CN102631275B - Robot for rehabilitation training of ankle joint - Google Patents
Robot for rehabilitation training of ankle joint Download PDFInfo
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- CN102631275B CN102631275B CN 201110418408 CN201110418408A CN102631275B CN 102631275 B CN102631275 B CN 102631275B CN 201110418408 CN201110418408 CN 201110418408 CN 201110418408 A CN201110418408 A CN 201110418408A CN 102631275 B CN102631275 B CN 102631275B
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Abstract
The invention relates to a robot for rehabilitation training of an ankle joint. The robot comprises a movable platform provided with a pedal plate, a base provided with a sliding chute and a regulating mechanism. The regulating mechanism comprises a central constraint rod, a guide rail, at least two support rods and a driving motor, wherein the central constraint rod is rotatably connected with the movable platform by virtue of a spherical pair; the guide rail is contained in the sliding chute, and is internally provided with a lead screw and a sliding block which is sheathed on the lead screw and can slide on the lead screw; the support rods are uniformly distributed by surrounding the central constraint rod, one end of each support rod is rotatably connected with the movable platform byvirtue of the spherical pair, and the other end of each support rod is movably connected with the sliding block; besides, the driving motor drives the lead screw to rotate so as to cause the sliding block to slide on the lead screw, thus the support rods drive the surface of the movable platform to incline, and the movable platform can incline in different freedom degrees as at least two support rods are adopted. When a diseased limb of a patient is placed on the pedal plate, the limb can take multi-freedom-degree rehabilitation exercises such as introversion/extroversion, adduction/abductionand dorsal flexion/plantar flexion along with inclination of the movable platform.
Description
[technical field]
The present invention relates to a kind of motion medicine equipment, particularly relate to a kind of ankle joint rehabilitation training robot.
[background technology]
The injured patient of lower limb generally can reach the purpose of recovering locomitivity by physiotherapy.Along with the continuous development of science and technology, the mode of physiotherapy is slowly from artificial physiotherapy steering mechanical automation physiotherapy.So-called mechanical automation physiotherapy namely refers to reach by mechanical device the effect of rehabilitation training.For example, occurring many robots that are used for ankle joint rehabilitation training on the market, all is the scope that belongs to the mechanical automation physiotherapy.
Yet, traditional physiotherapy mechanical device, simple as the mechanical mechanism of ankle joint rehabilitation training robot, and lack flexibility, when rehabilitation training, can only in being limited in level of freedom, can not satisfy patient's actual demand.
[summary of the invention]
In view of above-mentioned condition, be necessary to provide a kind of multivariant ankle joint rehabilitation training robot that has.
A kind of ankle joint rehabilitation training robot comprises:
Moving platform which is provided with pedal;
Base offers chute; And
Governor motion connects described moving platform and described base, and regulates the position of described moving platform, and described governor motion comprises:
The center constraining rod, the one end is rotatably connected by spherical pair and described moving platform, and the other end is fixed in described base;
Guide rail is contained in the described chute, comprises screw mandrel in the described guide rail and is sheathed on the described screw mandrel and slide block slidably on described screw mandrel;
At least two support bars evenly distribute around described center constraining rod, and an end of every described support bar is rotatably connected by spherical pair and described moving platform, and the other end is connected with described slide block is movable; And
Drive motors is fixed on the constraining rod of described center, and its rotating shaft fixedlys connected with described screw mandrel,
Described drive motors is used for driving described screw mandrel and rotates.
Further, described screw mandrel is located in the described guide rail by bearing is rotating.
Further, the end away from described moving platform of described support bar is connected with described slide block by spherical pair.
Further, the rotating shaft of described drive motors is fixedlyed connected with described screw mandrel by shaft coupling.
Further, described guide rail is provided with projection away from an end of described drive motors, and the inwall of described chute is provided with gathering sill, and described projection is fastened in the described gathering sill, makes the rotatable and slip with respect to described chute of described guide rail.
Further, described governor motion also comprises the center support plate, described center support plate is sheathed on the middle part of described center constraining rod, and along described center constraining rod slidably, described center support plate periphery is provided with around its rotating pasting board, described drive motors is fixed on the described pasting board, and described center support plate slides and can drive described guide rail and rotate in described chute and slide.
Further, described governor motion also comprises torque motor, described torque motor is arranged at the bottom of described base, its rotating shaft is fixedlyed connected near an end of described base with described center constraining rod, described torque motor is used for driving described center constraining rod and rotates, the middle part of described center constraining rod is provided with screw thread, and described center support plate is sheathed on the screw thread place of described center constraining rod, and constraining rod rotation in described center can drive described center support plate and slide along described center constraining rod.
Further, the rotating shaft of described torque motor is fixedlyed connected with described center constraining rod by shaft coupling.
Further, described pedal removably is fixed on the described moving platform by threaded fastener.
Further, the periphery of described pedal is provided with the blocking part.
Above-mentioned ankle joint rehabilitation training robot drives screw mandrel by drive motors and rotates, and screw mandrel rotates and makes slide block slide at described screw mandrel, thereby an end of support bar is also slided in guide rail.When one end of support bar slided, the height of the end that it is connected with moving platform can constantly change, thereby made the surperficial run-off the straight of moving platform, because support bar is at least two, so described moving platform is tilted in the different frees degree.Multivariant rehabilitation exercises such as patient's trouble limb places on the pedal of being located on the moving platform, can move along with the inclination of moving platform, and therefore, above-mentioned ankle joint rehabilitation training robot can drive that the patient turns over/turns up in doing, interior receipts/abduction and dorsiflex/sole of the foot are bent.
[description of drawings]
Fig. 1 is the schematic diagram of the ankle joint rehabilitation training robot of an embodiment;
Fig. 2 is the schematic diagram of the governor motion of ankle joint rehabilitation training shown in Figure 1 robot;
Fig. 3 is the schematic diagram of the guide rail of ankle joint rehabilitation training shown in Figure 1 robot.
[specific embodiment]
For the ease of understanding the present invention, with reference to relevant drawings the present invention is described more fully below.Provided preferred embodiment of the present invention in the accompanying drawing.But the present invention can realize with many different forms, be not limited to embodiment described herein.On the contrary, provide the purpose of these embodiment be make the understanding of disclosure of the present invention comprehensively thorough more.
Need to prove that when element is called as " being fixed in " another element, can directly can there be element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be to be directly connected to another element or may to have element placed in the middle simultaneously.
Unless otherwise defined, the employed all technology of this paper are identical with the implication that belongs to those skilled in the art's common sense of the present invention with scientific terminology.Employed term is not intended to be restriction the present invention just in order to describe the purpose of specific embodiment in specification of the present invention herein.Term as used herein " and/or " comprise one or more relevant Listed Items arbitrarily with all combinations.
See also Fig. 1, the ankle joint rehabilitation training robot 100 of preferred implementation of the present invention comprises moving platform 110, base 120 and governor motion 130.Governor motion 130 connects moving platform 110 and base 120, and regulates the position of moving platform 110.
Moving platform 110 is provided with pedal 111.Specifically in the present embodiment, pedal 111 is fixed on the moving platform 110 by threaded fastener is dismountable.Pedal 111 comprises multiple model, can change according to user's needs, to be fit to user's size, therefore uses convenient comfortable.It is pointed out that pedal 111 is not limited to removably connect by threaded fastener with moving platform 110, can also directly weld with moving platform 110.The periphery of pedal 111 is provided with blocking part 1112.Blocking part 1112 can prevent from sliding from pedal 111 when the patient from training next, thereby avoids causing the secondary injury.
See also Fig. 2, base 120 is roughly rectangular cabinet.Base 120 is divided into bottom and two parts in top.Top surface at base 120 is provided with chute 121.Base 120 middle parts form the host cavity (figure is mark not) of hollow, and the part of governor motion 130 is contained in the host cavity.
See also Fig. 1 and Fig. 3, governor motion 130 comprises center constraining rod 131, guide rail 133, support bar 135, drive motors 137, center support plate 138 and torque motor 139.
One end of center constraining rod 131 is connected with moving platform 110 by spherical pair, and the other end is fixed in base 120.
In the present embodiment, guide rail 133 is provided with projection 1336 away from an end of drive motors 137.The inwall of chute 121 is provided with gathering sill 1212.When guide rail 133 was contained in chute 121, projection 1336 was fastened in the gathering sill 1212, thereby made guide rail 133 with respect to chute 121 rotatable and slips.
The number of support bar 135 is at least two, and evenly distributes around center constraining rod 131.One end of every support bar 135 is connected with moving platform 110 by spherical pair, and the other end and slide block 1334 flexibly connect.
In the present embodiment, the number of support bar 135 is three.Be appreciated that in other embodiment preferred the number of support bar 135 can also be many.Support bar 135 quantity are got over for a long time, and the spacing between each support bar 135 can be more little, can support moving platform 110 to tilt in more direction.Therefore make ankle joint rehabilitation training robot 100 can drive the patient and in the more freedom degree, do the training motion.In addition, the end away from moving platform 110 of support bar 135 is connected with slide block 1334 by spherical pair.Therefore, support bar 135 is free to rotate with respect to slide block 1334.Be appreciated that support bar 135 can also take other modes, as with latch and slide block 1334 active links.
In the present embodiment, the rotating shaft of drive motors 137 is fixedlyed connected with screw mandrel 1332 by the shaft coupling (not shown).The rotating shaft that is appreciated that drive motors 137 can be fixedlyed connected by bolt, latch with screw mandrel 1332, or directly welding.
Center support plate 138 is sheathed on the middle part of center constraining rod 131, and can slide up and down along center constraining rod 131.Support plate 138 peripheries in center are provided with the pasting board 1382 that can rotate around it.Drive motors 137 is fixed on the pasting board 1382.So center support plate 138 slides and can drive guide rail 133 and rotate in chute 121 and slide.
