Decoupling parallel ankle joint rehabilitation robot

Abstract

The invention discloses a decoupling parallel type ankle joint rehabilitation robot which comprises a full sole supporting platform, three sets of connecting holes are formed in the upper portion of the full sole supporting platform, reinforcing ribs are arranged below each set of connecting holes to serve as supports, and the connecting holes of each set are connected through scaphoid bone plug pins in the front direction, the rear direction, the left direction and the right direction. Wherein the front-back scaphoid bone bolt is perforated in the middle and is used for being connected with the left-right scaphoid bone bolt. The invention relates to the technical field of rehabilitation medical machines, and has the beneficial effects that through cooperative use of a full sole supporting platform, a connecting hole, a talonavicular dorsal ligament connector, a malleolus medialis ligament connector and a motor, the motor drives the talonavicular dorsal ligament connector to rotate, so that the talonavicular dorsal ligament connector drives the malleolus medialis ligament connector, and the malleolus medialis ligament connector is driven to rotate; two-degree-of-freedom movement of the full-sole supporting platform is achieved, and a fixed rehabilitation training process and a portable rehabilitation training process can be achieved through driving of the upper connecting plate.

Description

Technical Field

[0001] The invention relates to the field of rehabilitation medical machines, in particular to a decoupled parallel ankle joint rehabilitation robot. Background Art

[0002] Ankle sprain has become a common injury in reality. Ankle sprain ranks first among joint ligament injuries. It is often seen when walking or running on uneven ground, or accidentally slipping when going down stairs or walking on a slope, or losing the center of gravity during sports such as cycling and kicking a ball, or being stepped on or tripped during sports, causing the ankle joint to shift and damage the ankle ligaments. After the sprain, ankle function recovery training is required. However, the common methods of rehabilitation training today are ankle range of motion training, muscle strength training, standing training, balance training, and gait training. As the number of ankle sprain cases increases day by day, the patient's later rehabilitation treatment has gradually received attention, and the corresponding demand has also greatly increased. When conducting rehabilitation treatment, rehabilitation therapists are often the first choice that people think of, but due to the small number of rehabilitation therapists and limited energy, the effect of rehabilitation treatment cannot be guaranteed. In response to this situation, intelligent rehabilitation treatment equipment came into being. Digitalization and intelligence have greatly improved the efficiency of rehabilitation treatment, while also saving the workload of rehabilitation therapists. As an automated rehabilitation medical device, rehabilitation medical robots can help patients conduct scientific and effective rehabilitation training to restore the motor function of their injured parts. Summary of the invention

[0003] The purpose of the present invention is to solve the above problems and designs a decoupled parallel ankle joint rehabilitation robot.

[0004] To achieve the above-mentioned purpose, the technical solution of the present invention is a decoupled parallel ankle joint rehabilitation robot, including a full sole support platform, three groups of connecting holes are arranged on the top of the full sole support platform, and each group of connecting holes has reinforcing ribs as support below, and the connecting holes in each group are connected by scaphoid pins in the front, back, left and right directions, wherein the middle of the front and back scaphoid pins is perforated for connecting with the left and right scaphoid pins, and the left and right scaphoid pins of the two parallel groups of connecting holes are respectively connected to the dorsal talonavicular ligament connector and the medial malleolus ligament connector, and the medial malleolus ligament connectors at the left and right ends are respectively connected to the left and right driving motors, and the motors on the left and right sides are respectively assembled by motor carriers, and the motor carrier is connected to the upper connecting plate on the top and has a support plate on the bottom, and a connector is provided below the support plate to connect with the last group of connecting holes of the full sole support platform, thereby driving the rotation of the full sole support platform.

[0005] Furthermore, the connection hole on the full sole support platform for connecting the motor carrier is thicker than the remaining two connection holes connected to the dorsal talonavicular ligament connector and the medial malleolar ligament connector, and the connection holes should be flush with each other.

[0006] Furthermore, the length of the reinforcing ribs used for support below the connection hole should not exceed the overall length of the connection hole.

[0007] Furthermore, the dorsal talonavicular ligament connector is used to connect the motor to the medial malleolar ligament connector, and the medial malleolar ligament connector is used to connect the dorsal talonavicular ligament connector to the scaphoid pin.

