CN111759679B - Multi-degree-of-freedom robot for knee joint rehabilitation training - Google Patents
Multi-degree-of-freedom robot for knee joint rehabilitation training Download PDFInfo
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- CN111759679B CN111759679B CN202010780992.XA CN202010780992A CN111759679B CN 111759679 B CN111759679 B CN 111759679B CN 202010780992 A CN202010780992 A CN 202010780992A CN 111759679 B CN111759679 B CN 111759679B
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- driving module
- platform
- movable platform
- rehabilitation training
- knee joint
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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
- A61H1/024—Knee
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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
- 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
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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
- 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
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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
- 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
- A61H2205/10—Leg
- A61H2205/102—Knee
Abstract
The invention discloses a multi-degree-of-freedom robot for knee joint rehabilitation training, and belongs to the field of industrial robots. The device comprises a static platform, a movable platform, a first driving module, a second driving module and a third driving module, wherein the first driving module, the second driving module and the third driving module are connected between the static platform and the movable platform; the top end of the second driving module is connected with the static platform through a first spherical hinge, and the bottom of the second driving module is connected with the movable platform through a second revolute pair; the top end of the third driving module is connected with the static platform through a second spherical hinge, and the bottom of the third driving module is connected with the movable platform through a third spherical hinge; the movable platform is also provided with a joint rotating unit. Aiming at the current situation that the technical application of the knee joint rehabilitation training robot in the prior art still has an evolutionary space, the robot to be provided has a plurality of degrees of freedom which can simulate the motion mode of knee joint rehabilitation training, and is convenient to apply and good in rehabilitation effect.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a multi-degree-of-freedom robot for knee joint rehabilitation training.
Background
The knee joint is a load bearing joint of a human body, participates in movement, is easy to damage, and is particularly important for postoperative rehabilitation training. At present, the rehabilitation training of knee joint mainly relies on the training with recovered teacher's guidance, and to the robot that is used for knee joint rehabilitation training rarely has practical application, can't satisfy people and carry out the convenience requirement of knee joint rehabilitation training at home. Therefore, with the rapid development of the robot technology, it is important to design a robot mechanism to assist people in performing rehabilitation training of knee joints.
Through retrieval, the Chinese patent application number: 2018114167963, the name of invention creation is: knee joint rehabilitation training robot, this application discloses a knee joint rehabilitation training robot, and it includes: the thigh supporting frame and the crus supporting frame are rotatably connected with the thigh supporting frame; the double-rod hydraulic cylinder is characterized in that two cavities which are arranged in opposite directions are formed in the cylinder body of the double-rod hydraulic cylinder, a piston rod is arranged in each cavity, the cylinder body is fixedly connected to the thigh support frame, and one piston rod is rotatably connected with the shank support frame; the hydraulic unit is communicated with the two chambers; the hydraulic unit can alternately supply media to the two chambers to drive the two piston rods to move so as to drive the shank support frame and the thigh support frame to rotate relatively, and a passive training mode of the knee joint rehabilitation training robot is realized; the shank support frame and the thigh support frame rotate relatively to drive the two piston rods to move, and a medium in one cavity can flow back to the other cavity through the hydraulic unit. The application realizes the active training mode of the knee joint rehabilitation training robot through hydraulic control so as to meet the use requirements of patients in each stage of recovering the motion ability.
At present, the robot technology for knee joint rehabilitation training is disclosed, but the practical application effect and the convenience are different, and the technical optimization of the rehabilitation training robot is a continuously pursued target in the industry.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to provide a multi-degree-of-freedom robot for knee joint rehabilitation training aiming at the current situation that the technical application of a knee joint rehabilitation training robot in the prior art still has an evolutionary space, the multi-degree-of-freedom robot has a plurality of degrees of freedom and can simulate the motion mode of knee joint rehabilitation training, and the multi-degree-of-freedom robot is convenient to apply and has a good rehabilitation effect.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention discloses a multi-degree-of-freedom robot for knee joint rehabilitation training, which comprises a static platform and a dynamic platform which are distributed up and down, and a first driving module, a second driving module and a third driving module which are connected between the static platform and the dynamic platform, wherein the top end of the first driving module is connected with the static platform through a Hooke hinge, and the bottom end of the first driving module is connected with the dynamic platform through a first revolute pair; the top end of the second driving module is connected with the static platform through a first spherical hinge, and the bottom of the second driving module is connected with the movable platform through a second revolute pair; the top end of the third driving module is connected with the static platform through a second spherical hinge, and the bottom of the third driving module is connected with the movable platform through a third spherical hinge; the movable platform is also provided with a joint rotating unit, and the joint rotating unit comprises a joint fixing frame and a rotating assembly for driving the joint fixing frame to rotate.
