CN105943306B - A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving - Google Patents
A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving Download PDFInfo
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- CN105943306B CN105943306B CN201610380025.8A CN201610380025A CN105943306B CN 105943306 B CN105943306 B CN 105943306B CN 201610380025 A CN201610380025 A CN 201610380025A CN 105943306 B CN105943306 B CN 105943306B
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- pneumatic muscles
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 55
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 34
- 208000034657 Convalescence Diseases 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 210000001503 joint Anatomy 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 210000003746 feather Anatomy 0.000 claims description 4
- 210000002683 foot Anatomy 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 150000001875 compounds Chemical class 0.000 abstract description 4
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 4
- 229960001030 mephenoxalone Drugs 0.000 description 4
- 210000003423 ankle Anatomy 0.000 description 3
- 239000007787 solid Substances 0.000 description 2
- 210000004233 talus Anatomy 0.000 description 2
- 208000029549 Muscle injury Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005713 exacerbation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 201000008482 osteoarthritis Diseases 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- 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
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
A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving, middle frame is provided between bottom fixed platform and moving platform, the bottom surface of moving platform is hinged with top movable frame, the bottom of middle frame is fixed on the middle part of bottom fixed platform by middle frame base, middle frame is internally provided with elastic medial support mechanisms, the bottom of elastic medial support mechanisms is fixed on the middle frame base of middle frame, the upper port that middle frame is stretched out at the top of elastic medial support mechanisms is articulated and connected with the top movable frame being hinged on moving platform bottom surface, one group of first drive mechanism being hinged with the top movable frame on moving platform bottom surface is each provided with the leading flank of middle frame and trailing flank, the left surface and right flank of middle frame respectively set one group of second drive mechanism being fixedly connected with moving platform bottom surface.For the present invention on the premise of assurance mechanism is as far as possible simple and compact, the rotation and the mobile of direction that ensure that both direction wait three degree of freedom, can realize the multivariant compound movement of ankle-joint.
Description
Technical field
The present invention relates to a kind of rehabilitation of anklebone medicine equipment.More particularly to a kind of Three Degree Of Freedom of pneumatic muscles driving
Ankle joint rehabilitation device.
Background technology
With expanding economy, widely using for the vehicles such as the exacerbation of aging population and automobile is more and more
People because disease, traffic accident and it is unexpected etc. cause joint and muscle damage, and ankle arthrosis damage is most common of which
One of damage.Ankle-joint is skeletal structure most complicated in skeleton, it have dorsiflex/plantar flexion, inversion/eversion and it is interior receive/
Abduction exercise.In rehabilitation, the rehabilitation of dorsiflex/plantar flexion and inversion/eversion motion to ankle plays a major role.
At present, most of ankle joint rehabilitation devices take rigid drive mechanism as driving power, such as motor and straight line horse
Up to etc., this device using rigid driver easily causes patient to feel uncomfortable even pain in rehabilitation course, unfavorable
The rehabilitation of patient Yu；It is simple in construction meanwhile existing ankle joint rehabilitation device is typically less than three degree of freedom, rehabilitation training mould
Formula is single, it is impossible to meets the actual demand of patient.
A kind of robot for rehabilitation of anklebone disclosed in patent CN200810052248.7 drives using motor, by solid
Determine base, three R-S-S side chains, center constraint ball pivot and ionized motion platform composition.Robot architecture is simple, bearing capacity
By force, the motion in ankle-joint three degree of freedom direction can be completed.In addition, also disclose that one kind in patent CN201310421566.7
Ankle joint rehabilitation device.But above two device has same one, that is, rigid drive mechanism is taken as driving power,
So easily cause patient do not felt well in rehabilitation course even pain；" gas is disclosed in patent CN201310012691.2
Dynamic muscle driving type two-freedom degree ankle rehabilitation parallel robot ", but the apparatus structure is simple, only two frees degree, it is difficult to
Realize the compound movement of the multiple frees degree of ankle-joint.
The content of the invention
The technical problem to be solved by the invention is to provide a kind of dorsiflex/plantar flexion that can realize ankle-joint, varus/outer
Turn over the rotation of both direction and moving up and down perpendicular to ground direction, using the teaching of the invention it is possible to provide active drive helps patient to carry out rehabilitation instruction
The three-degree of freedom ankle joint convalescence device of experienced pneumatic muscles driving.
