CN109223440A - A kind of parallel institution ankle device for rehabilitation - Google Patents
A kind of parallel institution ankle device for rehabilitation Download PDFInfo
- Publication number
- CN109223440A CN109223440A CN201811058140.9A CN201811058140A CN109223440A CN 109223440 A CN109223440 A CN 109223440A CN 201811058140 A CN201811058140 A CN 201811058140A CN 109223440 A CN109223440 A CN 109223440A
- Authority
- CN
- China
- Prior art keywords
- shank
- rehabilitation
- rack
- push rod
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000003423 ankle Anatomy 0.000 title claims abstract description 32
- 210000002683 foot Anatomy 0.000 claims description 25
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 238000012549 training Methods 0.000 abstract description 9
- 208000027418 Wounds and injury Diseases 0.000 abstract description 4
- 230000006378 damage Effects 0.000 abstract description 4
- 208000014674 injury Diseases 0.000 abstract description 4
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 241000469816 Varus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of parallel institution ankle device for rehabilitation, the present invention relates to ankle device for rehabilitation, the present invention is easy to carry out secondary injury to patient to solve existing device for rehabilitation, rehabilitation exercise can only adapt to the rehabilitation training in the stage of patient, the use scope in the stage of unadjustable other rehabilitations, there is DOF (degree of freedom) redundance in existing device for rehabilitation, device for rehabilitation cannot comply fully with the characteristics of motion of human ankle, the problem of requirement of medical rehabilitation is not achieved, and then provide a kind of parallel institution ankle device for rehabilitation, it further includes spherical surface slave connecting rod, spherical pair support base, first kinematic chain, two the second kinematic chains and multiple shank fixation kits；Multiple shank fixation kits are diametrically mounted on the annular slab of rack top, first kinematic chain and two the second kinematic chains are mounted on the rack, the bottom end of spherical surface slave connecting rod is mounted in spherical pair support base, spherical pair support base is mounted in the bottom end fixed plate of rack, and the invention belongs to ankle rehabilitation fields.
Description
Technical field
The present invention relates to ankle device for rehabilitation, belong to ankle rehabilitation field.
Background technique
For parallel institution ankle device for rehabilitation as a kind of rehabilitation equipment, it is that ankle part is assisted to have the patient of dyskinesia to carry out
Rehabilitation training, the ankle device for rehabilitation having now been developed now be all mostly in such a way that machine is directly contacted with patient, but it is existing
Some ankle device for rehabilitation generally use air pressure or hydraulic drive, due to air pressure and the unstable appearance of hydraulicdriven output power
The problem of estimated kinematic accuracy is not achieved in device for rehabilitation, and these problems become for the patient that ankle part has dyskinesia
Potential faults, in order to avoid carrying out secondary injury, the safety of ankle healing robot, robust motion, reliability to patient
Patient is just particularly important.Secondly, it should be taken into account that patient needs in the different rehabilitation stages in different rehabilitation exercises
It is carried out in range, uncontrollable motion range can only adapt to the rehabilitation training in the stage of patient, and applicability is low.Third,
Structure is complicated DOF (degree of freedom) redundance occurs for existing device for rehabilitation, prevents the characteristics of motion of device for rehabilitation from complying fully with the fortune of human ankle
Dynamic rule, is not achieved the requirement of medical rehabilitation.
Summary of the invention
The present invention is easy to carry out secondary injury to patient to solve existing device for rehabilitation, and rehabilitation exercise can only adapt to patient's
The rehabilitation training in one stage, the use scope in the stage of unadjustable other rehabilitations, it is superfluous that freedom degree occurs in existing device for rehabilitation
The problem of remaining, device for rehabilitation cannot comply fully with the characteristics of motion of human ankle, and the requirement of medical rehabilitation is not achieved, and then provide one
Kind parallel institution ankle device for rehabilitation.
The technical solution adopted by the present invention to solve the above problem is as follows: it includes rack, foot pedal and instep fixing belt；It
It further include spherical surface slave connecting rod, spherical pair support base, the first kinematic chain, two the second kinematic chains and multiple shank fixation kits；
Multiple shank fixation kits are diametrically mounted on the annular slab of rack top, and the first kinematic chain and two the second kinematic chains are radially
It is uniformly mounted on the rack, the top of the first kinematic chain is connect with rack top annular slab, and the top of each second kinematic chain is equal
It is connect with rack top annular slab, the bottom end of the bottom end of the first kinematic chain and each second kinematic chain is connected with the footrest, foot
Face fixing belt is arranged on the footrests, and the bottom end of spherical surface slave connecting rod is mounted in spherical pair support base, spherical pair support base
It is mounted in the bottom end fixed plate of rack, the top of spherical surface slave connecting rod is withstood at the center of foot pedal lower end surface.
