CN103156756B - Adjustable ankle recovering device - Google Patents
Adjustable ankle recovering device Download PDFInfo
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- CN103156756B CN103156756B CN201310117264.0A CN201310117264A CN103156756B CN 103156756 B CN103156756 B CN 103156756B CN 201310117264 A CN201310117264 A CN 201310117264A CN 103156756 B CN103156756 B CN 103156756B
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- moving platform
- rocking bar
- adjustable ankle
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Abstract
The invention relates to an adjustable ankle recovering device. The adjustable ankle recovering device comprises a base seat, a fixing platform and a movable platform. A center supporting rod that the movable platform is supported by a spherical pair is fixedly on the fixing platform. Three straight line actuators with adjustable positions are uniformly distributed on the base seat. Pushing rod end portions of the three straight line actuators are respectively connected with outer ends of rocking rods. The inner ends of the rocking rods are respectively hinged with the fixing platform. Outer ends of the three rocking rods are respectively hinged with the movable platform through the three connecting rods. The adjustable ankle recovering device is simple to operate, easy to control and low in cost. The adjustable ankle recovering device has the advantages that the adjusting ankle recovering movement range is flexible and simple, the input and output is rapid in responding, and requirements of the different ankle recovering curing or relaxing of lower limbs muscles of different patients are met. The adjustable ankle recovering device is wide in market prospect and can be used in the hospital clinical curing. The adjustable ankle recovering device can also be used in a family, a hotel, a fitness place, a long-distance bus and an airplane flying for a long time for the relaxing of the ankle and the leg muscle.
Description
Technical field
The present invention relates to a kind of adjustable ankle convalescence device.
Background technology
At present, by external force or utilize medical apparatus and instruments etc. to carry out energetically the key that ankle rehabilitation training is ankle rehabilitation.Due to conditions of patients diversity and the difference that same patient different rehabilitation stage rehabilitation needs, require ankle convalescence device to there is adjustability flexibly.Existing ankle joint rehabilitation training device tool, is all having some limitations in varying degrees.These apparatuses can not increase control system control complexity and strengthen on the basis of production cost, guarantee that ankle convalescence device meets ankle recovery function and has flexible, easy tunability.
Summary of the invention
The present invention is directed to the problem that above-mentioned prior art exists and make improvement, technical problem to be solved by this invention be to provide a kind of simple to operate, be easy to control and the low adjustable ankle convalescence device of cost.
In order to solve the problems of the technologies described above, technical scheme of the present invention is: a kind of adjustable ankle convalescence device, comprise base, fixed platform and moving platform, on described fixed platform, be fixed with the center pole of supporting moving platform with spherical pair, on described base, be evenly distributed with three linear actuators that position is adjustable, the push rod end of three linear actuators is connected with three rocking bar outer ends respectively, three rocking bar the inners are hinged with fixed platform respectively, and three rocking bar outer ends are hinged by three connecting rods and moving platform respectively.
Further, the push rod end of described linear actuator is slidably connected by the slotted hole of bearing pin and rocking bar outer end.
Further, described connecting rod lower end and rocking bar outer end are hinged, and described small end and moving platform downside are hinged, and the pin joint of three connecting rods and moving platform is uniformly distributed in the downside of moving platform.
Further, described rocking bar, connecting rod, moving platform and center pole form parallel-crank mechanism.
Further, described base is provided with the adjustable mechanism of three linear actuator positions of synchronization control, matches with the respective slide slots on base by three slides respectively in three linear actuator lower ends.
Further, described adjustable mechanism comprises erecting to be located at screw rod, the nut matching with screw rod at base middle part and to be sheathed on the adjustment block on screw rod, and described adjustment block is hinged by intermediate bar and slide.
Compared with prior art, the present invention has following beneficial effect:
(1) this adjustable ankle convalescence device adopts linear actuator as power source, with the formal output motion of straight line, has that size is little, simple in structure, the features such as fast response time to motion; This adjustable ankle convalescence device regulates the position of linear actuator by adjustable mechanism, and then regulates the motion amplitude of moving platform, realizes different rehabilitation exercises and pattern; This adjustable ankle convalescence device can also adopt single-chip microcomputer integral body to be controlled to regulate speed and the direction of displacement.
(2) this adjustable ankle convalescence device simple to operate, be easy to control and cost low, comparatively speaking there is wide market prospect; This adjustable ankle convalescence device combines the advantage of linear actuator and adjustable mechanism, has the feature that ankle rehabilitation exercise amplitude flexible and convenient, input and output response are fast, meet the needs that different patient's ankle rehabilitation differences or lower limb muscles loosen that regulates.
(3) this adjustable ankle convalescence device can be directly by the fixing moving platform of foot, by linear actuator, move and can realize the function for the treatment of and loosening, can be widely used in hospital clinical treatment, equally also can be applicable to loosening for ankle and leg muscle on the aircraft of family, hotel, gymnasium, long-distance bus and flying for long time.
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
Accompanying drawing explanation
Fig. 1 is the organigram of the embodiment of the present invention.
Fig. 2 is the organigram of adjustable mechanism.
In figure: 1-base, 2-fixed platform, 3-moving platform, 4-center pole, 5-linear actuator, 6-rocking bar, 7-connecting rod, 8-adjustable mechanism, 9-slide, 10-chute, 11-screw rod, 12-nut, 13-adjustment block, 14-intermediate bar, 15-bearing pin.
The specific embodiment
As shown in Figure 1 and 2, a kind of adjustable ankle convalescence device, comprise base 1, fixed platform 2 and moving platform 3, on described fixed platform 2, be fixed with the center pole 4 of supporting moving platform 3 with spherical pair, on described base 1, be evenly distributed with three linear actuators 5 that position is adjustable, the push rod end of three linear actuators 5 is connected with three rocking bar 6 outer ends respectively, and three rocking bar 6 the inners are hinged with fixed platform 2 respectively, and three rocking bar 6 outer ends are hinged by three connecting rods 7 and moving platform 3 respectively.
In the present embodiment, the push rod end of described linear actuator 5 is slidably connected by the slotted hole of bearing pin and rocking bar 6 outer ends, described connecting rod 7 lower ends and rocking bar 6 outer ends are hinged, described connecting rod 7 upper ends and moving platform 3 downsides are hinged, three connecting rods 7 and the pin joint of moving platform 3 are uniformly distributed in the downside of moving platform 3, and described rocking bar 6, connecting rod 7, moving platform 3 and center pole 4 form parallel-crank mechanisms.
In the present embodiment, described linear actuator 5 is given T-shaped feed screw nut by its inner change gear train the Motion Transmission of direct current generator, with the formal output motion of straight line.Described linear actuator 5 is exported straight line to be delivered to rocking bar 6 by its push rod, fast, the anxious phenomenon of returning of nothing that the parallel-crank mechanism output that described rocking bar 6, connecting rod 7, moving platform 3 and center pole 4 form responds; Described rocking bar 6, as the motion input of this parallel-crank mechanism, rotates under the push rod effect of linear actuator 5; Described moving platform 3, as the actuating station of this parallel-crank mechanism, produces the rotation around the center pole 4 at fixed platform 2 middle parts; The action that can cooperatively interact under the control of single-chip microcomputer of three linear actuators 5, can realize the rotation of moving platform 3 secondary three directions of ball on center pole 4.Foot is fixed on moving platform 3, and the motion by moving platform 3 drives ankle to rotate, thereby plays the effect of athletic rehabilitation treatment.
In the present embodiment, match with the respective slide slots 10 on base 1 by three slides 9 respectively in 8, three linear actuator 5 lower ends of adjustable mechanism that described base 1 is provided with three linear actuator 5 positions of synchronization control.Described adjustable mechanism 8 comprises erecting to be located at screw rod 11, the nut 12 matching with screw rod 11 at base 1 middle part and to be sheathed on the adjustment block 13 on screw rod 11, described adjustment block 13 is hinged by intermediate bar 14 and slide 9, and described intermediate bar 14 two ends are hinged by bearing pin 15 and adjustment block 13 and slide 9 respectively.
In the present embodiment, this adjustable mechanism 8 has utilized multi-slide mechanism principle, by swivel nut 12, adjustment block 13 is moved up and down along screw rod 11, and then move radially in the chute 10 of drive slide 9 on base 1, thereby realize linear actuator 5 to the change of rocking bar 6 center of rotation distances, can there is change in rocking bar 6 rotational angles like this in the situation that linear actuator 5 output straight-line displacement is constant, and rocking bar 6 input angles change and then cause moving platform 3 motion amplitudes to change.
The foregoing is only preferred embodiment of the present invention, all equalizations of doing according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (6)
1. an adjustable ankle convalescence device, comprise fixed platform and moving platform, it is characterized in that: also comprise base, on described fixed platform, be fixed with the center pole of supporting moving platform with spherical pair, on described base, be evenly distributed with three linear actuators that position is adjustable, the push rod end of three linear actuators is connected with three rocking bar outer ends respectively, and three rocking bar the inners are hinged with fixed platform respectively, and three rocking bar outer ends are hinged by three connecting rods and moving platform respectively.
2. adjustable ankle convalescence device according to claim 1, is characterized in that: the push rod end of described linear actuator is slidably connected by the slotted hole of bearing pin and rocking bar outer end.
3. adjustable ankle convalescence device according to claim 1, it is characterized in that: described connecting rod lower end and rocking bar outer end are hinged, described small end and moving platform downside are hinged, and the pin joint of three connecting rods and moving platform is uniformly distributed in the downside of moving platform.
4. adjustable ankle convalescence device according to claim 1, is characterized in that: described rocking bar, connecting rod, moving platform and center pole form parallel-crank mechanism.
5. adjustable ankle convalescence device according to claim 1, it is characterized in that: described base is provided with the adjustable mechanism of three linear actuator positions of synchronization control, matches with the respective slide slots on base by three slides respectively in three linear actuator lower ends.
6. adjustable ankle convalescence device according to claim 5, it is characterized in that: described adjustable mechanism comprises erecting to be located at screw rod, the nut matching with screw rod at base middle part and to be sheathed on the adjustment block on screw rod, and described adjustment block is hinged by intermediate bar and slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310117264.0A CN103156756B (en) | 2013-04-07 | 2013-04-07 | Adjustable ankle recovering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310117264.0A CN103156756B (en) | 2013-04-07 | 2013-04-07 | Adjustable ankle recovering device |
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| Publication Number | Publication Date |
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| CN103156756A CN103156756A (en) | 2013-06-19 |
| CN103156756B true CN103156756B (en) | 2014-09-10 |
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| CN201310117264.0A Active CN103156756B (en) | 2013-04-07 | 2013-04-07 | Adjustable ankle recovering device |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105970B (en) * | 2015-08-04 | 2017-08-18 | 张明明 | A kind of robot for rehabilitation of anklebone in parallel and its control method |
| CN105125381B (en) * | 2015-10-19 | 2017-01-25 | 吉林大学 | Multi-degree-of-freedom adjustable ankle and knee joint linkage rehabilitative training machine |
| CN106038189B (en) * | 2016-05-18 | 2018-03-13 | 汕头大学医学院第一附属医院 | A kind of new armpit health care intelligent robot |
| CN106038188B (en) * | 2016-05-18 | 2018-03-09 | 汕头大学医学院第一附属医院 | A kind of armpit rubs pressure automatic machinery people |
| CN105796297B (en) * | 2016-05-18 | 2017-11-24 | 骆雪娥 | A kind of automation armpit based on redundancy parallel mechanism rubs depressor |
| CN105832517B (en) * | 2016-05-18 | 2017-11-24 | 骆雪娥 | A kind of armpit rubs pressure automatic machinery people with rubbing pressure device |
| CN107510924B (en) * | 2017-10-17 | 2022-09-23 | 哈尔滨理工大学 | Multi-degree-of-freedom ankle rehabilitation training device |
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| KR100870168B1 (en) * | 2007-05-21 | 2008-11-24 | 전북대학교산학협력단 | A postural balance training machin |
| CN102631275A (en) * | 2011-12-14 | 2012-08-15 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| JP3184447U (en) * | 2013-04-16 | 2013-06-27 | サバンジ・ウニヴェルシテシ | Non-grounded ankle treatment and measurement exoskeleton type device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005536703A (en) * | 2001-07-05 | 2005-12-02 | マイクロデクステラティー・システムズ・インコーポレーテッド | Parallel manipulator |
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| CN1923157A (en) * | 2006-09-14 | 2007-03-07 | 燕山大学 | Biological fusion type foot joint rehabilitation robot |
| KR100870168B1 (en) * | 2007-05-21 | 2008-11-24 | 전북대학교산학협력단 | A postural balance training machin |
| CN102631275A (en) * | 2011-12-14 | 2012-08-15 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| JP3184447U (en) * | 2013-04-16 | 2013-06-27 | サバンジ・ウニヴェルシテシ | Non-grounded ankle treatment and measurement exoskeleton type device |
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