A kind of ankle joint rehabilitation deviceTechnical field
The present invention relates to rehabilitation medical instrument field, particularly a kind of ankle joint rehabilitation device of the redundant drive for carrying out Rehabilitation Training in Treating to the patient after ankle joint wound.
Background technology
Ankle joint is one of human body major bearing structures, carries the weight that health is whole when human body is stood and walk.Particularly run, jump and health bears a heavy burden time, ankle joint subjects huge load and impact, therefore its joint injury or sprain the most common in daily life.After sprained ankle, once can not get reasonably treatment and recover to form traumatic arthritis, ankle joint can be caused to ache the symptoms such as lame, dysfunction for a long time, thus affect work and life.Relevant clinical medical evidence, ankle joint rehabilitation training that is correct, science plays very important effect for the recovery of extremity motor function and raising, range of motion can not only be maintained, prevent arthrogryposis and adhesion, and the eventual rehabilitation degree of patient moving function can be significantly improved.
Existing ankle joint rehabilitation training device only has 1 to 2 degree of freedom usually, and function is few, and rehabilitation training pattern is single.For realizing the compound movement of the multiple degree of freedom of ankle joint, the Girone etc. of the university of New Jersey develops the RutgersAnkle rehabilitation of anklebone system of the Stewart mechanism that 6DOF controls based on pneumatic servo system, but this device also exists mechanism's complexity, number of degrees of freedom, mainly with and need shortcoming such as configuration individual gas sources etc.In addition during rehabilitation of anklebone, the one-movement-freedom-degree that it is small can be ignored.For this reason, Dai Jiansheng and Zhao Tieshi propose three and four degree of freedom 3-SPS/S with passive bound side chain, 3-SPS/SP rehabilitation of anklebone parallel institution.Also a kind of Three Degree Of Freedom 3-RSS/S rehabilitation of anklebone parallel institution is disclosed in the patent document of Chinese Patent Application No. 200810052248.7.But there is a same problem in above-mentioned Liang Zhong mechanism, namely the center of rotation of mechanism and ankle joint does not overlap, and causes shank to follow ankle joint and move together, reduce comfort level when patient trains.For solving parallel institution workspace memory in unusual problem, the Saglia etc. of London King's College proposes two degrees of freedom 3-SPS/U redundant drive rehabilitation of anklebone mechanism, but also there is the problem that center of rotation do not coincide.In addition, University of Auckland Tsoi etc. it is also proposed a kind of three freedom redundancy and drives 4-UPS/S robot for rehabilitation of anklebone, although can realize take ankle joint as the rehabilitation training of center of rotation, the lower limb of patient can be subject to the active force in other directions, affect rehabilitation efficacy.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of Three Degree Of Freedom 3-RUS/RRR ankle joint rehabilitation device with redundant drive characteristic, and this device can realize ankle dorsal flexion/plantar flexion, varus/turn up, the rotation in three directions such as internal/external rotations; The distance of platform to center of rotation can be adjusted according to different patients, the center of rotation of mechanism and ankle joint is coincided; Have employed redundant drive arrangement, unusual and while avoiding interfering between extra rod member in elimination work space, also there are upper and lower two platforms and realize restructural characteristic, increase the motility of system.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of ankle joint rehabilitation device, comprises pedestal, moving platform, active branched chain and constrained branched chain; Described pedestal comprises base and support platform, and described support platform is fixed on base by support bar; Described base is installed with the 4th motor, described support platform is installed with the first motor, the second motor and the 3rd motor; Described constrained branched chain is rotating to be arranged on pedestal, described constrained branched chain comprises bearing platform, left support connecting rod, right support connecting rod and curved rod, the two ends of described bearing platform are installed with left support connecting rod and right support connecting rod, described left support connecting rod and right support connecting rod are that coupling is symmetrical arranged, the upper end of described left support connecting rod is connected with the two ends of curved rod respectively by revolute pair with the upper end of right support connecting rod, described bearing platform is set on support bar, and described bearing platform engages with the rotating shaft bevel gear of the 4th motor; Described active branched chain comprises the first active branched chain, the second active branched chain and the 3rd active branched chain, and described first active branched chain, the second active branched chain and the 3rd active branched chain are RUS side chain arranged side by side; The centre of described curved rod is connected with moving platform by revolute pair, the upper end of described first active branched chain, the upper end of the second active branched chain are connected with moving platform respectively by spherical pair with the upper end of the 3rd active branched chain, described first active branched chain, the second active branched chain and the 3rd active branched chain are also respectively equipped with Hooke pair, and the lower end of described first active branched chain, the lower end of the second active branched chain are connected with the rotating shaft of described first motor, the second motor and the 3rd motor respectively with the lower end of the 3rd active branched chain.
Further, described moving platform comprises upper mounting plate and lower platform, and described lower platform is connected with upper mounting plate by screw mechanism.
Further, described first active branched chain comprise connect successively clutch shaft bearing seat, first connecting rod A, the first U-shaped connector A, first connecting rod B, the first U-shaped connector B and first connecting rod C; Described clutch shaft bearing seat and lower platform affixed, described first connecting rod C is connected with the first motor; Described first U-shaped connector A, first connecting rod B, first connecting rod A and clutch shaft bearing seat composition composite sphere are secondary, and it is secondary that described first U-shaped connector B, first connecting rod B and first connecting rod C form Hooke, and described first connecting rod C and the first motor form revolute pair.
Further, described second active branched chain comprise connect successively the second bearing block, second connecting rod A, the second U-shaped connector A, second connecting rod B, the second U-shaped connector B and second connecting rod C; Described second bearing block and lower platform affixed, described second connecting rod C is connected with the second motor; It is secondary that described second U-shaped connector A and second connecting rod B, second connecting rod A, the second bearing block form composite sphere, and it is secondary that described second U-shaped connector B and second connecting rod B, second connecting rod C form Hooke, and described second connecting rod C and the second motor form revolute pair.
Further, described 3rd active branched chain comprise connect successively the 3rd bearing block, third connecting rod A, the 3rd U-shaped connector A, third connecting rod B, the 3rd U-shaped connector B and third connecting rod C; Described 3rd bearing block and lower platform affixed, described third connecting rod C is connected with the 3rd motor; It is secondary that described 3rd U-shaped connector A and third connecting rod B, third connecting rod A, the 3rd bearing block form composite sphere, and it is secondary that described 3rd U-shaped connector B and third connecting rod B, third connecting rod C form Hooke, and described third connecting rod C and the 3rd motor form revolute pair.
Further, described first motor is connected with the first right-angle reduction device, described first connecting rod C is connected with the first right-angle reduction device; Described second motor is connected with the second right-angle reduction device, described second connecting rod C is connected with the second right-angle reduction device; Described 3rd motor is connected with the 3rd right-angle reduction device, and described third connecting rod C is connected with the 3rd right-angle reduction device; Described 4th motor is connected with the 4th right-angle reduction device.
Further, bevel gear wheel is fixed with by bevel gear wheel fixture under the bearing platform of described constrained branched chain.
Further, described 4th right-angle reduction device is fixed with bevel pinion, and described bevel pinion engages with bevel gear wheel right angle.
Further, the axis of described first right-angle reduction device, the second right-angle reduction device and the 3rd right-angle reduction device is mutually 120 degree.
Further, described clutch shaft bearing seat, the second bearing block and the 3rd bearing block are mutually 120 degree.
The present invention is owing to have employed above technical scheme; the design of constrained branched chain and moving platform; achieve the rotation of three direction degree of freedom; under assurance mechanism as far as possible simple prerequisite; not only ensure that center of rotation overlaps; simultaneously due to the mutual orthogonality of constrained branched chain axis, mechanism is made to have the characteristic of motion parts decoupling zero.The redundant drive arrangement proposed can be eliminated unusual pose in space and improve the indexs such as rigidity, also can avoid the excessive interference that brings because of the increase of active branched chain and energy loss simultaneously.
Below in conjunction with accompanying drawing, a kind of ankle joint rehabilitation device of the present invention is described further.
Accompanying drawing explanation
Fig. 1 is the population structure schematic three dimensional views of a kind of ankle joint rehabilitation device of the present invention;
Fig. 2 is the overall setup front view of a kind of ankle joint rehabilitation device of the present invention;
Fig. 3 is the moving platform schematic diagram of a kind of ankle joint rehabilitation device of the present invention;
Fig. 4 is the lower platform structure top view of a kind of ankle joint rehabilitation device of the present invention;
Fig. 5 is the screw mechanism structural representation of a kind of ankle joint rehabilitation device of the present invention;
Fig. 6 is the first active branched chain structural representation of a kind of ankle joint rehabilitation device of the present invention;
Fig. 7 is the structural representation that the active branched chain of a kind of ankle joint rehabilitation device of the present invention is connected with moving platform;
Fig. 8 is the structural representation of the constrained branched chain of a kind of ankle joint rehabilitation device of the present invention;
Fig. 9 is the structural representation of the pedestal of a kind of ankle joint rehabilitation device of the present invention.
In figure, each labelling is as follows: 1 base, 1-1 support bar, 2 support platforms, 3-1 first motor, 3-2 second motor, 3-3 the 3rd motor, 3-4 the 4th motor, 4-1 first right-angle reduction device, 4-2 second right-angle reduction device, 4-3 the 3rd right-angle reduction device, 4-4 the 4th right-angle reduction device, 5 bevel gear wheel fixtures, 6 bevel gear wheels, 7 bevel pinions, 8 bearing platforms, 9 curved rods, 10-1 left support connecting rod, 10-2 right support connecting rod, 11 upper mounting plates, 12 lower platforms, 13 screw mechanisms, 14-1 first connecting rod A, 14-2 second connecting rod A, 14-3 third connecting rod A, 15-1 first connecting rod B, 15-2 second connecting rod B, 15-3 third connecting rod B, 16-1 first connecting rod C, 16-2 second connecting rod C, 16-3 third connecting rod C, 17-1 clutch shaft bearing seat, 17-2 second bearing block, 17-3 the 3rd bearing block, the U-shaped connector A of 18-1 first, the U-shaped connector B of 18-2 first, the U-shaped connector A of 18-3 second, the U-shaped connector B of 18-4 second, the U-shaped connector A of 18-5 the 3rd, the U-shaped connector B of 18-6 the 3rd, 19 moving platforms, 20 active branched chain, 21 constrained branched chains.
Detailed description of the invention
Embodiment 1
As shown in Fig. 1-Fig. 9, a kind of ankle joint rehabilitation device, comprises pedestal, moving platform 19, active branched chain 20 and constrained branched chain 21.Described pedestal comprises base 1 and support platform 2, and described support platform 2 is fixed on base 1 by support bar 1-1; Described base 1 is installed with the 4th motor 3-4, described support platform 2 is installed with the first motor 3-1, the second motor 3-2 and the 3rd motor 3-3.Described first motor 3-1 is connected with the first right-angle reduction device 4-1, described second motor 3-2 is connected with the second right-angle reduction device 4-2, described 3rd motor 3-3 is connected with the 3rd right-angle reduction device 4-3, described 4th motor 3-4 is connected with the 4th right-angle reduction device 4-4.
Fig. 8 is constrained branched chain 21 schematic diagram, described constrained branched chain 21 is rotating to be arranged on pedestal, described constrained branched chain 21 comprises bearing platform 8, left support connecting rod 10-1, right support connecting rod 10-2 and curved rod 9, the two ends of described bearing platform 8 are installed with left support connecting rod 10-1 and right support connecting rod 10-2, described left support connecting rod 10-1 and right support connecting rod 10-2 is that coupling is symmetrical arranged, the upper end of described left support connecting rod 10-1 is connected respectively by the two ends of revolute pair with curved rod 9 with the upper end of right support connecting rod 10-2, described bearing platform 8 is set on support bar 1-1, described bearing platform is fixed with bevel gear wheel 6 by bevel gear wheel fixture 58 times.
As shown in Figure 9, described 4th right-angle reduction device 4-4 is fixed with bevel pinion 7, and described bevel pinion 7 engages with bevel gear wheel 6 right angle.
As shown in Fig. 3, Fig. 4 and Fig. 5, described moving platform 19 comprises upper mounting plate 11 and lower platform 12, and described lower platform 12 is connected with upper mounting plate 11 by screw mechanism 13.The centre of described curved rod 9 is connected with lower platform 12 by revolute pair.
As shown in Figure 6 and Figure 7, described active branched chain 20 comprises the first active branched chain, the second active branched chain and the 3rd active branched chain, and described first active branched chain, the second active branched chain and the 3rd active branched chain are RUS side chain arranged side by side.
Described first active branched chain comprise connect successively clutch shaft bearing seat 17-1, first connecting rod A14-1, the first U-shaped connector A18-1, first connecting rod B15-1, the first U-shaped connector B18-2 and first connecting rod C16-1; Described clutch shaft bearing seat 17-1 and lower platform 12 affixed, described first connecting rod C16-1 is connected with the first motor 3-1; It is secondary that described first U-shaped connector A18-1, first connecting rod B15-1, first connecting rod A14-1 and clutch shaft bearing seat 17-1 form composite sphere, it is secondary that described first U-shaped connector B18-2, first connecting rod B15-1 and first connecting rod C16-1 form Hooke, and described first connecting rod C16-1 and the first motor 3-1 forms revolute pair.
Described second active branched chain comprise connect successively the second bearing block 17-2, second connecting rod A14-2, the second U-shaped connector A18-3, second connecting rod B15-2, the second U-shaped connector B18-4 and second connecting rod C16-2; Described second bearing block 17-2 and lower platform 12 affixed, described second connecting rod C16-2 is connected with the second motor 3-2; It is secondary that described second U-shaped connector A18-3 and second connecting rod B15-2, second connecting rod A14-2, the second bearing block 17-2 form composite sphere, it is secondary that described second U-shaped connector B18-4 and second connecting rod B15-2, second connecting rod C16-2 form Hooke, and described second connecting rod C16-2 and the second motor 3-2 forms revolute pair.
Described 3rd active branched chain comprise connect successively the 3rd bearing block 17-3, third connecting rod A14-3, the 3rd U-shaped connector A18-5, third connecting rod B15-3, the 3rd U-shaped connector B18-6 and third connecting rod C16-3; Described 3rd bearing block 17-3 and lower platform 12 affixed, described third connecting rod C16-3 is connected with the 3rd motor 3-3; It is secondary that described 3rd U-shaped connector A18-5 and third connecting rod B15-3, third connecting rod A14-3, the 3rd bearing block 17-3 form composite sphere, it is secondary that described 3rd U-shaped connector B18-6 and third connecting rod B15-3, third connecting rod C16-3 form Hooke, and described third connecting rod C16-3 and the 3rd motor 3-3 forms revolute pair.
The upper end of described first active branched chain, the upper end of the second active branched chain are connected with lower platform 12 respectively by spherical pair with the upper end of the 3rd active branched chain, described first active branched chain, the second active branched chain and the 3rd active branched chain are also respectively equipped with Hooke pair, and the lower end of described first active branched chain, the lower end of the second active branched chain are connected with the rotating shaft of described first motor 3-1, the second motor 3-2 and the 3rd motor 3-3 respectively with the lower end of the 3rd active branched chain.
As shown in Figure 9, described first motor 3-1 is connected with the first right-angle reduction device 4-1, described first connecting rod C16-1 is connected with the first right-angle reduction device 4-1; Described second motor 3-2 is connected with the second right-angle reduction device 4-2, described second connecting rod C16-2 is connected with the second right-angle reduction device 4-2; Described 3rd motor 3-3 is connected with the 3rd right-angle reduction device 4-3, described third connecting rod C16-3 is connected with the 3rd right-angle reduction device 4-3; Described 4th motor 3-4 is connected with the 4th right-angle reduction device 4-4.
The axis of described first right-angle reduction device 4-1, the second right-angle reduction device 4-2 and the 3rd right-angle reduction device 4-3 is mutually 120 degree.
Described clutch shaft bearing seat 17-1, the second bearing block 17-2 and the 3rd bearing block 17-3 are mutually 120 degree.
In use, when patient carries out rehabilitation training, first foot is placed on upper mounting plate 11, and anklebone is aimed at connect curved rod 9 and support link 10-1,10-2 revolute pair axis on, the relative distance of upper mounting plate 11 and lower platform 12 is also changed by screw mechanism 13, to adjust the distance of sole to mechanism's center of rotation, thus ensure that the center of rotation of ankle joint and mechanism coincides.
The space limiting moving platform 19 due to constrained branched chain 21 is moved, under the combined effect of the 4th motor 3-4 on the first motor 3-1 in active branched chain 20, the second motor 3-2 and the 3rd motor 3-3 and constrained branched chain 21, this device can realize X-axis, Y-axis and Z axis three directions as shown in Figure 8 and rotate freely, i.e. dorsiflex/the plantar flexion of ankle joint, varus/turn up, internal/external rotations three directions, can realize the rehabilitation training in each stage effectively to ankle joint.
Embodiment 2
Embodiment 2 is identical with the structure of embodiment 1, difference is, 4th motor 3-4 realizes self-locking by methods such as band-type brakes, namely the 4th right-angle reduction device 4-4 and bevel pinion 7 run out of steam and no longer rotate, then bevel gear wheel 6 no longer rotates, bearing platform 8 and pedestal, without relatively rotating, namely limit the degree of freedom that constrained branched chain 21 rotates around Z axis; Now, driven by active branched chain 20 by the first motor 3-1, the second motor 3-2 and the 3rd motor 3-3, the degree of freedom that this device only can realize two directions of X-axis and Y-axis as shown in Figure 8 rotates, i.e. dorsiflex/the plantar flexion of ankle joint, varus/both direction of turning up, optionally can carry out rehabilitation training to ankle joint.
Above-described embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determines.