CN1923157A - Biological fusion type foot joint rehabilitation robot - Google Patents

Abstract

The invention discloses a bio-integrated foot joint rehabilitation robot. It is characterized in that the upper ends of the four linear drive units are connected with the mounting bracket (5) of the upper platform (16) through universal hinges (4), the lower ends are connected with the lower platform (12) through ball pairs (9), and the human feet (11 ) is fixedly connected with the lower platform (12) through the holder, and the lower leg (2) is connected with the upper platform (16) through the holder. The linear driver (6) can be selected from a screw nut mechanism, a two-way motion cylinder (22) or an electric cylinder (23). The invention is based on the bionic research of the human foot, and integrates the lower limbs of the human body into the mechanism system as a movement branch. The rehabilitation robot has multiple degrees of freedom, and can realize various complex rehabilitation movements, and the rotation hinge point completely coincides with the rotation hinge point of the foot joint. And the data during the recovery process can be used for diagnosis and treatment. Therefore, the present invention has the advantages of simple and novel structure, safety and reliability, flexible movement, full-directional rehabilitation of joint functions, and good adaptability to the physiological structure of human feet.

Description

Bio-integrated foot joint rehabilitation robot

technical field

The invention relates to a rehabilitation robot system, in particular to a foot joint rehabilitation robot which has multiple degrees of freedom, can realize joint function rehabilitation in all directions, and has a rotation hinge point completely coincident with a foot joint rotation hinge point.

Background technique

The foot joints include the supratalar joint (commonly known as the ankle joint), and the subtalar joint (including the talar navicular joint and the talar heel joint). The supratalar joint is a pulley joint, and its main movements are dorsiflexion and plantarflexion. In addition, because the trochlear joint is wide in front and narrow in the rear, when the foot is in plantar flexion, the narrow posterior part of the trochlear enters the glenoid fossa, making the glenoid fossa larger than the joint head, so it can also perform mild abduction and adduction movements. The subtalar joint is functionally a joint joint, and its main movements are varus and valgus movements. In the development of artificial joints, foot joints are often simplified as rotational joints with one or three degrees of freedom.

Foot joint injuries mainly include ankle fractures, ligament avulsions and ruptures. Due to the narrow posterior part of the talar trochlea of the ankle joint, when plantarflexion, the narrow posterior part of the talar trochlea enters the joint fossa, so there may be slight lateral (extension, retraction) movement, at this time the talar calf joint is loose and stable Poor, prone to sprains, among which varus sprains are more common (lateral ligament injuries). Rehabilitation treatment of joint injuries is the second important treatment process after the initial drug treatment or surgery, which is to restore function through continuous passive motion (Continuous Passive Motion, CPM) of joints and physical therapy massage. But at present, patients mainly recover their functions by walking slowly. This method is not easy to grasp because the strength and range of motion of touching the ground, etc. not only make the recovery treatment take a long time and not complete, but also bring great pain to the patient, and even cause serious secondary injuries and habitual sprains.

The rehabilitation treatment process of foot joint injury can be divided into two stages. Phase 1 generally begins 48-72 hours after injury. Rehabilitation training can maintain muscle contraction, prevent disuse muscle atrophy, contracture of soft tissues such as joint capsules and ligaments, and at the same time promote the secretion and circulation of synovial fluid in joints, thereby preventing adhesions in joints. The goal of phase 2 rehabilitation is to maximize motor function in the damaged extremity. Treatment options at this stage include passive exercise, functional joint traction, joint mobilization, massage, and physical therapy. Joint mobilization (joint mobilization JM) is a kind of passive exercise. Experiments have proved that this method can promote the flow of joint fluid, increase the nutrition of articular cartilage and cartilage avascular area, relieve pain, and prevent joint degeneration caused by reduced activity. Changes, which can maintain or increase the stretchability of the tissues around the joints and improve the range of motion of the joints, have become an important part of modern rehabilitation technology.

In order to restore the damaged foot joint quickly and to the maximum extent to the movement function. A variety of rehabilitation robotic systems have been designed. Chinese patent ZL99106695.2 discloses a limb joint function rehabilitation device for patients with limb fractures to perform joint function rehabilitation exercises after surgery. Its features are: simple structure, no need for a base bracket, and can be directly installed on the patient's joints to work , can automatically select the best working angle according to the maximum bending position of the user's joints, suitable for personal use by patients at home.

Chinese patent ZL94227560.8 is disclosed. This rehabilitator adopts a double parallelogram mechanism and a harmonic drive mechanism. The rotation point of the joints of the lower limbs of the patient can coincide with the virtual hinge points of the double parallelograms, thereby avoiding interference to the human body and skin damage during the movement of the mechanism. The deficiency of these two kinds of patent rehabilitation devices is that the foot joint has only one degree of freedom of movement, and it is difficult to realize the complex rehabilitation motion of human foot.

