CN107157711B - A kind of rehabilitation training machine for ankle joint device people's system - Google Patents
A kind of rehabilitation training machine for ankle joint device people's system Download PDFInfo
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- CN107157711B CN107157711B CN201710406602.0A CN201710406602A CN107157711B CN 107157711 B CN107157711 B CN 107157711B CN 201710406602 A CN201710406602 A CN 201710406602A CN 107157711 B CN107157711 B CN 107157711B
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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
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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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- A61H2201/0176—By stopping operation
-
- 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
- A61H2201/16—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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of rehabilitation training machine for ankle joint device people's systems, it is characterized by comprising PUS+S type parallel connection joint training unit, motion monitoring and control unit and thigh support units, wherein PUS+S type parallel connection ankle-joint training unit is damaged ankle-joint progress rehabilitation training to human body for providing the positioning of sole and simulating the actual motion of model of human ankle；PUS+S type parallel connection joint training unit includes the fixed soft slot of sole positioning, rotation training platform, three or more PUS type movement branched chain, intermediate studdle and training unit pedestals；The PUS type movement branched chain includes spherical hinge, connector, connecting rod, hook hinge and hook hinge support base；Easy to use the present invention provides a kind of structure is simple, movement simulation is accurate, and rehabilitation training intensity is adjustable, moves the controllable rehabilitation training machine for ankle joint device people's system of unstability.
Description
Technical field
The present invention relates to a kind of device of medical rehabilitation field of engineering technology, especially a kind of rehabilitation training machine for ankle joint device
People's system.
Background technique
Ankle-joint is the important weight-bearing joints for connecting human calf and foot, and China is currently developing country, population base
Number is big, and labor intensity is relatively high, and ankle joint disorder disease incidence is high, especially ankle joint wound arthritis, brings to patient
Insufferable pain, seriously affects the work and life quality of patient.With the continuous development of medical technology, ankle-joint is set
Changing art becomes the important medical procedure of ankle-joint Disease, but in later period rehabilitation training, correct, science rehabilitation
It is highly important for training for the recovery and raising of model of human ankle movement engineering, and country's limb rehabilitating mainly passes through specially at present
The motion process in industry medical staff manual simulation joint helps patient to carry out rehabilitation training, and this measure is for medical staff's quality
It is more demanding, while the labor intensity of the medical staff increased.It is relatively fewer for the device of ankle joint rehabilitation training on the market,
And existing joint training aids cannot simulate the motion process of model of human ankle well.Such case leads to medical treatment cost
Increase, treatment generality is poor.In order to solve this problem, various active ankle-joint training devices are designed developed,
To improve the validity of Rehabilitation training, generality and comprehensive, reduction medical treatment cost.
Robot system of the present invention primarily directed to ankle joint rehabilitation training.Ankle-joint is that human motion function is realized
Important joint, according to human anatomy, the spherical joint that model of human ankle can simplify as rotation round a fixed point has dorsiflexion/plantar
Exhibition, inversion/eversion, three kinds of forms of motion of internal/external rotations, there are following for the current existing device about ankle joint rehabilitation training
The problem of several respects, 1, rehabilitation training equipment it is excessively complicated；2, model of human ankle movement simulation inaccuracy；3, articulation center
It is not fixed；4, rehabilitation intensity is non-adjustable；5, situations such as movement unstability situation is uncontrollable.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, it is simple that the present invention provides a kind of structure, user
Just, movement simulation is accurate, and rehabilitation training intensity is adjustable, moves the controllable rehabilitation training machine for ankle joint device people's system of unstability.
Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of rehabilitation training machine for ankle joint device people's system, including PUS+S type parallel connection joint training unit (20), motion monitoring
With control unit (45) and thigh support unit (10), in which:
When the thigh support unit (10) is in sitting posture state for patient, thigh and lower leg portion are supported；
And thigh support unit (10) the joint training unit (20) in parallel with the PUS+S type is fixed by connecting plate (30)
Connection；
The PUS+S type parallel connection joint training unit (20) includes the fixed soft slot (22) of sole positioning, rotation training platform
(23), three or more PUS type movement branched chains (24), intermediate studdle (26) and training unit pedestal (27)；The training is single
It is fixed with linear motion mould group (25) on first pedestal (27), and is provided with branch mounting base on the rotation training platform (23),
And the linear motion mould group (25), branch mounting base and PUS type movement branched chain (24) correspond；The linear motion mould group
It (25) include servo motor (28), soft tooth band (42), sliding block (29), a pair of of tensioning wheel (47), linear guide (31), transmission gear
One (43) and transmission gear two (40)；The transmission gear one (43) is fixed on linear guide (31) lower end, transmission gear two
(40) it is fixed on linear guide (31) upper end, the transmission gear one (43) is passed by soft tooth band (42) and transmission gear two (40)
Dynamic connection, the servo motor (28) are sequentially connected by shaft coupling and transmission gear one (43)；The sliding block (29) and straight line
Guide rail (31) is slidably connected, and one end of the soft tooth band (42) is fixed in one of them of a pair of of tensioning wheel (47), described soft
The other end of tooth band (42) be fixed on a pair of of tensioning wheel (47) another on；And the tensioning wheel (47) is fixed on sliding block (29)
On；It is further fixed on sliding block (29) directive wheel (41), and the directive wheel (41) and soft tooth band (42) are sequentially connected；
The PUS type movement branched chain (24) includes spherical hinge (35), connector (36), connecting rod (37), hook hinge
(38) and hook hinge support base (39)；The hook hinge support base (39) is connected with sliding block (29), the hook hinge
(38) one end is fixed on hook hinge support base (39), and the other end of the hook hinge (38) and connecting rod (37)
One end is connected；The other end of the connecting rod (37) is connected by connector (36) with spherical hinge (35)；The spherical hinge (35)
It is mounted in branch mounting base, and is provided with voussoir (34) between the spherical hinge (35) and branch mounting base；
One end of the intermediate studdle (26) is fixedly mounted on the training unit pedestal (27), and the other end passes through compound
Spherical hinge (21) is connect with rotation training platform (23) bottom surface hinge, and the fixed soft slot (22) of sole positioning is fixed on rotation
The top surface of training platform (23)；
The motion monitoring and control unit (45) include motion monitoring and control platform, servomotor controller and sensing
Device, the sensor include force snesor (32), acceleration transducer (33) and displacement sensor (44)；
Pressure suffered by sole when the force snesor (32) is for measuring rotation training platform (23) movement, and should
Pressure is pushed to motion monitoring and control platform；
The acceleration transducer (33) is used to measure acceleration when rotation training platform (23) moves, and by the acceleration
Degree is pushed to motion monitoring and control platform；
Institute's displacement sensors (44) are used to measure displacement when sliding block (29) movement, and the displacement is pushed to movement prison
Survey and control platform；
The motion monitoring and control platform are used to form each servo according to the pressure, acceleration and the displacement that receive
The control signal of motor (28), and the control signal of each servo motor (28) is pushed to servomotor controller；
The servomotor controller is used to control corresponding servo motor by the control signal of each servo motor (28)
(28) working condition.
