Rope-driven ankle joint rehabilitation robot and control method thereof

Abstract

The invention belongs to the technical field of rehabilitation medical instruments, and particularly relates to a rope-driven ankle joint rehabilitation robot and a control method thereof. The rope-driven ankle joint rehabilitation robot comprises a rotary platform and a U-shaped frame rotationally installed on the rotary platform. A main body frame; a sole moving platform; a toe moving platform; a front end support adjusting mechanism; the sole parallel mechanism comprises two side rope-driven push rods and a middle rope-driven push rod which are symmetrically and rotatably mounted at the rear end of the main body rack; the output ends of the side rope-driven push rods are rotationally connected with the corresponding sole moving platforms through first branch chain assemblies; the output end of the middle rope-driven push rod is rotationally connected with the middle of the sole moving platform through a second branch chain assembly. According to the ankle joint rehabilitation training device, ankle joint introversion / extroversion, dorsiflexion / plantar flexion and abduction / adduction motions are achieved, meanwhile, linkage motions of the toe joints along with the ankle joints are achieved, telescopic motion of human body muscles under nerve stimulation is effectively simulated, and the risk of secondary injury to a patient due to mechanical impact is greatly reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation medical equipment, and in particular relates to a rope-driven ankle joint rehabilitation robot and a control method thereof. Background Art

[0002] The ankle joint is the main weight-bearing and movement joint of the human body, and it is indispensable for walking, running, jumping and other sports. When people engage in intense exercise, the ankle will bear a strong load and impact. In addition, due to the characteristics of the ankle's own bone structure and the relatively weak surrounding ligaments, it is very easy to be injured during exercise. According to statistics, the incidence of ankle injuries accounts for about 40% of human sports injuries, making it a very common type of sports injury. Among patients with ankle injuries, more than 59% have various residual sequelae, so ankle injury rehabilitation treatment is very important and necessary.

[0003] Based on the RR-type serial ankle rehabilitation mechanism, scholars from universities around the world have proposed the RR / RRR parallel mechanism. However, this mechanism cannot achieve the compound movements of ankle inversion / eversion, dorsiflexion / plantar flexion, and abduction / adduction, and thus cannot achieve effective rehabilitation. Furthermore, the toes and soles of current ankle rehabilitation robots are placed on a footrest, lacking the linkage freedom between the toes and soles, making it impossible to achieve linkage training between the toes and soles. Rigid training can easily cause harm to the human body, and the center of rotation cannot coincide with the center of the ankle joint, resulting in inconsistent motion fit and even secondary injury, which is not conducive to patient recovery. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defect in the prior art that the toes and the sole of the foot cannot be moved in conjunction with each other while performing ankle inversion / eversion, dorsiflexion / plantar flexion, and abduction / adduction movements, and to provide a rope-driven ankle joint rehabilitation robot and a control method thereof, the center of rotation of which is consistent with the center of the human ankle joint, which integrates independent or compound movements of inversion / eversion, dorsiflexion / plantar flexion, and abduction / adduction, and has the freedom of linkage between the toes and the sole of the foot.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] As a first aspect, a rope-driven ankle joint rehabilitation robot includes:

[0007] A rotary platform and a U-shaped frame rotatably mounted on the rotary platform;

[0008] The main frame is rotatably mounted between the U-shaped frames via a first drive assembly;

[0009] The foot-moving platform is located below the main frame and is rotatably connected to the main frame via a foot-moving parallel mechanism;

[0010] A toe moving platform is rotatably mounted on the front end of the sole moving platform and is rotatably connected to the sole parallel mechanism via a toe series mechanism;

[0011] A front end support adjustment mechanism is mounted on the main frame and is rotatably connected to the front end of the foot motion platform;

[0012] The sole parallel mechanism includes two side rope-driven push rods and a middle rope-driven push rod symmetrically mounted on the rear end of the main frame; the output ends of the side rope-driven push rods are rotationally connected to the corresponding sole moving platform through the first branch chain assembly; the output end of the middle rope-driven push rod is rotationally connected to the middle part of the sole moving platform through the second branch chain assembly, and one end of the toe series mechanism is rotationally connected to the second branch chain assembly, and the other end is rotationally connected to the toe moving platform.

