CN209107980U - A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone - Google Patents
A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone Download PDFInfo
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- CN209107980U CN209107980U CN201820501858.XU CN201820501858U CN209107980U CN 209107980 U CN209107980 U CN 209107980U CN 201820501858 U CN201820501858 U CN 201820501858U CN 209107980 U CN209107980 U CN 209107980U
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- electric pushrod
- connector
- rehabilitation
- shank
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Abstract
The utility model discloses a kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone, it includes fixes sleeve on shank, fixes sleeve and rigid sole under shank, is connected with wrapping up in for the flexible material being coated on shank, ankle-joint and instep between fixes sleeve and rigid sole under fixes sleeve, shank on the shank and ties up structure.The advantages that the utility model at least has easy donning, quick detachable, lighter, and simple and reliable for structure, more comfortable more firm fixed injured ankle and foot, rehabilitation training is more convenient, more efficient.
Description
Technical field
The utility model relates to a kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone.
Background technique
Traditional ankle and foot convalescence device is with SACHfoot adaptor, by reducing the movable model of ankle-joint in daily life
It encloses to reduce the secondary damage to ankle-joint, to play rehabilitation and protective effect.
But when ankle sprain is serious, needs to carry out ankle flexibility training in the process of rehabilitation, that is, allow ankle-joint to exist
It is moved in a certain range.Traditional ankle fixing means subtracts pauciarticular fortune although the stable state in affected part can be protected
Kinetic force can not reach best rehabilitation efficacy, and long-term this stress of wearing is concentrated and limits movable rehabilitation branch
Tool is easy to cause stasis, muscle rigidity, and swelling shouting pain is very uncomfortable.
In mechanical structure, the six degree of freedom ankle healing robot occurred at present, complicated in mechanical structure, for most
Only for the ankle-joint of the people of Three Degree Of Freedom, although six degree of freedom can the pose to ankle and foot accurately adjusted, increase
The extra dof added still will increase the complexity of rehabilitation training system, and cause convalescence device volume excessive, and weight increases
Add, the affected part load also resulted in increases, and reduces the comfort of dress.
In control mode, increase the motion range of ankle simply by driver, it is possible to cause to patient affected part
Secondary damage such as reasonably cannot formulate rehabilitation training plans according to the position of patient affected part and seriousness well, gently then right
Affected part does not have effective rehabilitative action, serious, can cause suffering to patient or secondary damage.
Utility model content
To solve defect existing for above-mentioned technology, the utility model be intended to provide a kind of four-degree-of-freedom can supplemental training ankle
Joint recovering robot at least has easy donning, quick detachable, lighter, simple and reliable for structure, more comfortable more firm fixation
The advantages that injured ankle and foot, rehabilitation training is more convenient.
Specific utility model content is as follows:
A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone, it includes fixes sleeve on shank, under shank
Fixes sleeve and rigid sole are connected on the shank between fixes sleeve and rigid sole under fixes sleeve, shank
Structure is tied up in wrapping up in for the flexible material being coated on shank, ankle-joint and instep, and fixes sleeve two sides are set respectively on the shank
There are the first upper connector and the second upper connector, fixes sleeve two sides are respectively equipped with the first lower connector and second under the shank
Lower connector, rigid sole front end two sides are respectively equipped with the first front connector and the second front connector, the rigid sole
Rear end sides are respectively equipped with the first rear connectors and the second rear connectors, first upper connector, the first lower connector, first
Front connector and the first rear connectors are located at the same side, second upper connector, the second lower connector, the second front connector
And second rear connectors be each provided at the other side, be connected between first upper connector and the first front connector can spirit
Electric pushrod before first to stretch living, being connected between second upper connector and the second front connector flexibly to stretch
Second before electric pushrod, be connected with can flexibly stretch first between the described first lower connector and the first rear connectors
Electric pushrod afterwards is connected with electronic after can flexibly stretch second between the described second lower connector and the second rear connectors
Push rod.
One of preferably, pass through Hooke between electric pushrod and first upper connector before described first
Hinge is flexibly connected, and is flexibly connected between electric pushrod and first front connector by flexural pivot before described first, described second
It is flexibly connected between preceding electric pushrod and second upper connector by Hooke's hinge, electric pushrod and described the before described second
It is flexibly connected between two front connectors by flexural pivot.
One of preferably, pass through Hooke between electric pushrod and the first lower connector after described first
Hinge is flexibly connected, and is flexibly connected between electric pushrod and first rear connectors by flexural pivot after described first, described second
It is flexibly connected between electric pushrod and the described second lower connector by Hooke's hinge afterwards, electric pushrod and described the after described second
It is flexibly connected between two rear connectors by flexural pivot.
