instruments, and there is a lack of effective ankle movement training, making it difficult to prevent the generation of blood clots in the lower extremities. Summary of the Utility Model

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present utility model is to provide a three-degree-of-freedom ankle rehabilitation and correction multifunctional device with a simple structure and good rehabilitation effect.

[0005] To achieve the above purpose and other related purposes, the present utility model provides a three-degree-of-freedom ankle rehabilitation and correction multifunctional device, including:

[0006] A base;

[0007] A motion assembly, arranged on the base, and the motion assembly includes:

[0008] A horizontal plane motion part, arranged on the base and rotatably connected to the base;

[0009] A sagittal plane motion part, arranged on the horizontal plane motion part and rotatably connected to the horizontal plane motion part;

[0010] The coronal plane moving part is arranged on the sagittal plane moving part and is rotatably connected to the sagittal plane moving part;

[0011] The driving assembly is arranged between the base and the horizontal plane moving part, between the horizontal plane moving part and the sagittal plane moving part, and between the sagittal plane moving part and the coronal plane movement, and drives the movements of the horizontal plane moving part, the sagittal plane moving part and the coronal plane moving part;

[0012] The supporting assembly is fixed to the coronal plane moving part, and the supporting assembly reciprocates in the horizontal plane, sagittal plane and coronal plane under the action of the driving assembly and the moving assembly.

[0013] According to an embodiment of the present invention, the horizontal plane moving part includes:

[0014] The horizontal plane moving plate is rotatably installed on the upper plane of the base;

[0015] The first baffle is connected to the horizontal plane moving plate;

[0016] The second baffle is connected to the plane of the horizontal plane moving plate away from the base;

[0017] The support is connected to the plane of the horizontal plane moving plate away from the base.

[0018] According to an embodiment of the present invention, the sagittal plane moving part includes:

[0019] The sagittal plane moving member is rotatably installed on the support.

[0020] According to an embodiment of the present invention, the coronal plane moving part includes a coronal plane moving member, which is rotatably installed on the sagittal plane moving member.

[0021] According to an embodiment of the present invention, the driving assembly includes:

[0022] The first driving member is arranged in the chamber of the base and is located between the first baffle and the side wall of the base, and is used to drive the rotation of the horizontal plane moving plate in the horizontal plane;

[0023] The second driving member is arranged between the second baffle and the sagittal plane moving member, and is used to drive the rotation of the sagittal plane moving member in the sagittal plane;

[0024] The third driving member is arranged between the sagittal plane moving member and the coronal plane moving member, and is used to drive the rotation of the coronal plane moving member in the coronal plane.

[0025] According to an embodiment of the present utility model, a sliding connection is provided between the first driving member and the base and / or the horizontal plane moving part, between the second driving member and the horizontal plane moving part and / or the sagittal plane moving part, and between the third driving member and the sagittal plane moving part and / or the coronal plane moving part.

[0026] According to an embodiment of the present utility model, the first driving member and / or the second driving member and / or the third driving member is a bladder or a fluid actuator.

[0027] According to an embodiment of the present utility model, the first driving member, the second driving member, and the third driving member are connected to a control device, and the control device includes a pressure sensor for detecting the pressure of the first driving member, the second driving member, and the third driving member and / or a force sensor for detecting the magnitude of the corresponding driving force.

[0028] According to an embodiment of the present utility model, the first driving member and / or the second driving member and / or the third driving member is detachably connected.

[0029] According to an embodiment of the present utility model, an attitude sensor is provided on the coronal plane moving part or the support assembly.

[0030] The three-degree-of-freedom ankle rehabilitation and correction multifunctional device of the present utility model can achieve all-round training for foot adduction and abduction, dorsiflexion and plantar flexion, and inversion and eversion through the reciprocating movements of the horizontal plane moving part, the sagittal plane moving part, and the coronal plane moving part in the horizontal plane, the sagittal plane, and the coronal plane respectively; it is driven by a bladder or a fluid actuator, with light weight, convenient to carry, sufficient force, good safety, controlled driving, easy to adjust, high comfort, and can adapt to various rehabilitation training forms such as passive training and active training, enriching the rehabilitation treatment forms. The magnitude of each driving force can be measured by a pressure sensor and / or a force sensor, and the fluid charging and discharging of the bladder can be controlled by the control device to adjust the movement amplitude and speed, enabling targeted training, performing ankle pump exercises, and multi-dimensional training with a specified amplitude; the height of the support plate is adjustable to ensure that the ankle and the rotation center are at the same height during training, improving the rehabilitation treatment effect and being able to adapt to various people; the adjustment of inversion and eversion is more reasonable; it is convenient to adjust at low speed or low frequency, facilitating the adjustment of the ankle joint posture, replacing manual pressing and other operations by humans, and being easy to correct; it has a simple structure, is easy to use, and is suitable for home rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for describing the embodiments. Obviously, the drawings in the following description are only 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.

