CN103479502A - Ankle joint rehabilitation device - Google Patents
Ankle joint rehabilitation device Download PDFInfo
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- CN103479502A CN103479502A CN201310421566.7A CN201310421566A CN103479502A CN 103479502 A CN103479502 A CN 103479502A CN 201310421566 A CN201310421566 A CN 201310421566A CN 103479502 A CN103479502 A CN 103479502A
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Abstract
An ankle joint rehabilitation device comprises a base assembly, a moving platform, a driving branch and a limit branch. The base assembly comprises a base and a support platform. The support platform is fixed on the base through a support bar. The limit branch is rotatably disposed on the base and comprises a bearing platform, a left support link, a right support link and an arc link. The bearing platform is disposed on the support bar in a sleeving manner. The driving branch comprises a first driving branch, a second driving branch and a third driving branch. The first, second, and third driving branches are parallel RUS branches. The limit branch and the moving platform allow for three-directional rotation; rotation centers can be overlapped; axes of the limit branch are mutually orthogonal, so that the device features partial decoupling of motion.
Description
Technical field
The present invention relates to the rehabilitation medical instrument field, particularly a kind of rehabilitation of anklebone device that carries out the redundant drive of Rehabilitation Training in Treating for the patient to after ankle joint wound.
Background technology
Ankle joint is one of human body major bearing structures, is bearing the whole weight of health when human body is stood and walk.Particularly run, jump and health be when bearing a heavy burden, ankle joint is bearing huge load and impact, therefore its joint injury or sprain the most common in daily life.After sprained ankle, once can not get reasonably treatment and recover to form traumatic arthritis, can cause the symptoms such as the long-term pain of ankle joint is lame, dysfunction, thereby affect work and life.The relevant clinical medical evidence, ankle joint rehabilitation training correct, science plays very important effect for recovery and the raising of extremity motor function, not only can maintain range of motion, prevent arthrogryposis and adhesion, and can obviously improve the eventual rehabilitation degree of patient moving function.
Existing ankle joint rehabilitation training device only has 1 to 2 degree of freedom usually, and function is few, and the rehabilitation training pattern is single.For realizing the compound movement of a plurality of degree of freedom of ankle joint, the Girone of the university of New Jersey etc. develops the Rutgers Ankle rehabilitation of anklebone system of the Stewart mechanism of 6DOF based on pneumatic servo system control, but this device exists mechanism's complexity, number of degrees of freedom, is mainly with reaching shortcomings such as needing the independent source of the gas of configuration.During rehabilitation of anklebone, can ignore its small one-movement-freedom-degree in addition.For this reason, Dai Jiansheng and Zhao Tieshi have proposed to have three and four degree of freedom 3-SPS/S of passive bound side chain, 3-SPS/SP rehabilitation of anklebone parallel institution.A kind of Three Degree Of Freedom 3-RSS/S rehabilitation of anklebone parallel institution is also disclosed in the patent document of Chinese Patent Application No. 200810052248.7.But there is a same problem in above-mentioned two kinds of mechanisms, and the center of rotation of mechanism and ankle joint does not overlap, and cause shank to follow ankle joint and are moved together, have reduced the comfort level when patient trains.For solving the parallel institution workspace memory in unusual problem, the Saglia of London King's College etc. has proposed two degrees of freedom 3-SPS/U redundant drive rehabilitation of anklebone mechanism, but the problem that also exists center of rotation not coincide.In addition, the Tsoi of University of Auckland etc. has also proposed a kind of three freedom redundancy and has driven the 4-UPS/S robot for rehabilitation of anklebone, although can realize take the rehabilitation training that ankle joint is center of rotation, patient's lower limb can be subject to the active force of other directions, affect rehabilitation efficacy.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of Three Degree Of Freedom 3-RUS/RRR rehabilitation of anklebone device with redundant drive characteristic, and this device can be realized ankle dorsal flexion/plantar flexion, inside turns over/turns up, the rotation of three directions such as internal/external rotations; Can adjust according to different patients the distance of platform to center of rotation, the center of rotation of mechanism and ankle joint is coincided; Adopted the redundant drive arrangement, in eliminating work space unusual and avoid between extra rod member interfering in, also there are upper and lower two platforms and realize the restructural characteristic, increase the motility of system.