CN101006958B - Ankle rehabilitation training device - Google Patents
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- 238000012549 training Methods 0.000 title claims abstract description 30
- 210000003423 ankle Anatomy 0.000 title description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 42
- 210000002683 foot Anatomy 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000006870 function Effects 0.000 abstract description 4
- 238000012545 processing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 12
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 206010060820 Joint injury Diseases 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 208000017200 Bone and joint injury Diseases 0.000 description 1
- 208000005137 Joint instability Diseases 0.000 description 1
- 206010024453 Ligament sprain Diseases 0.000 description 1
- 208000010040 Sprains and Strains Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000009023 proprioceptive sensation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
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Abstract
本发明提出了一种基于串并联机构的踝关节康复训练装置，其结构主要包括一个自由度的转动机构、两个自由度的球面并联机构和托盘。所述球面并联机构由用于固定托盘的动平台、两条支链和固定平台组成，各构件间用转动副联接。球面并联机构的固定平台与转动机构的回转构件刚性固结，通过转动副安置在转动机构的机架支承上，使其相对转动机构的机架转动，由此构成一种3自由度的球面串并联机构。托盘安装在球面并联机构的动平台上。本发明能够模拟踝关节的真实运动，实现对踝关节牵引、康复训练等功能。装置运动副全部采用转动副，因此结构简单，加工制造方便，生产成本低。
The present invention proposes an ankle joint rehabilitation training device based on a series-parallel mechanism, the structure of which mainly includes a rotation mechanism with one degree of freedom, a spherical parallel mechanism with two degrees of freedom and a tray. The spherical parallel mechanism is composed of a moving platform for fixing the pallet, two branch chains and a fixed platform, and the components are connected by rotating pairs. The fixed platform of the spherical parallel mechanism is rigidly consolidated with the rotary member of the rotary mechanism, and is placed on the support of the frame of the rotary mechanism through the rotary pair to make it rotate relative to the frame of the rotary mechanism, thus forming a spherical string with 3 degrees of freedom parallel mechanism. The tray is installed on the moving platform of the spherical parallel mechanism. The invention can simulate the real movement of the ankle joint, and realize functions such as traction on the ankle joint, rehabilitation training and the like. The kinematic pairs of the device all adopt rotating pairs, so the structure is simple, the processing and manufacturing are convenient, and the production cost is low.
Description
一、技术领域1. Technical field
本发明属于医疗器械领域，它涉及一种康复训练器械，特别是涉及用于脚踝扭伤和矫形康复训的装置。The invention belongs to the field of medical devices, and relates to a rehabilitation training device, in particular to a device for ankle sprain and orthopedic rehabilitation training.
二、背景技术2. Background technology
踝关节损伤是一种常见的骨关节损伤，其发生率在下肢损伤中居第二位。踝关节损伤的临床治疗证明：踝关节在康复期进行功能康复训练，可加速组织愈合并有利于恢复韧带的本体感觉，加快患者康复速度，还可预防今后由于踝关节不稳而造成的反复扭伤。现有的踝关节康复训练器械通常仅具有一、两个自由度，不能真实地模拟踝关节复杂的运动。美国新泽西州Rutgers大学于1999年研制出了一种Rutgers Ankle踝关节康复系统，该系统基于气动伺服系统控制的Stewart机构和虚拟现实技术。Rutgers Ankle踝关节康复系统临床试验效果明显，得到了患者和医师的良好反映。在踝关节康复装置的研究进程中，英国伦敦大学的Jian S.Dai和索尔福德大学的Christopher Nester等人提出了三个或四个自由度的踝关节康复并联机构的构型方案，中国燕山大学的赵铁石、于海波和英国伦敦大学的戴建生提出了采用3RSS/S机构模拟踝关节的3个自由度的运动。但现有技术的上述踝关节康复装置，都不同程度地存在某些不足之处。如Rutgers Ankle系统采用六自由度的Stewart机构，控制系统复杂，造价很高，难以推广应用。3RSS/S机构由于采用球铰，与采用回转铰链相比，其加工制造性差，制造成本高。Ankle joint injury is a common bone and joint injury, and its incidence rate ranks second among lower extremity injuries. The clinical treatment of ankle joint injuries proves that functional rehabilitation training for ankle joints during the rehabilitation period can accelerate tissue healing and help restore the proprioception of ligaments, speed up the recovery of patients, and prevent repeated sprains caused by ankle joint instability in the future . Existing ankle joint rehabilitation training devices usually only have one or two degrees of freedom, which cannot truly simulate the complex movement of the ankle joint. Rutgers University in New Jersey, USA developed a Rutgers Ankle ankle joint rehabilitation system in 1999, which is based on a Stewart mechanism controlled by a pneumatic servo system and virtual reality technology. The clinical trials of the Rutgers Ankle Ankle Joint Rehabilitation System are effective, and have received good feedback from patients and physicians. In the research process of the ankle joint rehabilitation device, Jian S.Dai from the University of London and Christopher Nester from the University of Salford, et al. proposed the configuration scheme of the ankle joint rehabilitation parallel mechanism with three or four degrees of freedom, China Zhao Tieshi and Yu Haibo of Yanshan University and Dai Jiansheng of the University of London proposed the use of 3RSS/S mechanism to simulate the movement of the three degrees of freedom of the ankle joint. However, the above-mentioned ankle joint rehabilitation devices in the prior art all have certain deficiencies to varying degrees. For example, the Rutgers Ankle system uses a six-degree-of-freedom Stewart mechanism, the control system is complicated, the cost is high, and it is difficult to popularize and apply. Because the 3RSS/S mechanism uses a spherical hinge, compared with a rotary hinge, its manufacturability is poor and the manufacturing cost is high.
