CN209316388U - A kind of sphere parallel mechanism ankle convalescence device - Google Patents
A kind of sphere parallel mechanism ankle convalescence device Download PDFInfo
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- CN209316388U CN209316388U CN201821018877.3U CN201821018877U CN209316388U CN 209316388 U CN209316388 U CN 209316388U CN 201821018877 U CN201821018877 U CN 201821018877U CN 209316388 U CN209316388 U CN 209316388U
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Abstract
The utility model belongs to the technical field of ankle rehabilitation institution, specifically a kind of sphere parallel mechanism ankle convalescence device.Including pedestal, bracket, servo motor, moving platform, foot prop, telescopic device and three movement branched chains, three servo motors are installed on pedestal, three servo motors are connect with the lower end of three movement branched chains respectively, the upper end of three movement branched chains is connect with arc-shaped guide rail, two of them movement branched chain is connect by arc shaped slider with arc-shaped guide rail, another movement branched chain is fixed on arc-shaped guide rail by sleeve, moving platform is fixed on arc-shaped guide rail, moving platform center is fixed with telescopic device, is fixed with foot prop on telescopic device.The utility model mechanism is simple, and load capacity is strong, and driving is few, easily controllable simple, is able to achieve ankle in the rotation in three directions in space, the characteristics of motion complies fully with the characteristics of motion of human ankle.
Description
Technical field
The utility model belongs to the technical field of ankle rehabilitation institution, specifically a kind of sphere parallel mechanism ankle rehabilitation dress
It sets.
Background technique
Ankle-joint is that human body bears a heavy burden most movable joints, and sprain of ankle joint is relatively conventional in daily life, in addition, in
Nervous system is damaged after wind, can lead to ligament of ankle joint overrelaxation, easily causes ankle-joint and sprains repeatedly, ankle is caused to close
Save the sequelae such as dysfunction.So after sprain of ankle joint carry out rehabilitation training be it is vital, equally to take row have
The rehabilitation training of effect is even more important, if rehabilitation training is incorrect to be easy to cause ankle-joint secondary damage.
Traditional treatment method is that doctor instructs and training, time and effort consuming, process cumbersome with patient " face-to-face ", it is difficult to
Meet patient to the eager demand of the quick thorough rehabilitation of ankle-joint, rehabilitation efficiency not only can be improved in rehabilitation institution, mitigates doctor
Workload, ankle-joint rehabilitation as early as possible can also be made by regular, suitable rehabilitation exercise.Existing rehabilitation of anklebone mechanism
Have some limitations to varying degrees: mechanism freedom is insufficient, and mechanism not can be carried out the rotation fortune in three, space direction
It is dynamic, ankle is only able to achieve in the componental movement in space, and the rehabilitation efficacy of ankle rehabilitation cannot be reached so as to cause robot；Mechanism
There is the moving movement in addition to rotation in DOF (degree of freedom) redundance, be easy to cause secondary injury to ankle-joint；The fixed center of rotation of mechanism with
Ankle motion center is not overlapped, this is also easy to cause secondary injury to ankle-joint.
A kind of specific type of the sphere parallel mechanism as parallel institution, has fixed center of rotation, and working space is big, each
The characteristics of being less likely to occur interference between a component.
Summary of the invention
The utility model provides a kind of sphere parallel mechanism to solve the above problem existing for existing ankle convalescence device
Ankle convalescence device.
The utility model takes following technical scheme: a kind of sphere parallel mechanism ankle convalescence device, including pedestal, branch
Frame, servo motor, moving platform, foot prop, telescopic device and three movement branched chains, are equipped with three servo motors on pedestal, and three
Servo motor is connect with the lower end of three movement branched chains respectively, and the upper end of three movement branched chains is connect with arc-shaped guide rail, wherein
Two movement branched chains are connect by arc shaped slider with arc-shaped guide rail, and another movement branched chain is fixed on arc-shaped guide rail by sleeve
On, moving platform is fixed on arc-shaped guide rail, moving platform center is fixed with telescopic device, is fixed with foot prop on telescopic device.