The beneficial effects of the present invention are:
1, the present invention is simple using 3RPS parallel institution structure, highly-safe, easy to operate.
2, it is flat that the characteristics of electric pushrod self structure end of the invention used has damping spring is to provide a kind of start and stop
Stability is preferable, the device for rehabilitation of the lesser rehabilitation exercise of rigid shock.
3, the present invention uses servomotor, since the precision property index of servomotor is high, can guarantee Rehabilitation
Reach precision required for rehabilitation while training of safety, the speed for adjusting servomotor can be directed to the trouble of different phase
Person carries out rehabilitation training, and the characteristics of motion of device for rehabilitation is made to comply fully with the human ankle characteristics of motion.
Detailed description of the invention
Fig. 1 is overall structure main view of the invention, and Fig. 2 is multiple overall structure top views of the present invention, and Fig. 3 is the present invention
Overall structure diagram.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of parallel institution foot described in present embodiment in conjunction with Fig. 1-Fig. 3
Ankle device for rehabilitation, it includes rack 1, foot pedal 2 and instep fixing belt 3；It is characterized by: it further includes spherical surface slave connecting rod 14, ball
Face pair support base 15, the first kinematic chain, two the second kinematic chains and multiple shank fixation kits；Multiple shank fixation kits edge
For radially installed on 1 top annular slab of rack, the first kinematic chain and two the second kinematic chains are radially uniformly mounted on rack 1
On, the top of the first kinematic chain is connect with 1 top annular slab of rack, the top of each second kinematic chain with 1 top ring of rack
The bottom end of the connection of shape plate, the bottom end of the first kinematic chain and each second kinematic chain is connect with foot pedal 2, and instep fixing belt 3 is set
It sets on foot pedal 2, the bottom end of spherical surface slave connecting rod 14 is mounted in spherical pair support base 15, and spherical pair support base 15 is installed
In the bottom end fixed plate of rack 1, the top of spherical surface slave connecting rod 14 is withstood at the center of 2 lower end surface of foot pedal.
Specific embodiment 2: illustrating present embodiment, a kind of parallel institution foot described in present embodiment in conjunction with Fig. 1-Fig. 3
Ankle device for rehabilitation, shank fixation kit include spring 5, the fixed push rod 8 of shank and the fixed push rod firm banking 9 of shank, and shank is fixed
Push rod firm banking 9 is machined with sliding slot along its length, and the gear with sliding slot cooperation is machined on the lateral wall of the fixed push rod 8 of shank
Bar link block 16, the fixed push rod firm banking 9 of shank are mounted by means of bolts on the top of rack 1, the fixed push rod 8 of shank
It is inserted on the fixed push rod firm banking 9 of shank, the bar link block of the fixed push rod 8 of shank is in the fixed push rod firm banking of shank
It is slided on 9 sliding slot, the center line of the fixed push rod 8 of shank along its length is directed toward the center of 1 top annular slab of rack, bullet
Spring 5 is set on the fixed push rod 8 of shank, and one end of spring 5 is fixed on the fixed push rod 8 of shank and is directed toward 1 top annular slab of rack
On one end of center, the other end of spring 5 is withstood on the fixed push rod firm banking 9 of shank.9 top of shank fixed link pedestal
Equipped with sliding slot, there is bar link block 16 that can slide in shank firm banking 9 with shank fixed link in shank fixed link 8, shank
Fixed link 8 can be relatively fixed on the position of the fixed push rod firm banking 9 of shank.Other structures are real with connection relationship and specifically
It is identical to apply mode one.
