CN205799486U - Robot for rehabilitation of anklebone - Google Patents
Robot for rehabilitation of anklebone Download PDFInfo
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- CN205799486U CN205799486U CN201620740097.4U CN201620740097U CN205799486U CN 205799486 U CN205799486 U CN 205799486U CN 201620740097 U CN201620740097 U CN 201620740097U CN 205799486 U CN205799486 U CN 205799486U
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- connecting rod
- rehabilitation
- robot
- anklebone
- workbench
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Abstract
The utility model discloses robot for rehabilitation of anklebone, including base and be arranged at the workbench above described base, wherein, three identical linkages of structure it are arranged in parallel between described workbench and described base, it is respectively first connecting rod mechanism, second connecting rod mechanism and third connecting rod mechanism, can realize front and back overturning by the described workbench of the motion of described linkage, left and right overturns and at horizontal rotation in surface.Above-mentioned robot, workbench ankle joint can be carried out dorsiflex, plantar flexion, varus, turn up, inward turning, outward turning training, it is achieved that the motion of multiple degree of freedom, fully meet the use demand of ankle joint rehabilitation training；Meanwhile, three linkage arrangement are simple and parallel with one another, and intensity is good, and reliability is high, volume compact.
Description
Technical field
This utility model relates to medical instruments field, especially robot for rehabilitation of anklebone.
Background technology
Sprained ankle is a kind of common osteoarticular injury, the walking step state of human body and the miniature regulation pivot of balance
Knob is that ankle joint, and the rehabilitation training of ankle joint is great meaning for patient.In order to alleviate medical personnel's work load, carry
High training effect, ankle joint rehabilitation training uses training devices to carry out.In prior art, training devices uses serial mechanism mostly
Realizing the motion of workbench, but often structural strength is the best, freedom of motion is few；And use the training devices of parallel institution, by force
Degree is improved, but structure is complicated, and volume is bigger, it is difficult to encapsulation.
Utility model content
The purpose of this utility model is to propose robot for rehabilitation of anklebone, and it uses the linkage of parallel connection to make workbench
Be capable of front and back overturning, left and right upset and the motion at horizontal rotation in surface, to complete the rehabilitation training to patient, the strongest
Spend, simple in construction.
For reaching this purpose, this utility model by the following technical solutions:
Robot for rehabilitation of anklebone, including base and be arranged at the workbench above described base, wherein, described workbench
And it is arranged in parallel three identical linkages of structure, respectively first connecting rod mechanism, second connecting rod machine between described base
Structure and third connecting rod mechanism, can realize front and back overturning by the described workbench of the motion of described linkage, left and right overturn and
Horizontal rotation in surface.
Wherein, described first connecting rod mechanism is arranged at the inferoanterior centre of described workbench, described second connecting rod mechanism and
What described third connecting rod mechanism was symmetrical is arranged at the posteroinferior both sides of described workbench.
Wherein, described linkage includes connecting rod and lower link, and described upper connecting rod is by cating nipple and described work
Station connects, and is connected by intermediate transmission mechanism between described upper connecting rod and described lower link, and described lower link is passed by base
Motivation structure is connected with described base.
Wherein, described cating nipple includes that universal joint and upper connecting shaft, described upper connecting shaft one end pass through connecting bushing
Being connected with described workbench, the other end is connected with described universal joint by screw thread.
Wherein, described universal joint is connected with upper cross plate and lower cross plate, under described lower cross plate respectively by universal-joint sleeve
End and described upper rod hinge connection, the upper end of described upper cross plate is connected with described upper connecting shaft.
Wherein, described intermediate transmission mechanism includes upper cone gear and intermediate connecting shaft, described upper cone gear driven institute
State intermediate connecting shaft to rotate, described upper connecting rod and the fixing connection of described intermediate connecting shaft, described lower link and described middle connection
Axle is connected by bearing, and described upper cone gear is driven by upper motor, and described upper motor is fixed on described lower link.