Further: it is internal that the force snesor (32) is fixed on the fixed soft slot (22) of sole positioning, and the power senses
Device (32) is respectively distributed one on the both sides of sole；The acceleration transducer (33) is mounted on the side of rotation training platform (23)
Side；Institute's displacement sensors (44) are mounted on the upper end of linear guide (31), and bracing wire end is fixed on the upper surface of sliding block (29).
Further: the thigh support unit (10) includes support base (11), thigh support bar (12), thigh tune
Pole (14), leg support bar (15) and shank adjusting rod (17)；One end of the thigh support bar (12) is fixedly mounted on branch
It supports on pedestal (11), the thigh adjusting rod (14) is sheathed in the thigh support bar (12), and the thigh adjusting rod
(14) it is slidably connected with the thigh support bar (12)；The thigh support bar (12) is equipped with screw knob one (13), and institute
Screw knob one (13) is stated to be sheathed on the thigh support bar (12)；One end of the leg support bar (15) is fixedly connected on
On the thigh support bar (12), the shank adjusting rod (17) is sheathed in the leg support bar (15), and the shank
Adjusting rod (17) is slidably connected with the leg support bar (15)；The leg support bar (15) is equipped with screw knob two
(16), and the screw knob two (16) is sheathed on the leg support bar (15).
Preferred: the force snesor (32) and acceleration transducer (33) all use piezoelectric transducer, the position
Displacement sensor (44) uses stay-supported type displacement sensor.
Preferred: the thigh support bar (12) and the leg support bar (15) have been all made of the structure of rectangular interior sky,
And the angle between thigh support bar (12) and leg support bar (15) is 90 degree.
Preferred: three PUS movement branched chains (24) are uniformly distributed circumferentially on training unit pedestal (27), and institute
Three PUS movement branched chains (24) are stated to be fixed in branch mounting base.
Preferred: training unit pedestal (27) top surface is circumferentially uniformly fixed, and there are three move along a straight line mould group (25).
Preferred: one end of the intermediate studdle (26) is connect with composite balls hinge (21) hinge, the intermediate studdle
(26) the other end is fixedly mounted on the center of the training unit pedestal (27)；The composite balls hinge (21) and rotation are instructed
Practice bottom center's hinge connection of platform (23).
Preferred: described connecting plate (30) one end is fixed on the training unit pedestal (27), and the other end is fixed on institute
It states on support base (11).
Preferred: the angle of the voussoir is 15 degree to 75 degree.
The present invention compared with prior art, has the advantages that
1. a kind of rehabilitation training machine for ankle joint device people system of the invention is in carrying out rehabilitation training, patient can locate
In sitting posture state, reduce the fatigue in training process；
2. thigh support unit step-less adjustment realizes the adaptability different to different patient legs' length, system has been expanded
Application range.
3. being equipped with sole above training platform positions soft slot, patient is helped to position and increase the comfortable of patient well
Property.
4. the intensity of rehabilitation training can be adjusted, the demand of different training stages is adapted to.The control master of training strength
It to be set by the space size and the length of each period of motion of rotation training platform.Pass through Serve Motor Control
The displacement of sliding block and then the space size for changing rotation training platform, the time by designing entire motion cycle change
Become the period of motion.Multiple periods of motion are corresponded to reach the same space, the same period of motion can also correspond to more
A space realizes that the multistage of ankle-joint training strength is adjusted.
5. the introducing of displacement sensor improves the precision of movement simulation so that motion control formation closed-loop system.Movement
Controlling precision is mainly to carry out feedback regulation according to the signal of displacement sensor.In motion process, sliding block is according to scheduled
What displacement was moved, and the displacement at each time point is also known, and during training, is passed by comparing displacement
The Displacement Feedback signal of sensor and the difference of prearranged signals timely adjust the rotation of servo motor, so that entire motion control shape
At a closed loop, kinematic accuracy is improved.
6. the introducing of force snesor and acceleration transducer improves the safety of system, when shapes such as appearance movement unstabilitys
When condition, the movement for the training platform that can stop rotating in time avoids the secondary injury to patient.Training platform movement is rotated to lose
Steady judgment basis is mainly the feedback signal according to force snesor and acceleration transducer.The motion detection before training starts
Suitable sole can be set by force signal and rotation training platform acceleration signal, in the training process when detecting in control platform
Force signal and acceleration signal when being more than setting value, motion detection control platform can actively stop the rotation of servo motor, from
And the movement of deconditioning platform, prevent patient by secondary injury caused by due to rehabilitation equipment failure.
Detailed description of the invention
Fig. 1 is the overall structure figure of rehabilitation training machine for ankle joint device people's system of the present invention；
Fig. 2 is the 3PUS+S type parallel connection ankle-joint training unit structure of rehabilitation training machine for ankle joint device people's system of the present invention
Figure；
Fig. 3 is the linear guide rail structure figure of rehabilitation training machine for ankle joint device people's system of the present invention；
Fig. 4 is work and the control block diagram of rehabilitation training machine for ankle joint device people's system of the present invention；
In figure: 10- thigh support unit, 11- support base, 12- thigh support bar, 13- screw knob one, 14- thigh
Adjusting rod, 15- leg support bar, 16- screw knob two, 17- shank adjusting rod, 20-PUS+S parallel connection ankle-joint training unit,
21- composite balls hinge, the fixed soft slot of 22- sole positioning, 23- rotate training platform, 24-PUS movement branched chain, 25- linear motion
Mould group, 26- intermediate studdle, 27- training unit pedestal, 28- servo motor, 29- sliding block, 30- connecting plate, 31- linear guide,
32- force snesor, 33- acceleration transducer, 34- voussoir, 35- spherical hinge, 36- connector, 37- connecting rod, 38- Hooke's hinge
Chain, 39- hook hinge support base, 40- transmission gear Isosorbide-5-Nitrae 1- directive wheel, the soft tooth band of 42-, 43- transmission gear 2,44- displacement pass
Sensor, 45- motion monitoring and control unit, 46- motion detection control platform, 47- tensioning wheel
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, it should be understood that these examples are merely to illustrate this
It invents rather than limits the scope of the invention, after the present invention has been read, those skilled in the art are to of the invention various
The modification of equivalent form falls within the application range as defined in the appended claims.
