Biological fusion type parallel ankle joint rehabilitation robot

Abstract

PRPRThe invention relates to a biological fusion type parallel ankle joint rehabilitation robot which comprises a parallel mechanism module, a leg supporting module, a rack module and an operation panel module. The robot adopts a 2PRRS / RPRS parallel mechanism configuration, is not provided with a mechanical rotation center, and is combined with a human body biological joint to form a 2PRRS / RPRS / S equivalent parallel mechanism. In the mechanism, the biological joint serves as the only rotation center, the problem that the man-machine rotation centers are inconsistent is fundamentally solved, and complex center adjusting operation needed by traditional rehabilitation equipment is avoided. In addition, the robot can assist the patient in rehabilitation training in dorsiflexion / plantar flexion, introversion / extroversion, adduction / abduction and multiple composite motion modes.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rehabilitation medical devices, in particular to a biological fusion type parallel ankle joint rehabilitation robot. BACKGROUND

[0002] As a key part of supporting human body weight and maintaining motor function, the ankle joint has a high risk of injury in daily activities, sports and professional labor. Such injuries not only affect the normal life of patients, but also can cause long-term dysfunction. Therefore, it is particularly important to implement timely and efficient rehabilitation treatment.

[0003] Traditional rehabilitation mode largely depends on individualized guidance of rehabilitation therapists. However, the number of therapists is limited and the workload is heavy, so it is difficult to ensure that all patients can obtain sufficient and consistent rehabilitation training quality. In this context, intelligent rehabilitation devices have gradually developed and been applied. Among them, rehabilitation robots can assist patients in scientific and effective training by integrating digital and intelligent technologies, thereby improving rehabilitation efficiency and reducing the work pressure of therapists.

[0004] However, most of the current ankle joint rehabilitation robots have not fully considered the time-varying characteristics of the center of rotation of the ankle joint during movement in their design, resulting in a deviation between the actual rotation center of the mechanical structure and the human ankle joint. This deviation not only causes discomfort and pain in the training process of patients, but also increases the risk of secondary injury. SUMMARY

[0005] To solve the above problems, the purpose of the present application is to provide a biological fusion type parallel ankle joint rehabilitation robot, which is a 2 P RRS / R PRS, wherein P represents a moving pair, R represents a rotating pair, S represents a spherical pair, and the symbol with an underline represents a driving pair. This robot not only can assist patients in rehabilitation training such as dorsiflexion / plantarflexion, inversion / eversion, adduction / abduction, etc., but also can fundamentally avoid the misalignment of the human-machine axis, ensuring that the axis of the biological joint and the axis of the mechanical joint are consistent at any time.

[0006] The technical solutions adopted by the present application are as follows:

[0007] The biological fusion type parallel ankle joint rehabilitation robot provided by the present application comprises a parallel mechanism module, a leg support module, a rack module and an operation panel module. The parallel mechanism module is arranged on the inner side of the rack module. The leg support module is arranged on the aluminum profile at the rear side of the rack module. The operation panel module is arranged on the aluminum profile at the right side of the rack module.

[0008] Further, the parallel mechanism module comprises a first branch chain assembly, a second branch chain assembly, a third branch chain assembly and a moving platform assembly; the first branch chain assembly is arranged at the left front side of the moving platform assembly; the second branch chain assembly is arranged at the right front side of the moving platform assembly; the first branch chain assembly and the second branch chain assembly are structurally identical, and are configured as P RRS; the third branch chain assembly is arranged at the rear side of the moving platform assembly, and is configured as R PRS.

[0009] Further, the first branch chain assembly comprises a linear module, a connecting plate, a first rotary pair, a first connecting rod, a second rotary pair, a second connecting rod and a first spherical pair; the linear module is mounted on the aluminum profile in the rack module; the connecting plate is mounted on the slider in the linear module through a screw; the first connecting rod is connected with the connecting plate through the first rotary pair; the second connecting rod is connected with the first connecting rod through the second rotary pair; the first spherical pair is mounted at the end of the second connecting rod and is connected with the bottom plate in the moving platform assembly.