Movement branched chain includes bracket, revolute pair, curved rod I, revolute pair, curved rod II and revolute pair, the end curved rod I
End is connect by revolute pair with bracket, and servo motor is fixed on bracket, and the shaft of servo motor is connected simultaneously with the end curved rod I
Curved rod I rotation is driven, the top curved rod I passes through revolute pairIt is connect with curved rod II, the top curved rod II passes through revolute pairWith arc shaped slider or sleeve connection, revolute pair is consolidated on arc shaped slider or sleeve.
Telescopic device is connect by screw with telescopic device pedestal, and the telescopic rod of telescopic device is equipped with multiple limit holes,
And it is fixed by lock-screw and telescopic device.
Compared with prior art, the utility model has the following beneficial effects:
1. the utility model mechanism is simple, load capacity is strong, and driving is few, easily controllable, is able to achieve ankle three, space
The rotation in direction, the characteristics of motion comply fully with the characteristics of motion of human ankle.
2. the utility model meets the condition that ankle center is overlapped with the center of rotation of convalescence device, to realize having for row
The rehabilitation training of effect, prevents secondary damage.
It is in the movement of ankle 3. the utility model can be adjusted using telescopic device for patient's difference ankle size
The center of rotation of the heart and convalescence device is overlapped.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of the utility model；
Fig. 2 is the schematic diagram of the movement branched chain of the utility model；
The foot prop support device and foot prop schematic diagram of Fig. 3 the utility model；
In figure: 1- pedestal, 2- servo motor, 3- bracket, 4- revolute pair, 5- curved rod I, 6- revolute pair, 7- curved rod
II, 8- revolute pair, 9- arc shaped slider, 10- telescopic device, 11- sleeve, 12- arc-shaped guide rail, 13- moving platform, 10.1- screw,
10.2- telescopic device pedestal, 10.3- lock-screw, 10.4- limit hole, 10.5- foot prop.
Specific embodiment
In conjunction with attached drawing, specific embodiment of the present utility model is described further:
Ankle convalescence device based on sphere parallel mechanism as shown in Figure 1 is by pedestal 1, bracket 3, servo motor 2, dynamic flat
The movement branched chain composition that platform 13, foot prop 10.5, telescopic device 10 and three connect with pedestal and moving platform respectively.Three movement branch
Chain two of them are identical, identical two branched structures are as follows: the end curved rod I5 is connect by revolute pair 4 with bracket 3, is watched
It takes 2 shaft of motor to be connected with the end curved rod I and curved rod I is driven to rotate, the top curved rod I passes through revolute pair and curved rod II
Connection, the top curved rod II are connect by revolute pair with arc shaped slider 9, and revolute pair is consolidated on arc shaped slider 9, arc shaped slider 9
It is connect with arc-shaped guide rail 12, realizes movement of the arc shaped slider 9 on arc-shaped guide rail.The difference of movement branched chain II and movement branched chain I
Place is: the end curved rod II is connect with arc-shaped guide rail 12 by sleeve 11, and sleeve 11 is affixed to arc-shaped guide rail 12, set
Cylinder 11 cannot the arcuately movement of guide rail 12.The axis of all rotations and the movement of the mechanism all meets at the ball of sphere parallel mechanism
The heart, i.e. the fixation center of rotation of mechanism, and be overlapped with the centre of motion of human ankle.
Sphere parallel mechanism can be realized the rotation in three directions in space, and drive is welded on arc shaped slider 9 and sleeve 11
Entire foot prop support device, to realize the rehabilitation training of human ankle being placed on foot prop.
Such as Fig. 3 foot prop support device shown and foot prop, telescopic device 10 passes through screw 10.1 and telescopic device pedestal 10.2
The telescopic rod of connection, telescopic device 10 is equipped with multiple limit holes 10.4, is adjusted for the difference to patient's ankle size,
It is fixed by lock-screw 10.3, principle is patient's ankle center of rotation to the distance between sole difference, passes through adjusting
Foot prop height is overlapped human ankle with the center of rotation of ankle convalescence device in center of rotation.
Claims (3)
1. a kind of sphere parallel mechanism ankle convalescence device, it is characterised in that: including pedestal (1), bracket (3), servo motor
(2), moving platform (13), foot prop (10.5), telescopic device (10) and three movement branched chains are equipped with three servos on pedestal (1)
Motor (2), three servo motors (2) connect with the lower end of three movement branched chains respectively, and the upper end of three movement branched chains is and arc
Shape guide rail (12) connection, two of them movement branched chain are connect by arc shaped slider (9) with arc-shaped guide rail (12), another movement branch
Chain is fixed on arc-shaped guide rail (12) by sleeve (11), is fixed on arc-shaped guide rail (12) moving platform (13), moving platform (13)
Center is fixed with telescopic device (10), and foot prop (10.5) are fixed on telescopic device (10).
2. sphere parallel mechanism ankle convalescence device according to claim 1, it is characterised in that: the movement branched chain packet
Include bracket (3), revolute pair (4), curved rod I(5), revolute pair R1(6), curved rod II(7) and revolute pair R2(8), curved rod I
(5) end is connect by revolute pair (4) with bracket (3), and servo motor (2) is fixed on bracket (3), and servo motor (2) turns
Axis is connected with the end curved rod I(5) and drives curved rod I(5) rotation, curved rod I(5) top passes through revolute pair R1(6) and arc
Shape bar II(7) connection, curved rod II(7) top pass through revolute pair R2(8) connect with arc shaped slider (9) or sleeve (11), rotation
Pair is consolidated on arc shaped slider (9) or sleeve (11).
3. sphere parallel mechanism ankle convalescence device according to claim 2, it is characterised in that: the telescopic device
(10) it is connect by screw (10.1) with telescopic device pedestal (10.2), the telescopic rod of telescopic device (10) is equipped with multiple limits
Hole (10.4), and it is fixed by lock-screw (10.3) and telescopic device (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821018877.3U CN209316388U (en) | 2018-06-29 | 2018-06-29 | A kind of sphere parallel mechanism ankle convalescence device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821018877.3U CN209316388U (en) | 2018-06-29 | 2018-06-29 | A kind of sphere parallel mechanism ankle convalescence device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209316388U true CN209316388U (en) | 2019-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821018877.3U Active CN209316388U (en) | 2018-06-29 | 2018-06-29 | A kind of sphere parallel mechanism ankle convalescence device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513982A (en) * | 2020-04-17 | 2020-08-11 | 燕山大学 | Parallel ankle rehabilitation robot |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN112618263A (en) * | 2020-12-21 | 2021-04-09 | 宁夏医科大学 | Foot multipurpose rehabilitation device |
| CN113558934A (en) * | 2021-07-29 | 2021-10-29 | 张丹 | Ankle joint rehabilitation robot |
| CN114652574A (en) * | 2022-02-08 | 2022-06-24 | 天津大学 | Four-degree-of-freedom parallel robot for ankle fracture postoperative rehabilitation |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
-
2018
- 2018-06-29 CN CN201821018877.3U patent/CN209316388U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513982A (en) * | 2020-04-17 | 2020-08-11 | 燕山大学 | Parallel ankle rehabilitation robot |
| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN112618263A (en) * | 2020-12-21 | 2021-04-09 | 宁夏医科大学 | Foot multipurpose rehabilitation device |
| CN112618263B (en) * | 2020-12-21 | 2022-11-29 | 宁夏医科大学 | Foot multipurpose rehabilitation device |
| CN113558934A (en) * | 2021-07-29 | 2021-10-29 | 张丹 | Ankle joint rehabilitation robot |
| CN113558934B (en) * | 2021-07-29 | 2023-07-25 | 张丹 | Ankle joint rehabilitation robot |
| CN114652574A (en) * | 2022-02-08 | 2022-06-24 | 天津大学 | Four-degree-of-freedom parallel robot for ankle fracture postoperative rehabilitation |
| CN114652574B (en) * | 2022-02-08 | 2023-10-17 | 天津大学 | Four-degree-of-freedom parallel robot for ankle fracture postoperative rehabilitation |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
| CN114668629B (en) * | 2022-04-22 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom ankle joint rehabilitation parallel mechanism with closed chain of children |
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