CN209361244U - A kind of five degree of freedom information exchange ankle rehabilitation parallel robot - Google Patents
A kind of five degree of freedom information exchange ankle rehabilitation parallel robot Download PDFInfo
- Publication number
- CN209361244U CN209361244U CN201820501857.5U CN201820501857U CN209361244U CN 209361244 U CN209361244 U CN 209361244U CN 201820501857 U CN201820501857 U CN 201820501857U CN 209361244 U CN209361244 U CN 209361244U
- Authority
- CN
- China
- Prior art keywords
- platform
- electric pushrod
- information exchange
- degree
- parallel robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a kind of five degree of freedom information exchange ankle rehabilitation parallel robots, it is characterized in that, including upper mounting plate, middle platform, lower platform, wherein upper mounting plate is connect by three group of first electric pushrod with lower platform, and three group of first electric rod both ends are respectively in respectively that triangle relation is linked with the upper mounting plate and lower platform, middle platform is connect with lower platform by two group of second electric pushrod, and two group of second electric pushrod is respectively arranged at the two sides of middle platform and lower platform, and the upper mounting plate, sensor is arranged in middle platform, the sensor connects database and is used for information exchange.It at least has easy donning, quick detachable, lighter, and simple and reliable for structure, more comfortable more firm fixed injured ankle and foot, rehabilitation training is more convenient, is in commonly used the advantages that can also achieving the purpose that specific rehabilitation training by remote diagnosis.
Description
Technical field
The utility model relates to a kind of five degree of freedom information exchange ankle rehabilitation parallel robots.
Background technique
Traditional ankle and foot convalescence device is with SACHfoot adaptor, by reducing the movable model of ankle-joint in daily life
It encloses to reduce the secondary damage to ankle-joint, to play rehabilitation and protective effect.
But when ankle sprain is serious, needs to carry out ankle flexibility training in the process of rehabilitation, that is, allow ankle-joint to exist
It is moved in a certain range.Traditional ankle fixing means subtracts pauciarticular fortune although the stable state in affected part can be protected
Kinetic force can not reach best rehabilitation efficacy, and long-term this stress of wearing is concentrated and limits movable rehabilitation branch
Tool is easy to cause stasis, muscle rigidity, and swelling shouting pain is very uncomfortable.
In mechanical structure, the six degree of freedom ankle healing robot occurred at present, complicated in mechanical structure, for most
Only for the ankle-joint of the people of Three Degree Of Freedom, although six degree of freedom can the pose to ankle and foot accurately adjusted, increase
The extra dof added still will increase the complexity of rehabilitation training system, and cause convalescence device volume excessive, and weight increases
Add, the affected part load also resulted in increases, and reduces the comfort of dress.
In control mode, increase the motion range of ankle simply by driver, it is possible to cause to patient affected part
Secondary damage such as reasonably cannot formulate rehabilitation training plans according to the position of patient affected part and seriousness well, gently then right
Affected part does not have effective rehabilitative action, serious, can cause suffering to patient or secondary damage.
General ankle convalescence device is all the mechanical structure fixed, can not be finely adjusted according to the case where ankle.
Many rehabilitation mechanicals focus on the use in hospital area mostly, require doctor generally as the control method of teaching
It participates, and there is no day-to-days.
Utility model content
To solve defect existing for above-mentioned technology, the utility model is intended to provide a kind of five degree of freedom information exchange ankle health
Multiple parallel robot, at least has easy donning, quick detachable, lighter, simple and reliable for structure, more comfortable more firm fixation by
Hurt ankle and foot, rehabilitation training is more convenient, and be in commonly used can also achieve the purpose that specific rehabilitation training by remote diagnosis
The advantages that.
