A multi-degree-of-freedom ankle joint variable damping rehabilitation training system

Abstract

This utility model discloses a multi-degree-of-freedom ankle joint variable damping rehabilitation training system, including a variable damping power mechanism, a lifting mechanism, a multi-degree-of-freedom adjustable footrest mechanism, lifting armrests, a lifting seat, and a base. The lifting seat is mounted on the base and its height is adjustable. The lifting armrests are also mounted on the base and their height is adjustable. The variable damping power mechanism is mounted on the base via the lifting mechanism, which can drive the variable damping power mechanism to move up and down vertically. The multi-degree-of-freedom adjustable footrest mechanism includes a first footplate, a second footplate, a footplate support plate, a support ball, a telescopic rod, a bottom support plate, a stabilizing spring, and an L-shaped rotating plate. This utility model integrates various advantages, can change the intensity of rehabilitation, is suitable for people of different heights, weights, and ages, can realize multi-degree-of-freedom rehabilitation training of the ankle joint, and offers a variety of rehabilitation training methods, effectively improving the effect of rehabilitation treatment.

Description

Technical Field

[0001] This utility model belongs to the field of medical rehabilitation robot technology, specifically a multi-degree-of-freedom ankle joint variable damping rehabilitation training system. Background Technology

[0002] The ankle joint is crucial for supporting movement and is prone to injury. It's susceptible because it's one of the joints connecting the foot and leg, and the surrounding ligaments, muscles, and bone structures are relatively weak. When exercising or walking, the ankle joint bears the weight of the entire body, as well as the impact force from the ground. This load can easily lead to ankle twisting or sprains, resulting in ankle injuries. Furthermore, wearing unsuitable or unstable shoes also increases the risk of ankle injury.

[0003] Joint injury refers to damage or destruction of the soft tissues (such as ligaments, tendons, and synovium) or bones around a joint, leading to impaired joint function. Common joint injuries include sprains, dislocations, fractures, and cartilage damage. Symptoms of joint injuries include pain, swelling, and limited range of motion; severe joint injuries may require surgical treatment. Therefore, ankle injuries require rehabilitation. Currently, magnetorheological damping technology is widely used in sports rehabilitation due to its superior performance.

[0004] Magnetorheological damping is a technique that uses a magnetic field to adjust the viscosity of a liquid, and it can be used to control the movement of robotic joints. In rehabilitation facilities, magnetorheological damping can be applied to the rehabilitation of both active and passive ankle joints. Using magnetorheological damping for ankle rehabilitation can effectively help patients with ankle injuries regain a normal gait.

[0005] Patients with ankle injuries typically require rehabilitation training with assistance from others or using walking aids, and the rehabilitation outcomes vary. A document with application number 202210579502.9 discloses a magnetorheological damping active and passive ankle joint rehabilitation mechanism. This mechanism achieves different rehabilitation effects by adjusting the damping force of the magnetorheological damper and includes a movable base mechanism to increase portability. However, the footrest mechanism is not adjustable and can only achieve a single rotation along the main axis, resulting in a limited rehabilitation method. Furthermore, the mechanism has few supporting systems, requiring patients to stand on one leg, leading to poor stability between the mechanism and the body during rehabilitation. Utility Model Content

[0006] In view of the shortcomings of the existing technology, the technical problem to be solved by this utility model is to provide a multi-degree-of-freedom ankle joint variable damping rehabilitation training system.

[0007] The technical solution of this utility model to solve the aforementioned technical problem is to provide a multi-degree-of-freedom ankle joint variable damping rehabilitation training system, characterized in that the system includes a variable damping power mechanism, a lifting mechanism, a multi-degree-of-freedom adjustable footrest mechanism, lifting armrests, a lifting seat, and a base.

[0008] The height-adjustable seat is mounted on the base; the height-adjustable armrests are also mounted on the base; the variable damping power mechanism is mounted on the base via the lifting mechanism, which can drive the variable damping power mechanism to move up and down vertically.

