CN112691340A - Ankle joint rehabilitation robot - Google Patents
Ankle joint rehabilitation robot Download PDFInfo
- Publication number
- CN112691340A CN112691340A CN202011537818.9A CN202011537818A CN112691340A CN 112691340 A CN112691340 A CN 112691340A CN 202011537818 A CN202011537818 A CN 202011537818A CN 112691340 A CN112691340 A CN 112691340A
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- China
- Prior art keywords
- lifting device
- rehabilitation robot
- ankle
- robot according
- ankle rehabilitation
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 22
- 210000002683 foot Anatomy 0.000 claims abstract description 25
- 210000003423 ankle Anatomy 0.000 claims abstract description 23
- 230000003028 elevating effect Effects 0.000 claims 6
- 230000003044 adaptive effect Effects 0.000 claims 1
- 230000002093 peripheral effect Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 3
- 238000012549 training Methods 0.000 description 7
- 206010024453 Ligament sprain Diseases 0.000 description 3
- 208000036487 Arthropathies Diseases 0.000 description 1
- 208000010040 Sprains and Strains Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 208000022542 ankle injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses an ankle joint rehabilitation robot which comprises a device bottom plate and a foot placing plate, wherein a first fixing column, a second fixing column and a first lifting device are fixed on the device bottom plate, track plates are fixed on the tops of the first fixing column and the second fixing column, guide rails are arranged on the track plates, a second lifting device and a third lifting device are embedded in the guide rails, an output shaft of the first lifting device is hinged with the bottom surface of the foot placing plate, and output shafts of the second lifting device and the third lifting device are rotatably connected with the bottom surface of the foot placing plate. Compared with the prior art, the invention has the advantages that: the ankle rehabilitation device is simple in structure, the first hydraulic rod and the second hydraulic rod are adopted, so that the height difference is formed between the front part and the rear part of the foot plate and between the left part and the right part, the design concept of slideway rail fixing is adopted, the ankle can move left and right to reach a reasonable movement range, and the ankle rehabilitation device can meet the requirements of patients on ankle rehabilitation treatment.
Description
Technical Field
The invention relates to a rehabilitation medical instrument, in particular to a structure of a robot capable of performing ankle joint rehabilitation treatment.
Background
Ankle joint sprain is often caused in daily life and movement and is a common movement injury in orthopedics clinic, and untimely or incomplete treatment of ankle joint sprain can cause ankle joint ligament to be loose, the probability of repeated sprain is increased, and finally ankle joint dysfunction can be caused.
Ankle joint's rehabilitation helps the recovery of patient's ankle joint motion function, and traditional ankle joint rehabilitation is mainly carried out the rehabilitation training of contact by the doctor, and the patient is in passively, and the mode is simple moreover, and the treatment is not obvious, and the training cycle is longer. Along with research and development and clinical application of the robot technology in the field of rehabilitation medicine, the ankle joint rehabilitation robot can replace a traditional rehabilitation doctor to carry out ankle joint rehabilitation training on a patient, so that the rehabilitation quality and other problems of the patient can be better improved, and therefore, the ankle joint rehabilitation robot is very important to obtain.
Disclosure of Invention
The invention aims to provide an ankle joint rehabilitation training device which helps target people to realize ankle rehabilitation for some athletes with ankle injuries in sports and some old people with problems in lower limbs.
According to the motion law and the structural characteristics of the ankle joint and the research on the ankle joint rehabilitation training method, aiming at the problems that the traditional ankle joint rehabilitation training mode is simple, the treatment effect is not obvious, the training period is long and the like, the ankle joint rehabilitation robot comprises a device bottom plate and a placing foot plate, a first fixing column, a second fixing column and a first lifting device are fixed on the device bottom plate, a track plate is fixed at the tops of the first fixing column and the second fixing column, a guide rail is arranged on the track plate, a second lifting device and a third lifting device are embedded in the guide rail, an output shaft of the first lifting device is hinged to the bottom surface of the placing foot plate, and output shafts of the second lifting device and the third lifting device are rotatably connected with the bottom surface of the placing foot plate. The periphery of the placing foot plate is upwards provided with a limiting bulge.