The technical solution adopted in the present invention is：A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving, bag
The bottom fixed platform positioned at bottom and the moving platform for being used to support the foot for carrying out rehabilitation positioned at top are included, its feature exists
In the bottom surface of the moving platform is hinged with top movable frame, and rectangle is provided between described bottom fixed platform and moving platform
The middle frame of barrel structure, the bottom of the middle frame are fixed on the middle part of the bottom fixed platform, institute by middle frame base
State the elastic medial support mechanisms being internally provided with for supporting moving platform of middle frame, the bottom of the elastic medial support mechanisms
End is fixed on the middle frame base of the middle frame, and the upper of the middle frame is stretched out at the top of the elastic medial support mechanisms
Port is articulated and connected with the top movable frame being hinged on moving platform bottom surface, relative on the leading flank of the middle frame and trailing flank
Claim be each provided with completely identical in structure one group with the top movable frame on the moving platform bottom surface be hinged for driving
First drive mechanism of the forward and backward upset of moving platform, the left surface and right flank of the middle frame are symmetrical to be each provided with
Completely identical in structure one group be fixedly connected with the moving platform bottom surface be used for drive the second of the left and right upset of the moving platform
Drive mechanism.
A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving of the present invention, assurance mechanism it is as far as possible simple and
On the premise of compact, the rotation and the mobile of direction that ensure that both direction wait three degree of freedom, can realize ankle-joint
Multivariant compound movement, it can such as realize the rotation of the dorsiflex/plantar flexion, inversion/eversion both direction of ankle-joint and vertical
In moving up and down for ground direction, using the teaching of the invention it is possible to provide active drive helps patient to carry out rehabilitation training so that rehabilitation training pattern is more
Sample.Due to, as driving power mechanism, solving the problems, such as that rigidity driving is present using pneumatic muscles, improving rehabilitation training
The comfort level brought to patient.
Brief description of the drawings
Fig. 1 is the overall structure signal of the three-degree of freedom ankle joint convalescence device Facad structure of pneumatic muscles driving of the present invention
Figure；
Fig. 2 is the overall structure signal of the three-degree of freedom ankle joint convalescence device side structure of pneumatic muscles driving of the present invention
Figure；
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 in the present invention；
Fig. 5 is the structural representation of the first drive mechanism in the present invention；
Fig. 6 is the structural representation of the first driving side chain in the first drive mechanism of the invention；
Fig. 7 is the structural representation of the second driving side chain in the second drive mechanism of the invention.
In figure
1：Bottom fixed platform 2：Second drive mechanism
2-1：Second displacement sensor 2-2：3rd pneumatic muscles
2-3：Second connecting plate 2-4：Second ball bearing mounting seat
2-5：Sliding block 2-6：Second twin rail runway
2-7：Second driving side chain 2-8：Lower joint ball bearing
2-9：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：First ball bearing mounting seat 5：Top movable frame
5-1：Adjustable shelf 5-2：Second joint bearing
5-3：Middle joint bearing 5-4：Three-knuckle bearing
6：Middle frame 6-1：Middle frame base
7：First drive mechanism 7-1：Lower end fixed pulley group
7-2：First supporting plate 7-3：First displacement transducer
7-4：Oscillating bearing mounting seat 7-5：First pneumatic muscles
7-6：First connecting plate 7-7：Steel wire rope
7-8：Upper end fixed pulley group 7-9：Second supporting plate
7-10：Second pneumatic muscles 7-11：First twin rail runway
7-12：First driving side chain 7-13：First drive rod
7-14：Lower joint bearing
Embodiment
The three-degree of freedom ankle joint rehabilitation driven with reference to embodiment and accompanying drawing to a kind of pneumatic muscles of the present invention fills
Put and be described in detail.