[0013] Furthermore, the side rope-driven push rod and the middle rope-driven push rod each include:

[0014] An upper push frame rotatably mounted with the main frame;

[0015] Two telescopic rods are symmetrically mounted on both sides of the upper push frame, and the fixed ends of the telescopic rods are fixedly mounted on the upper push frame;

[0016] A push-down frame is mounted on the telescopic ends of the two telescopic rods;

[0017] A power mounting frame, fixedly mounted between the two telescopic rods;

[0018] a first steering gear, mounted on the power mounting frame;

[0019] a tapered roller, mounted on the power mounting frame and connected to the output shaft of the first steering gear via a second transmission assembly;

[0020] A rope, one end of which is wound on the tapered roller, and the other end of which is fixedly mounted on the push-down frame.

[0021] Furthermore, the first branch chain assembly includes:

[0022] A side joint connecting rod, one end of the side joint being rotatably mounted on the rear side of the main frame, and the other end of the side joint connecting rod being rotatably connected to the lower push frame of the corresponding side rope-driven push rod;

[0023] A first three-joint connecting rod, one end of which is rotatably connected to the side joint connecting rod, and the other end of which is rotatably mounted to the rear side of the corresponding sole moving platform.

[0024] Furthermore, the second branch chain assembly includes:

[0025] a middle joint connecting rod, one end of which is rotatably mounted on the main frame, and the other end of which is rotatably connected to the lower push frame in the middle rope-driven push rod;

[0026] A second third joint link and a triangular heel link rotatably connected to the middle joint link in sequence;

[0027] The upper apex angle end of the triangular heel link is rotatably connected to the second three-joint link, the middle apex angle end of the triangular heel link is rotatably connected to the middle part of the foot moving platform, and the lower apex angle end of the triangular heel link is rotatably connected to the toe series mechanism.

[0028] Furthermore, the toe series mechanism includes a sole bottom connecting rod located below the sole moving platform; one end of the sole bottom connecting rod is rotatably connected to the lower top corner end of the triangular sole heel connecting rod, and the other end of the sole bottom connecting rod is rotatably connected to the lower end surface of the toe moving platform.

[0029] Furthermore, the first three-joint link comprises a first upper joint link, a first middle joint link, and a first lower joint link that are rotatably connected in sequence; the first upper joint link is rotatably connected to the corresponding lower push frame, and the first lower joint link is rotatably connected to the rear side of the foot motion platform;

[0030] The second three-joint link includes a second upper joint link, a second middle joint link and a second lower joint link that are rotatably connected in sequence; the second upper joint link is rotatably connected to the corresponding lower push frame, and the second lower joint link is rotatably connected to the upper top angle end of the triangular heel link.

[0031] Furthermore, the rotary platform includes:

[0032] slewing base;

[0033] A rotary motor is installed inside the rotary base;

[0034] A driving ring gear is coaxially arranged with the output shaft of the rotary motor;

[0035] A driven ring gear meshing with the driving ring gear;

[0036] The U-shaped frame and the rotary base are rotatably mounted via bearings, and the driven gear ring is fixedly connected to the U-shaped frame.

[0037] Furthermore, the front end support adjustment mechanism includes:

[0038] Height adjustment components symmetrically mounted on both sides of the main frame;

[0039] A support frame installed at the output ends of the two height adjustment components;

[0040] An N-shaped hanging frame is rotatably connected to the support frame via a ball and socket;

[0041] The N-shaped hanging frame is fixedly connected to the side of the foot-moving platform by screws; a plurality of Z-axis fine-tuning holes are arranged at equal intervals along the Z-axis direction on the two side pillars of the N-shaped hanging frame; a plurality of X-axis fine-tuning holes are arranged at equal intervals along the X-axis direction on the side of the foot-moving platform;

[0042] The screws are correspondingly inserted into the z-axis fine-tuning hole and the x-axis fine-tuning hole.

[0043] Furthermore, the main body frame is provided with an accommodating cavity for accommodating a human calf, and the main body frame is provided with an elastic band for wearing the main body frame on a human calf.