Furthermore, a first connecting plate is arranged at the top end of the first driving module and is connected with the Hooke hinge through the first connecting plate; the top end of the second driving module is provided with a second connecting plate which is connected with the first spherical hinge through the second connecting plate; and a third connecting plate is arranged at the top end of the third driving module and is connected with the second spherical hinge through the third connecting plate.
Furthermore, the rotating assembly comprises a mounting bracket, the mounting bracket is arranged on the movable platform, a servo motor is arranged on the mounting bracket, the output end of the servo motor is connected with a first gear, the bottom end of the rotating shaft is connected with a second gear meshed with the first gear, the top end of the rotating shaft upwards penetrates through the mounting bracket and is connected with the joint fixing frame, and the rotating shaft is connected with the mounting bracket in a matched mode through a rotating bearing.
Furthermore, the output end of the servo motor is connected with a driving connecting shaft through a tensioning sleeve, and a first gear is connected to the driving connecting shaft.
Further, the bottom end of the rotating shaft is connected to the second gear by a screw.
Furthermore, the first driving module, the second driving module and the third driving module all adopt electric cylinder driving modules.
Furthermore, the first driving module, the second driving module and the third driving module are symmetrically distributed at intervals of 120 degrees.
Furthermore, the first rotating pair and the second rotating pair are respectively and vertically arranged with the edge of the movable platform.
Further, the rotating shaft is vertically installed at the center of the movable platform.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
(1) the multi-degree-of-freedom robot for knee joint rehabilitation training has three rotational degrees of freedom, can simulate the rotational movement of a knee joint, and the translational degree of freedom vertical to the whole rack can be matched with the movement during the rotational rehabilitation movement of a mechanism, so that the movement comfort of legs is provided.
(2) The multi-degree-of-freedom robot for knee joint rehabilitation training realizes two rotational degrees of freedom and one translational degree of freedom at the tail end of the movable platform through the matching of the hook joint, the spherical joint and the revolute pair and the matching of a specific installation position, has the characteristics of large adjustability of a motion range, simple structure, low cost, small occupied space, stable work and the like, and can be widely applied to occasions of medical knee joint rehabilitation training.
Drawings
FIG. 1 is a schematic structural diagram of a multiple-degree-of-freedom robot for knee joint rehabilitation training according to the present invention;
FIG. 2 is a schematic view of a connection structure between a stationary platform and a driving module according to the present invention;
FIG. 3 is a schematic view of a connection structure between the movable platform and the driving module according to the present invention;
FIG. 4 is a schematic view of a connection structure of a joint rotation unit and a movable platform according to the present invention;
fig. 5 is a sectional structure view of the joint rotating unit of the present invention.
The reference numerals in the schematic drawings illustrate:
100. a static platform; 200. a first driving module; 300. a second driving module; 400. a third driving module; 500. a movable platform; 600. a joint rotation unit;
201. hooke's joint; 202. a first connecting plate; 203. a first rotating pair; 301. a first spherical hinge; 302. a second connecting plate; 303. a second revolute pair; 401. a second spherical hinge; 402. a third connecting plate; 403. a third spherical hinge;
601. mounting a bracket; 602. a joint fixing frame; 603. a servo motor; 604. a first gear; 605. a rotating shaft; 606. a second gear; 607. a tensioning sleeve; 608. a rotating bearing; 609. the connecting shaft is driven.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The present invention will be further described with reference to the following examples.
