CN209107992U - A kind of four bar parallel connection ankle recovery exercising robot of interactive - Google Patents
A kind of four bar parallel connection ankle recovery exercising robot of interactive Download PDFInfo
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- CN209107992U CN209107992U CN201820502492.8U CN201820502492U CN209107992U CN 209107992 U CN209107992 U CN 209107992U CN 201820502492 U CN201820502492 U CN 201820502492U CN 209107992 U CN209107992 U CN 209107992U
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- electric pushrod
- connector
- shank
- upper connector
- pressure sensor
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Abstract
A kind of four bar parallel connection ankle recovery exercising robot of interactive, it includes fixes sleeve on shank, fixes sleeve and rigid sole under shank, fixes sleeve two sides are respectively equipped with first on shank, second upper connector, fixes sleeve two sides are respectively equipped with first under shank, second lower connector, rigid sole front end two sides are respectively equipped with first, second front connector, rigid sole rear end sides are respectively equipped with first, second rear connectors, electric pushrod before being flexibly connected first between first upper connector and the first front connector, electric pushrod before being flexibly connected second between second upper connector and the second front connector, electric pushrod after being flexibly connected first between first lower connector and the first rear connectors, electric pushrod after being flexibly connected second between second lower connector and the second rear connectors.The utility model at least has many advantages, such as that structure is simple, reduces production cost, is applied widely, be suitable for human-computer interaction, directly participate in without doctor can rehabilitation training.
Description
Technical field
The utility model relates to a kind of four bar parallel connection ankle recovery exercising robots of interactive.
Background technique
For the rehabilitation training of ankles bit, what traditional foot convalescence device used is all that 3DOF or 6 are free
The parallel institution of degree, and the mechanism of 3DOF be easy to appear ankle damage position not adaptive device the problem of, this is because having
The 3DOF of 3 drive rods convalescence device driving it is very few, and 6DOF parallel institution for ankle-joint this profession it is single
For the rehabilitation at position, then its DOF (degree of freedom) redundance is excessive, is bound to cause many unnecessary mechanical material wastes.
In addition, for the convalescence device of ankle and foot, the module of the prior art and the not set data acquisition for ankle part,
Data transmission module and central control system can not needles also without the human-computer interaction link of too many doctor and convalescence device
Immunotherapy targeted autoantibody is carried out to the recovery situation of ankle part, the recovery and training to daily patient's ankle part be not also professional
System is recorded and is handled.General foot convalescence device do not focus on that ankle part is trained and the acquisition of rehabilitation situation data and
Analysis, doctor according to the recovery situation of patient's ankle part can not timely have and targetedly adjust.
General ankle convalescence device is fixed mechanical structure, can not be according to different size of ankle and ankle
The case where different injury, is finely adjusted mechanism, so traditional foot convalescence device, to the foot of different size of patient
Ankle and the different strain position of ankle, are not the rehabilitation efficacies for having phase people having the same habits.
Many foot rehabilitation mechanicals can only use in hospital or inside the medical institutions of profession mostly, generally as teaching
Mechanical training control method requires that doctor participates, so traditional foot convalescence device, which can not leave doctor, to be become
Household and day-to-day.Because the operation mode of rehabilitation institution is excessively dull, and requires to carry out in hospital, but more sometimes
Smaller injury position only needs conventional rehabilitation to act, and is hospitalized thus, has both wasted medical resource or has been not convenient for
Patient.
Utility model content
To solve defect existing for above-mentioned technology, the utility model is intended to provide a kind of four bar parallel connection ankle health of interactive
Multiple image training robot at least has simple structure, reduction production cost, suitable for different size of foot and different feet
Ankle injury, be suitable for human-computer interaction, without doctor directly participate in can rehabilitation training the advantages that.Specific utility model content
It is as follows:
A kind of four bar parallel connection ankle recovery exercising robot of interactive, it includes fixes sleeve on shank, solid under shank
Determine sleeve and rigid sole, is connected with packet on the shank under fixes sleeve, shank between fixes sleeve and rigid sole
The binding structure of the flexible material on shank, ankle-joint and instep is overlayed on, fixes sleeve two sides are respectively equipped on the shank
First upper connector and the second upper connector, fixes sleeve two sides are respectively equipped under the first lower connector and second under the shank
Connector, rigid sole front end two sides are respectively equipped with the first front connector and the second front connector, after the rigid sole
End two sides are respectively equipped with the first rear connectors and the second rear connectors, under first upper connector, first before connector, first
Connector and the first rear connectors are located at the same side, second upper connector, the second lower connector, the second front connector with
And second rear connectors be each provided at the other side, being connected between first upper connector and the first front connector can be flexible
Electric pushrod before flexible first, being connected between second upper connector and the second front connector flexibly to stretch
Electric pushrod before second, after being connected with can flexibly stretch first between the described first lower connector and the first rear connectors
Electric pushrod is connected with electronic after can flexibly stretch second push away between the described second lower connector and the second rear connectors
Bar, before described first electric pushrod top with it is electronic after the top of electric pushrod before bottom end, described second and bottom end, described first
The top and bottom end of electric pushrod are equipped with pressure sensor behind the top of push rod and bottom end and described second, before described first
Electric pushrod is driven by the control of push rod driving device after electric pushrod and second after electric pushrod, first before electric pushrod, second
Dynamic, the push rod driving device and central control system control connect, and electric pushrod top is connected on described first before described first
Position-adjustable at connector, the position that electric pushrod top is connected at second upper connector before described second is adjustable
Section.
One of preferably, first upper connector and the second upper connector are rigid slide rail type connection
Part, the top of electric pushrod is respectively equipped with and first upper connector before the top and second of electric pushrod before described first
The sliding block matched with the second upper connector, the sliding block can be moved and be fixed along the slide rail type connector.
One of preferably, first front connector, the second front connector, the first rear connectors and
Two rear connectors respectively with the pressure of electric pushrod bottom end before the pressure sensor of electric pushrod bottom end, second before corresponding first
The pressure sensor of electric pushrod bottom end passes through after the pressure sensor of electric pushrod bottom end and second after sensor, first
Flexural pivot connection.
One of preferably, first upper connector, the second upper connector, the first lower connector and the
Two lower connectors respectively with the pressure on electric pushrod top before the pressure sensor on electric pushrod top, second before corresponding first
The pressure sensor on electric pushrod top passes through after the pressure sensor on electric pushrod top and second after sensor, first
Hooke is hinged.
One of preferably, the tightness of the binding structure for being coated on shank and ankle-joint can pass through
Bandage adjustment, the tightness for wrapping up in the binding structure being tied at instep can be adjusted by nylon paste button.
One of preferably, the central control system by a bluetooth module and the pressure sensor and pushes away
Rod driving device control connection.
One of preferably, the rigid sole center is equipped with the scalable company of adjustable rigid sole length
Fitting.
The utility model has the advantages that
The utility model uses a kind of four bar parallel connection ankle recovery exercising robot of interactive, has first, second
Electric pushrod after preceding electric pushrod and first, second, 4 bar driven Parallel Kinematic Manipulator provided by the utility model both meet difference
The therapeutic scheme of ankle, structure and function again will not redundancy it is excessive, save mechanical material and cost；
The first upper connector and the second upper connector are set rigid slide rail type connector by the utility model, and described first
The top of electric pushrod is respectively equipped with before the top of preceding electric pushrod and second connects on first upper connector and second
The sliding block that fitting matches, the sliding block can be moved and be fixed along the slide rail type connector, electronic before making first, second in this way
Push rod can be finely adjusted according to the patient of different size foot and the different parts of injured ankle, and electronic push away automatically is arranged
The position of bar and power thrusts are capable of providing the utility model and are more adapted to the patients of different ankle sizes and are specifically controlled
The scheme with rehabilitation training is treated, it is applied widely；
Central control system passes through a bluetooth module and the pressure sensor and push rod driving device control in the utility model
System connection, pressure sensor carry out data acquisition according to the stroke of four push rods and power thrusts etc., can by bluetooth module
To realize that user is acquired data, handles and is controlled in client by central control system, realize to push rod driving device
Control can be realized on the scene without doctor in this way to achieve the purpose that accurately to control four electric pushrods, can also remotely control
With the specific rehabilitation training scheme for presetting and adjusting the utility model, led in the technology of the professional rehabilitation training of ankle part
Real human-computer interaction is realized in domain, saves the resource of doctor and hospital, and the cumbersomeness and inconvenience of patient is omitted, and is applicable in
Range is wider.
Detailed description of the invention
Fig. 1 is the volume rendering structural schematic diagram of one preferred embodiment of the utility model.
Fig. 2 is the forward sight structural schematic diagram of one preferred embodiment of the utility model.
Appended drawing reference:
1, fixes sleeve on shank；2, fixes sleeve under shank；3, rigid sole；4, binding structure；5, it connects on first
Part；6, the second upper connector；7, the first lower connector；8, the second lower connector；9, the first front connector；10, it connects before second
Part；11, the first rear connectors；12, the second rear connectors；13, electric pushrod before first；14, electric pushrod before second；15,
Electric pushrod after one；16, electric pushrod after second；17, scalable connector.
Specific embodiment
The utility model is illustrated below with reference to specific embodiment:
A kind of four bar parallel connection ankle recovery exercising robot of interactive, it includes solid under fixes sleeve 1, shank on shank
Determine sleeve 2 and rigid sole 3, is connected between fixes sleeve 2 and rigid sole 3 under fixes sleeve 1, shank on the shank
There is the binding structure 4 for the flexible material being coated on shank, ankle-joint and instep, 1 two sides of fixes sleeve point on the shank
Not She You the first upper connector 5 and the second upper connector 6,2 two sides of fixes sleeve are respectively equipped with the first lower connection under the shank
Part 7 and the second lower connector 8, the 3 front end two sides of rigid sole are respectively equipped with the first front connector 9 and the second front connector
10,3 rear end sides of rigid sole are respectively equipped with the first rear connectors 11 and the second rear connectors 12, connect on described first
The lower connector 7 of part 5, first, the first front connector 9 and the first rear connectors 11 are located at the same side, second upper connector
6, the second lower connector 8, the second front connector 10 and the second rear connectors 12 are each provided at the other side, first upper connector
5 and first are connected with electric pushrod 13 before can flexibly stretch first, second upper connector 6 between front connector 9
And second be connected with electric pushrod 14 before can flexibly stretch second, the described first lower connector 7 between front connector 10
And first be connected with electric pushrod 15 after can flexibly stretch first, the described second lower connector 8 between rear connectors 11
And second be connected with electric pushrod 16 after can flexibly stretch second, electric pushrod before described first between rear connectors 12
The top and bottom on the top of electric pushrod 14 and electric pushrod 15 after bottom end, described first before 13 tops and bottom end, described second
The top and bottom end of electric pushrod 16 are equipped with pressure sensor behind end and described second, electric pushrod 13 before described first,
Electric pushrod 16 is driven by the control of push rod driving device after electric pushrod 15 and second after electric pushrod 14, first before second,
The push rod driving device and central control system control connect, and 13 top of electric pushrod, which is connected on described first, before described first connects
Position-adjustable at fitting 5, the position that 14 top of electric pushrod is connected at second upper connector 6 before described second can
It adjusts.
One of preferably, first upper connector 5 is that rigid slide rail type connects with the second upper connector 6
Part, before described first before the top and second of electric pushrod 13 top of electric pushrod 14 be respectively equipped with described first on connect
The sliding block that fitting 5 and the second upper connector 6 match, the sliding block can be moved and be fixed along the slide rail type connector 5,6.
One of preferably, first front connector 9, the second front connector 10, the first rear connectors 11
And second rear connectors 12 respectively with electric pushrod before the pressure sensor of 13 bottom end of electric pushrod, second before corresponding first
16 bottom end of electric pushrod after the pressure sensor and second of 15 bottom end of electric pushrod after the pressure sensor of 14 bottom ends, first
Pressure sensor is connected by flexural pivot.
One of preferably, the lower connector 7 of first upper connector 5, the second upper connector 6, first with
And second lower connector 8 respectively with electric pushrod 14 before the pressure sensor on 13 top of electric pushrod, second before corresponding first
After the pressure sensor on top, first after the pressure sensor and second on 15 top of electric pushrod 16 top of electric pushrod pressure
Force snesor is hinged by Hooke.In this way, both can satisfy rehabilitation training to the flexibility ratio and freedom degree of the utility model
Requirement, and resource can be saved, reduce the production cost of the utility model.
One of preferably, the tightness of the binding structure 4 for being coated on shank and ankle-joint can lead to
Bandage adjustment is crossed, the tightness for wrapping up in the binding structure 4 being tied at instep can be adjusted by nylon paste button.
One of preferably, the central control system by a bluetooth module and the pressure sensor and pushes away
Rod driving device control connection.
One of preferably, the rigid sole center is equipped with the scalable company of adjustable rigid sole length
Fitting 17.
The utility model can be attached with mobile client using bluetooth module and data transmission, can also pass through
Network is uploaded at doctor, and doctor can reach remote guide, medical treatment recovery and rehabilitation training to medical training design of scheme
Purpose.The telescopic variation and the data such as power thrusts and size for the electric pushrod that pressure sensor can also be acquired, lead to
Bluetooth module and central control system are crossed, mobile client is stored in, the side after being debugged by doctor as the recovery plan generally damaged
Case data can be introduced directly into instrument later and use as common rehabilitation training scheme.Once enabling the rehabilitation training set
Scheme, central control system is by by the data and driven by program push rod driving device of setting, and according to design of scheme, driving four is electronic to be pushed away
Bar carries out unmanned rehabilitation training, i.e. the rehabilitation training without doctor at the scene discharges doctor and medical resource.
The above content is only the preferred embodiment of the utility model, for those of ordinary skill in the art, according to this reality
With novel thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as
Limitations of the present invention.
Claims (7)
1. a kind of four bar parallel connection ankle recovery exercising robot of interactive, it is characterised in that: it include fixes sleeve on shank,
Fixes sleeve and rigid sole under shank, on the shank under fixes sleeve, shank between fixes sleeve and rigid sole
It is connected with the binding structure for the flexible material being coated on shank, ankle-joint and instep, fixes sleeve two sides on the shank
It is respectively equipped with the first upper connector and the second upper connector, fixes sleeve two sides are respectively equipped with the first lower connector under the shank
With the second lower connector, rigid sole front end two sides are respectively equipped with the first front connector and the second front connector, described rigid
Property sole rear end two sides be respectively equipped with the first rear connectors and the second rear connectors, first upper connector, the first lower connection
Part, the first front connector and the first rear connectors are located at the same side, second upper connector, the second lower connector, second
Front connector and the second rear connectors are each provided at the other side, and activity connects between first upper connector and the first front connector
It is connected to electric pushrod before can flexibly stretch first, being connected between second upper connector and the second front connector can
Electric pushrod before second flexibly to stretch is connected with and can flexibly stretch between the described first lower connector and the first rear connectors
Electric pushrod after the first of contracting is connected with can flexibly stretch the between described second lower connector and the second rear connectors
Electric pushrod after two, it is electric pushrod top and the top of electric pushrod before bottom end, described second and bottom end before described first, described
The top Yu bottom end of electric pushrod are equipped with pressure sensor behind the top Yu bottom end of electric pushrod and described second after first,
Electric pushrod is driven by push rod after electric pushrod and second after electric pushrod, first before electric pushrod, second before described first
Device control driving, the push rod driving device and central control system control connect, and electric pushrod top is connected to before described first
Position-adjustable at first upper connector, electric pushrod top is connected at second upper connector before described second
Position-adjustable.
2. four bar parallel connection ankle recovery exercising robot of a kind of interactive according to claim 1, it is characterised in that: institute
The first upper connector and the second upper connector are stated as rigid slide rail type connector, the top of electric pushrod and the before described first
The top of electric pushrod is respectively equipped with the sliding block matched with first upper connector and the second upper connector, the cunning before two
Block can be moved and be fixed along the slide rail type connector.
3. four bar parallel connection ankle recovery exercising robot of a kind of interactive according to claim 1, it is characterised in that: institute
It is electric with before corresponding first respectively to state the first front connector, the second front connector, the first rear connectors and the second rear connectors
Before the pressure sensor of dynamic push rod bottom end, second after the pressure sensor of electric pushrod bottom end, first electric pushrod bottom end pressure
The pressure sensor of electric pushrod bottom end is connected by flexural pivot after force snesor and second.
4. four bar parallel connection ankle recovery exercising robot of a kind of interactive according to claim 1, it is characterised in that: institute
It is electric with before corresponding first respectively to state the first upper connector, the second upper connector, the first lower connector and the second lower connector
Before the pressure sensor on dynamic push rod top, second after the pressure sensor on electric pushrod top, first electric pushrod top pressure
The pressure sensor on electric pushrod top is hinged by Hooke after force snesor and second.
5. four bar parallel connection ankle recovery exercising robot of a kind of interactive according to claim 1, it is characterised in that: institute
It states and is coated on the tightness of the binding structure of shank and ankle-joint and can be adjusted by bandage, it is described to wrap up in the bondage being tied at instep
The tightness of structure can be adjusted by nylon paste button.
6. four bar parallel connection ankle recovery exercising robot of a kind of interactive according to claim 1, it is characterised in that: institute
Central control system is stated to connect by a bluetooth module and the pressure sensor and the control of push rod driving device.
7. four bar parallel connection ankle recovery exercising robot of a kind of interactive according to claim 1, it is characterised in that: institute
State the scalable connector that rigid sole center is equipped with adjustable rigid sole length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820502492.8U CN209107992U (en) | 2018-04-10 | 2018-04-10 | A kind of four bar parallel connection ankle recovery exercising robot of interactive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820502492.8U CN209107992U (en) | 2018-04-10 | 2018-04-10 | A kind of four bar parallel connection ankle recovery exercising robot of interactive |
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| Publication Number | Publication Date |
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| CN209107992U true CN209107992U (en) | 2019-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820502492.8U Expired - Fee Related CN209107992U (en) | 2018-04-10 | 2018-04-10 | A kind of four bar parallel connection ankle recovery exercising robot of interactive |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108354788A (en) * | 2018-04-10 | 2018-08-03 | 超微（上海）骨科医院管理股份有限公司 | A kind of four bar parallel connection ankle recovery exercising robot of interactive |
-
2018
- 2018-04-10 CN CN201820502492.8U patent/CN209107992U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108354788A (en) * | 2018-04-10 | 2018-08-03 | 超微（上海）骨科医院管理股份有限公司 | A kind of four bar parallel connection ankle recovery exercising robot of interactive |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20200410 |