Specific utility model content is as follows:
A kind of five degree of freedom information exchange ankle rehabilitation parallel robot, which is characterized in that including upper mounting plate, middle platform,
Lower platform, wherein upper mounting plate is connect by three group of first electric pushrod with lower platform, and three group of first electric rod both ends point
It is not respectively in that triangle relation is linked with the upper mounting plate and lower platform, middle platform and lower platform are connected by two group of second electric pushrod
It connects, and two group of second electric pushrod is respectively arranged at the two sides of middle platform and lower platform, and the upper mounting plate, middle platform are set
Sensor is set, those sensors connect database and are used for information exchange.
Further, the upper mounting plate includes the first fixes sleeve, slide rail type fixed block, and the slide rail type fixed block passes through
Hooke's hinge is linked with first electric pushrod.
Further, the slide rail type fixed block includes four holes for push rod adjusting position.
Further, first electric pushrod or the second electric pushrod rear end integrate rear end integrated driving device, pass through
Driving device controls electric pushrod stroke, and driving device connection bluetooth module connects bluetooth module.
Further, the middle platform includes the second fixes sleeve, the second fixed frame, and second fixed frame passes through Hooke
Hinge is linked with second electric pushrod, and second fixes sleeve is made of gas permeable material, is adjusted by fragrant plant button elastic.
Further, the lower platform includes vola platform, third fixed frame, flexible foot fixed part, and the vola is flat
Platform includes plantar toe and foot heel, and the third fixed frame is distributed in plantar toe and foot heel.
Further, the third fixed frame for being distributed in plantar toe is connected by flexural pivot with first electric pushrod,
The third fixed frame for being distributed in foot heel is connected by flexural pivot with second electric pushrod.
Further, extensible member is set among the vola platform.
When further, using above-mentioned five degree of freedom information exchange ankle rehabilitation parallel robot, first open at constraint,
Patient is placed on foot on device, and then the fixes sleeve of foot and leg is held into belt, then opens mobile whole
End bluetooth and device establish connection, open corresponding A PP, if only common ankle arthrosis damage, may be selected general mode.If
It is more serious situation, doctor diagnosed mode can be used, the push rod variation that line upper mounting plate is uploaded by record can simulates
The 3d image for wearing convalescence device is worn, doctor is observed that the position 3d of control platform and controls it and does by system
More soft variation analyzes the damage position of patient's ankle by the feeling of pain of patient and corresponding medical plan is arranged.
The utility model has the advantages that
The utility model uses the parallel institution of upper, middle and lower layering, the mechanical knot of amphicheirality's layer-stepping based on power conduction
Structure, can share concentrate it is fixed caused by pressure load, increase a middle platform on the basis of parallel institution, make, in two
Platform fixes two groups of linear motors respectively, while keeping the freedom degree of original integral type, utmostly promotes wearer's
Comfort level.The five bar driven Parallel Kinematic Manipulators used had not only met the therapeutic scheme of different ankles, but save mechanical material and at
This.Upper mounting plate has used the design of sliding rail, allows to automatically be arranged position and the power thrusts of bar, adaptation and various ankles
The rehabilitation training of size.Upper, middle setting sensor, can coupled computer program, connection database carries out information exchange, electronic to push away
Rod rear end integrates rear end integrated driving device, controls electric pushrod stroke by driving device, and driving device connects bluetooth
Module, and mobile terminal APP can be associated with by bluetooth module, sensor transmits data by bluetooth module and enters mobile terminal
And database is uploaded, the data set are passed to drive module by bluetooth module and are controlled by mobile terminal, such as are moved
Terminal controls the driving device that stroke is passed to electric pushrod by bluetooth module, while also settable general mode
With doctor diagnosed mode, it can both be in commonly used or specific rehabilitation training is achieved the purpose that by remote diagnosis.This
Outside, the scalable connector in rigid sole center makes the utility model be suitble to the different size of patient's wearing of foot, use scope
It 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 information exchange process module figure of one preferred embodiment of the utility model.
Appended drawing reference:
1, upper mounting plate, 2, middle platform, 3, lower platform, the 4, first electric pushrod, the 5, second electric pushrod, 6, extensible member, 11,
First fixes sleeve, 12, slide rail type fixed block, the 21, second fixes sleeve, the 22, second fixed frame, 31, vola platform, 32,
Three fixed frames, 33, flexible foot fixed part, 311, plantar toe, 312, foot heel
Specific embodiment
The utility model is illustrated below with reference to specific embodiment:
As shown in Figure 1, five degree of freedom information exchange ankle rehabilitation parallel robot described in the utility model, including it is upper flat
Platform 1, middle platform 2, lower platform 3, wherein upper mounting plate 1 is connect by three group of first electric pushrod 4 with lower platform 3, and described three groups
First electric pushrod, 4 both ends are respectively linked in triangle relation with the upper mounting plate 1 and lower platform 3 respectively, middle platform 2 and lower platform
3 are connected by two group of second electric pushrod 5, and two group of second electric pushrod 5 is respectively arranged at middle platform 2 and lower platform 3
Two sides, and the upper mounting plate 1, middle platform 2 be arranged sensor, the sensor connect database be used for information exchange.
Upper mounting plate 1 and middle platform 2 contribute to fixed shank, belong to fixed platform, and lower platform 3 belongs to for fixing foot
Moving platform.The mechanical structure of amphicheirality's layer-stepping based on power conduction, which can be shared, concentrates fixed caused pressure load,
Increase a middle platform 2 on upper and lower platform base, make, in two platforms fix two groups of electric pushrods respectively, in holding original one
While the freedom degree of body formula, the comfort level of wearer is utmostly promoted.
In one preferred embodiment of the utility model, the upper mounting plate is solid including the first fixes sleeve 11, slide rail type
Determine block 12, the slide rail type fixed block 12 is linked by Hooke's hinge with first electric pushrod 4.Wherein, the first fixes sleeve
It for moccasin set and can open, put on cavity, belt may pass through, and can be fastened and be tightened with belt.
In one preferred embodiment of the utility model, the slide rail type fixed block 12 includes four holes for push rod adjusting position
It sets.The fixed block connected by the first electric pushrod 4 is slide rail type, can be in conjunction with the hole of the different location on sliding rail
Push rod fine tuning is carried out according to the different damage positions of different ankles, allows to automatically be arranged position and the power thrusts of bar,
The rehabilitation training of adaptation and various ankle sizes.
In one preferred embodiment of the utility model, first electric pushrod 4 or 5 rear end of the second electric pushrod are integrated
Driving device connects bluetooth module, and the stroke of electric pushrod is controlled by bluetooth module.Due to upper, middle platform setting sensing
Device, thus can coupled computer program, connection database carries out information exchange, and electric pushrod rear end integrated driving device passes through
Driving device controls electric pushrod stroke, and driving device connects bluetooth module, and can be associated with by bluetooth module mobile whole
APP is held, sensor enters mobile terminal by bluetooth module transmission data and uploads database, and mobile terminal passes through bluetooth module
The data set are passed to drive module to be controlled, such as stroke is passed to electronic push away by bluetooth module by mobile terminal
The driving device of bar is controlled.It can be associated and can be uploaded to by network with mobile terminal with bluetooth module simultaneously
At doctor, doctor achievees the purpose that remote guide medical treatment resumes training to the setting of medical training plan.And mobile terminal
The recovery plan (i.e. the time-varying situation of bar) of general damage has been got well in storage, can be introduced directly into instrument use.
In one preferred embodiment of the utility model, the middle platform 2 includes the second fixes sleeve 21, the second fixed frame
22, second fixed frame 22 is linked with second electric pushrod 5 by Hooke's hinge, and second fixes sleeve 21 is by breathing freely
Material is constituted, and is adjusted by fragrant plant button elastic.Middle platform 2, which mainly rises to share, concentrates fixed caused pressure load, enhancing to fix
The effect of shank.The gas permeable material can be selected from screen cloth, sympa-tex, cow leather upper leather, natural fabric etc..
In one preferred embodiment of the utility model, the lower platform 3 includes vola platform 31, third fixed frame 32, soft
Property foot fixed part 33, the vola platform 31 includes plantar toe 311 and foot heel 312, and the third fixed frame 32 is distributed in
Plantar toe 311 and foot heel 312.The flexible foot fixed part 33 adjusted by fragrant plant button it is elastic, while wrapping sole pair
Ankle carries out protectiveness pressure.
In one preferred embodiment of the utility model, the third fixed frame 32 for being distributed in plantar toe 311 passes through flexural pivot
It is connected with first electric pushrod 4, the third fixed frame 32 for being distributed in foot heel 311 passes through flexural pivot and described second
Electric pushrod 5 is connected.
In one preferred embodiment of the utility model, extensible member 6, the more preferable plantar are set among the vola platform 31
It is connected between toe 311 and foot heel 312 by an extensible member 6, to adapt to patient's wearing of the foot of different size size, is fitted
It is wider with range, keep the utilization rate of the utility model higher.
As shown in Fig. 2, utility model device is to obtain the data of Rehabilitation process by the sensor, and pass through
The bluetooth is associated with mobile terminal.It sets up bluetooth module and collects the numerical value of the daily rehabilitation training of instrument and the plan of setting up, set up
General mode and doctor diagnosed mode.When using the utility model, first opens at constraint, patient is placed on foot on device, connects
The fixes sleeve of foot and leg is held into belt, then open mobile terminal bluetooth and device and establish connection,
Corresponding A PP is opened, if only common ankle arthrosis damage, may be selected general mode, convalescence device will start health at once
Refreshment is practiced, and reminds user to start rehabilitation training when the training next time of rehabilitation programme arrives.If more serious feelings
Doctor diagnosed mode can be used in condition, and the push rod variation that line upper mounting plate is uploaded by record, which can simulate to wear, wears convalescence device
3d image, doctor, which is observed that the position 3d of control platform by system and controls it, does some more soft variations,
The damage position of patient's ankle is analyzed by the feeling of pain of patient and corresponding medical plan is set, and patient passes through cell phone application handle
Treatment plan imports convalescence device.The medical plan of importing include a rehabilitation training platform i.e. time-varying situation of bar and
The interval time of rehabilitation training twice.It can also be then directly to notify corresponding doctor, by doctor selected from diagnostic mode of visiting
Door carries out the diagnosis of ankle position.
Many rehabilitation mechanicals focus on the use in hospital area mostly, require doctor generally as the control method of teaching
It participates, and there is no day-to-days.It is inadequate that the utility model efficiently solves doctor's quantity, the problem of can not diagnosing in time.
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 (8)
1. a kind of five degree of freedom information exchange ankle rehabilitation parallel robot, which is characterized in that including upper mounting plate, middle platform, under
Platform, wherein upper mounting plate is connect by three group of first electric pushrod with lower platform, and three group of first electric rod both ends are distinguished
It is respectively in that triangle relation links with the upper mounting plate and lower platform, middle platform and lower platform are connected by two group of second electric pushrod
It connects, and two group of second electric pushrod is respectively arranged at the two sides of middle platform and lower platform, and the upper mounting plate, middle platform are set
Sensor is set, those sensors connect database and are used for information exchange.
2. five degree of freedom information exchange ankle rehabilitation parallel robot according to claim 1, which is characterized in that on described
Platform includes the first fixes sleeve, slide rail type fixed block, and the slide rail type fixed block electronic is pushed away by Hooke's hinge with described first
Pole interlinking.
3. five degree of freedom information exchange ankle rehabilitation parallel robot according to claim 2, which is characterized in that the cunning
Rail fixed block includes four holes for push rod adjusting position.
4. five degree of freedom information exchange ankle rehabilitation parallel robot according to claim 1, which is characterized in that described
One electric pushrod or the second electric pushrod rear end integrated driving device control electric pushrod stroke by driving device, and drive
Dynamic device connects bluetooth module.
5. five degree of freedom information exchange ankle rehabilitation parallel robot according to claim 1, which is characterized in that in described
Platform includes the second fixes sleeve, the second fixed frame, and second fixed frame passes through Hooke's hinge and the second electric pushrod chain
It connects, second fixes sleeve is made of gas permeable material, is adjusted by fragrant plant button elastic.
6. five degree of freedom information exchange ankle rehabilitation parallel robot according to claim 1, which is characterized in that under described
Platform includes vola platform, third fixed frame, flexible foot fixed part, and the vola platform includes plantar toe and foot heel, institute
It states third fixed frame and is distributed in plantar toe and foot heel.
7. five degree of freedom information exchange ankle rehabilitation parallel robot according to claim 6, which is characterized in that described point
The third fixed frame for being distributed in plantar toe is connected by flexural pivot with first electric pushrod, and the third for being distributed in foot heel is solid
Determine frame to be connected by flexural pivot with second electric pushrod.
8. five degree of freedom information exchange ankle rehabilitation parallel robot according to claim 6, which is characterized in that the foot
Extensible member is set among the platform of bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820501857.5U CN209361244U (en) | 2018-04-10 | 2018-04-10 | A kind of five degree of freedom information exchange ankle rehabilitation parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820501857.5U CN209361244U (en) | 2018-04-10 | 2018-04-10 | A kind of five degree of freedom information exchange ankle rehabilitation parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209361244U true CN209361244U (en) | 2019-09-10 |
Family
ID=67811924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820501857.5U Expired - Fee Related CN209361244U (en) | 2018-04-10 | 2018-04-10 | A kind of five degree of freedom information exchange ankle rehabilitation parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209361244U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108354787A (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 five degree of freedom information exchange ankle rehabilitation parallel robot |
-
2018
- 2018-04-10 CN CN201820501857.5U patent/CN209361244U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108354787A (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 five degree of freedom information exchange ankle rehabilitation parallel robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20180055713A1 (en) | Systems and methods for portable powered stretching exosuit | |
| US11406285B2 (en) | Exosuit systems and methods for posture session segmentation and biomechanical feedback | |
| CN105992554A (en) | Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility | |
| CN106137681B (en) | Intelligent lower limb recovery training appliance for recovery | |
| CN105963106A (en) | Knee joint pressure reduction mechanism | |
| CN106511031B (en) | A kind of multi-functional recovering aid instrument of lower limb | |
| CN209361244U (en) | A kind of five degree of freedom information exchange ankle rehabilitation parallel robot | |
| WO2012086202A1 (en) | Joint support brace and rehabilitation device | |
| CN105476817A (en) | Mechanical leg controlled through thoughts of user and rehabilitation walking method | |
| CN108354787A (en) | A kind of five degree of freedom information exchange ankle rehabilitation parallel robot | |
| CN205198401U (en) | Fracture rehabilitation and nursing device | |
| CN102028599A (en) | Digital multi-state balance training device | |
| CN116983131A (en) | Knee joint brace, detection system and detection method after knee joint operation | |
| CN204106956U (en) | Simple and easy limb rehabilitating device | |
| CN108433942A (en) | A kind of ankle rehabilitation parallel robot for simulating walking with VR | |
| CN204745513U (en) | Appearance is tempered to clinostatism formula hip joint abduction | |
| CN209107982U (en) | A kind of five degree of freedom ankle rehabilitation parallel robot with VR simulation walking | |
| CN102188786A (en) | Body strength rehabilitation exercise clothes | |
| CN209107981U (en) | A kind of ankle rehabilitation parallel robot with VR simulation walking | |
| CN209108416U (en) | A kind of five degree of freedom ankle rehabilitation parallel robot | |
| CN203885764U (en) | Medical multifunctional foot protective pad | |
| CN209107980U (en) | A kind of four-degree-of-freedom can supplemental training robot for rehabilitation of anklebone | |
| CN108498285A (en) | A kind of five degree of freedom ankle rehabilitation parallel robot for simulating walking with VR | |
| CN109605337A (en) | Intelligent wearable joint auxiliary system and its control method | |
| CN111068254A (en) | Data acquisition control system for fitness stretching equipment |
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: 20190910 Termination date: 20200410 |