[0010] Further, the third branch chain assembly comprises a speed reducer, a shaft coupling, a bearing seat, a first rotary shaft, a guide rail mounting seat, a guide rail, a slider, a second rotary shaft, a first connecting rod, a third rotary pair, a third connecting rod, a second connecting rod and a second spherical pair; the speed reducer is mounted on the aluminum profile in the rack module; the rotary shaft is mounted in the bearing in the bearing seat and is connected with the speed reducer through the shaft coupling; the guide rail mounting seat is mounted at the upper and lower ends of the guide rail, the lower end of the guide rail mounting seat is connected with the first rotary shaft through a screw, and the upper end of the guide rail mounting seat is connected with the second rotary shaft through a screw; the second rotary shaft is mounted in the bearing in the upper end bearing seat; the bearing seat is mounted on the aluminum profile in the rack module through a screw; the first connecting rod is mounted on the slider; the third connecting rod is connected with the first connecting rod through the third rotary pair; the second connecting rod is mounted at the end of the third connecting rod; the second spherical pair is mounted at the end of the second connecting rod and is connected with the bottom plate.

[0011] Further, the moving platform assembly comprises a bottom plate, a six-dimensional force sensor, a foot supporting plate, a foot binding belt and an inertial measurement unit; the foot supporting plate is connected with the bottom plate through the six-dimensional force sensor; the foot binding belt is arranged on the foot supporting plate; and the inertial measurement unit is arranged on the bottom plate.

[0012] Further, the leg support module comprises a fastener, a first pin shaft, a first lightweight rod, a second pin shaft, a second lightweight rod, a third pin shaft, a third lightweight rod, a fourth pin shaft, a leg support, and a leg strap; the fastener is fixed on the aluminum profile in the rack module through a top screw; the first lightweight rod is connected with the fastener through the first pin shaft; the second lightweight rod is connected with the first lightweight rod through the second pin shaft; the third lightweight rod is connected with the second lightweight rod through the third pin shaft; the leg support is connected with the third lightweight rod through the fourth pin shaft; and the leg strap is arranged on the leg support.

[0013] Further, the rack module comprises an aluminum profile support, universal wheels, and an adjustable support seat; four universal wheels are arranged below the aluminum profile support, and the four universal wheels are distributed at four corners of the aluminum profile support; and the adjustable support seat is arranged beside the universal wheels.

[0014] Further, the operation panel module comprises a guide shaft mounting plate, a guide shaft, a first arm rod, a first rotating shaft, a second arm rod, a second rotating shaft, a third arm rod, a fourth rotating shaft, a fourth arm rod, a fourth rotating shaft, a fifth arm rod, a fifth rotating shaft, a display mounting seat, and a display; the guide shaft mounting plate is mounted on the aluminum profile of the rack module; the guide shaft is mounted on the guide shaft mounting plate; the first arm rod is mounted on the guide shaft and can be adjusted along the guide shaft axis; the second arm rod is connected with the first arm rod through the first rotating shaft; the third arm rod is connected with the second arm rod through the second rotating shaft; the fourth arm rod is connected with the third arm rod through the third rotating shaft; the fifth arm rod is connected with the fourth arm rod through the fourth rotating shaft; the display mounting seat is connected with the fifth arm rod through the fifth rotating shaft; and the display is mounted on the display mounting seat.

[0015] Compared with the prior art, the present application has the following beneficial effects:

[0016] The present application provides a biological fusion parallel ankle joint rehabilitation robot. In the structural design, the robot does not have a mechanical rotation center, but is combined with a human biological joint to form a 2 P RRS / R PRS / S equivalent parallel mechanism. In this equivalent mechanism, the biological joint serves as the only rotation center, completely solving the inconsistency of the human-machine rotation center from the mechanism level, thereby avoiding the complex centering operation required by traditional ankle joint rehabilitation robots. In addition, the patient can perform various rehabilitation training such as dorsiflexion / plantarflexion, inversion / eversion, adduction / abduction, and compound movement when using the robot. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a whole structure schematic diagram of an embodiment of the biological fusion parallel ankle joint rehabilitation robot provided by the present application;

[0018] Figure 2 This is a structural diagram of the parallel mechanism module;

[0019] Figure 3 yes Figure 2 A schematic diagram of the structure of the first branch component;

[0020] Figure 4 yes Figure 2 A schematic diagram of the structure of the third branch component;

[0021] Figure 5 yes Figure 2 A schematic diagram of the structure of the central dynamic platform components;

[0022] Figure 6 This is a structural diagram of the leg support module;

[0023] Figure 7 This is a structural diagram of the support module;

[0024] Figure 8 This is a structural diagram of the control panel module.