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of rehabilitation of anklebone device, comprise pedestal, moving platform, active branched chain and constrained branched chain; Described pedestal comprises base and support platform, and described support platform is fixed on base by support bar; Be installed with the 4th motor on described base, be installed with the first motor, the second motor and the 3rd motor on described support platform; Described constrained branched chain is rotating to be arranged on pedestal, described constrained branched chain comprises bearing platform, left support connecting rod, right support connecting rod and curved rod, the two ends of described bearing platform are installed with left support connecting rod and right support connecting rod, described left support connecting rod and right support connecting rod are coupling and are symmetrical arranged, the upper end of the upper end of described left support connecting rod and right support connecting rod is connected with the two ends of curved rod by revolute pair respectively, described bearing platform is set on support bar, the rotating shaft bevel gear engagement of described bearing platform and the 4th motor; Described active branched chain comprises the first active branched chain, the second active branched chain and the 3rd active branched chain, and described the first active branched chain, the second active branched chain and the 3rd active branched chain are RUS side chain arranged side by side; The centre of described curved rod is connected with moving platform by revolute pair, the upper end of the upper end of the upper end of described the first active branched chain, the second active branched chain and the 3rd active branched chain is connected with moving platform by spherical pair respectively, also be respectively equipped with the Hooke pair on described the first active branched chain, the second active branched chain and the 3rd active branched chain, the lower end of the lower end of described the first active branched chain, the second active branched chain is connected with described the first motor, the second motor and the rotating shaft of the 3rd motor respectively with the lower end of the 3rd active branched chain.
Further, described moving platform comprises upper mounting plate and lower platform, and described lower platform is connected with upper mounting plate by screw mechanism.
Further, described the first active branched chain comprises clutch shaft bearing seat, first connecting rod A, the first U-shaped connector A, first connecting rod B, the first U-shaped connector B and the first connecting rod C connected successively; Described clutch shaft bearing seat and lower platform are affixed, and described first connecting rod C is connected with the first motor; The described first U-shaped connector A, first connecting rod B, first connecting rod A and clutch shaft bearing seat form the composite sphere pair, and the described first U-shaped connector B, first connecting rod B and first connecting rod C form the Hooke pair, and described first connecting rod C and the first motor form revolute pair.
Further, described the second active branched chain comprises the second bearing block, second connecting rod A, the second U-shaped connector A, second connecting rod B, the second U-shaped connector B and the second connecting rod C connected successively; Described the second bearing block and lower platform are affixed, and described second connecting rod C is connected with the second motor; The described second U-shaped connector A and second connecting rod B, second connecting rod A, the second bearing block form the composite sphere pair, and the described second U-shaped connector B and second connecting rod B, second connecting rod C form the Hooke pair, and described second connecting rod C and the second motor form revolute pair.
Further, described the 3rd active branched chain comprises the 3rd bearing block, third connecting rod A, the 3rd U-shaped connector A, third connecting rod B, the 3rd U-shaped connector B and the third connecting rod C connected successively; Described the 3rd bearing block and lower platform are affixed, and described third connecting rod C is connected with the 3rd motor; The described the 3rd U-shaped connector A and third connecting rod B, third connecting rod A, the 3rd bearing block form the composite sphere pair, and the described the 3rd U-shaped connector B and third connecting rod B, third connecting rod C form the Hooke pair, and described third connecting rod C and the 3rd motor form revolute pair.
Further, be connected with the first right angle decelerator on described the first motor, described first connecting rod C is connected with the first right angle decelerator; Be connected with the second right angle decelerator on described the second motor, described second connecting rod C is connected with the second right angle decelerator; Be connected with the 3rd right angle decelerator on described the 3rd motor, described third connecting rod C is connected with the 3rd right angle decelerator; Be connected with the 4th right angle decelerator on described the 4th motor.
Further, be fixed with bevel gear wheel by the bevel gear wheel fixture under the bearing platform of described constrained branched chain.
Further, on described the 4th right angle decelerator, be fixed with bevel pinion, described bevel pinion and the engagement of bevel gear wheel right angle.