Further, before described first between electric pushrod and the Hooke's hinge being connected on the first upper connector, before second
Pressure sensor is equipped between electric pushrod and the Hooke's hinge being connected on the second upper connector.
Further, after described first between electric pushrod and the Hooke's hinge being connected on the first lower connector, described
Pressure sensor is equipped between electric pushrod and the Hooke's hinge being connected on the second lower connector after second.
Further, before described first between electric pushrod and the flexural pivot being connected in first front connector, second
Pressure sensor is equipped between preceding electric pushrod and the flexural pivot being connected in second front connector.
Further, after described first between electric pushrod and the flexural pivot being connected on first rear connectors, described
Pressure sensor is equipped between electric pushrod and the flexural pivot being connected on second rear connectors after second.
One of preferably, the rigid sole center is equipped with the scalable company of changeable rigid sole length
Fitting.
One of preferably, described to be coated on wrapping up on shank, ankle-joint and instep and tie up structure, including can
Adjust the fragrant plant button for degree of wrapping.
One of preferably, the inside for tiing up structure of wrapping up in is equipped with dismountable low pulse electrode sheet.
The utility model has the advantages that
The utility model uses the layering parallel-connection structure of four-degree-of-freedom: fixes sleeve under fixes sleeve, shank on shank
And rigid sole, wrapping up in for the flexible material being coated on shank, ankle-joint and instep, which is connected with, between three ties up structure, point
Concentration stress, while load that is lighter, mitigating ankle injury have been dissipated, the risk of secondary damage has been reduced, increases rehabilitation
Effect and comfort level；It is connected to the first, second upper connector, the one the second lower connectors, the one the second front connectors and the
Each pressure sensor at one second rear connectors, can coupled computer program, pass through rehabilitation training side under the line of teaching playback
Formula, by the position feedback of pressure sensor and linear motor, gimmick and dynamics when typing doctor training, eliminate hurry back and forth in
Convenience, timeliness and the rehabilitation efficiency of fatigued increase rehabilitation training between hospital and family；It even can be using adaptive
Control mode is based on teaching playback rehabilitation modality, the rehabilitation intensity and rate daily from main regulation, real-time update patient affected part flesh
The state of meat tissue plays better rehabilitation training effect；In addition, the movable connection method of Hooke's hinge and flexural pivot, keeps this practical
It is novel more flexible and light；The scalable connector in rigid sole center makes the utility model be suitble to the different size of trouble of foot
Person's wearing, use scope are wider；Be equipped with dismountable low pulse electrode sheet wrapping up in the inside for tiing up structure, can by controller come
The frequency and amplitude of low pulse are controlled, to simulate the truly feels of massage, knocking, massage, cupping jar, acupuncture, scraping, makes to be grown
The muscle that time wraps up in the positions such as the leg tied up, ankle and foot is loosened.To sum up, the utility model at least has easy donning, readily removable
It unloads, it is lighter, the advantages that simple and reliable for structure, more comfortable more stable and reliable fixed injured ankle and foot, rehabilitation training is more convenient.
Detailed description of the invention
Fig. 1 is the volume rendering structural schematic diagram of one preferred embodiment of the utility model.
Fig. 2 is the forward sight structural schematic diagram of one preferred embodiment of the utility model.
Appended drawing reference:
1, fixes sleeve on shank；2, fixes sleeve under shank；3, rigid sole；4, it wraps up in and ties up structure；5, it connects on first
Part；6, the second upper connector；7, the first lower connector；8, the second lower connector；9, the first front connector；10, it connects before second
Part；11, the first rear connectors；12, the second rear connectors；13, electric pushrod before first；14, electric pushrod before second；15,
Electric pushrod after one；16, electric pushrod after second；17, scalable connector.
Specific embodiment
The utility model is illustrated below with reference to specific embodiment:
A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone, it includes on shank under fixes sleeve 1, shank
Fixes sleeve 2 and rigid sole 3 connect under fixes sleeve 1, shank between fixes sleeve 2 and rigid sole 3 on the shank
It is connected to wrapping up in for the flexible material being coated on shank, ankle-joint and instep and ties up structure 4,1 two sides of fixes sleeve on the shank
It is respectively equipped with the first upper connector 5 and the second upper connector 6,2 two sides of fixes sleeve connect under being respectively equipped with first under the shank
Fitting 7 and the second lower connector 8, the 3 front end two sides of rigid sole are respectively equipped with the first front connector 9 and the second front connector
10,3 rear end sides of rigid sole are respectively equipped with the first rear connectors 11 and the second rear connectors 12, connect on described first
The lower connector 7 of part 5, first, the first front connector 9 and the first rear connectors 11 are located at the same side, second upper connector
6, the second lower connector 8, the second front connector 10 and the second rear connectors 12 are each provided at the other side, first upper connector
5 and first are connected with electric pushrod 13 before can flexibly stretch first, second upper connector 6 between front connector 9
And second be connected with electric pushrod 14 before can flexibly stretch second, the described first lower connector 7 between front connector 10
And first be connected with electric pushrod 15 after can flexibly stretch first, the described second lower connector 8 between rear connectors 11
And second be connected with electric pushrod 16 after can flexibly stretch second between rear connectors 12.
