CN109700637A - A kind of robot for rehabilitation of anklebone - Google Patents
A kind of robot for rehabilitation of anklebone Download PDFInfo
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- CN109700637A CN109700637A CN201910148136.XA CN201910148136A CN109700637A CN 109700637 A CN109700637 A CN 109700637A CN 201910148136 A CN201910148136 A CN 201910148136A CN 109700637 A CN109700637 A CN 109700637A
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- 210000004233 talus Anatomy 0.000 title claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 210000002683 foot Anatomy 0.000 claims abstract description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 210000003423 ankle Anatomy 0.000 abstract description 7
- 210000000544 articulatio talocruralis Anatomy 0.000 description 14
- 238000000034 method Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000012659 Joint disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Abstract
The present invention relates to a kind of robot for rehabilitation of anklebone, belong to medical rehabilitation engineering field.The present invention includes moving platform, fixed platform and movement branched chain, and moving platform is connect by three movement branched chains with fixed platform；Movement branched chain includes prismatic pair, is fixed on the universal pair at prismatic pair both ends；Universal pair is made of the first revolute pair and the second revolute pair；First revolute pair is fixed on prismatic pair end；When universal pair connection prismatic pair and moving platform, the second revolute pair is fixed on moving platform；When universal pair connection prismatic pair and fixed platform, the second revolute pair is fixed on fixed platform；The pivot center for two the second revolute pairs being fixed in each movement branched chain intersects at a point；Rotational freedom and an one-movement-freedom-degree there are two the foot pedal present invention tools for fixing sole is arranged in moving platform, be able to drive human ankle realize rotation before/supination, inversion/eversion movement, and may be implemented pivot center height is adjusted to ensure that pivot center overlaps with model of human ankle axis of movement.
Description
Technical field
The present invention relates to medical rehabilitation engineering field, specifically a kind of robot for rehabilitation of anklebone.
Technical background
Ankle-joint is the important load-bearing of human body and movable joint, and ankle-joint all plays important in the standing of human body, walking
Effect, due to ankle-joint bear a heavy burden during exercise it is larger and since its own design feature is particularly easy to damage during exercise,
People there are many annual loses proper motion energy because the reasons such as injury gained in sports, apoplexy, ankle-joint disease cause ankle-joint impaired
Power.Medical research shows that scientific and effective rehabilitation training can accelerate damaged tissues healing, is conducive to restore tough band body sense
Feel, prevent synarthrophysis, maintain joint flexibility ratio, accelerate the rehabilitation in joint, ten are played for the motion function recovery of patient
Divide important role.
Existing ankle joint rehabilitation training method is mainly the fortune that care-giving professional helps patient manual simulation ankle-joint
It is dynamic, but this method is to the more demanding of nursing staff, and labor intensity is larger, so rehabilitation training costly, efficiency
Low, therapeutic effect is irregular, and subjectivity is big, is unfavorable for administering.To solve this problem, needing to develop some can replace people
The ankle joint rehabilitation device of work rehabilitation nursing personnel.
Currently, have existed some species of ankle joint rehabilitation device in the market, but existing ankle joint rehabilitation device some
It cannot achieve being overlapped for mechanism center of rotation and ankle motion center, some devices only have 1 or 2 freedom degrees, are unsatisfactory for
The requirement of ankle joint rehabilitation training, training mode do not meet organization of human body demand, are easy to cause secondary damage to patient.
Summary of the invention
The object of the present invention is to provide a kind of robot for rehabilitation of anklebone, are meeting the needs of rehabilitation of anklebone basic exercise
On, the shortcomings that overcoming existing apparatus, to help ankle-joint patient preferably to carry out rehabilitation training.
The technical solution adopted by the present invention to solve the technical problems is: a kind of robot for rehabilitation of anklebone, feature exist
In: including moving platform, fixed platform and movement branched chain, the moving platform is connect by three movement branched chains with fixed platform, and is made
Platform is hanging；The movement branched chain includes prismatic pair, is fixed on the universal pair at prismatic pair both ends；The universal pair is by the first rotation
Secondary and the second revolute pair is constituted；First revolute pair is fixed on prismatic pair end；When universal pair connection prismatic pair and moving platform, the
Two revolute pairs are fixed on moving platform；When universal pair connection prismatic pair and fixed platform, the second revolute pair is fixed on fixed platform；It is fixed
The pivot center of two the second revolute pairs in each movement branched chain intersects at a point；Fixed sole is arranged in the moving platform
Foot pedal.
A further technical solution lies in further include pedestal, support plate, connecting plate；The support plate bottom end is fixed on bottom
On seat, top fixed connecting plate；The fixed platform is fixed on connecting plate.
A further technical solution lies in the prismatic pair is secondary as driving.
A further technical solution lies in the movement branched chain is UPU structure.
A further technical solution lies in the prismatic pair is the linear expansion driving device of servo motor driving；It is described
The first revolute pair is fixed at linear expansion driving device both ends respectively.
A further technical solution lies in the prismatic pair is Linear-electric-cylinder；The Linear-electric-cylinder both ends are solid respectively
Fixed first revolute pair.
The present invention has the following advantages that and the technical effect of high-lighting: three movement branched chains have rigidity using parallel institution
The advantages that good, responding fast, bearing capacity is strong, and control precision is high, and three movement branched chains use identical structure, reduce
The complexity of branch, it is easy to process, therefore reduce costs, apparatus of the present invention have three degree of freedom not only can be preferable
Realization model of human ankle rotation before/supination, inversion/eversion movement, can also realize the adjusting of pivot center short transverse, make
The movement for obtaining the present apparatus is more in line with the movement characteristic of model of human ankle, reaches better rehabilitation efficacy；The present apparatus can answer extensively
For medical institutions such as hospital, family, rehabilitation institution.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the rearview of Fig. 1.
Fig. 3 is movement branched chain concrete structure schematic diagram of the present invention.
Fig. 4 is the robot for rehabilitation of anklebone schematic diagram that the specific embodiment of the invention provides.
1, foot pedal；2, moving platform；3, fixed platform；4, prismatic pair；5, the first revolute pair；6, the second revolute pair；7, it connects
Plate；8, support plate；9, pedestal.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, the technical solution progress in the present invention is described detailed, clear and completely,
Obviously, the embodiment described is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The scope of protection of the invention.
As shown in Figure 1-3, disclosure sets forth a kind of robot for rehabilitation of anklebone comprising moving platform 2,3 and of fixed platform
Movement branched chain, the moving platform 2 are connect by three movement branched chains with fixed platform 3, and keep moving platform 2 hanging；It is fixed on each
The pivot center of two the second revolute pairs in movement branched chain intersects at a point, and three movement branched chains form three points, this three
The plane that a point is formed is the plane of movement S of mechanism, it can be achieved that any one axis rotation in plane of movement, additionally it is possible to realize
The adjusting of pivot center short transverse.Three movement branched chains are respectively movement branched chain A, movement branched chain B and movement branched chain C；It is described
Movement branched chain includes prismatic pair 4, is fixed on the universal pair at prismatic pair both ends；The universal pair is by the first revolute pair 5 and second turn
Dynamic pair 6 is constituted；First revolute pair 5 is fixed on 4 end of prismatic pair；When universal pair connection prismatic pair 4 and moving platform 2, second turn
Dynamic pair 6 is fixed on moving platform 2；When universal pair connection prismatic pair 4 and fixed platform 3, the second revolute pair 6 is fixed on fixed platform 3；Gu
The pivot center for two the second revolute pairs 6 being scheduled in each movement branched chain intersects at a point；Fixed feet is arranged in the moving platform 2
The foot pedal 1 of the palm.
As shown in figure 4, further including pedestal 9, support plate 8, connecting plate 7 in the preferred embodiment of the present invention；The support plate 8
Bottom end is fixed on pedestal 9, top fixed connecting plate 7；The fixed platform 3 is fixed on connecting plate 7.
In the preferred embodiment of the present invention, the prismatic pair 4 is secondary as driving.
In the preferred embodiment of the present invention, the movement branched chain is UPU structure.
In the preferred embodiment of the present invention, the prismatic pair 4 is the linear expansion driving device of servo motor driving；It is described straight
The first revolute pair 5 is fixed at line retractable driving device both ends respectively.
Above-mentioned linear expansion driving device and its servo motor can be worm drive (such as: bolt and nut driver
Structure), nut is directly driven by servo motor or drives its rotation by transmission device, so that screw rod be made to move linearly；?
It can be servo motor to directly drive or drive an oil pump to provide power oil by transmission device, by power oil drive cylinder
Piston rod is set to move linearly.
In the preferred embodiment of the present invention, the prismatic pair 4 is Linear-electric-cylinder；The Linear-electric-cylinder both ends are fixed respectively
First revolute pair 5.
In specific implementation process, foot is put on the footrests and is fixed in the case where keeping sitting posture state by patient, then leads to
The adjusting for overregulating the prismatic pair realization device pivot center short transverse in three movement branched chains, is adjusted to mechanism axis of rotation
After being overlapped with model of human ankle axis of movement, then patient legs are fixed on fixed platform with elastic band.Subsequently pass through control
Make three movement branched chains mobile auxiliary drive moving platform drive patient's ankle realize rotation before/supination, inversion/eversion movement, thus
Achieve the effect that rehabilitation training.
The present invention has three degree of freedom, not only has the freedom degree that any one axis rotates in plane of movement, also
One-movement-freedom-degree with short transverse, thus the mechanism not only can satisfy the rotation of ankle-joint before/supination, inversion/eversion fortune
It is dynamic, additionally it is possible to realize the adjusting of pivot center short transverse to be more in line with the structural difference of different human body ankle-joint.
Claims (6)
1. a kind of robot for rehabilitation of anklebone, it is characterised in that: including moving platform, fixed platform and movement branched chain, the moving platform
It is connect by three movement branched chains with fixed platform, and keeps moving platform hanging；The movement branched chain includes prismatic pair, is fixed on movement
The universal pair at secondary both ends；The universal pair is made of the first revolute pair and the second revolute pair；First revolute pair is fixed on prismatic pair
End；When universal pair connection prismatic pair and moving platform, the second revolute pair is fixed on moving platform；When universal pair connection prismatic pair with
When fixed platform, the second revolute pair is fixed on fixed platform；It is fixed on the rotation axis of two the second revolute pairs in each movement branched chain
Line intersects at a point；The foot pedal of fixed sole is arranged in the moving platform.
2. a kind of robot for rehabilitation of anklebone according to claim 1, which is characterized in that further include pedestal, support plate, company
Fishplate bar；The support plate bottom end is fixed on the base, top fixed connecting plate；The fixed platform is fixed on connecting plate.
3. a kind of robot for rehabilitation of anklebone according to claim 1, which is characterized in that the prismatic pair is as driving
It is secondary.
4. a kind of robot for rehabilitation of anklebone according to claim 1, which is characterized in that the movement branched chain is UPU knot
Structure.
5. a kind of robot for rehabilitation of anklebone according to claim 3, which is characterized in that the prismatic pair is servo motor
The linear expansion driving device of driving；The first revolute pair is fixed at linear expansion driving device both ends respectively.
6. a kind of robot for rehabilitation of anklebone according to claim 3, which is characterized in that the prismatic pair is straight line electric
Cylinder；The first revolute pair is fixed at the Linear-electric-cylinder both ends respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910148136.XA CN109700637B (en) | 2019-02-28 | 2019-02-28 | Ankle joint rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910148136.XA CN109700637B (en) | 2019-02-28 | 2019-02-28 | Ankle joint rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109700637A true CN109700637A (en) | 2019-05-03 |
| CN109700637B CN109700637B (en) | 2024-02-23 |
Family
ID=66265215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910148136.XA Active CN109700637B (en) | 2019-02-28 | 2019-02-28 | Ankle joint rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109700637B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110711109A (en) * | 2019-09-24 | 2020-01-21 | 燕山大学 | Metamorphic parallel mechanism suitable for ankle joint rehabilitation |
| CN111358664A (en) * | 2020-03-20 | 2020-07-03 | 裴绪群 | Neurological rehabilitation training device based on human habits |
| CN111700774A (en) * | 2020-07-21 | 2020-09-25 | 河北工业大学 | Motion decoupling ankle joint fitting mechanism |
| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
| CN111759678A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Four-degree-of-freedom parallel robot for leg rehabilitation |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN112137842A (en) * | 2020-10-23 | 2020-12-29 | 中国石油大学(华东) | Parallel three-degree-of-freedom ankle joint rehabilitation robot |
| CN112957691A (en) * | 2021-02-04 | 2021-06-15 | 哈尔滨工业大学 | Somatosensory simulation parallel motion platform integrating human body deep sensation and vestibular sensation |
| CN114259379A (en) * | 2021-11-30 | 2022-04-01 | 刘海恩 | Auxiliary rehabilitation equipment for orthopedic trauma |
| CN115040357A (en) * | 2022-05-31 | 2022-09-13 | 燕山大学 | Ankle joint rehabilitation robot based on 3-PUU/R hybrid mechanism |
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| CN103070757A (en) * | 2013-01-08 | 2013-05-01 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110711109B (en) * | 2019-09-24 | 2021-02-09 | 燕山大学 | Metamorphic parallel mechanism suitable for ankle joint rehabilitation |
| CN110711109A (en) * | 2019-09-24 | 2020-01-21 | 燕山大学 | Metamorphic parallel mechanism suitable for ankle joint rehabilitation |
| CN111358664A (en) * | 2020-03-20 | 2020-07-03 | 裴绪群 | Neurological rehabilitation training device based on human habits |
| CN111700774A (en) * | 2020-07-21 | 2020-09-25 | 河北工业大学 | Motion decoupling ankle joint fitting mechanism |
| CN111700774B (en) * | 2020-07-21 | 2024-03-29 | 河北工业大学 | Ankle joint fitting mechanism with motion decoupling function |
| CN111759677A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
| CN111759678A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Four-degree-of-freedom parallel robot for leg rehabilitation |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN111759678B (en) * | 2020-08-06 | 2022-04-26 | 马鞍山学院 | Four-degree-of-freedom parallel robot for leg rehabilitation |
| CN112137842B (en) * | 2020-10-23 | 2023-05-23 | 中国石油大学(华东) | Parallel three-degree-of-freedom ankle joint rehabilitation robot |
| CN112137842A (en) * | 2020-10-23 | 2020-12-29 | 中国石油大学(华东) | Parallel three-degree-of-freedom ankle joint rehabilitation robot |
| CN112957691A (en) * | 2021-02-04 | 2021-06-15 | 哈尔滨工业大学 | Somatosensory simulation parallel motion platform integrating human body deep sensation and vestibular sensation |
| CN114259379B (en) * | 2021-11-30 | 2023-12-26 | 刘海恩 | Auxiliary rehabilitation equipment for orthopaedics wound |
| CN114259379A (en) * | 2021-11-30 | 2022-04-01 | 刘海恩 | Auxiliary rehabilitation equipment for orthopedic trauma |
| CN115040357B (en) * | 2022-05-31 | 2023-02-21 | 燕山大学 | Ankle joint rehabilitation robot based on 3-PUU/R hybrid mechanism |
| CN115040357A (en) * | 2022-05-31 | 2022-09-13 | 燕山大学 | Ankle joint rehabilitation robot based on 3-PUU/R hybrid mechanism |
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| CN109700637B (en) | 2024-02-23 |
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