Wherein, the two ends of described intermediate connecting shaft are respectively connected with described upper connecting rod and described lower link, and described upper connecting rod is put
Outside described lower link, described lower link is additionally provided with for encapsulating described upper motor and the bag of described upper cone gear
Cover shell.
Wherein, described base drive mechanism includes lower cone gear and hydraulic steering gear adopting cross piece, described lower cone gear and described cross
One end of block connects and drives described hydraulic steering gear adopting cross piece to rotate, described hydraulic steering gear adopting cross piece relative to the other end of described lower cone gear with described
Fixed block on base is connected by hydraulic steering gear adopting cross piece axle sleeve, and described hydraulic steering gear adopting cross piece axle sleeve is passed through with described in the other two ends of described hydraulic steering gear adopting cross piece
The lower end of lower link connects, and described lower cone gear is driven by lower motor.
Wherein, described lower cone gear is arranged in described gear-box, and described hydraulic steering gear adopting cross piece is connected with described lower cone gear
One end stretch in described gear-box, and be connected with described gear-box by described hydraulic steering gear adopting cross piece axle sleeve.
Wherein, described cating nipple, intermediate transmission mechanism and base drive mechanism are provided with position sensor.
Robot for rehabilitation of anklebone described in the utility model, its workbench and base are connected by three linkages,
Described linkage arrangement is identical and parallel with one another, can realize front and back turning over by the described workbench of the motion of described linkage
Turn, left and right overturns and at horizontal rotation in surface；Before and after workbench, upset can realize dorsiflexion and plantarflexion training, workbench to ankle joint
Left and right upset ankle joint can be realized varus and valgus training, workbench horizontal rotation in surface ankle joint can be realized inward turning and
Outward turning is trained；Meanwhile, three linkage arrangement are simple and parallel with one another, and intensity is good, and reliability is high, volume compact.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot for rehabilitation of anklebone described in the utility model；
Fig. 2 is the cating nipple sectional view of robot for rehabilitation of anklebone described in the utility model；
Fig. 3 is the intermediate transmission mechanism sectional view of robot for rehabilitation of anklebone described in the utility model；
Fig. 4 is the base drive mechanism sectional view of robot for rehabilitation of anklebone described in the utility model；
Fig. 5 be robot for rehabilitation of anklebone described in the utility model workbench before and after overturn extreme position a；
Fig. 6 be robot for rehabilitation of anklebone described in the utility model workbench before and after overturn extreme position b；
Fig. 7 is upset extreme position c about the workbench of robot for rehabilitation of anklebone described in the utility model；
Fig. 8 is upset extreme position d about the workbench of robot for rehabilitation of anklebone described in the utility model；
Fig. 9 is the workbench of robot for rehabilitation of anklebone described in the utility model rotation limit position e in horizontal plane；
Figure 10 is the workbench of robot for rehabilitation of anklebone described in the utility model rotation limit position in horizontal plane
f。
Reference:
1, base；11, fixed block；2, linkage；201, first connecting rod mechanism；202, second connecting rod mechanism；203,
Three-link mechanism；21, cating nipple；211, upper connecting shaft；212, upper cross plate；213, universal joint；214, lower cross plate；215, even
Spindle set；216, universal-joint sleeve；22, upper connecting rod；23, intermediate transmission mechanism；231, upper cone gear；232, middle connection
Axle；233, bearing；234, upper motor；24, lower link；25, base drive mechanism；251, lower cone gear；252, hydraulic steering gear adopting cross piece；
253, hydraulic steering gear adopting cross piece axle sleeve；254, lower motor；255, gear-box；3, workbench.
Detailed description of the invention
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by detailed description of the invention.
As Figure 1-4, robot for rehabilitation of anklebone described in the present embodiment, including base 1 be arranged on described base 1
The workbench 3 of side, wherein, is arranged in parallel three identical linkages of structure 2 between described workbench 3 and described base 1,
It is respectively first connecting rod mechanism 201, second connecting rod mechanism 202 and third connecting rod mechanism 203, by the fortune of described linkage 2
Dynamic described workbench 3 can realize front and back overturning, left and right upset and at horizontal rotation in surface.
