CN207722051U - A kind of ankle device for rehabilitation of the prismatic pair of branch containing flexural pivot - Google Patents

Abstract

The utility model discloses an ankle rehabilitation device with a moving pair of spherical hinges, which comprises a working platform, a guide rod sleeve, a first ejector rod, a cam shaft, a first cam, a motor, a second cam, a base, a universal wheel, Bracket, cross arm, intermediate shaft, first spring, fourth ejector rod, intermediate guide rod, first roller, third cam, second roller, third roller, second spring, ejector rod sleeve, motor speed controller Etc.; the utility model adopts the cooperation of the cam mechanism and the spring to realize the buffering of the movement of the mechanism, which is beneficial to the protection of the ankle. One output shaft of the motor of the utility model provides two kinds of power in two directions, that is, one is transmitted to the camshaft through the sprocket to make the platform move up and down, left and right, and the other direction uses the second cam and the third roller installed on the base And the spring cooperates to make the whole device rotate back and forth.

Description

A kind of ankle rehabilitation device with spherical hinge support mobile pair

technical field

The utility model relates to the technical field of medical rehabilitation equipment, in particular to an ankle rehabilitation device with a spherical hinge support moving pair.

Background technique

The ankle joint can bear about 5 times body weight. It has been measured that 60% of the power is produced by the ankle joint. The ankle joint muscles and hip joint muscles coordinate and exert force during the lower limb movement. When kicking back (mainly the ankle joint), the hip joint muscles become a little relaxed. The power generated by the flexors (moving the thigh forward) and extensors (moving the thigh backward) of the hip joint only accounts for 30% to 50% of the total forward thrust. The ankle joint is a very important joint that promotes the movement of the human body, and the flexibility of the ankle joint also plays a great role in the coordinated movement of the human body. Studies have shown that a lack of mobility in the ankle joint increases the rotational moment at the knee joint. However, in daily life and physical exercise, ankle sprains are the most common, and severe cases may even cause health problems such as bone fractures. In order to avoid sequelae of ankle joint dysfunction caused by insufficient treatment and unscientific methods after injury, physical therapy is urgently needed to assist a series of rehabilitation after injury. The damaged ankle must be fully rehabilitated through repeated circuit training.

Utility model content

Aiming at the above-mentioned shortcomings, the utility model provides an ankle rehabilitation device with a moving pair of spherical hinges. The utility model solves the shortcomings of the prior art, simplifies the structure of the ankle rehabilitation device, and uses a cam to provide a multi-degree-of-freedom movement and A simple ankle rehabilitation training device that realizes parallel and coordinated control of ankle movement can help the ankle move in all directions, and can use single-degree-of-freedom or multi-degree-of-freedom movements to achieve gradual rehabilitation effects according to the injury.

The technical scheme adopted by the utility model to solve the technical problem is as follows: an ankle rehabilitation device containing a ball joint supporting mobile pair, including a working platform, a guide rod sleeve, a first ejector rod, a camshaft, a first cam, a motor, a second Cam, base, universal wheel, bracket, cross arm, intermediate shaft, first spring, fourth ejector rod, intermediate guide rod, first roller, third cam, second roller, third roller, second spring, top Rod sleeve, motor speed controller;

The intermediate shaft is vertically supported on the base, the bracket is fixedly connected to the intermediate shaft, at least three universal wheels are installed on the bottom of the bracket, the universal wheels abut against the upper surface of the base, and the motor is fixedly connected At the bottom of the bracket, the second cam is installed on the output shaft of the motor, the camshaft is supported on the bracket, a first cam and a third cam are installed on the camshaft in turn, between the output shaft of the motor and the camshaft Transmission of power through the transmission mechanism;

The upper end of the middle guide rod is ball-hinged with the center of the working platform, a guide rod sleeve is installed at the center of the upper end of the bracket, and the middle guide rod slides through the guide rod sleeve;