[0044] As a second aspect, a control method for a rope-driven ankle rehabilitation robot includes the following:

[0045] According to the ankle size and foot size of the human body, the position of the foot sole moving platform is adjusted through the front support adjustment mechanism;

[0046] The human ankle is worn on the main frame, the human foot is placed on the sole moving platform, and the human toes are placed on the toe moving platform;

[0047] Setting a movement mode, wherein the movement mode includes an elevation / descent movement mode, a dorsiflexion / plantar flexion movement mode, an inversion / eversion movement mode, a linkage movement mode, and an abduction / adduction movement mode;

[0048] According to the selected movement mode, the human ankle is subjected to rehabilitation training; that is, when the two side rope-driven push rods are started to operate synchronously, the foot moving platform is controlled to perform an up / down movement mode and a dorsiflexion / plantar flexion movement mode; when the two side rope-driven push rods are started to operate asynchronously, the foot moving platform is controlled to perform an inversion / eversion movement mode; when the middle rope-driven push rod is started, the toe moving platform and the foot moving platform are controlled to perform a linkage movement mode; when the rotating platform is started, the foot moving platform and the toe moving platform are controlled to perform an abduction / adduction movement mode synchronously;

[0049] After the training is completed, perform the recovery action.

[0050] The beneficial effects of the rope-driven ankle joint rehabilitation robot and the control method thereof of the present invention are:

[0051] The present invention is provided with a sole moving platform and a toe moving platform that are rotatably connected to each other. Side rope-driven push rods are symmetrically arranged on both sides of the rear end of the main frame. The side rope-driven push rods are rotatably connected to the sole moving platform through the first branch chain assembly. By controlling the pushing of the two side rope-driven push rods, the lifting and lowering, dorsiflexion and plantar flexion, inversion and eversion training of the sole of the foot are realized. The present invention rotatably connects the middle rope-driven push rod with the second branch chain, and the second branch chain assembly is connected in series with the toe series mechanism, so that by controlling the middle rope-driven push rod arranged in the middle of the rear end of the main frame, the second branch chain assembly and the toe series mechanism are driven to move, thereby realizing the linkage action of the sole moving platform and the toe moving platform. The present invention solves the problem that the existing technology cannot simultaneously achieve ankle inversion / eversion, dorsiflexion / plantar flexion, abduction / adduction, and joint movement of the toes and the sole of the foot during each movement. While achieving ankle inversion / eversion, dorsiflexion / plantar flexion, abduction / adduction movements, the present invention realizes the linkage of the toe joint with the ankle joint, effectively simulating the extension and contraction of human muscles under nerve stimulation, greatly reducing the risk of secondary injury to the patient due to mechanical impact during exercise, and is beneficial to the recovery of the patient's leg muscles.

[0052] The present invention controls the lifting and lowering, dorsiflexion and plantar flexion, inversion and eversion of the sole of the foot by driving the rope inside the side push rod in the sole moving platform in conjunction with the telescopic rod, and drives the corresponding rope to contract and release by the rotation of the first servo, thereby simulating the movement of the ankle joint and assisting human rehabilitation. Controls the movement of the toes by driving the rope inside the middle rope push rod in conjunction with the telescopic rod by the rotation of the servo, and controls the movement of the toes by connecting in series with the sole moving platform. That is, the rope inside the symmetrical side push rods in the sole moving platform cooperates with the telescopic rod to control the lifting and lowering, dorsiflexion and plantar flexion, inversion and eversion of the sole of the foot and simulate the movement of the ankle joint. The toe moving platform and the sole moving platform are connected in series to realize the linkage of the toe joint with the ankle joint. The rotating base in the rotating platform supports the entire robot, allowing the knee joint to move in conjunction with the ankle joint, minimizing damage to the human body and realizing the rehabilitation process of the human ankle. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] Figure 1 4 is a perspective view of a rope-driven ankle rehabilitation robot according to an embodiment of the present invention.

[0055] Figure 2 yes Figure 1 main view.

[0056] Figure 3 3. It is a connection diagram of the sole parallel mechanism and the toe series mechanism according to an embodiment of the present invention.

[0057] Figure 4 It is a schematic structural diagram of a side rope-driven push rod or a middle rope-driven push rod in an embodiment of the present invention.

[0058] Figure 5 yes Figure 4 main view.

[0059] Figure 6 2 is an installation diagram of the front end support adjustment mechanism according to an embodiment of the present invention.

[0060] Figure 7 Schematic diagram of the structure of the second branch chain assembly in an embodiment of the present invention.

[0061] Figure 8 It is a partial structural diagram of the front end support adjustment mechanism according to an embodiment of the present invention.

[0062] Figure 9 4 is a flow chart of a control method for a rope-driven ankle rehabilitation robot according to an embodiment of the present invention.

