CN105476819A - Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely - Google Patents
Ankle joint rehabilitation mechanism with driving branch chains arranged obliquely Download PDFInfo
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- CN105476819A CN105476819A CN201610028816.4A CN201610028816A CN105476819A CN 105476819 A CN105476819 A CN 105476819A CN 201610028816 A CN201610028816 A CN 201610028816A CN 105476819 A CN105476819 A CN 105476819A
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- branched chain
- active branched
- ball
- active
- connecting rod
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- 210000000544 articulatio talocruralis Anatomy 0.000 title abstract description 14
- 210000002683 foot Anatomy 0.000 claims abstract description 16
- 210000003423 ankle Anatomy 0.000 claims abstract description 4
- 210000004233 talus Anatomy 0.000 claims description 25
- 230000000452 restraining effect Effects 0.000 abstract 2
- 239000003814 drug Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 241000469816 Varus Species 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 206010024453 Ligament sprain Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000000272 proprioceptive effect Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides an ankle joint rehabilitation mechanism with driving branch chains arranged obliquely and relates to the field of rehabilitation medicine instruments. The ankle joint rehabilitation mechanism comprises a base, a movable platform, the driving branch chains and a restraining branch chain. The restraining branch chain comprises a lower rotating connecting rod, a first symmetric connecting rod, a second symmetric connecting rod and an upper arc connecting rod, wherein the lower rotating connecting rod is connected with a central shaft of the base through a bearing. The movable platform comprises a foot baffle, an upper platform body, a lower platform body and a connecting piece located between the two platform bodies, wherein the position, relative to the upper platform body, of the feet can be adjusted through the foot baffle and the connecting piece. The driving branch chains comprise the first driving branch chain, the second driving branch chain and the third driving branch chain, and the three driving branch chains are UPS branch chains arranged obliquely with the same oblique angle. By means of the structure, the movable platform can rotate in three mutually orthogonal directions, and meanwhile it can be ensured that the rotating center of the movable platform coincides with the rotating center of the ankles. The ankle joint rehabilitation mechanism is simple, stable in driving and low in cost; in addition, the driving branch chains are arranged obliquely to avoid the singular configuration of the mechanism, and good kinematic performance is achieved.
Description
Technical field
The present invention relates to rehabilitation medical instrument field, be specifically related to a kind of parallel institution of auxiliary ankle joint rehabilitation training.
Background technology
Ankle joint is one of three large joints of human body lower limbs, is important pivot and the weight-bearing joint of human motion.In daily life; ankle joint participate in directly stand, stride, the action such as jump; and the impact absorbed from ground; play the effect of Saving cortilage; but what cannot avoid is; the mankind are that the ape that walked by four-footed is evolved and comes, so be evolved into after two foots walk upright, the foot joint of the mankind also exists inborn defect.This inborn defect makes the ankle joint of the mankind become one of human synovial the most easily sustained damage.As sprained ankle does not obtain timely, correct treatment, the proprioceptive system of damaged can increase the weight of the labile state of ankle joint, causes the occurrence probability again damaged to rise, even causes other joint injuries, occur bad chain reaction.So, except the Drug therapy of necessity, the rehabilitation training of respective stage should be coordinated, and the application of rehabilitation of anklebone mechanism not only can meet the needs of rehabilitation, but also by regular rehabilitation training, rehabilitation speed can be accelerated.
According to human anatomy, three kinds of modes the most basic of ankle joint daily exercise comprise: dorsiflexion/plantar flexion, varus/turn up and adduction/abduction, and the rotational motion of three vertical direction can be reduced to.Therefore, in order to meet ankle joint rehabilitation training requirement, the present invention proposes one and have three rotational freedoms, mechanism's center of rotation overlaps with ankle center of rotation, the rehabilitation of anklebone mechanism that the active branched chain can simulating ankle motion rule is in tilted layout.
