CN209122799U - A kind of ankle rehabilitation institution - Google Patents
A kind of ankle rehabilitation institution Download PDFInfo
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- CN209122799U CN209122799U CN201821682432.5U CN201821682432U CN209122799U CN 209122799 U CN209122799 U CN 209122799U CN 201821682432 U CN201821682432 U CN 201821682432U CN 209122799 U CN209122799 U CN 209122799U
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- ankle
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Abstract
The utility model discloses a kind of ankle rehabilitation institution, comprising: sole support section, sole fixed part, shank fixed part and ankle movements part；Ankle movements part include: inside and outside ankle flip portion and/or ankle spin upside down part and/or ankle rotary motion part；Sole support section is for carrying foot；Sole fixed part is for fixing foot and mechanism；Shank fixed part is used to shank being fixed on ankle movements part；Articulating shaft when the articulating shaft kinematic axis that mutually concentric ankle spins upside down part when stirring inside and outside the kinematic axis with ankle of flip portion inside and outside ankle is spun upside down with ankle is mutually concentric；The kinematic axis of ankle rotary motion part and articulating shaft when ankle rotary motion are mutually concentric.The ankle rehabilitation institution of the utility model, can be carried out effectively the rehabilitation training of patient's ankle, and structure is simple, and it is convenient to operate.
Description
Technical field
The utility model relates to technical field of medical equipment, in particular to a kind of ankle rehabilitation institution.
Background technique
Patients with cerebral apoplexy or the postoperative most effective restoration methods of limb injury patient are exactly rehabilitation training at present, and ankle
Rehabilitation training is a link very crucial in limbs of patient rehabilitation exercise.
Some ankle convalescence devices are also related in the prior art, for example application No. is the China of CN201710040153.2
Patent, it includes a shelf, and face is hang plate on the top of the shelf, and hang plate is the component for pinioning human leg, in shelf under
Face is the hinged movable disk in a mandril upper end, and mandril is hinged below movable disk, is the component for pinioning foot above movable disk,
There is the sliding slot to rise and fall around below the movable disk, motor-driven rotating disk is provided below in movable disk, among rotating disk
It is the hollow core structures of interspersed mandril, there is connecting rod in rotating disk, small end is mounted in the structure in sliding slot and is mounted on cunning
In slot, the movable disk is mounted in first base through mandril, there are also second base below first base, first base and the
There is extensible member between two pedestals, there is one week sliding mouth below the movable plate, the sliding slot is mounted in sliding mouth.It is such
Ankle convalescence device has and can have the advantages that high degree of automation, labor intensity are small to ankle carry out activity.
But above-mentioned patent has the disadvantage that existing utility model patent, not can be carried out in ankle-joint and turns up, up and down
The self-movement or hybrid motion turned over and rotated.
Utility model content
The utility model is directed to above-mentioned problems of the prior art, a kind of ankle rehabilitation institution is proposed, so that patient
Effective ankle rehabilitation training is obtained during rehabilitation exercise, structure is simple, and it is convenient to operate.
In order to solve the above technical problems, the utility model is achieved by the following technical solution:
The utility model provides a kind of ankle rehabilitation institution comprising: sole support section, sole fixed part, shank
Fixed part and ankle movements part；Wherein,
The ankle movements part includes: flip portion inside and outside ankle, and/or, ankle spins upside down part, and/or, foot
Ankle rotary motion part；
The sole support section is for carrying foot；
The sole fixed part is for fixing foot and mechanism；
The shank fixed part is used to shank being fixed on the ankle movements part；
Articulating shaft when stirring inside and outside flip portion inside and outside the ankle, kinematic axis and ankle is mutually concentric, described
Flip portion provides inside and outside ankle turns up movement in the ankle of patient's certain angle；
The ankle spins upside down part, and articulating shaft when kinematic axis is spun upside down with ankle is mutually concentric, described
Ankle spins upside down part and spins upside down movement for providing the ankle wrist of certain angle；
Ankle rotary motion part, kinematic axis and articulating shaft when ankle rotary motion are mutually concentric, described
Ankle rotary motion part is for providing the ankle rotary motion of certain angle.