Described first connecting rod mechanism 201 is arranged at the described inferoanterior centre of workbench 3, described second connecting rod mechanism 202
With described third connecting rod mechanism 203 symmetry be arranged at the described posteroinferior both sides of workbench 3；Three described linkage 2 phases
Coordinate the motion making described workbench 3 realize three degree of freedom mutually.
Described linkage 2 includes connecting rod 22 and lower link 24, and described upper connecting rod 22 is by cating nipple 21 and institute
State workbench 3 to connect, connected by intermediate transmission mechanism 23 between described upper connecting rod 22 and described lower link 24, described lower link
24 are connected with described base 1 by base drive mechanism 25.
As in figure 2 it is shown, described cating nipple 21 includes that universal joint 213 and upper connecting shaft 211, described universal joint 213 are led to
Cross universal-joint sleeve 216 to be connected with upper cross plate 212 and lower cross plate 214 respectively, the lower end of described lower cross plate 214 and described upper connecting rod
22 is hinged, and the upper end of described upper cross plate 212 is connected by screw thread with described upper connecting shaft 211, another of described upper connecting shaft 211
End is connected with described workbench 3 by connecting bushing 215；Two degree of freedom of described universal joint 213 add described upper connecting shaft
The one degree of freedom of 211, described cating nipple 21 is capable of the motion of three degree of freedom, and spherical hinge can either be replaced to meet
Function needs, and can expand again the angular range of activity.
As it is shown on figure 3, described intermediate transmission mechanism 23 includes upper cone gear 231 and intermediate connecting shaft 232, described top
Bevel gear 231 drives described intermediate connecting shaft 232 to rotate, described upper connecting rod 22 and the fixing connection of described intermediate connecting shaft 232, institute
Stating lower link 24 and described intermediate connecting shaft 232 is connected by bearing 233, described upper cone gear 231 is by upper motor 234
Driving, described upper motor 234 is fixed on described lower link 24；Described upper motor 234 controls described upper connecting rod 22 and institute
State direction, angle and speed that lower link 24 rotates around described intermediate connecting shaft 232；The two ends of described intermediate connecting shaft 232 are equal
Connecting has described upper connecting rod 22 and described lower link 24, described upper connecting rod 22 to be placed in outside described lower link 24, described lower link
It is additionally provided with on 24 for encapsulating described upper motor 234 and the encasement of described upper cone gear 231；Described encasement can
Prevent that described upper cone gear 231 is exposed affects transmission in the environment, moreover it is possible to make good looking appearance.
As shown in Figure 4, described base drive mechanism 25 includes lower cone gear 251 and hydraulic steering gear adopting cross piece 252, described lower cone tooth
Taking turns 251 be connected with one end of described hydraulic steering gear adopting cross piece 252 and drive described hydraulic steering gear adopting cross piece 252 to rotate, described hydraulic steering gear adopting cross piece 252 is relative to described
The other end of lower cone gear 251 is connected by hydraulic steering gear adopting cross piece axle sleeve 253 with the fixed block 11 on described base 1, described hydraulic steering gear adopting cross piece
The other two ends of 252 are connected with the lower end of described lower link 24 by described hydraulic steering gear adopting cross piece axle sleeve 253, described lower cone gear 251
Driven by lower motor 254；Described lower motor 254 controls direction, angle and the speed that described hydraulic steering gear adopting cross piece 252 rotates, and enters
And realize the control to described lower link 24 position；Described lower cone gear 251 is arranged in described gear-box 255, and described ten
One end that block 252 is connected with described lower cone gear 251 is stretched in described gear-box 255, and by described hydraulic steering gear adopting cross piece axle sleeve
253 are connected with described gear-box 255；Described gear-box 255 is prevented from that described lower cone gear 251 is exposed to be affected in the environment
Transmission, moreover it is possible to make good looking appearance；Described hydraulic steering gear adopting cross piece 252 axle sleeve 253 can reduce the resistance being subject to when described hydraulic steering gear adopting cross piece 252 rotates
Power, makes motion more steady and smooth.
