CN105476819B - A kind of rehabilitation of anklebone mechanism that active branched chain is in tilted layout - Google Patents
A kind of rehabilitation of anklebone mechanism that active branched chain is in tilted layout Download PDFInfo
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- CN105476819B CN105476819B CN201610028816.4A CN201610028816A CN105476819B CN 105476819 B CN105476819 B CN 105476819B CN 201610028816 A CN201610028816 A CN 201610028816A CN 105476819 B CN105476819 B CN 105476819B
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- branched chain
- active branched
- active
- revolute pair
- ball
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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
Abstract
The rehabilitation of anklebone mechanism that a kind of active branched chain is in tilted layout is related to rehabilitation medical instrument field.The present invention includes pedestal, moving platform, active branched chain and constrained branched chain；Constrained branched chain includes lower pivot link, symmetrical connecting rod one, symmetrical connecting rod two and upper curved rod, and lower pivot link is connected by bearing with base center axis；Moving platform includes the connector between foot baffle, upper mounting plate, lower platform and two platforms, and people's foot can be adjusted relative to the position of upper mounting plate by foot baffle and connector；Active branched chain includes the first active branched chain, the second active branched chain and third active branched chain, and three active branched chains are the UPS branches for the inclination arrangement for having same tilt angle.By above structure, it can be achieved that moving platform while can ensure that its center of rotation is overlapped with ankle center of rotation in the rotation of three mutually orthogonal directions.The present invention is simple, driving is steady, at low cost, and avoids mechanism singularity position shape using active branched chain inclination arrangement, has good kinematics performance.
Description
Technical field
The present invention relates to rehabilitation medical instrument fields, and in particular 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 the important pivot and weight-bearing joint of human motion.Daily
In life, ankle-joint directly participates in the actions such as stand, stride, jump, and absorbs the impact from ground, plays Saving cortilage
Effect, but can not avoid, the mankind are from the ape evolution that four-footed is walked, so walking upright being evolved into two foots
Afterwards, there is inborn defects for the foot joint of the mankind.This inborn defect make the mankind ankle-joint become be easiest to by
To one of the human synovial of damage.If sprained ankle does not obtain timely, correct treatment, the proprioceptive system meeting being damaged
The unstable state for aggravating ankle-joint causes the occurrence probability damaged again to rise, or even causes other joint injuries, occurs not
Good chain reaction.So in addition to necessary drug therapy, it should coordinate the rehabilitation training of respective stage, and ankle joint therapeutic machine
The application of structure can not only meet the needs of rehabilitation, but also can accelerate rehabilitation speed by regular rehabilitation training.
According to human anatomy it is found that three kinds of most basic modes of ankle-joint daily exercise include：It is dorsiflexion/plantar flexion, interior
Turn over/turn up with interior receipts/abduction, the rotational motion of three vertical direction can be reduced to.Therefore, it is instructed to meet rehabilitation of anklebone
Practice and require, the present invention proposes a kind of tool there are three rotational freedom, and mechanism center of rotation is overlapped with ankle center of rotation, can
Simulate the rehabilitation of anklebone mechanism that the active branched chain of ankle motion rule is in tilted layout.
Invention content
The technical problem to be solved by the present invention is to, provide it is a kind of can meet rehabilitation of anklebone movement needs, and structure is opposite
Simply, the parallel ankle joint rehabilitation devices of 3-UPS/RRR steady, easy to use are driven, which can be according to different patients'
It needs, the front and back and upper and lower distance of adjustment moving platform to center of rotation, the ankle-joint for meeting mechanism center of rotation and patient rotates
Center overlaps, while avoiding mechanism singularity position shape using active branched chain inclination arrangement, makes work of the mechanism needed for rehabilitation exercise
There is good kinematics performance in space.
