CN111904801A - Series-parallel flexible ankle joint rehabilitation device - Google Patents
Series-parallel flexible ankle joint rehabilitation device Download PDFInfo
- Publication number
- CN111904801A CN111904801A CN202010992077.7A CN202010992077A CN111904801A CN 111904801 A CN111904801 A CN 111904801A CN 202010992077 A CN202010992077 A CN 202010992077A CN 111904801 A CN111904801 A CN 111904801A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- bearing
- unit
- platform
- belt wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 28
- 238000005452 bending Methods 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 22
- 210000003423 ankle Anatomy 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 8
- 210000002683 foot Anatomy 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010058031 Joint adhesion Diseases 0.000 description 1
- 206010023201 Joint contracture Diseases 0.000 description 1
- 241001227561 Valgus Species 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a series-parallel flexible ankle joint rehabilitation device, which comprises: the device comprises an internal and external rotation unit, a restraint branched chain, an internal and external turning unit, a dorsolarflexion unit and a movable platform unit; the restraint branched chain is internally provided with a bearing platform, a left support connecting rod, a right support connecting rod, an arc connecting rod and a Y-direction support shaft; the left support connecting rod and the right support connecting rod are relatively fixed at the left end and the right end of the bearing platform, two ends of the arc-shaped connecting rod are respectively connected with the top end of the left support connecting rod and the top end of the right support connecting rod through an X-direction rotating shaft in a switching mode, and the top end of the Y-direction support shaft is fixed on the bottom surface of the bearing platform; a base is arranged in the internal and external rotation unit, and the bearing platform is driven by the Y-direction support shaft to rotate around the Y-direction relative to the base; the movable platform unit is provided with a wearing shoe, and is connected with the middle part of the arc-shaped connecting rod in a switching way through a Z-direction rotating shaft; the internal and external overturning units and the dorsometatarsal bending unit are arranged on the bearing platform, and the internal and external overturning units drive the movable platform to rotate around the Z-axis direction; the dorsomerflexion unit drives the movable platform to rotate around the X-axis direction.
Description
Technical Field
The invention belongs to the technical field of medical rehabilitation devices, and relates to a series-parallel flexible ankle joint rehabilitation device.
Background
In recent years, with the development of economy, people pay more attention to physical health and life quality, the demand of the injured and disabled for rapid and thorough rehabilitation of ankle joints is increased rapidly, and the research of ankle joint rehabilitation institutions arouses the general attention of scientific research personnel. Relevant clinical medicine proves that correct, scientific ankle joint rehabilitation training plays very important effect to the recovery of limbs motion function with improving, not only can maintain joint activity degree, prevent joint contracture and adhesion, can obviously improve the final recovered degree of patient's motion function moreover. The research of the ankle joint rehabilitation institution is directly oriented to market application and has optimistic application prospect. The rehabilitation robot technology is converted into a robot product, and has more practical significance for improving the rehabilitation quality of patients and simplifying the heavy treatment process of one-to-one therapists and the patients. Meanwhile, achievement transformation can drive the development of a new robot industry, which plays an important role in the development of national economy. At present, various ankle joint rehabilitation instruments applied at home and abroad and various ankle joint rehabilitation robots developed by scientific researchers are simple mechanical tools, have single functions, need the assistance of people when in use, and have low efficiency and poor curative effect.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a series-parallel flexible ankle rehabilitation device which has three degrees of freedom of dorsal extension/plantar flexion, inversion/eversion and adduction/abduction, has the characteristics of independent control and independent movement in the three degrees of freedom of rotation, is easy to realize, has a simple structure and low cost, and can safely and reliably realize ankle rehabilitation training of patients.
The invention provides a series-parallel connection type flexible ankle joint rehabilitation device, which comprises: the device comprises an internal and external rotation unit, a restraint branched chain, an internal and external turning unit, a dorsolarflexion unit and a movable platform unit;
the restraint branched chain is internally provided with a bearing platform, a left support connecting rod, a right support connecting rod, an arc connecting rod and a Y-direction support shaft; the left support connecting rod and the right support connecting rod are relatively fixed at the left end and the right end of the bearing platform, two ends of the arc-shaped connecting rod are respectively connected with the top end of the left support connecting rod and the top end of the right support connecting rod in a switching mode through an X-direction rotating shaft, and the top end of the Y-direction support shaft is fixed on the bottom surface of the bearing platform;
the bearing platform can rotate around the Y-axis direction relative to the base under the drive of the Y-axis support shaft;
the movable platform unit is provided with a wearing shoe, and is connected with the middle part of the arc-shaped connecting rod in a switching way through a Z-direction rotating shaft;
the inward and outward turning unit and the dorsometatarsal bending unit are arranged on the bearing platform, and the inward and outward turning unit drives the movable platform unit to rotate around the Z-axis direction; the dorsomerflexion unit drives the movable platform unit to rotate around the X-axis direction.
In the series-parallel connection type flexible ankle rehabilitation device of the present invention, the internal/external rotation unit includes: the device comprises a base, a small-hole bevel gear, a first motor, a first encoder and a first bearing; the first motor is fixed on the base, the first motor is a motor with double output shafts, the small-hole bevel gear is installed on a front output shaft of the first motor, the first encoder is installed on a rear output shaft of the first motor, a bearing hole is formed in the center of the base, and the first bearing is installed in the bearing hole; the Y-direction supporting shaft of the restraint branched chain is sleeved with a large-hole bevel gear, the large-hole bevel gear is meshed with the small-hole bevel gear, and the tail end of the Y-direction supporting shaft is matched and rotatably connected with the first bearing.
In the series-parallel flexible ankle joint rehabilitation device, a second bearing is arranged at the top end of a left support connecting rod of the restraint branched chain, a third bearing is arranged at the top end of a right support connecting rod of the restraint branched chain, X-direction rotating shafts are arranged at two ends of an arc-shaped connecting rod, and the arc-shaped connecting rod is in matched rotating connection with the second bearing and the third bearing through the X-direction rotating shafts at the two ends; the restraint branched chain is also provided with a second encoder and a third encoder, the second encoder is arranged on the right support connecting rod, and the X-direction rotating shaft on the right side of the arc-shaped connecting rod extends into a shaft sleeve of the second encoder and can feed back the rotating angle of the arc-shaped connecting rod; the third encoder is mounted on the arc-shaped connecting rod.
In the series-parallel connection type flexible ankle rehabilitation device of the present invention, the movable platform unit includes: the device comprises an upper movable platform, a connecting block and a lower movable platform; the upper moving platform is of an annular structure, the Z-direction rotating shaft is arranged on the outer peripheral surface of the upper moving platform, the middle part of the arc-shaped connecting rod is provided with a fourth bearing, the upper moving platform is matched and rotatably connected with the fourth bearing through the Z-direction rotating shaft, and the Z-direction rotating shaft extends into a shaft sleeve of the third encoder and can feed back the rotating angle of the upper moving platform; the upper end of the connecting block is connected with the upper movable platform through a screw, the lower end of the connecting block is provided with a groove, and the lower movable platform is connected with the groove of the connecting block through a bolt and can move in the groove to realize the up-and-down movement of the lower movable platform; the lower movable platform is provided with a magic tape to form a wearing shoe for fixing feet.
In the series-parallel connection type flexible ankle rehabilitation device of the present invention, the varus/valgus unit includes: the device comprises a second motor, a first synchronous belt, a first driving belt wheel, a first driven belt wheel, a first belt wheel supporting block and two universal ball head bearings; the universal ball head bearing comprises a bearing platform, a first driving belt wheel, a first driven belt wheel, a second motor, a first belt wheel supporting block, a first synchronous belt, a first driving belt wheel, a first driven belt wheel, a first synchronous belt, screws and a screw hole, wherein the second motor and the first belt wheel supporting block are fixed at two ends of the bearing platform along the X-axis direction, the first driving belt wheel is installed on an output shaft of the second motor, the first driven belt wheel is installed on the first belt wheel supporting block, the first synchronous belt is wound on the first driving belt wheel and the first driven belt wheel, the screws are installed at two ends of the first synchronous belt and are connected with the screw.
In the series-parallel flexible ankle joint rehabilitation device of the present invention, the dorsometatarsal flexion unit includes: the third motor, a second synchronous belt, a second driving belt wheel, a second driven belt wheel, a second belt wheel supporting block and two universal ball head bearings; the third motor and the second belt pulley supporting block are fixed at two ends of the bearing platform along the Z-axis direction, the second driving belt pulley is installed on an output shaft of the third motor, the second driven belt pulley is installed on the second belt pulley supporting block, the second synchronous belt is wound on the second driving belt pulley and the second driven belt pulley, screws are installed at two ends of the second synchronous belt and are connected with threaded holes in the ball sleeve end of the universal ball head bearing in a matched mode through the screws, and a ball head end stud of the universal ball head bearing is fastened on the upper moving platform through a nut.
In the series-parallel flexible ankle joint rehabilitation device, the bearing hole in the center of the base is a stepped hole so as to facilitate the axial positioning of the first bearing.
The series-parallel flexible ankle joint rehabilitation device disclosed by the invention at least has the following beneficial effects:
1. the series-parallel flexible ankle joint rehabilitation device has three degrees of freedom of dorsal extension/plantar flexion, inversion/eversion and adduction/abduction, is complete in function, has no redundancy in mechanism degrees of freedom, can drive the ankle joint of a patient to move in three degrees of freedom, can realize the standard range of motion of the ankle joint of a human body, and enables the patient to perform more effective rehabilitation training.
2. The series-parallel flexible ankle joint rehabilitation device provided by the invention is mainly driven by the synchronous belt, and has the characteristics of small inertia and difficulty in causing harmful impact; in addition, the rotation center of the rehabilitation device is coincident with the rotation center of the ankle joint, so that the ankle joint is effectively prevented from causing secondary damage.
3. The three rotational degrees of freedom of the series-parallel flexible ankle joint rehabilitation device have the characteristics of independent control and independent movement, and are easy to realize; in addition, the ankle rehabilitation training device is simple in structure and low in cost, and can safely and reliably realize ankle rehabilitation training of patients.
Drawings
FIG. 1 is a schematic structural diagram of a series-parallel flexible ankle rehabilitation device according to the present invention;
FIG. 2 is a schematic structural diagram of the internal and external rotation unit of the present invention;
FIG. 3 is a schematic diagram of the structure of a constraining branch of the present invention;
FIG. 4 is a schematic structural diagram of the movable platform unit of the present invention;
FIG. 5 is a schematic structural diagram of the inside-outside turning unit of the present invention;
fig. 6 is a schematic structural view of the dorsometatarsal unit of the present invention.
Detailed Description
As shown in fig. 1, defining three-dimensional space coordinates, the series-parallel flexible ankle rehabilitation device of the present invention comprises: the device comprises an internal and external rotation unit, a restraint branched chain, an internal and external overturn unit, a dorsolarflexion unit and a movable platform unit. The internal and external rotation units and the dorsolarflexion unit form a parallel mechanism, and the internal and external rotation units and the parallel mechanism are fixedly connected with the support shaft 3 and the bearing platform 7 through bolts to form a serial relation.
As shown in fig. 3, the restraint branched chain is provided with a bearing platform 8, a left support link 9, a right support link 10, an arc link 11 and a Y-direction support shaft 7. Left side support link 9, right support link 10 relatively fixed both ends about bearing platform 8, the both ends of arc connecting rod 11 are respectively through X to the top switching of pivot 12 and left support link 9, right support link 10, Y is fixed at the bottom surface of bearing platform 8 to the top of back shaft 7. The inside and outside rotating unit is internally provided with a base 1, and the bearing platform 8 can rotate around the Y-axis direction relative to the base 1 under the drive of the Y-direction supporting shaft 7. The movable platform unit is provided with a wearable shoe, and is connected with the middle part of the arc-shaped connecting rod 11 through a Z-direction rotating shaft 17. The inward-outward turning unit and the dorsometatarsal bending unit are arranged on a bearing platform 8, and the inward-outward turning unit drives the movable platform unit to rotate around the Z-axis direction; the dorsomerflexion unit drives the movable platform unit to rotate around the X-axis direction.
As shown in fig. 2, the inside and outside rotation unit includes: the device comprises a base 1, a small-hole bevel gear 2, a first motor 3, a first encoder 4 and a first bearing 5. The center of the base 1 is provided with a bearing hole, and the first bearing 5 is arranged in the bearing hole. Wherein, the bearing hole at the center of the base 1 is a stepped hole, so that the first bearing 5 can be positioned axially. The lower end of the base 1 is cut off with a circular solid body with proper thickness, which is beneficial to reducing weight and reserving a nut installation space. As shown in fig. 3, a large-hole bevel gear 6 is sleeved on a Y-direction support shaft 7 of the constraint branched chain, the large-hole bevel gear 6 and the small-hole bevel gear 2 are meshed with each other, and the tail end of the Y-direction support shaft 7 is in matched and rotating connection with a first bearing 5. The large-hole bevel gear 6 is axially positioned by utilizing the inner ring of the first bearing 5 and is fixed by utilizing a set screw. The first motor 3 is fixed on the base 1, the first motor 3 is a motor with double output shafts, the small-hole bevel gear 2 is installed on a front output shaft of the first motor 3, the first encoder 4 is installed on a rear output shaft of the first motor 3, a semi-closed loop system is formed, and the transmission ratio of the bevel gear set formed by the large-hole bevel gear 6 and the small-hole bevel gear 2 is 1, so that the inward-outward rotation angle of the ankle can be directly fed back.
As shown in fig. 3, a second bearing is arranged at the top end of the left support connecting rod 9 of the restraint branched chain, a third bearing is arranged at the top end of the right support connecting rod 10 of the restraint branched chain, X-direction rotating shafts 12 are arranged at two ends of an arc-shaped connecting rod 11, and the arc-shaped connecting rod 11 is in matched and rotating connection with the second bearing and the third bearing through the X-direction rotating shafts 12 at the two ends; the restraint branched chain is also provided with a second encoder 13 and a third encoder 18, the second encoder 13 is arranged on the right support connecting rod 10, and the X-direction rotating shaft 12 on the right side of the arc-shaped connecting rod 11 extends into a shaft sleeve of the second encoder 13 and can feed back the rotating angle of the arc-shaped connecting rod 11; the third encoder 18 is mounted on the arc link 11.
As shown in fig. 4, the moving platform unit includes: an upper movable platform 14, a connecting block 15 and a lower movable platform 16. The upper moving platform 14 is of an annular structure, the Z-direction rotating shaft 17 is arranged on the outer peripheral surface of the upper moving platform 14, the middle of the arc-shaped connecting rod 11 is provided with a fourth bearing, the upper moving platform 14 is matched and rotatably connected with the fourth bearing through the Z-direction rotating shaft 17, and the Z-direction rotating shaft 17 extends into a shaft sleeve of the third encoder 18 and can feed back the rotating angle of the upper moving platform 14. Connecting block 15 upper end is passed through the screw and is connected with last movable platform 14, and connecting block 14 lower extreme is equipped with the recess, move platform 16 down and pass through bolted connection connecting block 15's recess just can remove in the recess in order to realize down reciprocating of movable platform 16, guarantees mechanism center of rotation and ankle joint center of rotation coincidence, effectively avoids the ankle joint to cause secondary damage. The lower movable platform 16 is provided with a magic tape 18 to form a wearing shoe for fixing feet, so that the feet can be fixed.
As shown in fig. 5, the varus-valgus unit includes: a second motor 20, a first synchronous belt 21, a first driving pulley 22, a first driven pulley 23, a first pulley support block 24 and two universal ball bearings 25. The second motor 20 and the first pulley supporting block 24 are fixed at two ends of the bearing platform 8 along the X-axis direction, the first driving pulley 22 is installed on an output shaft of the second motor 20, the first driven pulley 23 is installed on the first pulley supporting block 24, the first synchronous belt 21 is wound on the first driving pulley 22 and the first driven pulley 23, screws are installed at two ends of the first synchronous belt 21 and are matched and connected with threaded holes at the ball sleeve end of the universal ball head bearing 25 through the screws, and a ball head end stud of the universal ball head bearing 25 is fastened on the upper movable platform 14 through nuts.
As shown in fig. 6, the dorsomerflexion unit includes: a third motor 26, a second timing belt 27, a second driving pulley 28, a second driven pulley 29, a second pulley support block 30 and two universal ball bearings 25. The third motor 26 and the second pulley supporting block 30 are fixed at two ends of the bearing platform 8 along the Z-axis direction, the second driving pulley 28 is installed on an output shaft of the third motor 26, the second driven pulley 29 is installed on the second pulley supporting block 30, the second synchronous belt 27 is wound on the second driving pulley 28 and the second driven pulley 29, screws are installed at two ends of the second synchronous belt 27 and are matched and connected with threaded holes at the ball sleeve end of the universal ball head bearing 25 through screws, and a ball head end stud of the universal ball head bearing 25 is fastened on the upper moving platform 14 through a nut.
In practical implementation, in order to prevent the first timing belt 21 and the second timing belt 27 from interfering with each other, the bottom of the third motor 26 is mounted on the bearing platform 8 through a gasket 31, and the height of the second pulley support block 30 is also higher than the height of the first pulley support block 24, thereby increasing the height of the second timing belt 27.
The invention relates to a series-parallel flexible ankle joint rehabilitation device which is provided with an internal rotation unit, an external rotation unit, an internal and external turning unit and a dorsometatarsal bending unit; the internal and external rotation unit is connected with a parallel mechanism consisting of an internal and external turning unit and a dorsiflexion unit in series to form a hybrid mechanism, and the rotation of the ankle joint in three directions of internal rotation/external rotation, internal turning/external turning and dorsiflexion/plantarflexion can be realized through compound motion, so that the rehabilitation training of a patient is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, which is defined by the appended claims.
Claims (7)
1. The utility model provides a series-parallel connection formula flexible ankle joint rehabilitation device which characterized in that includes: the device comprises an internal and external rotation unit, a restraint branched chain, an internal and external turning unit, a dorsolarflexion unit and a movable platform unit;
the restraint branched chain is internally provided with a bearing platform, a left support connecting rod, a right support connecting rod, an arc connecting rod and a Y-direction support shaft; the left support connecting rod and the right support connecting rod are relatively fixed at the left end and the right end of the bearing platform, two ends of the arc-shaped connecting rod are respectively connected with the top end of the left support connecting rod and the top end of the right support connecting rod in a switching mode through an X-direction rotating shaft, and the top end of the Y-direction support shaft is fixed on the bottom surface of the bearing platform;
the bearing platform can rotate around the Y-axis direction relative to the base under the drive of the Y-axis support shaft;
the movable platform unit is provided with a wearing shoe, and is connected with the middle part of the arc-shaped connecting rod in a switching way through a Z-direction rotating shaft;
the inward and outward turning unit and the dorsometatarsal bending unit are arranged on the bearing platform, and the inward and outward turning unit drives the movable platform unit to rotate around the Z-axis direction; the dorsomerflexion unit drives the movable platform unit to rotate around the X-axis direction.
2. The series-parallel flexible ankle rehabilitation device according to claim 1, wherein the internal and external rotation unit comprises: the device comprises a base, a small-hole bevel gear, a first motor, a first encoder and a first bearing; the first motor is fixed on the base, the first motor is a motor with double output shafts, the small-hole bevel gear is installed on a front output shaft of the first motor, the first encoder is installed on a rear output shaft of the first motor, a bearing hole is formed in the center of the base, and the first bearing is installed in the bearing hole; the Y-direction supporting shaft of the restraint branched chain is sleeved with a large-hole bevel gear, the large-hole bevel gear is meshed with the small-hole bevel gear, and the tail end of the Y-direction supporting shaft is matched and rotatably connected with the first bearing.
3. The series-parallel flexible ankle rehabilitation device according to claim 1, wherein a second bearing is arranged at the top end of the left support connecting rod of the restraint branched chain, a third bearing is arranged at the top end of the right support connecting rod of the restraint branched chain, X-direction rotating shafts are arranged at two ends of the arc-shaped connecting rod, and the arc-shaped connecting rod is in matched and rotating connection with the second bearing and the third bearing through the X-direction rotating shafts at the two ends; the restraint branched chain is also provided with a second encoder and a third encoder, the second encoder is arranged on the right support connecting rod, and the X-direction rotating shaft on the right side of the arc-shaped connecting rod extends into a shaft sleeve of the second encoder and can feed back the rotating angle of the arc-shaped connecting rod; the third encoder is mounted on the arc-shaped connecting rod.
4. The series-parallel flexible ankle joint rehabilitation device according to claim 3, wherein said moving platform unit comprises: the device comprises an upper movable platform, a connecting block and a lower movable platform; the upper moving platform is of an annular structure, the Z-direction rotating shaft is arranged on the outer peripheral surface of the upper moving platform, the middle part of the arc-shaped connecting rod is provided with a fourth bearing, the upper moving platform is matched and rotatably connected with the fourth bearing through the Z-direction rotating shaft, and the Z-direction rotating shaft extends into a shaft sleeve of the third encoder and can feed back the rotating angle of the upper moving platform; the upper end of the connecting block is connected with the upper movable platform through a screw, the lower end of the connecting block is provided with a groove, and the lower movable platform is connected with the groove of the connecting block through a bolt and can move in the groove to realize the up-and-down movement of the lower movable platform; the lower movable platform is provided with a magic tape to form a wearing shoe for fixing feet.
5. The series-parallel flexible ankle rehabilitation device according to claim 4, wherein said varus-valgus unit comprises: the device comprises a second motor, a first synchronous belt, a first driving belt wheel, a first driven belt wheel, a first belt wheel supporting block and two universal ball head bearings; the universal ball head bearing comprises a bearing platform, a first driving belt wheel, a first driven belt wheel, a second motor, a first belt wheel supporting block, a first synchronous belt, a first driving belt wheel, a first driven belt wheel, a first synchronous belt, screws and a screw hole, wherein the second motor and the first belt wheel supporting block are fixed at two ends of the bearing platform along the X-axis direction, the first driving belt wheel is installed on an output shaft of the second motor, the first driven belt wheel is installed on the first belt wheel supporting block, the first synchronous belt is wound on the first driving belt wheel and the first driven belt wheel, the screws are installed at two ends of the first synchronous belt and are connected with the screw.
6. The series-parallel flexible ankle joint rehabilitation device according to claim 4, wherein the dorsomerflexion unit comprises: the third motor, a second synchronous belt, a second driving belt wheel, a second driven belt wheel, a second belt wheel supporting block and two universal ball head bearings; the third motor and the second belt pulley supporting block are fixed at two ends of the bearing platform along the Z-axis direction, the second driving belt pulley is installed on an output shaft of the third motor, the second driven belt pulley is installed on the second belt pulley supporting block, the second synchronous belt is wound on the second driving belt pulley and the second driven belt pulley, screws are installed at two ends of the second synchronous belt and are connected with threaded holes in the ball sleeve end of the universal ball head bearing in a matched mode through the screws, and a ball head end stud of the universal ball head bearing is fastened on the upper moving platform through a nut.
7. The series-parallel flexible ankle rehabilitation device according to claim 2, wherein the bearing hole in the center of the base is a stepped hole to facilitate axial positioning of the first bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010992077.7A CN111904801A (en) | 2020-09-21 | 2020-09-21 | Series-parallel flexible ankle joint rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010992077.7A CN111904801A (en) | 2020-09-21 | 2020-09-21 | Series-parallel flexible ankle joint rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111904801A true CN111904801A (en) | 2020-11-10 |
Family
ID=73265180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010992077.7A Pending CN111904801A (en) | 2020-09-21 | 2020-09-21 | Series-parallel flexible ankle joint rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111904801A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113018109A (en) * | 2021-04-22 | 2021-06-25 | 安徽工业大学 | Series-parallel ankle joint rehabilitation device based on pneumatic soft body structure |
| CN113558928A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
| CN114732675A (en) * | 2022-05-10 | 2022-07-12 | 哈尔滨工业大学 | Rehabilitation robot for assisting in resetting ankle joint |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5170776A (en) * | 1988-07-08 | 1992-12-15 | Pecheux Jean Claude R | Apparatus for continuous passive articular mobilization of the foot |
| CN101006958A (en) * | 2007-01-23 | 2007-08-01 | 四川大学 | Ankle joint rehabilitation training device |
| CN101590651A (en) * | 2009-06-29 | 2009-12-02 | 北京航空航天大学 | The fully-closed loop feedback globe joint that a kind of rope drives |
| CN101664924A (en) * | 2009-08-05 | 2010-03-10 | 河北工业大学 | Two-degree freedom rope traction and parallel-connection mechanism |
| CN103083157A (en) * | 2013-01-22 | 2013-05-08 | 江苏大学 | Five-freedom-degree series-parallel lower limb rehabilitation robot |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN106618954A (en) * | 2016-11-23 | 2017-05-10 | 福州大学 | Series parallel ankle recovery machinery and using method thereof |
| CN108066949A (en) * | 2018-02-11 | 2018-05-25 | 和域医疗（深圳）有限公司 | Bidirectional swinging device |
| CN108703865A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | Rope drives robot for rehabilitation of anklebone |
| CN110302019A (en) * | 2019-06-11 | 2019-10-08 | 上海理工大学 | Vehicular flexibility ankle joint training device |
| CN110559159A (en) * | 2019-09-11 | 2019-12-13 | 河海大学常州校区 | Three-degree-of-freedom parallel ankle joint rehabilitation mechanism and control method thereof |
-
2020
- 2020-09-21 CN CN202010992077.7A patent/CN111904801A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5170776A (en) * | 1988-07-08 | 1992-12-15 | Pecheux Jean Claude R | Apparatus for continuous passive articular mobilization of the foot |
| CN101006958A (en) * | 2007-01-23 | 2007-08-01 | 四川大学 | Ankle joint rehabilitation training device |