It is as shown in Figure 1 a kind of rehabilitation training machine for ankle joint device people's system, including PUS+S type parallel connection joint training unit
20, motion monitoring and control unit 45 and thigh support unit 10, in which:
Thigh support unit 10 is supported thigh and lower leg portion when being in sitting posture state for patient, improves instruction
Experienced comfort；The thigh support unit 10 joint training unit 20 in parallel with the PUS+S type is carried out by connecting plate 30
It is fixedly connected；Described 30 one end of connecting plate is fixed by screws on the training unit pedestal 27, and the other end is solid by screw
It is scheduled in the support base 11.
PUS+S type parallel connection ankle-joint training unit 20, for providing the positioning of sole and simulating the reality of model of human ankle
Movement is damaged ankle-joint to human body and carries out rehabilitation training；
Motion control unit 45, on the one hand for control rotate the motion path of training platform 23, controlled training intensity with
And control kinematic accuracy, it is on the other hand used for detection sensor signal, the training platform that stops rotating in time when movement unstability occurs
Movement, avoid causing secondary injury to rehabilitation training patient.
PUS+S type parallel connection joint training unit 20 includes the fixed soft slot 22 of sole positioning, rotation training platform 23, three
A PUS type movement branched chain 24, intermediate studdle 26 and training unit pedestal 27；27 top surface of training unit pedestal is circumferentially equal
There are three the mould groups 25 that moves along a straight line for even fixation, and branch mounting base are provided on the rotation training platform 23, and the straight line
Mould group 25, branch mounting base and PUS type movement branched chain 24 is moved to correspond；Three PUS movement branched chains 24 are circumferentially equal
It is even to be distributed on training unit pedestal 27, and three PUS movement branched chains 24 are fixed in branch mounting base；The straight line fortune
Dynamic model group 25 includes servo motor 28, soft tooth band 42, sliding block 29, a pair of of tensioning wheel 47, linear guide 31, one 43 and of transmission gear
Transmission gear 2 40；The transmission gear 1 is fixed on 31 lower end of linear guide, and transmission gear 2 40 is fixed on linear guide
31 upper ends, the transmission gear 1 are sequentially connected by soft tooth band 42 with transmission gear 2 40, and the servo motor 28 passes through
Shaft coupling and transmission gear 1 are sequentially connected；The sliding block 29 is slidably connected with linear guide 31.
As shown in figure 3, one end of the soft tooth band 42 is fixed in one of them of a pair of of tensioning wheel 47, the soft tooth band
42 other end be fixed on a pair of of tensioning wheel 47 another on, and the tensioning wheel 47 is fixed on sliding block 29；On sliding block 29
It is further fixed on directive wheel 41, and the directive wheel 41 and soft tooth band 42 are sequentially connected, tensioning wheel 47 is fixed on by holding screw
On sliding block 29, when soft tooth band 42 loosens during use, when needing to be tensioned adjusting, it is only necessary to holding screw is rotated,
So that soft tooth band 42 is more wrapped on tensioning wheel 47, fixation and tensioning to soft tooth band 42 are realized；
The PUS type movement branched chain 24 includes spherical hinge 35, connector 36, connecting rod 37, hook hinge 38 and Hooke's hinge
Chain support base 39；The hook hinge support base 39 is connected with sliding block 29 by screw, and one end of the hook hinge 38 is fixed
On hook hinge support base 39, and the other end of the hook hinge 38 is connected with one end of connecting rod 37；The connecting rod
37 other end is connected by connector 36 with spherical hinge 35；The spherical hinge 35 is mounted in branch mounting base, because of flexural pivot
The rotary work angle of chain 35 cannot complete entire working space to branch motion range between -30 ° to 30 ° well
It is required that being provided with the voussoir 34 in 45 ° between the spherical hinge 35 and branch mounting base, it is attached by screw, so as to
With the good requirement for meeting rotation training platform to space.
One end of the intermediate studdle 26 is fixedly mounted on 27 center of training unit pedestal, and the other end passes through compound
Spherical hinge 21 is connect with rotation 23 bottom center's hinge of training platform, and the fixed soft slot 22 of sole positioning is fixed on rotation instruction
Practice the top surface of platform 23；Rotary motion around X, Y, Z axis can only be realized by composite balls hinge by rotating training platform, and cannot be into
Row is along X, Y, the linear motion of Z-direction.
Such as Fig. 2, shown in Fig. 4, the motion monitoring and control unit 45 for monitors sensor signal and control robot
The operation of system；The sensor includes force snesor 32, acceleration transducer 33 and displacement sensor 44；Wherein, the power
Sensor 32 is fixed on inside the fixed soft slot 22 of sole positioning, and the force snesor 32 is respectively distributed one on the both sides of sole,
For the monitoring in training process to sole stress condition.The acceleration transducer 33 is mounted on the side of rotation training platform 23
Side is monitored for the motion state to rotation training platform 23；Institute's displacement sensors 44 are mounted on linear guide 31
Upper end, bracing wire end are fixed on the upper surface of sliding block 29, are monitored for the motion state to sliding block.The force snesor 32
Piezoelectric transducer is all used with acceleration transducer 33, the displacement sensor 44 uses stay-supported type displacement sensor.Respectively
The signal that sensor generates enters motion detection and control platform 46, realizes the closed-loop control of whole system, is slided by design
The rotary motion speed and angle of the movement velocity of block 29 and stroke alteration rotation training platform 23 realize exercise intensity in turn
Change.