Example 1
As shown in fig. 1 to 5, the multiple degree of freedom robot for knee joint rehabilitation training of the present embodiment includes a static platform 100 and a dynamic platform 500 distributed up and down, and a first driving module 200, a second driving module 300, and a third driving module 400 connected therebetween, wherein an electric cylinder driving module may be specifically adopted; the top end of the first driving module 200 is connected with the static platform 100 through a hooke joint 201, and the bottom end is connected with the movable platform 500 through a first revolute pair 203; the top end of the second driving module 300 is connected with the static platform 100 through a first spherical hinge 301, and the bottom end of the second driving module is connected with the movable platform 500 through a second revolute pair 303; the top end of the third driving module 400 is connected with the static platform 100 through a second spherical hinge 401, and the bottom end is connected with the movable platform 500 through a third spherical hinge 403; specifically, a first connecting plate 202 is disposed at the top end of the first driving module 200, and is connected to the hooke joint 201 through the first connecting plate 202; the top end of the second driving module 300 is provided with a second connecting plate 302, and is connected with the first spherical hinge 301 through the second connecting plate 302; the top end of the third driving module 400 is provided with a third connecting plate 402, and the third connecting plate 402 is connected with the second spherical hinge 401.
In this embodiment, the movable platform 500 is further provided with a joint rotation unit 600, and the joint rotation unit 600 includes a joint fixing frame 602 and a rotation assembly for driving the joint fixing frame 602 to rotate. The rotating assembly comprises a mounting bracket 601, the mounting bracket 601 is arranged on the movable platform 500, a servo motor 603 is arranged on the mounting bracket 601, the output end of the servo motor 603 is connected with a first gear 604, the bottom end of a rotating shaft 605 is connected with a second gear 606 meshed with the first gear 604, the top end of the rotating shaft 605 upwards penetrates through the mounting bracket 601 and is connected with a joint fixing frame 602, and the rotating shaft 605 and the mounting bracket 601 are connected in a matched mode through a rotating bearing 608. Specifically, the output end of the servo motor 603 is connected with a driving connecting shaft 609 through a tensioning sleeve 607, and the driving connecting shaft 609 is fixedly connected with a first gear 604 through a screw; the bottom end of the rotary shaft 605 is also connected to the second gear 606 by screws, and the top end of the rotary shaft 605 is connected to the joint fixing bracket 602 by screws. The joint fixing frame 602 in this embodiment includes a pedal for pedaling, and a locking belt disposed on the pedal for surrounding the fastening foot surface, so as to facilitate pedaling and fixing the position.
In this embodiment, the first driving module 200, the second driving module 300 and the third driving module 400 are symmetrically distributed at intervals of 120 degrees, and the first rotating pair 203 and the second rotating pair 303 are respectively vertically installed with the edge of the movable platform 500; the rotary shaft 605 is vertically installed at the center of the movable platform 500. Specifically, as shown in fig. 1, the static platform 100 includes three connecting panels distributed at an included angle of 120 °, and a group of electric cylinder driving modules is connected below each connecting panel. As shown in fig. 3, the movable platform 500 is designed as a regular hexagon, three sets of connecting seats symmetrically distributed at intervals of 120 ° are disposed on the periphery of the regular hexagon corresponding to the stationary platform 100, the first rotating pair 203, the second rotating pair 303 and the third spherical hinge 403 are respectively disposed on the three sets of connecting seats, and the first rotating pair 203 and the second rotating pair 303 are respectively vertically mounted on the connecting seats. The central axis of the rotating shaft 605 is coincident with the central axis of the movable platform 500, providing a central rotational degree of freedom for the joint rotation.
In this embodiment, the first driving module 200 can drive the movable platform 500 to swing the knee joint in the front-back direction, so as to realize flexion and extension movements of the knee joint; the second driving module 300 and the third driving module 400 can drive the movable platform 500 to swing in the left-right direction, so as to realize the adduction and abduction of the knee joint; the first driving module 200, the second driving module 300 and the third driving module 400 are linked to realize the translation of the movable platform 500, and the servo motor 603 drives the joint fixing frame 602 to rotate, so as to realize the rotation of the knee joint.
The robot of the embodiment has three rotational degrees of freedom which can simulate the rotational movement of the knee joint, and the degree of freedom of the flatness vertical to the whole rack can be matched with the movement during the rotational rehabilitation movement, so that the movement comfort of the legs is provided; the robot of the embodiment can realize motion by adopting a force and position mixed control mode of a servo system, can set the motion amplitude and force of the mechanism according to the rehabilitation requirement in a personalized way, adopts a human-computer interface for operation and motion parameter adjustment, is flexible to operate, and can be widely applied to the field of medical rehabilitation.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (5)
1. A multi freedom robot for knee joint rehabilitation training which characterized in that: the device comprises a static platform (100) and a movable platform (500) which are distributed up and down, and a first driving module (200), a second driving module (300) and a third driving module (400) which are connected between the static platform and the movable platform, wherein the top end of the first driving module (200) is connected with the static platform (100) through a Hooke hinge (201), and the bottom end of the first driving module is connected with the movable platform (500) through a first revolute pair (203); the top end of the second driving module (300) is connected with the static platform (100) through a first spherical hinge (301), and the bottom of the second driving module is connected with the movable platform (500) through a second revolute pair (303); the top end of the third driving module (400) is connected with the static platform (100) through a second spherical hinge (401), and the bottom of the third driving module is connected with the movable platform (500) through a third spherical hinge (403); the movable platform (500) is also provided with a joint rotating unit (600), and the joint rotating unit (600) comprises a joint fixing frame (602) and a rotating assembly for driving the joint fixing frame (602) to rotate; the rotating assembly comprises a mounting bracket (601), the mounting bracket (601) is arranged on the moving platform (500), a servo motor (603) is arranged on the mounting bracket (601), the output end of the servo motor (603) is connected with a first gear (604), the bottom end of a rotating shaft (605) is connected with a second gear (606) meshed with the first gear (604), the top end of the rotating shaft (605) upwards penetrates through the mounting bracket (601) and is connected with a joint fixing frame (602), and the rotating shaft (605) is connected with the mounting bracket (601) through a rotating bearing (608) in a matching manner; the first driving module (200), the second driving module (300) and the third driving module (400) are symmetrically distributed at intervals of 120 degrees; the first rotating pair (203) and the second rotating pair (303) are respectively vertically arranged with the edge of the rotating platform (500); the rotating shaft (605) is vertically installed at the center of the movable platform (500).
2. The robot with multiple degrees of freedom for knee joint rehabilitation training according to claim 1, wherein: the top end of the first driving module (200) is provided with a first connecting plate (202), and the first connecting plate (202) is connected with a Hooke joint (201); the top end of the second driving module (300) is provided with a second connecting plate (302) which is connected with the first spherical hinge (301) through the second connecting plate (302); the top end of the third driving module (400) is provided with a third connecting plate (402) which is connected with the second spherical hinge (401) through the third connecting plate (402).
3. The robot with multiple degrees of freedom for knee joint rehabilitation training according to claim 1, wherein: the output end of the servo motor (603) is connected with a driving connecting shaft (609) through a tensioning sleeve (607), and a first gear (604) is connected to the driving connecting shaft (609).
4. The robot with multiple degrees of freedom for knee joint rehabilitation training according to claim 1, wherein: the bottom end of the rotating shaft (605) is connected with the second gear (606) through a screw.
5. The robot with multiple degrees of freedom for knee joint rehabilitation training according to claim 1, wherein: the first driving module (200), the second driving module (300) and the third driving module (400) all adopt electric cylinder driving modules.
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| CN202010780992.XA CN111759679B (en) | 2020-08-06 | 2020-08-06 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
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| CN202010780992.XA CN111759679B (en) | 2020-08-06 | 2020-08-06 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
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| CN111759679B true CN111759679B (en) | 2022-03-29 |
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| CN112957691B (en) * | 2021-02-04 | 2022-04-26 | 哈尔滨工业大学 | Somatosensory simulation parallel motion platform integrating human body deep sensation and vestibular sensation |
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| CN202342398U (en) * | 2011-11-08 | 2012-07-25 | 武汉理工大学 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
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