[0025] In the attached drawings, the reference numerals are as follows: 1-Parallel mechanism module; 2-Leg support module; 3-Frame module; 4-Operating panel module; 11-First branch assembly; 12-Second branch assembly; 13-Third branch assembly; 14-Moving platform assembly; 111-Linear module; 112-Connecting plate; 113-First revolute joint; 114-First connecting rod; 115-Second revolute joint; 116-Second connecting rod; 117-First ball joint; 131-Gear motor; 132-Coupling; 133-Bearing seat; 134-First rotating shaft; 135-Guide rail mounting seat; 136-Guide rail; 137-Slider; 138-Second rotating shaft; 139-First connecting rod; 1310-Third revolute joint; 1311-Third connecting rod; 1312-Second connecting rod; 1313-Second ball joint; 141- Base plate; 142-Six-dimensional force sensor; 143-Foot support plate; 144-Foot strap; 145-Inertial measurement unit; 21-Fastener; 22-First pin; 23-First lightweight rod; 24-Second pin; 25-Second lightweight rod; 26-Third pin; 27-Third lightweight rod; 28-Fourth pin; 29-Leg support; 210-Leg strap; 31-Aluminum profile bracket; 32-Universal wheel; 33-Adjustable support base; 41-Guide shaft mounting plate; 42-Guide shaft; 43-First arm; 44-First pivot; 45-Second arm; 46-Second pivot; 47-Third arm; 48-Third pivot; 49-Fourth arm; 410-Fourth pivot; 411-Fifth arm; 412-Fifth pivot; 413-Display mounting base; 414-Display. Detailed Implementation

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not mean that the device or element must have a specific orientation, or be constructed and operated in a specific orientation.

[0028] See appendix Figures 1-8 This paper presents a specific structure of an embodiment of a bio-integrated parallel ankle rehabilitation robot proposed in this invention. The robot includes a parallel mechanism module 1, a leg support module 2, a frame module 3, and an operation panel module 4; the parallel mechanism module 1 is disposed on the inner side of the frame module 3; the leg support module 2 is disposed on the aluminum profile on the rear side of the frame module 3; and the operation panel module 4 is disposed on the aluminum profile on the right side of the frame module 3.

[0029] In this embodiment, the parallel mechanism module 1 includes a first branch assembly 11, a second branch assembly 12, a third branch assembly 13, and a moving platform assembly 14; the first branch assembly 11 is disposed on the left front side of the moving platform assembly 14; the second branch assembly 12 is disposed on the right front side of the moving platform assembly 14; the first branch assembly 11 and the second branch assembly 12 have the same structure, and their configuration is as follows: P RRS; The third branch component 13 is located on the rear side of the moving platform component 14, and its configuration is as follows: R PRS.

[0030] In this embodiment, the first branch assembly 11 includes a linear module 111, a connecting plate 112, a first rotating joint 113, a first connecting rod 114, a second rotating joint 115, a second connecting rod 116, and a first ball joint 117. The linear module 111 is mounted on an aluminum profile in the frame module 3. The connecting plate 112 is mounted on a slider in the linear module 111 by screws. The first connecting rod 114 is connected to the connecting plate 112 through the first rotating joint 113. The second connecting rod 116 is connected to the first connecting rod 114 through the second rotating joint 115. The first ball joint 117 is mounted at the end of the second connecting rod 116 and is connected to the base plate 141 in the moving platform assembly 14.

[0031] In this embodiment, the third branch assembly 13 includes a geared motor 131, a coupling 132, a bearing housing 133, a first rotating shaft 134, a guide rail mounting base 135, a guide rail 136, a slider 137, a second rotating shaft 138, a first connecting rod 139, a third rotating pair 1310, a third connecting rod 1311, a second connecting rod 1312, and a second ball joint 1313. The geared motor 131 is mounted on an aluminum profile in the frame module 3. The rotating shaft 134 is mounted in a bearing inside the bearing housing 133 and is connected to the geared motor 131 via the coupling 132. The guide rail mounting base 135 is mounted on the upper and lower ends of the guide rail 136. The lower guide rail mounting base 135 is connected to the first rotating shaft 134 by screws, and the upper guide rail mounting base 135 is connected to the second rotating shaft 138 by screws; the second rotating shaft is installed in the bearing inside the upper bearing seat 133; the bearing seat 133 is installed on the aluminum profile in the frame module 3 by screws; the first connecting rod 139 is installed on the slider 137; the third connecting rod 1311 is connected to the first connecting rod 139 through the third rotating joint 1310; the second connecting rod 1312 is installed at the end of the third connecting rod 1311; the second ball joint 1313 is installed at the end of the second connecting rod 1312 and is connected to the base plate 141.

[0032] In this embodiment, the dynamic platform assembly 14 includes a base plate 141, a six-dimensional force sensor 142, a foot support plate 143, a foot strap 144, and an inertial measurement unit 145. The foot support plate 143 is connected to the base plate 141 via the six-dimensional force sensor 142. The foot strap 144 is arranged on the foot support plate 143. The inertial measurement unit 145 is arranged on the base plate 141. The six-dimensional force sensor 142 is used to acquire human-computer interaction forces. The inertial measurement unit 145 is used to acquire foot motion information.