As shown in figure 4, the motion monitoring and control unit 45 include motion monitoring and control platform, Serve Motor Control
Device and sensor；The motion monitoring and control platform 45 for monitors sensor signal and control machine by motion control software
The operation of device people's system, the servomotor controller control servo motor 28 for responsive movement control software,
The sliding block 29 slides up and down under the control of servo motor along linear guide 31, and the sliding of the sliding block 29 drives rotation training
Platform 23 moves, and the acceleration transducer 33 is used to generate acceleration signal when rotating training platform 23 and moving, described
Displacement sensor 44 generates displacement signal when sliding for PUS movement branched chain 24 with movable slider 29, and the force snesor 32 is used for
It is trampled in sole and generates force signal when sole positions fixed soft 22 inside of slot；Acceleration signal, displacement signal, the power letter of generation
Motion monitoring number is passed back again with control platform for monitoring and controlling；
The thigh support unit 10 includes support base 11, thigh support bar 12, thigh adjusting rod 14, leg support bar
15 and shank adjusting rod 17；The thigh support bar 12 and the leg support bar 15 are all made of the structure of rectangular interior sky, and big
Angle between leg support rod 12 and leg support bar 15 is 90 degree；One end of the thigh support bar 12 is fixedly mounted on support
On pedestal 11, the thigh adjusting rod 14 is sheathed in the thigh support bar 12, and the thigh adjusting rod 14 and described big
Leg support rod 12 is slidably connected, and height can be with step-less adjustment.The thigh support bar 12 is equipped with screw knob 1, and institute
Screw knob 1 is stated to be sheathed on the thigh support bar 12；When adjustment needs height again, screw knob 1 can be passed through
The position of thigh support bar 12 and thigh adjusting rod 14 is locked；One end of the leg support bar 15 is fixedly connected on institute
It states on thigh support bar 12, the shank adjusting rod 17 is sheathed in the leg support bar 15, and the shank adjusting rod 17
It is slidably connected with the leg support bar 15, height can be with step-less adjustment；The leg support bar 15 is equipped with screw knob
2 16, and the screw knob 2 16 is sheathed on the leg support bar 15.When adjustment needs height again, screw thread can be passed through
Knob 2 16 locks the position of leg support bar 15 and shank adjusting rod 17.
Parallel robot is for serial manipulator, and parallel robot has between driving link and execution part
Two or more branch composition.It can be defined as moving platform and fixed platform and pass through at least two independent kinematic chains
It is connected, mechanism has two or more freedom degrees, and a kind of close loop mechanism driven with parallel way.PUS+S type is simultaneously
Connection joint training unit in have three identical PUS type branches be arranged in rotation training platform 23 and training unit pedestal 27 it
Between, it is a kind of 3-freedom parallel mechanism.
Ankle-joint Disease may be at sitting posture state when carrying out rehabilitation training, adjust thigh adjusting rod 14 and small
Leg adjusting rod 17 locks it by screw knob 1 and screw knob 2 16 after adjusting length.Sole is placed
Inside the fixed soft slot 22 of sole positioning.Starting device, motion detection control platform can be set properly before training starts
Training strength is arranged by force signal and rotation training platform acceleration signal, by motion monitoring and control platform 46 in sole, opens
Dynamic servo motor carries out rehabilitation training.Change the fortune of rotation training platform by the displacement of Serve Motor Control sliding block
Dynamic space size, motion monitoring control platform 45 by servomotor controller control respectively the rotation speed change of three motors to
So that rotation training platform 23 is moved along preset track, and it is periodically variable for moving.It is entire by designing
The time of motion cycle changes the period of motion, so that reaching the same space corresponds to multiple periods of motion, the same movement
Period can also correspond to multiple spaces, realize that the multistage of ankle-joint training strength is adjusted.In motion process, sliding block be according to
Scheduled displacement campaign, and the displacement at each time point is also known, during training, by comparing
The Displacement Feedback signal of displacement sensor and the difference of prearranged signals timely adjust the rotation of servo motor, so that entire movement
Control forms a closed loop, improves kinematic accuracy.
Specifically, controlling sliding block 29 after starting device by servo motor 28 and being slided up and down along linear guide 31, led to
Cross the hook hinge support base 39 that is fixed on sliding block 29 and power that sliding generates be transferred to hook hinge 38, hook hinge 38 into
And move, drive connecting rod 37 and connector 36 to move, connector 36 drives spherical hinge 35 to rotate, and spherical hinge 35 simultaneously passes power
Branch mounting base is passed, and then is transmitted to rotation training platform 23, rotation training platform 23 is driven to rotate；Intermediate studdle 26 simultaneously
It is supported by 21 pairs of rotation training platforms of composite balls hinge.
In initial position, 29 position of sliding block of three branches is different, and the movement velocity of sliding block 29 and direction are also
Different from, by the control to servo motor velocity of rotation and direction, realize the movement of entire image training robot.
In carrying out rehabilitation training, three branches carry out Collaborative Control by servo motor, drive simultaneously, but three
It drives the kinetic characteristic of sliding block different, but is all according to specific curve movement cycle movement.
Rehabilitation training machine for ankle joint device people of the present invention has simulation dorsiflexion/plantar exhibition, inversion/eversion, three kinds of internal/external rotations fortune
The function of dynamic form.The introduction of three kinds of forms is carried out by taking the training of right crus of diaphragm ankle-joint as an example below, wherein the fortune of left foot ankle-joint
Dynamic form dorsiflexion/plantar exhibition moves identical, inversion/eversion, and internal/external rotations move contrary.Enable the branch for being in foot left
Chain is branch one, and the branch in front of foot is branch two, and the branch in foot right is branch three, and on same branch
Component numerals are identical as the branch.
When simulating the exhibition movement of dorsiflexion/plantar, servo motor one is identical with three motion state of servo motor, driving sliding block 29 to
The power that sliding generates is passed to connecting rod 37 and connector 36 by hook hinge 38 by up/down sliding, and connector 36 drives ball
Hinge 35 rotates, and generates the power of two oblique up/down, and each power can be analyzed to the power of driving rotation and to up/down support/traction
Power；Two servo motors of servo motor two and other work at the same time, and drive sliding block 29 to lower/upper sliding, pass through hook hinge
The power that sliding generates is passed to connecting rod 2 37 and connector 2 36 by 2 38, and connector 2 36 drives spherical hinge 2 35 to rotate,
An oblique lower/upper power is generated, which can be analyzed to the power to lower/upper traction/support and the power of driving rotation, upper and lower three power
It is acted on simultaneously with the power of driving rotation, so that foot realizes dorsiflexion/plantar exhibition during rotation.
