CN111759680A

CN111759680A - Robot for training human ankle joint

Info

Publication number: CN111759680A
Application number: CN202010781097.XA
Authority: CN
Inventors: 陈华; 叶增林; 吴昊; 孙洒; 陈�田
Original assignee: Maanshan College
Current assignee: Maanshan College
Priority date: 2020-08-06
Filing date: 2020-08-06
Publication date: 2020-10-13

Abstract

The invention discloses a robot for training human ankle joints, and belongs to the field of industrial robots. The invention comprises a fixed pedal and a static platform, wherein a parallel mechanism is arranged between the fixed pedal and the static platform, a rotating mechanism for driving the static platform to rotate is arranged below the static platform, and the parallel mechanism comprises a first driving module, a second driving module and a third driving module which are distributed in a triangular manner; the top ends of the first driving module and the second driving module are respectively connected with the fixed pedal through spherical hinges, and the bottom ends of the first driving module and the second driving module are respectively connected with the static platform through Hooke hinges; the top of the third driving module is connected with the fixed pedal through a third hook hinge, and the bottom of the third driving module is connected with the static platform through a connecting plate. Aiming at the condition that the requirement on the ankle joint training robot is higher and higher in the prior art, the invention provides the robot for training the human ankle joint, which can realize the rehabilitation training movement of the ankle joint and achieve a better rehabilitation training effect.

Description

Robot for training human ankle joint

Technical Field

The invention relates to the technical field of industrial robots, in particular to a robot for training human ankle joints.

Background

The ankle joint is a bearing joint of a human body and participates in movement, is easy to damage, and is particularly important for postoperative rehabilitation training. At present, the rehabilitation training of ankle joint mainly relies on with recovered teacher's training of instructing, and to the robot that is used for ankle joint rehabilitation training rarely has practical application, can't satisfy people and carry out the convenience requirement of ankle joint rehabilitation training at home. Therefore, with the rapid development of the robot technology, it is important to design a robot mechanism for assisting people in rehabilitation training of ankle joints.

Through retrieval, the Chinese patent application number: 2011104184087, the name of invention creation is: an ankle joint rehabilitation training robot comprises a movable platform provided with a pedal, a base provided with a sliding groove and an adjusting mechanism. The adjusting mechanism comprises a central restraint rod, a guide rail, at least two support rods and a driving motor. The central constraint rod is rotatably connected with the movable platform through a spherical pair. The guide rail is accommodated in the chute and comprises a screw rod and a sliding block which is sleeved on the screw rod and can slide on the screw rod. The supporting rods are uniformly distributed around the central constraint rod, one end of each supporting rod is rotatably connected with the movable platform through a spherical pair, and the other end of each supporting rod is movably connected with the sliding block. The driving motor drives the screw rod to rotate, the screw rod rotates to enable the sliding block to slide on the screw rod, so that the supporting rods drive the surface of the movable platform to incline, and the movable platform can incline in different degrees of freedom due to the fact that the supporting rods are at least two. When the affected limb of the patient is placed on the pedal, the patient can do rehabilitation exercises with multiple degrees of freedom, such as inversion/eversion, adduction/abduction, dorsiflexion/plantarflexion and the like along with the inclination of the movable platform.

Also as in chinese patent application No.: 2017104066020, the name of invention creation is: an ankle joint rehabilitation training robot system comprises a PUS + S type parallel joint training unit, a motion monitoring and control unit and a leg supporting unit, wherein the PUS + S type parallel ankle joint training unit is used for positioning soles and simulating actual motion of human ankle joints to perform rehabilitation training on the damaged ankle joints of a human body; the PUS + S type parallel joint training unit comprises a sole positioning and fixing soft groove, a rotary training platform, more than three PUS type moving branched chains, a middle strut and a training unit base; the PUS-type motion branched chain comprises a ball hinge, a connector, a connecting rod, a hooke hinge and a hooke hinge supporting seat; the application provides an ankle joint rehabilitation training robot system which is accurate in motion simulation, adjustable in rehabilitation training intensity and controllable in motion instability.

In summary, a great deal of disclosures have been made on the design of rehabilitation training robots for ankle joints, but there is still a need in the industry for new designs that are more abundant, diversified and more practical.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention aims to provide a robot for training human ankle joints aiming at the condition that the requirement on the robot for training ankle joints is higher and higher in the prior art, and the robot can realize rehabilitation training movement of the ankle joints and achieve a better rehabilitation training effect.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

the robot for training the human ankle joint comprises a fixed pedal and a static platform which are distributed up and down, wherein a parallel mechanism is arranged between the fixed pedal and the static platform, and a rotating mechanism for driving the static platform to rotate is arranged below the static platform; the top ends of the first driving module and the second driving module are respectively connected with the fixed pedal through spherical hinges, and the bottom ends of the first driving module and the second driving module are respectively connected with the static platform through Hooke hinges; the top of the third driving module is connected with the fixed pedal through a third hook hinge, and the bottom of the third driving module is connected with the static platform through a connecting plate.

