CN108245373B

CN108245373B - Ankle joint rehabilitation device with six crossed rotary joint axes

Info

Publication number: CN108245373B
Application number: CN201810034438.XA
Authority: CN
Inventors: 李剑锋; 左世平; 张雷雨; 王海东; 薛冉
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2018-01-15
Filing date: 2018-01-15
Publication date: 2020-05-08
Anticipated expiration: 2038-01-15
Also published as: CN108245373A

Abstract

The invention relates to an ankle joint rehabilitation device in which the axes of six rotating joints meet. The ankle joint rehabilitation device includes a moving platform, three motion branch chains, three motor drive units, three lead screw transmission units and a base. The moving platform includes an adjustable foot baffle, an upper and lower adjustment device, an upper platform and a lower platform. The position of the human ankle joint on the upper platform can be adjusted through the adjustable foot baffle and the up and down adjustment device. The three sports branches are evenly arranged on the moving platform. Between the platform and the lead screw drive unit, three lead screw drive units are evenly arranged on the base through screws, and the three motor drive units are connected to the lead screw drive unit through couplings. Through the above structure, the present invention can meet the requirements of different patients for ankle joint rehabilitation, the structure is simple, and the rotation of the moving platform in three mutually orthogonal directions can be realized. Coincidence, effectively reducing the risk of secondary injury to the patient.

Description

Ankle joint rehabilitation device with six crossed rotary joint axes

Technical Field

The invention relates to an ankle joint rehabilitation device, in particular to a parallel mechanism for assisting ankle joint rehabilitation training.

Background

The ankle joint is one of the weight-bearing joints of the human body, is a hinge for the human body to contact with the ground, and can help the human body to complete daily actions such as standing and walking. The injury of the ankle joint is the most common injury form in life, the ankle joint muscle strength is insufficient, the poor stability and harmony are the main reasons for causing ankle joint sprain, and the injury is not easy to heal, swelling and chronic pain are easy to form, most of patients come from sports injury crowds, old people, hemiplegia patients caused by cardiovascular and cerebrovascular diseases, the injury not only affects the normal life and work of the patients, if the treatment is untimely or incomplete, secondary sprain is easy to cause, ankle joint dysfunction is caused, and the walking function is seriously affected. The rehabilitation treatment after ankle sprain can prevent necrotic soft tissue adhesion, improve ankle muscle strength and stability and coordination of ankle, and recover ankle function.

The ankle joint rehabilitation device requires that the movable platform rotation center and the human ankle joint motion center always keep coincident in the rehabilitation training process, otherwise in the rehabilitation motion process, the human ankle joint must be accompanied by the removal along with the mechanism rotation, and then is accompanied by shank follow-up, if shank coordinate not in place, then can not reach the motion angle and influence the rehabilitation progress, then lead to ankle joint secondary damage seriously. Meanwhile, the movable platform is required to have three degrees of freedom, the structure and control are relatively simple, the rehabilitation effect is influenced by insufficient degree of freedom or redundancy of the mechanism, and the control difficulty is increased by the redundancy of the motor.

Disclosure of Invention

The invention aims to provide an ankle joint rehabilitation device with six crossed rotary joint axes, which solves the problems.

The embodiment of the invention provides an ankle joint rehabilitation device with six crossed rotary joint axes, which is characterized by comprising a movable platform, 3 motion branched chains, 3 motor driving units, 3 lead screw transmission units and a base, wherein the 3 motion branched chains comprise a first motion branched chain, a second motion branched chain and a third motion branched chain, the 3 motor driving units comprise a first motor driving unit, a second motor driving unit and a third motor driving unit, and the 3 lead screw transmission units comprise a first lead screw transmission unit, a second lead screw transmission unit and a third lead screw transmission unit. The ankle joint rehabilitation device comprises 3 evenly-arranged branches, and each branch comprises a motor driving unit, a lead screw transmission unit and a moving branch chain which are in one-to-one correspondence.

Furthermore, 3 evenly arranged branches are connected with the movable platform and the base, the motor driving unit in each branch drives the corresponding lead screw transmission unit, and the movable platform can complete spatial three-dimensional rotation around a fixed point through the movement of the movable branched chain.

Furthermore, the motor driving unit is connected with the lead screw transmission unit through a coupler, and the motor and the connecting frame are fixedly connected with the base through a fixing frame respectively and used for supporting the motor driving unit.

Furthermore, 3 lead screw drive units are evenly arranged on the base and are fixedly connected with the base through screws.

Further, 3 motion branched chains are evenly arranged between the movable platform and 3 lead screw transmission units, and are CRU branched chains which are obliquely arranged, and each CRU branched chain comprises a cylindrical pair, a revolute pair and a hooke pair, wherein the cylindrical pair is arranged at the upper end of the movable pair, and the hooke pair is arranged at the lower end of the movable pair.

Furthermore, in the 3 motion branched chains, the axes of 6 rotation joints are converged at the rotation center of the movable platform, and the 6 rotation joints comprise a first rotation joint of the first motion branched chain, a fourth rotation joint of the first motion branched chain, a first rotation joint of the second motion branched chain, a fourth rotation joint of the second motion branched chain, a first rotation joint of the third motion branched chain and a fourth rotation joint of the third motion branched chain.

Compared with the prior art, the invention has the beneficial effects that: the device structure and control are simple relatively, have 3 dimension degrees of freedom that rotate in space, just in time satisfy ankle joint rehabilitation motion's needs, and moving platform rotation center coincides with human ankle joint motion center all the time in rehabilitation motion, greatly reduced the patient receive the risk of secondary injury.

Drawings

FIG. 1 is an isometric view of an ankle rehabilitation device of the present invention;

FIG. 2 is a side view of an ankle rehabilitation device of the present invention;

FIG. 3 is an isometric view of the motor drive unit;

FIG. 4 is an isometric view of the lead screw drive unit;

FIG. 5 is a cross-sectional view and a partial enlarged view of the lead screw drive unit in the plane A-A;

FIG. 6 is an isometric view of a first moving branch;

FIG. 7 is an isometric view of a second moving branch;

FIG. 8 is an isometric view of a third kinematic branch;

FIG. 9 is a cross-sectional view of the first moving branch taken in the plane B-B;

FIG. 10 is a cross-sectional view of the first moving branch in the plane C-C;

FIG. 11 is an isometric view of the movable platform;

FIG. 12 is a left side view and an exploded view of the movable platform;

fig. 13 is a schematic mechanism diagram of the working principle of the ankle joint rehabilitation device.

Detailed Description

The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.

Fig. 1 to 13 are views showing an ankle joint rehabilitation device according to the present invention on an axis, fig. 1 is a side view of an ankle joint rehabilitation device according to the present invention, fig. 2 is a side view of an ankle joint rehabilitation device according to the present invention, fig. 3 is a side view of a motor driving unit on an axis, fig. 4 is a side view of a screw driving unit on an axis, fig. 5 is a sectional view and a partially enlarged view of the screw driving unit on a plane a-a, fig. 6 is a side view of a first moving branch chain on an axis, fig. 7 is a side view of a second moving branch chain on an axis, fig. 8 is a side view of a third moving branch chain on an axis, fig. 9 is a sectional view of the first moving branch chain on a plane B-B, fig. 10 is a sectional view of the first moving branch chain on a plane C-C, fig. 11 is a side view of a moving platform on an axis, fig. 12 is a left side view and an exploded view of the.

The embodiment provides an ankle joint rehabilitation device with six intersecting rotary joint axes, and as shown in fig. 1 to 13, the ankle joint rehabilitation device comprises a

movable platform

67, 3 moving branched chains, 3 motor driving units, 3 lead screw transmission units and a base 1, wherein the 3 moving branched chains comprise a first moving branched chain 21, a second moving branched chain 24 and a third moving branched chain 27, the 3 motor driving units comprise a first motor driving unit 19, a second motor driving unit 22 and a third motor driving unit 25, and the 3 lead screw transmission units comprise a first lead screw transmission unit 20, a second lead screw transmission unit 23 and a third lead screw transmission unit 26.

In this embodiment, referring to fig. 1, 2 and 3, the first motor driving unit 19 includes a motor 28, a motor fixing bracket 32, a planetary reducer 29, a motor coupling 31, a connecting bracket 30 and a connecting bracket fixing bracket 33. Motor mount 32 one end and first motor drive unit 19 fixed connection, the other end and 1 bottom fixed connection of base play the effect of supporting first motor drive unit 19, motor coupling 31 and the cooperation of screw shaft coupling 39, transmission motor output, link 30 fixed connection plays the effect of connecting first motor drive unit 19 and first screw drive unit 20 in the middle of planetary reducer 29 and the preceding dog 34 of first screw drive unit 20, link mount 33 one end and first motor drive unit 19 fixed connection, the other end and 1 bottom fixed connection of base play the effect of supporting first motor drive unit 19. Since the second motor driving unit 22 and the third motor driving unit 25 are mounted in the same structure and connection manner as the first motor driving unit 19, the mounting manner of the second motor driving unit 22 and the third motor driving unit 25 is not described repeatedly.

In this embodiment, referring to fig. 1, 2, 4 and 5, the first lead screw transmission unit 20 includes a front stopper 34, a rear stopper 35, a guide rail 36, a guide rail slider 37, a lead screw 38, a lead screw coupling 39, an angular ball bearing 40, a lead screw bearing end cover 41 and a dust cover 42, the guide rail 36 is fixedly connected between the front stopper 34 and the rear stopper 35 by screws, the guide rail slider 37 slides on the guide rail 36 and is limited in displacement by the front stopper 34 and the rear stopper 35, the guide rail slider 37 includes an end slider 43 with threads and a middle slider 44, the front stopper 34, the rear stopper 35 and the guide rail slider 37 are provided with through holes, the lead screw 38 passes through the through holes, is supported by the two angular ball bearings 40, and is engaged with the end slider 43 with threads, and the lead screw coupling 39 is engaged with the motor coupling 31 to transmit a motor output. Since the mounting structures and the connection manners of the second lead screw transmission unit 23 and the third lead screw transmission unit 26 are completely the same as those of the first lead screw transmission unit 20, the mounting manners of the second lead screw transmission unit 23 and the third lead screw transmission unit 26 are not described repeatedly.

In this embodiment, referring to fig. 1, 2, 6, 7, 8, 9 and 10, the first moving branch 21 includes a first moving branch cylindrical pair C1, a first moving branch revolute pair R1 and a first moving branch hooke pair U1, the first moving branch guide slider 4, a first moving branch bearing seat 5, a first moving branch connecting rod one 6, a first moving branch connecting rod two 7 and a first moving branch connecting rod three 8, the first moving branch cylindrical pair C1 is installed at a lower portion of the first moving branch revolute pair R1, the first moving branch hooke pair U1 is installed at an upper portion of the first moving branch revolute pair R1, the first moving branch cylindrical pair C1 is composed of a first moving branch moving joint P1 and a first moving branch first rotating joint K11, and has a moving degree of freedom and a rotational degree of freedom, the first moving branch P1 includes a first moving branch guide slider 4 and a lead screw 38, the rotation of the motor is converted into linear motion, the first motion branch chain revolute pair R1 is composed of a first motion branch chain second revolute joint K12 and has a rotational degree of freedom, the first motion branch chain second revolute joint K12 comprises a first motion branch chain connecting rod 6, a first motion branch chain connecting rod two 7, a second revolute joint rotating shaft 45, a second revolute joint deep groove ball bearing 46, a sleeve 47, a flat key 48, an elastic retainer ring 49 and a second revolute joint bearing end cover 50, the first motion branch chain connecting rod two 7 comprises two symmetrically arranged connecting thin plates 51, the first motion branch chain hooke pair U1 is composed of a first motion branch chain third revolute joint K13 and a first motion branch chain fourth revolute joint K14, the axes of the first motion branch chain third revolute joint K14 are mutually perpendicular, and has two rotational degrees of freedom, and the first motion branch chain fourth revolute joint K14 comprises a first motion branch chain connecting rod three 8, a second kinematic branch chain connecting rod, The lower platform first connecting rod 52, the fourth rotary joint deep groove ball bearing 55, the bearing washer 56 and the fourth rotary joint bearing end cover 58, the first moving branch chain connecting rod three 8 directly serves as a fourth rotary joint rotating shaft 57, and because the mounting structures and the connection modes of the first moving branch chain first rotary joint K11, the first moving branch chain third rotary joint K13 and the first moving branch chain second rotary joint K12 are completely the same, the mounting modes of the first moving branch chain first rotary joint K11 and the first moving branch chain third rotary joint K13 are not described repeatedly.

The second moving branched chain 24 comprises a second moving branched chain cylindrical pair C2, a second moving branched chain revolute pair R2 and a second moving branched chain hooke pair U2, a second moving branched chain guide rail slider 9, a second moving branched chain bearing seat 10, a second moving branched chain connecting rod I11, a second moving branched chain connecting rod II 12 and a second moving branched chain connecting rod III 13, the second moving branched chain cylindrical pair C2 consists of a second moving branched chain moving joint P2 and a second moving branched chain first rotating joint K21, the second moving branched chain revolute pair R2 consists of a second moving branched chain second rotating joint K22, the second moving branched chain hooke pair U2 consists of a second moving branched chain third rotating joint K23 and a second moving branched chain fourth rotating joint K24, the third moving branched chain 27 comprises a third moving branched chain cylindrical pair C3, a third moving branched chain revolute pair R3 and a third moving branched chain hooke pair U3, the three-motion branched chain guide rail sliding block 14, the three-motion branched chain bearing seat 15, the first three-motion branched chain connecting rod 16, the second three-motion branched chain connecting rod 17 and the third three-motion branched chain connecting rod 18 are arranged in parallel, the third motion branched chain cylindrical pair C3 is composed of a third motion branched chain moving joint P3 and a third motion branched chain first rotating joint K31, the third motion branched chain rotating pair R3 is composed of a third motion branched chain second rotating joint K32, and the third motion branched chain hooke pair U3 is composed of a third motion branched chain third rotating joint K33 and a third motion branched chain fourth rotating joint K34, wherein axes of the third motion branched chain third rotating joint and the third motion branched chain fourth rotating joint K34 are perpendicular to each other. Since the joints of the second and third moving branches 24 and 27 are identical to the joint mounting structure and connection mode of the first moving branch 21, the joint mounting and connection modes of the second and third moving branches 24 and 27 are not described repeatedly.

In this embodiment, referring to fig. 1, 2, 11 and 12, the movable platform includes an adjustable foot board 59, an up-down adjusting device 62, an upper platform 3 and a lower platform 2, the adjustable foot guards 59 are moved a limited distance above the upper platform 3 by their own guide rails 60, to adapt to the foot sizes of different patients and is fastened by the adjusting screw 61, so as to prevent the adjustable foot baffle 59 from loosening in the rehabilitation exercise, the upper platform 3 is connected with the lower platform 2 through an up-down adjusting device 62, the up-down adjusting device 62 comprises an up-down adjusting screw 63, a thrust ball bearing 64 and an upper platform bearing end cover 65, the relative height between the upper and lower platforms is adjusted by the upper and lower adjusting screws 63 to adapt to the ankle height of different patients, the lower platform 2 is fixedly connected with a lower platform first connecting rod 52, a lower platform second connecting rod 53 and a lower platform third connecting rod 54.

In the embodiment, referring to fig. 13, for a mechanism diagram of an operating principle of the device, 3 kinematic branch chains (21, 24, 27) are obliquely arranged, during rehabilitation exercise, the axes of the second rotary joints (K12, K22, K32) and the axes (K13, K23, K33) of the third rotary joints (21, 24, 27) are always parallel and perpendicular to the plane of the kinematic branch chains, the axes of the first rotary joints (K11, K21, K31) and the axes of the fourth rotary joints (K14, K24, K34) of the 3 kinematic branch chains (21, 24, 27) always intersect with the rotational center 66 of the kinematic platform, and the kinematic platform 67 performs 3-dimensional rotation around the fixed point.

The invention provides an ankle joint rehabilitation device with six crossed rotary joint axes, which has the following beneficial effects:

1) the device has simple control and structure and convenient use.

2) The device can adjust the front-back distance and the up-down distance from the movable platform to the rotating center according to the requirements of different patients.

3) The device moves the platform rotation center and coincides all the time with human ankle joint movement center in recovered motion, has effectively reduced patient's secondary injured's risk.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. an ankle joint rehabilitation device where six rotating joint axes meet, is characterized in that: this ankle joint rehabilitation device comprises a moving platform, 3 movement branches, 3 motor drive units and a base, and the 3 movement branches include The first motion branch chain, the second motion branch chain, and the third motion branch chain, the three motor drive units include the first motor drive unit, the second motor drive unit, and the third motor drive unit, and the three screw drive units include the first motor drive unit, the second motor drive unit, and the third motor drive unit. A lead screw drive unit, a second lead screw drive unit, and a third lead screw drive unit;

The ankle joint rehabilitation device contains 3 evenly distributed branches, each branch includes a one-to-one corresponding motor drive unit, lead screw transmission unit and motion branch; 3 symmetrically distributed branches connect the moving platform and the base, each The motor drive unit in one branch drives the corresponding lead screw transmission unit, and makes the moving platform complete the three-dimensional rotation around the fixed point through the movement of the moving branch chain; the motor and the connecting frame are connected to the base through the motor fixing frame and the connecting frame fixing frame respectively. Fixed connection, used to support the motor drive unit, 3 screw drive units are evenly arranged on the base;

The first movement branch includes a first movement branch moving joint and a first movement branch first rotating joint, and the axis of the first movement branch moving joint is similar to the axis of the first movement branch first rotating joint. Coincidence, together constitute the first movement branch cylinder pair, and the first movement branch cylinder pair is connected with the first movement branch chain second rotating joint, namely the first movement branch rotation pair, through the first movement branch link rod, The first movement branch chain rotating pair is connected with the first movement branch link third rotation joint through the first movement branch link two, and the first movement branch link third rotation joint is connected by the first movement branch link three. Connected with the fourth rotating joint of the first moving branch, the axis of the third rotating joint of the first moving branch and the axis of the fourth rotating joint of the first moving branch are perpendicular to each other, and together form the first moving branch Hooke pair , the fourth rotating joint of the first moving branch is connected with the lower platform through the first connecting rod of the lower platform, the first moving branch rotating pair is installed on the upper end of the first moving branch cylinder pair, the first moving branch The chain rotating pair is installed at the lower end of the first moving branch chain Hooke pair, the axis of the second rotating joint of the first moving branch is always parallel to the axis of the third rotating joint of the first moving branch, and the first moving branch is always parallel to the axis of the third rotating joint. The axis of the first rotating joint and the axis of the fourth rotating joint of the first moving branch always meet at the rotating center of the moving platform;

The second movement branch includes a second movement branch movement joint and a second movement branch first rotation joint, and the axis of the second movement branch movement joint is similar to the axis of the second movement branch first rotation joint. Coincidence, together constitute the second movement branch cylinder pair, and the second movement branch cylinder pair is connected with the second movement branch chain second rotating joint, that is, the second movement branch rotation pair through the second movement branch link, The second movement branch chain rotating pair is connected with the second movement branch link third rotation joint through the second movement branch link two, and the second movement branch link third rotation joint is connected by the second movement branch link three. Connected with the fourth rotating joint of the second moving branch, the axis of the third rotating joint of the second moving branch and the axis of the fourth rotating joint of the second moving branch are perpendicular to each other, and together form the second moving branch Hooke pair , the fourth rotating joint of the second moving branch is connected with the lower platform through the second connecting rod of the lower platform, the second moving branch rotating pair is installed on the upper end of the second moving branch cylinder pair, the second moving branch The chain rotation pair is installed at the lower end of the second movement branch chain Hooke pair, the axis of the second movement branch chain's second rotation joint is always parallel to the axis of the second movement branch chain's third rotation joint, and the second movement branch chain is always parallel. The axis of the first rotating joint and the axis of the fourth rotating joint of the second movement branch always meet at the rotation center of the moving platform;

The third movement branch includes the third movement branch moving joint and the third movement branch first rotating joint, and the axis of the third movement branch moving joint is similar to the axis of the third movement branch first rotating joint. Coincidence, together form the third movement branched chain cylinder pair, the third movement branched chain cylinder pair is connected with the third movement branched chain second rotating joint, that is, the third movement branched chain rotation pair through the third movement branched chain connecting rod, The rotation pair of the third movement branch is connected with the third rotation joint of the third movement branch through the second link of the third movement branch, and the third rotation joint of the third movement branch is connected with the third link of the third movement branch through the third link of the third movement branch. It is connected with the fourth rotating joint of the third moving branch chain, and the axis of the third rotating joint of the third moving branch chain is perpendicular to the axis of the fourth rotating joint of the third moving branch chain, which together constitute the third moving branch chain Hooke pair. , the fourth rotating joint of the third moving branch is connected with the lower platform through the third connecting rod of the lower platform, the rotating pair of the third moving branch is installed on the upper end of the cylindrical pair of the third moving branch, and the third moving branch is The chain rotating pair is installed at the lower end of the third moving branch chain Hooke pair, the axis of the second rotating joint of the third moving branch is always parallel to the axis of the third rotating joint of the third moving branch, and the third moving branch is always parallel to the axis of the third rotating joint of the third moving branch. The axis of the first rotating joint and the axis of the fourth rotating joint of the third motion branch always meet at the rotating center of the moving platform.