When simulating inversion/eversion movement, servo motor one works, and drives sliding block 29 to lower/upper sliding, passes through Hooke's hinge
The power that sliding generates is passed to connecting rod 1 and connector 1 by chain 1, and connector 1 drives one 35 turns of spherical hinge
It is dynamic, an oblique lower/upper power is generated, which can be analyzed to the power to lower/upper traction/support and the power of driving rotation；Servo
Motor three is worked at the same time with servo motor one, driving sliding block 29 upwards/lower slider, by hook hinge 3 38 will sliding generate
Power passes to connecting rod 3 37 and connector 3 36, and connector 3 36 drives spherical hinge 3 35 to rotate, and generates an oblique up/down
Power, the power can be analyzed to up/down support/traction power and driving rotation power；Servo motor two does not work temporarily, foot
Left/right portion is by lower/upper power, and the right/left portion of foot is driven the power of rotation by the power to up/down, so that foot exists
Inversion/eversion is realized in rotary course.
When simulating inward turning movement, servo motor three, servo motor two, servo motor one successively work, servo motor three
29 upward sliding of sliding block is driven, the power that sliding generates is passed to by connecting rod 3 37 and connector three by hook hinge 3 38
36, connector 3 36 drives spherical hinge 3 35 to rotate, and generates a power obliquely, the power can be analyzed to the power supported upwards and
Drive the power of rotation；Servo motor two drives 29 upward sliding of sliding block, is transmitted by the power that hook hinge 2 38 generates sliding
To connecting rod 2 37 and connector 2 36, connector 2 36 drives spherical hinge 2 35 to rotate, and generates a power obliquely, the power
It can be analyzed to the power of the power supported upwards and driving rotation；Servo motor one drives 29 slide downward of sliding block, passes through hook hinge
The power that sliding generates is passed to connecting rod 1 and connector 1 by 1, and connector 1 drives spherical hinge 1 to rotate,
A power obliquely is generated, which can be analyzed to the power of the power drawn downwards and driving rotation；
Servo motor one drives 29 upward sliding of sliding block, and the power that sliding generates is passed to connection by hook hinge 1
Bar 1 and connector 1, connector 1 drive spherical hinge 1 to rotate, and generate a power obliquely, and the power is decomposable
For the power of the power and driving rotation that support upwards；Servo motor three drives 29 upward sliding of sliding block, will by hook hinge 3 38
The power that sliding generates passes to connecting rod 3 37 and connector 3 36, and connector 3 36 drives spherical hinge 3 35 to rotate, and generates one
A power obliquely, the power can be analyzed to the power of the power supported upwards and driving rotation；Servo motor two drives sliding block 29 downward
The power that sliding generates is passed to connecting rod 2 37 and connector 2 36,2 36 band of connector by hook hinge 2 38 by sliding
Dynamic spherical hinge 2 35 rotates, and generates a power obliquely, which can be analyzed to the power of the power drawn downwards and driving rotation；
Servo motor two drives 29 upward sliding of sliding block, and the power that sliding generates is passed to connection by hook hinge 2 38
Bar 2 37 and connector 2 36, connector 2 36 drive spherical hinge 2 35 to rotate, and generate a power obliquely, and the power is decomposable
For the power of the power and driving rotation that support upwards；Servo motor one drives 29 upward sliding of sliding block, will by hook hinge 1
The power that sliding generates passes to connecting rod 1 and connector 1, and connector 1 drives spherical hinge 1 to rotate, and generates one
A power obliquely, the power can be analyzed to the power of the power supported upwards and driving rotation；Servo motor three drives sliding block 29 downward
The power that sliding generates is passed to connecting rod 3 37 and connector 3 36,3 36 band of connector by hook hinge 3 38 by sliding
Dynamic spherical hinge 3 35 rotates, and generates a power obliquely, which can be analyzed to the power of the power drawn downwards and driving rotation；
Therefore, by upward power, left is subject to downward force for the right, front of foot first, then the left, right of foot
By upward power, front is subject to downward force, and by upward power, right is subject to downward force for the front of the most rear foot, left,
It is driven the power of rotation simultaneously, so that foot realizes inward turning in rotary course.
When simulating outward turning campaign, servo motor one, servo motor two, servo motor three successively work, servo motor one
29 upward sliding of sliding block is driven, the power that sliding generates is passed to by connecting rod 1 and connector one by hook hinge 1
36, connector 1 drives spherical hinge 1 to rotate, and generates a power obliquely, the power can be analyzed to the power supported upwards and
Drive the power of rotation；Servo motor two drives 29 upward sliding of sliding block, is transmitted by the power that hook hinge 2 38 generates sliding
To connecting rod 2 37 and connector 2 36, connector 2 36 drives spherical hinge 2 35 to rotate, and generates a power obliquely, the power
It can be analyzed to the power of the power supported upwards and driving rotation；Servo motor three drives 29 slide downward of sliding block, passes through hook hinge
The power that sliding generates is passed to connecting rod 3 37 and connector 3 36 by 3 38, and connector 3 36 drives spherical hinge 3 35 to rotate,
A power obliquely is generated, which can be analyzed to the power of the power drawn downwards and driving rotation；
Servo motor one drives 29 upward sliding of sliding block, and the power that sliding generates is passed to connection by hook hinge 1
Bar 1 and connector 1, connector 1 drive spherical hinge 1 to rotate, and generate a power obliquely, and the power is decomposable
For the power of the power and driving rotation that support upwards；Servo motor three drives 29 upward sliding of sliding block, will by hook hinge 3 38
The power that sliding generates passes to connecting rod 3 37 and connector 3 36, and connector 3 36 drives spherical hinge 3 35 to rotate, and generates one
A power obliquely, the power can be analyzed to the power of the power supported upwards and driving rotation；Servo motor two drives sliding block 29 downward
The power that sliding generates is passed to connecting rod 2 37 and connector 2 36,2 36 band of connector by hook hinge 2 38 by sliding
Dynamic spherical hinge 2 35 rotates, and generates a power obliquely, which can be analyzed to the power of the power drawn downwards and driving rotation；
Servo motor two drives 29 upward sliding of sliding block, and the power that sliding generates is passed to connection by hook hinge 2 38
Bar 2 37 and connector 2 36, connector 2 36 drive spherical hinge 2 35 to rotate, and generate a power obliquely, and the power is decomposable
For the power of the power and driving rotation that support upwards；Servo motor three drives 29 upward sliding of sliding block, will by hook hinge 3 38
The power that sliding generates passes to connecting rod 3 37 and connector 3 36, and connector 3 36 drives spherical hinge 3 35 to rotate, and generates one
A power obliquely, the power can be analyzed to the power of the power supported upwards and driving rotation；Servo motor one drives sliding block 29 downward
The power that sliding generates is passed to connecting rod 1 and connector 1, one 36 band of connector by hook hinge 1 by sliding
Dynamic spherical hinge 1 rotates, and generates a power obliquely, which can be analyzed to the power of the power drawn downwards and driving rotation；
Therefore, by upward power, right is subject to downward force for the left, front of foot first, then the left, right of foot
By upward power, front is subject to downward force, and by upward power, left is subject to downward force for the front of the most rear foot, right,
It is driven the power of rotation simultaneously, so that foot realizes outward turning in rotary course.
In the training process when the force signal and acceleration signal detected is more than setting value, rotation training platform 23 is sent out
Raw movement unstability, motion monitoring control platform 45 can actively stop the rotation of servo motor, thus the training platform 23 that stops rotating
Movement, prevent patient by secondary injury caused by due to rehabilitation equipment failure.After training, stop motor, system is certainly
It is dynamic to return to original state.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of rehabilitation training machine for ankle joint device people's system, it is characterised in that: including PUS+S type parallel connection joint training unit, fortune
Dynamic monitoring and control unit and thigh support unit, in which:
When the thigh support unit is in sitting posture state for patient, thigh and lower leg portion are supported；And the leg
Support unit joint training unit in parallel with the PUS+S type in portion's is fixedly connected by connecting plate；
PUS+S type parallel connection joint training unit, for providing the positioning of sole and simulating the actual motion of model of human ankle
Ankle-joint is damaged to human body and carries out rehabilitation training；PUS+S type parallel connection joint training unit include the fixed soft slot of sole positioning,
Rotate PUS type movement branched chain, intermediate studdle and the training unit pedestal of training platform, three or more；The training unit bottom
It is fixed with linear motion mould group on seat, and is provided with branch mounting base on the rotation training platform, and the linear motion mould
Group, branch mounting base and PUS type movement branched chain correspond；The linear motion mould group includes servo motor, soft tooth band, cunning
Block, a pair of of tensioning wheel, linear guide, transmission gear one and transmission gear two；The transmission gear one is fixed under linear guide
End, transmission gear two are fixed on linear guide upper end, and the transmission gear one is sequentially connected by soft tooth band and transmission gear two,
The servo motor is sequentially connected by shaft coupling and transmission gear one；The sliding block is slidably connected with linear guide, described soft
One end of tooth band is fixed in one of them of a pair of of tensioning wheel, and the other end of the soft tooth band is fixed on the another of a pair of of tensioning wheel
On one；And the tensioning wheel is fixed on sliding block；Directive wheel, and the directive wheel and soft toothed belt drive are further fixed on sliding block
Connection；
The PUS type movement branched chain includes spherical hinge, connector, connecting rod, hook hinge and hook hinge support base；The tiger
Gram hinge supporting seat is connected with sliding block, and one end of the hook hinge is fixed on hook hinge support base, and the Hooke's hinge
The other end of chain is connected with one end of connecting rod；The other end of the connecting rod is connected by connector with spherical hinge；The ball
Hinge is mounted in branch mounting base, and is provided with voussoir between the spherical hinge and branch mounting base；
One end of the intermediate studdle is fixedly mounted on the training unit pedestal, and the other end passes through composite balls hinge and rotation
The connection of training platform bottom surface hinge, and the fixed soft slot of sole positioning is fixed on the top surface of rotation training platform；
The motion monitoring and control unit include motion monitoring and control platform, servomotor controller and sensor, described
Sensor includes force snesor, acceleration transducer and displacement sensor；
Pressure suffered by sole when the force snesor is for measuring rotation training platform movement, and the pressure is pushed to fortune
Dynamic monitoring and control platform；
The acceleration transducer is used to measure acceleration when rotation training platform movement, and the acceleration is pushed to movement
Monitoring and control platform；
Institute's displacement sensors are used to measure displacement when sliding block movement, and the displacement is pushed to motion monitoring and is controlled flat
Platform；
The motion monitoring and control platform are used to form each servo motor according to the pressure, acceleration and the displacement that receive
Control signal, and the control signal of each servo motor is pushed to servomotor controller；
The servomotor controller is used to control the work shape of corresponding servo motor by the control signal of each servo motor
State；
Have the function of simulating dorsiflexion/plantar exhibition, three kinds of inversion/eversion, internal/external rotations forms of motion；Branch in foot left
Chain is branch one, and the branch in front of foot is branch two, and the branch in foot right is branch three, and on same branch
Component numerals are identical as the branch；
When simulating dorsiflexion/plantar exhibition movement, servo motor one is identical with three motion state of servo motor, drives sliding block to up/down
The power that sliding generates is passed to connecting rod and connector by hook hinge by sliding, and connector drives spherical hinge rotation, generates
The power of two oblique up/down, each power can be analyzed to the power of driving rotation and to up/down support/traction power；Servo motor two
It is worked at the same time with other two servo motors, driving sliding block is passed to lower/upper sliding by the power that hook hinge two generates sliding
Connecting rod two and connector two are passed, connector two drives spherical hinge two to rotate, and generates an oblique lower/upper power, which can
It is decomposed into the power to lower/upper traction/support and the power of driving rotation, upper and lower three power and the power of driving rotation act on simultaneously, so that
Foot realizes dorsiflexion/plantar exhibition during rotation；
When simulating inversion/eversion movement, servo motor one works, and driving sliding block, will by hook hinge one to lower/upper sliding
The power that sliding generates passes to connecting rod one and connector one, and connector one drives spherical hinge one to rotate, generate one obliquely/
On power, the power can be analyzed to lower/upper traction/support power and driving rotation power；Servo motor three and servo motor one
Work at the same time, driving sliding block upwards/lower slider, by hook hinge three by sliding generate power pass to connecting rod three and connection
First three, connector three drive spherical hinge three rotate, generate an oblique up/down power, the power can be analyzed to up/down support/
The power of traction and the power of driving rotation；Servo motor two does not work temporarily, the left/right portion of foot by lower/upper power, the right side of foot/
Left part is driven the power of rotation by the power to up/down, so that foot realizes inversion/eversion in rotary course；
