Ankle joint rehabilitation robot structure and using method thereof

Abstract

The invention relates to an ankle joint rehabilitation robot structure and a using method thereof. The ankle joint rehabilitation robot structure comprises a supporting base, wherein supporting rods are respectively arranged on two sides of the supporting base; two ends of a horizontally arranged inverted-n-shaped connecting piece are respectively rotatably connected with the upper ends of the supporting rods; a vertical rod of which the upper end is rotatably connected with the inverted-n-shaped connecting piece is arranged in the middle of the inverted-n-shaped connecting piece, and the inverted-n-shaped connecting piece is provided with a first encoder; the lower end of the vertical rod is fixedly connected with the rear end of a movable platform; two sides of the front part of the movable platform are respectively provided with a driving piece for driving the movable platform to swing; and a second encoder is arranged at the end, which is rotatably connected with the supporting rods, of the inverted-n-shaped connecting piece. According to the ankle joint rehabilitation robot, under the condition that the ankle joint rehabilitation effect is met, simplification on a mechanism isrealized, and a complex parallel mechanism is simplified into a motion space which can be realized by two rods.

Description

technical field [0001] The invention relates to an ankle joint rehabilitation robot structure and a using method thereof. Background technique [0002] The existing research and development of ankle rehabilitation robots use more parallel mechanisms than serial mechanisms. This is due to the high stiffness characteristics of parallel mechanisms and the rehabilitation characteristics of the ankle joint. Since the ankle rehabilitation robot needs a larger movement space, the moving platform The connection between the dynamic platform and the driver of the ankle rehabilitation robot is mostly connected by Hooke hinge. However, it is difficult to manufacture and assemble the Hooke hinge. In view of this, the present invention proposes a design that connects the motion platform and the driver of the rehabilitation robot with a ball hinge, and connects the driver and the static platform of the robot with a fish-eye pair. The maximum movement space of a rehabilitation robot is not...

AI Technical Summary

Problems solved by technology

The maximum movement space of a rehabilitation robot is not only related to the movement space of the selected ball pair, but also related to the size and installation position of each component. Often the evaluation index of the ankle rehabilitation robot mechanism is the effective movement space, which directly affects the ankle of the rehabilitation person. The angle of rehabilitation movement, the movement space of the ball pair and the size of each component of the ankle rehabilitation robot directly or indirectly affect the quality of the mechanism of the ankle rehabilitation robot. There are not many types and the space angle is limited; the complexity of the ankle rehabilitation mechanism is not the final design goal, but due to the rehabilitation movement mode of the ankle rehabilitation robot, it is often designed as a relatively complex parallel mechanism with many driving parts

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