[0063] In the figure: 1, slewing platform, 11, slewing base, 12, slewing motor, 13, driving ring gear, 14, driven ring gear, 2, U-shaped frame, 3, main frame, 4, sole moving platform, 5, toe moving platform, 6, sole parallel mechanism, 61, side rope drive push rod, 611, upper push frame, 612, telescopic rod, 613, lower push frame, 614, power mounting frame, 615, first servo, 616, tapered roller, 617, rope, 618, second transmission assembly, 62, middle rope drive push rod, 63, first branch chain assembly, 631, side joint link, 632, first three-joint link, 6321, first upper joint link, 6322, first middle joint link , 6323, the first lower joint link, 64, the second branch chain assembly, 641, the middle joint link, 642, the second three-joint link, 6421, the second upper joint link, 6422, the second middle joint link, 6423, the second lower joint link, 643, the triangular heel link, 7, the toe series mechanism, 71, the bottom link of the sole, 8, the front end support adjustment mechanism, 81, the height adjustment assembly, 811, the square frame, 812, the adjustment square rod, 813, the first adjustment hole, 814, the second adjustment hole, 82, the support frame, 83, the N-shaped lifting frame, 85, the z-axis fine-tuning hole, 86, the x-axis fine-tuning hole, 9, the first drive assembly, 10, the elastic band. DETAILED DESCRIPTION

[0064] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0065] like Figures 1-8The specific embodiment of the rope-driven ankle joint rehabilitation robot of the present invention shown includes a rotary platform 1 and a U-shaped frame 2 rotatably mounted on the rotary platform 1, a main frame 3, a foot movable platform 4, a toe movable platform 5, and a front end support adjustment mechanism 8. The main frame 3 is rotatably mounted between the U-shaped frames 2 via a first drive assembly 9, the foot movable platform 4 is located below the main frame 3 and is rotatably connected to the main frame 3 via a foot parallel mechanism 6. The toe movable platform 5 is rotatably mounted at the front end of the foot movable platform 4 and is rotatably connected to the foot parallel mechanism 6 via a toe serial mechanism 7. The front end support adjustment mechanism 8 is mounted on the main frame 3 and is rotatably connected to the front end of the foot movable platform 4. The sole parallel mechanism 6 includes two side rope-driven push rods 61 and a middle rope-driven push rod 62 symmetrically mounted at the rear end of the main frame 3; the output ends of the side rope-driven push rods 61 are rotationally connected to the corresponding sole moving platform 4 through the first branch chain assembly 63; the output end of the middle rope-driven push rod 62 is rotationally connected to the middle part of the sole moving platform 4 through the second branch chain assembly 64, and one end of the toe series mechanism 7 is rotationally connected to the second branch chain assembly 64, and the other end is rotationally connected to the toe moving platform 5.

[0066] like Figure 2 As shown, the present invention is provided with a sole moving platform 4 and a toe moving platform 5 that are rotatably connected to each other, and side rope-driven push rods 61 are symmetrically arranged on both sides of the rear end of the main frame 3. The side rope-driven push rods 61 are rotatably connected to the sole moving platform 4 through the first branch chain component 63. By controlling the push of the two side rope-driven push rods 61, the lifting and lowering, dorsiflexion and plantar flexion, inversion and eversion training of the sole of the foot are realized. The present invention rotatably connects the middle rope-driven push rod 62 with the second branch chain, and the second branch chain component 64 is connected in series with the toe series mechanism 7, so that by controlling the middle rope-driven push rod 62 set in the middle of the rear end of the main frame 3, the second branch chain component 64 and the toe series mechanism 7 are driven to move, thereby realizing the linkage action of the sole moving platform 4 and the toe moving platform 5. The present invention solves the problem that the existing technology cannot simultaneously achieve ankle inversion / eversion, dorsiflexion / plantar flexion, abduction / adduction, and joint movement of the toes and soles of the feet during each movement. While achieving ankle inversion / eversion, dorsiflexion / plantar flexion, abduction / adduction movements, the present invention realizes the linkage of the toe joint with the ankle joint, thereby reducing the damage to the human body caused by rigid robot training during the rehabilitation process.

[0067] Specifically, see Figures 3 to 5The side rope-driven push rod 61 and the middle rope-driven push rod 62 both include: an upper push frame 611 rotatably mounted with the main frame 3, two telescopic rods 612 symmetrically mounted on both sides of the upper push frame 611, the fixed ends of the telescopic rods 612 are fixedly mounted on the upper push frame 611, the lower push frame 613 is mounted on the telescopic ends of the two telescopic rods 612, the power mounting frame 614 is fixedly mounted between the two telescopic rods 612, the first servo 615 is mounted on the power mounting frame 614, the conical roller 616 is mounted on the power mounting frame 614, and is connected to the output shaft of the first servo 615 through the second transmission assembly 618, one end of the rope 617 is wound on the conical roller 616, and the other end of the rope 617 is fixedly mounted on the lower push frame 613.