When simulating inward turning movement, servo motor three, servo motor two, servo motor one successively work, and servo motor three drives
The power that sliding generates is passed to connecting rod three and connector three, three band of connector by hook hinge three by sliding block upward sliding
Dynamic spherical hinge three rotates, and generates a power obliquely, which can be analyzed to the power of the power supported upwards and driving rotation；Servo
Motor two drives sliding block upward sliding, and the power that sliding generates is passed to connecting rod two and connector two by hook hinge two,
Connector two drives spherical hinge two to rotate, and generates a power obliquely, which can be analyzed to the power supported upwards and driving turns
Dynamic power；Servo motor one drives sliding block slide downward, and the power that sliding generates is passed to connecting rod one by hook hinge one
With connector one, connector one drives spherical hinge one to rotate, and generates a power obliquely, what which can be analyzed to draw downwards
The power of power and driving rotation；
Servo motor one drives sliding block upward sliding, and the power that sliding generates is passed to connecting rod one by hook hinge one and is connected
Connector one, connector one drive spherical hinge one to rotate, and generate a power obliquely, the power can be analyzed to the power supported upwards and
Drive the power of rotation；Servo motor three drives sliding block upward sliding, and the power that sliding generates is passed to company by hook hinge three
Extension bar three and connector three, connector three drive spherical hinge three to rotate, and generate a power obliquely, which can be analyzed to upwards
The power of support and the power of driving rotation；Servo motor two drives sliding block slide downward, is generated sliding by hook hinge two
Power passes to connecting rod two and connector two, and connector two drives spherical hinge two to rotate, and generates a power obliquely, which can
It is decomposed into the power of the power drawn downwards and driving rotation；
Servo motor two drives sliding block upward sliding, and the power that sliding generates is passed to connecting rod two by hook hinge two and is connected
Connector two, connector two drive spherical hinge two to rotate, and generate a power obliquely, the power can be analyzed to the power supported upwards and
Drive the power of rotation；Servo motor one drives sliding block upward sliding, and the power that sliding generates is passed to company by hook hinge one
Extension bar one and connector one, connector one drive spherical hinge one to rotate, and generate a power obliquely, which can be analyzed to upwards
The power of support and the power of driving rotation；Servo motor three drives sliding block slide downward, is generated sliding by hook hinge three
Power passes to connecting rod three and connector three, and connector three drives spherical hinge three to rotate, and generates a power obliquely, which can
It is decomposed into the power of the power drawn downwards and driving rotation；
Therefore, by upward power, left is subject to downward force for the right, front of foot first, then the left, right of foot by
Upward power, front is subject to downward force, and the front of the most rear foot, left are by upward power, and right is subject to downward force, simultaneously
It is driven the power of rotation, so that foot realizes inward turning in rotary course；
When simulating outward turning campaign, servo motor one, servo motor two, servo motor three successively work, and servo motor one drives
The power that sliding generates is passed to connecting rod one and connector one, one band of connector by hook hinge one by sliding block upward sliding
Dynamic spherical hinge one rotates, and generates a power obliquely, which can be analyzed to the power of the power supported upwards and driving rotation；Servo
Motor two drives sliding block upward sliding, and the power that sliding generates is passed to connecting rod two and connector two by hook hinge two,
Connector two drives spherical hinge two to rotate, and generates a power obliquely, which can be analyzed to the power supported upwards and driving turns
Dynamic power；Servo motor three drives sliding block slide downward, and the power that sliding generates is passed to connecting rod three by hook hinge three
With connector three, connector three drives spherical hinge three to rotate, and generates a power obliquely, what which can be analyzed to draw downwards
The power of power and driving rotation；
Servo motor one drives sliding block upward sliding, and the power that sliding generates is passed to connecting rod one by hook hinge one and is connected
Connector one, connector one drive spherical hinge one to rotate, and generate a power obliquely, the power can be analyzed to the power supported upwards and
Drive the power of rotation；Servo motor three drives sliding block upward sliding, and the power that sliding generates is passed to company by hook hinge three
Extension bar three and connector three, connector three drive spherical hinge three to rotate, and generate a power obliquely, which can be analyzed to upwards
The power of support and the power of driving rotation；Servo motor two drives sliding block slide downward, is generated sliding by hook hinge two
Power passes to connecting rod two and connector two, and connector two drives spherical hinge two to rotate, and generates a power obliquely, which can
It is decomposed into the power of the power drawn downwards and driving rotation；
Servo motor two drives sliding block upward sliding, and the power that sliding generates is passed to connecting rod two by hook hinge two and is connected
Connector two, connector two drive spherical hinge two to rotate, and generate a power obliquely, the power can be analyzed to the power supported upwards and
Drive the power of rotation；Servo motor three drives sliding block upward sliding, and the power that sliding generates is passed to company by hook hinge three
Extension bar three and connector three, connector three drive spherical hinge three to rotate, and generate a power obliquely, which can be analyzed to upwards
The power of support and the power of driving rotation；Servo motor one drives sliding block slide downward, is generated sliding by hook hinge one
Power passes to connecting rod one and connector one, and connector one drives spherical hinge one to rotate, and generates a power obliquely, which can
It is decomposed into the power of the power drawn downwards and driving rotation；
Therefore, by upward power, right is subject to downward force for the left, front of foot first, then the left, right of foot by
Upward power, front is subject to downward force, and the front of the most rear foot, right are by upward power, and left is subject to downward force, simultaneously
It is driven the power of rotation, so that foot realizes outward turning in rotary course.