Scheme is used by the present invention solves technical problem：
A kind of rehabilitation of anklebone mechanism that active branched chain is in tilted layout, it is characterised in that：Including moving platform (D), about bundle branch
Chain (Y), the first active branched chain (Z1), the second active branched chain (Z2), third active branched chain (Z3) and pedestal (1)：The moving platform
(D) include foot baffle (13), upper mounting plate (10) and lower platform (9), the foot baffle (13) passes through screw (18) and adjusts people's foot
(23) it is connected by connector (T) with the relative position of upper mounting plate (10), the upper mounting plate (10) and lower platform (9), the company
Fitting (T) includes top base (19) and bottom base (20), and the lower platform (9) is fixed with connecting rod (12), the connecting rod
(12) it is connected with curved rod (11) by bearing one (21) and constitutes revolute pair one (R1).
Further, the constrained branched chain (Y) includes lower pivot link (16), symmetrical connecting rod one (14-1), symmetrical connecting rod
Two (14-2) and upper curved rod (11), the both ends of the lower pivot link (16) are installed with symmetrical connecting rod one (14-1), symmetrical
Connecting rod two (14-2), the symmetrical connecting rod one (14-1) and symmetrical connecting rod two (14-2) are right about revolute pair three (R3) axis (a3)
Claim arrangement, the upper end of the symmetrical connecting rod one (14-1) and the upper end of symmetrical connecting rod two (14-2) pass through revolute pair two (R2) respectively
It is attached with the both ends of curved rod (11), the lower pivot link (16) passes through bearing two (22) and base rotation axis (17)
It is connected and constitutes revolute pair three (R3).
Further, the revolute pair three (R3) axis (a3) and revolute pair two (R2) axis (a2), revolute pair one (R1)
The extended line of axis (a1) meets at the center of rotation that a point O is model of human ankle.
Further, the active branched chain includes the first active branched chain (Z1), the second active branched chain (Z2) and third active
Branch (Z3), first active branched chain (Z1), the second active branched chain (Z2) and third active branched chain (Z3) are to be in tilted layout
But link position is evenly distributed on the UPS branches between lower platform (9) and pedestal (1)；
Further, first active branched chain (Z1) includes sequentially connected first active branched chain bearing block (2-1),
One active branched chain U pairs connector one (3-1), the first active branched chain U pairs connector two (4-1), the first active branched chain electric pushrod
Formula Linear actuator (P1), the first active branched chain ball slave connecting rod (5-1), the first active branched chain ball subcomponent one (6-1), the first master
Dynamic branch hammer subcomponent two (7-1), the first active branched chain ball pair fixed seat (8-1), the first active branched chain ball pair fixed seat
(8-1) is fixedly connected with lower platform (9), and the first active branched chain bearing block one (2-1) is fixedly connected with pedestal (1), described
It is electronic that first active branched chain ball slave connecting rod (5-1) with the first active branched chain U pairs connector two (4-1) is connected to the first active branched chain
On push-down Linear actuator (P1)；
Further, the first active branched chain ball pair fixed seat (8-1) and the first active branched chain ball subcomponent two (7-1)
Constitute first the first revolute pair of active branched chain (K11), the first active branched chain ball subcomponent two (7-1) and the first active branched chain ball pair
Component one (6-1) constitutes first the second revolute pair of active branched chain (K12), the first active branched chain ball subcomponent one (6-1) and first
Active branched chain ball slave connecting rod (5-1) constitutes the first active branched chain third revolute pair (K13), first the first revolute pair of active branched chain
(K11), first the second revolute pair of active branched chain (K12) intersects at a point with the first active branched chain third revolute pair (K13) three,
And the axis of first the first revolute pair of active branched chain (K11), the first active branched chain third revolute pair (K13) is led with first respectively
The axis vertical take-off of dynamic the second revolute pair of branch (K12) constitutes the first active branched chain ball pair (S1), the first active branched chain bearing
Seat (2-1) constitutes the 4th revolute pair (K14) of the first active branched chain with the first active branched chain U pairs connector one (3-1), and first actively
Branch U pairs connector one (3-1) constitutes the 5th revolute pair of the first active branched chain with the first active branched chain U pairs connector two (4-1)
(K15), the axis phase of the axis and the 5th revolute pair (K15) of the first active branched chain of the 4th revolute pair (K14) of the first active branched chain
It is mutually vertical, the first active branched chain Hooke pair (U1) is constituted, the upper end of first active branched chain (Z1) passes through the first active branched chain
Ball pair (S1) is connect with lower platform (9), and the lower end of first active branched chain (Z1) is secondary (U1) by the first active branched chain Hooke
It is connect with pedestal (1)；
Further, second active branched chain (Z2) includes sequentially connected second active branched chain bearing block (2-2),
Two active branched chain U pairs connectors one (3-2), the second active branched chain U pairs connector two (4-2), the second active branched chain electric pushrod
Formula Linear actuator (P2), the second active branched chain ball slave connecting rod (5-2), the second active branched chain ball subcomponent one (6-2), the second master
Dynamic branch hammer subcomponent two (7-2), the second active branched chain ball pair fixed seat (8-2), the second active branched chain ball pair fixed seat
(8-2) is fixedly connected with lower platform (9), and the second active branched chain bearing block (2-2) is fixedly connected with pedestal (1), and described
Two active branched chain ball slave connecting rods (5-2) are connected to that the second active branched chain is electronic to be pushed away with the second active branched chain U pairs connector two (4-2)
On rod-type Linear actuator (P2)；
Further, the second active branched chain ball pair fixed seat (8-2) and the second active branched chain ball subcomponent two (7-2)
Constitute second the first revolute pair of active branched chain (K21), the second active branched chain ball subcomponent two (7-2) and the second active branched chain ball pair
Component one (6-2) constitutes second the second revolute pair of active branched chain (K22), the second active branched chain ball subcomponent one (6-2) and second
Active branched chain ball slave connecting rod (5-2) constitutes the second active branched chain third revolute pair (K23), second the first revolute pair of active branched chain
(K21), second the second revolute pair of active branched chain (K22) intersects at a point with the second active branched chain third revolute pair (K23) three,
And the axis of second the first revolute pair of active branched chain (K21), the second active branched chain third revolute pair (K23) is led with second respectively
The axis vertical take-off of dynamic the second revolute pair of branch (K22) constitutes the second active branched chain ball pair (S2), the second active branched chain bearing
Seat (2-2) constitutes the 4th revolute pair (K24) of the second active branched chain with the second active branched chain U pairs connector one (3-2), and second actively
Branch U pairs connector one (3-2) constitutes the 5th revolute pair of the second active branched chain with the second active branched chain U pairs connector two (4-2)
(K25), the axis phase of the axis and the 5th revolute pair (K25) of the second active branched chain of the 4th revolute pair (K24) of the second active branched chain
It is mutually vertical, the second active branched chain Hooke pair (U2) is constituted, the upper end of second active branched chain (Z2) passes through the second active branched chain
Ball pair (S2) is connect with lower platform (9), and the lower end of second active branched chain (Z2) is secondary (U2) by the second active branched chain Hooke
It is connect with pedestal (1)；
Further, the third active branched chain (Z3) includes sequentially connected third active branched chain bearing block (2-3),
Three active branched chain U pairs connectors one (3-3), third active branched chain U pairs connector two (4-3), third active branched chain electric pushrod
Formula Linear actuator (P3), third active branched chain ball slave connecting rod (5-3), third active branched chain ball subcomponent one (6-3), third master
Dynamic branch hammer subcomponent two (7-3), third active branched chain ball pair fixed seat (8-3), the third active branched chain ball pair fixed seat
(8-3) is fixedly connected with lower platform (9), and the third active branched chain bearing block (2-3) is fixedly connected with pedestal (1), and described
Three active branched chain ball slave connecting rods (5-3) are connected to that third active branched chain is electronic to be pushed away with third active branched chain U pairs connector two (4-3)
On rod-type Linear actuator (P3)；
Further, the third active branched chain ball pair fixed seat (8-3) and third active branched chain ball subcomponent two (7-3)
Constitute third the first revolute pair of active branched chain (K31), third active branched chain ball subcomponent two (7-3) and third active branched chain ball pair
Component one (6-3) constitutes third the second revolute pair of active branched chain (K32), third active branched chain ball subcomponent one (6-3) and third
Active branched chain ball slave connecting rod (5-3) constitutes third active branched chain third revolute pair (K33), the first revolute pair of third active branched chain
(K31), the second revolute pair of third active branched chain (K32) intersects at a point with third active branched chain third revolute pair (K33) three,
And the axis of the first revolute pair of third active branched chain (K31), third active branched chain third revolute pair (K33) respectively with third master
The axis vertical take-off of dynamic the second revolute pair of branch (K32), constitutes third active branched chain ball pair (S3), the third active branched chain bearing
Seat (2-3) constitutes the 4th revolute pair (K34) of third active branched chain with third active branched chain U pairs connector one (3-3), and third is actively
Branch U pairs connector one (3-3) constitutes the 5th revolute pair of third active branched chain with third active branched chain U pairs connector two (4-3)
(K35), the axis phase of the axis and the 5th revolute pair (K35) of third active branched chain of the 4th revolute pair (K34) of third active branched chain
It is mutually vertical, third active branched chain Hooke pair (U3) is constituted, the upper end of the third active branched chain (Z3) passes through third active branched chain
Ball pair (S3) is connect with lower platform (9), and the lower end of the third active branched chain (Z3) is secondary (U3) by third active branched chain Hooke
It is connect with pedestal (1).
Further, the first active branched chain pedestal (2-1), the second active branched chain pedestal (2-2), third active branched chain
Pedestal (2-3) is mutually 120 degree of angles about Q points, and the first active branched chain ball pair fixed seat (8-1), the second active branched chain ball pair are fixed
Seat (8-2), third active branched chain ball pair fixed seat (8-3) are mutually 120 degree of angles, the first active branched chain ball pair fixed seat about W points
(8-1) is projected with the first active branched chain pedestal (2-1) about Q points on pedestal (1) in the angles α；Second active branched chain ball pair is fixed
Seat (8-2) is projected with the second active branched chain pedestal (2-2) about Q points on pedestal (1) in the angles α；Third active branched chain ball pair is solid
Reservation (8-3) is projected with third active branched chain pedestal (2-3) about Q points on pedestal (1) in the angles α, the value range at the angles α
It is 50 degree -120 degree.Further, the first active branched chain ball pair fixed seat (8-1) is projected on pedestal (1) with first actively
Branch pedestal (2-1) is in 72 degree of angles about Q points；Second active branched chain ball pair fixed seat (8-2) projects and second on pedestal (1)
Active branched chain pedestal (2-2) is in 72 degree of angles about Q points；Third active branched chain ball pair fixed seat (8-3) projected on pedestal (1) with
Third active branched chain pedestal (2-3) is in 72 degree of angles about Q points.
The present invention due to using the technology described above, designs and meets rehabilitation of anklebone movement needs, can be vertical at three
Direction rotates, and simple in structure, driving rehabilitation institution steady, easy to use.Since the design of constrained branched chain and moving platform is protected
The inclination arrangement for having demonstrate,proved the active branched chain that ankle-joint center of rotation and mechanism center of rotation are overlapped, while being proposed avoids mechanism
Singularity, make mechanism in the working space needed for rehabilitation exercise have good kinematics performance.
The rehabilitation of anklebone mechanism being in tilted layout below in conjunction with the accompanying drawings to a kind of active branched chain of the present invention is done furtherly
It is bright.
Description of the drawings
Fig. 1 is the rehabilitation of anklebone mechanism overall 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 overall 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 decomposition diagram that a kind of active branched chain of the present invention is in tilted layout；
Fig. 4 is the structural representation for the rehabilitation of anklebone mechanism up and down adjustment device that a kind of active branched chain of the present invention is in tilted layout
Figure；
Fig. 5 is that the rehabilitation of anklebone mechanism connecting rod that a kind of active branched chain of the present invention is in tilted layout is connect point with curved rod
Solve 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 that the first active branched chain of rehabilitation of anklebone mechanism that a kind of active branched chain of the present invention is in tilted layout connects with upper mounting plate
Connect schematic diagram；
Fig. 8 is that the second active branched chain of rehabilitation of anklebone mechanism that a kind of active branched chain of the present invention is in tilted layout connects with upper mounting plate
Connect schematic diagram；
Fig. 9 is that the rehabilitation of anklebone mechanism third active branched chain that a kind of active branched chain of the present invention is in tilted layout connects with upper mounting plate
Connect schematic diagram；
Figure 10 is the rehabilitation of anklebone mechanism motor push rod type Linear actuator that a kind of active branched chain of the present invention is in tilted layout
Connection diagram；
Figure 11 is that the first active branched chain of rehabilitation of anklebone mechanism that a kind of active branched chain of the present invention is in tilted layout connects with pedestal
Connect schematic diagram；
Figure 12 is that the second active branched chain of rehabilitation of anklebone mechanism that a kind of active branched chain of the present invention is in tilted layout connects with pedestal
Connect schematic diagram；
Figure 13 is that the rehabilitation of anklebone mechanism third active branched chain that a kind of active branched chain of the present invention is in tilted layout connects with pedestal
Connect schematic diagram；
Figure 14 is the vertical view of rehabilitation of anklebone mechanism lower platform and pedestal that a kind of active branched chain of the present invention is in tilted layout；
Figure 15 is the rehabilitation of anklebone mechanism schematic diagram of base structure that a kind of active branched chain of the present invention is in tilted layout.
In figure：1-pedestal；2-1-the first active branched chain pedestals；2-2-the second active branched chain pedestals；2-3-third master
Dynamic branch pedestal；3-1-the first active branched chain U pairs connector one；3-2-the second active branched chain U pairs connector one；3-3-
Three active branched chain U pairs connectors one；4-1-the first active branched chain U pairs connector two；4-2-the second active branched chain U pair connectors
Two；4-3-third active branched chain U pairs connector two；5-1-the first active branched chain ball slave connecting rods；5-2-the second active branched chain balls
Slave connecting rod；5-3-third active branched chain ball slave connecting rod；6-1-the first active branched chain balls subcomponent one；6-2-second is actively propped up
Hammer subcomponent one；6-3-third active branched chain ball subcomponent one；7-1-the first active branched chain balls subcomponent two；7-2-
Two active branched chain ball subcomponents two；7-3-third active branched chain ball subcomponent two；8-1-the first active branched chain ball pair fixed seats；
8-2-the second active branched chain ball pair fixed seats；8-3-third active branched chain ball pair fixed seat；9-lower platforms；10-upper mounting plates；
11-upper curved rods；12-connecting rods；13-foot baffles；The symmetrical connecting rods of 14-1-one；The symmetrical connecting rods of 14-2-two；15-1—
Adjusting screw one；15-2-adjusting screw two；16-lower pivot links；17-base rotation axis；18-screws；19-upper bases
Seat；20-bottom bases；21-bearings one；22-bearings two；23-feet；24-elastic bands；D-moving platform；Y-about bundle branches
Chain；The first active branched chains of Z1-；The second active branched chains of Z2-；Z3-third active branched chain；T-connector；S1-first is actively
Branch hammer pair；S2-the second active branched chain ball pairs；S3-third active branched chain ball pair；U1-the first active branched chain Hooke pairs；
U2-the second active branched chain Hooke pairs；U3-third active branched chain Hooke pair；P1-the first active branched chain motor push rod types are linear
Driver；P2-the second active branched chain motor push rod type Linear actuators；P3-third active branched chain motor push rod type linearly drives
Dynamic device；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；K11-the first revolute pairs of the first active branched chain；The first active branched chains of K12-
Two revolute pairs；K13-the first active branched chain third revolute pairs；The 4th revolute pair of the first active branched chains of K14-；K15-first is led
The 5th revolute pair of dynamic branch；K21-the first revolute pairs of the second active branched chain；K22-the second revolute pairs of the second active branched chain；
K23-the second active branched chain third revolute pairs；The 4th revolute pair of the second active branched chains of K24-；The second active branched chains of K25-the 5th
Revolute pair；K31-the first revolute pair of third active branched chain；K32-the second revolute pair of third active branched chain；K33-third is actively
Branch third revolute pair；K34-the 4th revolute pair of third active branched chain；K35-the 5th revolute pair of third active branched chain.
Specific implementation mode
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, using 3-
UPS/RRR type parallel institutions, including moving platform (D), constrained branched chain (Y), active branched chain (Z1, Z2, Z3) and pedestal (1), into
In row rehabilitation training, foot (23) is put on the upper mounting plate (10) in moving platform (D) by patient first, then passes through foot baffle
(13) and link element (T) adjusts the relative position between people's foot (23) and lower platform (9), to ensure that patient's ankle rotates
Center is overlapped with the center of rotation of convalescence device, while in training, and the foot (23) of patient can pass through foot baffle (13) and bullet
Property bandage (24) be strapped on upper mounting plate (10), people's foot (23) and upper mounting plate (10) occur larger opposite when mechanism being avoided to rotate
Displacement causes unnecessary damage.
Since constrained branched chain (Y) limits the movement of moving platform (D), therefore pass through three motor push rod type Linear actuators
The driving of (P1, P2, P3), moving platform (D) may be implemented such as the rotation in figure (6) on tri- directions axis a1, a2, a3, i.e.,
The toe of ankle-joint bends/dorsiflexion, inversion/eversion, interior receipts/abduction exercise, so rehabilitation of anklebone mechanism is well positioned to meet ankle pass
Save the needs of rehabilitation training.
Claims (1)
1. the rehabilitation of anklebone mechanism that a kind of active branched chain is in tilted layout, it is characterised in that：Including moving platform (D), constrained branched chain
(Y), the first active branched chain (Z1), the second active branched chain (Z2), third active branched chain (Z3) and pedestal (1)：
The moving platform (D) includes upper mounting plate (10), lower platform (9) and foot baffle (13), the upper mounting plate (10) and lower platform
(9) it is connected by connector (T), the connector (T) includes top base (19) and bottom base (20), and the connector (T) is logical
It overregulates screw and carries out relative position adjusting between lower platform, the lower platform (9) is fixed with connecting rod (12), the connecting rod
(12) it is connected with curved rod (11) by bearing one (21) and constitutes revolute pair one (R1), the foot baffle (13) passes through screw
(18) relative position of people's foot (23) and upper mounting plate (10) is adjusted；
The constrained branched chain (Y) includes lower pivot link (16), symmetrical connecting rod one (14-1), symmetrical connecting rod two (14-2) and upper arc
The both ends of shape connecting rod (11), the lower pivot link (16) are installed with symmetrical connecting rod one (14-1), symmetrical connecting rod two (14-2), institute
It states symmetrical connecting rod one (14-1) and symmetrical connecting rod two (14-2) is arranged symmetrically about revolute pair three (R3) axis (a3), it is described symmetrical
The upper end of connecting rod one (14-1) and the upper end of symmetrical connecting rod two (14-2) pass through revolute pair two (R2) and upper curved rod respectively
(11) both ends are attached, and the lower pivot link (16), which is connected to constitute with base rotation axis (17) by bearing two (22), to be turned
Three (R3) of dynamic pair；
The extension of the revolute pair three (R3) axis (a3) and revolute pair two (R2) axis (a2), revolute pair one (R1) axis (a1)
Line meets at the center of rotation that a point O is model of human ankle；
The active branched chain includes the first active branched chain (Z1), the second active branched chain (Z2) and third active branched chain (Z3), described
First active branched chain (Z1), the second active branched chain (Z2) and third active branched chain (Z3) is inclination arrangement but link position is uniform
The UPS branches being distributed between lower platform (9) and pedestal (1)；
First active branched chain (Z1) includes sequentially connected first active branched chain bearing block (2-1), the first active branched chain U pairs
Connector one (3-1), the first active branched chain U pairs connector two (4-1), the first active branched chain motor push rod type Linear actuator
(P1), the first active branched chain ball slave connecting rod (5-1), the first active branched chain ball subcomponent one (6-1), the first active branched chain ball pair group
Part two (7-1), the first active branched chain ball pair fixed seat (8-1), the first active branched chain ball pair fixed seat (8-1) and lower platform
(9) it is fixedly connected, the first active branched chain bearing block one (2-1) is fixedly connected with pedestal (1), the first active branched chain ball