[0068] When in use, the first servo 615 is started, and the conical roller 616 is driven to rotate through the second transmission assembly 618. The rotation of the conical roller 616 drives the rope 617 wound on it to contract or extend. The telescopic rods 612 on both sides have a tensioning effect on the rope 617. The telescopic rods 612 follow the rope 617 to contract or extend. The rope 617 is used to drive instead of being directly driven by the servo, so as to ensure the flexibility of the movement of the first branch chain assembly 63 and the second branch chain assembly 64, and avoid secondary damage to the human body caused by overly rigid training during the rehabilitation process.

[0069] As a preferred embodiment, the second transmission assembly 618 includes a driving pulley coaxially arranged with the first servo 615 and a driven pulley connected to the driving pulley via a belt drive, wherein the driven pulley is coaxially arranged with the tapered roller 616.

[0070] Overall, the foot motion platform 4 drives the ankle movement via the 2RRRRR-S foot parallel mechanism 6. The toe movement can be considered as driven in series based on the foot parallel mechanism 6. As a separate series transmission chain, it also has a certain kinematic coupling relationship with the foot parallel mechanism 6. The ankle provides space for the toes to move along via the UU branch chain. The U-shaped frame 2 is driven by the driving ring gear 13 and the driven ring gear 14 driven by the rotary motor 12 to rotate, simulating ankle abduction / adduction. The rotary motor 12 is connected to the rotary platform 1 via a shaft and coupling, driving the simulated knee joint movement. The tapered roller 616 and rope 617 are differentially driven by the first servo 615 installed on both sides of the main frame 3, effectively simulating the contraction and extension movement of human muscles under neural stimulation. This significantly reduces the risk of secondary injury to the patient due to mechanical impact during exercise, facilitating the recovery of the patient's leg muscles.

[0071] The first drive assembly 9 in this embodiment includes a second servo, and the output shaft of the second servo is coaxially arranged with the U-shaped frame 2. The rotation of the second servo drives the U-shaped frame 2 to rotate, thereby cooperating with the rehabilitation training of the ankle joint. That is, in this embodiment, the first drive assembly 9, the U-shaped frame 2, the sole parallel mechanism 6, the toe series mechanism 7, the sole moving platform 4, the toe moving platform 5 and the rotary platform 1 are combined into a linkage platform, which can realize the rotation of the ankle joint around the X-axis, Y-axis and Z-axis, and realize the dorsiflexion / plantar flexion, inversion / valgus and adduction / abduction movements required by the ankle joint rehabilitation part; the toe joint rotates around the X-axis, and the knee joint rotates around the Z-axis. The toe joint and the knee joint need to be linked with the ankle joint. The X-axis, Y-axis and Z-axis directions in this embodiment are all in the direction of Figure 2 For reference.

[0072] As a preferred embodiment, Figure 6 As shown, the first branch chain assembly 63 includes: a side joint link 631 and a first three-joint link 632, one end of the side joint link 631 is rotatably installed on the rear side of the main frame 3, and the other end of the side joint link 631 is rotatably connected to the lower push frame 613 in the corresponding side rope-driven push rod 61, one end of the first three-joint link 632 is rotatably connected to the side joint link 631, and the other end of the first three-joint link 632 is rotatably installed on the rear side of the corresponding foot dynamic platform 4.

[0073] See also Figure 7 The second branch chain assembly 64 includes a central joint link 641, a second three-joint link 642, and a triangular heel link 643, which are rotatably connected to the central joint link 641. Specifically, one end of the central joint link 641 is rotatably mounted to the main frame 3, and the other end of the central joint link 641 is rotatably connected to the lower push frame 613 of the central rope-driven push rod 62. The upper corner of the triangular heel link 643 is rotatably connected to the second three-joint link 642, the middle corner of the triangular heel link 643 is rotatably connected to the central portion of the foot movable platform 4, and the lower corner of the triangular heel link 643 is rotatably connected to the toe series mechanism 7.

