CN203075141U - Pneumatic muscle driving-type two-freedom-degree ankle recovery parallel robot - Google Patents
Pneumatic muscle driving-type two-freedom-degree ankle recovery parallel robot Download PDFInfo
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- CN203075141U CN203075141U CN 201320017904 CN201320017904U CN203075141U CN 203075141 U CN203075141 U CN 203075141U CN 201320017904 CN201320017904 CN 201320017904 CN 201320017904 U CN201320017904 U CN 201320017904U CN 203075141 U CN203075141 U CN 203075141U
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Abstract
The utility model discloses a pneumatic muscle driving-type two-freedom-degree ankle recovery parallel robot. The pneumatic muscle driving-type two-freedom-degree ankle recovery parallel robot comprises a mobile platform with a foot cover, a rotating mechanism, a driving mechanism and a support. The mobile platform is installed on the support through the rotating mechanism, the driving mechanism is a pneumatic muscle, the pneumatic muscle is installed on the support, and the free end of the pneumatic muscle is connected with the mobile platform through a flexible cable. A rigid actuator of a traditional robot is replaced by the pneumatic muscle, the flexible cable is matched to transmit power, and therefore the problems that patients feel uncomfortable or even painful in the process of recovery are solved, and the recovery of the patients is contributed. The pneumatic muscle is light in weight, convenient to use, and suitable for the recovery of ankles.
Description
Technical field
This utility model relates to medical apparatus and instruments, specifically a kind of pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot.
Background technology
In recent years, increasing people causes joint and muscle injury because of disease, vehicle accident and accident etc., and the ankle joint injury is wherein one of modal damage.Ankle joint is a skeletal structure the most complicated in the skeleton, it have dorsiflex/sole of the foot bend, in turn over/turn up and interior receipts/abduction exercise.When rehabilitation, dorsiflex/sole of the foot bend and in turn over/turn up motion the rehabilitation of ankle is played a major role.
At present, general ankle healing robot adopts the rigidity driving mechanism as driving power mostly, as motor and line motor etc., the robot of this employing rigidity driver causes patient to do not feel like oneself in rehabilitation course even pain easily, is unfavorable for patient's rehabilitation; Simultaneously, though general ankle healing robot adopts the above multiple degrees of freedom structure of 3DOF mostly, can help ankle joint carry out dorsiflex/sole of the foot bend, in turn over/turn up and interior receipts/abduction exercise because degree of freedom is more, so complex structure and cost height.
The utility model content
The purpose of this utility model is in order to solve the deficiency that the above-mentioned background technology exists, and proposes a kind of simple in structure and pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot that cost is low.
For achieving the above object, this utility model adopts following technical scheme: a kind of pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot, comprise the moving platform, rotating mechanism, driving mechanism and the support that have footmuff, described moving platform is installed on the described support by rotating mechanism, described driving mechanism is a pneumatic muscles, described pneumatic muscles is installed on the described support, and the movable end of described pneumatic muscles links to each other with described moving platform by gentle rope.Replace with pneumatic muscles by rigidity driver, cooperate gentle rope transferring power again, solved that patient does not feel like oneself even the problem of pain in rehabilitation course, help patient's rehabilitation, and pneumatic muscles is in light weight the conventional machines people, easy to use.
In such scheme, be provided with gentle rope guide-localization mechanism between described rotating mechanism and the support, described gentle rope guide-localization mechanism comprises the fixed platform and the support bar of tape guide locating hole, described fixed platform is fixedly mounted on the described support by described support bar, described rotating mechanism upper end links to each other with described moving platform, and described rotating mechanism lower end is installed on described support bar or the fixed platform.The gentle rope guide-localization mechanism that adds can control the range of movement of described moving platform effectively, has improved the controllability of this robot.
In such scheme, described rotating mechanism comprises bearing spider, tumbler and rotational fixture, described rotational fixture lower end is inserted on the described support bar, described rotational fixture upper end is movably arranged in the described tumbler by the first single-row needle bearing, described tumbler two ends are respectively equipped with the second single-row needle bearing, and described bearing spider is fitted in described moving platform lower surface by the described second single-row needle bearing with described tumbler two ends respectively.Certainly, also can adopt the rotating mechanism of other structures.