[0032] Figure 1 Stereoscopic structure diagram of an embodiment of the present utility model

[0033] Figure 2 Bottom view of an embodiment of the present utility model;

[0034] Figure 3 Stereoscopic structure diagram of an embodiment of the present utility model;

[0035] Figure 4 Stereoscopic structure diagram of an embodiment of the present utility model;

[0036] Figure 5 Stereoscopic structure diagram of another embodiment of the present utility model.

[0037] Label description:

[0038] 100, base; 200, horizontal plane moving part; 300, sagittal plane moving part; 400, coronal plane moving part; 500, support assembly; 600, adjustment hole; 700, slider;

[0039] 110, support surface; 120, chamber;

[0040] 210, horizontal plane moving plate; 220, first baffle; 230, second baffle; 240, support member; 250, first bladder; 260, coronal plane connecting member;

[0041] 310, sagittal plane moving member; 320, second bladder;

[0042] 410, coronal plane moving member; 420, third bladder; 411, coronal plane moving plate; 412, third baffle;

[0043] 510, connecting plate; 520, connecting rod; 530, support plate. Detailed implementation manners

[0044] The following illustrates the implementation manners of the present utility model through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can also be implemented or applied through different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present utility model.

[0045] It should be noted that the illustrations provided in this embodiment only schematically illustrate the basic concept of the present utility model. Therefore, only the components related to the present utility model are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the layout type of the components may also be more complex.

[0046] For ankle injuries and decreased activity coordination, gradual rehabilitation training and treatment are required. However, most of the current rehabilitation training equipment is either structurally cumbersome and costly, or the rehabilitation training method is imperfect and cannot meet the needs of daily home training. Therefore, the present utility model proposes a three-degree-of-freedom ankle rehabilitation and correction multifunctional device that can drive the foot to perform adduction and abduction, inversion and eversion, as well as dorsiflexion and plantar flexion training, with good rehabilitation effects and a simple structure.

[0047] Please refer to Figures 1 to 4, the present utility model provides a three-degree-of-freedom ankle rehabilitation and correction multifunctional device, which includes a base 100, a motion component, a driving component and a support component 500 arranged on the base 100. The motion component includes a horizontal plane motion part 200, a sagittal plane motion part 300 and a coronal plane motion part 400. The horizontal plane motion part 200 is arranged on the base 100 and is rotationally connected to the base 100, and can perform reciprocating motion in the horizontal plane; the sagittal plane motion part 300 is arranged on the horizontal plane motion part 200 and is rotationally connected to the horizontal plane motion part 200, and can perform reciprocating motion in the sagittal plane and move in the horizontal plane under the drive of the horizontal plane motion part 200; the coronal plane motion part 400 is arranged on the sagittal plane motion part 300 and is rotationally connected to the sagittal plane motion part 300, and can perform reciprocating motion in the coronal plane and move in the horizontal plane and sagittal plane under the drive of the horizontal plane motion part 200 and the sagittal plane motion part 300; the driving component is arranged between the base 100 and the horizontal plane motion part 200, between the horizontal plane motion part 200 and the sagittal plane motion part 300, and between the sagittal plane motion part 300 and the coronal plane motion part 400, and is used to drive the motion of the horizontal plane motion part 200, the sagittal plane motion part 300 and the coronal plane motion part 400; the support component 500 is fixed to the coronal plane motion part 400 and is connected to the sagittal plane motion part 300 and the horizontal plane motion part 200 and the base 100 through the coronal plane motion part 400; an attitude sensor is arranged on the coronal plane motion part 400 or the support component 500, and can detect the motion attitude in real time. The support component 500 can perform reciprocating motion in the horizontal plane, sagittal plane and coronal plane under the action of each driving component and motion component. During rehabilitation training, the foot is placed on the support component 500, and actions such as adduction and abduction, dorsiflexion and plantar flexion, and inversion and eversion can be respectively realized under the drive of the support component 500, so as to realize comprehensive rehabilitation treatment; in addition, when used for correction, a suitable foot posture can be obtained by adjusting each motion part, and then the foot support component 500 and / or the coronal plane motion part 400 can be fixed and used as a fixed brace.

[0048] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the base 100 is a hollow structure, and a support surface 110 is arranged on one side of the base 100 close to the horizontal plane motion part 200, and the motion component is located on the support surface 110. In other embodiments, the base 100 can also be a flat plate, which is placed on the working surface through support columns and leaves a working space, and side plates can be arranged on both sides to connect the driving component.

[0049] Please refer to Figures 1 to 4, in a specific embodiment, the horizontal movement part 200 is disposed on the support surface 110 and is rotatably connected to the base 100. Specifically, the base 100 is a hollow structure with a chamber 120 inside. The lower bottom surface of the base 100 is a closed or semi-closed plane or a cavity opening. The horizontal movement part 200 is fixed to the rotating shaft and is rotatably connected to the base 100 through the rotating shaft and bearings, so as to realize the rotation of the horizontal movement part 200 in the horizontal plane and drive the support assembly 500 to move in the horizontal plane, realizing the training of adduction and abduction movements. In other embodiments, the lower bottom surface of the base 100 is a closed or semi-closed plane, and the rotating shaft can also be fixed to the lower bottom surface of the base 100. The horizontal movement part 200 is rotatably connected to the base 100 through bearings, realizing the rotation of the horizontal movement part 200 in the horizontal plane.