Preferably, flip portion is using rotating electric machine cooperation coaxial speed reducer realization high torque rotation fortune inside and outside the ankle
Dynamic, output end finally drives entire ankle to realize using mutually changing in the 0-90 degree that 90 degree of bevel gear carries out outbound course
Inside and outside turn over function；
The ankle spins upside down part and cooperates coaxial speed reducer to realize the circular motion under high torque using rotating electric machine,
And entire ankle realization is driven to spin upside down function；
Ankle rotary motion part carries out rotation output in such a way that rotating electric machine cooperates coaxial speed reducer, exports
Axis rotary shaft and turns over the coincidence point of rotary shaft by turning up in model of human ankle joint up and down, and with inside and outside model of human ankle
It is vertical with rotary shaft is turned over up and down to turn over rotary shaft.
Preferably, when the ankle movements part includes: that flip portion inside and outside ankle, ankle spin upside down part and foot
When ankle rotary motion part, ankle rotary motion part is mutually fixed with shank；The ankle spins upside down the movement of part
Axis and the kinematic axis of ankle rotary motion part are perpendicular；Flip portion and the sole support section inside and outside the ankle
And the sole fixed part is connected, the kinematic axis of flip portion and ankle rotary motion part inside and outside the ankle
Kinematic axis and the ankle spin upside down part kinematic axis it is perpendicular.
Preferably, when the ankle movements part includes: that flip portion inside and outside ankle, ankle spin upside down part and foot
When any two kinds of parts or three kinds of parts in ankle rotary motion part all include, two kinds of parts or three kinds of parts can individually be transported
It is dynamic, it also being capable of the coordinated movement of various economic factors between Union Movement or three parts between any two.
Preferably, inside and outside the ankle flip portion motion source be DC stepper motor, direct current permanent magnet motor, direct current without
Any one in brush motor, direct current torque motor and AC servo motor.
Preferably, the motor pattern of flip portion is the mode that rotating electric machine directly drives inside and outside the ankle, or adopt
With any one in RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit and worm type of reduction gearing.
Preferably, the ankle spin upside down part motion source be DC stepper motor, direct current permanent magnet motor, direct current without
Any one in brush motor, direct current torque motor and AC servo motor.
Preferably, the ankle spins upside down the mode that the motor pattern of part directly drives for rotating electric machine, or adopt
With any one in RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit and worm type of reduction gearing.
Preferably, the motion source of ankle rotary motion part be DC stepper motor, direct current permanent magnet motor, direct current without
Any one in brush motor, direct current torque motor and AC servo motor.
Preferably, the motor pattern of ankle rotary motion part is the mode that rotating electric machine directly drives, or adopt
With any one in RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit and worm type of reduction gearing.
Preferably, the sole fixed part and/or the shank fixed part use velcro, magic tape, bandage with
And any one mode that nylon tape is inserted in button mutually fixes foot and/or shank with mechanism.
Compared to the prior art, the utility model has the advantage that
(1) the ankle rehabilitation institution of the utility model can effectively carry out the rehabilitation training of patient's ankle, structure letter
Single, it is convenient to operate, and has and is widely popularized meaning；
(2) three freedom of ankle-joint may be implemented using three independent motors in the ankle rehabilitation institution of the utility model
The linkage rehabilitation movement for the independent rehabilitation movement or three degree of freedom that degree does not couple mutually, can be adapted for more rehabilitations needs
It asks；
(3) the ankle rehabilitation institution of the utility model, can include: simultaneously flip portion inside and outside ankle, ankle up and down turn over
Transfer part point and ankle rotary motion part, can efficiently carry out that overturning inside and outside ankle, ankle is spun upside down and foot to patient
The rehabilitations movement such as the independent rehabilitation exercise of ankle rotary motion, the two-by-two coordinated movement of various economic factors, Three Degree Of Freedom linkage, can make patient in rehabilitation
Effective multiple degrees of freedom ankle rehabilitation is obtained in motion process.