It is provided with position sensor in described cating nipple 21, intermediate transmission mechanism 23 and base drive mechanism 25；
For detecting the rotation on each degree of freedom direction of described cating nipple 21, intermediate transmission mechanism 23 and base drive mechanism 25
Angle.
As shown in Figure 5-10, the robot for rehabilitation of anklebone described in the present embodiment in use has the advantage that
1, can realize front and back overturning by the motion workbench 3 of linkage 2, left and right overturns and before horizontal rotation in surface, workbench 3
Rear upset can carry out dorsiflexion and plantarflexion training to ankle joint, and workbench about 3 upset can carry out varus and valgus instruction to ankle joint
Practicing, workbench 3 can carry out inward turning and outward turning training at horizontal rotation in surface to ankle joint, it is achieved that the motion of multiple degree of freedom,
Fully meet the use demand of ankle joint rehabilitation training；2, robot uses the structure of three linkages 2 parallel connection, intensity
Height, dependability is high；3, each linkage 2 is made up of upper connecting rod 22 and lower link 24, and by cating nipple 21, in
Between drive mechanism 23 and base drive mechanism 25 connects, transmission, simple in construction, be prone to encapsulation, easy to assembly, compact conformation；4、
Robot uses upper motor 234 and lower motor 254 to drive, and detects rotational angle by position sensor, it is possible to accurately
The effective rotation controlled on each direction, thus realize the accurate motion of workbench 3, it is to avoid patient causes during using
Secondary injury.
Know-why of the present utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
By novel principle, and the restriction to this utility model protection domain can not be construed to by any way.Based on explanation herein,
Those skilled in the art need not pay performing creative labour can associate other detailed description of the invention of the present utility model,
Within these modes fall within protection domain of the present utility model.
Claims (10)
1. robot for rehabilitation of anklebone, including base (1) and be arranged at described base (1) top workbench (3), its feature exists
In: it is arranged in parallel three the identical linkage of structures (2) between described workbench (3) and described base (1), respectively
One linkage (201), second connecting rod mechanism (202) and third connecting rod mechanism (203), by the fortune of described linkage (2)
Dynamic described workbench (3) can realize front and back overturning, left and right upset and at horizontal rotation in surface.
Robot for rehabilitation of anklebone the most according to claim 1, it is characterised in that: described first connecting rod mechanism (201) sets
Being placed in described workbench (3) inferoanterior centre, described second connecting rod mechanism (202) and described third connecting rod mechanism (203) are right
Claim is arranged at described workbench (3) posteroinferior both sides.
Robot for rehabilitation of anklebone the most according to claim 1, it is characterised in that: described linkage (2) includes company
Bar (22) and lower link (24), described upper connecting rod (22) is connected with described workbench (3) by cating nipple (21), described on
Being connected by intermediate transmission mechanism (23) between connecting rod (22) and described lower link (24), described lower link (24) is passed by base
Motivation structure (25) is connected with described base (1).
Robot for rehabilitation of anklebone the most according to claim 3, it is characterised in that: described cating nipple (21) includes ten thousand
To joint (213) and upper connecting shaft (211), described upper connecting shaft (211) one end is by connecting bushing (215) and described workbench
(3) connecting, the other end is connected with described universal joint (213) by screw thread.
Robot for rehabilitation of anklebone the most according to claim 4, it is characterised in that: described universal joint (213) is by universal
Nodal axisn set (216) is connected with upper cross plate (212) and lower cross plate (214) respectively, the lower end of described lower cross plate (214) and described upper company
Bar (22) is hinged, and the upper end of described upper cross plate (212) is connected with described upper connecting shaft (211).