Furthermore, the rotating mechanism comprises a mounting support, a servo motor is arranged on the mounting support, the output end of the servo motor is connected with a first gear, a second gear meshed with the first gear is arranged at the bottom end of the driving shaft, the driving shaft penetrates through the mounting support in an upward rotating fit mode, and the top end of the driving shaft is connected with the static platform.

Furthermore, the output end of the servo motor is connected with a connecting block through a tensioning sleeve, and the lower end of the connecting block is connected with the first gear through a screw.

Further, the bottom end of the drive 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 centers of the installation positions of the first driving module, the second driving module and the third driving module are connected to form an isosceles right triangle, wherein the installation positions of the first driving module and the second driving module are located at two end points of the hypotenuse of the triangle, and the installation position of the third driving module is located at the right angle vertex of the triangle.

Furthermore, the driving shaft is vertically arranged on the top end face of the mounting bracket, and the position of the axis of the driving shaft is coincident with the axis of the middle point of the hypotenuse of the isosceles right triangle.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

(1) according to the robot for training the human ankle joint, the two rotational degrees of freedom are used for realizing rotational rehabilitation training of the ankle joint in two directions, namely the rehabilitation motions of dorsal extension, toe flexion, inversion and eversion of the ankle joint, and the moving degree of freedom is matched with the rotational degree of freedom to adjust the height of the ankle joint so as to realize integral drafting motion; the rotating mechanism can drive the whole parallel mechanism to realize rotating motion, thereby realizing the adduction and abduction rehabilitation training of the ankle joint.

(2) The robot for training the human ankle joint has the characteristics of large adjustability of motion range, simple structure, low cost, small occupied space, stable work and the like in the whole structural design, and can be widely applied to the occasions of medical ankle joint rehabilitation training.

Drawings

FIG. 1 is a schematic structural view of a human ankle joint training robot according to the present invention;

FIG. 2 is a schematic structural diagram of a parallel mechanism according to the present invention;

FIG. 3 is a schematic structural view of a rotating mechanism according to the present invention;

FIG. 4 is a schematic cross-sectional view of a rotary mechanism according to the present invention;

fig. 5 is a schematic distribution diagram of the parallel mechanism of the present invention.

The reference numerals in the schematic drawings illustrate:

100. fixing the pedal; 200. a first driving module; 300. a second driving module; 400. a third driving module; 500. a static platform; 600. mounting a bracket;

201. a first spherical hinge; 202. a first hook joint; 301. a second spherical hinge; 302. a second hook joint; 401. a third hook joint; 402. a connecting plate; 601. a servo motor; 602. a first gear; 603. a second gear; 604. a drive shaft; 605. a tensioning sleeve; 606. connecting blocks; 607. and rotating the bearing.

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 robot for training the ankle joint of the human body of the present embodiment includes a fixed pedal 100 and a static platform 500 which are distributed up and down, a parallel mechanism is disposed between the fixed pedal 100 and the static platform 500, and a rotating mechanism for driving the static platform 500 to rotate is disposed below the static platform 500, wherein the parallel mechanism includes a first driving module 200, a second driving module 300 and a third driving module 400 which are distributed in a triangular manner, and specifically, an electric cylinder driving module can be adopted; the top ends of the first driving module 200 and the second driving module 300 are respectively connected with the fixed pedal 100 through a spherical hinge, and the bottom ends of the first driving module 200 and the second driving module 300 are respectively connected with the static platform 500 through a Hooke hinge; specifically, the top of the first driving module 200 is connected to the fixed pedal 100 through a first spherical hinge 201, and the bottom of the first driving module 200 is connected to the static platform 500 through a first hooke hinge 202; the top of the second driving module 300 is connected with the fixed pedal 100 through a second spherical hinge 301, and the bottom of the second driving module 300 is connected with the static platform 500 through a second hooke hinge 302; the top end of the third driving module 400 is connected to the fixed pedal 100 through a third hooke joint 401, and the bottom end of the third driving module 400 is connected to the static platform 500 through a connecting plate 402.

