CN105943306A - Pneumatic muscle driving three-freedom-degree ankle joint recovery device - Google Patents
Pneumatic muscle driving three-freedom-degree ankle joint recovery device Download PDFInfo
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- CN105943306A CN105943306A CN201610380025.8A CN201610380025A CN105943306A CN 105943306 A CN105943306 A CN 105943306A CN 201610380025 A CN201610380025 A CN 201610380025A CN 105943306 A CN105943306 A CN 105943306A
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- Prior art keywords
- middle frame
- pneumatic muscles
- drives
- moving platform
- bearing
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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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H2201/12—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
- A61H2201/16—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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 invention discloses a pneumatic muscle driving three-freedom-degree ankle joint recovery device. A middle frame is arranged between a fixed platform on the bottom and a movable platform. An upper movable frame is hinged to the bottom face of the movable platform, and the bottom of the middle frame is fixed to the middle of the fixed platform on the bottom through a middle frame base. An elastic middle supporting mechanism is arranged in the middle frame, the bottom end of the elastic middle supporting mechanism is fixed to the middle frame base of the middle frame, and the top of the elastic middle supporting mechanism extends out of an upper end opening of the middle frame and connected with the upper movable frame hinged to the bottom face of the movable platform in a hinged mode. The front side face and the back side face of the middle frame are each provided with a set of first driving mechanism connected with the upper movable frame on the bottom face of the movable platform in a hinged mode, and the left side face and the right side face of the middle frame are each provided with a set of second driving mechanism fixedly connected with the bottom face of the movable platform. On the promise of ensuring that the mechanism is simple and compact as much as possible, three freedom degrees of rotation in two directions and movement in one direction are guaranteed, and multi-freedom-degree complex movement of the ankle joint can be achieved.
Description
Technical field
The present invention relates to a kind of rehabilitation of anklebone medical apparatus and instruments.Particularly relate to the three-degree of freedom ankle joint that a kind of pneumatic muscles drives
Convalescence device.
Background technology
Along with expanding economy, increasing the weight of of aged tendency of population and being widely used of the vehicles such as automobile, increasing people because of
Disease, vehicle accident and accident etc. cause joint and muscle injury, and ankle arthrosis damage is one of most common of which damage.
Ankle joint is skeletal structure the most complicated in skeleton, and it has dorsiflex/plantar flexion, inversion/eversion and interior receipts/abduction exercise.?
During rehabilitation, the rehabilitation of ankle is played a major role by dorsiflex/plantar flexion and inversion/eversion motion.
At present, most of ankle joint rehabilitation device take rigidity drive mechanism as driving power, such as motor and line motor etc.,
The device of this employing rigid driver is easily caused patient and feels discomfort even pain in rehabilitation course, is unfavorable for patient's
Rehabilitation；Meanwhile, existing ankle joint rehabilitation device is typically less than three degree of freedom, simple in construction, and rehabilitation training pattern is single,
The actual demand of patient can not be met.
A kind of robot for rehabilitation of anklebone disclosed in patent CN200810052248.7 uses motor and drives, by the fixing end
Seat, three R-S-S side chains, centers retrain ball pivot and ionized motion platform composition.Robot architecture is simple, and bearing capacity is strong,
The motion in ankle joint three degree of freedom direction can be completed.It addition, patent CN201310421566.7 also disclosing that, a kind of ankle closes
Joint convalescence device.But above two device exists a same problem, i.e. take rigidity drive mechanism as driving power, so
It is easily caused patient not feel well in rehabilitation course even pain；Patent CN201310012691.2 discloses " pneumatic muscles
Driving type two-freedom degree ankle rehabilitation parallel robot ", but this apparatus structure is simple, only two degree of freedom, it is difficult to realize ankle and close
Save the compound movement of multiple degree of freedom.
Summary of the invention
The technical problem to be solved is to provide and a kind of can realize the dorsiflex/plantar flexion of ankle joint, two sides of inversion/eversion
To rotation and be perpendicular to moving up and down of direction, ground, using the teaching of the invention it is possible to provide active drive helps patient to carry out the pneumatic flesh of rehabilitation training
The three-degree of freedom ankle joint convalescence device that meat drives.
The technical solution adopted in the present invention is: the three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles drives, and includes position
Bottom fixed platform in bottom and the moving platform for supporting the foot carrying out rehabilitation being positioned at top, it is characterised in that described
The bottom surface of moving platform is hinged with top movable frame, is provided with in rectangular cylinder structure between described bottom fixed platform and moving platform
A structure of an essay, the bottom of described middle frame is fixed on the middle part of described bottom fixed platform by middle frame base, described middle frame interior
Portion is provided with the elastic medial support mechanisms for supporting moving platform, the bottom of described elastic medial support mechanisms be fixed on described in
On the middle frame base of a structure of an essay, the top of described elastic medial support mechanisms is stretched out the upper port of described middle frame and is put down with being hinged on to move
Top movable frame on platform bottom surface is articulated and connected, and symmetrical on the leading flank of described middle frame and trailing flank to be each provided with structure complete
Exactly the same one group and the top movable frame on described moving platform bottom surface be hinged for driving the forward and backward upset of described moving platform
What the first drive mechanism, the left surface of described middle frame and right flank were symmetrical be each provided with completely identical in structure one group with described
Second drive mechanism for driving the left and right upset of described moving platform of connection is fixed in moving platform bottom surface.
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles of the present invention drives, tries one's best at assurance mechanism simple and compact
Under premise, it is ensured that rotate and the mobile of a direction of both direction wait three degree of freedom, it is possible to realize ankle joint multiple degrees of freedom
Compound movement, as the dorsiflex/plantar flexion of ankle joint, the rotation of inversion/eversion both direction can be realized and is perpendicular to direction, ground
Move up and down, using the teaching of the invention it is possible to provide active drive helps patient to carry out rehabilitation training so that rehabilitation training mode diversification.Owing to using
Pneumatic muscles, as driving actuating unit, solves rigidity and drives the problem existed, and improves rehabilitation training to relaxing that patient brings
Appropriateness.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the three-degree of freedom ankle joint convalescence device Facad structure that pneumatic muscles of the present invention drives；
Fig. 2 is the overall structure schematic diagram of the three-degree of freedom ankle joint convalescence device side structure that pneumatic muscles of the present invention drives；
Fig. 3 is the structural representation of moving platform bottom surface in the present invention；
Fig. 4 is the structural representation of Elastic medial support mechanisms of the present invention；
Fig. 5 is the structural representation of the first drive mechanism in the present invention；
Fig. 6 is the first structural representation driving side chain in the present invention the first drive mechanism；
Fig. 7 is the second structural representation driving side chain in the present invention the second drive mechanism.
In figure
1: bottom fixed platform 2: the second drive mechanism
2-1: second displacement sensor the 2-2: the three pneumatic muscles
2-3: the second connecting plate the 2-4: the second ball bearing mounting seat
2-5: slide block the 2-6: the second twin rail runway
2-7: the second drives side chain 2-8: lower joint ball bearing
2-9: the second drive rod 2-10: upper joints ball bearing
3: elastic medial support mechanisms 3-1: lower spring end fixture
3-2: spring 3-3: spring upper end fixture
3-4: feather key 3-5: sleeve
3-6: sleeve upper end fixture 3-7: through slot
4: moving platform 4-1: bearing block
4-2: the first ball bearing mounting seat 5: top movable frame
5-1: adjustable shelf 5-2: second joint bearing
5-3: middle joint bearing the 5-4: the three-knuckle bearing
6: middle frame 6-1: middle frame base
7: the first drive mechanisms 7-1: lower end fixed pulley group
7-2: the first gripper shoe 7-3: the first displacement transducer
7-4: oscillating bearing mounting seat 7-5: the first pneumatic muscles
7-6: the first connecting plate 7-7: steel wire rope
7-8: upper end fixed pulley group 7-9: the second gripper shoe
7-10: the second pneumatic muscles the 7-11: the first twin rail runway
7-12: the first drives side chain the 7-13: the first drive rod
7-14: lower joint bearing
Detailed description of the invention
The three-degree of freedom ankle joint convalescence device driven a kind of pneumatic muscles of the present invention below in conjunction with embodiment and accompanying drawing is made in detail
Describe in detail bright.
As shown in Figure 1 and Figure 2, the three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles of the present invention drives, include position
Bottom fixed platform 1 in bottom and the moving platform 4 for supporting the foot carrying out rehabilitation being positioned at top, described moving platform 4
Bottom surface be hinged with top movable frame 5, be provided with in rectangular cylinder structure between described bottom fixed platform 1 and moving platform 4
A structure of an essay 6, the bottom of described middle frame 6 is fixed on the middle part of described bottom fixed platform 1 by middle frame base 6-1, described in
The elastic medial support mechanisms 3 being internally provided with for supporting moving platform 4 of a structure of an essay 6, described elastic medial support mechanisms 3
Bottom is fixed on the middle frame base 6-1 of described middle frame 6, the top of described elastic medial support mechanisms 3 stretch out described in
The upper port of a structure of an essay 6 is articulated and connected with the top movable frame 5 being hinged on moving platform 4 bottom surface, the leading flank of described middle frame 6
With on trailing flank symmetrical be each provided with completely identical in structure one group with top movable frame 5 phase on described moving platform 4 bottom surface
Hinged the first drive mechanism 7 for driving the described forward and backward upset of moving platform 4, the left surface of described middle frame 6 and right side
What face was symmetrical be each provided with completely identical in structure one group fix be connected described dynamic flat for driving with described moving platform 4 bottom surface
Second drive mechanism 2 of the left and right upset of platform 4.Described first drive mechanism 7 and the second drive mechanism 2 constitute driving of the present invention
Motivation structure.
As it is shown on figure 3, the both sides that are positioned at described top movable frame 5 on described moving platform 4 bottom face symmetrical arrange two
For connecting the first ball bearing mounting seat 4-2 of the second drive mechanism 2.
As it is shown on figure 3, described top movable frame 5 includes by two two axles being symmetricly set on moving platform 4 bottom face
Bearing 4-1 is hinged on the adjustable shelf 5-1 on described moving platform 4 bottom face, and described adjustable shelf 5-1 is rectangular ring-type
Structure, described adjustable shelf 5-1 is respectively articulated with the middle joint for connecting elastic medial support mechanisms 3 being positioned at middle part
Bearing 5-3, is positioned at laying respectively on middle frame 6 leading flank and trailing flank for connection of middle joint bearing 5-3 both sides
The second joint bearing 5-2 and three-knuckle bearing 5-4 of the first drive mechanism 7.
As shown in Figure 4, described elastic medial support mechanisms 3 includes that sleeve 3-5, the bottom of described sleeve 3-5 pass through bullet
Spring upper end fixture 3-3 connects the upper end of spring 3-2, and lower spring end fixture 3-1 is passed through in the lower end of described spring 3-2
Being fixed on the middle frame base 6-1 of described middle frame 6, sleeve upper end fixture 3-6 is passed through on the top of described sleeve 3-5
The fixing middle joint bearing 5-3 connected in top movable frame 5.
Axially symmetric on corresponding two side on described sleeve 3-5 respectively have a through slot 3-7, each institute
The feather key described sleeve 3-5 guided when sleeve 3-5 moves up and down it is all inserted in the through slot 3-7 stated
One end of 3-4, the other end of described feather key 3-4 is fixedly connected on the medial wall of corresponding middle frame 6.
As shown in Figure 1, shown in Figure 5, the first described drive mechanism 7 includes the first pneumatic muscles 7-5, the second pneumatic muscles 7
-10 and first drive side chain 7-12, and described first pneumatic muscles 7-5 and the second pneumatic muscles 7-10 is oppositely arranged, described
The fixing end of the first pneumatic muscles 7-5 is fixedly connected on the lower part of described middle frame 6 by the first gripper shoe 7-2, described
The fixing end of the second pneumatic muscles 7-10 is fixedly connected on the upper part of described middle frame 6 by the second gripper shoe 7-9, described
Middle frame 6 be fixedly arranged in the middle of the first twin rail runway 7-11, described first twin rail runway 7-11 is provided with along first
Oscillating bearing mounting seat 7-4 that twin rail runway 7-11 moves up and down, in described oscillating bearing mounting seat 7-4 vertically
Being fixedly connected with steel wire rope 7-7, the upper end of described steel wire rope 7-7 is fixed by the upper end being arranged on described middle frame 6 top
Assembly pulley 7-8 connects the drive end of described first pneumatic muscles 7-5, and the lower end of described steel wire rope 7-7 is by being arranged on
Lower end fixed pulley group 7-1 stating middle frame 6 bottom connects the drive end of described second pneumatic muscles 7-10, and described first drives
The lower end of side chain 7-12 is hinged in described oscillating bearing mounting seat 7-4, and described first drives the upper end of side chain 7-12 to fix
Connect the second joint bearing 5-2 or three-knuckle bearing 5-4 in top movable frame 5.
As shown in Figure 6, the first described driving side chain 7-12 includes the first drive rod 7-13, described first drive rod 7-13
Upper end fix the second joint bearing 5-2 or three-knuckle bearing 5-4 connected in top movable frame 5, described first drives
The lower end of bar 7-13 connects the one end having lower joint bearing 7-14, and the other end of described lower joint bearing 7-14 is hinged
In described oscillating bearing mounting seat 7-4.
As shown in Figure 1, shown in Figure 5, the first described drive mechanism 7 also includes the first displacement transducer 7-3, described first
The bottom of displacement sensor 7-3 is fixed in described first gripper shoe 7-2, and the movable end of described first displacement transducer 7-3 leads to
Cross the first connecting plate 7-6 and fix the drive end connecting described first pneumatic muscles 7-5.
As it is shown in figure 1, the second described drive mechanism 2 includes the 3rd pneumatic muscles 2-2 and second drives side chain 2-7,
The fixing end of described 3rd pneumatic muscles 2-2 is fixedly connected on the middle frame base 6-1 of described middle frame 6, described middle frame
The top of 6 is provided with the second twin rail runway 2-6, and described second twin rail runway 2-6 is provided with slide block 2-5, described slide block 2
It is fixedly installed the drive end of the 3rd pneumatic muscles 2-2 described in the second ball bearing mounting seat 2-4 on-5 to be connected by steel wire rope
Described slide block 2-5 or the lower end of the second ball bearing mounting seat 2-4, described second drives the upper end of side chain 2-7 to connect moving platform
The first ball bearing mounting seat 4-2 on 4 bottom faces, described second drives the lower end of side chain 2-7 to connect described second ball bearing peace
Dress seat 2-4, be additionally provided with second displacement sensor 2-1, the bottom of described second displacement sensor 2-1 be fixed on described in
On the middle frame base 6-1 of a structure of an essay 6, the movable end of described second displacement sensor 2-1 passes through the second connecting plate 2-3 and institute
State the fixing connection of drive end of the 3rd pneumatic muscles 2-2.
As it is shown in fig. 7, the second described driving side chain 2-7 includes the second drive rod 2-9, described second drive rod 2-9's
Upper end is fixedly connected with upper joints ball bearing 2-10, and fixing connection of the connecting pin on described upper joints ball bearing 2-10 is moved
The first ball bearing mounting seat 4-2 on platform 4 bottom face, the lower end of described second drive rod 2-9 is fixedly connected with bottom and closes
Joint ball bearing 2-8, the connecting pin on described lower joint ball bearing 2-8 is fixing connects described second ball bearing mounting seat 2-4.
During the three-degree of freedom ankle joint convalescence device use that a kind of pneumatic muscles of the present invention drives, the foot of patient is fixed
On moving platform (1), carry out soft drive can realize X-axis and Y-axis both direction freely by controlling 6 pneumatic muscles
Rotate and the movement of Z-direction, to realize the compound movement of the multiple degree of freedom of ankle joint, it is adaptable at all kinds of complicated training moulds
Under formula, ankle joint is coordinated training.
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles of the present invention drives, by driving the rigidity of conventional machines people
Device replace with flexibility pneumatic muscles, its advantage by having two kinds of systems simultaneously that combines with 3-freedom parallel mechanism, existing
The high rigidity of parallel institution, high response, advantage without cumulative error, have again a preferable compliance, and safety is pollution-free, the suitableeest
Work in the environment of being combined in man-machine interaction.
Above-described detailed description of the invention is only to be described the preferred embodiment of the present invention, the not model to the present invention
Enclose and be defined, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, all should fall into
In the protection domain that claims of the present invention determines.
Claims (10)
1. the three-degree of freedom ankle joint convalescence device that pneumatic muscles drives, includes the bottom fixed platform (1) being positioned at bottom
With the moving platform (4) for supporting the foot carrying out rehabilitation being positioned at top, it is characterised in that the end of described moving platform (4)
Face is hinged with top movable frame (5), is provided with rectangular cylinder structure between described bottom fixed platform (1) and moving platform (4)
Middle frame (6), the bottom of described middle frame (6) is fixed on described bottom fixed platform (1) by middle frame base (6-1)
Middle part, the elastic medial support mechanisms (3) being internally provided with for supporting moving platform (4) of described middle frame (6), institute
The bottom stating elastic medial support mechanisms (3) is fixed on the middle frame base (6-1) of described middle frame (6), described bullet
The top of property medial support mechanisms (3) is stretched out the upper port of described middle frame (6) and is hinged on moving platform (4) bottom surface
Top movable frame (5) is articulated and connected, and symmetrical on the leading flank of described middle frame (6) and trailing flank to be each provided with structure complete
Exactly the same one group and the top movable frame (5) on described moving platform (4) bottom surface be hinged for driving described moving platform (4)
What first drive mechanism (7) of forward and backward upset, the left surface of described middle frame (6) and right flank were symmetrical is each provided with knot
Structure identical one group fix with described moving platform (4) bottom surface be connected for driving described moving platform (4) left and right upset
The second drive mechanism (2).
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles the most according to claim 1 drives, it is characterised in that
Be positioned on described moving platform (4) bottom face the both sides of described top movable frame (5) symmetrical arrange two for connecting the
First ball bearing mounting seat (4-2) of two drive mechanisms (2).
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles the most according to claim 1 drives, it is characterised in that
Described top movable frame (5) includes by two two bearing blocks (4-1) being symmetricly set on moving platform (4) bottom face
The adjustable shelf (5-1) being hinged on described moving platform (4) bottom face, described adjustable shelf (5-1) is rectangular ring-type
Structure, described adjustable shelf (5-1) is respectively articulated be positioned at middle part for connecting elastic medial support mechanisms (3)
Middle joint bearing (5-3), be positioned at middle joint bearing (5-3) both sides to lay respectively at middle frame (6) for connection front
The second joint bearing (5-2) of the first drive mechanism (7) on side and trailing flank and three-knuckle bearing (5-4).
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles the most according to claim 1 drives, it is characterised in that
Described elastic medial support mechanisms (3) includes sleeve (3-5), and the bottom of described sleeve (3-5) is solid by spring upper end
Locking member (3-3) connects the upper end of spring (3-2), and lower spring end fixture (3 is passed through in the lower end of described spring (3-2)
-1) being fixed on the middle frame base (6-1) of described middle frame (6), sleeve is passed through on the top of described sleeve (3-5)
The fixing middle joint bearing (5-3) connected in top movable frame (5) of upper end fixture (3-6).
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles the most according to claim 4 drives, it is characterised in that
Axially symmetric on corresponding two side on described sleeve (3-5) respectively have a through slot (3-7), each
It is all inserted in described through slot (3-7) when sleeve (3-5) moves up and down described sleeve (3-5) is carried out
The one end of the feather key (3-4) guided, the other end of described feather key (3-4) is fixedly connected on corresponding middle frame (6)
Medial wall on.
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles the most according to claim 1 drives, it is characterised in that
Described the first drive mechanism (7) includes the first pneumatic muscles (7-5), the second pneumatic muscles (7-10) and first drives
Dynamic side chain (7-12), described first pneumatic muscles (7-5) is oppositely arranged with the second pneumatic muscles (7-10), and described the
The fixing end of one pneumatic muscles (7-5) is fixedly connected on the bottom of described middle frame (6) by the first gripper shoe (7-2)
Point, the fixing end of described second pneumatic muscles (7-10) is fixedly connected on described middle frame by the second gripper shoe (7-9)
(6) upper part, described middle frame (6) be fixedly arranged in the middle of the first twin rail runway (7-11), described first twin rail runway
(7-11) the oscillating bearing mounting seat (7-4) moved up and down along the first twin rail runway (7-11) it is provided with on,
Described oscillating bearing mounting seat (7-4) is axially fixed connection and has steel wire rope (7-7), described steel wire rope (7-7)
Upper end connect described first pneumatic muscles by being arranged on upper end fixed pulley group (7-8) on described middle frame (6) top
(7-5) drive end, the lower end of described steel wire rope (7-7) is by being arranged on the lower end of described middle frame (6) bottom
Fixed pulley group (7-1) connects the drive end of described second pneumatic muscles (7-10), and described first drives side chain (7-12)
Lower end be hinged on described oscillating bearing mounting seat (7-4), described first drives the upper end of side chain (7-12) fixing even
Connect the second joint bearing (5-2) in portion's adjustable shelf (5) or three-knuckle bearing (5-4).
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles the most according to claim 6 drives, it is characterised in that
The first described driving side chain (7-12) includes the first drive rod (7-13), the upper end of described first drive rod (7-13)
The fixing second joint bearing (5-2) connected in top movable frame (5) or three-knuckle bearing (5-4), described first drives
The lower end of lever (7-13) connects the one end having lower joint bearing (7-14), described lower joint bearing (7-14)
The other end be hinged on described oscillating bearing mounting seat (7-4).
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles the most according to claim 6 drives, it is characterised in that
Described the first drive mechanism (7) also includes the first displacement transducer (7-3), described first displacement transducer (7-3)
Bottom be fixed on described first gripper shoe (7-2), the movable end of described first displacement transducer (7-3) pass through first
The fixing drive end connecting described first pneumatic muscles (7-5) of connecting plate (7-6).
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles the most according to claim 6 drives, it is characterised in that
Described the second drive mechanism (2) include the 3rd pneumatic muscles (2-2) and second drive side chain (2-7), the described 3rd
The fixing end of pneumatic muscles (2-2) is fixedly connected on the middle frame base (6-1) of described middle frame (6), described centre
The top of frame (6) is provided with the second twin rail runway (2-6), and described second twin rail runway (2-6) is provided with slide block (2
-5), described slide block (2-5) is fixedly installed the second ball bearing mounting seat (2-4), described 3rd pneumatic muscles (2-
2) drive end connects described slide block (2-5) or the lower end of the second ball bearing mounting seat (2-4) by steel wire rope, described
Second drives the upper end of side chain (2-7) to connect the first ball bearing mounting seat (4-2) on moving platform (4) bottom face, described
Second drives the lower end of side chain (2-7) to connect described second ball bearing mounting seat (2-4), is additionally provided with the second displacement sensing
Device (2-1), the bottom of described second displacement sensor (2-1) is fixed on the middle frame base (6-1) of described middle frame (6)
On, the movable end of described second displacement sensor (2-1) is by the second connecting plate (2-3) and described 3rd pneumatic muscles (2
-2) drive end is fixing to be connected.
The three-degree of freedom ankle joint convalescence device that a kind of pneumatic muscles the most according to claim 9 drives, it is characterised in that
The second described driving side chain (2-7) includes the second drive rod (2-9), and the upper end of described second drive rod (2-9) is solid
Determining connection and have upper joints ball bearing (2-10), the fixing connection of the connecting pin on described upper joints ball bearing (2-10) is moved
Clutch shaft bearing seat (4-2) on platform (4) bottom face, the lower end of described second drive rod (2-9) is fixedly connected with bottom
Joint ball bearing (2-8), the connecting pin on described lower joint ball bearing (2-8) is fixing connects described second ball bearing peace
Dress seat (2-4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610380025.8A CN105943306B (en) | 2016-05-31 | 2016-05-31 | A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610380025.8A CN105943306B (en) | 2016-05-31 | 2016-05-31 | A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105943306A true CN105943306A (en) | 2016-09-21 |
| CN105943306B CN105943306B (en) | 2017-12-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107260485A (en) * | 2017-06-26 | 2017-10-20 | 清华大学 | The ankle device for rehabilitation of the prismatic pair of branch containing ball pivot |
| CN109875837A (en) * | 2019-03-06 | 2019-06-14 | 西安石油大学 | A kind of platform-type lower limb rehabilitation robot in vola based on parallel institution |
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| CN104175317A (en) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN105105970A (en) * | 2015-08-04 | 2015-12-02 | 张明明 | Parallel ankle rehabilitation robot and control method thereof |
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| WO2004096083A2 (en) * | 2003-04-24 | 2004-11-11 | Arizona Board Of Regents Acting On Behalf Of Arizona State University | Spring-over-muscle actuator |
| CN201493846U (en) * | 2009-03-24 | 2010-06-02 | 北京理工大学 | Stimulator with three rotational degrees of freedom of pneumatic hybrid mechanism |
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| CN104175317A (en) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
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| CN107260485A (en) * | 2017-06-26 | 2017-10-20 | 清华大学 | The ankle device for rehabilitation of the prismatic pair of branch containing ball pivot |
| CN107260485B (en) * | 2017-06-26 | 2023-06-09 | 清华大学 | Ankle rehabilitation device with ball hinge support moving pair |
| CN109875837A (en) * | 2019-03-06 | 2019-06-14 | 西安石油大学 | A kind of platform-type lower limb rehabilitation robot in vola based on parallel institution |
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| CN105943306B (en) | 2017-12-12 |
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Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |
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