[0050] Please refer to Figures 1 to 4 , according to an embodiment provided by the present invention, the horizontal movement part 200 includes a horizontal movement plate 210, a first baffle 220, a second baffle 230 and a support member 240, and the horizontal movement part 200 is driven to move in the horizontal plane by a driving assembly. The horizontal movement plate 210 is rotatably installed on the upper plane of the base 100, and is used to realize reciprocating rotation in the horizontal plane, and support and connect the sagittal movement part 300 and the coronal movement part 400; the first baffle 220 is connected to the horizontal movement plate 210 or fixed to the rotating shaft, and is located in the chamber 120 of the base 100, and is used to realize the movement of the horizontal movement plate 210; the second baffle 230 is connected to the plane of the horizontal movement plate 210 away from the base 100, and cooperates with the sagittal movement part 300 to realize the movement of the sagittal movement part 300; the support member 240 is connected to the plane of the horizontal movement plate 210 away from the base 100, and is used to connect the horizontal movement part 200 and the sagittal movement part 300 and support the sagittal movement part 300 and the coronal movement part 400. It can be understood that here the first baffle 220 can also be a stop block or other structures, which are used to drive the rotational movement of the horizontal movement plate 210.

[0051] Please refer to Figures 1 to 4 , in a specific embodiment, the rotating shaft is fixed to the horizontal movement plate 210, the first baffle 220 is fixedly connected to the rotating shaft, and is located in the chamber 120 of the base 100 and is rotatably connected to the base 100 through bearings. At this time, the upper plane of the base 100, that is, the support surface 110, can be set as a plane provided with a connection hole for accommodating the rotating shaft.

[0052] In another embodiment, the first baffle 220 can also be connected to the lower bottom surface of the horizontal plane moving plate 210. To enable the movement of the first baffle 220 and drive the horizontal plane moving plate 210 to move, the upper plane of the base 100, i.e., the support surface 110, is an opening of a cavity, and an annular support surface extending radially inward is provided on the inner wall of the opening. The annular support surface is used to support the horizontal plane moving plate 210. Alternatively, the upper plane of the base 100, i.e., the support surface 110, can be set as a partially open surface. The first baffle 220 is located at the opening, and the part of the support surface 110 other than the opening is used to support the horizontal plane moving plate 210. The horizontal plane moving plate 210 is disposed on the support surface 110, and the first baffle 220 drives the horizontal plane moving plate 210 to achieve rotation.

[0053] Please refer to Figures 1 to 4 , in a specific embodiment, the lower bottom surface of the base 100 is a closed or semi-closed plane or an opening of a cavity. The driving member is located between the first baffle 220 and the side wall of the base 100. The driving member drives the first baffle 220 to rotate around an axis, thereby realizing the reciprocating rotation of the horizontal plane moving plate 210 in the horizontal plane and driving the support assembly 500 to reciprocate in the sagittal plane to realize the training of dorsiflexion and plantar flexion movements.

[0054] In other embodiments, the driving members can also be distributed on both sides of the first baffle 220, respectively located between the side walls and the first baffle 220. The driving members on both sides act together on the first baffle 220 to realize the rotation of the first baffle 220.

[0055] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the sagittal plane moving part 300 includes a sagittal plane moving member 310, which is rotatably installed on the support member 240. The driving member is disposed between the second baffle 230 and the sagittal plane moving member 310, and drives the sagittal plane moving member 310 to reciprocate in the sagittal plane, thereby driving the support assembly 500 to reciprocate in the sagittal plane to realize the training of dorsiflexion and plantar flexion movements.

[0056] Please refer to Figures 1 to 4 , in a specific embodiment, the support member 240 is fixedly connected to the plane of the horizontal plane moving plate 210 away from the base 100. The sagittal plane moving member 310 is fixedly connected to the rotating shaft and is rotatably connected to the support member 240 through the rotating shaft and bearings. The lower bottom surface of the sagittal plane moving member 310 has a certain distance from the connection surface between the horizontal moving member and the base 100 to facilitate the rotational movement in the sagittal plane.

[0057] Specifically, the support member 240 can be plate-shaped, extending away from the base 100 in the height direction, and distributed on both sides of the horizontal plane moving plate 210 in the width direction, and fixed to the plane of the horizontal plane moving plate 210 away from the base 100 by bolts or other means; correspondingly, the sagittal plane moving member 310 is also a plate-shaped member distributed on both sides of the horizontal plane moving plate 210 in the width direction, and is rotatably connected to the support member 240 at one end away from the base 100 through a rotating shaft and a bearing, and is located between the two support members 240; there is a connecting member between the two side plates of the sagittal plane moving member 310. The sagittal plane moving member 310 is fixedly connected to the connecting member or is an integral structure. The end of the connecting member away from the base 100 is rotatably connected to the coronal plane moving part 400 in the coronal plane, and is located in the upper half space away from the base 100. The lower end space facilitates the connection and movement between the support assembly 500 and the coronal plane moving part 400. It can be understood that in order to ensure the rehabilitation effect, the rotation centers of the support member 240 and the sagittal plane moving member 310 are basically coincident with the ankle joint. Correspondingly, the connecting member can be set as a U-shaped plate or other structures.