[0074] When the two side rope-driven push rods 61 are started to run synchronously, that is, the first servos 615 in the two side rope-driven push rods 61 are started to rotate in the same direction and speed, the corresponding lower push frame 613 is driven to move through the rope 617, and then the corresponding first branch chain assembly 63 is driven to move, and the first branch chain assembly 63 drives the sole moving platform 4 to perform lifting / lowering movement and dorsiflexion / plantar flexion movement. The two side rope-driven push rods 61 are started to run asynchronously, that is, the first servos 615 in the two side rope-driven push rods 61 are started to rotate in different directions and at different speeds, and the two ropes 617 drive the two branch chain assemblies to move in different directions, realizing the inversion / eversion movement of the sole moving platform 4, and the middle rope-driven push rod 62 is started, that is, the first servo 615 in the middle rope-driven push rod 62 is started to rotate, and the toe series mechanism 7 is driven to move through the second branch chain assembly 64, thereby realizing the linked movement of the toe moving platform 5 and the sole moving platform 4.

[0075] like Figure 3 As shown, the slewing platform 1 in this embodiment includes a slewing base 11, a slewing motor 12 mounted inside the slewing base 11, a driving ring gear 13 coaxially arranged with the output shaft of the slewing motor 12, a driven ring gear 14 meshing with the driving ring gear 13, a U-shaped frame 2 rotatably mounted on the slewing base 11 via a bearing, and the driven ring gear 14 is fixedly connected to the U-shaped frame 2. During use, the slewing motor 12 is started, and the rotation of the slewing motor 12 drives the driving ring gear 13 to rotate, which in turn drives the driven ring gear 14 meshing with the external meshing connection of the driving ring gear 13 to rotate, thereby driving the U-shaped frame 2 to rotate around the slewing base 11, thereby achieving synchronous abduction / adduction movement of the sole moving platform 4 and the toe moving platform 5.

[0076] This embodiment drives ankle joint rehabilitation through rope 617. The rope 617 inside the push rod on the symmetrical sides of the sole moving platform 4 cooperates with the telescopic rod 612 to control the lifting and lowering, dorsiflexion and plantar flexion, inversion and eversion of the sole of the foot, simulating the movement process of the ankle joint. The toe moving platform 5 and the sole moving platform 4 are connected in series to realize the linkage between the toe joint and the ankle joint. The rotating base 11 in the rotating platform 1 supports the entire robot, allowing the knee joint to be linked with the ankle joint, minimizing damage to the human body as much as possible, and realizing the rehabilitation process of the human ankle.

[0077] In order to realize the wide application of the present invention and to be applicable to different groups of people, the front-end support adjustment mechanism 8 in this embodiment includes a height adjustment component 81, a support frame 82, and an N-shaped hanging frame 83 symmetrically installed on both sides of the main frame 3, wherein the support frame 82 is installed at the output end of the two height adjustment components 81, the N-shaped hanging frame 83 is rotatably connected to the support frame 82 through a ball socket, and the N-shaped hanging frame 83 is fixedly connected to the side of the foot movable platform 4 by screws; a number of z-axis fine-tuning holes 84 are arranged on the two side pillars along the Z-axis direction at equal intervals; a number of x-axis fine-tuning holes 86 are arranged on the side of the foot movable platform 4 along the X-axis direction at equal intervals, and the screws are correspondingly inserted into the z-axis fine-tuning holes 84 and the x-axis fine-tuning holes 86, as shown in FIG. Figure 7 shown.

[0078] like Figure 8 As shown, the height adjustment assembly 81 in this embodiment includes a square frame 811 fixedly mounted on the main frame 3, an adjustment square rod 812 sleeved in the square frame 811, a plurality of first adjustment holes 813 opened on the square frame 811 along the Z-axis direction, and a second adjustment hole 814 opened on the adjustment square rod 812. The plurality of first adjustment holes 813 and the second adjustment holes 814 on the square frame 811 are fastened by fastening screws.

[0079] The position of the square rod 812 within the square frame 811 is adjusted according to the size of the ankle. The square rod 812 and the square frame 811 are fastened together by screws inserted through the corresponding first and second adjustment holes 813 and 814. The height of the foot platform 4 is adjusted. The relative position of the N-shaped hanging frame 83 and the foot platform 4 is adjusted according to the size of the foot. The N-shaped hanging frame 83 and the foot platform 4 are fastened together by screws inserted through the x-axis fine-tuning holes 86 and the z-axis fine-tuning holes 84. This makes the robot suitable for different people and increases its versatility.