As shown in fig. 3 and 4, the rotating mechanism in this embodiment includes a mounting bracket 600, a servo motor 601 is disposed on the mounting bracket 600, a first gear 602 is connected to an output end of the servo motor 601, a second gear 603 engaged with the first gear 602 is disposed at a bottom end of a driving shaft 604, and the driving shaft 604 is upwardly and rotatably fitted to pass through the mounting bracket 600 and a top end thereof is connected to the stationary platform 500. Specifically, the output end of the servo motor 601 is connected with a connecting block 606 through a tensioning sleeve 605, the lower end of the connecting block 606 is connected with a first gear 602 through a screw, similarly, the bottom end of the driving shaft 604 is also connected with a second gear 603 through a screw, and the top end of the driving shaft 604 is connected with the static platform 500 through a screw; the driving shaft 604 is coupled to the mounting bracket 600 through a rotating bearing 607.

In this embodiment, the connection lines of the centers of the installation positions of the first driving module 200, the second driving module 300 and the third driving module 400 form an isosceles right triangle, as shown in fig. 5, wherein the installation positions of the first driving module 200 and the second driving module 300 are located at two end points of the hypotenuse of the triangle, and the installation position of the third driving module 400 is located at the right angle vertex of the triangle. And the driving shaft 604 is vertically installed on the top end surface of the mounting bracket 600, and the position of the axis of the driving shaft 604 coincides with the axis of the middle point of the hypotenuse of the isosceles right triangle, i.e. the axis of the driving shaft 604 is located at the middle point of the hypotenuse of the isosceles right triangle in a top view, so as to provide a central rotational degree of freedom.

In the robot of the embodiment, the two rotational degrees of freedom are used for realizing rotational rehabilitation training of the ankle joint in two directions, namely rehabilitation motions of dorsal extension, toe flexion, inversion and eversion of the ankle joint, and the moving degree of freedom is matched with the rotational degree of freedom to adjust the height of the ankle joint so as to realize integral drafting motion; the rotating mechanism can drive the whole parallel mechanism to realize rotating motion, so that the adduction and abduction rehabilitation training of the ankle joint is realized, the whole structural design has the characteristics of larger adjustability of the motion range, simple structure, lower cost, small occupied space, stable work and the like, and can be widely applied to the occasions of the rehabilitation training of the medical ankle joint.

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

1. The utility model provides a robot is used in human ankle joint training which characterized in that: the device comprises a fixed pedal (100) and a static platform (500) which are distributed up and down, wherein a parallel mechanism is arranged between the fixed pedal (100) and the static platform (500), a rotating mechanism for driving the static platform (500) to rotate is arranged below the static platform, and the parallel mechanism comprises a first driving module (200), a second driving module (300) and a third driving module (400) which are distributed in a triangular manner; the top ends of the first driving module (200) and the second driving module (300) are respectively connected with the fixed pedal (100) through spherical hinges, and the bottom ends of the first driving module (200) and the second driving module (300) are respectively connected with the static platform (500) through Hooke hinges; the top end of the third driving module (400) is connected with the fixed pedal (100) through a third hook joint (401), and the bottom end of the third driving module (400) is connected with the static platform (500) through a connecting plate (402).

2. The robot for training ankle joints of a human body according to claim 1, wherein: the rotating mechanism comprises a mounting bracket (600), a servo motor (601) is arranged on the mounting bracket (600), the output end of the servo motor (601) is connected with a first gear (602), a second gear (603) meshed with the first gear (602) is arranged at the bottom end of a driving shaft (604), the driving shaft (604) penetrates through the mounting bracket (600) in an upward rotating fit mode, and the top end of the driving shaft is connected with the static platform (500).

3. The robot for training ankle joints of a human body according to claim 2, wherein: the output end of the servo motor (601) is connected with a connecting block (606) through a tensioning sleeve (605), and the lower end of the connecting block (606) is connected with a first gear (602) through a screw.

4. The robot for training ankle joints of a human body according to claim 2, wherein: the bottom end of the drive shaft (604) is connected to the second gear (603) by a screw.

5. The robot for training ankle joints of a human body 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.

6. The robot for training ankle joints of a human body according to claim 2, wherein: the centers of the installation positions of the first driving module (200), the second driving module (300) and the third driving module (400) are connected to form an isosceles right triangle, wherein the installation positions of the first driving module (200) and the second driving module (300) are located at two end points of the hypotenuse of the triangle, and the installation position of the third driving module (400) is located at the right angle vertex of the triangle.

7. The robot for training ankle joints of a human body according to claim 6, wherein: the driving shaft (604) is vertically arranged on the top end face of the mounting bracket (600), and the position of the axis of the driving shaft (604) is coincident with the axis of the middle point of the hypotenuse of the isosceles right triangle.