Ankle joint rehabilitation robot structure and using method thereof

A rehabilitation robot, ankle joint technology, applied in passive exercise equipment, physical therapy and other directions, can solve the problems of not many types of ball pairs, limited space angle, many driving parts, etc., to ensure the movement space of the mechanism, reduce costs, control The effect of aspect simplification

Pending Publication Date: 2020-02-28
FUZHOU UNIVERSITY
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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 o

Method used

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  • Ankle joint rehabilitation robot structure and using method thereof
  • Ankle joint rehabilitation robot structure and using method thereof
  • Ankle joint rehabilitation robot structure and using method thereof

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Embodiment Construction

[0032] In order to make the above-mentioned features and advantages of the present invention easier to understand, the following specific embodiments are described in detail with reference to the accompanying drawings, but the present invention is not limited thereto.

[0033] refer to Figure 1 to Figure 8

[0034] An ankle joint rehabilitation robot structure can be simply described as RR / 2SPS structure, in which RR means that the support is the support of the rotating pair; 2 means that the mechanism uses two electric push rods, and S means that the lower side of the electric push rod is connected to the fixed platform by a ball pair. The front and rear rotation space does not need to be too large, so the use of a fisheye pair instead of a ball pair can also ensure the movement of the mechanism. P represents the push rod, and S is the ball pair used to connect the electric push rod and the moving platform connecting rod.

[0035] A specific ankle joint rehabilitation robot...

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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...

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0266A61H1/0214A61H2201/1215
Inventor 卢宗兴吴广进姚立纲游圣贤李万鑫
Owner FUZHOU UNIVERSITY
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