三、发明内容3. Contents of the invention
针对现有技术的踝关节康复训练装置存在的不足，本发明的目的旨在提供一种能够模拟踝关节的真实运动，具备实现踝关节康复训练所需的功能，且机械系统结构简单、紧凑，制造加工性能好，制造成本低的踝关节康复训练装置。Aiming at the deficiencies in the ankle joint rehabilitation training device in the prior art, the purpose of the present invention is to provide a real movement capable of simulating the ankle joint, which has the functions required for realizing ankle joint rehabilitation training, and the mechanical system is simple and compact in structure. An ankle joint rehabilitation training device with good manufacturing processability and low manufacturing cost.
本发明公开的可以实现上述目的的踝关节康复训练装置，主要包括一个自由度的转动机构，两个自由度的球面并联机构，以及脚托盘，所述球面并联机构由作为机构机架的固定平台、作为输出构件的动平台和3根连杆构成，其中一根连杆通过转动副与固定平台和动平台联接，构成驱动动平台回转运动的一条运动支链，另外两根连杆相互铰接，两根连杆的另外两端通过转动副分别与固定平台和动平台联接，构成驱动动平台绕另一轴线回转运动的另一条运动支链，动平台回转运动的两轴线相垂直，两条运动支链分别由伺服驱动装置驱动，脚托盘安置在动平台上，球面并联机构的固定平台与转动机构的回转构件刚性固结，通过转动副安置在转动机构的机架支承上，由伺服驱动装置驱动转动，构成装置的球面串并联模拟运动机构，实现对踝关节真实运动的模拟。The ankle joint rehabilitation training device disclosed by the present invention that can achieve the above purpose mainly includes a rotating mechanism with one degree of freedom, a spherical parallel mechanism with two degrees of freedom, and a foot tray. The spherical parallel mechanism consists of a fixed platform as a
在上述技术方案中，构成球面并联机构各构件间的转动副轴线可相交于一点，且最好是各构件间的转动副轴线垂直地交于一点。In the above-mentioned technical solution, the axes of the rotating pairs of the components constituting the spherical parallel mechanism may intersect at one point, and it is preferable that the axes of the rotating pairs among the components intersect perpendicularly at one point.
在上述技术方案中，构成球面并联机构的3根连杆的各杆弧长度为π/2。In the above technical solution, the arc lengths of the three connecting rods constituting the spherical parallel mechanism are π/2.
在上述技术方案中，转动机构的回转轴线与构成球面并联机构的各构件间的转动副轴线的交点相交。In the above technical solution, the rotary axis of the rotary mechanism intersects the intersection of the axes of the rotating pairs among the components constituting the spherical parallel mechanism.
在上述技术方案中，所说的伺服驱动装置为伺服电动机。In the above technical solution, said servo drive device is a servo motor.
