CN102631275B - Robot for rehabilitation training of ankle joint - Google Patents

Abstract

An ankle joint rehabilitation training robot comprises a moving platform provided with a foot pedal, a base provided with a chute and an adjustment mechanism. The adjustment mechanism includes a central constraint rod, a guide rail, at least two support rods and a driving motor. The central constraint rod is rotatably connected with the moving platform through a spherical pair. The guide rail is accommodated in the chute, and the guide rail includes a screw rod and a sliding block sheathed on the screw rod and slidable on the screw rod. The support rods are evenly distributed around the central constraint rod, one end of each support rod is rotatably connected with the moving platform through a spherical pair, and the other end is movably connected with the slider. The drive motor drives the screw to rotate, and the rotation of the screw makes the slider slide on the screw, so that the support rod drives the surface of the moving platform to tilt. Since there are at least two support rods, the moving platform can be tilted in different degrees of freedom . When the patient's affected limb is placed on the pedal, he can perform multi-degree-of-freedom rehabilitation exercises such as varus/valgus, adduction/abduction, and dorsiflexion/plantarflexion with the inclination of the moving platform.

Description

Ankle joint rehabilitation training robot

【Technical field】

The invention relates to a sports medical device, in particular to an ankle joint rehabilitation training robot.

【Background technique】

Patients with lower extremity injuries typically seek physical therapy to restore mobility. With the continuous development of science and technology, the way of physical therapy has gradually shifted from manual physical therapy to mechanical automatic physical therapy. The so-called mechanical automation physiotherapy refers to the effect of rehabilitation training with the help of mechanical devices. For example, there are many robots used for ankle joint rehabilitation training on the market, all of which belong to the scope of mechanical automation physiotherapy.

However, traditional physiotherapy mechanical devices, such as ankle joint rehabilitation training robots, have simple mechanical mechanisms and lack flexibility. During rehabilitation training, they can only be limited to a certain degree of freedom and cannot meet the actual needs of patients.

【Content of invention】

In view of the above situation, it is necessary to provide an ankle joint rehabilitation training robot with multiple degrees of freedom.

An ankle joint rehabilitation training robot, comprising:

A moving platform with foot pedals on it;

the base is provided with chutes; and

An adjustment mechanism, connecting the moving platform and the base, and adjusting the position of the moving platform, the adjustment mechanism includes:

A central constraint rod, one end of which is rotatably connected to the moving platform through a spherical pair, and the other end is fixed to the base;

a guide rail, accommodated in the chute, including a screw rod and a slider sleeved on the screw rod and slidable on the screw rod;

At least two support rods are evenly distributed around the central constraint rod, one end of each support rod is rotatably connected to the moving platform through a spherical pair, and the other end is movably connected to the slider; and

The driving motor is fixed on the central constraint rod, and its rotating shaft is fixedly connected with the screw rod,

The driving motor is used to drive the screw to rotate.

Further, the screw rod is rotatably arranged in the guide rail through a bearing.

Further, the end of the support rod away from the moving platform is connected with the slider through a spherical pair.

Further, the rotating shaft of the driving motor is fixedly connected with the screw rod through a coupling.

Further, the end of the guide rail away from the drive motor is provided with a protrusion, the inner wall of the chute is provided with a guide groove, and the protrusion is clamped in the guide groove, so that the guide rail is relatively The chute can rotate and slide.

Further, the adjustment mechanism also includes a central support plate, which is sheathed in the middle of the central restraining rod and is slidable along the central restraining rod. For the rotating board, the driving motor is fixed on the board, and the sliding of the central support board can drive the guide rail to rotate and slide in the chute.

Further, the adjustment mechanism also includes a torque motor, the torque motor is arranged at the bottom of the base, and its rotating shaft is fixedly connected with the end of the central constraint rod close to the base, and the torque motor is used to drive the The central restraint rod rotates, the middle part of the central restraint rod is provided with threads, the central support plate is sleeved on the thread of the central restraint rod, and the rotation of the central restraint rod can drive the central support plate along the center Constraint rod sliding.

Further, the rotating shaft of the torque motor is fixedly connected with the central constraint rod through a coupling.

Further, the foot pedal is detachably fixed on the moving platform through threaded fasteners.

Further, a resisting portion is provided on the periphery of the pedal.

The above-mentioned ankle joint rehabilitation training robot drives the screw rod to rotate through the drive motor, and the rotation of the screw rod makes the slider slide on the screw rod, so that one end of the support rod also slides in the guide rail. When one end of the support rod slides, the height of the end connected to the moving platform will change continuously, so that the surface of the moving platform will be inclined. Since there are at least two supporting rods, the moving platform can be moved in different degrees of freedom. tilt. The patient's affected limb is placed on the foot pedal set on the moving platform, which can move with the inclination of the moving platform. Therefore, the above-mentioned ankle joint rehabilitation training robot can drive the patient to do varus/valgus, adduction/abduction And dorsiflexion/plantarflexion and other multi-degree-of-freedom rehabilitation exercises.

【Description of drawings】

Fig. 1 is the schematic diagram of the ankle joint rehabilitation training robot of an embodiment;

Fig. 2 is a schematic diagram of the adjustment mechanism of the ankle joint rehabilitation training robot shown in Fig. 1;

FIG. 3 is a schematic diagram of guide rails of the ankle joint rehabilitation training robot shown in FIG. 1 .

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to FIG. 1 , an ankle joint rehabilitation training robot 100 according to a preferred embodiment of the present invention includes a moving platform 110 , a base 120 and an adjustment mechanism 130 . The adjusting mechanism 130 connects the moving platform 110 and the base 120 and adjusts the position of the moving platform 110 .

The moving platform 110 is provided with a pedal 111. Specifically, in this embodiment, the foot pedal 111 is detachably fixed on the moving platform 110 through threaded fasteners. Pedal 111 includes multiple models, which can be replaced according to the user's needs to suit the user's size, so it is more convenient and comfortable to use. It should be pointed out that the pedal 111 is not limited to be detachably connected with the moving platform 110 through threaded fasteners, and can also be directly welded with the moving platform 110 . A resisting portion 1112 is provided on a periphery of the pedal 111 . The resisting portion 1112 can prevent the patient from slipping off the pedal 111 during training, thereby avoiding secondary injury.

Please refer to FIG. 2 , the base 120 is roughly a rectangular cabinet. The base 120 is divided into two parts, the bottom and the top. A slide groove 121 is provided on the top surface of the base 120 . A hollow receiving chamber (not shown) is formed in the middle of the base 120 , and a part of the adjusting mechanism 130 is accommodated in the receiving chamber.

Referring to FIG. 1 and FIG. 3 , the adjustment mechanism 130 includes a central constraint rod 131 , a guide rail 133 , a support rod 135 , a driving motor 137 , a central support plate 138 and a torque motor 139 .

One end of the central constraint rod 131 is connected to the moving platform 110 through a spherical pair, and the other end is fixed to the base 120 .

The guide rail 133 is accommodated in the slide groove 121 . The guide rail 133 includes a threaded rod 1332 and a slider 1334 sheathed on the threaded rod 1332 and slidable on the threaded rod 1332 . The threaded rod 1332 is rotatably disposed in the guide rail 133 through a bearing.

In this embodiment, the end of the guide rail 133 away from the driving motor 137 is provided with a protrusion 1336 . A guide groove 1212 is formed on the inner wall of the sliding groove 121 . When the guide rail 133 is received in the slide groove 121 , the protrusion 1336 is engaged in the guide groove 1212 , so that the guide rail 133 can rotate and slide relative to the slide groove 121 .

The number of supporting rods 135 is at least two, and they are evenly distributed around the central restraining rod 131 . One end of each support rod 135 is connected to the moving platform 110 through a spherical pair, and the other end is movably connected to the slider 1334 .

In this embodiment, the number of support rods 135 is three. It can be understood that in other preferred embodiments, the number of support rods 135 can also be multiple. When the number of support rods 135 is more, the distance between each support rod 135 will be smaller, which can support the moving platform 110 to tilt in more directions. Therefore, the ankle joint rehabilitation training robot 100 can drive the patient to perform training exercises in more degrees of freedom. In addition, the end of the support rod 135 away from the moving platform 110 is connected to the slider 1334 through a spherical pair. Therefore, the support rod 135 can freely rotate relative to the slider 1334 . It can be understood that the support rod 135 can also adopt other methods, such as being movably linked with the slider 1334 by a bolt.

The driving motor 137 is fixed on the central constraining rod 131 , and its rotating shaft is fixedly connected with the screw rod 1332 . The driving motor 137 is used to drive the screw rod 1332 to rotate relative to the guide rail 133 .

In this embodiment, the rotating shaft of the driving motor 137 is fixedly connected to the screw rod 1332 through a coupling (not shown in the figure). It can be understood that the rotating shaft of the driving motor 137 and the screw rod 1332 can be fixedly connected by bolts or bolts, or directly welded.

The central support plate 138 is sheathed in the middle of the central restraint rod 131 and can slide up and down along the central restraint rod 131 . The peripheral edge of the central supporting plate 138 is provided with a sticking plate 1382 which can rotate around it. The driving motor 137 is fixed on the sticking board 1382 . Therefore, the sliding of the central support plate 138 can drive the guide rail 133 to rotate and slide in the slide groove 121 .

The guide rail 133 rotates and slides in the chute 121 to increase or decrease the included angle between the support rod 135 and the central constraint rod 131 . When the slider 1334 drives one end of the support rod 135 to slide in the guide rail 133 , the degree to which the support rod 135 controls the inclination of the moving platform 110 will change, thereby adjusting the range of motion of the moving platform 110 . For example, when the central support plate 138 slides upwards, the guide rail 133 moves close to the central restraint rod 131, and the angle between the support rod 135 and the central restraint rod 131 decreases. When the slider 1334 drives one end of the support rod 135 to slide in the guide rail 133, The degree to which the support rods 135 control the tilt of the braking platform 110 will increase. When the central support plate 138 slides downward, the guide rail 133 moves away from the central restraint rod 131, and the angle between the support rod 135 and the central restraint rod 131 increases. When the slider 1334 drives one end of the support rod 135 to slide in the guide rail 133, the support The degree to which the lever 135 controls the tilt of the braking platform 110 will be reduced.

The torque motor 139 is disposed at the bottom of the base 120 and accommodated in the receiving chamber. The rotating shaft of the torque motor 139 is fixedly connected with the end of the central constraint rod 131 close to the base 120 . The torque motor 139 is used to drive the central constraint rod 131 to rotate. The middle part of the central constraint rod 131 is provided with threads. The central support plate 138 is sleeved on the threaded part of the central restraint rod 131 , and the rotation of the central restraint rod 131 can drive the central support plate 138 to slide up and down along the central restraint rod 131 .

In this embodiment, the central support plate 138 can slide on the central restraint rod 131 by providing threads on the central restraint rod 131 and driving the central restraint rod 131 to rotate through the torque motor 139 . It can be understood that other devices, such as telescopic cylinders, can also be used to replace the torque motor 139 here. In addition, the rotating shaft of the torque motor 139 is fixedly connected with the central constraint rod 131 through a coupling (not shown). It can be understood that the rotating shaft of the torque motor 139 and the central constraint rod 131 can be fixedly connected by bolts or bolts, or directly welded.

The above-mentioned ankle joint rehabilitation training robot 100 drives the screw rod 1332 to rotate through the drive motor 137 , and the rotation of the screw rod 1332 makes the slider 1334 slide on the screw rod 1332 , so that one end of the support rod 135 also slides in the guide rail 133 . When one end of the support rod 135 slides, the height of the end connected to the movable platform 110 will constantly change, thereby causing the surface of the movable platform 110 to incline. Since there are at least two support rods 135, the movable platform 110 can be moved in different positions. degrees of freedom tilt up. The patient's affected limb is placed on the foot pedal 111 arranged on the moving platform 110, and can move with the inclination of the moving platform 110. Therefore, the ankle joint rehabilitation training robot 100 can drive the patient to do varus/valgus, adduction /Abduction and dorsiflexion/plantarflexion and other multi-degree-of-freedom rehabilitation exercises.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. ankle joint rehabilitation training robot, comprise moving platform, base and governor motion, described moving platform is provided with pedal, described governor motion connects described moving platform and described base, and regulate the position of described moving platform, described governor motion comprises center constraining rod, at least two support bars and drive motors;

One end of described center constraining rod is rotatably connected by spherical pair and described moving platform, and the other end is fixed in described base;

Described at least two support bars evenly distribute around described center constraining rod, and an end of every described support bar is rotatably connected by spherical pair and described moving platform;

It is characterized in that described base offers chute, described governor motion also comprises guide rail;

Described guide rail is contained in the described chute, comprises screw mandrel in the described guide rail and is sheathed on the described screw mandrel and slide block slidably on described screw mandrel;

The other end of described at least two support bars is connected with described slide block is movable; And

Described drive motors is fixed on the constraining rod of described center, and the rotating shaft of described drive motors fixedlys connected with described screw mandrel, and described drive motors is used for driving described screw mandrel and rotates.

2. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that described screw mandrel is located in the described guide rail by bearing is rotating.

3. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that the end away from described moving platform of described support bar is connected with described slide block by spherical pair.

4. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that the rotating shaft of described drive motors is fixedlyed connected with described screw mandrel by shaft coupling.

5. ankle joint rehabilitation training as claimed in claim 1 robot, it is characterized in that, described guide rail is provided with projection away from an end of described drive motors, the inwall of described chute is provided with gathering sill, described projection is fastened in the described gathering sill, makes the rotatable and slip with respect to described chute of described guide rail.

6. ankle joint rehabilitation training as claimed in claim 5 robot, it is characterized in that, described governor motion also comprises the center support plate, described center support plate is sheathed on the middle part of described center constraining rod, and along described center constraining rod slidably, described center support plate periphery is provided with around the rotating pasting board of described center support plate, and described drive motors is fixed on the described pasting board, and described center support plate slides and can drive described guide rail and rotate in described chute and slide.

7. ankle joint rehabilitation training as claimed in claim 6 robot, it is characterized in that, described governor motion also comprises torque motor, described torque motor is arranged at the bottom of described base, the rotating shaft of described torque motor is fixedlyed connected near an end of described base with described center constraining rod, described torque motor is used for driving described center constraining rod and rotates, the middle part of described center constraining rod is provided with screw thread, described center support plate is sheathed on the screw thread place of described center constraining rod, and constraining rod rotation in described center can drive described center support plate and slide along described center constraining rod.

8. ankle joint rehabilitation training as claimed in claim 7 robot is characterized in that the rotating shaft of described torque motor is fixedlyed connected with described center constraining rod by shaft coupling.

9. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that described pedal removably is fixed on the described moving platform by threaded fastener.

10. ankle joint rehabilitation training as claimed in claim 1 robot is characterized in that the periphery of described pedal is provided with the blocking part.

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