As shown in Figure 1 and Figure 2, the three-degree of freedom ankle joint convalescence device of a kind of pneumatic muscles of the invention driving, includes
Bottom fixed platform 1 positioned at bottom and the moving platform 4 for being used to support the foot for carrying out rehabilitation positioned at top, the moving platform
4 bottom surface is hinged with top movable frame 5, is provided between described bottom fixed platform 1 and moving platform 4 in rectangle barrel structure
A structure of an essay 6, the bottom of the middle frame 6 is fixed on the middle part of the bottom fixed platform 1 by middle frame base 6-1, in described
The elastic medial support mechanisms 3 being internally provided with for supporting moving platform 4 of a structure of an essay 6, the bottom of the elastic medial support mechanisms 3
End is fixed on the middle frame base 6-1 of the middle frame 6, and the centre is stretched out at the top of the elastic medial support mechanisms 3
The upper port of frame 6 is articulated and connected with the top movable frame 5 being hinged on the bottom surface of moving platform 4, and the leading flank of the middle frame 6 is with after
It is symmetrical on side to be each provided with completely identical in structure one group and the phase of top movable frame 5 on the bottom surface of moving platform 4 is cut with scissors
What is connect is used to drive the first drive mechanism 7 of the 4 forward and backward upset of moving platform, the left surface and right flank phase of the middle frame 6
Symmetrically be each provided with completely identical in structure one group be fixedly connected with the bottom surface of moving platform 4 be used for drive the moving platform
Second drive mechanism 2 of 4 left and right upsets.The drive mechanism 2 of first drive mechanism 7 and second forms the driving machine of the present invention
Structure.
As shown in figure 3, positioned at the setting that the both sides of the top movable frame 5 are symmetrical on the described bottom face of moving platform 4
Two the first ball bearing mounting seat 4-2 for being used to connect the second drive mechanism 2.
As shown in figure 3, described top movable frame 5 include by two be symmetricly set on the bottom face of moving platform 4 two
The adjustable shelf 5-1, described adjustable shelf 5-1 that individual bearing block 4-1 is hinged on the bottom face of moving platform 4 are rectangular
Cyclic structure, it is respectively articulated with described adjustable shelf 5-1 and is used to connect in elastic medial support mechanisms 3 positioned at middle part
Between oscillating bearing 5-3, positioned at middle joint bearing 5-3 both sides be used for connect be located at the leading flank of middle frame 6 and rear side respectively
Second joint the bearing 5-2 and three-knuckle bearing 5-4 of the first drive mechanism 7 on face.
As shown in figure 4, described elastic medial support mechanisms 3 include sleeve 3-5, the bottom of the sleeve 3-5 passes through
Spring upper end fixture 3-3 connecting springs 3-2 upper end, the lower end of the spring 3-2 pass through lower spring end fixture 3-1
It is fixed on the middle frame base 6-1 of the middle frame 6, the top of the sleeve 3-5 is consolidated by sleeve upper end fixture 3-6
Surely the middle joint bearing 5-3 in top movable frame 5 is connected.
It is axially symmetric on corresponding two side on described sleeve 3-5 to be respectively provided with a through slot 3-7, it is each
It is all inserted into individual described through slot 3-7 and is led when sleeve 3-5 moves up and down to what described sleeve 3-5 was oriented to
To key 3-4 one end, the other end of the feather key 3-4 is fixedly connected on the madial 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
The driving side chains of 7-10 and first 7-12, the first pneumatic muscles 7-5 and the second pneumatic muscles 7-10 is oppositely arranged, described
First pneumatic muscles 7-5 fixing end is fixedly connected on the lower part of the middle frame 6 by the first supporting plate 7-2, described
Second pneumatic muscles 7-10 fixing end is fixedly connected on the upper part of the middle frame 6 by the second supporting plate 7-9, described
Being fixedly arranged in the middle of of middle frame 6 is provided with the first twin rail runway 7-11, the first twin rail runway 7-11 can be along first
The oscillating bearing mounting seat 7-4 that twin rail runway 7-11 is moved up and down, it is solid vertically on the oscillating bearing mounting seat 7-4
Surely the upper end for being connected with steel wire rope 7-7, the steel wire rope 7-7 is slided surely by being arranged on the upper end on the top of middle frame 6
Wheel group 7-8 connections the first pneumatic muscles 7-5 drive end, the lower end of the steel wire rope 7-7 are described by being arranged on
Lower end fixed pulley group 7-1 connections the second pneumatic muscles 7-10 of the bottom of middle frame 6 drive end, the first driving branch
Chain 7-12 lower end is hinged on the oscillating bearing mounting seat 7-4, and the upper end of the first driving side chain 7-12, which is fixed, to be connected
Connect second joint the bearing 5-2 or three-knuckle bearing 5-4 in portion's adjustable shelf 5.