Certainly, any product for implementing the utility model does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
The embodiments of the present invention is described further with reference to the accompanying drawing:
Fig. 1 is the structural schematic diagram of the ankle rehabilitation institution of an embodiment of the utility model；
Fig. 2 a, 2b are that the movement of flip portion inside and outside the ankle of the ankle rehabilitation institution of an embodiment of the utility model is shown
It is intended to；
Fig. 2 c is the load signal of flip portion inside and outside the ankle of the ankle rehabilitation institution of an embodiment of the utility model
Figure；
Fig. 3 a, 3b show for the movement that the ankle of the ankle rehabilitation institution of an embodiment of the utility model spins upside down part
It is intended to；
Fig. 3 c is that the ankle of the ankle rehabilitation institution of an embodiment of the utility model spins upside down the load signal of part
Figure；
Fig. 4 a, 4b are that the movement of the ankle rotary motion part of the ankle rehabilitation institution of an embodiment of the utility model is shown
It is intended to；
Fig. 4 c is the load signal of the ankle rotary motion part of the ankle rehabilitation institution of an embodiment of the utility model
Figure；
Label declaration: 1- sole support section, 2- sole fixed part, 3- shank fixed part, the inside and outside overturning of 4- ankle
Part, 5- ankle spin upside down part, 6- ankle rotary motion part.
Specific embodiment
It elaborates below to the embodiments of the present invention, the present embodiment before being with technical solutions of the utility model
It puts and is implemented, the detailed implementation method and specific operation process are given, but the protection scope of the utility model is unlimited
In following embodiments.
In conjunction with Fig. 1-Fig. 4, the ankle rehabilitation institution embodiment of the utility model is described in detail.
As shown in Figure 1, the structure chart of one embodiment of ankle rehabilitation institution, comprising: sole support section 01, sole fixed part
Divide 02, shank fixed part 03 and ankle movements part.In the embodiment:
Ankle movements part includes: that flip portion 04, ankle spin upside down part 05 inside and outside ankle and ankle rotation is transported
Dynamic part 06, in which: sole support section 01 is matched for carrying patients feet with sole fixed part 02, by patient
Foot and mechanism fix；Shank fixed part 03 is used to the shank of patient being fixed on ankle rotary motion part 06,
Sole fixed part 02 and shank fixed part 03 can use velcro, magic tape, can also be inserted using bandage, nylon tape
The mode of button mutually fixes shank and foot and ankle rehabilitation institution.Several ankle movements parts use series system, first foot
Ankle rotary motion part 06 is first movable joint axis, is coincided with patient's ankle rotary motion articulating shaft, and will
Patient's shank is fixed with 06 split-phase of ankle rotary motion portion；Second joint shaft is that ankle spins upside down part 05, with patient's foot
Ankle spins upside down articulating shaft and coincides, perpendicular with 06 movable joint axis of ankle rotary motion part；Third joint shaft
It is to overturn articulating shaft inside and outside flip portion 04 inside and outside ankle, with patient's ankle to coincide, with ankle rotary motion part 06
And ankle spin upside down part 05 movable joint axis it is perpendicular.Inside and outside ankle flip portion 04 and sole support section 01 with
And sole fixed part 02 is connected, by immobilized patients sole fixed part 02 and sole support section 01 finally and in ankle
Outer 04 phase of flip portion is fixed.Ankle rehabilitation exercise can be flip portion 04, ankle inside and outside ankle and spin upside down 05 and of part
Ankle rotary motion part 06 moves alone, and is also possible to these three motor patterns, and cooperation linkage, is also possible to this between any two
Three kinds of motor pattern coordinated movements of various economic factors together.
As shown in Fig. 2 a, 2b, 2c, flip portion 04 inside and outside ankle, pass when stirring inside and outside kinematic axis and patient's ankle
It is mutually concentric to save kinematic axis, movement of turning up in the ankle for providing patient's certain angle.Specifically, flip portion 04 inside and outside ankle
High torque rotary motion is realized using rotating electric machine cooperation coaxial speed reducer, output end is carried out using the bevel gear mutually in 90 degree
90 degree of changes of outbound course, finally drive entire ankle to realize inside and outside turn over function.The movement of flip portion 04 inside and outside ankle
It source can be using in DC stepper motor, direct current permanent magnet motor, DC brushless motor, direct current torque motor, AC servo motor
Any one；The motor pattern of flip portion 04 can be in such a way that rotating electric machine directly drives inside and outside ankle, can also be with
Using any one in RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit, worm type of reduction gearing etc..