The upper ends of the first ejector pin and the fourth ejector pin are hinged with the working platform ball, and the first ejector pin and the fourth ejector pin are respectively slidably arranged in respective ejector rod sleeves, and the ejector rod sleeves are fixedly installed on the bracket At the top of the top, the axes of the first ejector rod, the middle guide rod and the fourth ejector rod are not in the same plane;

A first roller is hinged to the lower end of the first push rod, and the first roller abuts against the first cam;

One end of the cross arm is hinged with the bracket, and the middle part of the cross arm is hinged with a second roller, the second roller abuts against the third cam, the lower end of the fourth push rod matches the other end of the cross arm, and the cross arm The other end is connected with one end of the first spring, and the other end of the first spring is connected with the bracket;

A third roller is hinged on the base, the third roller abuts against the second cam, one end of the second spring is fixedly connected to the bracket, the other end of the second spring is fixedly connected to the base, and the motor and the motor The speed controller is connected.

Further, the transmission mechanism is a chain transmission mechanism or a belt transmission mechanism, and the belt transmission mechanism is preferably a synchronous belt transmission.

Further, it also includes a second ejector rod and a third ejector rod, the upper ends of the second ejector rod and the third ejector rod are hinged with the working platform through a hinge, and the second ejector rod and the third ejector rod are respectively slidably arranged on the respective ejector rods. Among the rod sleeves, the ejector rod sleeves are all fixedly installed on the top of the bracket, and the four ejector rod sleeves are distributed in four positions of left, right, front and rear.

Further, another first cam is installed on the camshaft, and a first roller is hinged to the lower end of the third ejector rod, and the first roller at the lower end of the third ejector rod abuts against another first cam .

Further, the sliding sleeve at the other end of the cross arm is provided with a slider sleeve, and the lower end of the fourth push rod is hinged to the slider sleeve.

Further, the lower end of the fourth push rod is provided with a slot, and the other end of the cross arm is arranged in the slot.

Further, the lower end of the fourth push rod is hinged to the other end of the cross arm through a ball hinge.

The beneficial effects of the utility model are as follows:

1. It can realize repeated movement back and forth without manual operation, which has the advantages of automation and multi-directional compared with the existing equipment on the market.

2. The combination of the cam mechanism and the spring realizes the cushioning of the mechanism's direction-changing movement, which is beneficial to protect the ankle.

3. After consulting the medical ankle rehabilitation treatment reference, combined with the actual situation, the speed-adjustable controller is adopted, and the speed can be adjusted according to the user's rehabilitation situation to achieve a better rehabilitation effect.

4. The structure has been simplified. Compared with the existing ankle rehabilitation robots on the market, it has a simple structure, parallel synergy and easy control, and achieves a better rehabilitation effect.

5. One output shaft of the motor provides two kinds of power in two directions (one is transmitted to the camshaft through the sprocket to make the platform move up and down, left and right; the other direction uses the second cam to cooperate with the third roller and spring installed on the base Rotate the entire device back and forth.

6. This mechanism adopts the cooperation of cam-fixed roller-spring to generate reciprocating rotation motion, which contributes to the simplification of mechanism and weight.

Description of drawings

Fig. 1 is the axonometric drawing of the utility model embodiment;

Fig. 2 is the front view of the utility model embodiment;

Fig. 3 is the right side view of the utility model embodiment;

Fig. 4 is the rear view of the utility model embodiment;

In the figure: working platform 1, guide rod sleeve 2, first ejector rod 3, second ejector rod 4, camshaft 5, first cam 6, motor 7, driving sprocket 8, second cam 9, universal wheel 10 , base 11, bracket 12, cross arm 13, intermediate shaft 14, first spring 15, driven sprocket 16, third push rod 17, fourth push rod 18, middle guide rod 19, first roller 20, third Cam 21, the second roller 22, the third roller 23, the motor mount 24, the second spring 25, the mandrel cover 26, the spring holder 27, the cross arm frame 28.

Detailed ways

Below in conjunction with embodiment the utility model is described further.