Further, the axis of described the first right angle decelerator, the second right angle decelerator and the 3rd right angle decelerator is mutually 120 degree.
Further, described clutch shaft bearing seat, the second bearing block and the 3rd bearing block are mutually 120 degree.
The present invention is owing to having adopted above technical scheme; the design of constrained branched chain and moving platform; realized the rotation of three direction degree of freedom; under assurance mechanism is tried one's best simple prerequisite; not only guaranteed that center of rotation overlaps; due to the mutually orthogonal property of constrained branched chain axis, make mechanism there is the characteristic of motion parts decoupling zero simultaneously.The redundant drive arrangement proposed can be eliminated unusual pose in space and improve the index such as rigidity, extra interference and the energy loss that also can avoid the increase because of active branched chain to bring simultaneously.
Below in conjunction with accompanying drawing, a kind of rehabilitation of anklebone device of the present invention is described further.
The accompanying drawing explanation
The population structure schematic three dimensional views that Fig. 1 is a kind of rehabilitation of anklebone device of the present invention;
The overall setup front view that Fig. 2 is a kind of rehabilitation of anklebone device of the present invention;
The moving platform schematic diagram that Fig. 3 is a kind of rehabilitation of anklebone device of the present invention;
The lower platform structure top view that Fig. 4 is a kind of rehabilitation of anklebone device of the present invention;
The screw mechanism structural representation that Fig. 5 is a kind of rehabilitation of anklebone device of the present invention;
The first active branched chain structural representation that Fig. 6 is a kind of rehabilitation of anklebone device of the present invention;
The structural representation that the active branched chain that Fig. 7 is a kind of rehabilitation of anklebone device of the present invention is connected with moving platform;
The structural representation of the constrained branched chain that Fig. 8 is a kind of rehabilitation of anklebone device of the present invention;
The structural representation of the pedestal that Fig. 9 is a kind of rehabilitation of anklebone device of the present invention.
In figure, each labelling is as follows: 1 base, the 1-1 support bar, 2 support platforms, 3-1 the first motor, 3-2 the second motor, 3-3 the 3rd motor, 3-4 the 4th motor, 4-1 the first right angle decelerator, 4-2 the second right angle decelerator, 4-3 the 3rd right angle decelerator, 4-4 the 4th right angle decelerator, 5 bevel gear wheel fixtures, 6 bevel gear wheels, 7 bevel pinions, 8 bearing platforms, 9 curved rods, 10-1 left support connecting rod, 10-2 right support connecting rod, 11 upper mounting plates, 12 lower platforms, 13 screw mechanisms, 14-1 first connecting rod A, 14-2 second connecting rod A, 14-3 third connecting rod A, 15-1 first connecting rod B, 15-2 second connecting rod B, 15-3 third connecting rod B, 16-1 first connecting rod C, 16-2 second connecting rod C, 16-3 third connecting rod C, 17-1 clutch shaft bearing seat, 17-2 the second bearing block, 17-3 the 3rd bearing block, the U-shaped connector A of 18-1 first, the U-shaped connector B of 18-2 first, the U-shaped connector A of 18-3 second, the U-shaped connector B of 18-4 second, the U-shaped connector A of 18-5 the 3rd, the U-shaped connector B of 18-6 the 3rd, 19 moving platforms, 20 active branched chain, 21 constrained branched chains.
The specific embodiment
As shown in Fig. 1-Fig. 9, a kind of rehabilitation of anklebone device, comprise pedestal, moving platform 19, active branched chain 20 and constrained branched chain 21.Described pedestal comprises base 1 and support platform 2, and described support platform 2 is fixed on base 1 by support bar 1-1; Be installed with the 4th motor 3-4 on described base 1, be installed with the first motor 3-1, the second motor 3-2 and the 3rd motor 3-3 on described support platform 2.Be connected with the first right angle decelerator 4-1 on described the first motor 3-1, be connected with the second right angle decelerator 4-2 on described the second motor 3-2, be connected with the 3rd right angle decelerator 4-3 on described the 3rd motor 3-3, be connected with the 4th right angle decelerator 4-4 on described the 4th motor 3-4.