An equilateral triangle is formed among the first fixing column, the second fixing column and the first lifting device.
The first lifting device is a first hydraulic rod. The second lifting device and the third lifting device both comprise second hydraulic rods, one side, located at the output shaft, of each second hydraulic rod is provided with a limiting frame, each second hydraulic rod is a cylinder, and at least one corner of each limiting frame protrudes out of the corresponding cylinder, so that the second hydraulic rods move in the guide rails. The center of the limiting frame is concentric with the center of the cylinder, and the diagonal line of the limiting frame is larger than the diameter of the cylinder.
Spacing frame one end is equipped with the opening, and the opening part has passed the transverse connection pole, the output of second hydraulic stem is fixed to the first end of transverse connection pole, and the second end fixedly connected with longitudinal tie of transverse connection pole, longitudinal tie and the bottom surface swivelling joint of placing the sole. The width of the guide rail is less than the length of the diagonal line of the limiting frame and is more than or equal to the diameter of the cylinder. The guide rail is arc-shaped. The longitudinal connecting rod is connected with a bottom surface ball of the placing foot plate, the bottom surface of the placing foot plate is provided with a spherical groove, and the top of the longitudinal connecting rod is fixed with a spherical body adapted to the spherical groove.
Compared with the prior art, the invention has the advantages that: the ankle rehabilitation device is simple in structure, the first hydraulic rod and the second hydraulic rod are adopted, so that the height difference is formed between the front part and the rear part of the foot plate and between the left part and the right part, the design concept of slideway rail fixing is adopted, the ankle can move left and right to reach a reasonable movement range, and the ankle rehabilitation device can meet the requirements of patients on ankle rehabilitation treatment.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a side view of the structure of the present invention;
FIG. 3 is a schematic cross-sectional view of the structure of the present invention;
FIG. 4 is an exploded view of the present invention;
FIG. 5 is a schematic view of the present invention in use;
reference numerals: 1-device backplane; 2, placing a foot plate; 3-a first fixed column; 4-a second fixed column; 5-a track slab; 6-a guide rail; 7-limiting protrusions; 8-a first hydraulic lever; 9-a second hydraulic rod; 10-a limit frame; 11-transverse tie bars; 12-longitudinal connecting rods; 13-spheroids; 14-rotating the bar.
Detailed Description
In order that those skilled in the art will better understand the invention and thus more clearly define the scope of the invention as claimed, it is described in detail below with respect to certain specific embodiments thereof. It should be noted that the following is only a few embodiments of the present invention, and the specific direct description of the related structures is only for the convenience of understanding the present invention, and the specific features do not of course directly limit the scope of the present invention.
Referring to the attached drawings, the technical scheme includes that the ankle joint rehabilitation robot comprises a device bottom plate and a foot placing plate, a first fixing column, a second fixing column and a first lifting device are fixed on the device bottom plate, a track plate is fixed at the tops of the first fixing column and the second fixing column, a guide rail is arranged on the track plate, a second lifting device and a third lifting device are embedded in the guide rail, an output shaft of the first lifting device is hinged to the bottom surface of the foot placing plate, and output shafts of the second lifting device and the third lifting device are rotatably connected with the bottom surface of the foot placing plate. The periphery of the placing foot plate is upwards provided with a limiting bulge.
An equilateral triangle is formed among the first fixing column, the second fixing column and the first lifting device.
The first lifting device is a first hydraulic rod. The second lifting device and the third lifting device both comprise second hydraulic rods, one side, located at the output shaft, of each second hydraulic rod is provided with a limiting frame, each second hydraulic rod is a cylinder, and at least one corner of each limiting frame protrudes out of the corresponding cylinder, so that the second hydraulic rods move in the guide rails. The center of the limiting frame is concentric with the center of the cylinder, and the diagonal line of the limiting frame is larger than the diameter of the cylinder. The end of the first hydraulic rod is rotatably connected with a rotating rod, and the other end of the rotating rod is hinged with the bottom of the foot placing plate.
Spacing frame one end is equipped with the opening, and the opening part has passed the transverse connection pole, the output of second hydraulic stem is fixed to the first end of transverse connection pole, and the second end fixedly connected with longitudinal tie of transverse connection pole, longitudinal tie and the bottom surface swivelling joint of placing the sole. The width of the guide rail is less than the length of the diagonal line of the limiting frame and is more than or equal to the diameter of the cylinder. The guide rail is arc-shaped. The longitudinal connecting rod is connected with a bottom surface ball of the placing foot plate, the bottom surface of the placing foot plate is provided with a spherical groove, and the top of the longitudinal connecting rod is fixed with a spherical body adapted to the spherical groove.
Compared with the prior art, the invention has the advantages that: the ankle rehabilitation device is simple in structure, the first hydraulic rod and the second hydraulic rod are adopted, so that the height difference is formed between the front part and the rear part of the foot plate and between the left part and the right part, the design concept of slideway rail fixing is adopted, the ankle can move left and right to reach a reasonable movement range, and the ankle rehabilitation device can meet the requirements of patients on ankle rehabilitation treatment.
When the ankle rehabilitation device is put into use, the first hydraulic rod and the second hydraulic rod adjust the vertical height, the end part of the first hydraulic rod is rotatably connected with the rotating rod, and the other end of the rotating rod is hinged with the bottom of the foot plate, so that the foot plate can move left and right within the range of the guide rail by taking the first hydraulic rod as the circle center, and the rehabilitation of the ankle joint is realized.
The above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and variations, modifications, additions and substitutions which may be made by those skilled in the art within the spirit of the present invention are within the scope of the present invention.
Claims (10)
1. An ankle joint rehabilitation robot, its characterized in that: including device bottom plate (1) and place sole (2), be fixed with first fixed column (3), second fixed column (4) and first elevating gear on device bottom plate (1), first fixed column (3) and second fixed column (4) top are fixed with track board (5), guide rail (6) have been seted up on track board (5), and it has second elevating gear and third elevating gear to inlay in guide rail (6), first elevating gear's output shaft is articulated with the bottom surface of placing sole (2), second elevating gear and third elevating gear's output shaft and the bottom surface swivelling joint of placing sole (2).
2. The ankle rehabilitation robot according to claim 1, wherein: an equilateral triangle is formed among the first fixing column (3), the second fixing column (4) and the first lifting device.
3. The ankle rehabilitation robot according to claim 1, wherein: the first lifting device is a first hydraulic rod (8).
4. The ankle rehabilitation robot according to claim 1, wherein: the second lifting device and the third lifting device both comprise second hydraulic rods (9), wherein the second hydraulic rods (9) are arranged on one side of an output shaft of the second lifting device and are provided with limiting frames (10), the second hydraulic rods (9) are cylindrical, and at least one corner of each limiting frame (10) protrudes out of a circle of the cylinder, so that the second hydraulic rods (9) move in the guide rail (6).
5. The ankle rehabilitation robot according to claim 4, wherein: the center of the limiting frame (10) is concentric with the circle center of the cylinder, and the diagonal line of the limiting frame (10) is larger than the diameter of the cylinder.
6. The ankle rehabilitation robot according to claim 4, wherein: spacing frame (10) one end is equipped with the opening, and the opening part has passed transverse connection pole (11), the output of second hydraulic stem (9) is fixed to the first end of transverse connection pole (11), and the second end fixedly connected with longitudinal tie rod (12) of transverse connection pole (11), longitudinal tie rod (12) and the bottom surface swivelling joint of placing sole (2).
7. The ankle rehabilitation robot according to claim 6, wherein: the longitudinal connecting rod (12) is connected with a bottom ball of the placing foot plate (2), a spherical groove is formed in the bottom surface of the placing foot plate (2), and a spherical body (13) adaptive to the spherical groove is fixed at the top of the longitudinal connecting rod (12).
8. The ankle rehabilitation robot according to claim 5, wherein: the width of the guide rail (6) is smaller than the length of a diagonal line of the limiting frame (10) and is larger than or equal to the diameter of the cylinder.