As shown in fig. 6, the first described driving side chain 7-12 includes the first drive rod 7-13, first drive rod
7-13 upper end is fixedly connected with the second joint bearing 5-2 or three-knuckle bearing 5-4 in top movable frame 5, and described first
Drive rod 7-13 lower end is connected with lower joint bearing 7-14 one end, the other end of the lower joint bearing 7-14
It is hinged on the 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, and described first
Displacement transducer 7-3 bottom is fixed on the first supporting plate 7-2, the movable end of the first displacement transducer 7-3
The drive end of the first pneumatic muscles 7-5 is fixedly connected with by the first connecting plate 7-6.
As shown in figure 1, the second described drive mechanism 2 includes the driving side chains of the 3rd pneumatic muscles 2-2 and second 2-
7, the fixing end of the 3rd pneumatic muscles 2-2 is fixedly connected on the middle frame base 6-1 of the middle frame 6, the centre
The top of frame 6 is provided with the second twin rail runway 2-6, the second twin rail runway 2-6 and is provided with sliding block 2-5, the sliding block
The drive end that the 3rd pneumatic muscles 2-2 described in the second ball bearing mounting seat 2-4 is fixedly installed on 2-5 is connected by steel wire rope
The sliding block 2-5 or the second ball bearing mounting seat 2-4 lower end are connect, the upper end connection of the second driving side chain 2-7 is dynamic flat
The first ball bearing mounting seat 4-2 on the bottom face of platform 4, the lower end of the second driving side chain 2-7 connects the second ball axle
Mounting seat 2-4 is held, is additionally provided with second displacement sensor 2-1, the bottom of the second displacement sensor 2-1 is fixed on institute
State on the middle frame base 6-1 of middle frame 6, the movable end of the second displacement sensor 2-1 by the second connecting plate 2-3 with
The drive end of the 3rd pneumatic muscles 2-2 is fixedly connected.
As shown in fig. 7, the second described driving side chain 2-7 includes the second drive rod 2-9, the second drive rod 2-9
The connecting pin 4-3 that is fixedly connected with upper joints ball bearing 2-10, the upper joints ball bearing 2-10 of upper end fix
The first ball bearing mounting seat 4-2 on the bottom face of moving platform 4 is connected, the lower end of the second drive rod 2-9 is fixedly connected with
Connecting pin on lower joint ball bearing 2-8, the lower joint ball bearing 2-8 is fixedly connected with the second ball bearing installation
Seat 2-4.
During a kind of three-degree of freedom ankle joint convalescence device use of pneumatic muscles driving of the present invention, by patient's
Pin is fixed on moving platform (1), can realize that X-axis and Y-axis both direction are free by controlling 6 pneumatic muscles to carry out soft drive
Rotation and Z-direction movement, to realize the compound movement of the multiple frees degree of ankle-joint, suitable for complicated being trained all kinds of
Exercise for coordination is carried out to ankle-joint under pattern.
The three-degree of freedom ankle joint convalescence device of a kind of pneumatic muscles driving of the present invention, by by the firm of traditional robot
Property driver replace with the pneumatic muscles of flexibility, it is combined by with 3-freedom parallel mechanism while has the excellent of two kinds of systems
Point, the high rigidity of existing parallel institution, high response, without accumulated error the advantages of, there is preferable compliance again, safely, no dirt
Dye, is highly suitable for working in the environment of man-machine interaction.
Above-described embodiment is only that the preferred embodiment of the present invention is described, not to this hair
Bright scope is defined, all any modification, equivalent and improvement made within the spirit and principles of the invention etc.,
It should fall into the protection domain of claims of the present invention determination.
Claims (9)
1. a kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving, includes the bottom fixed platform positioned at bottom
(1) moving platform (4) of the foot for being used to support progress rehabilitation and positioned at top, it is characterised in that the bottom of the moving platform (4)
Face is hinged with top movable frame (5), and rectangle barrel structure is provided between described bottom fixed platform (1) and moving platform (4)
Middle frame (6), the bottom of the middle frame (6) are fixed in the bottom fixed platform (1) by middle frame base (6-1)
Portion, the middle frame (6) is internally provided with for supporting the elastic medial support mechanisms (3) of moving platform (4), in the elasticity
Between the bottom of supporting mechanism (3) be fixed on the middle frame base (6-1) of the middle frame (6), the elastic intermediate supports machine
The top movable frame (5) that the top of structure (3) is stretched out the upper port of the middle frame (6) and is hinged on moving platform (4) bottom surface is cut with scissors
Connect in succession, it is symmetrical on the leading flank of the middle frame (6) and trailing flank to be each provided with completely identical in structure one group and institute
Being used for of stating that the top movable frame (5) on moving platform (4) bottom surface is hinged drives the first of the moving platform (4) forward and backward upset
Drive mechanism (7), the left surface and right flank of the middle frame (6) it is symmetrical be each provided with completely identical in structure one group with
The second drive mechanism (2) for being used to drive the moving platform (4) left and right upset that moving platform (4) bottom surface is fixedly connected；
Described the first drive mechanism (7) includes the first pneumatic muscles (7-5), the second pneumatic muscles (7-10) and first drive
Dynamic side chain (7-12), first pneumatic muscles (7-5) and the second pneumatic muscles (7-10) are oppositely arranged, first gas
The fixing end of dynamic muscle (7-5) is fixedly connected on the lower part of the middle frame (6) by the first supporting plate (7-2), described
The fixing end of second pneumatic muscles (7-10) is fixedly connected on the top of the middle frame (6) by the second supporting plate (7-9)
Point, the middle frame (6) is fixedly arranged in the middle of the first twin rail runway (7-11), is set on first twin rail runway (7-11)
Have and can be installed along the oscillating bearing mounting seat (7-4) that the first twin rail runway (7-11) is moved up and down in the oscillating bearing
It is axially fixed on seat (7-4) and is connected with steel wire rope (7-7), the upper end of the steel wire rope (7-7) is described by being arranged on
The upper end fixed pulley group (7-8) on middle frame (6) top connects the drive end of first pneumatic muscles (7-5), the steel wire
The lower end of rope (7-7) connects second gas by being arranged on the lower end fixed pulley group (7-1) of the middle frame (6) bottom
The drive end of dynamic muscle (7-10), the lower end of the first driving side chain (7-12) are hinged on the oscillating bearing mounting seat
On (7-4), the upper end of the first driving side chain (7-12) is fixedly connected with the second joint bearing in top movable frame (5)
(5-2) or three-knuckle bearing (5-4).
A kind of 2. three-degree of freedom ankle joint convalescence device of pneumatic muscles driving according to claim 1, it is characterised in that
The symmetrical setting in both sides two on described moving platform (4) bottom face positioned at the top movable frame (5) is used to connecting the
First ball bearing mounting seat (4-2) of two drive mechanisms (2).
A kind of 3. three-degree of freedom ankle joint convalescence device of pneumatic muscles driving according to claim 1, it is characterised in that
Described top movable frame (5) includes passing through two two bearing blocks (4-1) being symmetricly set on moving platform (4) bottom face
The adjustable shelf (5-1) being hinged on the moving platform (4) bottom face, described adjustable shelf (5-1) are rectangular ring-type knot
Structure, it is respectively articulated with described adjustable shelf (5-1) positioned at the centre for being used to connect elastic medial support mechanisms (3) at middle part
Oscillating bearing (5-3), positioned at middle joint bearing (5-3) both sides be used to connect respectively positioned at middle frame (6) leading flank and
The second joint bearing (5-2) and three-knuckle bearing (5-4) of the first drive mechanism (7) on trailing flank.
A kind of 4. three-degree of freedom ankle joint convalescence device of pneumatic muscles driving according to claim 1, it is characterised in that
Described elastic medial support mechanisms (3) include sleeve (3-5), and the bottom of the sleeve (3-5) is fixed by spring upper end
The upper end of part (3-3) connecting spring (3-2), the lower end of the spring (3-2) are fixed by lower spring end fixture (3-1)
On the middle frame base (6-1) of the middle frame (6), the top of the sleeve (3-5) passes through sleeve upper end fixture (3-
6) the middle joint bearing (5-3) being fixedly connected in top movable frame (5).
A kind of 5. three-degree of freedom ankle joint convalescence device of pneumatic muscles driving according to claim 4, it is characterised in that
It is axially symmetric on corresponding two side on described sleeve (3-5) to be respectively provided with a through slot (3-7), each institute
It is all inserted into described sleeve (3-5) is oriented to when sleeve (3-5) moves up and down in the through slot (3-7) stated
One end of feather key (3-4), the other end of the feather key (3-4) are fixedly connected on the inner side of corresponding middle frame (6)
On wall.