As shown in Figures 1-4, the utility model provides an ankle rehabilitation device with a spherical joint supporting mobile pair, including a working platform 1, a guide rod sleeve 2, a first ejector rod 3, a second ejector rod 4, and a camshaft 5 , the first cam 6, the motor 7, the driving sprocket 8, the second cam 9, the base 11, the universal wheel 10, the bracket 12, the cross arm 13, the intermediate shaft 14, the first spring 15, the driven sprocket 16, the first Three ejector rods 17, fourth ejector rods 18, intermediate guide rods 19, first roller 20, third cam 21, second roller 22, third roller 23, motor mount 24, second spring 25, ejector rod sleeve 26 , spring fixing frame 27, cross arm frame 28, motor speed regulating controller;

The intermediate shaft 14 is vertically supported on the base 11 through a thrust ball bearing, and a motor mount 24 is fixedly installed at the center of the bottom of the support 12, and the motor mount 24 is fixedly connected to the intermediate shaft 14. Four universal wheels 10 are installed at the bottom, and the four universal wheels 10 abut against the upper surface of the base 11. The motor 7 is installed on the motor mount 24, and the second cam 9 and the driving motor 7 are installed on the output shaft of the motor 7. The sprocket 8, the camshaft 5 is supported on the bracket 12 through the bearing seat, a first cam 6, a third cam 21, a driven sprocket 16 and a first cam 6 are installed on the camshaft 5 in sequence, The driven sprocket 16 is connected to the driving sprocket 8 through a chain; the upper end of the middle guide rod 19 is hinged with the center of the working platform 1 through a ball hinge, and the guide rod cover 2 is installed at the center of the upper end of the bracket 12 , the middle guide rod 19 slides through the guide rod sleeve 2; the upper ends of the first ejector rod 3, the second ejector rod 4, the third ejector rod 17 and the fourth ejector rod 18 are connected to the working platform through a hinge 1 is hinged, the first push rod 3, the second push rod 4, the third push rod 17, and the fourth push rod 18 are respectively slidably arranged in the respective push rod sleeves 26, and the four push rod sleeves 26 are all fixedly installed on the On the top of the bracket 12, four ejector rod sleeves 26 are distributed in four directions of left, right, front and rear,

The lower end of the first push rod 3 and the lower end of the third push rod 17 are hinged with a first roller 20, and the first roller 20 abuts against the first cam 6;

The cross arm frame 28 is fixedly mounted on the support 12, one end of the cross arm 13 is hinged with the upper end of the cross arm frame 28, and the middle part of the cross arm 13 is hinged with a second roller 22, and the second roller 22 is connected to the third cam 21. abut against each other, the lower end of the fourth push rod 18 is matched with the other end of the cross arm 13 (the slider can be sleeved on the cross arm 13, and the lower end of the fourth push rod 18 is hinged to the slider; The lower end of the fourth push rod 18 has a card slot, and the draw slot is stuck on the cross arm 13, or the lower end of the fourth push rod 18 is hinged with the other end of the cross arm 13 through a ball hinge, etc.), and at the same time, the cross arm 13 The other end of the first spring 15 is connected to one end, and the other end of the first spring 15 is connected to the bracket 12, and the first spring 15 is in a stretched state, so that the second roller 22 is always in contact with the third cam 21;

The first ejector pin 3 and the third ejector pin 17 are relatively arranged to realize the up and down movement of the working platform 1, and the stroke is about 10 cm; the second ejector pin 4 and the fourth ejector pin 18 are arranged relatively to realize the left and right movement of the working platform 1;

The base 11 is hinged with a third roller 23, the third roller 23 abuts against the second cam 9, one end of the second spring 25 is fixedly connected with the motor mount 24, and the other end of the second spring 25 is connected to the The spring holder 27 fixed on the base 11 is connected, and the second spring 25 is in a stretched state, so that the third roller 23 is always in contact with the second cam 9, and the whole roller is driven by the third roller 23 and the second cam 9. The base 11 rotates following the intermediate shaft 14 with a rotation range of 15°.

