阅读说明：本技术 一种用于受伤踝关节和膝关节康复的机械装置 (Mechanical device for rehabilitation of injured ankle joint and knee joint ) 是由 张华� 朱维金 赵锦强 于 2019-12-12 设计创作，主要内容包括：一种用于受伤踝关节和膝关节康复的机械装置,位于支座两立板之间的踏板的两支杆两端分别通过两立板上的竖向孔道伸出,与四个空间连杆的下端组成空间球副,空间连杆的上端与滑块组成空间球副；四个滑块可沿固定在立板上的四个导轨上下滑动；踏板通过连接杆与竖向环形柔性同步带的弹性部固定连接,柔性同步带的齿形部上下端分别与上同步带轮和下同步带轮啮合传动,上同步带轮的轴心安装在立板上端的定轴上,下同步带轮的轴心安装在由可调扭矩的扭簧、可调阻抗的阻尼器和单圈绝对值角度传感器模块组成的从动装置的输出轴上。该装置的踏板可随患者踝关节和膝关节的活动在空间六个自由度微动,自适应踝关节和膝关节活动,缓解受伤关节康复训练的压力,促进受伤关节康复。(A mechanical device for rehabilitation of injured ankle joints and knee joints is characterized in that two ends of two support rods of a pedal positioned between two vertical plates of a support respectively extend out through vertical hole channels on the two vertical plates to form a space ball pair with the lower ends of four space connecting rods, and the upper ends of the space connecting rods and sliding blocks form the space ball pair; the four sliding blocks can slide up and down along four guide rails fixed on the vertical plate; the pedal is fixedly connected with an elastic part of a vertical annular flexible synchronous belt through a connecting rod, the upper end and the lower end of a tooth-shaped part of the flexible synchronous belt are respectively in meshing transmission with an upper synchronous belt pulley and a lower synchronous belt pulley, the axis of the upper synchronous belt pulley is installed on a fixed shaft at the upper end of the vertical plate, and the axis of the lower synchronous belt pulley is installed on an output shaft of a driven device which consists of a torsion spring with adjustable torque, a damper with adjustable impedance and a single-ring absolute value angle sensor module. The device's footboard can be followed the activity of patient's ankle joint and knee joint and moved about in six degrees of freedom micro-movements in space, and the pressure of injured joint rehabilitation training is alleviated in self-adaptation ankle joint and knee joint activity, promotes injured joint rehabilitation.)

1. A mechanical device for rehabilitation of injured ankle and knee joints, characterized by: comprises a support composed of a base (1) and two vertical plates (2) symmetrically and vertically fixed at two ends of the base; a pedal (3) with two ends spaced from the vertical plates is arranged between the two vertical plates, two support rods (4) which are arranged in parallel and of which two ends extend out of the pedal are fixed on the pedal, the parts of the two support rods extending out of the pedal respectively form a space ball pair with an oil film through vertical hole channels (5) arranged on the two vertical plates, the end parts and the lower ends of four space connecting rods (6), and the upper end of each space connecting rod and a sliding block (7) form the space ball pair with the oil film; the four sliding blocks can respectively slide up and down along four guide rails (8) which are vertically fixed on the vertical plate to form a linear lifting kinematic pair; two ends of the two support rods are fixedly connected through a connecting rod (9) respectively, the center of the connecting rod is fixedly connected with the middle of an elastic part (101) of an annular flexible synchronous belt (10) which is vertically arranged, the upper end and the lower end of a tooth-shaped part (102) connected with the elastic part of the flexible synchronous belt are respectively in meshing transmission with an upper synchronous belt pulley (11) and a lower synchronous belt pulley (12), the axis of the upper synchronous belt pulley is arranged on a fixed shaft (13) positioned at the upper end of a vertical plate, the axis of the lower synchronous belt pulley is arranged on an output shaft (141) of a driven device (14), the driven device is composed of a torsion spring (143) which is connected through a mechanical coupler (142) and can adjust the torque, a damper (144) which can adjust the impedance and a single-ring absolute value angle sensor module (145), and a shell (148) of the driven; the lower end of the elastic part of the flexible synchronous belt is provided with a pressure wheel (15) with one end part fixedly arranged on the shell of the driven device.

2. The mechanical device for injured ankle and knee rehabilitation according to claim 1, wherein: the upper ends of the slide block (7) and the guide rail (8) of the space ball pair which forms an oil film with the upper end of the space connecting rod are connected with a tension spring (16).

3. The mechanical device for injured ankle and knee rehabilitation according to claim 1, wherein: the elastic part of the flexible synchronous belt is made of a rubber belt with certain elasticity and damping; the tooth-shaped part (102) connected with the elastic part of the flexible synchronous belt is made of polyurethane containing a steel wire rope core.

4. The mechanical device for injured ankle and knee rehabilitation according to claim 1, wherein: the damper (144) with adjustable impedance is a damper for M series sliding doors.

Technical Field

The invention relates to a medical appliance, in particular to a mechanical device for rehabilitation of injured ankle joints and knee joints.