Specific embodiment 3: illustrating present embodiment, a kind of parallel institution foot described in present embodiment in conjunction with Fig. 1-Fig. 3
Ankle device for rehabilitation, the first kinematic chain include rotating hoisting ring 4, fixed connection shaft pedestal 10, fixed connection shaft 11, electric pushrod 12 and ten thousand
To section 13, fixed connection shaft pedestal 10 is mounted by means of bolts on 1 top annular slab of rack, one end of fixed connection shaft 11
It is fixedly connected with fixed connection shaft pedestal 10, the other end of fixed connection shaft 11 passes through rotating hoisting ring 4 and 12 pedestal of electric pushrod
The telescopic end of cage connection, electric pushrod 12 is connect by universal joint 13 with foot pedal 2.Other structures are with connection relationship and specifically
Embodiment one is identical.
Motor in present embodiment on electric pushrod 12 is the motor of positive and negative rotation, and the revolving speed for controlling the motor of positive and negative rotation comes
The different rehabilitation stages is cooperated to carry out different rehabilitation trainings.Motor into Electric Applicance Co., Ltd using being produced by Shanghai day
RJ090-E03520 servomotor；Electric pushrod is using being produced by Beijing Jin Dakainuo drive apparatus Co., Ltd
FD3_A type electric pushrod.
Specific embodiment 4: illustrating present embodiment, a kind of parallel institution foot described in present embodiment in conjunction with Fig. 1-Fig. 3
Ankle device for rehabilitation, the second kinematic chain include rotating hoisting ring 4, rotation connecting shaft 6, the bearing block 7 with bearing, electric pushrod 12 and ten thousand
To section 13, the bearing block 7 with bearing is mounted by means of bolts on 1 top annular slab of rack, rotates one end of connecting shaft 6
Rotation connection is mounted on the bearing block 7 with bearing, and the other end of rotation connecting shaft 6 passes through rotating hoisting ring 4 and electric pushrod
The telescopic end of the connection of 12 base shells, electric pushrod 12 is connect by universal joint 13 with foot pedal 2.Other structures and connection relationship
It is same as the specific embodiment one.
Motor in present embodiment on electric pushrod 12 is the motor of positive and negative rotation, can control turning for the motor of positive and negative rotation
Speed cooperates the different rehabilitation stages to carry out different rehabilitation trainings.
Specific embodiment 6: illustrating present embodiment, a kind of parallel institution foot described in present embodiment in conjunction with Fig. 1-Fig. 3
Ankle device for rehabilitation, the number of shank fixation kit are three or four.Other structures and connection relationship and specific embodiment one or
Two is identical.
Working principle
The foot of patient injury is put into parallel institution ankle mechanism device for rehabilitation from 1 upper annular plate of rack when the invention works
Interior, heel is put into 2 center of foot pedal, and foot front end is fixed by instep fixing belt 3, and the fixed push rod 8 of rotation shank consolidates shank
Determine the bar link block 16 on push rod 8 to go in the sliding slot of shank fixed link pedestal 9, under the action of 5 pressure of spring, shank is solid
Fixed pole 8 is slided along the sliding slot on shank fixed link pedestal 9 to 1 center of rack, three small at the shank for touching patient
Leg fixed link 8 is overlapped the center line of shank and the center line of rack 1, is powered to electric pushrod 12, electric pushrod 12 does flexible
It moves back and forth, foot pedal 2 is driven to move, the drive ankle of foot pedal 2 does dorsiflexion, toe is bent, and varus, the movement turned up realize ankle
Rehabilitation training.
Claims (5)
1. a kind of parallel institution ankle device for rehabilitation, it includes rack (1), foot pedal (2) and instep fixing belt (3)；Its feature exists
In: it further includes spherical surface slave connecting rod (14), spherical pair support base (15), the first kinematic chain, two the second kinematic chains and multiple
Shank fixation kit；Multiple shank fixation kits are diametrically mounted on the annular slab of rack (1) top, the first kinematic chain and two
Second kinematic chain is radially uniformly mounted on rack (1), and the top of the first kinematic chain is connect with rack (1) top annular slab,
The top of each second kinematic chain is connect with rack (1) top annular slab, the bottom end of the first kinematic chain and each second movement
The bottom end of chain is connect with foot pedal (2), and instep fixing belt (3) is arranged on foot pedal (2), the bottom end of spherical surface slave connecting rod (14)
It is mounted on spherical pair support base (15), spherical pair support base (15) is mounted in the bottom end fixed plate of rack (1), spherical surface
The top of slave connecting rod (14) is withstood at the center of foot pedal (2) lower end surface.