Slave connecting rod (5-1) is connected to the first active branched chain motor push rod type Linear Driving with the first active branched chain U pairs connector two (4-1)
On device (P1)；
The first active branched chain ball pair fixed seat (8-1) constitutes first actively with the first active branched chain ball subcomponent two (7-1)
The first revolute pair of branch (K11), the first active branched chain ball subcomponent two (7-1) and the first active branched chain ball subcomponent one (6-1)
Constitute first the second revolute pair of active branched chain (K12), the first active branched chain ball subcomponent one (6-1) and the first active branched chain ball pair
Connecting rod (5-1) constitutes the first active branched chain third revolute pair (K13), and first the first revolute pair of active branched chain (K11), first are actively
The second revolute pair of branch (K12) intersects at a point with the first active branched chain third revolute pair (K13) three, and first actively props up
The first revolute pair of chain (K11), the first active branched chain third revolute pair (K13) axis respectively with the first active branched chain second rotate
The axis vertical take-off of secondary (K12) constitutes the first active branched chain ball pair (S1), the first active branched chain bearing block (2-1) and first
Active branched chain U pairs connector one (3-1) constitutes the 4th revolute pair (K14) of the first active branched chain, the first active branched chain U pair connectors
One (3-1) constitutes the 5th revolute pair (K15) of the first active branched chain with the first active branched chain U pairs connector two (4-1), and first actively
The axis and the axis of the 5th revolute pair (K15) of the first active branched chain of the 4th revolute pair (K14) of branch are mutually perpendicular to, and constitute first
Active branched chain Hooke is secondary (U1), and the upper end of first active branched chain (Z1) passes through the first active branched chain ball secondary (S1) and lower platform
(9) it connects, the lower end of first active branched chain (Z1) is connect by the first active branched chain Hooke secondary (U1) with pedestal (1)；
Second active branched chain (Z2) includes sequentially connected second active branched chain bearing block (2-2), the second active branched chain U pairs
Connector one (3-2), the second active branched chain U pairs connector two (4-2), the second active branched chain motor push rod type Linear actuator
(P2), the second active branched chain ball slave connecting rod (5-2), the second active branched chain ball subcomponent one (6-2), the second active branched chain ball pair group
Part two (7-2), the second active branched chain ball pair fixed seat (8-2), the second active branched chain ball pair fixed seat (8-2) and lower platform
(9) it is fixedly connected, the second active branched chain bearing block (2-2) is fixedly connected with pedestal (1), the second active branched chain ball pair
Connecting rod (5-2) is connected to the second active branched chain motor push rod type Linear actuator with the second active branched chain U pairs connector two (4-2)
(P2) on；
The second active branched chain ball pair fixed seat (8-2) constitutes second actively with the second active branched chain ball subcomponent two (7-2)
The first revolute pair of branch (K21), the second active branched chain ball subcomponent two (7-2) and the second active branched chain ball subcomponent one (6-2)
Constitute second the second revolute pair of active branched chain (K22), the second active branched chain ball subcomponent one (6-2) and the second active branched chain ball pair
Connecting rod (5-2) constitutes the second active branched chain third revolute pair (K23), and second the first revolute pair of active branched chain (K21), second are actively
The second revolute pair of branch (K22) intersects at a point with the second active branched chain third revolute pair (K23) three, and second actively props up
The first revolute pair of chain (K21), the second active branched chain third revolute pair (K23) axis respectively with the second active branched chain second rotate
The axis vertical take-off of secondary (K22) constitutes the second active branched chain ball pair (S2), the second active branched chain bearing block (2-2) and second
Active branched chain U pairs connector one (3-2) constitutes the 4th revolute pair (K24) of the second active branched chain, the second active branched chain U pair connectors
One (3-2) constitutes the 5th revolute pair (K25) of the second active branched chain with the second active branched chain U pairs connector two (4-2), and second actively
