CN117224361A - Rope-driven ankle joint rehabilitation robot - Google Patents

Abstract

The invention provides a rope-driven ankle joint rehabilitation robot, which has higher human-machine structure matching, better compliance and safety, better human-computer interaction, and is beneficial to improving the effect and efficiency of ankle joint rehabilitation training. The pulley is installed on the calf support plate; the coronal axis joint plate is fixedly connected to the ankle support plate; the bottom of the vertical axis joint plate is rotationally connected to the coronal axis joint plate, and the rotation axis is parallel to the sagittal axis of the human ankle joint; the rope drive system is installed on on the base bracket and connected to the driving rope. The driving rope passes through the pulley and is connected to the foot support plate; the inclination adjustment mechanism is installed on the base bracket, and the moving part is installed on the inclination adjustment mechanism; the arc guide rail is fixedly installed on the calf support on the board; the slider is slidably installed on the arc guide rail; the top of the vertical axis joint plate is fixed to the slider; the height adjustment mechanism is installed on the sole support plate; the ankle support plate is rotated and installed on the height adjustment mechanism, and the rotation axis is in line with the human ankle The coronal axes of the joints are parallel.

Description

A rope-driven ankle rehabilitation robot

Technical field

The invention relates to a rope-driven ankle joint rehabilitation robot and belongs to the field of medical rehabilitation equipment.

Background technique

As the social population ages, cardiovascular and cerebrovascular diseases become younger, and the incidence of stroke and other diseases continues to increase, the number of patients with limb movement dysfunction such as hemiplegia and disability is increasing. Stroke has become the leading cause of adult disability and the second leading cause of death worldwide. It has a high recurrence rate and many complications. The world's medical community has listed it as one of the three major diseases that threaten human health. Neurological disability caused by diseases such as stroke has placed a heavy burden on society and families and will have a significant impact on social and economic development. The problem of rehabilitation of limb motor dysfunction in post-stroke patients has attracted widespread attention around the world.

The ankle joint of the human body is an important part of the lower limbs of the human body. When a person is walking, the weight of the whole body falls on the ankle joint. When performing actions such as running and jumping, it needs to rely on the rotation of the ankle joint in all directions to complete the coordination. It can be said that The ankle joint is the hub where the human body contacts the ground and plays an important role in bearing weight, cushioning foot pressure, and walking. Patients after stroke usually suffer damage to the central nervous system of the brain, resulting in the inability to fully control body movements. Patients' ankle joints commonly have problems such as foot drop, foot inversion, and external rotation. Due to the loss of control of some nerves, the muscles cannot move the body. The ankle remains in a normal position. If it cannot receive rehabilitation treatment in time, it will lead to changes in the characteristics of the muscles and connective tissues, which will lead to diseases such as muscle disuse atrophy, causing irreversible damage and seriously affecting the patient's daily life. According to the theory of brain plasticity and functional reorganization, for ankle joint movement dysfunction caused by stroke, rehabilitation training of the ankle joint in the early postoperative period can significantly reduce the stiffness of the ankle muscles and improve the soft tissue extensibility and viscoelasticity of the muscles. , thereby promoting the recovery of lower limb motor functions. Traditional rehabilitation treatment requires one-on-one repetitive rehabilitation training by rehabilitation physiotherapists. This treatment method that relies on rehabilitation physiotherapists has the following shortcomings: (1) high labor intensity and low efficiency; (2) relying on experience, Difficult to quantify; (3) Imprecise treatment methods limit the effectiveness of rehabilitation treatment. In addition, my country's medical resources are limited, the number of rehabilitation physiotherapists is small, and the cost of rehabilitation treatment is high, resulting in many patients not receiving timely and effective rehabilitation treatment and missing the best opportunity for rehabilitation treatment. Therefore, it is of great significance to study ankle rehabilitation robots to assist or even replace rehabilitation physical therapists in carrying out rehabilitation training for patients.

In recent years, with the substantial improvement of robot intelligence and bionic technology, rehabilitation robots can approximately simulate the rehabilitation techniques of physical therapists and assist physical therapists in treatment. Based on the robot's high precision, high repeatability and other characteristics, compared with traditional rehabilitation The method has higher recovery efficiency and feedback ability. Since rehabilitation robots have been a research hotspot in the past decade, major universities and research institutes at home and abroad have designed and developed a variety of assistive robots for daily activities and training robots for rehabilitation treatment, and have gradually commercialized them in cooperation with enterprises.