Background

When some existing sports equipment is used for body building, if the amount of exercise is too large, ankle joints or knee joints are damaged sometimes; in addition, some middle-aged and elderly people take walking exercise for fitness, and ankle joints or knee joints are also easily damaged due to improper physique or method. When joint rehabilitation training is performed on a patient with an injured ankle joint or knee joint, the pressure born by the ankle joint or the knee joint needs to be reduced as much as possible in the training process so as to promote the injured joint to be recovered as soon as possible. But the rehabilitation training device used for the aspect is not discovered at present.

Disclosure of Invention

The invention aims to provide a mechanical device for rehabilitation of an injured ankle joint and a knee joint, so that a patient with the injured ankle joint or knee joint can relieve pressure borne by the ankle joint and the knee joint in the rehabilitation training process, and the injured joint can be quickly rehabilitated.

The invention provides a mechanical device for rehabilitation of injured ankle joints and knee joints, which comprises a support formed by a base and two vertical plates symmetrically and vertically fixed at two ends of the base; the pedal is arranged between the two vertical plates, the two ends of the pedal are spaced from the vertical plates at a certain distance, two supporting rods which are arranged in parallel and the two ends of which respectively extend out of the pedal are fixed on the pedal, the parts of the two supporting rods which extend out of the pedal respectively pass through vertical pore passages formed in the two vertical plates, the end parts of the two supporting rods and the lower ends of the four space connecting rods form a space ball pair with an oil film (the oil film plays a role of maintaining a stable position), the upper end of the space connecting rod and the sliding block form a space ball pair with the oil film (the oil film plays a role of maintaining a stable position), and the four sliding blocks can respectively slide up and down along four; the two ends of the two supporting rods are fixedly connected through connecting rods respectively, the centers of the connecting rods are fixedly connected with the middle parts of elastic parts of annular flexible synchronous belts which are vertically arranged, the upper ends and the lower ends of tooth-shaped parts connected with the elastic parts of the flexible synchronous belts are respectively meshed with an upper synchronous belt pulley and a lower synchronous belt pulley for transmission, the axle center of the upper synchronous belt pulley is arranged on a fixed shaft positioned at the upper end of a vertical plate, (the upper synchronous belt pulley can do fixed shaft rotation relative to the vertical plate), the axle center of the lower synchronous belt pulley is arranged on an output shaft of a driven device, the driven device consists of a torsion spring with adjustable torque, a damper with adjustable impedance and a single-ring absolute value angle sensor module which are connected through a mechanical coupler, and the shell of the driven; the lower end of the elastic part of the flexible synchronous belt is provided with a pressing wheel with one end part fixedly arranged on the shell of the driven device.

In order to maintain the stable position, a slide block of a space ball pair which forms an oil film with the upper end of the space connecting rod and the upper end of the guide rail are connected with a tension spring.

The device of the invention has the following working principle and beneficial effects:

when the device is used, a patient sits on the chair, the device is placed on the ground and forms an ergonomic angle (such as 37 degrees) with the ground, the two feet (or a single foot) of the patient step on the pedal, and the tiptoes of the feet face to be vertical to the support rods on the pedal. When the front parts of the two feet move up and down simultaneously, the pedal is in a pitching motion state, the front slide block and the rear slide block which are positioned at the two sides of the feet respectively move up and down simultaneously, and the related space connecting rods follow up to further compensate the space motion; when one of the two feet moves forwards and the other moves backwards, the pedal is in a torsional motion state character, the two sliding blocks on one side of the foot respectively move up and down, the two sliding blocks on the other side of the foot simultaneously move up and down in opposite directions, and the related space connecting rods follow up to further compensate space movement; when two feet move upwards and downwards, the pedal is in a side swing motion state character, the two sliding blocks on one side of the feet move upwards and downwards, the two sliding blocks on the other side move in opposite directions simultaneously, and the related space connecting rods follow up to compensate space motion; when two feet move left and right simultaneously, the pedal is in a left-right swinging state, the two sliding blocks on one side of the feet move upwards simultaneously, the two sliding blocks on the other side move downwards simultaneously, and the related space connecting rods follow up to further compensate space movement. Therefore, the pedal realizes micro motion of six degrees of freedom (namely movement in three directions and rotation in three directions) in space along with the motion of the ankle joint and the knee joint of a patient, the pedal is adaptive to the motion of the ankle joint and the knee joint of the patient, the patient feels like stepping on cotton or a water bed, the pressure during rehabilitation training of the injured ankle joint and the injured knee joint is effectively relieved through space compensation of a space mechanism, and the injured joint is promoted to recover as soon as possible.

The device can manually adjust the torque and the impedance by utilizing the torque adjusting device and the impedance adjusting device so as to adapt to the individual requirements of different crowds (such as adults and children), and has wide applicable crowd range.

The device can extract the information of the pedal reversal speed of a person by using the single-circle absolute value angle sensor, so that a health care doctor can perform pathological analysis and guide the rehabilitation training of a patient.