As shown in Fig. 3 a, 3b, 3c, ankle spins upside down part 05, pass when kinematic axis and patient's ankle are spun upside down
Section kinematic axis is mutually concentric, and the ankle wrist for providing patient's certain angle spins upside down movement.Specifically, ankle is spun upside down
Part 05 can realize the circular motion under high torque using rotating electric machine cooperation coaxial speed reducer, and entire ankle is driven to realize
Spin upside down function.The motion source that ankle spins upside down part 05 can use DC stepper motor, direct current permanent magnet motor, direct current
Brushless motor, direct current torque motor, any one in AC servo motor；The motor pattern that ankle spins upside down part 05 can
In a manner of being directly driven using rotating electric machine, it can also be subtracted using RV retarder, planetary reduction gear, harmonic speed reducer, gear
Any one in fast device, worm type of reduction gearing etc..
As shown in Fig. 4 a, 4b, 4c, ankle rotary motion part 06, kinematic axis and the pass when rotary motion of patient's ankle
It is mutually concentric to save kinematic axis, for providing the ankle rotary motion of patient's certain angle.Specifically, ankle rotary motion part 06 is adopted
Rotation output is carried out with the mode of rotating electric machine cooperation coaxial speed reducer, output shaft passes through rotation of turning up in model of human ankle joint
Shaft and the coincidence point for turning over rotary shaft up and down, and with the rotary shaft and up and down to turn over rotary shaft vertical of turning up in model of human ankle.Foot
The motion source of ankle rotary motion part 06 can be turned round using DC stepper motor, direct current permanent magnet motor, DC brushless motor, direct current
Any one in torque motor, AC servo motor；The motor pattern of ankle rotary motion part 06 can use rotating electric machine
The mode directly driven can also be subtracted using RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit, worm and gear
Any one in fast device etc..
Above-described embodiment is the optimum embodiment of the utility model, can complete the multivariant reconditioning of ankle, no
With in embodiment, demand that can also be different according to patient, ankle movements part is only included: flip portion 04, foot inside and outside ankle
Ankle spins upside down part 05, any a part in ankle rotary motion part 06 or any two parts.
Disclosed herein is only the preferred embodiment of the utility model, and this specification is chosen and specifically describes these implementations
Example, is in order to preferably explain the principles of the present invention and practical application, is not the restriction to the utility model.Any
The modifications and variations that field technical staff is done within the scope of specification should all be fallen in the range of the utility model protects.
Claims (9)
1. a kind of ankle rehabilitation institution characterized by comprising sole support section, sole fixed part, shank fixed part
And ankle movements part；Wherein,
The ankle movements part includes: flip portion inside and outside ankle, and/or, ankle spins upside down part, and/or, ankle rotation
Turn motion parts；
The sole support section is for carrying foot；
The sole fixed part is for fixing foot and mechanism；
The shank fixed part is used to shank being fixed on the ankle movements part；
Articulating shaft when stirring inside and outside flip portion inside and outside the ankle, kinematic axis and ankle is mutually concentric, the ankle
Inside and outside flip portion provides movement of turning up in the ankle of patient's certain angle；
The ankle spins upside down part, and articulating shaft when kinematic axis is spun upside down with ankle is mutually concentric, the ankle
It spins upside down part and spins upside down movement for providing the ankle wrist of certain angle；
Ankle rotary motion part, kinematic axis and articulating shaft when ankle rotary motion are mutually concentric, the ankle
Rotary motion part is for providing the ankle rotary motion of certain angle.