[0008] Furthermore, the connecting hole is connected to the dorsal talonavicular ligament connector and the scaphoid ligament connector using anterior-posterior and left-right scaphoid pins. The scaphoid pins at both ends of the left-right direction and between the dorsal talonavicular ligament connector and the medial malleolus ligament connector should be provided with limiting grooves and clamps for limiting.

[0009] Furthermore, the support plate connected to the posterior talocalcaneal ligament connector and the motor carrier should be fixed to the motor carrier.

[0010] Furthermore, the two motors are fixed by opening corresponding holes in the motor carrier according to the hole positions of the motors.

[0011] Furthermore, the motor carrier should be connected to the upper connecting plate and fixed by opening corresponding holes in the upper connecting plate. The upper connecting plate has four left-right symmetrical connecting holes for connecting with other machine bodies.

[0012] A decoupled parallel ankle joint rehabilitation robot is manufactured using the technical solution of the present invention. Through the full sole support platform, connecting holes, a dorsal talonavicular ligament connector and a medial malleolus ligament connector, and the coordinated use of a motor, the motor drives the dorsal talonavicular ligament connector to rotate, thereby allowing the dorsal talonavicular ligament connector to drive the medial malleolus ligament connector, thereby achieving double-degree-of-freedom movement of the full sole support platform. Driven by an upper connection plate, a fixed rehabilitation training process and a portable rehabilitation training process can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of a decoupled parallel ankle joint rehabilitation robot according to the present invention; Figure 2 It is a rear view of a decoupled parallel ankle joint rehabilitation robot according to the present invention; Figure 3 is a top view of a decoupled parallel ankle joint rehabilitation robot according to the present invention; Figure 4 It is a bottom view of a decoupled parallel ankle joint rehabilitation robot according to the present invention; Figure 5 is an exploded view of a decoupled parallel ankle joint rehabilitation robot according to the present invention; DETAILED DESCRIPTION

[0014] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1-5 As shown, a decoupled parallel ankle joint rehabilitation robot, the lower part of the device is a full sole support platform 1, the upper part of the full sole support platform is provided with three groups of connection holes 2, each group of connection holes 2 has a reinforcing rib as support, and the connection holes of each group are connected by two navicular bone pins 6 in the front, rear, left and right directions, wherein the front and rear navicular bone pins 602, 604, 606 have holes in the middle for connecting with the left and right navicular bone pins 601, 603, 605, and the left and right navicular bone pins 6 of the two parallel groups of connection holes 202, 203 are respectively connected with the dorsal talonavicular ligament connector and the medial malleolus ligament connector 4, and the medial malleolus ligament connectors 4 at the left and right ends are respectively connected with the left and right driving motors 8. The motors 8 on the left and right sides are respectively assembled by motor carriers 7, and the upper part of the motor carrier 7 is connected with the upper connecting plate, and the lower part has a support plate, and the lower part of the support plate has a connector connected with the last group of connection holes 201 of the full sole support platform, thereby driving the rotation of the full sole support platform.

[0015] As a preferred technical solution, further, the connection hole 201 on the full sole support platform 1 for connecting the motor carrier 7 is thicker than the remaining two connection holes connected to the dorsal talonavicular ligament connector and the medial malleolar ligament connector, and the connection hole 202 should be flush with the connection hole 203.

[0016] As a preferred technical solution, further, the length of the reinforcing rib used for support below the connecting hole should not exceed the overall length of the connecting hole.

[0017] As a preferred technical solution, further, the dorsal talonavicular ligament connector 3 is used to connect the motor 8 to the medial malleolar ligament connector 4, and the medial malleolar ligament connector 4 is used to connect the dorsal talonavicular ligament connector 3 to the scaphoid pin.

[0018] As a preferred technical solution, further, the connecting hole 2 is connected to the dorsal talonavicular ligament connector and the scaphoid ligament connector 4 by means of anterior-posterior and left-right scaphoid pins. The scaphoid pins at both ends of the left-right directions and between the dorsal talonavicular ligament connector and the medial malleolar ligament connector should be provided with limiting grooves and retaining rings for limiting.

[0019] As a preferred technical solution, further, the support plate connected to the posterior calcaneal ligament connector 201 and the motor carrier 7 should be fixed to the motor carrier.