9. The ankle rehabilitation robot according to claim 8, wherein: the guide rail (6) is arc-shaped.
10. The ankle rehabilitation robot according to claim 1, wherein: the peripheral side of the placing foot plate (2) is upwards provided with a limiting bulge (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011537818.9A CN112691340A (en) | 2020-12-23 | 2020-12-23 | Ankle joint rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011537818.9A CN112691340A (en) | 2020-12-23 | 2020-12-23 | Ankle joint rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112691340A true CN112691340A (en) | 2021-04-23 |
Family
ID=75509257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011537818.9A Pending CN112691340A (en) | 2020-12-23 | 2020-12-23 | Ankle joint rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112691340A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090124936A1 (en) * | 2007-11-09 | 2009-05-14 | Ermi, Inc. | Multi-Section Limb and Ligament Evaluation Apparatus and Associated Methods For Using Same |
| KR20150023196A (en) * | 2013-08-23 | 2015-03-05 | 차찬열 | Ankle and lower sports equipment |
| CN104398365A (en) * | 2014-11-21 | 2015-03-11 | 深圳市第二人民医院 | Three-degree-of-freedom ankle joint exercising device |
| CN205796395U (en) * | 2016-07-18 | 2016-12-14 | 罗俊波 | Machine for training synthetic force of anklebone |
| CN106726355A (en) * | 2017-01-20 | 2017-05-31 | 河南省中瑞机器人科技有限公司 | The naked convalescence device of pin |
| CN206910695U (en) * | 2017-05-21 | 2018-01-23 | 宋斌 | A kind of ankle rehabilitation plate |
| CN208176840U (en) * | 2018-03-22 | 2018-12-04 | 金荣祥 | A kind of medical orthopaedics device for healing and training |
| CN208799724U (en) * | 2018-03-09 | 2019-04-30 | 北京力泰克科技有限公司 | Ankle-joint training adapter and ankle joint rehabilitation training equipment |
| CN111568697A (en) * | 2020-05-22 | 2020-08-25 | 深圳市大鹏新区南澳人民医院 | Intelligent ankle joint telecontrol equipment |
| CN111904810A (en) * | 2020-08-22 | 2020-11-10 | 朱君衍 | Medical ankle auxiliary rehabilitation device |
| CN212187659U (en) * | 2019-11-29 | 2020-12-22 | 饶腾达 | Rehabilitation and strength training apparatus after ankle sprain |
-
2020
- 2020-12-23 CN CN202011537818.9A patent/CN112691340A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090124936A1 (en) * | 2007-11-09 | 2009-05-14 | Ermi, Inc. | Multi-Section Limb and Ligament Evaluation Apparatus and Associated Methods For Using Same |
| KR20150023196A (en) * | 2013-08-23 | 2015-03-05 | 차찬열 | Ankle and lower sports equipment |
| CN104398365A (en) * | 2014-11-21 | 2015-03-11 | 深圳市第二人民医院 | Three-degree-of-freedom ankle joint exercising device |
| CN205796395U (en) * | 2016-07-18 | 2016-12-14 | 罗俊波 | Machine for training synthetic force of anklebone |
| CN106726355A (en) * | 2017-01-20 | 2017-05-31 | 河南省中瑞机器人科技有限公司 | The naked convalescence device of pin |
| CN206910695U (en) * | 2017-05-21 | 2018-01-23 | 宋斌 | A kind of ankle rehabilitation plate |
| CN208799724U (en) * | 2018-03-09 | 2019-04-30 | 北京力泰克科技有限公司 | Ankle-joint training adapter and ankle joint rehabilitation training equipment |
| CN208176840U (en) * | 2018-03-22 | 2018-12-04 | 金荣祥 | A kind of medical orthopaedics device for healing and training |
| CN212187659U (en) * | 2019-11-29 | 2020-12-22 | 饶腾达 | Rehabilitation and strength training apparatus after ankle sprain |
| CN111568697A (en) * | 2020-05-22 | 2020-08-25 | 深圳市大鹏新区南澳人民医院 | Intelligent ankle joint telecontrol equipment |
| CN111904810A (en) * | 2020-08-22 | 2020-11-10 | 朱君衍 | Medical ankle auxiliary rehabilitation device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210423 |