[0009] The multi-degree-of-freedom adjustable footrest mechanism includes a footplate 1, a footplate 2, a footplate support plate, a support ball, a telescopic rod, a bottom support plate, a posture stabilizing spring, and an L-shaped rotating plate;

[0010] The vertical plate of the L-shaped rotating plate is fixed to the output end of the variable damping power mechanism; the bottom support plate is fixed to the horizontal plate of the L-shaped rotating plate; one end of each of the two sets of posture stabilizing springs is fixed to the upper surface of both ends of the bottom support plate, and the other end is fixed to the lower surface of both ends of the foot support plate; the bottom of the support ball is fixed to the middle of the bottom support plate, and the top ball is rotatably mounted on the middle of the foot support plate; several telescopic rods of adjustable length are evenly distributed on the support ball, and both ends are hinged to the support ball and the foot support plate respectively; foot plate one and foot plate two are slidably or detachably mounted on the foot support plate for placing the user's feet.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0012] (1) This utility model has comprehensive advantages in all aspects, can change the intensity of rehabilitation, is suitable for people of different heights, weights and ages, can realize multi-degree-of-freedom rehabilitation training of the ankle joint, has a variety of rehabilitation training methods, is highly personalized, flexible and applicable, and effectively improves the effect of rehabilitation treatment.

[0013] (2) The multi-degree-of-freedom adjustable footrest mechanism contains multiple degrees of freedom, which can realize the left and right rotation and forward and backward movement of the ankle as well as the forward and backward movement of the leg and ankle. It effectively solves the problem of the single rehabilitation mode in traditional rehabilitation institutions, and the rehabilitation effect is more significant.

[0014] (3) The amount of magnetorheological fluid can be adjusted by the micro fluid supply device, and the magnitude of the damping force can be adjusted. The magnitude of the damping force can affect the stress on the ankle joint, thereby achieving different rehabilitation effects.

[0015] (4) The lifting mechanism can adjust the height according to different needs, and the adjustment range is wide to adapt to different environments and different patients.

[0016] (5) The lifting armrests and lifting seats can be adjusted up and down according to the patient's own situation. They are adapted to the patient's height, body shape, age, etc., and are used in conjunction with the lifting mechanism to ensure the patient's comfort and safety during the rehabilitation process. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram showing the installation of the variable damping power mechanism, lifting mechanism, and multi-degree-of-freedom adjustable footrest mechanism of this utility model.

[0019] Figure 3 This is a three-dimensional schematic diagram of the variable damping power mechanism of this utility model;

[0020] Figure 4 This is a front view schematic diagram of the multi-degree-of-freedom adjustable footrest mechanism of this utility model;

[0021] Figure 5 This is a top view schematic diagram of the multi-degree-of-freedom adjustable footrest mechanism of this utility model;

[0022] Figure 6 This is a partial cross-sectional view of the multi-degree-of-freedom adjustable footrest mechanism of this utility model;

[0023] Figure 7 This is a three-dimensional schematic diagram of the lifting mechanism of this utility model;

[0024] Figure 8 This is a schematic diagram of the installation of the synchronous belt structure of this utility model.

[0025] In the diagram, 1 is the variable damping power mechanism, 2 is the lifting mechanism, 3 is the multi-degree-of-freedom adjustable footrest mechanism, 4 is the lifting armrest, 5 is the lifting seat, and 6 is the base.

[0026] 1.1 Motor, 1.2 Magnetorheological damper, 1.3 Coupling, 1.4 Force sensor, 1.5 Output shaft, 1.6 Miniature liquid supply device, 1.7 Dust cover;

[0027] 2.1 Base fixing plate, 2.2 Slide rail fixing plate, 2.3 Synchronous belt, 2.4 Lifting motor, 2.5 Lead screw, 2.6 Nut, 2.7 Slide rail, 2.8 Slider, 2.9 Horizontal lifting plate, 2.10 Coupling II, 2.11 Synchronous belt drive pulley, 2.12 Synchronous belt driven pulley;

[0028] 3.1 Footboard 1, 3.2 Footboard 2, 3.3 Footboard support plate, 3.4 Support ball, 3.5 Telescopic rod, 3.6 Bottom support plate, 3.7 Posture stabilizing spring, 3.8 L-shaped rotating plate. Detailed Implementation

[0029] Specific embodiments of this utility model are given below. These specific embodiments are only used to further illustrate this utility model in detail and do not limit the scope of protection of the claims of this utility model.

[0030] This utility model provides a multi-degree-of-freedom ankle joint variable damping rehabilitation training system (hereinafter referred to as the system), characterized in that the system includes a variable damping power mechanism 1, a lifting mechanism 2, a multi-degree-of-freedom adjustable footrest mechanism 3, a lifting armrest 4, a lifting seat 5, and a base 6.

[0031] The height-adjustable seat 5 is mounted on the base 6 and is used for users to sit on. The height can be adjusted to suit users with different height requirements. The height-adjustable armrest 4 is mounted on the base 6 and is used for users to hold onto. The height can be adjusted to suit users with different height requirements. The variable damping power mechanism 1 is mounted on the base 6 through the lifting mechanism 2. The lifting mechanism 2 can drive the variable damping power mechanism 1 to rise and fall in the vertical direction.