In addition, a Chinese patent ZL01216338.4 discloses an electric shoe for rehabilitation of paralyzed feet. The rehabilitation device drives a multi-directional swing frame through an eccentric wheel set. rotation. It can realize the continuous movement of the foot surface and keep the ankle joint in a functional position as needed.

The common disadvantage of these rehabilitation device systems is that the special complexity of the human limbs was not fully considered at the beginning of the design, and the physiological and anatomical structure of the human limbs was not considered as the design center, so that the system rehabilitation movement form is single, the degree of freedom is small, and the mechanism system lacks flexibility. . Therefore, it cannot well solve the problem of limited motion function of the patient's foot joint in certain directions, the safety of rehabilitation cannot be well guaranteed, and the needs of the patient's safe and rapid rehabilitation cannot be met.

In order to overcome the deficiencies in the existing foot joint rehabilitation robot system, such as few degrees of freedom, single form of rehabilitation exercise, poor curative effect, and poor safety, the present invention provides a bio-integrated foot joint rehabilitation robot system. The invention is specially aimed at the physiological and anatomical structure of the human foot joint, and uses the lower limbs of the human knee as the movement branch to design a mechanism system, which has multiple degrees of freedom and can realize various complex rehabilitation movements. Therefore, the patient's need for safe, comfortable and rapid foot joint rehabilitation can be better met. It can solve the problem of limited movement function of the patient's foot joint in certain directions, so the curative effect is better.

The technical scheme adopted by the present invention to solve the technical problem is: the upper ends of the four linear actuators are connected with the mounting brackets of the upper platform through universal hinges, the lower ends are connected with the platform through ball hinges, and the four mounting brackets and the fixing plate are fixedly connected to the mounting brackets of the upper platform. The upper platform is formed on the platform; the upper ends of the three brackets are fixedly connected with the installation platform and the lower ends are fixedly connected with the base to form a support.

The human foot is fixedly connected to the platform through the clamper, the lower leg is connected to the upper platform through the lower leg holder, the buckle is fixedly connected to the fixed plate, the buckle is fixedly installed to the pedal, and the pedal is fixedly connected to the platform to form the lower platform.

The linear drive unit is composed of a linear drive and an elastic coupling unit connected in series.

The linear drive has the following three structures: the first structure is: the linear drive is composed of a motor, a mounting table and a screw in series; the second structure is: the linear drive uses a bidirectional motion cylinder; the third structure is: the linear drive uses an electric motor cylinder.

Elastic coupling unit can choose metal spring, rubber spring or air spring.

The upper ends of the four linear drive units are connected to the upper platform mounting bracket through U pairs (universal hinges), the lower ends are connected to the lower platform through S pairs (spherical hinges), the human feet are fixed to the lower platform through clamps, and the lower legs are fixed through lower legs The device is connected with the upper platform to form a set of parallel mechanism system in which human limbs participate as motion branches.

The beneficial effects of the present invention are: the present invention is based on the bionic research of the human foot, and integrates the lower limbs of the human body as a movement branch into the whole mechanism system, and designs a bio-integrated foot joint rehabilitation robot system. The rehabilitation robot system has multiple degrees of freedom, can realize various complex rehabilitation movements, and can well solve the problem of rehabilitation treatment of patients with limited joint function of the foot joints in certain directions; Coincidentally, the rehabilitation process is safer and more comfortable. And the data during the rehabilitation exercise can be used for therapeutic diagnosis. The invention has the advantages of simple and novel structure, safety and reliability, flexible movement, full-directional rehabilitation of joint functions, good adaptation to the physiological structure of human limbs, and the like.

Description of drawings

Fig. 1 is the front view of the bio-integrated foot joint rehabilitation robot;

Fig. 2 is the side view of biofusion type foot joint rehabilitation robot;

Fig. 3 is a structural diagram of the first linear drive unit;

Fig. 4 is a structural diagram of the second linear drive unit;

Fig. 5 is a structure diagram of the third linear drive unit;

Fig. 6 is the axonometric view of the bio-integrated foot joint rehabilitation robot;

Figure 7 is an axonometric view of a cylinder-driven bio-fusion foot joint rehabilitation robot;

Fig. 8 is an axonometric view of an electric cylinder-driven biofusion foot joint rehabilitation robot.

In Figure 1-6, 1. Mounting table, 2. Leg, 3. Fixed plate, 4. U pair (universal hinge), 5. Mounting bracket, 6. Linear drive, 7. Bracket, 8. Elastic coupling Unit, 9.S pair (spherical hinge), 10. pedal, 11. human foot, 12. platform, 13. buckle, 14. base, 15. buckle, 16. upper platform, 17. lower platform, 18. Motor, 19. Connection table, 20. Lead screw, 21. S auxiliary ball head, 22. Two-way motion cylinder, 23. Electric cylinder, 24. Air source, 25. Pipeline.