A comprehensive analysis of the current various ankle rehabilitation robots can be divided into two types according to their structural forms: wearable and platform types. The wearable mechanism has less freedom and is difficult to meet comprehensive rehabilitation needs, affecting the rehabilitation effect; the platform mechanism usually has multiple There is a degree of freedom, but there is a large deviation between the rotation center of some mechanisms and the rotation center of the ankle. During the rehabilitation training process, the ankle joint moves with the rotation of the mechanism, which can easily cause discomfort to the patient; distinguished by the driving method, ankle joint rehabilitation robots It can be divided into two categories: rigid drive and flexible drive. Although the rigid drive method is easy to model and control, it has poor compliance, large inertia, and is difficult to carry out structural changes. During the rehabilitation training process, the rigid connecting rod is prone to harmful impacts, causing patient discomfort; the flexible drive method increases the compliance and safety of the mechanism. , but existing flexible drive methods such as artificial muscles, linear cylinders, and series elastic actuators have shortcomings such as high nonlinearity and poor stability when controlled, which affects the actual training effect.

Compared with traditional power transmission methods such as connecting rod transmission, belt transmission, gear transmission, and ball screw transmission, rope drive is one of the most suitable driving methods for rehabilitation robots due to its excellent flexibility and safety. Therefore, in In the past decade, rope-driven rehabilitation robots have attracted increasing attention from researchers.

The applicant applied for a Chinese patent titled an ankle joint rehabilitation training device and robot on February 22, 2021. The application number is 202110200162.X. It includes a base, a support mechanism, a driving mechanism and an inclination adjustment mechanism. The support The mechanism includes a sole support plate, a calf support plate and a rotating joint. The sole support plate is connected to the calf support plate through the rotating joint. The calf support plate is connected to an inclination adjustment mechanism. The inclination of the relative base is adjusted up and down through the inclination adjustment mechanism; the driving mechanism It includes a drive unit, a plurality of ropes and a plurality of line pulleys. At least one rope is fixed at each of the four corners of the foot support plate. At least one line pulley is fixedly fixed on the calf support plate and the base. Each rope is wound in turn. The corresponding pulleys on the calf support plate and the corresponding pulleys on the base are connected to the drive unit. This patented invention uses rigid components and rotating joints to provide three degrees of freedom of rotation, and is driven by flexible ropes to achieve precise movement of the ankle relative to the calf. This patent solution has the following defects: As shown in Figure 6, the rotating joint is a rotating pair composed of two single components. The rotation axis A of the rotating joint in the vertical axis direction is not the same as the rotation axis B of the ankle in the vertical axis direction. Overlapping is not conducive to the adduction/abduction movement of the ankle joint.

Contents of the invention

The object of the present invention is to overcome the above-mentioned deficiencies in the prior art and provide a rope-driven ankle rehabilitation robot with higher human-machine structure matching, better compliance and safety, and better human-machine interaction, which is conducive to improving the ankle joint. Rehabilitation training effectiveness and efficiency.

The technical solution adopted by the present invention to solve the above problems is: a rope-driven ankle rehabilitation robot, which includes a moving part and a base part; the moving part includes a calf support plate, a rotating joint, a sole support plate, a driving rope and a pulley; the pulley is installed on The calf support plate; the sole support plate is located below the calf support plate; the rotating joint includes an ankle support plate, a coronal axis joint plate and a vertical axis joint plate; the coronal axis joint plate is fixedly connected to the ankle support plate; the vertical axis joint plate The bottom of the joint is rotationally connected to the coronal axis joint plate, and the rotation axis is parallel to the sagittal axis of the human ankle joint; the base part includes a rope drive system, an inclination adjustment mechanism and a base bracket; the rope drive system is installed on the base bracket and is connected with the drive rope connection, the driving rope passes through the pulley and is connected to the sole support plate; the inclination adjustment mechanism is installed on the base bracket, and the moving part is installed on the inclination adjustment mechanism; it is characterized in that: the moving part also includes a height adjustment mechanism, an arc The arc-shaped guide rail and the slider are fixedly installed on the calf support plate, and the arc-shaped guide rail is perpendicular to the vertical axis of the human ankle joint; the slider is slidably installed on the arc-shaped guide rail and can wrap around the human ankle joint on the arc-shaped guide rail. The vertical axis rotates; the top of the vertical axis joint plate is fixed to the slider; the height adjustment mechanism is installed on the sole support plate; the ankle support plate is rotated and installed on the height adjustment mechanism, and the rotation axis is parallel to the coronal axis of the human ankle joint.