[0032] The multi-degree-of-freedom adjustable footrest mechanism 3 includes a footplate 1 3.1, a footplate 2 3.2, a footplate support plate 3.3, a support ball 3.4, a telescopic rod 3.5, a bottom support plate 3.6, a posture stabilizing spring 3.7, and an L-shaped rotating plate 3.8;

[0033] The vertical plate of the L-shaped rotating plate 3.8 is fixed to the output end of the variable damping power mechanism 1; the bottom support plate 3.6 is fixed to the horizontal plate of the L-shaped rotating plate 3.8; one end of each of the two sets (preferably two in each set) of posture-stabilizing springs 3.7 is fixed to the upper surface of both ends of the bottom support plate 3.6, and the other end is fixed to the lower surface of both ends of the foot support plate 3.3; the bottom of the support ball 3.4 is fixed to the middle of the bottom support plate 3.6, and the top spherical rotating installation is mounted on the middle of the foot support plate 3.3; several telescopic rods 3.5 of adjustable length are evenly distributed on the support ball 3.4, and both ends are hinged to the support ball 3.4 and the foot support plate 3.3 respectively; foot plate one 3.1 and foot plate two 3.2 are slidably or detachably (preferably magnetically adsorbed) installed on the foot support plate 3.3 for placing the user's feet.

[0034] Preferably, footplate 1 3.1 and footplate 2 3.2 are slidably mounted on footplate support plate 3.3. The distance between footplate 1 3.1 and footplate 2 3.2 is adjusted by sliding. After sliding to a suitable position, footplate 1 3.1 and footplate 2 3.2 are fixed to the appropriate position of footplate support plate 3.3 through the slot to accommodate feet of different sizes.

[0035] Preferably, the variable damping power mechanism 1 includes a motor 1.1, a magnetorheological damper 1.2, a coupling 1.3, a force sensor 1.4, an output shaft 1.5, and a micro liquid supply device 1.6;

[0036] The housing of motor 1.1 is mounted on base 6 via lifting mechanism 2. Lifting mechanism 2 can drive variable damping power mechanism 1 to move up and down in the vertical direction. The output end of motor 1.1 is fixedly connected to one end of output shaft 1.5 via coupling 1.3. A magnetorheological damper 1.2 is nested on the outside of output shaft 1.5. Magnetorheological fluid is injected into the inside of magnetorheological damper 1.2 through micro liquid supply device 1.6 and the injection amount is controlled. The magnetorheological fluid contacts output shaft 1.5 and acts on output shaft 1.5. The damping force controls the magnitude of the force that output shaft 1.5 applies to multi-degree-of-freedom adjustable footrest mechanism 3. A force sensor 1.4 is nested on the outside of output shaft 1.5 to measure the magnitude of the force that output shaft 1.5 applies to multi-degree-of-freedom adjustable footrest mechanism 3. The vertical plate of L-shaped rotating plate 3.8 is fixed to the other end of output shaft 1.5.

[0037] Preferably, the magnetorheological damper 1.2 has a storage space for magnetorheological fluid.

[0038] Preferably, the variable damping power mechanism 1 further includes a dust cover 1.7; the dust cover 1.7 is disposed on the outside of the coupling 1.3 and the output shaft 1.5, and serves to protect them.

[0039] Preferably, the lifting mechanism 2 includes a base fixing plate 2.1, a slide rail fixing plate 2.2, a lifting motor 2.4, a lead screw 2.5, a nut 2.6, a slide rail 2.7, a slider 2.8, a horizontal lifting plate 2.9, and a coupling 2.10;

[0040] The base fixing plate 2.1 is fixed to the base 6; the slide rail fixing plate 2.2 is vertically fixed to the base fixing plate 2.1; the two ends of the lead screw 2.5 are rotatably mounted on the slide rail fixing plate 2.2 through bearings and bearing seats; the nut 2.6 is installed in conjunction with the lead screw 2.5; the slide rail 2.7 is fixed to the slide rail fixing plate 2.2; the slider 2.8 is slidably set in the slide rail 2.7; the horizontal lifting plate 2.9 is fixed to the nut 2.6 and the slider 2.8, and the movement of the nut 2.6 drives the horizontal lifting plate 2.9 to rise and fall vertically; the housing of the motor 1.1 is fixed to the horizontal lifting plate 2.9; the housing of the lifting motor 2.4 is fixed to the base fixing plate 2.1, and the output end is synchronously connected to the coupling 2.10 through a synchronous belt structure; the coupling 2.10 is fixedly connected to the end of the lead screw 2.5 and rotates synchronously.