Detailed ways

Example 1

Fig. 1 is an embodiment disclosed by the present invention. The upper ends of the four linear drive units are connected to the upper platform mounting bracket 5 through the U pair (universal hinge) 4, and the lower ends are connected to the lower platform 17 through the S pair (spherical hinge) 9, and the human feet 11 are fixed to the lower platform 17 through the clamp. Joint, shank 2 links to each other with upper platform 16 by shank fixer. The hasp 15 is fixedly connected with the fixed plate 3 , and the four mounting brackets 5 and the fixed plate 3 are fixedly connected to the mounting table 1 to form an upper platform 16 . After the rear part of the lower leg is put into the fixing plate, the lower leg is fixed to the upper platform 16 by the hasp 13 at the front part. The hasp 13 is fixedly installed with the pedal 10, and the pedal 10 is fixedly connected to the platform 12 to form the lower platform 17. The sole of the person's foot is put into the pedal 10, and the foot is fixed to the lower platform 17 by the buckle 13. The motor 18 and the lead screw 20 are installed on the connection table 19 . The upper end of the elastic coupling unit 8 is connected in series with the lead screw 20, and the lower end is fixedly connected with the S auxiliary ball head 21 to form a linear drive unit. The upper ends of the three brackets 7 are fixedly connected with the mounting table 1, and the lower ends are fixedly connected with the base 14 to form a support to support the entire mechanical system of the robot. When carrying out rehabilitation treatment, the system is placed flat so that the base is in contact with the ground, and the motor 18 is connected to electricity to realize the rehabilitation training exercise.

Example 2

Fig. 6 is a second embodiment of the present invention. Replace the linear driver in Example 1 with a two-way motion cylinder 22. The two-way motion cylinder 22 is composed of a cylinder body and a plunger rod. The elastic coupling unit 8 is connected in series with the plunger rod. The upper end of the elastic coupling unit 8 is connected to the ball pair. Cooperating ball head 21 . The connection mode between the two-way motion cylinder 22 and the mechanical system of the robot is the same as that in Embodiment 1. The air source 24 supplies air to the cylinder through the pipeline 25 to realize the reciprocating motion of the linear drive unit.

Example 3

Fig. 7 is a third embodiment of the present invention. The linear driver in Example 1 is replaced by an electric cylinder 23. The electric cylinder 23 is composed of a cylinder body and a rod. The elastic coupling unit 8 is connected in series with the rod. The upper end of the elastic coupling unit 8 is a ball head that matches the ball pair. 21. The connection mode between the electric cylinder 23 and the mechanical system of the robot is the same as that in Embodiment 1. The reciprocating motion of the linear drive unit is achieved by applying power to the electric cylinder.

Claims (7)

1. A bio-integrated foot joint rehabilitation robot, comprising a universal joint (4), a spherical joint (9), a base (14) and a control part, is characterized in that: the upper ends of four linear drivers (6) pass through the universal joint (4) Connected to the mounting bracket (5) of the upper platform (16), its lower end is connected to the platform (12) through a ball joint (9), and the four mounting brackets (5) and the fixing plate (3) are fixedly connected to the mounting platform (1) upper platform (16) is formed; the upper ends of the three supports (7) are fixedly connected with the installation platform (1), and the lower ends thereof are connected with the base (14) to form a bearing. 2. The bio-integrated foot joint rehabilitation robot according to claim 1, characterized in that: the human foot (11) is fixedly connected to the platform (12) through the clamper, and the lower leg (2) is connected to the upper platform ( 16) links to each other, hasp (15) is connected firmly with fixed plate (3), and hasp (13) is fixedly installed with pedal (10), and pedal (10) is fixedly connected to platform (12) and forms lower platform (17). 3. The bio-integrated foot joint rehabilitation robot according to claim 1 or 2, characterized in that: the linear drive (6) can be a screw nut mechanism, a two-way motion cylinder (22) or an electric cylinder (23). 4. The bio-integrated foot joint rehabilitation robot according to claim 3 is characterized in that: the motor (18) of the lead screw nut mechanism is connected with the lead screw (20) and installed on the connection platform (19), and the elastic coupling unit ( 8) It is connected in series with the lead screw (20), and the upper end of the elastic coupling unit (8) is a ball head (21) matched with the ball pair. 5. The bio-integrated foot joint rehabilitation robot according to claim 3, characterized in that: the two-way motion cylinder (22) is composed of a cylinder body and a plunger rod, and the elastic coupling unit (8) is connected in series with the plunger rod , the upper end of the elastic coupling unit (8) is a ball head (21) matched with the ball pair. 6. The bio-integrated foot joint rehabilitation robot according to claim 3, characterized in that: the electric cylinder (23) is composed of a cylinder body and a rod, the elastic coupling unit (8) is connected in series with the rod, and the elastic coupling The upper end of unit (8) is the ball head (21) that cooperates with ball pair. 7. The bio-integrated foot joint rehabilitation robot according to claim 4, characterized in that: the elastic coupling unit (8) can be a metal spring, a rubber spring or an air spring.

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