[0058] Please refer to Figures 1 to 4 , in a specific embodiment, the surface of the sagittal plane moving member 310 close to the second baffle 230 can be set as a plate-shaped structure, which is convenient for fixing the driving member and can enable the driving member to act on the sagittal plane moving member 310 better to realize the movement of the sagittal plane moving member 310 in the sagittal plane; one end of the driving member is fixed to the second baffle 230, and the other end is fixed to the sagittal plane moving member 310. The driving member acts on the sagittal plane moving member 310 with a thrust or a pulling force, and realizes the reciprocating rotational movement of the sagittal plane moving member 310 in the sagittal plane through a rotating shaft.

[0059] In other embodiments, the sagittal plane moving member 310 and the support member 240 can also be rectangular block structures, etc. The sagittal plane moving member 310 and the support member 240 can also be integrally rotatably connected through a rotating shaft to realize the reciprocating rotational movement of the sagittal plane moving member 310 in the sagittal plane.

[0060] Please refer to Figures 1 to 4, according to an embodiment provided by the present utility model, the coronal plane moving part 400 includes a coronal plane moving member 410, and the driving member drives the movement of the coronal plane moving part 400 in the coronal plane. The coronal plane moving member 410 is rotatably installed on the sagittal plane moving member 310, and is used to realize reciprocating rotation in the coronal plane and is connected to the support assembly 500. An adjustment hole 600 is provided on the surface where the coronal plane moving member 410 is connected to the support assembly 500, which is used to adjust the relative position between the support assembly 500 and the coronal plane moving member 410, so that the ankle on the support assembly 500 and the rotation center of the sagittal plane rotational movement are at the same height, achieving a better rehabilitation training effect and ensuring training safety; the driving member is arranged between the sagittal plane moving member 310 and the coronal plane moving member 410, and is used to drive the rotation of the coronal plane moving member 410 in the coronal plane, thereby driving the support assembly 500 to reciprocally rotate in the coronal plane, realizing the training of inversion and eversion movements.

[0061] Please refer to Figures 1 to 4 , in a specific embodiment, the coronal plane moving member 410 includes a coronal plane moving plate 411 and a third baffle 412. The coronal plane moving plate 411 is rotatably connected to the sagittal plane moving member 310 through a bearing. A plurality of adjustment holes 600 are provided on the coronal plane moving plate 411, which are used to adjust the installation position of the support assembly 500 on the coronal plane moving plate 411. Specifically, a bearing end cover and a shaft sleeve are provided on the sagittal plane moving member 310 to position the bearing. A bearing seat is arranged between the coronal plane moving plate 411 and the sagittal plane moving member 310 to improve the bearing capacity. The bearing seat is fixedly connected to the sagittal plane moving member 310 through bolts, the bearing end cover is fixedly connected to the sagittal plane moving member 310 through bolts, and the coronal plane moving plate 411 is fixedly connected to the rotating shaft through screws. The whole coronal plane moving member 410 is rotatably connected to the sagittal plane moving member 310 through the rotating shaft and the bearing. The driving members are respectively arranged on both sides of the third baffle 412 and are located between the third baffle 412 and the sagittal plane moving member 310, and jointly act to push the third baffle 412 to rotate around the rotating shaft in the coronal plane, thereby driving the support assembly 500 to move in the coronal plane, realizing inversion and eversion training.

[0062] In other embodiments, the coronal plane moving member 410 can also be a rectangular block or other structures. The coronal plane moving member 410 is rotatably connected to the sagittal plane moving member 310. The driving members can be arranged on both sides of the coronal plane moving member 410 and are located between the coronal plane moving member 410 and the sagittal plane moving member 310, and jointly act to push the third baffle 412 to rotate around the rotating shaft in the coronal plane. A plurality of adjustment holes 600 are provided on the surface where the coronal plane moving member 410 is connected to the support assembly 500, which are used to adjust the relative height of the support assembly 500 on the coronal plane moving member 410. The driving member can also be arranged on one side of the coronal plane moving member 410 and fixed to the coronal plane moving member 410 and the sagittal plane moving member 310.

[0063] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the driving assembly includes a first driving member, a second driving member, and a third driving member. The first driving member is disposed in the chamber 120 of the base 100 and is located between the first baffle and the side wall of the base 100, and is used to drive the horizontal plane moving plate 210 to rotate within the horizontal plane; the second driving member is disposed between the second baffle 230 and the sagittal plane moving member 310, and is used to drive the sagittal plane moving member 310 to rotate within the sagittal plane; the third driving member is disposed between the sagittal plane moving member 310 and the coronal plane moving member 410, and is used to drive the coronal plane moving member 410 to rotate within the coronal plane. By driving each component of the driving assembly to drive the foot to perform rotational reciprocating motions and other motions within the horizontal plane, sagittal plane, and coronal plane, rehabilitation training for the adduction and abduction, dorsiflexion and plantar flexion, and inversion and eversion of the foot can be achieved; in addition, the driving assembly can also be finely adjusted in multiple directions to adjust the foot posture. After obtaining a suitable corrective posture, the foot support assembly 500 and / or the coronal plane moving member 410 are fixed. At this time, it can be used as a fixing brace during correction.

[0064] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the first driving member and / or the second driving member and / or the third driving member is a bladder or a fluid actuator. Specifically, for example, the first driving member is the first bladder 250, the second driving member is the second bladder 320, and the third driving member is the third bladder 420. The first bladder 250 is disposed in the chamber 120 of the base 100 and is used to drive the horizontal plane moving part 200 to move within the horizontal plane; the second bladder 320 is disposed between the horizontal plane moving part 200 and the sagittal plane moving part 300 and is used to drive the sagittal plane moving part 300 to move within the sagittal plane; the third bladder 420 is disposed between the sagittal plane moving part 300 and the coronal plane moving part 400 and is used to drive the coronal plane moving part 400 to move within the coronal plane. It can be understood that the first bladder 250, the second bladder 320, and the third bladder 420 include, but are not limited to, air bladders or other fluid bladders. By filling and discharging fluid inside the bladder, the bladder deforms to push or pull the moving parts to achieve motion.

[0065] Please refer to Figures 1 to 4 , in other embodiments, the driving assembly can also be a bellows or other driving mechanisms such as a linkage mechanism or a telescopic rod, which connect each moving part and drive it to achieve motion.

[0066] Please refer to Figures 1 to 4, according to an embodiment provided by the present utility model, the first bladder 250 is disposed within the chamber 120 of the base 100 and is located between the baffle 220 and the side wall of the base 100, driving the horizontal plane moving plate 210 to perform reciprocating rotation within the horizontal plane, thereby driving the support assembly 500 to perform reciprocating rotation within the horizontal plane to achieve the training of adduction and abduction movements.

[0067] Please refer to Figures 1 to 4 , in a specific embodiment, when the lower bottom surface of the base 100 is a closed or semi-closed plane or the cavity is open, the first bladder 250 is located between the first baffle 220 and the side wall of the base 100, and is respectively fixed to the first baffle 220 and the side wall of the base 100. When the bladder is filled with or drained of fluid, it pushes the first baffle 220 to rotate around the axis, thereby realizing the reciprocating rotation of the horizontal plane moving plate 210 within the horizontal plane and driving the support assembly 500 to perform reciprocating rotation within the sagittal plane to achieve the training of dorsiflexion and plantar flexion movements.

[0068] In other embodiments, the first bladder 250 can also be distributed on both sides of the first baffle 220, respectively located between the side walls and the first baffle 220. The first bladders 250 on both sides act simultaneously, with one side filled with fluid and the other side drained of fluid, jointly acting on the first baffle 220 to realize the rotation of the first baffle 220. At this time, the first bladder 250 can be unfixed, and the mutual action of the first bladders 250 on both sides can be used to push and fix the position of the first baffle 220.

[0069] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the second bladder 320 is disposed between the second baffle 230 and the sagittal plane moving member 310. By filling or draining the second bladder 320 with fluid, the sagittal plane moving member 310 is driven to perform reciprocating rotation within the sagittal plane, thereby driving the support assembly 500 to perform reciprocating rotation within the sagittal plane to achieve the training of dorsiflexion and plantar flexion movements.

[0070] Specifically, one end of the second bladder 320 is fixed to the second baffle 230, and the other end is fixed to the sagittal plane moving member 310. When the second bladder 320 is filled with or drained of fluid, it acts on the sagittal plane moving member 310 with a thrust or a pulling force, and realizes the reciprocating rotational movement of the sagittal plane moving member 310 within the sagittal plane through the rotating shaft.

[0071] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the third bladder 420 is disposed between the sagittal plane moving member 310 and the coronal plane moving member 410, and is used to drive the coronal plane moving member 410 to rotate within the coronal plane, thereby driving the support assembly 500 to perform reciprocating rotation within the coronal plane to achieve the training of inversion and eversion movements.

[0072] Specifically, the third bladder 420 is respectively disposed on both sides of the third baffle 412 and located between the third baffle 412 and the sagittal plane moving member 310. While one bladder is filled with fluid, the other bladder discharges fluid. Their combined action drives the third baffle 412 to rotate around the rotating shaft in the coronal plane, thereby driving the support assembly 500 to move in the coronal plane to achieve inversion and eversion training. In other embodiments, the third bladder 420 may also be disposed on one side of the coronal plane moving member 410 and fixed to the coronal plane moving member 410 and the sagittal plane moving member 310.

[0073] Please refer to Figures 1 to 4 , according to an embodiment provided by the present invention, the third bladder 420 can be fixed to the third baffle 412 and / or the sagittal plane moving member 310. By filling and discharging fluid in the two bladders respectively, the coronal plane moving member 410 is driven to rotate around the rotating shaft in the coronal plane, and the support assembly 500 is driven to move in the coronal plane. In other embodiments, the third bladder 420 may not be fixed. At this time, there are plate-like structures on the bottom surface and side surface of the sagittal plane moving member 310 for supporting the third bladder 420. Through the interaction of the third bladders 420 on both sides, the coronal plane moving member 410 is pushed and fixed, enabling the coronal plane moving member 410 to perform reciprocating rotational motion in the coronal plane and driving the support assembly 500 to move in the coronal plane.

[0074] Please refer to Figures 1 to 4 , according to an embodiment provided by the present invention, the first driving member is slidably connected between the base 100 and / or the horizontal plane moving part 200, the second driving member is slidably connected between the horizontal plane moving part 200 and / or the sagittal plane moving part 300, and the third driving member is slidably connected between the sagittal plane moving part 300 and / or the coronal plane moving part 400. For example, it can be connected by a pair of sliders 700 provided with corresponding groove and protrusion structures to ensure stable contact between the driving member and the moving member, achieve a better driving effect, and also facilitate installation and disassembly.

[0075] Please refer to Figures 1 to 4, according to an embodiment provided by the present utility model, the first driving member, the second driving member and the third driving member are connected to a control device, and the control device includes a pressure sensor for detecting the pressures of the first driving member, the second driving member and the third driving member and / or a force sensor for detecting the magnitudes of the corresponding driving forces, and can measure the magnitudes of the driving forces. In a specific embodiment, the driving assembly is a bladder, the first bladder 250, the second bladder 320 and the third bladder 420 are connected to the control device, and the control device includes a pressure sensor for detecting and feedbacking the pressures of the first bladder 250, the second bladder 320 and the third bladder 420. Force sensors are also provided at the joints of the first bladder 250, the second bladder 320 and the third bladder 420 with the respective moving parts to obtain the acting forces of the bladders on the moving parts when the bladders are filled and discharged with fluid. Thus, by adjusting the pressures of the first bladder 250, the second bladder 320 and the third bladder 420 to fill and discharge fluid, the driving member is controlled to drive the support assembly 500 to move at a desired angle in the horizontal plane, sagittal plane and coronal plane, and the movement amplitude and speed are controlled by controlling the flow rate and frequency of the fluid filled and discharged by the bladder, so as to achieve targeted training. In other embodiments, the first bladder 250, the second bladder 320 and the third bladder 420 can also be controlled to be filled and discharged with fluid by a manual fluid filling and discharging device.

[0076] Please refer to Figures 1 to 4 , according to an embodiment provided by the present utility model, the first driving member and / or the second driving member and / or the third driving member are detachably connected. In a specific embodiment, the driving assembly is a bladder, and the first bladder 250, the second bladder 320 and the third bladder 420 are all detachable, and the corresponding bladders can be set according to specific required functions.

[0077] Please refer to Figures 1 to 4, according to an embodiment provided by the present utility model, the support assembly 500 includes a connecting plate 510, a connecting rod 520 and a support plate 530. The connecting plate 510 is connected to the side of the coronal plane moving member 410 away from the second bladder 320. An adjustment hole 600 is correspondingly provided at the connection between the connecting plate 510 and the coronal plane moving member 410. Through the adjustment hole 600, the position of the connecting plate 510 on the coronal plane moving member 410 can be adjusted and the connecting plate 510 can be fixedly connected to the coronal plane moving member 410. By adjusting the distance between the support plate 530 and the base 100, the position height of the user's ankle can be adjusted. For different populations, through height adjustment, it can be ensured that the ankle is at the same height as the rotation center of the movement in the sagittal plane, achieving a good training effect; the connecting rod 520 is connected to the side of the connecting plate 510 away from the coronal plane moving member 410; the support plate 530 is connected to the connecting rod 520 and is used to place the foot and reciprocate in the horizontal plane, sagittal plane and coronal plane under the action of each driving member to drive the foot to perform adduction and abduction, dorsiflexion and plantar flexion, and inversion and eversion training. An attitude sensor is also provided on the support assembly 500. For example, it can be provided on the support plate 530 and is used to measure the movement attitude of the foot in the three-dimensional space, facilitating the observation of the movement of the foot on the support plate 530, controlling the training speed and adjusting the training method. In other embodiments, the support assembly 500 can also be a whole plate directly fixed to the coronal plane moving member 410. An adjustment strap can also be provided above the support assembly 500 for fixing the foot on the support plate 530.