Robot for rehabilitation of anklebone the most according to claim 3, it is characterised in that: described intermediate transmission mechanism (23) includes
Upper cone gear (231) and intermediate connecting shaft (232), described upper cone gear (231) drives described intermediate connecting shaft (232) to turn
Dynamic, described upper connecting rod (22) and the fixing connection of described intermediate connecting shaft (232), described lower link (24) and described intermediate connecting shaft
(232) being connected by bearing (233), described upper cone gear (231) is driven by upper motor (234), described upper motor
(234) it is fixed on described lower link (24).
Robot for rehabilitation of anklebone the most according to claim 6, it is characterised in that: the two of described intermediate connecting shaft (232)
End is respectively connected with described upper connecting rod (22) and described lower link (24), and described upper connecting rod (22) is placed in described lower link (24) outward
Side, described lower link (24) is additionally provided with for encapsulating described upper motor (234) and the bag of described upper cone gear (231)
Cover shell.
Robot for rehabilitation of anklebone the most according to claim 3, it is characterised in that: described base drive mechanism (25) includes
Lower cone gear (251) and hydraulic steering gear adopting cross piece (252), described lower cone gear (251) is connected also with one end of described hydraulic steering gear adopting cross piece (252)
Driving described hydraulic steering gear adopting cross piece (252) to rotate, described hydraulic steering gear adopting cross piece (252) is relative to the other end of described lower cone gear (251) and institute
The fixed block (11) stated on base (1) is connected by hydraulic steering gear adopting cross piece axle sleeve (253), and the other two ends of described hydraulic steering gear adopting cross piece (252) are passed through
Described hydraulic steering gear adopting cross piece axle sleeve (253) is connected with the lower end of described lower link (24), and described lower cone gear (251) passes through lower motor
(254) drive.
Robot for rehabilitation of anklebone the most according to claim 8, it is characterised in that: described lower cone gear (251) is arranged
In described gear-box (255), described tooth is stretched in one end that described hydraulic steering gear adopting cross piece (252) is connected with described lower cone gear (251)
In roller box (255), and it is connected with described gear-box (255) by described hydraulic steering gear adopting cross piece axle sleeve (253).
Robot for rehabilitation of anklebone the most according to claim 3, it is characterised in that: described cating nipple (21), centre
It is provided with position sensor on drive mechanism (23) and base drive mechanism (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620740097.4U CN205799486U (en) | 2016-07-12 | 2016-07-12 | Robot for rehabilitation of anklebone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620740097.4U CN205799486U (en) | 2016-07-12 | 2016-07-12 | Robot for rehabilitation of anklebone |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799486U true CN205799486U (en) | 2016-12-14 |
Family
ID=57511316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620740097.4U Active CN205799486U (en) | 2016-07-12 | 2016-07-12 | Robot for rehabilitation of anklebone |
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| Country | Link |
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| CN (1) | CN205799486U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965484A (en) * | 2016-07-12 | 2016-09-28 | 广东衡准测控自动化有限公司 | Ankle rehabilitation robot |
| CN109095045A (en) * | 2018-07-20 | 2018-12-28 | 湖南瑭桥科技发展有限公司 | A kind of novel rod-type garbage truck manipulator folding arm directing controller |
| CN111202656A (en) * | 2020-01-20 | 2020-05-29 | 东北大学秦皇岛分校 | Rope-driven parallel ankle joint rehabilitation device |
-
2016
- 2016-07-12 CN CN201620740097.4U patent/CN205799486U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965484A (en) * | 2016-07-12 | 2016-09-28 | 广东衡准测控自动化有限公司 | Ankle rehabilitation robot |
| CN109095045A (en) * | 2018-07-20 | 2018-12-28 | 湖南瑭桥科技发展有限公司 | A kind of novel rod-type garbage truck manipulator folding arm directing controller |
| CN111202656A (en) * | 2020-01-20 | 2020-05-29 | 东北大学秦皇岛分校 | Rope-driven parallel ankle joint rehabilitation device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |