CN115476343A - An ankle joint rehabilitation exoskeleton robot - Google Patents

Abstract

The invention relates to the technical field of medical equipment, in particular to a structural design of an ankle joint rehabilitation exoskeleton robot, which comprises the following components: the device comprises a ball screw driving mechanism (I), a spatial multi-connecting-rod RCM mechanism (II) and a foot rest (III). The method is characterized in that: the push-pull rod of the ball screw driving mechanism is connected with the RCM mechanism through a rotary joint, the RCM mechanism is connected with a foot stand, and the foot of a wearer is placed on the foot stand. The rotation motion of the motor is converted into linear motion through a ball screw connected with the synchronous toothed belt, and a push-pull rod connected with the ball screw pushes and pulls the RCM mechanism, so that a foot stand connected with the other end of the RCM mechanism rotates around the ankle joint of a user, and the ankle foot of the user is helped to perform dorsiflexion and plantarflexion actions. There is also a passive degree of rotational freedom in the links of the RCM mechanism, allowing the user to perform varus and valgus movements about the ankle. The alignment of the rotational axis of the foot rest with the rotational axis of the user's ankle joint allows the wearer to wear comfortably and provides a walking pattern closer to that of a regular person.

Description

An ankle joint rehabilitation exoskeleton robot

technical field

The invention relates to the technical field of medical equipment, in particular to an exoskeleton mechanical structure used for auxiliary rehabilitation after ankle joint injury.

Background technique

During walking, the human ankle joint performs dorsiflexion and plantarflexion movements, thereby generating thrust so that people can move forward normally. Stroke and neurological disorders can lead to a deterioration in a patient's gait pattern, resulting in inefficient walking and abnormal walking posture. This condition can also lead to muscle weakness, so that the foot does not have enough strength to withstand the reaction forces from the ground, which can lead to dangerously unstable walking in the gait pattern. Therefore, a scientific lower limb rehabilitation training method is particularly important. With the advancement of science and technology, exoskeleton robot technology is also developing rapidly, and a large number of applications have also appeared in rehabilitation training. Due to the unique advantages of exoskeleton rehabilitation training, people are paying more and more attention to the development and use of auxiliary and training equipment. The ankle exoskeleton robot assists patients in dorsiflexion and plantarflexion, which can achieve the effect of rehabilitation training.

However, many ankle-joint exoskeleton robots in the past have certain limitations. First, many ankle-joint exoskeleton robots only allow one degree of freedom of movement, thereby limiting the user's ankle joint movement; second, some ankle-joint exoskeleton robots only assist The patient's ankle is plantar flexed off the ground without dorsiflexion assistance, which cannot prevent the foot from drooping during walking; at the same time, many devices are connected to the foot frame to assist movement through metal wires, and the efficiency is low.

Contents of the invention

The invention overcomes the existing technical deficiencies, provides an ankle joint rehabilitation exoskeleton robot, and effectively solves the problems of low degree of freedom, few functions and low efficiency of the existing ankle joint rehabilitation training equipment.

The present invention realizes the purpose of the invention and adopts the following technical solutions:

A structural design of an ankle joint rehabilitation exoskeleton robot, including: a ball screw drive mechanism (I), a space multi-link RCM mechanism (II) and a tripod (III).

Further, the DC motor of the ball screw drive mechanism I is fixed on the connecting piece by screws; the ball screw is fixed on the connecting piece through the screw fixing piece; the synchronous belt connects the motor gear and the screw gear; the ball screw Connect the ball nut; connect the push-pull rod under the ball nut.

Further, the connecting rod 1 and the connecting rod 3 of the space multi-link RCM mechanism II are connected to the fixed frame and the connecting rod 2 through a shaft joint to form a parallelogram; the connecting rod 3 is connected to the connecting rod 4 through a universal joint; Rod 2 and connecting rod 4 are connected together by a stepped shaft.

Further, the deep groove ball bearing of the tripod III is embedded in the bearing shell; the gasket is superimposed in the tripod connecting piece; the tripod, the tripod connecting piece and the bearing casing are connected together with screws.

Beneficial effect:

The present invention compares with prior art, and its beneficial effect is reflected in:

Describe the effect of the technical solution in words. The present invention adopts a two-degree-of-freedom active ankle joint exoskeleton design, which can help patients realize active plantar flexion/dorsiflexion and passive varus/valgus motion. A linear drive mechanism with a high-efficiency ball screw is used to push and pull the two-degree-of-freedom multi-link joint mechanism; in addition, the device can assist the foot to push off the ground, prevent the foot from drooping, and help patients walk more easily; Compared with the skeleton design, the present invention has low weight, compact structure, smaller rotation error, and can realize more comfortable movement.

Description of drawings

Fig. 1 is an overall structural diagram of the present invention;

Figure 2 is a schematic diagram of the structure of the ball screw drive mechanism;

Fig. 3 is a structural schematic diagram of a space multi-link RCM mechanism;

Fig. 4 is a schematic diagram of the tripod structure;

In the figure 1-DC motor, 2-connector, 3-motor gear, 4-synchronous belt, 5-screw gear, 6-screw fixing part, 7-ball screw, 8-ball nut, 9-push-pull rod , 10-fixed frame, 11-connecting rod 1, 12-connecting rod 2, 13-connecting rod 3, 14-connecting rod 4, 15-step shaft, 16-deep groove ball bearing, 17-bearing shell, 18- Tripod connector, 19-pad, 20-foot.

detailed description

The present invention will be described in detail below in conjunction with accompanying drawing

As shown in Figures 1 to 4, the structural design of an ankle joint rehabilitation exoskeleton robot explained in the present invention includes a ball screw drive mechanism I, a space multi-link RCM mechanism II and a tripod III.

Specifically, the DC motor (1) of the ball screw drive mechanism I is fixed on the connecting piece (2) by screws; the ball screw (7) is fixed on the connecting piece (2) by the screw fixing piece (6). On; the synchronous belt (4) is connected to the motor gear (3) and the screw gear (5); the ball screw (7) is connected to the ball nut (8); the ball nut (8) is connected to the push-pull rod (9).

Specifically, the connecting rod 1 (11) and the connecting rod 3 (13) of the space multi-link RCM mechanism II are connected to the fixed frame (10) and the connecting rod 2 (12) through a shaft joint to form a parallelogram; Rod 3 (13) is connected to connecting rod 4 (14) through a universal joint; connecting rod 2 (12) and connecting rod 4 (14) are connected together through a stepped shaft (15).

Specifically, the deep groove ball bearing (16) of the tripod III is embedded in the bearing housing (17); the gasket (19) is superimposed in the tripod connector (18); the tripod (20), the tripod The connector (18) and the bearing housing (17) are screwed together.

Working process of the present invention:

When working, the ankle exoskeleton robot is fixed on the front of the patient's calf, the screw fixing part (6) and the fixing frame (10) play the role of a fixing device, and the patient's shoes are fixed on the tripod, and the tripod Move the patient's foot into plantarflexion and dorsiflexion.

The rotary motion of the motor (1) is transmitted to the ball screw (7) through the synchronous belt (4), and the ball screw (7) controls the push-pull rod (9) to perform linear motion through the ball nut (8). The push-pull rod (9) is connected with the connecting rod 3 (13) through the rotary joint at the end. The connecting rod 3 (13) is connected with the connecting rod 4 (14) through a universal joint, so the push-pull force of the push-pull rod (9) can drive the connecting rod 4 (14) to move. In the parallelogram formed by the fixed frame (10), connecting rod 1 (11), connecting rod 2 (12), and connecting rod 3 (13), the rotation of connecting rod 3 (13) drives connecting rod 1 (11) and For the movement of the connecting rod 2 (12), since the connecting rod 2 (12) is closer to the fixed frame (10), the translational linear velocity of the lower end of the connecting rod 2 (12) is smaller than the translational linear velocity of the lower end of the connecting rod 4 (14) , at this time, the translation speeds at both ends of the stepped shaft (15) are different, and the stepped shaft (15) can generate rotational motion around the rotation center at the far end. This assists the patient in plantarflexion and dorsiflexion.

The stepped shaft (15) passes through the deep groove ball bearing (16), the tripod (20) can rotate around the shaft, and the patient can make varus and valgus movements. In addition, the spacers (19) are each 5 mm, and can be superimposed and placed in the tripod connector (18), so that the left and right positions of the tripod (20) can be adjusted to give the patient a comfortable wearing experience.

The above embodiments are only exemplary illustrations of this patent, and do not limit its protection scope. Those skilled in the art can also make partial changes to it, as long as they do not exceed the spirit and essence of this patent, they are all within the protection scope of this patent.

Claims (4)

1. A structural design of an ankle joint rehabilitation exoskeleton robot, comprising: a ball screw drive mechanism (I), a space multi-link RCM mechanism (II) and a tripod (III), characterized in that the ball screw drive mechanism The push-pull rod (9) of (I) is hinged with the connecting rod (13) of the space multi-link RCM mechanism (II) through a rotary joint, and the stepped shaft (15) of the space multi-link RCM mechanism (II) passes through the deep groove ball Bearing (16) connects tripod. 2. A kind of ankle joint rehabilitation exoskeleton robot structural design according to claim 1, is characterized in that, described ball screw driving mechanism (I) comprises: DC motor (1), connector (2), motor Gear (3), timing belt (4), lead screw gear (5), lead screw fixture (6), ball screw (7), ball nut (8), push-pull rod (9). The DC motor (1) is fixed on the connecting piece (2) by screws, and the ball screw (7) is connected to the connecting piece (2) through the screw fixing piece (6); the timing belt (4) is connected to the motor gear (3) and The screw gear (5) transmits the power of the DC motor (1) to the ball screw (7) unit; the ball screw unit controls the pushing and pulling of the push-pull rod (9) through the ball nut (8). 3. A structural design of an ankle joint rehabilitation exoskeleton robot according to claim 1, wherein said space multi-link RCM mechanism (II) comprises: fixed frame (10), connecting rod 1 (11 ), connecting rod 2 (12), connecting rod 3 (13), connecting rod 4 (14), stepped shaft (15). Connecting rod 1 (11), connecting rod 3 (13) are connected connecting rod 2 (12) and fixed frame (10) by shaft joint, wherein fixed frame (10), connecting rod 1 (11), connecting rod 2 ( 12) and the connecting rod 3 (13) form a parallelogram; the connecting rod 3 (13) is connected with the connecting rod 4 (14) through a universal joint; the connecting rod 2 (12) and the connecting rod 4 (14) pass through the stepped shaft (15 ) connected. 4. A kind of ankle joint rehabilitation exoskeleton robot structural design according to claim 1, is characterized in that, described tripod (Ⅲ) comprises: deep groove ball bearing (16), bearing housing (17), tripod Connector (18), spacer (19), tripod (20). Deep groove ball bearings (16) are embedded in the bearing housing (17), allowing the tripod to rotate around the axis; each 5mm thick gasket (19) is superimposed in the tripod connector (18) for adjusting the tripod ( 20) position; bearing housing (17), tripod connector (18), gasket (19) and tripod (20) are connected together with screws.

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