One of preferably, pass through between electric pushrod 13 and first upper connector 5 before described first
Hooke's hinge is flexibly connected, and is flexibly connected between electric pushrod 13 and first front connector 9 by flexural pivot before described first, institute
It is flexibly connected between electric pushrod 14 and second upper connector 6 by Hooke's hinge before stating second, it is electronic before described second to push away
It is flexibly connected between bar 14 and second front connector 10 by flexural pivot.
One of preferably, pass through between electric pushrod 15 and the first lower connector 7 after described first
Hooke's hinge is flexibly connected, and is flexibly connected between electric pushrod 15 and first rear connectors 11 by flexural pivot after described first,
It is flexibly connected between electric pushrod 16 and the described second lower connector 8 by Hooke's hinge after described second, it is electronic after described second
It is flexibly connected between push rod 16 and second rear connectors 12 by flexural pivot.
Further, before described first between electric pushrod 13 and the Hooke's hinge being connected on the first upper connector 5, second
Pressure sensor is equipped between preceding electric pushrod 14 and the Hooke's hinge being connected on the second upper connector 6.
Further, after described first between electric pushrod 15 and the Hooke's hinge being connected on the first lower connector 7, institute
Pressure sensor is equipped between electric pushrod 16 and the Hooke's hinge being connected on the second lower connector 8 after stating second.
Further, before described first between electric pushrod 13 and the flexural pivot being connected in first front connector 9,
Pressure sensor is equipped between electric pushrod 14 and the flexural pivot being connected in second front connector 10 before two.
Further, after described first between electric pushrod 15 and the flexural pivot being connected on first rear connectors 11,
Pressure sensor is equipped between electric pushrod 16 and the flexural pivot being connected on second rear connectors 12 after described second.
One of preferably, 3 center of rigid sole is equipped with the scalable of changeable rigid sole length
Connector 17, to adapt to patient's wearing of the foot of different size size, the scope of application is wider, makes the utilization rate of the utility model
It is higher.
Such as teaching reproduction rehabilitation modality under, when patient wears the utility model, by doctor first to patients feet into
Row recovering massage, in the data transmitted by the utility model and computer system by pressure sensor the length of four push rods and
The gimmick and dynamics of change rate typing doctor, so that patient in the execute-in-place of not doctor, can also carry out same effect
Recovering massage training.It not only eliminates patient and travels to and fro between fatigued between rehabilitation teacher and residence, equally saved physiatrician
Resource reduces rehabilitation training cost, improves rehabilitation efficiency.
When wearing the utility model, since leg and vola are kept fixed state for a long time, the fixation for tiing up structure anxiety is wrapped up in
Blood circulation can be interfered, makes toe, foot, the feeling for having DOMS at shank, low arteries and veins is installed at vola and shank acupuncture point
Electrode is rushed, i.e., is exported bionical object micro-current in a manner of low frequency.Under the premise that security is guaranteed, by different low-frequency current signals
The truly feels for simulating massage, knocking, massage, cupping jar, acupuncture, scraping assist in patient during rehabilitation, right
The muscle group in non-affected part plays the role of loosening, and relieves fatigue, and promotes blood circulation.
Rehabilitation situation can be assessed, suitably based on teaching rehabilitation modality in the different phase of Rehabilitation
Increase the intensity and movable amplitude of Rehabilitation training.With the process of Rehabilitation, the rehabilitation training scheme of patient is adjusted, it can
To avoid the secondary fatigue damage of patient affected part, increase all round exercise of core muscles group.
One of preferably, described to be coated on wrapping up on shank, ankle-joint and instep and tie up structure 4, including
The adjustable fragrant plant button for wrapping degree.
One of preferably, the inside for tiing up structure 4 of wrapping up in is equipped with dismountable low pulse electrode sheet.It can be with
The frequency and amplitude of low pulse are controlled by controller, come simulate massage, knocking, massage, cupping jar, acupuncture, scraping it is true
True feeling is felt, the muscle for being wrapped up in the positions such as the leg tied up, ankle and foot for a long time is loosened.
The above content is only the preferred embodiment of the utility model, for those of ordinary skill in the art, according to this reality
With novel thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as
Limitations of the present invention.
Claims (10)
1. a kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone, it is characterised in that: it includes fixing sleeve on shank
Cylinder, fixes sleeve and rigid sole under shank, on the shank under fixes sleeve, shank fixes sleeve and rigid sole it
Between be connected with wrapping up in for the flexible material being coated on shank, ankle-joint and instep and tie up structure, fixes sleeve two on the shank
Side is respectively equipped with the first upper connector and the second upper connector, and fixes sleeve two sides are respectively equipped with the first lower connection under the shank
Part and the second lower connector, rigid sole front end two sides are respectively equipped with the first front connector and the second front connector, described
Rigid sole rear end sides are respectively equipped with the first rear connectors and the second rear connectors, connect under first upper connector, first
Fitting, the first front connector and the first rear connectors are located at the same side, second upper connector, the second lower connector, the
Two front connectors and the second rear connectors are each provided at the other side, movable between first upper connector and the first front connector
It is connected with electric pushrod before can flexibly stretch first, is connected between second upper connector and the second front connector
Electric pushrod before can flexibly stretch second, being connected between the described first lower connector and the first rear connectors can be flexible
Electric pushrod after flexible first, being connected between the described second lower connector and the second rear connectors flexibly to stretch
Electric pushrod after second.
2. a kind of four-degree-of-freedom according to claim 1 can supplemental training robot for rehabilitation of anklebone, it is characterised in that:
It is flexibly connected between electric pushrod and first upper connector by Hooke's hinge before described first, electric pushrod before described first
Be flexibly connected between first front connector by flexural pivot, before described second electric pushrod and second upper connector it
Between be flexibly connected by Hooke's hinge, connected between electric pushrod and second front connector by flexural pivot activity before described second
It connects.
3. a kind of four-degree-of-freedom according to claim 1 can supplemental training robot for rehabilitation of anklebone, it is characterised in that:
It is flexibly connected between electric pushrod and the described first lower connector by Hooke's hinge after described first, electric pushrod after described first
Be flexibly connected between first rear connectors by flexural pivot, after described second electric pushrod and the described second lower connector it
Between be flexibly connected by Hooke's hinge, connected between electric pushrod and second rear connectors by flexural pivot activity after described second
It connects.
4. a kind of four-degree-of-freedom according to claim 2 can supplemental training robot for rehabilitation of anklebone, it is characterised in that:
Electric pushrod and the is connected between electric pushrod and the Hooke's hinge being connected on the first upper connector, before second before described first
Pressure sensor is equipped between Hooke's hinge on two upper connectors.
5. a kind of four-degree-of-freedom according to claim 3 can supplemental training robot for rehabilitation of anklebone, it is characterised in that:
After described first between electric pushrod and the Hooke's hinge being connected on the first lower connector, after described second electric pushrod with connect
Pressure sensor is equipped between Hooke's hinge under second on connector.
6. a kind of four-degree-of-freedom according to claim 2 can supplemental training robot for rehabilitation of anklebone, it is characterised in that:
Before described first between electric pushrod and the flexural pivot being connected in first front connector, before second electric pushrod be connected to
Pressure sensor is equipped between flexural pivot in second front connector.
7. a kind of four-degree-of-freedom according to claim 3 can supplemental training robot for rehabilitation of anklebone, it is characterised in that:
Electric pushrod and company between electric pushrod and the flexural pivot being connected on first rear connectors, after described second after described first
It connects and is equipped with pressure sensor between the flexural pivot on second rear connectors.
8. a kind of four-degree-of-freedom according to claim 1 can supplemental training robot for rehabilitation of anklebone, it is characterised in that:
The rigid sole center is equipped with the scalable connector of changeable rigid sole length.
9. a kind of four-degree-of-freedom according to claim 1 can supplemental training robot for rehabilitation of anklebone, it is characterised in that:
It is described to be coated on wrapping up on shank, ankle-joint and instep and tie up structure, including the adjustable fragrant plant button for wrapping degree.
10. a kind of four-degree-of-freedom according to claim 1 can supplemental training robot for rehabilitation of anklebone, feature exists
In: the inside for tiing up structure of wrapping up in is equipped with dismountable low pulse electrode sheet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820501858.XU CN209107980U (en) | 2018-04-10 | 2018-04-10 | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820501858.XU CN209107980U (en) | 2018-04-10 | 2018-04-10 | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone |
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| Publication Number | Publication Date |
|---|---|
| CN209107980U true CN209107980U (en) | 2019-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820501858.XU Expired - Fee Related CN209107980U (en) | 2018-04-10 | 2018-04-10 | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone |
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| CN (1) | CN209107980U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338893A (en) * | 2018-04-10 | 2018-07-31 | 超微（上海）骨科医院管理股份有限公司 | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone |
-
2018
- 2018-04-10 CN CN201820501858.XU patent/CN209107980U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338893A (en) * | 2018-04-10 | 2018-07-31 | 超微（上海）骨科医院管理股份有限公司 | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20200410 |