[0078] Please refer to Figures 1 to 4, according to an embodiment provided by the present utility model, controlling the first bladder 250 to fill or discharge fluid, driving the horizontal plane moving plate 210 to perform a reciprocating rotational motion within the horizontal plane, driving the sagittal plane moving member 310 connected thereto and the coronal plane moving member 410 connected to the sagittal plane moving member 310 to simultaneously perform reciprocating motions within the horizontal plane, and finally driving the support plate 530 connected to the coronal plane moving member 410 to move within the horizontal plane, thereby realizing the adduction and abduction movements of the foot within the horizontal plane; controlling the second bladder 320 to fill or discharge fluid, driving the sagittal plane moving member 310 to perform a reciprocating rotational motion within the sagittal plane, driving the coronal plane moving member 410 connected thereto and the support plate 530 connected to the coronal plane moving member 410 to perform reciprocating motions within the sagittal plane, thereby realizing the dorsiflexion and plantar flexion movements of the foot within the sagittal plane; controlling the third bladder 420 to fill or discharge fluid, driving the coronal plane moving member 410 to perform a reciprocating rotational motion within the coronal plane, driving the support plate 530 connected thereto to perform reciprocating motions within the coronal plane, thereby realizing the adduction and abduction movements of the foot within the coronal plane. The height of the support plate 530 can be adjusted through the adjustment holes 600 on the coronal plane moving member 410 and the connection assembly. The movement posture of the user's foot on the support plate 530 in the three-dimensional space can be detected in real time through the posture sensor provided on the support plate 530. The pressure of each bladder is detected through the pressure sensor, and the flow rate and speed of the fluid filling and discharging of the bladder are controlled through the control device to realize the movement at the required angle and speed.

[0079] Please refer to Figure 5 , according to another embodiment provided by the present utility model, the coronal plane moving part 400 is arranged on the horizontal plane moving part 200 and is rotatably connected to the horizontal plane moving part 200; the sagittal plane moving part 300 is arranged on the coronal plane moving part 400 and is rotatably connected to the coronal plane moving part 400; the third driving member is arranged between the coronal plane moving part 400 and the horizontal plane moving part 200 to drive the rotation within the coronal plane, the second driving member is arranged between the coronal plane moving part 400 and the sagittal plane moving part 300 to drive the rotation within the sagittal plane, and the support assembly 500 is fixed to the sagittal plane moving part 300. The support assembly 500 realizes reciprocating motions within the horizontal plane, coronal plane and sagittal plane under the action of the driving assembly and the moving assembly.

[0080] Specifically, for example, the driving member can be a bladder. A coronal plane connecting member 260 and two side plates are provided on the horizontal plane moving plate 210. The third bladder 420 is disposed between the side plate and the coronal plane moving member 410. The coronal plane connecting member 260 is rotatably connected to the coronal plane moving member 410. The third bladder 420 drives the coronal plane moving member 410 to rotate within the coronal plane and drives the sagittal plane moving member 310 and the support assembly 500 connected thereto to move. The second bladder 320 is disposed between the coronal plane moving member 410 and the sagittal plane moving member 310. The coronal plane moving member 410 is rotatably connected to the sagittal plane moving member 310. The second bladder 320 drives the sagittal plane moving member 310 to rotate within the sagittal plane and drives the support assembly 500 connected thereto to move. The first driving member and the support assembly 500 are arranged in the same manner as in the above embodiment. The driving assembly drives each part to move to realize the reciprocating movement of the support assembly 500 within the horizontal plane, sagittal plane and coronal plane, so as to realize the training of adduction and abduction, dorsiflexion and plantar flexion, and inversion and eversion of the foot and be able to control the training intensity.

[0081] Please refer to Figures 1 to 4 , when in use, the user's foot is placed on the support plate 530. The height of the support plate 530 is adjusted so that the ankle and the rotation axis of the sagittal plane moving member 310 are at the same height and fixed. By controlling the device to fill or drain the fluid in the first bladder 250 or fill and drain the fluid in the first bladder 250 on both sides of the first baffle 220 respectively, the first baffle 220 is pushed to move within the horizontal plane, driving the horizontal plane driving member to perform a reciprocating rotational movement within the horizontal plane. Thus, the support plate 530 moves within the horizontal plane, driving the foot to realize adduction and abduction within the horizontal plane. Filling or draining the fluid in the second bladder 320 drives the sagittal plane moving member 310 to perform a reciprocating rotational movement within the sagittal plane. Thus, the support plate 530 moves within the sagittal plane, driving the foot to realize dorsiflexion and plantar flexion within the sagittal plane. Filling and draining the fluid in the third bladder 420 respectively act together to push the coronal plane driving member to perform a reciprocating rotational movement within the coronal plane. Thus, the support plate 530 moves within the coronal plane, driving the foot to realize inversion and eversion within the coronal plane. During the movement process, the movement speed of the foot can be detected in real time, and by controlling the flow rate and frequency of filling and draining the fluid in the bladder, the movement amplitude and movement speed are controlled to realize all-round and targeted training of the foot, promote blood circulation in the patient's foot, and prevent muscle atrophy. When used for correction, a suitable foot posture can be obtained through each moving part, and then the foot support plate 530 and / or the coronal plane moving member 410 are fixed and used as a fixed brace.

[0082] The present utility model can also be used for active training. During active training, the fluid is not filled or discharged from the bladder. The user wears the three-degree-of-freedom ankle rehabilitation and correction multifunctional device of the present utility model or places the foot on the support plate 530, and actively makes walking movements. During walking, the foot exerts a force on the support plate 530 to squeeze the bladder. When the bladder elastically deforms, it reacts on the foot through the support plate 530, stimulates the foot, enables the patient to better perceive the movement states of dorsiflexion and plantar flexion of the foot, increases the realism of walking, and achieves good exercise effects.

[0083] The present utility model provides a three-degree-of-freedom ankle rehabilitation and correction multifunctional device. The horizontal plane movement part 200, sagittal plane movement part 300, and coronal plane movement part 400 drive the foot to perform rotational reciprocating movements in the horizontal plane, sagittal plane, and coronal plane, so as to achieve adduction and abduction, dorsiflexion and plantar flexion, and inversion and eversion of the foot. The rehabilitation training function is comprehensive and the training effect is good; the height of the support assembly 500 is adjustable, and by adjustment, it is ensured that the ankle position coincides with the rotation center of the sagittal plane rotational movement, which is more in line with the ergonomic design, has a good training effect and is more comfortable. At the same time, it can adapt to different people and has a wider application range; the attitude sensor is used to detect and feedback the movement situation in real time, and the control device is used to adjust the air pressure of the bladder and the fluid filling and discharging speed to control the amplitude of the foot movement and the training speed, so as to achieve targeted training; the bladder is light and elastic, and can elastically deform, avoiding secondary injury to the patient during the rehabilitation process, being safer to use, and can realize multiple training modes such as passive training and active training. The active training mode can enable the patient to better perceive the flexion and extension states of the foot during walking; and the whole device has a simple structure, is easy to use, and is suitable for daily home rehabilitation training.

[0084] The above-described embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit it; although the present utility model 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 recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present utility model, and should all be included in the protection scope of the present utility model.

[0085] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. To highlight the innovative features of the present utility model, the remaining technical features are not described herein again.

Claims

1. A three-degree-of-freedom ankle rehabilitation and correction multifunctional device, characterized in that: include: Base; A motion component is disposed on the base, and the motion component comprises: A horizontal plane moving part, disposed on the base and rotatably connected to the base; A sagittal plane motion part, disposed on the horizontal plane motion part and rotatably connected to the horizontal plane motion part; A coronal plane motion part is disposed on the sagittal plane motion part and is rotationally connected to the sagittal plane motion part; A driving component is disposed between the base and the horizontal plane motion part, the horizontal plane motion part and the sagittal plane motion part, and the sagittal plane motion part and the coronal plane motion part, and drives the motion of the horizontal plane motion part, the sagittal plane motion part and the coronal plane motion part; A support component is fixed to the coronal plane motion part, and the support component realizes reciprocating motion in the horizontal plane, sagittal plane and coronal plane under the action of the driving component and the motion component.

2. The three-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 1, characterized in that: The horizontal plane motion part comprises: A horizontal plane motion plate is rotatably mounted on the upper plane of the base; A first baffle plate connected to the horizontal plane motion plate; A second baffle plate connected to a plane of the horizontal motion plate away from the base; A support member is connected to the plane of the horizontal motion plate away from the base.

3. The three-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 2, characterized in that: The sagittal plane motion part comprises a sagittal plane motion member which is rotatably mounted on the support member.

4. The three-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 3, characterized in that: The coronal plane moving part comprises a coronal plane moving member, which is rotatably mounted on the sagittal plane moving member.

5. The three-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 4, characterized in that: The drive assembly comprises: A first driving member is disposed in the chamber of the base and between the first baffle plate and the side wall of the base, and is used to drive the horizontal plane motion plate to rotate in the horizontal plane; a second driving member, disposed between the second baffle and the sagittal plane moving member, and used for driving the sagittal plane moving member to rotate in the sagittal plane; The third driving member is arranged between the sagittal plane moving member and the coronal plane moving member, and is used for driving the coronal plane moving member to rotate in the coronal plane.

6. The three-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 5, characterized in that: The first driving member is slidably connected to the base and / or the horizontal plane motion part, the second driving member is slidably connected to the horizontal plane motion part and / or the sagittal plane motion part, and the third driving member is slidably connected to the sagittal plane motion part and / or the coronal plane motion part.

7. The three-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 5, characterized in that: The first driving member and / or the second driving member and / or the third driving member is a capsule or a fluid actuator.

8. The three-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 7, characterized in that: The first driving member, the second driving member and the third driving member are connected to a control device, and the control device includes a pressure sensor for detecting the pressure of the first driving member, the second driving member and the third driving member and / or a force sensor for detecting the size of the corresponding driving force.

9. The three-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 5, characterized in that: The first driving member and / or the second driving member and / or the third driving member are detachably connected.

10. The three-degree-of-freedom ankle rehabilitation and correction multifunctional device according to claim 1, characterized in that: A posture sensor is arranged on the coronal plane motion part or the supporting assembly.

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