The calf support plate of the present invention includes an inner ring plate and an outer ring plate, and the outer ring plate is fixed on the inner ring plate.

The arc-shaped guide rail of the present invention is fixedly installed at the bottom of the outer ring plate.

The arc-shaped guide rail and the inner ring plate of the present invention are arranged concentrically.

The height adjustment mechanism of the present invention includes a scissor linkage mechanism, an adjustment screw, a base and a rotating shaft connecting block; the base is fixedly installed on the sole support plate; the scissor linkage mechanism is installed on the base; the adjustment screw and scissor linkage Mechanism connection; the rotating shaft connecting block is installed on the scissor linkage mechanism; the ankle support plate is rotationally installed on the rotating shaft connecting block.

The moving part of the present invention also includes a magnetic grid displacement sensor. The magnetic grid displacement sensor includes a magnetic grid read head and a magnetic grid magnetic strip. The magnetic grid read head is fixedly installed on the slider, and the magnetic grid magnetic strip is fixedly installed on the calf support plate. On the screen, the magnetic grating read head cooperates with the magnetic grating magnetic stripe.

The rotary joint of the present invention also includes an encoder; the encoder is installed between the vertical axis joint plate and the coronal axis joint plate.

The inclination adjustment mechanism of the present invention includes a calf support plate connecting block, a calf support plate fixed shaft and a supporting connecting rod; the supporting connecting rod is fixedly installed on the base bracket; the calf supporting plate connecting block is fixedly installed on the calf supporting plate. The support plate connecting block is rotated and installed on the support link; the calf support plate connecting block is provided with a positioning hole, and the calf support plate fixed shaft is inserted into the support link and the positioning hole. Connect the calf support plate connecting block and the support connecting rod. fixed time.

The inclination adjustment mechanism of the present invention also includes a lower leg support plate rotating shaft, and the lower leg support plate connecting block is rotated and installed on the support connecting rod through the lower leg support plate rotating shaft.

The leg support plate connecting block of the present invention is provided with 6 positioning holes spaced 15° apart.

Compared with the existing technology, the present invention has the following advantages and effects:

1. The configuration method of rope-driven parallel robots has been broadened to make the rotation axis of the rotation joint in the vertical axis direction coincide with the rotation axis of the ankle in the vertical axis direction as much as possible, which is beneficial to the plantar flexion/dorsiflexion of the ankle joint. , adduction/abduction, varus/valgus movements. In addition, the physical therapist can adjust the height of the rotation center of the mechanism according to the patient's ankle height by using the height adjustment mechanism to adapt to the ankle heights of different patients.

2. An inclination adjustment mechanism is designed. By adjusting the inclination between the movement execution part and the base part of the mechanism, the user can choose a more comfortable position between lying down and sitting up for rehabilitation training.

Description of drawings

Figure 1 is a schematic structural diagram of an embodiment of the present invention.

Figure 2 is a schematic structural diagram of the moving part of the embodiment of the present invention.

Figure 3 is a second structural schematic diagram of the moving part of the embodiment of the present invention.

Figure 4 is a schematic structural diagram of the height adjustment mechanism according to the embodiment of the present invention.

Figure 5 is a schematic structural diagram of the inclination adjustment mechanism according to the embodiment of the present invention.

Figure 6 is a schematic structural diagram of the Chinese patent with the prior art application number 202110200162.X.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and through examples. The following examples are explanations of the present invention, but the present invention is not limited to the following examples.

Embodiments of the invention include a moving part and a base part. The moving part is mainly used to achieve active and passive rehabilitation training of the ankle joint; the base part mainly provides structural support for the moving part to achieve control and driving functions. The moving part and the base part are connected through an inclination adjustment mechanism, which can adjust the inclination of the moving part relative to the base.

The moving part includes the calf support plate 1, the rotating joint 2, the sole support plate 3, the driving rope 4, the magnetic grid displacement sensor 5, the pulley 6, the height adjustment mechanism 7, the arc guide rail 8 and the slider 9.

The calf support plate 1 is used to fix the patient's calf position, and includes an inner ring plate 101 and an outer ring plate 102. The outer ring plate 102 is fixed on the inner ring plate 101. The diameter of the inner ring plate 101 is 80 mm, and the use of straps and cushioning pads ensures that the lower legs of patients of different sizes are fixed in a comfortable position and remain stationary during the rehabilitation process. The diameter of the outer ring plate 102 is 110mm. The larger diameter allows the pulley 6 to be fixed at the outer end, which expands the distance between the far-end anchor points of the traction rope. The distance between the far-end and near-end anchor points of the farther rope ensures that the moving part has Larger work space.

Four pulleys 6 with an outer diameter of 16mm are installed in mirror images 50mm before and after the outer ring plate 102. The pulleys 6 are divided into inner and outer wheels. The inner wheel is responsible for rotating the transmission rope. The outer wheel is fixed to the pulley bracket. The outer wheel is equipped with an anti-bracket function. The polished rod prevents the safety problem of the rope from detaching from the pulley track during rehabilitation training.

The arc-shaped guide rail 8 is fixedly installed at the bottom of the outer ring plate 102. The diameter of the arc-shaped guide rail 8 is 100mm and the arc is 60°; the arc-shaped guide rail 8 is perpendicular to the vertical axis of the human ankle joint. Optimally, the arc-shaped guide rail 8 is The arc center is located on the coronal axis of the human ankle joint; the slider 9 is slidably installed on the arcuate guide rail 8 and can move around the vertical axis of the human ankle joint on the arcuate guide rail 8; the arcuate guide rail 8 and the slider 9 are vertical as a mechanism Rotate the joint in the axial direction. The arc guide rail 8 and the inner ring plate 101 are concentrically arranged. Since the arc guide rail 8 and the inner ring plate 101 are in a concentric relationship, when the slider 9 and the arc guide rail 8 move relative to each other, the trajectory of the slider 9 is always tangent to the arc guide rail 8 , so that the rotation direction of the vertical axis of the mechanism is consistent with the internal/external rotation direction of the ankle joint. In order to obtain the rotation angle in the vertical axis direction, a magnetic grating displacement sensor 5 is provided. The magnetic grating displacement sensor 5 includes a magnetic grating read head and a magnetic grating magnetic strip. The magnetic grating read head is fixedly installed on the slider 9. The magnetic grating magnetic strip Fixedly installed on the inner ring plate 101 of the calf support plate 1, the magnetic grid reading head cooperates with the magnetic grid magnetic strip, and the magnetic grid magnetic strip is read by the magnetic grid reading head, and then converted into an angle value, thereby measuring the slider 9 Angular displacement during movement.

The sole support plate 3 is located below the calf support plate 1 .

The height adjustment mechanism 7 is installed on the sole support plate 3 . The height adjustment mechanism 7 is simplified based on the scissor jack as a prototype, and includes a scissor linkage mechanism 71, an adjustment screw 72, a base 73 and a rotating shaft connecting block 74; the base 73 is fixedly installed on the sole support plate 3; the scissor linkage mechanism 71 is installed on the base 73; the adjusting screw 72 is connected to the scissor link mechanism 71, and the rotation of the adjusting screw 72 can drive the expansion and contraction of the scissor link mechanism 71; the rotating shaft connecting block 74 is installed on the scissor link mechanism 71, and the scissor link mechanism 71 is sheared. The telescopic linkage mechanism 71 drives the rotating shaft connecting block 74 to rise and fall, thereby adjusting the height of the rotating shaft connecting block 74 . The angle between the force-bearing connecting rod and the adjusting screw 72 in the scissor-type linkage mechanism 71 is set as the force-bearing angle. In the initial state, the force-bearing angle of the force-bearing link is 45°, and the center of the height adjustment mechanism is compared with the base 73 The distance is 80mm. With the continuous adjustment of the force angle, the height adjustment mechanism center to the base 73 position can be from 30mm to 105mm. Whether it is an adult, a special group such as children or the elderly, they can start rehabilitation training. Before, while keeping the rope tensioned, let the physical therapist use the height adjustment mechanism to adjust the rotation center of the moving part to coincide with the ankle. When the mechanism is adjusted to the desired height by rotating the adjustment screw 72, the self-locking nut can be used to self-lock through the spiral pair. Fix the position of adjusting screw 72. There are two height adjustment mechanisms 7, arranged side by side.

The rotating joint 2 includes an ankle support plate 21 , a coronal axis joint plate 22 , a vertical axis joint plate 23 and an encoder 24 . In order to be suitable for human ankle size parameters, the diameter of the ankle support plate 21 is set to 50mm. Both ends of the ankle support plate 21 are rotationally connected to the rotating shaft connecting blocks 74 of the two height adjustment mechanisms 7 respectively, and the rotation axis is connected to the coronal axis of the human ankle joint. Parallel and optimally coincident with the coronal axis of the human ankle joint. One end of the coronal axis joint plate 22 is fixedly connected to the ankle support plate 21 . The bottom of the vertical axis joint plate 23 is rotationally connected to the coronal axis joint plate 22, and the rotation axis is parallel to the sagittal axis of the human ankle joint, and is optimally coincident with the sagittal axis of the human ankle joint; between the vertical axis joint plate 23 and the coronal axis An encoder 24 is installed between the joint plates 22; the top of the vertical axis joint plate 23 is fixed to the slider 9. Rotating joint 2 can realize plantar flexion/dorsiflexion, varus/eversion, adduction/abduction of the ankle joint. Plantar flexion/dorsiflexion means rotation around the coronal axis, and varus/eversion means rotation around the sagittal axis. , adduction/abduction means rotation around the vertical axis, and the rotation angle of the rotating joint can be obtained directly through the encoder 24 and the magnetic grid displacement sensor 5 .

The base part includes a rope drive system 10, an inclination adjustment mechanism 11 and a base bracket 12. The entire base is simplified by a hollow structure, which has low production cost. Its main function is to provide structural support, rope drive and control functions for the moving parts.

The rope drive system 10 is installed on the base bracket 12 and connected to the drive rope 4. The drive rope 4 passes through the pulley 6 and is connected to the sole support plate 3.

The inclination adjustment mechanism 11 is installed on the base bracket 12 , and the moving part is installed on the inclination adjustment mechanism 11 . The inclination adjustment mechanism 11 mainly plays the role of calf inclination adjustment, and includes a calf support plate connecting block 111, a calf support plate rotating shaft 112, a calf support plate fixed shaft 113 and a support link 114.

The support link 114 is fixedly installed on the base bracket 12 . The back of the inner ring plate 101 is provided with a groove, and the calf support plate connecting block 111 is fixedly installed in the groove. In this way, the calf support plate connecting block 111 is fixedly installed on the back of the inner ring plate 101 . The calf support plate connecting block 111 is rotatably installed on the support link 114 through the calf support plate rotating shaft 112 .

In order to allow patients in the early stage of rehabilitation to perform rehabilitation training while lying in bed, the calf support plate connecting block 111 is provided with 6 positioning holes 115 spaced 15° apart, and the calf support plate fixed shaft 113 is inserted into the support connecting rod 114 and the positioning hole 115 , fix the calf support plate connecting block 111 and the support link 114; through the different positioning holes 115 passed through the calf support plate fixed shaft 113, the inclination angle of the moving part relative to the base part can be adjusted, and the inclination angle adjustment range is 0 -90°, respectively corresponding to the sitting and standing recovery posture, lying down recovery posture and intermediate transition posture.

In addition, it should be noted that the specific embodiments described in this specification may have different shapes and names of parts and components. The above contents described in this specification are only examples of the structure of the present invention. All equivalent changes or simple changes made based on the structure, features and principles described in the patent concept of the present invention are included in the protection scope of the patent of the present invention. Those skilled in the technical field to which the present invention belongs can make various modifications or additions to the described specific embodiments or substitute them in similar ways, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims. All should fall within the protection scope of the present invention.

Claims (10)

1. A rope-driven ankle rehabilitation robot, including a moving part and a base part; the moving part includes a calf support plate, a rotating joint, a foot support plate, a driving rope and a pulley; the pulley is installed on the calf support plate; the foot support plate is located on the calf below the support plate; the rotary joint includes an ankle support plate, a coronal axis joint plate and a vertical axis joint plate; the coronal axis joint plate is fixedly connected to the ankle support plate; the bottom of the vertical axis joint plate is rotationally connected to the coronal axis joint plate, The rotation axis is parallel to the sagittal axis of the human ankle joint; the base part includes a rope drive system, an inclination adjustment mechanism and a base bracket; the rope drive system is installed on the base bracket and connected to the driving rope, which passes through the pulley and is connected to the sole of the foot. The support plate is connected; the inclination adjustment mechanism is installed on the base bracket, and the moving part is installed on the inclination adjustment mechanism; it is characterized in that: the moving part also includes a height adjustment mechanism, an arc guide rail and a slide block; the arc guide rail is fixed Installed on the calf support plate, the arc-shaped guide rail is perpendicular to the vertical axis of the human ankle joint; the slider is slidably installed on the arc-shaped guide rail and can rotate around the vertical axis of the human ankle joint on the arc-shaped guide rail; the vertical axis joint The top of the board is fixed to the slider; the height adjustment mechanism is installed on the sole support plate; the ankle support plate is rotated and installed on the height adjustment mechanism, and the rotation axis is parallel to the coronal axis of the human ankle joint. 2. The rope-driven ankle joint rehabilitation robot according to claim 1, characterized in that: the calf support plate includes an inner ring plate and an outer ring plate, and the outer ring plate is fixed to the inner ring plate. 3. The rope-driven ankle rehabilitation robot according to claim 2, characterized in that: the arc-shaped guide rail is fixedly installed at the bottom of the outer ring plate. 4. The rope-driven ankle rehabilitation robot according to claim 2, characterized in that: the arc-shaped guide rail and the inner ring plate are arranged concentrically. 5. The rope-driven ankle rehabilitation robot according to claim 1, characterized in that: the height adjustment mechanism includes a scissor linkage mechanism, an adjustment screw, a base and a rotating shaft connecting block; the base is fixedly installed on the sole of the foot support plate. ; The scissor link mechanism is installed on the base; the adjusting screw is connected to the scissor link mechanism; the rotating shaft connecting block is installed on the scissor link mechanism; the ankle support plate is rotated and installed on the rotating shaft connecting block. 6. The rope-driven ankle rehabilitation robot according to claim 1, characterized in that: the moving part further includes a magnetic grid displacement sensor, the magnetic grid displacement sensor includes a magnetic grid reading head and a magnetic grid magnetic strip, and the magnetic grid reading head The head is fixedly installed on the slider, the magnetic grid magnetic strip is fixedly installed on the calf support plate, and the magnetic grid reading head cooperates with the magnetic grid magnetic stripe. 7. The rope-driven ankle joint rehabilitation robot according to claim 1, characterized in that: the rotating joint further includes an encoder; the encoder is installed between the vertical axis joint plate and the coronal axis joint plate. 8. The rope-driven ankle rehabilitation robot according to claim 1, characterized in that: the inclination adjustment mechanism includes a calf support plate connecting block, a calf support plate fixed shaft and a support link; the support link is fixedly installed on on the base bracket; the calf support plate connection block is fixedly installed on the calf support plate, and the calf support plate connection block is rotated and installed on the support link; the calf support plate connection block is provided with a positioning hole, and the calf support plate fixed shaft is inserted into the support On the connecting rod and positioning hole, fix the calf support plate connecting block and the supporting connecting rod. 9. The rope-driven ankle joint rehabilitation robot according to claim 8, characterized in that: the inclination adjustment mechanism further includes a calf support plate rotating shaft, and the calf support plate connecting block is rotated and installed on the calf support plate rotating shaft. Support the connecting rod. 10. The rope-driven ankle joint rehabilitation robot according to claim 8, characterized in that: the leg support plate connecting block is provided with 6 positioning holes spaced 15° apart.