Summary of the invention
The technical problem to be solved in the present invention is, there is provided one can meet rehabilitation of anklebone motion needs, and structure relatively simple, drive the parallel ankle joint rehabilitation device of 3-UPS/RRR steady, easy to use, this device can according to the needs of different patient, adjustment moving platform is to the front and back of center of rotation and upper and lower distance, meet mechanism's center of rotation to overlap with the ankle joint center of rotation of patient, adopt active branched chain to be in tilted layout simultaneously and avoid mechanism singularity position shape, make mechanism in the work space needed for rehabilitation exercise, have good kinesiology performance.
The scheme that technical solution problem of the present invention adopts is:
The rehabilitation of anklebone mechanism that a kind of active branched chain is in tilted layout, it is characterized in that: comprise moving platform (D), constrained branched chain (Y), first active branched chain (Z1), second active branched chain (Z2), 3rd active branched chain (Z3) and base (1): described moving platform (D) comprises foot baffle plate (13), upper mounting plate (10) and lower platform (9), described foot baffle plate (13) is by the relative position of screw (18) mediator's foot (23) with upper mounting plate (10), described upper mounting plate (10) is connected by connector (T) with lower platform (9), described connector (T) comprises top base (19) and bottom base (20), described lower platform (9) is fixed with connecting rod (12), described connecting rod (12) to be connected with curved rod (11) by bearing one (21) and to form revolute pair one (R1).
Further, described constrained branched chain (Y) comprises lower pivot link (16), symmetrical connecting rod one (14-1), symmetrical connecting rod two (14-2) and upper curved rod (11), the two ends of described lower pivot link (16) are installed with symmetrical connecting rod one (14-1), symmetrical connecting rod two (14-2), described symmetrical connecting rod one (14-1) and symmetrical connecting rod two (14-2) are arranged symmetrically with about revolute pair three (R3) axis (a3), the upper end of described symmetrical connecting rod one (14-1) is connected respectively by the two ends of revolute pair two (R2) with curved rod (11) with the upper end of symmetrical connecting rod two (14-2), described lower pivot link (16) to be connected with base rotation axle (17) by bearing two (22) and to form revolute pair three (R3).
Further, described revolute pair three (R3) axis (a3) meets at 1 O with the extended line of revolute pair two (R2) axis (a2), revolute pair one (R1) axis (a1) is the center of rotation of model of human ankle.
Further, described active branched chain comprises the first active branched chain (Z1), the second active branched chain (Z2) and the 3rd active branched chain (Z3), and described first active branched chain (Z1), the second active branched chain (Z2) and the 3rd active branched chain (Z3) are and are in tilted layout but link position is evenly distributed on the UPS side chain on lower platform (9) and base (1);
Further, described first active branched chain (Z1) comprises the first active branched chain bearing block (2-1) connected successively, the secondary connector one (3-1) of first active branched chain U, the secondary connector two (4-1) of first active branched chain U, first active branched chain motor push rod type Linear actuator (P1), first active branched chain ball slave connecting rod (5-1), first active branched chain ball subcomponent one (6-1), first active branched chain ball subcomponent two (7-1), the secondary holder (8-1) of first active branched chain ball, the secondary holder (8-1) of described first active branched chain ball is fixedly connected with lower platform (9), described first active branched chain bearing block one (2-1) is fixedly connected with base (1), described first active branched chain ball slave connecting rod (5-1) is connected on the first active branched chain motor push rod type Linear actuator (P1) with the secondary connector two (4-1) of the first active branched chain U,
Further, the secondary holder (8-1) of described first active branched chain ball forms the first active branched chain first revolute pair (K11) with the first active branched chain ball subcomponent two (7-1), first active branched chain ball subcomponent two (7-1) and the first active branched chain ball subcomponent one (6-1) form the first active branched chain second revolute pair (K12), first active branched chain ball subcomponent one (6-1) and the first active branched chain ball slave connecting rod (5-1) form the first active branched chain the 3rd revolute pair (K13), the axis of described three revolute pairs is mutually orthogonal, form the first active branched chain ball pair (S1), the secondary connector two (4-1) of described first active branched chain U forms the first active branched chain the 4th revolute pair (K14) with the secondary connector one (3-1) of the first active branched chain U, the secondary connector one (3-1) of first active branched chain U forms the first active branched chain the 5th revolute pair (K15) with the first active branched chain bearing block (2-1), the axis of described two revolute pairs is mutually vertical, form the first active branched chain Hooke pair (U1), the upper end of described first active branched chain (Z1) is connected with lower platform (9) by the first active branched chain ball pair (S1), the lower end of described first active branched chain (Z1) is connected with base (1) by the first active branched chain Hooke pair (U1),