[0041] Preferably, the synchronous belt structure includes a synchronous belt drive pulley 2.11, a synchronous belt driven pulley 2.12, and a synchronous belt 2.3; the synchronous belt drive pulley 2.11 is fixed to the output end of the lifting motor 2.4; the synchronous belt driven pulley 2.12 is fixed to the coupling 2.10; the synchronous belt drive pulley 2.11 and the synchronous belt driven pulley 2.12 are synchronously connected through the synchronous belt 2.3.

[0042] The working principle and workflow of this utility model are as follows:

[0043] For different users and different training scenarios, adjust the lifting armrests 4 and the lifting seat 5 to the appropriate height. Then, for the sitting scenario, the user sits on the lifting seat 5 and adjusts the multi-degree-of-freedom adjustable footrest mechanism 3 to the appropriate height of the sitting ankle joint through the lifting mechanism 2 (the multi-degree-of-freedom adjustable footrest mechanism 3 is adjusted by the lifting mechanism 2: the lifting motor 2.4 drives the lead screw 2.5 to rotate through the synchronous belt structure, and the rotation of the lead screw 2.5 drives the horizontal lifting plate 2.9 to move vertically up and down, thereby adjusting the height of the multi-degree-of-freedom adjustable footrest mechanism 3). Patients with mild injuries can adjust the multi-degree-of-freedom adjustable footrest mechanism 3 to the appropriate height of the standing ankle joint and use the lifting armrests 4 to stabilize their body. Bedside rehabilitation patients can adjust the multi-degree-of-freedom adjustable footrest mechanism 3 to the parallel height of the bed.

[0044] Users can adjust the amount of magnetorheological fluid by controlling the micro fluid supply device 1.6 according to their rehabilitation needs, thereby adjusting the damping force, and adjust the movement speed by controlling the rotation speed of the motor 1.1, thus achieving personalized rehabilitation training.

[0045] The user places their foot on footplate 1 (3.1) and footplate 2 (3.2) and adjusts them to the appropriate size. The length of the telescopic rod (3.5) is adjusted so that footplate 1 (3.1) and footplate 2 (3.2) have different tilt angles. The stabilizing spring (3.7) provides further support, training the ankle joint under different angles. After adjustment, the motor (1.1) rotates, driving the output shaft (1.5) to rotate. The magnetorheological damper (1.2) generates damping force under the influence of its internal magnetic field. The amount of magnetorheological fluid is adjusted by the micro-liquid supply device (1.6), thereby adjusting the magnitude of the damping force. This, in turn, adjusts the force exerted by the output shaft (1.5) on the multi-degree-of-freedom adjustable footrest mechanism (3). The user exerts force with their ankle joint to overcome the different forces exerted by the output shaft (1.5) on the multi-degree-of-freedom adjustable footrest mechanism (3), keeping it relatively still and achieving rehabilitation training.

[0046] Any aspects not covered in this utility model are applicable to the prior art.

Claims

1. A multi-degree-of-freedom ankle joint variable damping rehabilitation training system, characterized in that, The system includes a variable damping power mechanism (1), a lifting mechanism (2), a multi-degree-of-freedom adjustable footrest mechanism (3), a lifting armrest (4), a lifting seat (5), and a base (6); The height-adjustable seat (5) is installed on the base (6); the height-adjustable armrest (4) is installed on the base (6); the height-adjustable variable damping power mechanism (1) is installed on the base (6) through the lifting mechanism (2); the lifting mechanism (2) can drive the variable damping power mechanism (1) to rise and fall in the vertical direction. The multi-degree-of-freedom adjustable footrest mechanism (3) includes foot plate one (3.1), foot plate two (3.2), foot plate support plate (3.3), support ball (3.4), telescopic rod (3.5), bottom support plate (3.6), posture stabilizing spring (3.7) and L-shaped rotating plate (3.8); The vertical plate of the L-shaped rotating plate (3.8) is fixed to the output end of the variable damping power mechanism (1); the bottom support plate (3.6) is fixed to the horizontal plate of the L-shaped rotating plate (3.8); one end of each of the two sets of posture-stabilizing springs (3.7) is fixed to the upper surface of both ends of the bottom support plate (3.6), and the other end is fixed to the lower surface of both ends of the foot support plate (3.3); the bottom of the support ball (3.4) is fixed to the middle of the bottom support plate (3.6), and the top ball is rotatably mounted on the middle of the foot support plate (3.3); several telescopic rods (3.5) with adjustable length are evenly distributed on the support ball (3.4), and both ends are hinged to the support ball (3.4) and the foot support plate (3.3) respectively; foot plate one (3.1) and foot plate two (3.2) are slidably or detachably mounted on the foot support plate (3.3) for placing the user's feet.