In the present embodiment, by at center constraining rod 131 screw thread being set, and driving center constraining rods 131 by torque motor 139 and rotate, thereby being implemented on the center constraining rod 131, center support plate 138 slides.Be appreciated that herein and can also install with other, substitute torque motor 139 as telescopic cylinder.In addition, the rotating shaft of torque motor 139 is fixedlyed connected with center constraining rod 131 by the shaft coupling (not shown).The rotating shaft that is appreciated that torque motor 139 can be fixedlyed connected by bolt, latch with center constraining rod 131, or directly welding.
Above-mentioned ankle joint rehabilitation training robot 100 drives screw mandrels 1332 by drive motors 137 and rotates, and screw mandrel 1332 rotates and makes slide block 1334 slide at screw mandrel 1332, thereby makes the also slip guide rail 133 in of an end of support bar 135.When one end of support bar 135 slided, the height of the end that it is connected with moving platform 110 can constantly change, thereby made the surperficial run-off the straight of moving platform 110, because support bar 135 is at least two, so moving platform 110 is tilted in the different frees degree.Patient's trouble limb places on the pedal of being located on the moving platform 110 111, can move along with the inclination of moving platform 110, multivariant rehabilitation exercises such as therefore, ankle joint rehabilitation training robot 100 can drive that the patient turns over/turns up in doing, interior receipts/abduction and dorsiflex/sole of the foot are bent.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. ankle joint rehabilitation training robot, comprise moving platform, base and governor motion, described moving platform is provided with pedal, described governor motion connects described moving platform and described base, and regulate the position of described moving platform, described governor motion comprises center constraining rod, at least two support bars and drive motors;
One end of described center constraining rod is rotatably connected by spherical pair and described moving platform, and the other end is fixed in described base;
Described at least two support bars evenly distribute around described center constraining rod, and an end of every described support bar is rotatably connected by spherical pair and described moving platform;
It is characterized in that described base offers chute, described governor motion also comprises guide rail;
Described guide rail is contained in the described chute, comprises screw mandrel in the described guide rail and is sheathed on the described screw mandrel and slide block slidably on described screw mandrel;
The other end of described at least two support bars is connected with described slide block is movable; And
Described drive motors is fixed on the constraining rod of described center, and the rotating shaft of described drive motors fixedlys connected with described screw mandrel, and described drive motors is used for driving described screw mandrel and rotates.
2. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that described screw mandrel is located in the described guide rail by bearing is rotating.
3. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that the end away from described moving platform of described support bar is connected with described slide block by spherical pair.
4. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that the rotating shaft of described drive motors is fixedlyed connected with described screw mandrel by shaft coupling.
5. ankle joint rehabilitation training as claimed in claim 1 robot, it is characterized in that, described guide rail is provided with projection away from an end of described drive motors, the inwall of described chute is provided with gathering sill, described projection is fastened in the described gathering sill, makes the rotatable and slip with respect to described chute of described guide rail.
6. ankle joint rehabilitation training as claimed in claim 5 robot, it is characterized in that, described governor motion also comprises the center support plate, described center support plate is sheathed on the middle part of described center constraining rod, and along described center constraining rod slidably, described center support plate periphery is provided with around the rotating pasting board of described center support plate, and described drive motors is fixed on the described pasting board, and described center support plate slides and can drive described guide rail and rotate in described chute and slide.
7. ankle joint rehabilitation training as claimed in claim 6 robot, it is characterized in that, described governor motion also comprises torque motor, described torque motor is arranged at the bottom of described base, the rotating shaft of described torque motor is fixedlyed connected near an end of described base with described center constraining rod, described torque motor is used for driving described center constraining rod and rotates, the middle part of described center constraining rod is provided with screw thread, described center support plate is sheathed on the screw thread place of described center constraining rod, and constraining rod rotation in described center can drive described center support plate and slide along described center constraining rod.
8. ankle joint rehabilitation training as claimed in claim 7 robot is characterized in that the rotating shaft of described torque motor is fixedlyed connected with described center constraining rod by shaft coupling.
9. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that described pedal removably is fixed on the described moving platform by threaded fastener.
10. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that the periphery of described pedal is provided with the blocking part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110418408 CN102631275B (en) | 2011-12-14 | 2011-12-14 | Robot for rehabilitation training of ankle joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110418408 CN102631275B (en) | 2011-12-14 | 2011-12-14 | Robot for rehabilitation training of ankle joint |
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| Publication Number | Publication Date |
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| CN102631275A CN102631275A (en) | 2012-08-15 |
| CN102631275B true CN102631275B (en) | 2013-10-02 |
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| CN 201110418408 Active CN102631275B (en) | 2011-12-14 | 2011-12-14 | Robot for rehabilitation training of ankle joint |
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| CN103041546B (en) * | 2013-01-15 | 2015-06-17 | 哈尔滨工程大学 | Active and passive type ankle joint rehabilitative apparatus |
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| CN105080063A (en) * | 2014-05-03 | 2015-11-25 | 青岛瑞箭机电工程技术有限公司 | Ankle joint rehabilitation device |
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| CN112315735B (en) * | 2020-10-27 | 2023-12-29 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Integrated electric multifunctional rehabilitation training frame |
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