[0033] In this embodiment, the leg support module 2 includes a fastener 21, a first pin 22, a first lightweight rod 23, a second pin 24, a second lightweight rod 25, a third pin 26, a third lightweight rod 27, a fourth pin 28, a leg support 29, and a leg strap 210. The fastener 21 is fixed to the aluminum profile in the frame module 3 by a set screw. The first lightweight rod 23 is connected to the fastener 21 by the first pin 22. The second lightweight rod 25 is connected to the first lightweight rod 23 by the second pin 24. The third lightweight rod 27 is connected to the second lightweight rod 25 by the third pin 26. The leg support 29 is connected to the third lightweight rod 27 by the fourth pin 28. The leg strap 210 is arranged on the leg support 29.

[0034] In this embodiment, the frame module 3 includes an aluminum profile bracket 31, casters 32, and an adjustable support base 33; four casters 32 are arranged below the aluminum profile bracket 31, and the four casters 32 are distributed at the four corners of the aluminum profile bracket 31; an adjustable support base 33 is arranged next to the casters 32.

[0035] In this embodiment, the operation panel module 4 includes a guide shaft mounting plate 41, a guide shaft 42, a first arm 43, a first rotating shaft 44, a second arm 45, a second rotating shaft 46, a third arm 47, a fourth rotating shaft 48, a fourth arm 49, a fourth rotating shaft 410, a fifth arm 411, a fifth rotating shaft 412, a display mounting base 413, and a display 414; the guide shaft mounting plate 41 is mounted on the aluminum profile of the frame module 3; the guide shaft 42 is mounted on the guide shaft mounting plate 41; the first arm 43 is mounted on the guide shaft mounting plate 41; and the first arm 43 is mounted on the guide shaft mounting plate 41. The first arm 43 is connected to the second arm 44 via the first pivot 44; the second arm 47 is connected to the second arm 45 via the second pivot 46; the fourth arm 49 is connected to the third arm 47 via the third pivot 48; the fifth arm 411 is connected to the fourth arm 49 via the fourth pivot 410; the display mounting base 413 is connected to the fifth arm 411 via the fifth pivot 412; and the display 414 is mounted on the display mounting base 413.

[0036] The working process of this invention is as follows:

[0037] In use, the host computer control software is first started and the system is initialized. After the patient is seated, they can adjust to a comfortable position and place their feet on the footrest. Then, straps are used to fix the feet and legs, restricting their free movement. Next, the motors are set to rotate at several angles, and the rotation angle of the foot is obtained using an inertial measurement unit. This angle is then input into a formula for calculating the ankle joint center derived from a kinematic model to determine the actual position coordinates of the ankle joint. Finally, the desired rehabilitation trajectory is set in the host computer program, and the system will control the motors to assist the patient in completing ankle joint rehabilitation training. This robot supports repetitive training of ankle joint movements such as dorsiflexion / plantarflexion and inversion / eversion, and can select passive, active, or mixed active-passive training strategies according to rehabilitation needs.

[0038] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A bio-integrated parallel ankle joint rehabilitation robot, characterized in that, It includes a parallel mechanism module (1), a leg support module (2), a frame module (3), and an operation panel module (4); the parallel mechanism module (1) is located inside the frame module (3); the leg support module (2) is located on the aluminum profile on the rear side of the frame module (3); and the operation panel module (4) is located on the aluminum profile on the right side of the frame module (3).

2. The bio-integrated parallel ankle joint rehabilitation robot according to claim 1, characterized in that: The parallel mechanism module (1) includes a first branch assembly (11), a second branch assembly (12), a third branch assembly (13), and a moving platform assembly (14); the first branch assembly (11) is located on the left front side of the moving platform assembly (14); the second branch assembly (12) is located on the right front side of the moving platform assembly (14); the first branch assembly (11) and the second branch assembly (12) have the same structure, and their configuration is as follows: P RRS; The third branch component (13) is located behind the moving platform component (14), and its configuration is as follows: R PRS.

3. The bio-integrated parallel ankle joint rehabilitation robot according to claim 2, characterized in that: The first branch assembly (11) includes a linear module (111), a connecting plate (112), a first rotating joint (113), a first connecting rod (114), a second rotating joint (115), a second connecting rod (116), and a first ball joint (117). The linear module (111) is mounted on an aluminum profile in the frame module (3). The connecting plate (112) is mounted on a slider in the linear module (111) by screws. The first connecting rod (114) is connected to the connecting plate (112) through the first rotating joint (113). The second connecting rod (116) is connected to the first connecting rod (114) through the second rotating joint (115). The first ball joint (117) is mounted at the end of the second connecting rod (116) and is connected to the base plate (141) in the moving platform assembly (14).

4. The bio-integrated parallel ankle joint rehabilitation robot according to claim 2, characterized in that: The third branch assembly (13) includes a geared motor (131), a coupling (132), a bearing housing (133), a first rotating shaft (134), a guide rail mounting base (135), a guide rail (136), a slider (137), a second rotating shaft (138), a first connecting rod (139), a third rotating pair (1310), a third connecting rod (1311), a second connecting rod (1312), and a second ball joint (1313). The geared motor (131) is mounted on an aluminum profile in the frame module (3). The rotating shaft (134) is mounted in the bearing inside the bearing housing (133) and connected to the geared motor (131) via the coupling (132). The guide rail mounting base (135) is mounted on the upper and lower sides of the guide rail (136). The lower guide rail mounting base (135) is connected to the first rotating shaft (134) by screws, and the upper guide rail mounting base (135) is connected to the second rotating shaft (138) by screws; the second rotating shaft is installed in the bearing inside the upper bearing seat (133); the bearing seat (133) is installed on the aluminum profile in the frame module (3) by screws; the first connecting rod (139) is installed on the slider (137); the third connecting rod (1311) is connected to the first connecting rod (139) through the third rotating pair (1310); the second connecting rod (1312) is installed at the end of the third connecting rod (1311); the second ball joint (1313) is installed at the end of the second connecting rod (1312) and is connected to the base plate (141).

5. The bio-integrated parallel ankle joint rehabilitation robot according to claim 2, characterized in that: The moving platform assembly (14) includes a base plate (141), a six-dimensional force sensor (142), a foot support plate (143), a foot strap (144), and an inertial measurement unit (145). The foot support plate (143) is connected to the base plate (141) through the six-dimensional force sensor (142). The foot strap (144) is arranged on the foot support plate (143). The inertial measurement unit (145) is arranged on the base plate (141).

6. The bio-integrated parallel ankle joint rehabilitation robot according to claim 1, characterized in that: The leg support module (2) includes a fastener (21), a first pin (22), a first lightweight rod (23), a second pin (24), a second lightweight rod (25), a third pin (26), a third lightweight rod (27), a fourth pin (28), a leg support (29), and a leg strap (210). The fastener (21) is fixed to the aluminum profile in the frame module (3) by a set screw. The first lightweight rod (23) is connected to the fastener (21) by the first pin (22). The second lightweight rod (25) is connected to the first lightweight rod (23) by the second pin (24). The third lightweight rod (27) is connected to the second lightweight rod (25) by the third pin (26). The leg support (29) is connected to the third lightweight rod (27) by the fourth pin (28). The leg strap (210) is arranged on the leg support (29).

7. The bio-integrated parallel ankle joint rehabilitation robot according to claim 1, characterized in that: The frame module (3) includes an aluminum profile bracket (31), casters (32), and an adjustable support base (33); four casters (32) are arranged below the aluminum profile bracket (31), and the four casters (32) are distributed at the four corners of the aluminum profile bracket (31); an adjustable support base (33) is arranged next to the casters (32).

8. The bio-integrated parallel ankle joint rehabilitation robot according to claim 1, characterized in that: The operation panel module (4) includes a guide shaft mounting plate (41), a guide shaft (42), a first arm (43), a first rotating shaft (44), a second arm (45), a second rotating shaft (46), a third arm (47), a fourth rotating shaft (48), a fourth arm (49), a fourth rotating shaft (410), a fifth arm (411), a fifth rotating shaft (412), a display mounting base (413), and a display (414); the guide shaft mounting plate (41) is mounted on the aluminum profile of the frame module (3); the guide shaft (42) is mounted on the guide shaft mounting plate (41); the first arm (43) is mounted on the guide shaft. (42) and can be adjusted along the guide shaft axis; the second arm (45) is connected to the first arm (43) through the first pivot (44); the third arm (47) is connected to the second arm (45) through the second pivot (46); the fourth arm (49) is connected to the third arm (47) through the third pivot (48); the fifth arm (411) is connected to the fourth arm (49) through the fourth pivot (410); the display mounting base (413) is connected to the fifth arm (411) through the fifth pivot (412); the display (414) is mounted on the display mounting base (413).

Images