In such scheme, the position in corresponding described guide-localization hole is respectively equipped with fixed pulley on the described support, described gentle rope one end links to each other with the movable end of described pneumatic muscles, and the described gentle rope other end passes described guide-localization hole after walking around described fixed pulley again, links to each other with described moving platform at last.The fixed pulley that adds can reduce the friction between described gentle rope and the fixed platform, the service life of having improved gentle rope effectively.
In such scheme, the quantity in described guide-localization hole is at least 3, and the quantity of described pneumatic muscles and gentle rope is corresponding with the quantity in guide-localization hole respectively.
In such scheme, the quantity in described guide-localization hole is 3, described 3 guide-localization holes the center surrounded is shaped as isosceles triangle, the length of the center of described isosceles triangle line a to the limit is 3 ~ 7cm, the length of the line b of the center of described isosceles triangle end points to the base is 4 ~ 8cm, the angle α of described a and b is 90 ~ 110 °, and the center of rotation of described rotating mechanism is positioned at the center of described isosceles triangle.Such design has improved the controllability of this robot further.
In such scheme, the junction point of described gentle rope and moving platform lower surface also corresponds to 3, the shape that described 3 junction points surrounded also is isosceles triangle, the length of the center line A to the limit of 3 isosceles triangles that junction point surrounded of described moving platform lower surface is 5 ~ 9cm, the length of the line B of center end points to the base of 3 isosceles triangles that junction point surrounded of described moving platform lower surface is 6 ~ 10cm, the angle β of described A and B is 120 ~ 140 °, the center of rotation of described rotating mechanism is positioned at the center of 3 isosceles triangles that junction point surrounded of described moving platform lower surface, and the center of described moving platform also is positioned at the center of 3 isosceles triangles that junction point surrounded of described moving platform lower surface.Such design has improved the controllability of this robot further.
In such scheme, the distance H between described moving platform lower surface and the described fixed platform upper surface is 7 ~ 11cm.
In such scheme, described pneumatic muscles level is installed on the described support.
This utility model replaces with pneumatic muscles by the rigidity driver with the conventional machines people on the one hand, cooperates gentle rope transferring power again, solved that patient does not feel like oneself even the problem of pain in rehabilitation course, help patient's rehabilitation, and pneumatic muscles is in light weight, easy to use; On the other hand, the gentle rope guide-localization mechanism that adds can control the range of movement of described moving platform effectively, has improved the controllability of this robot; On the one hand, the fixed pulley that adds can reduce the friction between described gentle rope and the fixed platform, the service life of having improved gentle rope effectively again; At last, the position of the junction point by optimal design guide-localization hole and gentle rope and moving platform lower surface and the relation of the position between moving platform and the fixed platform have improved the controllability of this robot further.
In sum, the utlity model has simple in structure, in light weight, characteristics such as cost is low, and easy to use and controllability is good.
Below in conjunction with the drawings and specific embodiments this utility model is described in further detail.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 removes side-looking structural representation behind the footmuff for Fig. 1;
Fig. 3 removes plan structure sketch map behind the footmuff for Fig. 1;
Fig. 4 removes structural representation behind the moving platform for Fig. 3;
Fig. 5 is the structural representation of rotating mechanism in this utility model;
Fig. 6 is the annexation structural representation of moving platform and fixed platform in this utility model;
Fig. 7 is the location arrangements structural representation in guide-localization hole in this utility model;
Fig. 8 is the location arrangements structural representation of gentle rope and moving platform junction point in this utility model.
In the drawings, footmuff 1a, moving platform 1, rotating mechanism 2, bearing spider 2a, tumbler 2b, rotational fixture 2c, the first single-row needle bearing 2d, the second single-row needle bearing 2e, driving mechanism 3, support 4, gentle rope 5, gentle rope guide-localization mechanism 6, fixed platform 6a, support bar 6b, guide-localization hole 6c, fixed pulley 7.
The specific embodiment
A kind of pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot as shown in Figure 1, comprise the moving platform 1, rotating mechanism 2, driving mechanism 3 and the support 4 that have footmuff 1a, described moving platform 1 is movably arranged on the described support 4 by rotating mechanism 2, described driving mechanism 3 is a pneumatic muscles, described pneumatic muscles is installed on the described support 4, and the movable end of described pneumatic muscles links to each other with described moving platform 1 by gentle rope 5.Replace with pneumatic muscles by rigidity driver, cooperate gentle rope 5 transferring power again, solved that patient does not feel like oneself even the problem of pain in rehabilitation course, help patient's rehabilitation, and pneumatic muscles is in light weight the conventional machines people, easy to use.Described pneumatic muscles level is installed on the described support 4.
Be provided with gentle rope guide-localization mechanism 6 between above-mentioned rotating mechanism 2 and the support 4, described gentle rope guide-localization mechanism 6 comprises fixed platform 6a and the support bar 6b of tape guide locating hole 6c, described fixed platform 6a is fixedly mounted on the described support 4 by described support bar 6b, described rotating mechanism 2 upper ends link to each other with described moving platform 1, and described rotating mechanism 2 lower ends are installed on described support bar 6b or the fixed platform 6a.The gentle rope guide-localization mechanism 6 that adds can control the range of movement of described moving platform 1 effectively, has improved the controllability of this robot.
Above-mentioned rotating mechanism 2 comprises bearing spider 2a, tumbler 2b and rotational fixture 2c, described rotational fixture 2c lower end is inserted on the described support bar 6b, described rotational fixture 2c upper end is movably arranged in the described tumbler 2b by the first single-row needle bearing 2d, described tumbler 2b two ends are respectively equipped with the second single-row needle bearing 2e, and described bearing spider 2a is fitted in described moving platform 1 lower surface by the described second single-row needle bearing 2e with described tumbler 2b two ends respectively.Certainly, also can adopt the rotating mechanism of other structures.
The position of corresponding described guide-localization hole 6c is respectively equipped with fixed pulley 7 on the above-mentioned support 4, described gentle rope 5 one ends link to each other with the movable end of described pneumatic muscles, described gentle rope 5 other ends pass described guide-localization hole 6c after walking around described fixed pulley 7 again, link to each other with described moving platform 1 at last.The fixed pulley 7 that adds can reduce the friction between described gentle rope 5 and the fixed platform 6a, the service life of having improved gentle rope 5 effectively.
The quantity of above-mentioned guide-localization hole 6c is at least 3, and the quantity correspondence of described pneumatic muscles and gentle rope 5 also is respectively 3 at least.The quantity of described guide-localization hole 6c is 3, described 3 guide-localization hole 6c the center surrounded is shaped as isosceles triangle, the length of the center of described isosceles triangle line a to the limit is 3 ~ 7cm, the length of the line b of the center of described isosceles triangle end points to the base is 4 ~ 8cm, the angle α of described a and b is 90 ~ 110 °, and the center of rotation of described rotating mechanism 2 is positioned at the center of described isosceles triangle.Such design has improved the controllability of this robot further.Described gentle rope 5 also corresponds to 3 with the junction point of moving platform 1 lower surface, the shape that described 3 junction points surrounded also is isosceles triangle, the length of the center line A to the limit of 3 isosceles triangles that junction point surrounded of described moving platform 1 lower surface is 5 ~ 9cm, the length of the line B of center end points to the base of 3 isosceles triangles that junction point surrounded of described moving platform 1 lower surface is 6 ~ 10cm, the angle β of described A and B is 120 ~ 140 °, the center of rotation of described rotating mechanism 2 is positioned at the center of 3 isosceles triangles that junction point surrounded of described moving platform 1 lower surface, and the center of described moving platform 1 also is positioned at the center of 3 isosceles triangles that junction point surrounded of described moving platform 1 lower surface.Such design has improved the controllability of this robot further.Distance H between described moving platform 1 lower surface and the described fixed platform 6a upper surface is 7 ~ 11cm.
This utility model drives the moving platform 1 of two-freedom by three pneumatic muscles, adopt the rotating mechanism 2 of two-freedom to flexibly connect between moving platform 1 and the support bar 6b, pneumatic muscles links to each other by gentle rope 5 with moving platform 1, gentle simultaneously rope 5 passes the guide-localization hole 6c on the fixed platform 6a, the plane that the junction point of pneumatic muscles and moving platform 1 is formed is through the center of rotation of rotating mechanism 2, realize the rotation of 1 two degree of freedom of moving platform by above connection, can satisfy the needs of ankle rehabilitation.During concrete the use, charge into the air of certain air pressure earlier to pneumatic muscles, the original state that makes pneumatic muscles is at contraction state, by the position of designing gentle rope 5 and moving platform 1, fixed platform 6a junction point and the range of movement of considering pneumatic muscles, make the work space of robot can satisfy the gamut motion of ankle.During actual production, can also on described support 4 and/or pneumatic muscles, add displacement transducer and the force transducer that is used for detecting respectively pneumatic muscles stroke and driving force, can control the output displacement and the power of pneumatic muscles like this by detected pneumatic muscles stroke and driving force, realize the power/position control of ankle rehabilitation, make passive rehabilitation safer, also can give the certain resistance of foot, realize the active rehabilitation of ankle.
This utility model replaces with pneumatic muscles by the rigidity driver with the conventional machines people, cooperate gentle rope 5 transferring power again, solved that patient does not feel like oneself even the problem of pain in rehabilitation course, help patient's rehabilitation, and pneumatic muscles is in light weight, and is easy to use; The gentle rope guide-localization mechanism 6 that adds can control effectively described moving platform 1 range of movement (be dorsiflex/sole of the foot bend, in the range of movement that turns over/turn up), improved the controllability of this robot; The fixed pulley 7 that adds can reduce the friction between described gentle rope 5 and the fixed platform 6a, the service life of having improved gentle rope 5 effectively; The position of the junction point by optimal design guide-localization hole 6c and gentle rope 5 and moving platform 1 lower surface and the relation of the position between moving platform 1 and the fixed platform 6a have improved the controllability of this robot further.
The above only is preferred embodiment of the present utility model, and is in order to restriction this utility model, not all within spirit of the present utility model and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (9)
1. pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot, comprise the moving platform, rotating mechanism, driving mechanism and the support that have footmuff, described moving platform is installed on the described support by rotating mechanism, it is characterized in that described driving mechanism is a pneumatic muscles, described pneumatic muscles is installed on the described support, and the movable end of described pneumatic muscles links to each other with described moving platform by gentle rope.
2. pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot according to claim 1, it is characterized in that being provided with between described rotating mechanism and the support gentle rope guide-localization mechanism, described gentle rope guide-localization mechanism comprises the fixed platform and the support bar of tape guide locating hole, described fixed platform is fixedly mounted on the described support by described support bar, described rotating mechanism upper end links to each other with described moving platform, and described rotating mechanism lower end is installed on described support bar or the fixed platform.
3. pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot according to claim 2, it is characterized in that described rotating mechanism comprises bearing spider, tumbler and rotational fixture, described rotational fixture lower end is inserted on the described support bar, described rotational fixture upper end is movably arranged in the described tumbler by the first single-row needle bearing, described tumbler two ends are respectively equipped with the second single-row needle bearing, and described bearing spider is fitted in described moving platform lower surface by the described second single-row needle bearing with described tumbler two ends respectively.
4. according to claim 2 or 3 described pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robots, the position that it is characterized in that corresponding described guide-localization hole on the described support is respectively equipped with fixed pulley, described gentle rope one end links to each other with the movable end of described pneumatic muscles, the described gentle rope other end passes described guide-localization hole after walking around described fixed pulley again, links to each other with described moving platform at last.
5. according to claim 2 or 3 described pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robots, it is characterized in that the quantity in described guide-localization hole is at least 3, the quantity of described pneumatic muscles and gentle rope is corresponding with the quantity in guide-localization hole respectively.
6. pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot according to claim 5, the quantity that it is characterized in that described guide-localization hole is 3, described 3 guide-localization holes the center surrounded is shaped as isosceles triangle, the length of the center of described isosceles triangle line a to the limit is 3 ~ 7cm, the length of the line b of the center of described isosceles triangle end points to the base is 4 ~ 8cm, the angle α of described a and b is 90 ~ 110 °, and the center of rotation of described rotating mechanism is positioned at the center of described isosceles triangle.
7. pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot according to claim 6, the junction point that it is characterized in that described gentle rope and moving platform lower surface also corresponds to 3, the shape that described 3 junction points surrounded also is isosceles triangle, the length of the center line A to the limit of 3 isosceles triangles that junction point surrounded of described moving platform lower surface is 5 ~ 9cm, the length of the line B of center end points to the base of 3 isosceles triangles that junction point surrounded of described moving platform lower surface is 6 ~ 10cm, the angle β of described A and B is 120 ~ 140 °, the center of rotation of described rotating mechanism is positioned at the center of 3 isosceles triangles that junction point surrounded of described moving platform lower surface, and the center of described moving platform also is positioned at the center of 3 isosceles triangles that junction point surrounded of described moving platform lower surface.
8. pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robot according to claim 7 is characterized in that the distance H between described moving platform lower surface and the described fixed platform upper surface is 7 ~ 11cm.
9. according to claim 1 or 2 or 3 described pneumatic muscles driving type two-freedom degree ankle rehabilitation parallel robots, it is characterized in that described pneumatic muscles level is installed on the described support.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320017904 CN203075141U (en) | 2013-01-14 | 2013-01-14 | Pneumatic muscle driving-type two-freedom-degree ankle recovery parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320017904 CN203075141U (en) | 2013-01-14 | 2013-01-14 | Pneumatic muscle driving-type two-freedom-degree ankle recovery parallel robot |
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| CN203075141U true CN203075141U (en) | 2013-07-24 |
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| CN 201320017904 Withdrawn - After Issue CN203075141U (en) | 2013-01-14 | 2013-01-14 | Pneumatic muscle driving-type two-freedom-degree ankle recovery parallel robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110500A (en) * | 2013-01-14 | 2013-05-22 | 武汉理工大学 | Pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot |
| CN108210242A (en) * | 2016-12-15 | 2018-06-29 | 上海理工大学 | Towed ankle joint rehabilitation training device |
| CN108905080A (en) * | 2018-08-01 | 2018-11-30 | 曲功春 | A kind of sportsman's shatter-resistant training method |
| CN110302019A (en) * | 2019-06-11 | 2019-10-08 | 上海理工大学 | Vehicular flexibility ankle joint training device |
-
2013
- 2013-01-14 CN CN 201320017904 patent/CN203075141U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110500A (en) * | 2013-01-14 | 2013-05-22 | 武汉理工大学 | Pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot |
| CN103110500B (en) * | 2013-01-14 | 2014-08-27 | 武汉理工大学 | Pneumatic muscle driving type two-freedom-degree ankle recovery parallel robot |
| CN108210242A (en) * | 2016-12-15 | 2018-06-29 | 上海理工大学 | Towed ankle joint rehabilitation training device |
| CN108210242B (en) * | 2016-12-15 | 2020-02-18 | 上海理工大学 | Traction type ankle joint rehabilitation training device |
| CN108905080A (en) * | 2018-08-01 | 2018-11-30 | 曲功春 | A kind of sportsman's shatter-resistant training method |
| CN108905080B (en) * | 2018-08-01 | 2020-04-03 | 西宁科进工业设计有限公司 | Anti-falling training method for athletes |
| CN110302019A (en) * | 2019-06-11 | 2019-10-08 | 上海理工大学 | Vehicular flexibility ankle joint training device |
| CN110302019B (en) * | 2019-06-11 | 2020-11-27 | 上海理工大学 | Vehicle-mounted flexible ankle joint trainer |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20130724 Effective date of abandoning: 20140827 |
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| RGAV | Abandon patent right to avoid regrant |