Further, described second active branched chain (Z2) comprises the second active branched chain bearing block (2-2) connected successively, the secondary connector one (3-2) of second active branched chain U, the secondary connector two (4-2) of second active branched chain U, second active branched chain motor push rod type Linear actuator (P2), second active branched chain ball slave connecting rod (5-2), second active branched chain ball subcomponent one (6-2), second active branched chain ball subcomponent two (7-2), the secondary holder (8-2) of second active branched chain ball, the secondary holder (8-2) of described second active branched chain ball is fixedly connected with lower platform (9), described second active branched chain bearing block (2-2) is fixedly connected with base (1), described second active branched chain ball slave connecting rod (5-2) is connected on the second active branched chain motor push rod type Linear actuator (P2) with the secondary connector two (4-2) of the second active branched chain U,
Further, the secondary holder (8-2) of described second active branched chain ball forms the second active branched chain first revolute pair (K21) with the second active branched chain ball subcomponent two (7-2), second active branched chain ball subcomponent two (7-2) and the second active branched chain ball subcomponent one (6-2) form the second active branched chain second revolute pair (K22), second active branched chain ball subcomponent one (6-2) and the second active branched chain ball slave connecting rod (5-2) form the second active branched chain the 3rd revolute pair (K23), the axis of described three revolute pairs is mutually orthogonal, form the second active branched chain ball pair (S2), the secondary connector two (4-2) of described second active branched chain U forms the second active branched chain the 4th revolute pair (K24) with the secondary connector one (3-2) of the second active branched chain U, the secondary connector one (3-2) of second active branched chain U forms the second active branched chain the 5th revolute pair (K25) with the second active branched chain bearing block (2-2), the axis of described two revolute pairs is mutually vertical, form the second active branched chain Hooke pair (U2), the upper end of described second active branched chain (Z2) is connected with lower platform (9) by the second active branched chain ball pair (S2), the lower end of described second active branched chain (Z2) is connected with base (1) by the second active branched chain Hooke pair (U2),
Further, described 3rd active branched chain (Z3) comprises the 3rd active branched chain bearing block (2-3) connected successively, the secondary connector one (3-3) of 3rd active branched chain U, the secondary connector two (4-3) of 3rd active branched chain U, 3rd active branched chain motor push rod type Linear actuator (P3), 3rd active branched chain ball slave connecting rod (5-3), 3rd active branched chain ball subcomponent one (6-3), 3rd active branched chain ball subcomponent two (7-3), the secondary holder (8-3) of 3rd active branched chain ball, the secondary holder (8-3) of described 3rd active branched chain ball is fixedly connected with lower platform (9), described 3rd active branched chain bearing block (2-3) is fixedly connected with base (1), described 3rd active branched chain ball slave connecting rod (5-3) is connected on the 3rd active branched chain motor push rod type Linear actuator (P3) with the secondary connector two (4-3) of the 3rd active branched chain U,
Further, the secondary holder (8-3) of described 3rd active branched chain ball forms the 3rd active branched chain first revolute pair (K31) with the 3rd active branched chain ball subcomponent two (7-3), 3rd active branched chain ball subcomponent two (7-3) and the 3rd active branched chain ball subcomponent one (6-3) form the 3rd active branched chain second revolute pair (K32), 3rd active branched chain ball subcomponent one (6-3) and the 3rd active branched chain ball slave connecting rod (5-3) form the 3rd active branched chain the 3rd revolute pair (K33), the axis of described three revolute pairs is mutually orthogonal, form the 3rd active branched chain ball pair (S3), the secondary connector two (4-3) of described 3rd active branched chain U forms the 3rd active branched chain the 4th revolute pair (K34) with the secondary connector one (3-3) of the 3rd active branched chain U, the secondary connector one (3-3) of 3rd active branched chain U forms the 3rd active branched chain the 5th revolute pair (K35) with the 3rd active branched chain bearing block (2-3), the axis of described two revolute pairs is mutually vertical, form the 3rd active branched chain Hooke pair (U3), the upper end of described 3rd active branched chain (Z3) is connected with lower platform (9) by the 3rd active branched chain ball pair (S3), the lower end of described 3rd active branched chain (Z3) is connected with base (1) by the 3rd active branched chain Hooke pair (U3).