The axis and the axis of the 5th revolute pair (K25) of the second active branched chain of the 4th revolute pair (K24) of branch are mutually perpendicular to, and constitute second
Active branched chain Hooke is secondary (U2), and the upper end of second active branched chain (Z2) passes through the second active branched chain ball secondary (S2) and lower platform
(9) it connects, the lower end of second active branched chain (Z2) is connect by the second active branched chain Hooke secondary (U2) with pedestal (1)；
The third active branched chain (Z3) includes sequentially connected third active branched chain bearing block (2-3), third active branched chain U pairs
Connector one (3-3), third active branched chain U pairs connector two (4-3), third active branched chain motor push rod type Linear actuator
(P3), third active branched chain ball slave connecting rod (5-3), third active branched chain ball subcomponent one (6-3), third active branched chain ball pair group
Part two (7-3), third active branched chain ball pair fixed seat (8-3), the third active branched chain ball pair fixed seat (8-3) and lower platform
(9) it is fixedly connected, the third active branched chain bearing block (2-3) is fixedly connected with pedestal (1), the third active branched chain ball pair
Connecting rod (5-3) is connected to third active branched chain motor push rod type Linear actuator with third active branched chain U pairs connector two (4-3)
(P3) on；
The third active branched chain ball pair fixed seat (8-3) constitutes third actively with third active branched chain ball subcomponent two (7-3)
The first revolute pair of branch (K31), third active branched chain ball subcomponent two (7-3) and third active branched chain ball subcomponent one (6-3)
Constitute third the second revolute pair of active branched chain (K32), third active branched chain ball subcomponent one (6-3) and third active branched chain ball pair
Connecting rod (5-3) constitutes third active branched chain third revolute pair (K33), and the first revolute pair of third active branched chain (K31), third are actively
The second revolute pair of branch (K32) intersects at a point with third active branched chain third revolute pair (K33) three, and third is actively propped up
The first revolute pair of chain (K31), third active branched chain third revolute pair (K33) axis respectively with third active branched chain second rotate
The axis vertical take-off of secondary (K32) constitutes third active branched chain ball pair (S3), the third active branched chain bearing block (2-3) and third
Active branched chain U pairs connector one (3-3) constitutes the 4th revolute pair (K34) of third active branched chain, third active branched chain U pair connectors
One (3-3) constitutes the 5th revolute pair (K35) of third active branched chain with third active branched chain U pairs connector two (4-3), and third is actively
The axis and the axis of the 5th revolute pair (K35) of third active branched chain of the 4th revolute pair (K34) of branch are mutually perpendicular to, and constitute third
Active branched chain Hooke is secondary (U3), and the upper end of the third active branched chain (Z3) passes through third active branched chain ball secondary (S3) and lower platform
(9) it connects, the lower end of the third active branched chain (Z3) is connect by third active branched chain Hooke secondary (U3) with pedestal (1).
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| CN105943351B (en) * | 2016-05-18 | 2017-12-12 | 李淑媛 | A kind of new arm and chest junction automation massage apparatus specialized massage device |
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| CN105936041B (en) * | 2016-07-14 | 2018-08-21 | 嵊州市万智网络科技有限公司 | A kind of construction transfer robot based on 3-UPS parallel institutions |
| CN105997439B (en) * | 2016-07-26 | 2018-09-21 | 郑州轻工业学院 | The three-degree of freedom ankle joint auxiliary rehabilitation device with ball pair of electromyography signal control |
| CN106726353B (en) * | 2017-01-08 | 2019-04-12 | 北京工业大学 | It is a kind of based on adaptive wrist joint rehabilitation training device in parallel |
| CN108245373B (en) * | 2018-01-15 | 2020-05-08 | 北京工业大学 | Ankle joint rehabilitation device with six crossed rotary joint axes |
| 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 |
| 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 |
| CN112137842B (en) * | 2020-10-23 | 2023-05-23 | 中国石油大学(华东) | Parallel three-degree-of-freedom ankle joint rehabilitation robot |
| CN113499215B (en) * | 2021-06-18 | 2022-07-12 | 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 |
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