Fig. 8 is constrained branched chain 21 schematic diagrams, described constrained branched chain 21 is rotating to be arranged on pedestal, described constrained branched chain 21 comprises bearing platform 8, left support connecting rod 10-1, right support connecting rod 10-2 and curved rod 9, the two ends of described bearing platform 8 are installed with left support connecting rod 10-1 and right support connecting rod 10-2, described left support connecting rod 10-1 and right support connecting rod 10-2 are coupling and are symmetrical arranged, the upper end of the upper end of described left support connecting rod 10-1 and right support connecting rod 10-2 is connected with the two ends of curved rod 9 by revolute pair respectively, described bearing platform 8 is set on support bar 1-1, described bearing platform is fixed with bevel gear wheel 6 by bevel gear wheel fixture 58 times.
As shown in Figure 9, on described the 4th right angle decelerator 4-4, be fixed with bevel pinion 7, described bevel pinion 7 and bevel gear wheel 6 right angle engagements.
As shown in Fig. 3, Fig. 4 and Fig. 5, described moving platform 19 comprises upper mounting plate 11 and lower platform 12, and described lower platform 12 is connected with upper mounting plate 11 by screw mechanism 13.The centre of described curved rod 9 is connected with lower platform 12 by revolute pair.
As shown in Figure 6 and Figure 7, described active branched chain 20 comprises the first active branched chain, the second active branched chain and the 3rd active branched chain, and described the first active branched chain, the second active branched chain and the 3rd active branched chain are RUS side chain arranged side by side.
Described the first active branched chain comprises clutch shaft bearing seat 17-1, first connecting rod A14-1, the first U-shaped connector A18-1, first connecting rod B15-1, the first U-shaped connector B18-2 and the first connecting rod C16-1 connected successively; Described clutch shaft bearing seat 17-1 and lower platform 12 are affixed, and described first connecting rod C16-1 is connected with the first motor 3-1; The described first U-shaped connector A18-1, first connecting rod B15-1, first connecting rod A14-1 and clutch shaft bearing seat 17-1 form the composite sphere pair, the described first U-shaped connector B18-2, first connecting rod B15-1 and first connecting rod C16-1 form the Hooke pair, and described first connecting rod C16-1 and the first motor 3-1 form revolute pair.
Described the second active branched chain comprises the second bearing block 17-2, second connecting rod A14-2, the second U-shaped connector A18-3, second connecting rod B15-2, the second U-shaped connector B18-4 and the second connecting rod C16-2 connected successively; Described the second bearing block 17-2 and lower platform 12 are affixed, and described second connecting rod C16-2 is connected with the second motor 3-2; The described second U-shaped connector A18-3 and second connecting rod B15-2, second connecting rod A14-2, the second bearing block 17-2 form the composite sphere pair, the described second U-shaped connector B18-4 and second connecting rod B15-2, second connecting rod C16-2 form the Hooke pair, and described second connecting rod C16-2 and the second motor 3-2 form revolute pair.
Described the 3rd active branched chain comprises the 3rd bearing block 17-3, third connecting rod A14-3, the 3rd U-shaped connector A18-5, third connecting rod B15-3, the 3rd U-shaped connector B18-6 and the third connecting rod C16-3 connected successively; Described the 3rd bearing block 17-3 and lower platform 12 are affixed, and described third connecting rod C16-3 is connected with the 3rd motor 3-3; The described the 3rd U-shaped connector A18-5 and third connecting rod B15-3, third connecting rod A14-3, the 3rd bearing block 17-3 form the composite sphere pair, the described the 3rd U-shaped connector B18-6 and third connecting rod B15-3, third connecting rod C16-3 form the Hooke pair, and described third connecting rod C16-3 and the 3rd motor 3-3 form revolute pair.
The upper end of the upper end of the upper end of described the first active branched chain, the second active branched chain and the 3rd active branched chain is connected with lower platform 12 by spherical pair respectively, also be respectively equipped with the Hooke pair on described the first active branched chain, the second active branched chain and the 3rd active branched chain, the lower end of the lower end of described the first active branched chain, the second active branched chain is connected with the rotating shaft of the 3rd motor 3-3 with described the first motor 3-1, the second motor 3-2 respectively with the lower end of the 3rd active branched chain.