[0080] It should be further explained that the main frame 3 in this embodiment is provided with a receiving cavity for accommodating the human calf, and the main frame 3 is provided with an elastic band 10 for wearing the main frame 3 on the human calf. The elastic band 10 is provided to facilitate wearing by the human body. Of course, other structures for fixing to the human leg can also be used, and this is not absolutely limited here.

[0081] Based on the control method of the rope-driven ankle rehabilitation robot, Figure 9 As shown, including the following:

[0082] S10: adjusting the position of the foot movable platform 4 through the front support adjustment mechanism 8 according to the ankle size and foot size of the human body;

[0083] S20: The human ankle is worn on the main frame 3, the human foot is placed on the sole movable platform 4, and the human toes are placed on the toe movable platform 5;

[0084] S30: Setting a movement mode, which includes a lifting / lowering movement mode, a dorsiflexion / plantar flexion movement mode, an inversion / eversion movement mode, a linkage movement mode, and an abduction / adduction movement mode;

[0085] S40: According to the selected exercise mode, the human ankle is subjected to rehabilitation training; that is, the two side rope-driven push rods 61 are started to operate synchronously, and the sole moving platform 4 is controlled to perform the lifting / lowering exercise mode and the dorsiflexion / plantar flexion exercise mode; the two side rope-driven push rods 61 are started to operate asynchronously, and the sole moving platform 4 is controlled to perform the inversion / eversion exercise mode; the middle rope-driven push rod 62 is started, and the toe moving platform 5 and the sole moving platform 4 are controlled to perform the linkage exercise mode; the rotating platform 1 is started, and the sole moving platform 4 and the toe moving platform 5 are controlled to perform the abduction / adduction exercise mode synchronously;

[0086] S50: After the training is completed, the recovery action is performed.

[0087] It should be further explained that the linkage movement mode in step S40 in this embodiment can be used together with the lifting / lowering movement mode, dorsiflexion / plantar flexion movement mode, inversion / eversion movement mode, and abduction / adduction movement mode, so as to increase the linkage between the toe joint and the ankle joint during rehabilitation training, thereby reducing the damage to the human body caused by rigid training of the robot during the rehabilitation process.

[0088] It should be understood that the specific embodiments described above are only used to explain the present invention and are not intended to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A rope-driven ankle rehabilitation robot, characterized in that: include: A rotary platform and a U-shaped frame rotatably mounted on the rotary platform; The main frame is rotatably mounted between the U-shaped frames via a first drive assembly; The foot-moving platform is located below the main frame and is rotatably connected to the main frame via a foot-moving parallel mechanism; A toe moving platform is rotatably mounted on the front end of the sole moving platform and is rotatably connected to the sole parallel mechanism via a toe series mechanism; A front end support adjustment mechanism is mounted on the main frame and is rotatably connected to the front end of the foot motion platform; The sole parallel mechanism includes two side rope-driven push rods and a middle rope-driven push rod symmetrically mounted on the rear end of the main frame; the output ends of the side rope-driven push rods are rotationally connected to the corresponding sole moving platform through the first branch chain assembly; the output end of the middle rope-driven push rod is rotationally connected to the middle part of the sole moving platform through the second branch chain assembly, and one end of the toe series mechanism is rotationally connected to the second branch chain assembly, and the other end is rotationally connected to the toe moving platform.

2. The rope-driven ankle rehabilitation robot according to claim 1, characterized in that: The side rope-driven push rod and the middle rope-driven push rod both include: An upper push frame rotatably mounted with the main frame; Two telescopic rods are symmetrically mounted on both sides of the upper push frame, and the fixed ends of the telescopic rods are fixedly mounted on the upper push frame; A push-down frame is mounted on the telescopic ends of the two telescopic rods; A power mounting frame, fixedly mounted between the two telescopic rods; a first steering gear, mounted on the power mounting frame; a tapered roller, mounted on the power mounting frame and connected to the output shaft of the first steering gear via a second transmission assembly; A rope, one end of which is wound on the tapered roller, and the other end of which is fixedly mounted on the push-down frame.

3. The rope-driven ankle rehabilitation robot according to claim 2, characterized in that: The first branch chain assembly includes: A side joint connecting rod, one end of which is rotatably mounted on the rear side of the main frame, and the other end of which is rotatably connected to the lower push frame of the corresponding side rope-driven push rod; A first three-joint connecting rod, one end of which is rotatably connected to the side joint connecting rod, and the other end of which is rotatably mounted to the rear side of the corresponding sole moving platform.