Further, described first active branched chain base (2-1), the second active branched chain base (2-2), the 3rd active branched chain base (2-3) are mutually 120 degree of angles about Q point, the secondary holder (8-1) of first active branched chain ball, the secondary holder (8-2) of the second active branched chain ball, the secondary holder (8-3) of the 3rd active branched chain ball are mutually 120 degree of angles about W point, and the secondary holder (8-1) of the first active branched chain ball is α angle at the upper projection of base (1) and the first active branched chain base (2-1) about Q point; The secondary holder (8-2) of second active branched chain ball projection and second active branched chain base (2-2) on base (1) are α angle about Q point; The secondary holder (8-3) of 3rd active branched chain ball projection and the 3rd active branched chain base (2-3) on base (1) are α angle about Q point, and the span at described α angle is 50 degree-120 degree.Further, the secondary holder (8-1) of the first active branched chain ball projection and first active branched chain base (2-1) on base (1) is 72 degree of angles about Q point; The secondary holder (8-2) of second active branched chain ball projection and second active branched chain base (2-2) on base (1) are 72 degree of angles about Q point; The secondary holder (8-3) of 3rd active branched chain ball projection and the 3rd active branched chain base (2-3) on base (1) are 72 degree of angles about Q point.
The present invention, owing to adopting above technical scheme, designs and meets rehabilitation of anklebone motion needs, can rotate three vertical direction, and structure simple, drive rehabilitation institution steady, easy to use.Because constrained branched chain and the design of moving platform ensure that ankle joint center of rotation overlaps with mechanism center of rotation, being in tilted layout of active branched chain simultaneously proposed avoids the Singularity of mechanism, makes mechanism in the work space needed for rehabilitation exercise, have good kinesiology performance.
Below in conjunction with accompanying drawing, the rehabilitation of anklebone mechanism that a kind of active branched chain of the present invention is in tilted layout is described further.
Accompanying drawing explanation
Fig. 1 is the rehabilitation of anklebone mechanism population structure schematic three dimensional views that a kind of active branched chain of the present invention is in tilted layout;
Fig. 2 is the rehabilitation of anklebone mechanism population structure side view that a kind of active branched chain of the present invention is in tilted layout;
Fig. 3 is the rehabilitation of anklebone mechanism moving platform decomposing schematic representation that a kind of active branched chain of the present invention is in tilted layout;
Fig. 4 is the structural representation of the rehabilitation of anklebone mechanism up-down adjustment device that a kind of active branched chain of the present invention is in tilted layout;
Fig. 5 is the rehabilitation of anklebone mechanism connecting rod that is in tilted layout of a kind of active branched chain of the present invention and curved rod conjunctive decomposition schematic diagram;
Fig. 6 is the rehabilitation of anklebone mechanism constrained branched chain schematic diagram that a kind of active branched chain of the present invention is in tilted layout;
Fig. 7 is rehabilitation of anklebone mechanism first active branched chain that is in tilted layout of a kind of active branched chain of the present invention and upper mounting plate connection diagram;
Fig. 8 is rehabilitation of anklebone mechanism second active branched chain that is in tilted layout of a kind of active branched chain of the present invention and upper mounting plate connection diagram;
Fig. 9 is rehabilitation of anklebone mechanism the 3rd active branched chain that is in tilted layout of a kind of active branched chain of the present invention and upper mounting plate connection diagram;
Figure 10 is the rehabilitation of anklebone mechanism motor push rod type Linear actuator connection diagram that a kind of active branched chain of the present invention is in tilted layout;
Figure 11 is rehabilitation of anklebone mechanism first active branched chain that is in tilted layout of a kind of active branched chain of the present invention and base connection diagram;
Figure 12 is rehabilitation of anklebone mechanism second active branched chain that is in tilted layout of a kind of active branched chain of the present invention and base connection diagram;
Figure 13 is rehabilitation of anklebone mechanism the 3rd active branched chain that is in tilted layout of a kind of active branched chain of the present invention and base connection diagram;
Figure 14 is the top view of the rehabilitation of anklebone mechanism lower platform that is in tilted layout of a kind of active branched chain of the present invention and base;
Figure 15 is the rehabilitation of anklebone mechanism understructure schematic diagram that a kind of active branched chain of the present invention is in tilted layout.
In figure: 1-base; 2-1-the first active branched chain base; 2-2-the second active branched chain base; 2-3-the 3rd active branched chain base; The secondary connector one of 3-1-the first active branched chain U; The secondary connector one of 3-2-the second active branched chain U; The secondary connector one of 3-3-the 3rd active branched chain U; The secondary connector two of 4-1-the first active branched chain U; The secondary connector two of 4-2-the second active branched chain U; The secondary connector two of 4-3-the 3rd active branched chain U; 5-1-the first active branched chain ball slave connecting rod; 5-2-the second active branched chain ball slave connecting rod; 5-3-the 3rd active branched chain ball slave connecting rod; 6-1-the first active branched chain ball subcomponent one; 6-2-the second active branched chain ball subcomponent one; 6-3-the 3rd active branched chain ball subcomponent one; 7-1-the first active branched chain ball subcomponent two; 7-2-the second active branched chain ball subcomponent two; 7-3-the 3rd active branched chain ball subcomponent two; The secondary holder of 8-1-the first active branched chain ball; The secondary holder of 8-2-the second active branched chain ball; The secondary holder of 8-3-the 3rd active branched chain ball; 9-lower platform; 10-upper mounting plate; 11-upper curved rod; 12-connecting rod; 13-foot baffle plate; 14-1-symmetrical connecting rod one; 14-2-symmetrical connecting rod two; 15-1-adjustment screw one; 15-2-adjustment screw two; 16-lower pivot link; 17-base rotation axle; 18-screw; 19-top base; 20-bottom base; 21-bearing one; 22-bearing two; 23-foot; 24-elastic bands; D-moving platform; Y-constrained branched chain; Z1-the first active branched chain; Z2-the second active branched chain; Z3-the 3rd active branched chain; T-connector; S1-the first active branched chain ball is secondary; S2-the second active branched chain ball is secondary; S3-the 3rd active branched chain ball is secondary; U1-the first active branched chain Hooke is secondary; U2-the second active branched chain Hooke is secondary; U3-the 3rd active branched chain Hooke is secondary; P1-the first active branched chain motor push rod type Linear actuator; P2-the second active branched chain motor push rod type Linear actuator; P3-the 3rd active branched chain motor push rod type Linear actuator; R1-revolute pair one; R2-revolute pair two; R3-revolute pair three; A1-revolute pair one (R1) axis; A2-revolute pair two (R2) axis; A3-revolute pair three (R3) axis; K
11-the first active branched chain first revolute pair; K
12-the first active branched chain second revolute pair; K
13-the first active branched chain the 3rd revolute pair; K
14-the first active branched chain the 4th revolute pair; K
15-the first active branched chain the 5th revolute pair; K
21-the second active branched chain first revolute pair; K
22-the second active branched chain second revolute pair; K
23-the second active branched chain the 3rd revolute pair; K
24-the second active branched chain the 4th revolute pair; K
25-the second active branched chain the 5th revolute pair; K
31-the three active branched chain first revolute pair; K
32-the three active branched chain second revolute pair; K
33-the three active branched chain the 3rd revolute pair; K
34-the three active branched chain the 4th revolute pair; K
35-the three active branched chain the 5th revolute pair.