The motor 7 is connected with the motor speed controller, and the operating speed of the motor 7 can be adjusted according to the rehabilitation situation of the user to achieve a better rehabilitation effect. After reviewing medical ankle rehabilitation treatment references, the motor speed controller can use Toyo (Lidote) DYG motor speed controller, but not limited to this; the motor 7 can use Taiwan TWT speed control motor, and the model of the AC motor is 5IK40RGN-C, the geared motor model is 5GN-50K, but not limited to this.

It should be noted that, in this embodiment, in order to achieve the purpose of allowing the ankle to realize the movement of moving up and down, forward and backward, the utility model adopts the design of 5 push rods (the first push rod 3, the second push rod 4) under the working platform 1. , the third push rod 17, the fourth push rod 18 and the middle guide rod 19), wherein the middle guide rod 19 plays a supporting role, and the first push rod 3 and the fourth push rod 18 are working push rods, through which the first push rod 3 The up and down movement of the working platform 1 can be realized, because the first push rod 3, the fourth push rod 18 and the middle guide rod 19 have formed the support of three fulcrums, and the first push rod 3, the fourth push rod 18 and the The middle guide rod 19 also only has to move up and down, so the up and down movement of the working platform 1 can be realized by the first push rod 3, and the left and right movement of the working platform 1 can be realized by the fourth push rod 18. The second push rod 4 and the second push rod 4 are set. Three push rods 17 mainly improve the stability of motion.

The working process of the present utility model is as follows:

The operation of the motor 7 drives the sprocket 8 and the second cam 9 fixed on its output shaft to rotate, and the second cam 9 cooperates with the third roller 23 to realize the back and forth rotation of the base 11 at a small angle;

The sprocket 8 is connected with the driven sprocket 16 fixed on the camshaft 5 through a chain, and drives the camshaft 5 to rotate; the camshaft 5 is equipped with a first cam 6, and the first cam 6 pushes against the first push rod 3 and the third push rod. The rod 17 makes the first push rod 3 and the third push rod 17 move up and down, thereby realizing the up and down movement of the working platform 1 .

The third cam 21 rotates with the camshaft 5, and the third cam 21 drives the second roller 22 on the cross arm 13 to realize the swing of the cross arm 13. The lower end of the fourth push rod 18 is matched with the other end of the cross arm 13. The swing of the cross arm 13 drives the fourth push rod 18 to move up and down, thereby realizing the left and right swing of the working platform 1 .

Through the rotation input of a motor, the working platform 1 can move up and down, swing left and right, and rotate back and forth at the same time.

The utility model has the advantages of simple structure, convenient operation, reliable performance and various working modes, and is suitable for use in hospitals, communities and families. In line with the principle of ergonomics, the connection position of the working platform 1 and the support 10 is at an appropriate height from the base plate, and the rotation mechanism can basically center on the ankle joint to ensure effective movement of the ankle joint. According to the individual differences of different patients, the area of the working platform 1 is sufficient, the working platform 1 can be adjusted in a large range, and has a high degree of freedom, which can better meet the personalized treatment needs of patients.

Compared with the prior art, the utility model only adopts one motor 7, and one motor output shaft provides motion in two directions, and the first cam 6 and the second cam 9 are designed according to the amplitude of the required motion of the working platform 1 And the profile of the third cam 21. The first spring 15 and the second spring 25 play the role of automatic reset and buffer, which is not available in the existing design. The utility model greatly simplifies the structural complexity by utilizing the lever principle, and the movement is still reliable.