As shown in Figure 9, be connected with the first right angle decelerator 4-1 on described the first motor 3-1, described first connecting rod C16-1 is connected with the first right angle decelerator 4-1; Be connected with the second right angle decelerator 4-2 on described the second motor 3-2, described second connecting rod C16-2 is connected with the second right angle decelerator 4-2; Be connected with the 3rd right angle decelerator 4-3 on described the 3rd motor 3-3, described third connecting rod C16-3 is connected with the 3rd right angle decelerator 4-3; Be connected with the 4th right angle decelerator 4-4 on described the 4th motor 3-4.
The axis of described the first right angle decelerator 4-1, the second right angle decelerator 4-2 and the 3rd right angle decelerator 4-3 is mutually 120 degree.
Described clutch shaft bearing seat 17-1, the second bearing block 17-2 and the 3rd bearing block 17-3 are mutually 120 degree.
In use, when the patient carries out rehabilitation training, at first foot is placed on upper mounting plate 11, and anklebone is aimed on the axis of the revolute pair that connects curved rod 9 and support link 10-1,10-2, also can change by screw mechanism 13 relative distance of upper mounting plate 11 and lower platform 12, to adjust the distance of sole to mechanism's center of rotation, thereby guarantee that the center of rotation of ankle joint and mechanism coincides.
Limited the space of moving platform 19 moves due to constrained branched chain 21, under the combined effect of the 4th motor 3-4 on the first motor 3-1 on active branched chain 20, the second motor 3-2 and the 3rd motor 3-3 and constrained branched chain 21, this device can realize that X-axis, Y-axis and three directions of Z axis are rotated freely as shown in Figure 8, it is the dorsiflex/plantar flexion of ankle joint, inside turn over/turn up, three directions of internal/external rotations, can realize the rehabilitation training of stages effectively to ankle joint.
Above-described embodiment is described the preferred embodiment of the present invention; not scope of the present invention is limited; design under the prerequisite of spirit not breaking away from the present invention; various distortion and improvement that those of ordinary skills make technical scheme of the present invention, all should fall in the definite protection domain of the claims in the present invention book.
Claims (9)
1. a rehabilitation of anklebone device, is characterized in that: comprise pedestal, moving platform (19), active branched chain (20) and constrained branched chain (21);
Described pedestal comprises base (1) and support platform (2), and described support platform (2) is fixed on base (1) by support bar (1-1); Be installed with the 4th motor (3-4) on described base (1), be installed with the first motor (3-1), the second motor (3-2) and the 3rd motor (3-3) on described support platform (2);
Described constrained branched chain (21) is rotating to be arranged on pedestal, described constrained branched chain (21) comprises bearing platform (8), left support connecting rod (10-1), right support connecting rod (10-2) and curved rod (9), the two ends of described bearing platform (8) are installed with left support connecting rod (10-1) and right support connecting rod (10-2), described left support connecting rod (10-1) and right support connecting rod (10-2) are coupling and are symmetrical arranged, the upper end of the upper end of described left support connecting rod (10-1) and right support connecting rod (10-2) is connected with the two ends of curved rod (9) by revolute pair respectively, described bearing platform (8) is set on support bar (1-1), described bearing platform (8) meshes with the rotating shaft bevel gear of the 4th motor (3-4),
Described active branched chain (20) comprises the first active branched chain, the second active branched chain and the 3rd active branched chain, and described the first active branched chain, the second active branched chain and the 3rd active branched chain are RUS side chain arranged side by side;
The centre of described curved rod (9) is connected with moving platform (19) by revolute pair, the upper end of the upper end of the upper end of described the first active branched chain, the second active branched chain and the 3rd active branched chain is connected with moving platform (19) by spherical pair respectively, also be respectively equipped with the Hooke pair on described the first active branched chain, the second active branched chain and the 3rd active branched chain, the lower end of the lower end of described the first active branched chain, the second active branched chain is connected with described the first motor (3-1), the second motor (3-2) and the rotating shaft of the 3rd motor (3-3) respectively with the lower end of the 3rd active branched chain.
2. a kind of rehabilitation of anklebone device according to claim 1, it is characterized in that: described moving platform (19) comprises upper mounting plate (11) and lower platform (12), described lower platform (12) is connected with upper mounting plate (11) by screw mechanism (13).