4. The rope-driven ankle rehabilitation robot according to claim 2, characterized in that: The second branch chain assembly includes: a middle joint connecting rod, one end of which is rotatably mounted on the main frame, and the other end of which is rotatably connected to the lower push frame in the middle rope-driven push rod; A second third joint link and a triangular heel link rotatably connected to the middle joint link in sequence; The upper apex angle end of the triangular heel link is rotatably connected to the second three-joint link, the middle apex angle end of the triangular heel link is rotatably connected to the middle part of the foot moving platform, and the lower apex angle end of the triangular heel link is rotatably connected to the toe series mechanism.

5. The rope-driven ankle rehabilitation robot according to claim 4, characterized in that: The toe series mechanism includes a sole bottom connecting rod located below the sole moving platform; one end of the sole bottom connecting rod is rotatably connected to the lower top corner end of the triangular sole heel connecting rod, and the other end of the sole bottom connecting rod is rotatably connected to the lower end surface of the toe moving platform.

6. The rope-driven ankle joint rehabilitation robot according to claim 4, characterized in that: The first three-joint link comprises a first upper joint link, a first middle joint link and a first lower joint link which are rotatably connected in sequence; the first upper joint link is rotatably connected to the corresponding lower push frame, and the first lower joint link is rotatably connected to the rear side of the foot movement platform; The second three-joint link includes a second upper joint link, a second middle joint link and a second lower joint link that are rotatably connected in sequence; the second upper joint link is rotatably connected to the corresponding lower push frame, and the second lower joint link is rotatably connected to the upper top angle end of the triangular heel link.

7. The rope-driven ankle rehabilitation robot according to claim 1, characterized in that: The rotary platform comprises: slewing base; A rotary motor is installed inside the rotary base; A driving ring gear is coaxially arranged with the output shaft of the rotary motor; A driven ring gear meshing with the driving ring gear; The U-shaped frame and the rotary base are rotatably mounted via bearings, and the driven gear ring is fixedly connected to the U-shaped frame.

8. The rope-driven ankle rehabilitation robot according to claim 1, characterized in that: The front end support adjustment mechanism includes: Height adjustment components symmetrically mounted on both sides of the main frame; A support frame installed at the output ends of the two height adjustment components; An N-shaped hanging frame is rotatably connected to the support frame via a ball and socket; The N-shaped hanging frame is fixedly connected to the side of the foot-moving platform by screws; a plurality of Z-axis fine-tuning holes are arranged at equal intervals along the Z-axis direction on the two side pillars of the N-shaped hanging frame; a plurality of X-axis fine-tuning holes are arranged at equal intervals along the X-axis direction on the side of the foot-moving platform; The screws are correspondingly inserted into the z-axis fine-tuning hole and the x-axis fine-tuning hole.

9. The rope-driven ankle joint rehabilitation robot according to claim 1, characterized in that: The main body frame is provided with an accommodating cavity for accommodating the calf of a human body, and the main body frame is provided with an elastic band for wearing the main body frame on the calf of a human body.

10. A control method for a rope-driven ankle rehabilitation robot according to any one of claims 1 to 9, characterized in that: Includes the following: According to the ankle size and foot size of the human body, the position of the foot sole moving platform is adjusted through the front support adjustment mechanism; The human ankle is worn on the main frame, the human foot is placed on the sole moving platform, and the human toes are placed on the toe moving platform; Setting a movement mode, wherein the movement mode includes an elevation / descent movement mode, a dorsiflexion / plantar flexion movement mode, an inversion / eversion movement mode, a linkage movement mode, and an abduction / adduction movement mode; According to the selected movement mode, the human ankle is subjected to rehabilitation training; that is, when the two side rope-driven push rods are started to operate synchronously, the foot moving platform is controlled to perform an up / down movement mode and a dorsiflexion / plantar flexion movement mode; when the two side rope-driven push rods are started to operate asynchronously, the foot moving platform is controlled to perform an inversion / eversion movement mode; when the middle rope-driven push rod is started, the toe moving platform and the foot moving platform are controlled to perform a linkage movement mode; when the rotating platform is started, the foot moving platform and the toe moving platform are controlled to perform an abduction / adduction movement mode synchronously; After the training is completed, perform the recovery action.

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