The device has small occupied space, light weight and convenient use and movement; the space ball pair in the device is provided with an oil film playing a damping role, and a tension spring playing a stabilizing role is arranged between the pulley and the guide rail, so that the device is stable in operation and low in noise (less than 30 decibels).

The device of the invention does not need AC power supply, thus saving energy.

Drawings

FIG. 1 is a schematic view of the overall structure of the embodiment of the present invention;

FIG. 2 is an enlarged view of the members connected to the left end of the pedal in FIG. 1 (the members connected to the left and right ends of the pedal are identical in structure and arranged in correspondence with each other);

FIG. 3 is a schematic view of a portion of the components of FIG. 2;

fig. 4 is a three-dimensional schematic view of the driven device of fig. 1 and 2 with the upper housing removed.

The symbols in the drawings illustrate that: 1-a base, 2-vertical plates, 3-pedals, 4-a support rod, 5- (vertical hole channels on the two vertical plates), 6-a spatial connecting rod, 7-a sliding block, 8-a guide rail, 9-a connecting rod, 10-a flexible synchronous belt, 101- (elastic part of the flexible synchronous belt), 102- (tooth-shaped part of the flexible synchronous belt), 11-an upper synchronous pulley, 12-a lower synchronous pulley, 13-a fixed shaft, 14-a driven device, 141- (output shaft of the synchronous device), 142-a mechanical coupling, 143-a torsion spring with adjustable torque, 144-a damper with adjustable impedance, 145-a single-turn absolute value angle sensor, 146-a torque adjusting device, 147-an impedance adjusting device, 148-a shell of the driven device and 15-a pressure holding wheel, 16-tension spring.

Detailed Description

The invention is further illustrated by the following figures and examples.

Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention. With reference to fig. 1 to 3, the mechanical device for rehabilitation of injured ankle and knee joints comprises a base 1 and a support composed of two vertical plates 2 symmetrically and vertically fixed at two ends of the base; a pedal 3 with two ends spaced from the vertical plates is arranged between the two vertical plates, two support rods 4 which are arranged in parallel and have two ends respectively extending out of the pedal are fixed on the pedal, the parts of the two support rods extending out of the pedal respectively pass through vertical hole channels 5 arranged on the two vertical plates, the end parts and the lower ends of four space connecting rods 6 to form a space ball pair with an oil film (not shown), the oil film can play a role in maintaining a stable position, the upper ends of the space connecting rods and a sliding block 7 form a space ball pair with an oil film (not shown), and the oil film can play a role in maintaining a stable position; the four sliding blocks can respectively slide up and down along four guide rails 8 which are vertically fixed on the vertical plate to form a linear lifting motion pair, wherein the sliding block 7 which forms a space ball pair with the upper end of the space connecting rod and the upper end of the guide rail are connected with a tension spring 16 which plays a role in maintaining a stable position; the two ends of the two supporting rods are respectively fixedly connected through a connecting rod 9, the center of the connecting rod is fixedly connected with the middle part of an elastic part 101 of an annular flexible synchronous belt 10 which is vertically arranged (the connecting rod is arranged between the elastic part and a tooth-shaped part), the elastic part is made of a rubber belt with certain elasticity and damping, the tooth-shaped part 102 connected with the elastic part of the flexible synchronous belt is made of polyurethane containing a steel wire rope core (not shown), the upper end and the lower end of the tooth-shaped part are respectively meshed with an upper synchronous belt pulley 11 and a lower synchronous belt pulley 12 for transmission, the axle center of the upper synchronous belt pulley is arranged on a fixed shaft 13 at the upper end of the vertical plate and can do fixed shaft rotation relative to the vertical plate, and the axle center of the lower synchronous belt pulley is arranged on; the driven device is composed of a torsion spring 143 with adjustable torque, a damper 144 with adjustable impedance and a single-turn absolute value angle sensor 145 which are connected through a mechanical coupling 142, as shown in fig. 4; the torsion spring with adjustable torque consists of a stator, a torsion spring and a rotor, one end of the torsion spring can be manually adjusted to be clamped into different positions of the stator clamping groove through the torque adjusting device 146 so as to provide initial torques with different sizes, so that the pedal can obtain different torques to adapt to individual requirements of different crowds; the damper with adjustable impedance is a damper for M50A0-502(G) type M series sliding doors, and the torque of the damper can be changed (the clockwise torque is increased and the anticlockwise torque is decreased) by adjusting a torque adjusting nut at the bottom of the damper through the impedance adjusting device 147, so that the impedance of the damper is suitable for individualized requirements of pedal reversal speeds of different people; the single-circle absolute value angle sensor adopts a BL29-R type small-size single-circle absolute value angle sensor and is used for extracting the reversal speed information of the foot pedal of a person, so that a health care doctor can perform pathological analysis and guide the rehabilitation training of a patient; the driven device housing 148 is fixedly mounted on the base; the lower end of the elastic part of the flexible synchronous belt is provided with a pressure holding wheel 15, the end part of which is fixedly arranged on the shell of the driven device, and the tooth-shaped part and the lower synchronous belt wheel can be always effectively meshed when the elastic part of the flexible synchronous belt stretches.