Detailed description of the invention
As shown in Fig. 1-Figure 15, the present invention is the rehabilitation of anklebone mechanism that a kind of active branched chain is in tilted layout, and adopts 3-U
ps/RRR type parallel institution, comprise moving platform (D), constrained branched chain (Y), active branched chain (Z1, Z2, and base (1) Z3), carrying out in rehabilitation training, foot (23) is first put on the upper mounting plate (10) in moving platform (D) by patient, then by foot baffle plate (13) and the relative position between up-down adjustment device (T) mediator foot (23) and lower platform (9), thus ensure that patient's ankle center of rotation overlaps with the center of rotation of convalescence device, simultaneously in training, the foot (23) of patient can be strapped on upper mounting plate (10) by foot baffle plate (13) and elastic bands (24), when avoiding mechanism to rotate there is larger relative displacement in people's foot (23) and upper mounting plate (10), cause unnecessary damage.
Because constrained branched chain (Y) limits the movement of moving platform (D), therefore by three motor push rod type Linear actuator (P1, P2, P3) driving, moving platform (D) can realize as the rotation in figure (6) on axis a1, a2, a3 tri-directions, namely the toe of ankle joint is bent/dorsiflexion, varus/turn up, adduction/abduction exercise, so rehabilitation of anklebone mechanism is well positioned to meet the needs of ankle joint rehabilitation training.
Claims (1)
1. the rehabilitation of anklebone mechanism that is in tilted layout of active branched chain, is characterized in that: comprise moving platform (D), constrained branched chain (Y), the first active branched chain (Z1), the second active branched chain (Z2), the 3rd active branched chain (Z3) and base (1):
Described moving platform (D) comprises upper mounting plate (10), lower platform (9) and foot baffle plate (13), described upper mounting plate (10) is connected by connector (T) with lower platform (9), described connector (T) comprises top base (19) and bottom base (20), described connector (T) carries out relative position between upper lower platform by adjustment screw and regulates, described lower platform (9) is fixed with connecting rod (12), described connecting rod (12) to be connected with curved rod (11) by bearing one (21) and to form revolute pair one (R1), described foot baffle plate (13) is by the relative position of screw (18) mediator's foot (23) with upper mounting plate (10),
Described constrained branched chain (Y) comprises lower pivot link (16), symmetrical connecting rod one (14-1), symmetrical connecting rod two (14-2) and upper curved rod (11), the two ends of described lower pivot link (16) are installed with symmetrical connecting rod one (14-1), symmetrical connecting rod two (14-2), described symmetrical connecting rod one (14-1) and symmetrical connecting rod two (14-2) are arranged symmetrically with about revolute pair three (R3) axis (a3), the upper end of described symmetrical connecting rod one (14-1) is connected respectively by the two ends of revolute pair two (R2) with upper curved rod (11) with the upper end of symmetrical connecting rod two (14-2), described lower pivot link (16) to be connected with base rotation axle (17) by bearing two (22) and to form revolute pair three (R3),
It is the center of rotation of model of human ankle that described revolute pair three (R3) axis (a3) meets at 1 O with the extended line of revolute pair two (R2) axis (a2), revolute pair one (R1) axis (a1);
Described active branched chain comprises the first active branched chain (Z1), the second active branched chain (Z2) and the 3rd active branched chain (Z3), and described first active branched chain (Z1), the second active branched chain (Z2) and the 3rd active branched chain (Z3) are and are in tilted layout but link position is evenly distributed on the UPS side chain on lower platform (9) base (1);
Described first active branched chain (Z1) comprises the first active branched chain bearing block (2-1) connected successively, the secondary connector one (3-1) of first active branched chain U, the secondary connector two (4-1) of first active branched chain U, first active branched chain motor push rod type Linear actuator (P1), first active branched chain ball slave connecting rod (5-1), first active branched chain ball subcomponent one (6-1), first active branched chain ball subcomponent two (7-1), the secondary holder (8-1) of first active branched chain ball, the secondary holder (8-1) of described first active branched chain ball is fixedly connected with lower platform (9), described first active branched chain bearing block one (2-1) is fixedly connected with base (1), described first active branched chain ball slave connecting rod (5-1) is connected on the first active branched chain motor push rod type Linear actuator (P1) with the secondary connector two (4-1) of the first active branched chain U,
The secondary holder (8-1) of described first active branched chain ball forms the first active branched chain first revolute pair (K11) with the first active branched chain ball subcomponent two (7-1), first active branched chain ball subcomponent two (7-1) and the first active branched chain ball subcomponent one (6-1) form the first active branched chain second revolute pair (K12), first active branched chain ball subcomponent one (6-1) and the first active branched chain ball slave connecting rod (5-1) form the first active branched chain the 3rd revolute pair (K13), the axis of described three revolute pairs is mutually orthogonal, form the first active branched chain ball pair (S1), the secondary connector two (4-1) of described first active branched chain U forms the first active branched chain the 4th revolute pair (K14) with the secondary connector one (3-1) of the first active branched chain U, the secondary connector one (3-1) of first active branched chain U forms the first active branched chain the 5th revolute pair (K15) with the first active branched chain bearing block (2-1), the axis of described two revolute pairs is mutually vertical, form the first active branched chain Hooke pair (U1), the upper end of described first active branched chain (Z1) is connected with lower platform (9) by the first active branched chain ball pair (S1), the lower end of described first active branched chain (Z1) is connected with base (1) by the first active branched chain Hooke pair (U1),
Described second active branched chain (Z2) comprises the second active branched chain bearing block (2-2) connected successively, the secondary connector one (3-2) of second active branched chain U, the secondary connector two (4-2) of second active branched chain U, second active branched chain motor push rod type Linear actuator (P2), second active branched chain ball slave connecting rod (5-2), second active branched chain ball subcomponent one (6-2), second active branched chain ball subcomponent two (7-2), the secondary holder (8-2) of second active branched chain ball, the secondary holder (8-2) of described second active branched chain ball is fixedly connected with lower platform (9), described second active branched chain bearing block (2-2) is fixedly connected with base (1), described second active branched chain ball slave connecting rod (5-2) is connected on the second active branched chain motor push rod type Linear actuator (P2) with the secondary connector two (4-2) of the second active branched chain U,
The secondary holder (8-2) of described second active branched chain ball forms the second active branched chain first revolute pair (K21) with the second active branched chain ball subcomponent two (7-2), second active branched chain ball subcomponent two (7-2) and the second active branched chain ball subcomponent one (6-2) form the second active branched chain second revolute pair (K22), second active branched chain ball subcomponent one (6-2) and the second active branched chain ball slave connecting rod (5-2) form the second active branched chain the 3rd revolute pair (K23), the axis of described three revolute pairs is mutually orthogonal, form the second active branched chain ball pair (S2), the secondary connector two (4-2) of described second active branched chain U forms the second active branched chain the 4th revolute pair (K24) with the secondary connector one (3-2) of the second active branched chain U, the secondary connector one (3-2) of second active branched chain U forms the second active branched chain the 5th revolute pair (K25) with the second active branched chain bearing block (2-2), the axis of described two revolute pairs is mutually vertical, form the second active branched chain Hooke pair (U2), the upper end of described second active branched chain (Z2) is connected with lower platform (9) by the second active branched chain ball pair (S2), the lower end of described second active branched chain (Z2) is connected with base (1) by the second active branched chain Hooke pair (U2),