2. rehabilitation training machine for ankle joint device people's system according to claim 1, it is characterised in that: the force snesor is fixed
Inside the fixed soft slot of sole positioning, and the force snesor is respectively distributed one on the both sides of sole；The acceleration transducer
It is mounted on the side of rotation training platform；Institute's displacement sensors are mounted on the upper end of linear guide, and bracing wire end is fixed on cunning
The upper surface of block.
3. rehabilitation training machine for ankle joint device people's system according to claim 2, it is characterised in that: the thigh support unit
Including support base, thigh support bar, thigh adjusting rod, leg support bar and shank adjusting rod；The one of the thigh support bar
End is fixedly mounted in support base, and the thigh adjusting rod is sheathed in the thigh support bar, and the thigh adjusting rod
It is slidably connected with the thigh support bar；The thigh support bar is equipped with screw knob one, and the screw knob one is arranged
In on the thigh support bar；One end of the leg support bar is fixedly connected on the thigh support bar, the shank tune
Pole is sheathed in the leg support bar, and the shank adjusting rod is slidably connected with the leg support bar；The shank
Support rod is equipped with screw knob two, and the screw knob two is sheathed on the leg support bar.
4. rehabilitation training machine for ankle joint device people's system according to claim 3, it is characterised in that: the force snesor and plus
Velocity sensor all uses piezoelectric transducer, and the displacement sensor uses stay-supported type displacement sensor.
5. rehabilitation training machine for ankle joint device people's system according to claim 4, it is characterised in that: the thigh support bar and
The leg support bar has been all made of the structure of rectangular interior sky, and the angle between thigh support bar and leg support bar is 90
Degree.
6. rehabilitation training machine for ankle joint device people's system according to claim 5, it is characterised in that: PUS type movement branched chain edge
It is circumferentially evenly distributed on training unit pedestal, and three PUS type movement branched chains are each attached in branch mounting base.
7. rehabilitation training machine for ankle joint device people's system according to claim 6, it is characterised in that: the training unit pedestal
Top surface is circumferentially uniformly fixed, and there are three the mould groups that moves along a straight line.
8. rehabilitation training machine for ankle joint device people's system according to claim 7, it is characterised in that: the one of the intermediate studdle
End is connect with composite balls hinge hinge, and the other end of the intermediate studdle is fixedly mounted on the center of the training unit pedestal
On；The composite balls hinge is connect with bottom center's hinge of rotation training platform.
9. rehabilitation training machine for ankle joint device people's system according to claim 8, it is characterised in that: the one end of the connection board is solid
It is scheduled on the training unit pedestal, the other end is fixed in the support base.
10. rehabilitation training machine for ankle joint device people's system according to claim 9, it is characterised in that: the angle of the voussoir
It is 15 degree to 75 degree.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107803820B (en) * | 2017-10-16 | 2020-09-22 | 清华大学 | Three-degree-of-freedom parallel mechanism ankle joint rehabilitation device |
| CN108096794B (en) * | 2018-01-31 | 2023-08-11 | 力迈德医疗（广州）有限公司 | Balance rehabilitation training robot |
| CN108565000B (en) * | 2018-04-03 | 2021-12-14 | 宁波易力加运动科技有限公司 | Sports equipment control system based on servo motor |
| CN108433912B (en) * | 2018-04-19 | 2023-11-21 | 中国科学院沈阳自动化研究所 | Ankle joint rehabilitation system capable of realizing multi-movement mode for sickbed |
| CN109248044A (en) * | 2018-09-11 | 2019-01-22 | 广东宏穗晶科技服务有限公司 | A kind of knee joint recovery medical robot |
| CN109395333A (en) * | 2018-12-17 | 2019-03-01 | 沈阳建筑大学 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
| CN110064172B (en) * | 2019-04-29 | 2021-04-06 | 威海汇晟智能装备有限公司 | Ankle rehabilitation robot with inertia force dumping balance prevention function |
| CN110559164B (en) * | 2019-09-09 | 2022-06-07 | 上海电气集团股份有限公司 | Control system of lower limb rehabilitation robot |
| CN111803325A (en) * | 2020-06-24 | 2020-10-23 | 深圳市丞辉威世智能科技有限公司 | Control method and device for ankle rehabilitation training, electronic equipment and storage medium |
| CN111759680A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Robot for training human ankle joint |
| CN112440293B (en) * | 2020-11-09 | 2022-06-24 | 中国科学院宁波材料技术与工程研究所 | Force-controlled end effector and industrial robot |
| CN113332678B (en) * | 2021-04-30 | 2023-05-02 | 西安交通大学 | Pneumatic muscle flexible driving parallel ankle joint rehabilitation system and control method |
| CN113693882A (en) * | 2021-09-02 | 2021-11-26 | 南开大学 | Series-parallel system for gait and balance rehabilitation training |
| CN114129392B (en) * | 2021-12-07 | 2023-07-28 | 山东大学 | Self-adaptive redundant driving exoskeleton rehabilitation robot capable of regulating and controlling fingertip force at tail end |
| CN114652574B (en) * | 2022-02-08 | 2023-10-17 | 天津大学 | Four-degree-of-freedom parallel robot for ankle fracture postoperative rehabilitation |
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| CN100588384C (en) * | 2006-09-14 | 2010-02-10 | 燕山大学 | Biological fusion type foot joint rehabilitation robot |
| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
| CN102028604B (en) * | 2010-12-21 | 2012-10-03 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
| CN101999970B (en) * | 2010-12-24 | 2013-01-30 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| CN102499854B (en) * | 2011-11-18 | 2014-04-09 | 上海电机学院 | Parallel structure type ankle joint rehabilitation training device |
| CN203183277U (en) * | 2013-03-12 | 2013-09-11 | 汕头大学 | Ankle joint rehabilitation training machine with three rotational degrees of freedom |
| CN103816028B (en) * | 2014-01-28 | 2015-12-02 | 浙江大学 | A kind of ankle joint active-passive composite training rehabilitation system |
| CN203724422U (en) * | 2014-03-08 | 2014-07-23 | 河北联合大学 | Six-degree-of-freedom leg rehabilitation training robot |
| CN205460653U (en) * | 2016-04-08 | 2016-08-17 | 王俊虎 | Ankle joint training ware |
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