Claims (7)

1. a kind of ankle device for rehabilitation of the prismatic pair of branch containing flexural pivot, which is characterized in that including workbench (1), leader casing (2), One mandril (3), camshaft (5), the first cam (6), motor (7), the second cam (9), pedestal (11), universal wheel (10), holder (12), transverse arm (13), jackshaft (14), the first spring (15), the 4th mandril (18), intermediate guide rod (19), the first idler wheel (20), Third cam (21), the second idler wheel (22), third idler wheel (23), second spring (25), top stem casing (26), electric machine speed regulation control Device；

Jackshaft (14) vertical support is on pedestal (11), and the holder (12) is fixedly connected on jackshaft (14), institute The bottom for stating holder (12) is equipped at least three universal wheels (10), and universal wheel (10) is abutted with the upper surface of pedestal (11), institute The bottom that motor (7) is fixedly connected on holder (12) is stated, the second cam (9) is mounted on the output shaft of motor (7), the cam Axis (5) is supported on holder (12), and one first cam (6) and a third cam (21) are sequentially arranged on camshaft (5), motor (7) pass through transmission mechanism passing power between output shaft and camshaft (5)；

The centre ball-joint of the upper end and workbench (1) of the intermediate guide rod (19), the upper-center of the holder (12) Place is equipped with leader casing (2), and intermediate guide rod (19) sliding is threaded through in leader casing (2)；

The upper end of first mandril (3) and the 4th mandril (18) with workbench (1) ball-joint, first mandril (3) It is slidably arranged in respectively in respective top stem casing (26) with the 4th mandril (18), top stem casing (26) is fixedly mounted on holder (12) Top, the axis of the first mandril (3), intermediate guide rod (19) and the 4th mandril (18) is non-coplanar；

The lower end of first mandril (3) is hinged with one first idler wheel (20), and the first idler wheel (20) offsets with the first cam (6) It connects；

One end of the transverse arm (13) is hinged with holder (12), is hinged with one second idler wheel (22) in the middle part of transverse arm (13), and second Idler wheel (22) is abutted against with third cam (21), and the lower end of the 4th mandril (18) is matched with the other end of transverse arm (13), The other end of transverse arm (13) is connected with one end of the first spring (15), and the other end of the first spring (15) is connected with holder (12)；

Third idler wheel (23) is hinged on the pedestal (11), the third idler wheel (23) abuts against with the second cam (9), described One end of second spring (25) is fixedly connected with holder (12), and the other end of second spring (25) is fixedly connected with pedestal (11), The motor (7) is connected with electric machine speed regulation controller.

2. a kind of ankle device for rehabilitation of prismatic pair of branch containing flexural pivot according to claim 1, which is characterized in that the driver Structure is chain-drive mechanism or tape handler.

3. a kind of ankle device for rehabilitation of prismatic pair of branch containing flexural pivot according to claim 1, which is characterized in that further include second The upper end of mandril (4) and third mandril (17), the second mandril (4) and third mandril (17) passes through hinge and workbench (1) Hinged, the second mandril (4) and third mandril (17) are slidably arranged in respectively in respective top stem casing (26), and top stem casing (26) is solid Dingan County is mounted in the top of holder (12), and four top stem casings (26) are distributed in the orientation of left, right, front and rear four.

4. a kind of ankle device for rehabilitation of prismatic pair of branch containing flexural pivot according to claim 3, which is characterized in that the camshaft (5) another first cam (6) is also equipped on, the lower end of the third mandril (17) is also hinged with one first idler wheel (20), the The first idler wheel (20) of the lower end of three mandrils (17) is abutted against with another first cam (6).

5. a kind of ankle device for rehabilitation of prismatic pair of branch containing flexural pivot according to claim 1, which is characterized in that the transverse arm (13) sliding sleeve is equipped with slide block set on the other end, and the lower end of the 4th mandril (18) and slide block set are hinged.

6. a kind of ankle device for rehabilitation of prismatic pair of branch containing flexural pivot according to claim 1, which is characterized in that the 4th top The lower end of bar (18) is provided with card slot, and the other end of transverse arm (13) is arranged in card slot.

7. a kind of ankle device for rehabilitation of prismatic pair of branch containing flexural pivot according to claim 1, which is characterized in that the 4th top The lower end of bar (18) is hinged by the other end of spherical hinge and transverse arm (13).