A kind of 6. three-degree of freedom ankle joint convalescence device of pneumatic muscles driving according to claim 1, it is characterised in that
The first described driving side chain (7-12) includes the first drive rod (7-13), and the upper end of first drive rod (7-13) is consolidated
Surely the second joint bearing (5-2) or three-knuckle bearing (5-4) in top movable frame (5), first drive rod are connected
The lower end of (7-13) is connected with lower joint bearing (7-14) one end, the other end of the lower joint bearing (7-14)
It is hinged on the oscillating bearing mounting seat (7-4).
A kind of 7. three-degree of freedom ankle joint convalescence device of pneumatic muscles driving according to claim 1, it is characterised in that
Described the first drive mechanism (7) also includes the first displacement transducer (7-3), first displacement transducer (7-3)
Bottom is fixed on first supporting plate (7-2), and the movable end of first displacement transducer (7-3) passes through the first connection
Plate (7-6) is fixedly connected with the drive end of first pneumatic muscles (7-5).
A kind of 8. three-degree of freedom ankle joint convalescence device of pneumatic muscles driving according to claim 1, it is characterised in that
Described the second drive mechanism (2) includes the 3rd pneumatic muscles (2-2) and the second driving side chain (2-7), the 3rd gas
The fixing end of dynamic muscle (2-2) is fixedly connected on the middle frame base (6-1) of the middle frame (6), the middle frame (6)
Top be provided with the second twin rail runway (2-6), sliding block (2-5) is provided with second twin rail runway (2-6), it is described
The second ball bearing mounting seat (2-4) is fixedly installed on sliding block (2-5), the drive end of the 3rd pneumatic muscles (2-2) leads to
Cross the lower end that steel wire rope connects the sliding block (2-5) or the second ball bearing mounting seat (2-4), the second driving side chain (2-
7) the first ball bearing mounting seat (4-2) on upper end connection moving platform (4) bottom face, the second driving side chain (2-7)
Lower end connect the second ball bearing mounting seat (2-4), be additionally provided with second displacement sensor (2-1), the second
The bottom of displacement sensor (2-1) is fixed on the middle frame base (6-1) of the middle frame (6), the second displacement sensor
The movable end of (2-1) is fixedly connected by the second connecting plate (2-3) with the drive end of the 3rd pneumatic muscles (2-2).
A kind of 9. three-degree of freedom ankle joint convalescence device of pneumatic muscles driving according to claim 8, 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 second drive rod (2-9), which is fixed, to be connected
It is connected to upper joints ball bearing (2-10), the connecting pin (4-3) on the upper joints ball bearing (2-10) is fixedly connected dynamic
The first ball bearing mounting seat (4-2) on platform (4) bottom face, the lower end of second drive rod (2-9) are fixedly connected with
Lower joint ball bearing (2-8), the connecting pin on the lower joint ball bearing (2-8) are fixedly connected with second ball bearing
Mounting 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 |
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| Publication Number | Publication Date |
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| CN105943306A CN105943306A (en) | 2016-09-21 |
| CN105943306B true CN105943306B (en) | 2017-12-12 |
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| CN201610380025.8A Expired - Fee Related CN105943306B (en) | 2016-05-31 | 2016-05-31 | A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260485B (en) * | 2017-06-26 | 2023-06-09 | 清华大学 | Ankle rehabilitation device with ball hinge support moving pair |
| CN109875837B (en) * | 2019-03-06 | 2021-05-28 | 西安石油大学 | Foot bottom platform type lower limb rehabilitation robot based on parallel mechanism |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070129653A1 (en) * | 2003-04-24 | 2007-06-07 | Thomas Sugar | 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 |
| JP6118961B2 (en) * | 2012-09-14 | 2017-04-26 | 株式会社国際電気通信基礎技術研究所 | Power assist robot |
| CN103110500B (en) * | 2013-01-14 | 2014-08-27 | 武汉理工大学 | Pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot |
| CN103816028B (en) * | 2014-01-28 | 2015-12-02 | 浙江大学 | A kind of ankle joint active-passive composite training rehabilitation system |
| CN103878764B (en) * | 2014-03-21 | 2015-09-30 | 浙江大学 | The pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom |
| CN104175317B (en) * | 2014-07-24 | 2017-02-22 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN105105970B (en) * | 2015-08-04 | 2017-08-18 | 张明明 | A kind of robot for rehabilitation of anklebone in parallel and its control method |
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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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Granted publication date: 20171212 |