本发明揭示的踝关节康复训练装置，其踝关节模拟运动机构是基于2自由度的球面并联(五杆)机构设计而成。球面并联(五杆)机构3连杆形成的两条并联运动支链分别由伺服电机驱动，可使作为输出构件的动平台实现两个方向的转动，两个自由度球面并联机构的固定平台与一个自由度转动机构的回转构件刚性固结，通过转动副安置在转动机构的机架支承上，由伺服驱动装置驱动转动，构成了具有3个回转自由度的球面串并联机构，可真实地模拟踝关节运动，实现对踝关节牵引、康复训练等功能。本发明公开的踝关节康复训练装置，由于其运动机构的各运动副均为转动副，因此其制造加工性能好，制造成本低，机械系统结构简单、紧凑。特别是采用3自由度的串并联机构，降低了其运动学和动力学求解的难度，控制系统设计得到简化，康复训练数据易于处理，进一步提高了制造加工性能，降低了装置制造成本。本发明解决了现有技术的踝关节康复训练装置存在的不足，为踝关节康复训练提供了一种更容易为人们接受推广的康复装置。In the ankle joint rehabilitation training device disclosed in the present invention, its ankle joint simulation motion mechanism is designed based on a spherical parallel (five-bar) mechanism with 2 degrees of freedom. The two parallel motion branch chains formed by the three links of the spherical parallel (five-bar) mechanism are respectively driven by servo motors, which can make the moving platform as the output member realize rotation in two directions. The fixed platform of the two-degree-of-freedom spherical parallel mechanism and the The rotary member of the one-degree-of-freedom rotary mechanism is rigidly consolidated, placed on the frame support of the rotary mechanism through the rotary pair, and driven by the servo drive device to rotate, forming a spherical series-parallel mechanism with three rotary degrees of freedom, which can be truly simulated Ankle joint movement, realizing functions such as ankle joint traction and rehabilitation training. The ankle joint rehabilitation training device disclosed in the present invention has good manufacturing and processing performance, low manufacturing cost, and a simple and compact mechanical system structure because each kinematic pair of the kinematic mechanism is a rotating pair. In particular, the use of a 3-DOF series-parallel mechanism reduces the difficulty of solving its kinematics and dynamics, simplifies the design of the control system, and facilitates the processing of rehabilitation training data, which further improves the manufacturing performance and reduces the manufacturing cost of the device. The invention solves the shortcomings of the ankle joint rehabilitation training device in the prior art, and provides a rehabilitation device that is easier for people to accept and popularize for ankle joint rehabilitation training.
四、附图简要说明4. Brief description of the drawings
附图1为本发明一个实施例的总体结构示意图。Accompanying
附图2为附图1中实施例的2自由度球面并联机构示意图。Accompanying
附图3为附图1中实施例的3自由度串并联机构简图。Accompanying
附图4为本发明另一个实施例的总体结构示意图。Accompanying
附图5为附图4中实施例的2自由度球面并联机构示意图。Accompanying
附图6为附图4中实施例的3自由度串并联机构简图。Accompanying
附图7为本发明又另一个实施例的总体结构示意图。Accompanying
附图8为附图7中实施例的2自由度球面并联机构示意图。Accompanying
附图9为附图7中实施例的3自由度串并联机构简图。Accompanying
上述各附图中的图标号标识对象为：1机架底座；2机架支承；3固定平台；4连杆；5连杆；6联轴器；7伺服电机；8脚托盘；9动平台；10连杆；11伺服电机；12联轴器；13伺服电机。The identification objects of the icons in the above drawings are: 1. Frame base; 2. Frame support; 3. Fixed platform; 4. Connecting rod; 5. Connecting rod; 6. Coupling; 7. Servo motor; ; 10 connecting rod; 11 servo motor; 12 coupling; 13 servo motor.
五、具体实施方式5. Specific implementation
下面结合附图图面说明给出本发明的实施例，并通过实施例对本发明的结构和工作原理作进一步的说明。有必要在这里特别说明的是，本发明的具体实施方式不限于实施例中的形式，根据本发明公开的内容，所属技术领域的技术人员还可以采取其他的具体方式进行实施，因此，实施例不能理解为是本发明仅可以实施的具体实施方式。Embodiments of the present invention will be given below in conjunction with drawings and drawings, and the structure and working principle of the present invention will be further described through the embodiments. It is necessary to specify here that the specific implementation of the present invention is not limited to the forms in the examples. According to the disclosed content of the present invention, those skilled in the art can also implement in other specific ways. Therefore, the examples It should not be understood as a specific embodiment that the present invention can only implement.
实施例1Example 1
本实施例的踝关节康复训练装置的结构如图1、附图2和附图3所示。由一个自由度的转动机构，两个自由度的球面并联机构和托盘8构成，所述球面并联机构由固定平台3、作为输出构件的动平台9和3根连杆构成，其中一根连杆10为“Y”型结构杆，通过转动副与固定平台和动平台联接，构成驱使动平台回转运动的一条运动支链，该条运动支链由伺服电机13通过联轴器12驱动，动平台在该条运动支链的驱动下绕Y轴回转运动。另外两根连杆4和5通过转动副相互转动联接，其中连杆5的另一端通过转动副与固定平台3的支承联接，连杆4的另一端通过转动副与动平台联接，构成驱动动平台回转运动的另一条运动支链，该条运动支链由安装在固定平台支承上的伺服电机7通过联轴器6驱动，动平台在该条运动支链驱动下绕Z轴回转运动，构成具有2个转动自由度的球面并联机构。所构成的球面并联机构，动平台的两回转轴线-Y轴、Z轴垂直相交。球面并联机构的固定平台3与转动机构的回转构件刚性固结，通过转动副安置在转动机构的机架支承2上，在伺服驱动电机11驱动下绕X轴转动，构成具有3个转动自由度的串并联球面机构。其机构简图如图3所示。机架支承2通过螺栓与机架底座1刚性固定联结。The structure of the ankle joint rehabilitation training device of this embodiment is shown in FIG. 1 , accompanying
本实施例的踝关节康复训练装置的工作运行过程如下：安装在固定平台3上的两个伺服电机7、13通过驱动球面并联机构的两个主动构件5和10，使作为球面并联机构输出构件的动平台可实现绕y、z轴两个方向转动，在伺服电机11驱动下使球面并联机构绕x轴转动，构成一具有3个转动自由度的球面串并联机构，与动平台相固定的脚托盘在上述3自由度串并联球面机构带动下，可以实现对踝关节真实运动的模拟，能够有效地提供对踝关节实现牵引和康复训练等功能。The working process of the ankle joint rehabilitation training device of the present embodiment is as follows: two
实施例2Example 2
本实施例的踝关节康复训练装置的结构如图4、附图5和附图6所示。本实施例踝关节康复训练装置的结构与实施例1的结构基本相同，所不同的地方仅是，通过转动副安装在机架支承2上的2自由度球面并联机构在伺服驱电机11驱动下的回转轴线X轴，相交于动平台两回转轴线-Y轴与Z轴的交点。其机构简图如图6所示。The structure of the ankle joint rehabilitation training device of this embodiment is shown in Fig. 4, Fig. 5 and Fig. 6 . The structure of the ankle joint rehabilitation training device of this embodiment is basically the same as that of
实施例3Example 3
本实施例的踝关节康复训练装置的结构如图7、附图8和附图9所示。本实施例踝关节康复训练装置的结构与实施例1的结构基本相同，所不同的地方是，驱动两条并联支链的两个伺服电机分别安装在固定平台的两个安装支承上，球面并联机构输出构件动平台在3根连杆构成的两条并联运动支链驱使下回转运动的两回转轴线为X轴和Y轴，如附图8所示。通过转动副安装在转动机构机架上的2自由度球面并联机构，在伺服驱电机11驱动下回转运动的轴线为Z轴，Z轴与X轴和Y轴的交点相交。其机构简图如附图9所示。The structure of the ankle joint rehabilitation training device of this embodiment is shown in Fig. 7 , Fig. 8 and Fig. 9 . The structure of the ankle joint rehabilitation training device of this embodiment is basically the same as that of
Claims (6)
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| CN101987060B (en) * | 2010-11-23 | 2012-05-09 | 哈尔滨工程大学 | Ankle joint recovery trainer through rope traction |
| CN102028604B (en) * | 2010-12-21 | 2012-10-03 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
| CN101999970B (en) * | 2010-12-24 | 2013-01-30 | 上海电机学院 | Parallel Multi-DOF Ankle Joint Rehabilitation Trainer |
| ITMI20112325A1 (en) | 2011-12-20 | 2013-06-21 | Consiglio Nazionale Ricerche | DEVICE AND METHOD FOR REHABILITATION OF FOOT MOVEMENTS |
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| CN103070757B (en) * | 2013-01-08 | 2014-10-15 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
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| CN113181602B (en) * | 2021-06-08 | 2022-06-03 | 重庆理工大学 | Upper limb rehabilitation training mechanism |
| CN114699720A (en) * | 2022-03-14 | 2022-07-05 | 北京诺亦腾科技有限公司 | Lower limb rehabilitation training device |
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