3. a kind of rehabilitation of anklebone device according to claim 1 is characterized in that: described the first active branched chain comprises clutch shaft bearing seat (17-1), the first connecting rod A(14-1 connected successively), the first U-shaped connector A(18-1), first connecting rod B(15-1), the first U-shaped connector B(18-2) and first connecting rod C(16-1); Described clutch shaft bearing seat (17-1) is affixed with lower platform (12), described first connecting rod C(16-1) with the first motor (3-1), be connected;
The described first U-shaped connector A(18-1), first connecting rod B(15-1), first connecting rod A(14-1) and clutch shaft bearing seat (17-1) form the composite sphere pair, the described first U-shaped connector B(18-2), first connecting rod B(15-1) and first connecting rod C(16-1) form Hooke pair, described first connecting rod C(16-1) form revolute pair with the first motor (3-1).
4. a kind of rehabilitation of anklebone device according to claim 3 is characterized in that: described the second active branched chain comprises the second bearing block (17-2), the second connecting rod A(14-2 connected successively), the second U-shaped connector A(18-3), second connecting rod B(15-2), the second U-shaped connector B(18-4) and second connecting rod C(16-2); Described the second bearing block (17-2) is affixed with lower platform (12), described second connecting rod C(16-2) with the second motor (3-2), be connected;
The described second U-shaped connector A(18-3) with second connecting rod B(15-2), second connecting rod A(14-2), the second bearing block (17-2) forms the composite sphere pair, the described second U-shaped connector B(18-4) with second connecting rod B(15-2), second connecting rod C(16-2) form Hooke pair, described second connecting rod C(16-2) form revolute pair with the second motor (3-2).
5. a kind of rehabilitation of anklebone device according to claim 4 is characterized in that: described the 3rd active branched chain comprises the 3rd bearing block (17-3), the third connecting rod A(14-3 connected successively), the 3rd U-shaped connector A(18-5), third connecting rod B(15-3), the 3rd U-shaped connector B(18-6) and third connecting rod C(16-3); Described the 3rd bearing block (17-3) is affixed with lower platform (12), described third connecting rod C(16-3) with the 3rd motor (3-3), be connected;
The described the 3rd U-shaped connector A(18-5) with third connecting rod B(15-3), third connecting rod A(14-3), the 3rd bearing block (17-3) forms the composite sphere pair, the described the 3rd U-shaped connector B(18-6) with third connecting rod B(15-3), third connecting rod C(16-3) form Hooke pair, described third connecting rod C(16-3) form revolute pair with the 3rd motor (3-3).
6. a kind of rehabilitation of anklebone device according to claim 5, is characterized in that: be connected with the first right angle decelerator (4-1) on described the first motor (3-1), described first connecting rod C(16-1) with the first right angle decelerator (4-1), be connected; Be connected with the second right angle decelerator (4-2) on described the second motor (3-2), described second connecting rod C(16-2) with the second right angle decelerator (4-2), be connected; Be connected with the 3rd right angle decelerator (4-3), described third connecting rod C(16-3 on described the 3rd motor (3-3)) with the 3rd right angle decelerator (4-3), be connected; Be connected with the 4th right angle decelerator (4-4) on described the 4th motor (3-4).
7. a kind of rehabilitation of anklebone device according to claim 6, is characterized in that: under the bearing platform (8) of described constrained branched chain (21), by bevel gear wheel fixture (5), is fixed with bevel gear wheel (6).
8. a kind of rehabilitation of anklebone device according to claim 7, is characterized in that: be fixed with bevel pinion (7) on described the 4th right angle decelerator (4-4), described bevel pinion (7) and the engagement of bevel gear wheel (6) right angle.
9. a kind of rehabilitation of anklebone device according to claim 8, it is characterized in that: the axis of described the first right angle decelerator (4-1), the second right angle decelerator (4-2) and the 3rd right angle decelerator (4-3) is mutually 120 degree.
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| CN104068991A (en) * | 2014-07-10 | 2014-10-01 | 中国科学院深圳先进技术研究院 | Ankle joint rehabilitation device |
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