Described 3rd active branched chain (Z3) comprises the 3rd active branched chain bearing block (2-3) connected successively, the secondary connector one (3-3) of 3rd active branched chain U, the secondary connector two (4-3) of 3rd active branched chain U, 3rd active branched chain motor push rod type Linear actuator (P3), 3rd active branched chain ball slave connecting rod (5-3), 3rd active branched chain ball subcomponent one (6-3), 3rd active branched chain ball subcomponent two (7-3), the secondary holder (8-3) of 3rd active branched chain ball, the secondary holder (8-3) of described 3rd active branched chain ball is fixedly connected with lower platform (9), described 3rd active branched chain bearing block (2-3) is fixedly connected with base (1), described 3rd active branched chain ball slave connecting rod (5-3) is connected on the 3rd active branched chain motor push rod type Linear actuator (P3) with the secondary connector two (4-3) of the 3rd active branched chain U,
The secondary holder (8-3) of described 3rd active branched chain ball forms the 3rd active branched chain first revolute pair (K31) with the 3rd active branched chain ball subcomponent two (7-3), 3rd active branched chain ball subcomponent two (7-3) and the 3rd active branched chain ball subcomponent one (6-3) form the 3rd active branched chain second revolute pair (K32), 3rd active branched chain ball subcomponent one (6-3) and the 3rd active branched chain ball slave connecting rod (5-3) form the 3rd active branched chain the 3rd revolute pair (K33), the axis of described three revolute pairs is mutually orthogonal, form the 3rd active branched chain ball pair (S3), the secondary connector two (4-3) of described 3rd active branched chain U forms the 3rd active branched chain the 4th revolute pair (K34) with the secondary connector one (3-3) of the 3rd active branched chain U, the secondary connector one (3-3) of 3rd active branched chain U forms the 3rd active branched chain the 5th revolute pair (K35) with the 3rd active branched chain bearing block (2-3), the axis of described two revolute pairs is mutually vertical, form the 3rd active branched chain Hooke pair (U3), the upper end of described 3rd active branched chain (Z3) is connected with lower platform (9) by the 3rd active branched chain ball pair (S3), the lower end of described 3rd active branched chain (Z3) is connected with base (1) by the 3rd active branched chain Hooke pair (U3).
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| CN105936041A (en) * | 2016-07-14 | 2016-09-14 | 安庆里外里工业产品设计有限公司 | Building construction transfer robot based on 3-UPS parallel mechanism |
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| CN106038187A (en) * | 2016-05-18 | 2016-10-26 | 虞田乐 | Comprehensive adjustable armpit massaging intelligent robot |
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| CN106726353A (en) * | 2017-01-08 | 2017-05-31 | 北京工业大学 | A kind of wrist joint rehabilitation training device in parallel based on self adaptation |
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| CN108542703B (en) * | 2018-03-05 | 2021-04-30 | 北京工业大学 | Ankle joint rehabilitation device |
| CN110711109B (en) * | 2019-09-24 | 2021-02-09 | 燕山大学 | Metamorphic parallel mechanism suitable for ankle joint rehabilitation |
| CN110711109A (en) * | 2019-09-24 | 2020-01-21 | 燕山大学 | Metamorphic parallel mechanism suitable for ankle joint rehabilitation |
| CN111345971A (en) * | 2020-03-14 | 2020-06-30 | 北京工业大学 | Multi-mode flexible training method of ankle rehabilitation robot based on admittance model |
| CN111345971B (en) * | 2020-03-14 | 2022-03-08 | 北京工业大学 | Multi-mode flexible training method of ankle rehabilitation robot based on admittance model |
| CN112022610A (en) * | 2020-08-13 | 2020-12-04 | 中北大学 | Ankle joint rehabilitation mechanism with adjustable rotation center |
| CN112137842A (en) * | 2020-10-23 | 2020-12-29 | 中国石油大学(华东) | Parallel three-degree-of-freedom ankle joint rehabilitation robot |
| CN113499215A (en) * | 2021-06-18 | 2021-10-15 | 西安交通大学 | Three-degree-of-freedom wrist rehabilitation robot based on continuous multi-section structure |
| CN114366562A (en) * | 2022-01-17 | 2022-04-19 | 山东科技大学 | Three-degree-of-freedom parallel training device for ankle joint rehabilitation |
| CN116196197A (en) * | 2022-12-02 | 2023-06-02 | 北京航空航天大学杭州创新研究院 | Continuous union knee ankle exoskeleton robot with multiple movement functions |
| CN116007590A (en) * | 2023-02-09 | 2023-04-25 | 哈尔滨工业大学 | Three-degree-of-freedom parallel marine binocular wave measuring device |
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