2. ankle rehabilitation institution according to claim 1, which is characterized in that flip portion is using rotation inside and outside the ankle
Motor cooperates coaxial speed reducer to realize high torque rotary motion, and output end carries out outbound course using the bevel gear mutually in 90 degree
0-90 degree change, finally drive entire ankle to realize inside and outside turn over function；
The ankle spins upside down part and cooperates coaxial speed reducer to realize the circular motion under high torque, and band using rotating electric machine
It moves entire ankle realization and spins upside down function；
Ankle rotary motion part carries out rotation output in such a way that rotating electric machine cooperates coaxial speed reducer, and output shaft is logical
Cross model of human ankle joint in turn up and rotary shaft and turn over the coincidence point of rotary shaft up and down, and with rotation of turning up in model of human ankle
Shaft is vertical with rotary shaft is turned over up and down.
3. ankle rehabilitation institution according to claim 1, which is characterized in that the ankle movements part includes: in ankle
Outer flip portion, ankle spin upside down part and any two parts or three parts in ankle rotary motion part, the foot
Ankle rotary motion part is mutually fixed with shank；The ankle spins upside down kinematic axis and the ankle rotary motion part of part
Kinematic axis it is perpendicular；Flip portion is connected with the sole support section and the sole fixed part inside and outside the ankle
It connects, inside and outside the ankle above and below the kinematic axis and the ankle of the kinematic axis of flip portion and ankle rotary motion part
The kinematic axis of flip portion is perpendicular.
4. ankle rehabilitation institution according to claim 3, which is characterized in that the ankle movements part includes inside and outside ankle
When flip portion, ankle spin upside down any two parts or three parts partially and in ankle rotary motion part, two parts
Or three parts can move alone, it also being capable of the coordinated movement of various economic factors between Union Movement or three parts between any two.
5. ankle rehabilitation institution according to claim 1, which is characterized in that flip portion and/or institute inside and outside the ankle
Stating ankle and spinning upside down part and/or the motion source of ankle rotary motion part is DC stepper motor, AC permanent magnet electricity
Any one in machine, DC brushless motor, direct current torque motor and AC servo motor.
6. ankle rehabilitation institution according to claim 1, which is characterized in that the movement mould of flip portion inside and outside the ankle
Formula is the mode that rotating electric machine directly drives, or uses RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit
And any one in worm type of reduction gearing.
7. ankle rehabilitation institution according to claim 1, which is characterized in that the ankle spins upside down the movement mould of part
Formula is the mode that rotating electric machine directly drives, or uses RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit
And any one in worm type of reduction gearing.
8. ankle rehabilitation institution according to claim 1, which is characterized in that the movement mould of ankle rotary motion part
Formula is the mode that rotating electric machine directly drives, or uses RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit
And any one in worm type of reduction gearing.
9. ankle rehabilitation institution according to any one of claims 1 to 8, which is characterized in that the sole fixed part and/
Or the shank fixed part inserts any one mode in buckleing for foot using velcro, magic tape, bandage and nylon tape
Portion and/or shank are mutually fixed with mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821682432.5U CN209122799U (en) | 2018-10-17 | 2018-10-17 | A kind of ankle rehabilitation institution |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821682432.5U CN209122799U (en) | 2018-10-17 | 2018-10-17 | A kind of ankle rehabilitation institution |
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| CN209122799U true CN209122799U (en) | 2019-07-19 |
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| CN201821682432.5U Active CN209122799U (en) | 2018-10-17 | 2018-10-17 | A kind of ankle rehabilitation institution |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109303670A (en) * | 2018-10-17 | 2019-02-05 | 苏州帝维达生物科技有限公司 | A kind of ankle rehabilitation institution |
| CN111821143A (en) * | 2020-07-27 | 2020-10-27 | 合肥工业大学 | Lower limb rehabilitation robot based on semi-direct drive driver and control method thereof |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
-
2018
- 2018-10-17 CN CN201821682432.5U patent/CN209122799U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109303670A (en) * | 2018-10-17 | 2019-02-05 | 苏州帝维达生物科技有限公司 | A kind of ankle rehabilitation institution |
| CN111821143A (en) * | 2020-07-27 | 2020-10-27 | 合肥工业大学 | Lower limb rehabilitation robot based on semi-direct drive driver and control method thereof |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
| CN114733145B (en) * | 2022-04-02 | 2022-10-04 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
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