2. The multi-degree-of-freedom ankle variable-damper rehabilitation training system according to claim 1, characterized in that, Footboard 1 (3.1) and footboard 2 (3.2) are slidably mounted on footboard support plate (3.3). The distance between footboard 1 (3.1) and footboard 2 (3.2) is adjusted by sliding. After sliding to the appropriate position, footboard 1 (3.1) and footboard 2 (3.2) are fixed to the appropriate position of footboard support plate (3.3) through the slot to accommodate different sizes of feet.

3. The multi-degree-of-freedom ankle variable-damper rehabilitation training system according to claim 1, characterized in that, The variable damping power mechanism (1) includes a motor (1.1), a magnetorheological damper (1.2), a coupling (1.3), a force sensor (1.4), an output shaft (1.5), and a micro liquid supply device (1.6); The housing of the motor (1.1) is mounted on the base (6) via a lifting mechanism (2). The lifting mechanism (2) can drive the variable damping power mechanism (1) to move up and down in the vertical direction. The output end of the motor (1.1) is fixedly connected to one end of the output shaft (1.5) via a coupling (1.3). A magnetorheological damper (1.2) is nested on the outside of the output shaft (1.5). Magnetorheological fluid is injected into the inside of the magnetorheological damper (1.2) via a micro liquid supply device (1.6). The injection volume is controlled; the magnetorheological fluid contacts the output shaft (1.5) and acts on the output shaft (1.5), and the damping force controls the magnitude of the force that the output shaft (1.5) applies to the multi-degree-of-freedom adjustable footrest mechanism (3); a force sensor (1.4) is nested on the outside of the output shaft (1.5) to measure the magnitude of the force that the output shaft (1.5) applies to the multi-degree-of-freedom adjustable footrest mechanism (3); the vertical plate of the L-shaped rotating plate (3.8) is fixed to the other end of the output shaft (1.5).

4. The multi-degree-of-freedom ankle variable-damper rehabilitation training system according to claim 3, characterized in that, The variable damping power mechanism (1) also includes a dust cover (1.7); the dust cover (1.7) is located on the outside of the coupling (1.3) and the output shaft (1.5) to provide protection.

5. The multi-degree-of-freedom ankle variable-damper rehabilitation training system according to claim 3, characterized in that, The lifting mechanism (2) includes a base fixing plate (2.1), a slide rail fixing plate (2.2), a lifting motor (2.4), a lead screw (2.5), a nut (2.6), a slide rail (2.7), a slider (2.8), a horizontal lifting plate (2.9), and a second coupling (2.10); The base fixing plate (2.1) is fixed on the base (6); the slide rail fixing plate (2.2) is vertically fixed on the base fixing plate (2.1); the two ends of the lead screw (2.5) are rotatably mounted on the slide rail fixing plate (2.2) through bearings and bearing seats; the nut (2.6) is installed in conjunction with the lead screw (2.5); the slide rail (2.7) is fixed on the slide rail fixing plate (2.2); the slider (2.8) is slidably set in the slide rail (2.7); the horizontal lifting plate (2.9) is fixed on the base (6). On the nut (2.6) and slider (2.8), the movement of the nut (2.6) drives the horizontal lifting plate (2.9) to rise and fall in the vertical direction; the housing of the motor (1.1) is fixed on the horizontal lifting plate (2.9); the housing of the lifting motor (2.4) is fixed on the base fixing plate (2.1), and the output end is synchronously connected to the coupling two (2.10) through the synchronous belt structure; the coupling two (2.10) is fixedly connected to the end of the lead screw (2.5) and rotates synchronously.

6. The multi-degree-of-freedom ankle variable-damper rehabilitation training system according to claim 5, characterized in that, The synchronous belt structure includes a synchronous belt drive pulley (2.11), a synchronous belt driven pulley (2.12), and a synchronous belt (2.3); the synchronous belt drive pulley (2.11) is fixed to the output end of the lifting motor (2.4); the synchronous belt driven pulley (2.12) is fixed to the coupling (2.10); the synchronous belt drive pulley (2.11) and the synchronous belt driven pulley (2.12) are synchronously connected by the synchronous belt (2.3).

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