2. a kind of parallel institution ankle device for rehabilitation according to claim 1, it is characterised in that: shank fixation kit includes spring
(5), shank fixed push rod (8) and shank are fixed push rod firm banking (9), and shank fixed push rod firm banking (9) is along length side
To sliding slot is machined with, the bar link block (16) with sliding slot cooperation is machined on the lateral wall of shank fixed push rod (8), shank is solid
Determine push rod firm banking (9) to be mounted by means of bolts on the top of rack (1), shank fixed push rod (8) is inserted into shank
On fixed push rod firm banking (9), the bar link block (16) of shank fixed push rod (8) is in the fixed push rod firm banking of shank
(9) it is slided on sliding slot, the center line of shank fixed push rod (8) along its length is directed toward the center of rack (1) top annular slab
Position, spring (5) are set on shank fixed push rod (8), and one end of spring (5) is fixed on shank fixed push rod (8) and is directed toward
On one end of rack (1) top annular slab center, it is fixed push rod firm banking (9) that the other end of spring (5) withstands on shank
On.
3. a kind of parallel institution ankle device for rehabilitation according to claim 1, it is characterised in that: the first kinematic chain includes rotating lifting
Ring (4), fixed connection shaft pedestal (10), fixed connection shaft (11), electric pushrod (12) and universal joint (13), fixed connection shaft bottom
Seat (10) is mounted by means of bolts on the annular slab of rack (1) top, one end of fixed connection shaft (11) and fixed connection shaft
Pedestal (10) is fixedly connected, and the other end of fixed connection shaft (11) passes through rotating hoisting ring (4) and electric pushrod (12) base shell
The telescopic end of connection, electric pushrod (12) is connect by universal joint (13) with foot pedal (2).
4. a kind of parallel institution ankle device for rehabilitation according to claim 1, it is characterised in that: the second kinematic chain includes rotating lifting
Ring (4), rotation connecting shaft (6), the bearing block (7) with bearing, electric pushrod (12) and universal joint (13), the axis with bearing
It holds seat (7) to be mounted by means of bolts on the annular slab of rack (1) top, one end of rotation connecting shaft (6) is rotatablely connected installation
On the bearing block (7) with bearing, the other end of rotation connecting shaft (6) passes through rotating hoisting ring (4) and electric pushrod (12) bottom
The telescopic end of seat cage connection, electric pushrod (12) is connect by universal joint (13) with foot pedal (2).
5. a kind of parallel institution ankle device for rehabilitation according to claim 1 or claim 2, it is characterised in that: of shank fixation kit
Number is three or four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811058140.9A CN109223440A (en) | 2018-09-11 | 2018-09-11 | A kind of parallel institution ankle device for rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811058140.9A CN109223440A (en) | 2018-09-11 | 2018-09-11 | A kind of parallel institution ankle device for rehabilitation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109223440A true CN109223440A (en) | 2019-01-18 |
Family
ID=65061226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811058140.9A Pending CN109223440A (en) | 2018-09-11 | 2018-09-11 | A kind of parallel institution ankle device for rehabilitation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109223440A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110301999A (en) * | 2019-07-23 | 2019-10-08 | 杭州众康假肢矫形器有限公司 | A kind of ankle-foot orthosis |
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| CN108143528A (en) * | 2017-12-25 | 2018-06-12 | 东莞市联洲知识产权运营管理有限公司 | A kind of bone clamping and fixing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110301999A (en) * | 2019-07-23 | 2019-10-08 | 杭州众康假肢矫形器有限公司 | A kind of ankle-foot orthosis |
| CN110301999B (en) * | 2019-07-23 | 2021-11-09 | 杭州众康假肢矫形器有限公司 | Ankle-foot orthosis |
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| CB03 | Change of inventor or designer information |
Inventor after: Ma Changyou Inventor after: Yin Baolin Inventor after: Yan Bingbing Inventor after: Song Wenhao Inventor after: Feng Yu Inventor after: Liu Yongxu Inventor after: Peng Chenyuan Inventor after: Cui Haoran Inventor after: Chen Chunyan Inventor before: Yin Baolin Inventor before: Feng Yu Inventor before: Yan Bingbing Inventor before: Peng Chen Yuan Inventor before: Chen Chunyan Inventor before: Song Wenhao |
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Application publication date: 20190118 |
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