CN205339455U - Recovered ware of three degree of freedom ankles of cam -type - Google Patents
Recovered ware of three degree of freedom ankles of cam -type Download PDFInfo
- Publication number
- CN205339455U CN205339455U CN201521115443.1U CN201521115443U CN205339455U CN 205339455 U CN205339455 U CN 205339455U CN 201521115443 U CN201521115443 U CN 201521115443U CN 205339455 U CN205339455 U CN 205339455U
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- China
- Prior art keywords
- gear
- cam
- ankle
- cylindrical cam
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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- FHPTZVKXMSFLRM-ARAJFMJPSA-N CCC(C1C)C(CC)C(C)(C)[C@H]1C=C Chemical compound CCC(C1C)C(CC)C(C)(C)[C@H]1C=C FHPTZVKXMSFLRM-ARAJFMJPSA-N 0.000 description 1
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- Rehabilitation Tools (AREA)
Abstract
The utility model provides a recovered ware of three degree of freedom ankles of cam -type, relates to the recovered ware of ankle, solves the recovered robot of current ankle, and the structure is complicated to it is big to ally oneself with the cooperative control degree of difficulty, the poor technical problem of the recovered the training effect of ankle. The utility model discloses a base fixedly connected have a driving motor and with no. I gear rigid coupling, no. I gear and no. II gear meshing transmission and with the rotary platform rigid coupling, the last rigid coupling of rotary platform have the 2nd driving motor and with no. III gear rigid couplings, no. III gears and no. IV gear meshing transmission mesh the transmission with the ring gear, the ring gear is connected with cylindrical cam, four cam ejector pins of in the vertical position on cylindrical cam's the profile face, its pole ball attachment is articulated with the guide way that moves the platform, cylindrical cam's periphery be equipped with with the shell of case lid and rotary platform rigid coupling. The utility model is used for dorsiflex / the sole of the foot of ankle is bent, enstrophe / turn up, abduction / adduction and pronate / supine rehabilitation training, and it is simple to have a control theory, and the drive figure is few, compact structure's advantage.
Description
Technical field
This utility model relates to a kind of ankle device for rehabilitation, particularly relates to a kind of cam-type Three Degree Of Freedom ankle device for rehabilitation.
Background technology
In daily life and sports, sprained ankle is most commonly seen, wherein maximum with ligament injuries of ankle joint.For avoiding causing the sequela such as ankle joint function obstacle owing to treating not in place, recovering aid treatment (as foot loosens and massage etc.) is carried out with regard to especially desirable naturopathy, it is necessary to make impaired ankle joint rehabilitate through incremental training repeatedly.At present, existing polytype ankle rehabilitation appliances have been applied in the middle of the naturopathy of ankle rehabilitation, also have a public announcement of a patent application ankle rehabilitation assistive device oneself have technology.
Patent application 201310117264.0 discloses a kind of adjustable ankle convalescence device, although this application have employed three linear actuators, but before the abduction/adduction of ankle and rotation cannot be completed/supination training action.
Patent application 201510404891.1 discloses a kind of ankle healing robot based on 3-freedom parallel mechanism, and this application is Robot Control Technology in parallel, it is achieved four set fluid servomotor collaborative works, controls three rotary freedoms of moving platform.This ankle healing robot, driver number is many, and structure is complicated, and Collaborative Control difficulty in parallel is big, does not reach the better effects of ankle rehabilitation training.
Summary of the invention
The purpose of this utility model is intended to the shortcoming overcoming prior art, it is provided that a kind of cam-type Three Degree Of Freedom ankle device for rehabilitation, solves existing ankle healing robot, driver number is many, structure is complicated, and Collaborative Control difficulty in parallel is big, the technical problem of ankle rehabilitation training weak effect.
This utility model is realized by the techniques below scheme:
A kind of cam-type Three Degree Of Freedom ankle device for rehabilitation, including: base, it is characterized in that: affixed first drive motor on a web of described base, first drive motor and No. I gear are affixed, No. I gear and No. II meshed transmission gear, No. II gear is affixed with rotation platform, No. I bearing it is provided with between central shaft and the base of rotation platform, rotation platform is connected with the second drive motor, second drive motor and No. III gear are affixed, No. III gear and No. IV meshed transmission gear, No. IV gear and ring gear engaged transmission, ring gear and cylindrical cam connect as one, cylindrical cam is connected with the central shaft of rotation platform by No. II bearing, the contoured surface of cylindrical cam is uniformly distributed four cam followers of vertically-arranged, pilot hole on four cam follower traverse case lids, make cam follower ballhead hinged with the gathering sill of moving platform, above case lid, centre is provided with and the column of moving platform ball pivot, the shell affixed with case lid and rotation platform it is provided with in the periphery of cylindrical cam.
This utility model compared with prior art, has the advantages that and advantage:
1. this utility model passes through cylindrical cam and drive system, it is achieved that moving platform two upset degree of freedom in the horizontal direction, has reached the dorsiflex/plantar flexion in ankle rehabilitation training, inversion/eversion action request；First drive motor drives base to rotate, it is achieved that moving platform is around the rotation of vertical direction, before having reached the abduction/adduction in ankle rehabilitation training, rotation/action request of supination, thus achieving the good result of ankle full presciption position training.
2. this utility model is owing to have employed the cam gear and drive system being made up of cylindrical cam, cam follower and case lid, either directly through the rotation amplitude and the rotational frequency that control motor, just can complete the control rotating and turn over angle and motion frequency of moving platform, avoid the difficulty that existing ankle healing robot is coordinated to control to bring so that control to be more prone to.
3. this utility model characteristics of motion by cylindrical cam, it may be achieved moving platform two rotary freedoms in the horizontal direction, compares multiple parallel institution and decreases the number of driving.
This utility model for before the dorsiflex/plantar flexion of ankle, inversion/eversion, abduction/adduction and rotation/rehabilitation training of supination, there is control principle simple, drive that number is few, the advantage of compact conformation.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of cam-type Three Degree Of Freedom ankle device for rehabilitation；
Fig. 2 is the top view of moving platform；
Fig. 3 is the upward view of moving platform；
Fig. 4 is the isometry side three dimensional structure schematic diagram of case lid；
Fig. 5 is the isometry side three dimensional structure schematic diagram of cylindrical cam；
Fig. 6 is the isometry side three dimensional structure schematic diagram of base；
Fig. 7 is the connection diagram of the first drive motor, No. I gear, base；
Fig. 8 is the connection diagram of rotation platform, cylindrical cam, ring gear, No. III gear, No. IV gear；
Fig. 9 is principle schematic during moving platform upset；
Figure 10 is the general assembly schematic diagram of a kind of cam-type Three Degree Of Freedom ankle device for rehabilitation.
Number in the figure: 1-moving platform, 1.1-gathering sill, the spacing mould of 1.2-foot, ball pivot mating surface on 1.3-case lid, 2-case lid, 2.1-pilot hole, 2.2-column, 3-cam follower, 3.1-cam follower ballhead, 4-cylindrical cam, 4.1-internal bearings mating holes, 4.2-120 ° of radial web, the cylindrical structure of 4.3-cam contour and internal web, the contoured surface of 4.4-cylindrical cam, 5-the second drive motor, No. III gear of 6-, No. IV gear of 7-, 8-ring gear, 9-the first drive motor, No. I gear of 10-, No. II gear of 11-, 12-rotation platform, 12.1-the central shaft of rotation platform, 13-base, 13.1-the first drive motor axle mating holes, 13.2-the first hole, drive motor location, 13.3-external bearings mating holes, 13.4-the swing-around trajectory of rotation platform, 13.5-base web, 13.6-base support, No. I bearing of 14-, No. II bearing of 15-, 16-shell.
Detailed description of the invention
Below in conjunction with accompanying drawing, the technical solution of the utility model is clearly and completely described; obviously; based on the embodiment in this utility model, other embodiments that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into this utility model protection domain.
As shown in Figures 1 to 10, a kind of cam-type Three Degree Of Freedom ankle device for rehabilitation, including: base 13, affixed first drive motor 9 on one web of described base 13, first drive motor 9 and No. I gear 10 are affixed, No. I gear 10 and No. II gear 11 engaged transmission, No. II gear 11 is affixed with rotation platform 12, it is provided with No. I bearing 14 between central shaft 12.1 and the base 13 of rotation platform 12, rotation platform 12 is connected with the second drive motor 5, second drive motor 5 and No. III gear 6 are affixed, No. III gear 6 and No. IV gear 7 engaged transmission, No. IV gear 7 and ring gear 8 engaged transmission, ring gear 8 and cylindrical cam 4 connect as one, cylindrical cam 4 is connected with the central shaft 12.1 of rotation platform 12 by No. II bearing 15, the contoured surface of cylindrical cam 4 is uniformly distributed four cam followers 3 of vertically-arranged, pilot hole 2.1 on four cam follower 3 traverse case lids 2, make cam follower ballhead 3.1 hinged with the gathering sill 1.1 of moving platform 1, case lid 2 centre above is provided with and the column 2.2 of moving platform 1 ball pivot, the shell 16 affixed with case lid 2 and rotation platform 12 it is provided with in the periphery of cylindrical cam 4.
Work process of the present utility model and principle:
Ankle recovering physiotherapy person will ride into spacing mould 1.2 place of foot, start automatically controlled button, first drive motor 9 alternately rotates according to the rotation amplitude both forward and reverse directions set, No. I gear 10 is driven to rotate, No. I gear 10 drives No. II gear 11 being engaged with to rotate, No. II gear 11 drives the rotation platform 12 of connection fixed thereto to rotate, and rotation platform 12 drives all parts thereon to realize moving platform 1 around the alternately rotation of central shaft both forward and reverse directions；
Meanwhile, the second drive motor 5 drives No. III gear 6 to rotate, and No. III gear 6 drives No. IV gear 7 being engaged with to rotate, and No. IV gear 7 drives ring gear 8 to rotate, and ring gear 8 drives the cylindrical cam 4 of connection fixed thereto to rotate；
Cylindrical cam 4 rotates driving matched equally distributed four cam followers 3, moves both vertically up and down according to the fluctuating of cylindrical cam 4 contoured surface, and the direct acting up and down of cam follower 3 makes moving platform 1 realize front/rear and left/right upset.
Moving platform 1 is produced supporting role by the column 2.2 on case lid 2, simultaneously the ballhead on column and the ball pivot mating surface 1.3 on case lid 2, it is ensured that the upset of moving platform 1 is freely.
Pilot hole 2.1 on case lid 2 makes to move under matched cam follower 3 in the vertical direction all the time, and shell 16 is by case lid 2 and the fixing connection of rotation platform 12, it is ensured that the rotation of rotation platform 12 can drive the rotation of moving platform 1.
This utility model can be embodied as the spirit without deviating from invention or essence in a variety of forms, it is to be understood that, above-described embodiment is not limited to aforesaid details, and should explain widely in claim limited range, therefore fall into the change in claim or its equivalent scope and remodeling all should be claim and contained.
Claims (1)
1. a cam-type Three Degree Of Freedom ankle device for rehabilitation, including: base (13), it is characterized in that: affixed first drive motor (9) on a web of described base (13), first drive motor (9) is affixed with No. I gear (10), No. I gear (10) and No. II gear (11) engaged transmission, No. II gear (11) is affixed with rotation platform (12), it is provided with No. I bearing (14) between central shaft (12.1) and the base (13) of rotation platform (12), rotation platform (12) is connected with the second drive motor (5), second drive motor (5) is affixed with No. III gear (6), No. III gear (6) and No. IV gear (7) engaged transmission, No. IV gear (7) and ring gear (8) engaged transmission, ring gear (8) and cylindrical cam (4) connect as one, cylindrical cam (4) is connected with the central shaft (12.1) of rotation platform (12) by No. II bearing (15), the contoured surface of cylindrical cam (4) is uniformly distributed four cam followers (3) of vertically-arranged, pilot hole (2.1) on four cam followers (3) traverse case lid (2), make cam follower ballhead (3.1) hinged with the gathering sill (1.1) of moving platform (1), case lid (2) centre above is provided with the column (2.2) with moving platform (1) ball pivot, the shell (16) affixed with case lid (2) and rotation platform (12) it is provided with in the periphery of cylindrical cam (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521115443.1U CN205339455U (en) | 2015-12-29 | 2015-12-29 | Recovered ware of three degree of freedom ankles of cam -type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521115443.1U CN205339455U (en) | 2015-12-29 | 2015-12-29 | Recovered ware of three degree of freedom ankles of cam -type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205339455U true CN205339455U (en) | 2016-06-29 |
Family
ID=56171877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521115443.1U Withdrawn - After Issue CN205339455U (en) | 2015-12-29 | 2015-12-29 | Recovered ware of three degree of freedom ankles of cam -type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205339455U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105616110A (en) * | 2015-12-29 | 2016-06-01 | 中北大学 | Cam type three-freedom-degree ankle rehabilitative device |
| CN107007429A (en) * | 2017-04-10 | 2017-08-04 | 江苏大学 | A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution |
| CN110202533A (en) * | 2019-06-11 | 2019-09-06 | 河南职业技术学院 | A kind of double cam universal angle plate |
-
2015
- 2015-12-29 CN CN201521115443.1U patent/CN205339455U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105616110A (en) * | 2015-12-29 | 2016-06-01 | 中北大学 | Cam type three-freedom-degree ankle rehabilitative device |
| CN105616110B (en) * | 2015-12-29 | 2017-09-12 | 中北大学 | A kind of cam-type Three Degree Of Freedom ankle device for rehabilitation |
| CN107007429A (en) * | 2017-04-10 | 2017-08-04 | 江苏大学 | A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution |
| CN107007429B (en) * | 2017-04-10 | 2019-04-30 | 江苏大学 | A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution |
| CN110202533A (en) * | 2019-06-11 | 2019-09-06 | 河南职业技术学院 | A kind of double cam universal angle plate |
| CN110202533B (en) * | 2019-06-11 | 2020-11-24 | 河南职业技术学院 | Double-cam universal rotary table |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160629 Effective date of abandoning: 20170912 |