[0020] As a preferred technical solution, further, the two motors 8 are fixed by opening corresponding holes in the motor carrier according to the hole positions of the motors.

[0021] As a preferred technical solution, further, the motor carrier 8 should be connected to the upper connecting plate and fixed by opening corresponding holes in the upper connecting plate. The upper connecting plate has four left-right symmetrical connecting holes for connecting with other machine bodies.

[0022] In this implementation, see Figure 1 When stretching, put the foot into the space formed by the three groups of connection holes 2 on the full sole support platform 1. When the foot is put in, the full sole support platform 1 is supported and fixed. The upper connecting plate is detachable, which is suitable for realizing two rehabilitation methods: fixed and convenient. A motor 8 is fixed on the left and right ends of the motor carrier. When the foot of the rehabilitator is fixed on the full sole support platform 1, the motor 8 is started. The motor 8 drives the dorsal talonavicular ligament connector 3 to transmit, so that the dorsal talonavicular ligament connector 3 drives the medial malleolus ligament connector 4 to transmit. The left and right sides are exactly the same, but the left and right sides are asynchronous, so that the change of the degree of freedom in the left and right directions can be realized. The machine connected to the talus-heel connection hole is not driven by the motor 8. When the motors 8 on the left and right sides are synchronous, another degree of freedom can be realized.

[0023] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. A decoupled parallel ankle joint rehabilitation robot, comprising a full sole support platform (1), characterized in that: The entire sole support platform (1) is provided with three groups of connection holes (2) above, and each group of connection holes (2) is provided with reinforcing ribs below as support. The connection holes in each group are connected by scaphoid pins (6) in the front, rear, left and right directions, wherein the front and rear scaphoid pins (602, 604, 606) are perforated in the middle for connection with the left and right scaphoid pins (601, 603, 605). The left and right scaphoid pins (6) of the two parallel groups of connection holes (202, 203) are respectively connected with the talonavicular dorsal ligament connector and the medial malleolus ligament connector (4). The medial malleolus ligament connectors (4) at the left and right ends are respectively connected with the left and right drive motors (8). The motors (8) on the left and right sides are respectively assembled by motor carriers (7), and the motor carriers (7) are connected with the upper connecting plate above and a support plate below. A connector is provided below the support plate and is connected with the last group of connection holes (201) of the entire sole support platform (1), thereby driving the rotation of the entire sole support platform (1).

2. A decoupled parallel ankle joint rehabilitation robot according to claim 1, characterized in that: The connection hole (201) on the full sole support platform (1) for connecting the motor carrier (7) is thicker than the remaining two connection holes connected to the dorsal talonavicular ligament connector and the medial malleolar ligament connector, and the connection hole (202) should be flush with the connection hole (203).

3. A decoupled parallel ankle joint rehabilitation robot according to claim 2, characterized in that: The length of the reinforcing rib used for support below the connecting hole should not exceed the overall length of the connecting hole.

4. A decoupled parallel ankle joint rehabilitation robot according to claim 2, characterized in that: The talonavicular dorsal ligament connector (3) is used to connect the motor (8) to the medial malleolar ligament connector (4), and the medial malleolar ligament connector (4) is used to connect the talonavicular dorsal ligament connector (3) to the scaphoid pin (6).

5. The decoupled parallel ankle joint rehabilitation robot according to claim 3, characterized in that: The connection hole (2) is connected to the dorsal talonavicular ligament connector and the scaphoid ligament connector (4) by means of anteroposterior and left-right scaphoid pins. The scaphoid pins at both ends of the left-right direction and between the dorsal talonavicular ligament connector and the medial malleolus ligament connector should be provided with limiting grooves and clamps for limiting.

6. The ankle joint medical rehabilitation training device according to claim 1, characterized in that: The support plate connected to the posterior talocalcaneal ligament connector (201) and the motor carrier (7) should be fixed to the motor carrier.

7. The ankle joint medical rehabilitation training device according to claim 4, characterized in that: The two motors (8) are fixed by opening corresponding holes in the motor carrier according to the hole positions of the motors.

8. The ankle joint medical rehabilitation training device according to claim 7, characterized in that: The motor carrier (8) should be connected to the upper connecting plate and fixed by opening corresponding holes in the upper connecting plate. The upper connecting plate has four left-right symmetrical connecting holes for connecting with other machine bodies.

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