| CN101590651A (en) * | 2009-06-29 | 2009-12-02 | 北京航空航天大学 | The fully-closed loop feedback globe joint that a kind of rope drives |
| CN101664924A (en) * | 2009-08-05 | 2010-03-10 | 河北工业大学 | Two-degree freedom rope traction and parallel-connection mechanism |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN103083157A (en) * | 2013-01-22 | 2013-05-08 | 江苏大学 | Five-freedom-degree series-parallel lower limb rehabilitation robot |
| CN106618954A (en) * | 2016-11-23 | 2017-05-10 | 福州大学 | Series parallel ankle recovery machinery and using method thereof |
| CN108066949A (en) * | 2018-02-11 | 2018-05-25 | 和域医疗（深圳）有限公司 | Bidirectional swinging device |
| CN108703865A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | Rope drives robot for rehabilitation of anklebone |
| CN110302019A (en) * | 2019-06-11 | 2019-10-08 | 上海理工大学 | Vehicular flexibility ankle joint training device |
| CN110559159A (en) * | 2019-09-11 | 2019-12-13 | 河海大学常州校区 | Three-degree-of-freedom parallel ankle joint rehabilitation mechanism and control method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 姚立纲;廖志炜;卢宗兴;张俊;: "踝关节章动式康复运动轨迹规划", 机械工程学报, no. 21 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113018109A (en) * | 2021-04-22 | 2021-06-25 | 安徽工业大学 | Series-parallel ankle joint rehabilitation device based on pneumatic soft body structure |
| CN113558928A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
| CN113558928B (en) * | 2021-06-21 | 2023-12-22 | 浙江工业大学 | Ankle joint motion rehabilitation robot |
| CN114732675A (en) * | 2022-05-10 | 2022-07-12 | 哈尔滨工业大学 | Rehabilitation robot for assisting in resetting ankle joint |
| CN114732675B (en) * | 2022-05-10 | 2024-02-09 | 哈尔滨工业大学 | Ankle joint auxiliary resetting rehabilitation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111904801A (en) | Series-parallel flexible ankle joint rehabilitation device | |
| CN109223456B (en) | Lower limb exoskeleton robot system based on man-machine terminal interaction | |
| CN102068367B (en) | Lower limb multi-training mode rehabilitation robot | |
| CN100558322C (en) | Be applicable to paralytic's articulated type walking-aid exoskeleton artificial limb in parallel | |
| CN102113949B (en) | Exoskeleton-wearable rehabilitation robot | |
| CN101984946B (en) | Sitting exoskeleton lower limb rehabilitation robot | |
| CN108814905B (en) | Upper limb rehabilitation platform | |
| CN105520820A (en) | Three-freedom-degree wrist function rehabilitation robot | |
| CN106361537A (en) | Seven-freedom-degree upper limb rehabilitation robot based on combination drive | |
| CN109455246A (en) | A kind of Humanoid Robot Based on Walking device | |
| CN104644377B (en) | A kind of sitting and lying formula recovery set for lower limbs | |
| CN209237264U (en) | Removable ankle-joint exoskeleton rehabilitation image training robot | |
| CN209454891U (en) | A kind of Humanoid Robot Based on Walking device | |
| CN110464601B (en) | Wearable bio-fusion lower limb rehabilitation robot | |
| CN113183176B (en) | Motion decoupling parallel driving type exoskeleton robot ankle joint | |
| CN210750109U (en) | Wrist joint rehabilitation training mechanism | |
| CN111588590A (en) | Six-degree-of-freedom upper limb rehabilitation training arm and robot | |
| CN112137842B (en) | Parallel three-degree-of-freedom ankle joint rehabilitation robot | |
| CN204484679U (en) | A kind of sitting and lying formula recovery set for lower limbs | |
| CN103767815B (en) | Forward type dynamic property ankle foot healing orthosis | |
| CN109124984B (en) | Joint module for upper limb rehabilitation training robot | |
| CN115040357B (en) | Ankle joint rehabilitation robot based on 3-PUU/R hybrid mechanism | |
| CN112057302B (en) | Leg rehabilitation training system | |
| CN212490676U (en) | Six-degree-of-freedom upper limb rehabilitation training arm and robot | |
| CN115227550B (en) | Seven-degree-of-freedom exoskeleton rehabilitation robot compatible with human-machine and capable of avoiding singular |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |