CN109925167B - Three-rotation one-movement decoupling ankle joint rehabilitation robot - Google Patents
Three-rotation one-movement decoupling ankle joint rehabilitation robot Download PDFInfo
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Abstract
The invention relates to a three-rotation one-movement decoupling ankle joint rehabilitation robot which comprises a robot body, a driving mechanism and a monitoring system, wherein the robot body consists of symmetrical hybrid mechanisms and comprises a base, a movable platform, a pedal and three branches for connecting the base and the movable platform, preferably, the first branch of the three branches is a PRR branch, the second branch and the third branch are CPRR branches and are symmetrically distributed relative to the bottom of the base, the pedal and the movable platform are connected in series to form a local branch, and the mechanism is a 3R1T mechanism on the whole; preferably, the mechanism contained in the ankle joint rehabilitation training device is a decoupling mechanism in kinematics, dorsiflexion/toe flexion, inversion/eversion and internal rotation/external rotation in ankle joint movement can be independently realized by controlling different branches, the ankle joint rehabilitation training device is wide in application range, and not only can be used for ankle joint rehabilitation training, but also can be used for household health care by implanting corresponding massage components on a pedal.
Description
Technical Field
The invention belongs to the field of ankle joint rehabilitation, and particularly relates to a symmetrical decoupling ankle joint rehabilitation robot capable of realizing three-rotation one-movement.
Background
Ankle joint injury is a common bone joint injury, walking gait of a human body and a balanced micro-adjusting hinge are located on the ankle joint, and rehabilitation training of the ankle joint is very significant for patients. Many apoplexy and hemiplegia patients also need to strengthen the training to the ankle joint urgently, in order to alleviate medical personnel work burden, improve the training effect, ankle joint rehabilitation training adopts trainer to go on. In the prior art, most of training devices adopt a series mechanism to realize the movement of a workbench, but the training devices are often poor in structural strength and low in movement freedom degree; the training device adopting the parallel mechanism has the advantages of improved strength, complex structure, larger volume and difficult packaging.
Through the search discovery of the prior art, chinese patent with publication number CN201620740097.4 discloses an ankle joint rehabilitation robot, which comprises a mechanism base and a workbench arranged above the base, wherein three link mechanisms with the same structure are arranged between the workbench and the base in parallel, and are respectively a first link mechanism, a second link mechanism and a third link mechanism, and the workbench can be turned back and forth, turned left and right and rotated in a horizontal plane through the movement of the link mechanisms. In the robot, the workbench can train dorsiflexion, plantarflexion, inversion, eversion, internal rotation and external rotation of the ankle joint, but the mechanism has coupling and inconvenient control in kinematics; chinese patent No. cn201510472613.x discloses a parallel ankle rehabilitation robot and a control method thereof, wherein the mechanism comprises a base, a support frame is inserted on the base, an adjusting mechanism is movably clamped on the support frame and comprises a main rod, a forearm rod and a leg supporting rod, the front end of the main rod is connected with the forearm rod, the leg supporting rod is connected with the main rod in an installing manner, the forearm rod is connected with a connecting rod, and the main rod is movably clamped with the support frame; the device is characterized by further comprising an adjusting mechanism and a moving mechanism, wherein pneumatic muscles or linear motors are used as drivers, the front end of the driving mechanism is connected with a connecting rod in the adjusting mechanism in an assembling mode, the tail end of the driving mechanism is connected with the moving mechanism in an assembling mode, and the moving mechanism is movably clamped with the rear end of the main rod. The robot disclosed by the invention can adjust the motion range to adapt to the use of different patients, can cover the motion training of three degrees of freedom of the ankle joint, but is not convenient to control.
Disclosure of Invention
In order to realize the three-dimensional rotational freedom degree required by the ankle joint rehabilitation, namely the requirements of dorsiflexion/toe flexion, inversion/eversion, internal rotation/external rotation and traction in the ankle joint movement, the invention designs a mechanism capable of realizing a series-parallel mechanism of 3R1T, the mechanism has simple and symmetrical distribution, is decoupled in kinematics and convenient to control, and is additionally provided with an intelligent monitoring sensing device at a corresponding important part, so that the ankle joint rehabilitation robot can meet the general rehabilitation requirements and can be optimized in cost and strength, and the invention is realized in the way that:
a three-rotation one-movement decoupling ankle rehabilitation robot comprises a robot body, a driving mechanism and a monitoring system, wherein the robot body is a symmetrical hybrid mechanism, and the hybrid mechanism comprises a base, a movable platform, three branches connecting the base and the movable platform and a pedal connected with the movable platform in series; the bottom of the base is provided with two sliding guide rails which are symmetrically distributed about a Y axis and are consistent with the Y axis direction, and the bottom of the base is provided with two supports which are symmetrical about the Y axis; the movable platform is of a frame structure and comprises a first support, a second support, a third support and a fourth support which are sequentially connected end to end; the parallel part in the parallel-serial mechanism is a 2-CPRR-PRR parallel mechanism, the parallel mechanism is a decoupled two-rotation one-movement parallel mechanism, the first branch of three branches connecting the base and the movable platform is a PRR branch, the second branch and the third branch are both CPRR branches, and the initial poses are symmetrically distributed on a YOZ plane; the first branch comprises a first connecting rod and a second connecting rod, the first end of the first connecting rod is connected with the sliding guide rail through a sliding pair, the second end of the first connecting rod is connected with the first end of the second connecting rod through a rotating pair with an axis perpendicular to the bottom of the base, and the second end of the second connecting rod is connected with the first support of the movable platform through a rotating pair with an axis parallel to the x axis of the movable platform; the second branch comprises a first connecting rod, a second connecting rod and a third connecting rod, the first end of the first connecting rod is connected with the second support of the base through a cylindrical pair of which the axis is vertical to the base, the second end of the first connecting rod is connected with the first end of the second connecting rod through a moving pair parallel to the bottom of the base, the second end of the second connecting rod is connected with the first end of the third connecting rod through a rotating pair of which the axis is vertical to the bottom of the base, and the second end of the third connecting rod is connected with the second support of the movable platform through a rotating pair of which the axis is parallel to the x axis of the movable platform; the third branch comprises a first connecting rod, a second connecting rod and a third connecting rod, the first end of the first connecting rod is connected with a third support of the base through a cylindrical pair of which the axis is vertical to the base, the second end of the first connecting rod is connected with the first end of the second connecting rod through a moving pair parallel to the bottom of the base, the second end of the second connecting rod is connected with the first end of the third connecting rod through a rotating pair of which the axis is vertical to the bottom of the base, and the second end of the third connecting rod is connected with a third support of the movable platform through a rotating pair of which the axis is parallel to the x axis of the movable platform; the series connection part of the series-parallel mechanism comprises the movable platform and the pedal, the pedal is fixedly connected with the first end of the pedal connecting rod, and the second end of the pedal connecting rod is connected with the fourth support of the movable platform through a rotating pair of a y shaft on the movable platform through an axis.
Preferably, the driving mechanism includes four driving motors, which respectively realize three rotational degrees of freedom and one translational degree of freedom of the rehabilitation robot, a driving motor is arranged at the first moving pair of the first branch, the amount of motion of the driving motor represents the output parameter of the first translational degree of freedom of the mechanism, a driving motor is arranged at the P pair included in the first cylindrical pair of the second branch, the amount of motion of the driving motor represents the output parameter of the first rotational degree of freedom of the mechanism, a driving motor is arranged at the R pair of the first cylindrical pair of the third branch, the amount of motion of the driving motor represents the output parameter of the second rotational degree of freedom of the mechanism, and a driving motor is arranged at the rotating pair, which is fixedly connected to the connecting rod on the pedal and connected to the fourth support of the movable platform, and the amount of motion of the driving motor represents the output parameter of the third rotational degree of freedom of.
Preferably, the monitoring system comprises an angular displacement sensor, a linear displacement sensor, limit switches and a force sensor, the angular displacement sensor is installed at a position where the driving pair is a revolute pair, the linear displacement sensor is installed at a position where the driving pair is a revolute pair, the limit switches are distributed at limit positions of the driving pairs, the force sensor is installed on the pedal plate, and a switching assembly is arranged on the pedal plate and can be used for installing a heating device or a massage device so as to enrich the function of the rehabilitation robot.
Preferably, the ankle joint rehabilitation robot is a decoupling mechanism in kinematics, and can independently realize three rotations and one movement by controlling different branches, so as to correspondingly realize dorsiflexion/toe flexion, inversion/eversion, internal rotation/external rotation and traction movement in the ankle joint movement.
Preferably, three rotation centers of the robot coincide in one point, the length of a connecting rod connected with a pedal is adjustable, and the ankle joint center of people with different ankle heights coincides with the actual rotation center of the robot in the rehabilitation training process by adjusting the length of the connecting rod, so that a better rehabilitation effect is achieved.
Compared with the prior art, the invention has the following beneficial effects:
(1) the number of kinematic pairs contained in the robot mechanism branches is small, the kinematic pairs are simple, and the control is convenient;
(2) decoupling the robot mechanism, wherein each input quantity corresponds to a unique determined motion;
(3) the branches of the robot mechanism are symmetrically distributed, and the two branches have the same structure, so that the manufacturing cost and time can be saved;
(4) the mechanism is convenient to install, the movable space of the ankle joint is large, the mobility is high, and the motion requirements of all the ankle joints can be met;
(5) the three-dimensional rotation center of the robot can be coincided with the actual ankle joint rotation centers of different people by adjusting the length of the connecting rod;
(6) the three-dimensional rotation center of the robot is at a fixed position of the movable platform, preferably, the gravity center of a foot always falls between the two sliding rails of the first branch in actual operation, so that the motion stability and the rigidity of the robot can be guaranteed;
(7) the robot can not only be applicable to medical rehabilitation, can realize more functional demands by installing other auxiliary facilities on the running-board, can also be used for home health care.
Drawings
Fig. 1 is a schematic diagram of the positions of all kinematic pairs of the rehabilitation robot of the invention;
fig. 2 is a schematic view of a branch 1 component of the rehabilitation robot of the present invention;
fig. 3 is a schematic view of the branches 2, 3 of the rehabilitation robot of the present invention;
fig. 4 is a schematic view of the components of the serial part of the rehabilitation robot of the present invention; and
fig. 5 is a schematic view of the distribution of the monitoring sensors of the rehabilitation robot of the present invention.
Reference numerals:
p11-branch 1 first sliding pair, R12-branch 1 second sliding pair, R13-branch 1 third sliding pair, C21-branch 2 first cylinder pair, P22-branch 2 second sliding pair, R23-branch 2 third sliding pair, R24-branch 2 fourth sliding pair, C31-branch 3 first cylinder pair, P32-branch 3 second sliding pair, R33-branch 3 third sliding pair, R34-branch 3 fourth sliding pair and R51-series sliding pair;
1-a first branch, 11-a first link, 12-a second link;
2-second branch, 21-first link, 22-second link, 23-third link, 3-third branch, 31-first link, 32-second link, 33-third link; 6-base, 61-sliding guide rail, 62-second bracket, 63-third bracket;
4-moving platform, 41-first bracket, 42-second bracket, 43-third bracket, 44-fourth bracket, 5-pedal, 51-pedal connecting rod;
Detailed Description
Exemplary embodiments, features and performance aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In the overall structural schematic diagram of the robot shown in fig. 1, the robot body is composed of symmetrical hybrid mechanisms, and comprises a base 6, a movable platform 4, three branches 1, 2 and 3 connecting the base 6 and the movable platform 4, and a pedal 5 connected in series on the movable platform 4; the parallel part in the series-parallel mechanism is a 2-CPRR-PRR parallel mechanism, wherein C represents a cylindrical pair, P represents a moving pair, R represents a rotating pair, the cylindrical pair is a combination of the moving pair and the rotating pair, 2-CPRR represents that the parallel mechanism comprises two groups of branches which are sequentially connected by the cylindrical pair, the moving pair, the rotating pair and the rotating pair, PRR represents a branch which is formed by sequentially connecting the moving pair, the rotating pair and the rotating pair, the three branches are combined into the parallel mechanism, the first branch 1 in the three branches connecting the base 6 and the moving platform 4 is a PRR branch, the second branch and the third branches 2 and 3 are both CPRR branches and are symmetrically distributed, and the two-way isotropy of the movement of the mechanism and the convenience in installation can be ensured; two sliding guide rails 61 along the Y-axis direction are arranged at the bottom of the base 6 and are symmetrically distributed on two sides of the Y-axis, so that the running stability of the mechanism is improved, and two supports 62 and 63 are symmetrically arranged at the bottom of the base 6 on two sides of the Y-axis respectively and are used for being connected with the second branch and the third branch respectively; the movable platform 4 is a frame, and the first, second, third and fourth brackets of the movable platform are all arranged on the frame, as shown in fig. 4, the first bracket 41, the second bracket 42, the third bracket 43 and the fourth bracket 44 are respectively connected with the first branch 1, the second branch 2, the third branch 3 and the pedal connecting rod 51;
as shown in FIG. 2, a first branch 1 of the three branches is a PRR branch, one end of a first connecting rod 11 in the first branch 1 is connected with a sliding guide rail 61 of a base 6 through a sliding pair P11, the other end of the first connecting rod is connected with one end of a second connecting rod 12 of the first branch 1 through a revolute pair R12 with the axis vertical to the bottom of the base, one end of the second connecting rod 12 of the first branch 1 is simultaneously connected with first supports 41 of a movable platform 4 symmetrically distributed at two ends of the movable platform to form a revolute pair, and the axis of the revolute pair R13 and the axis of the second revolute pair R12 of the first branch 1 intersect at a three-dimensional rotation center o1；
As shown in fig. 3, the second branch 2 and the third branch 3 of the three branches are both CPRR branches, preferably, two branches are symmetrically distributed about the YOZ plane, preferably, one end of the first link 21 of the second branch 2 is connected to the second support 62 of the base 6 through a cylindrical pair C21 with an axis perpendicular to the base 6, the other end is connected to one end of the second link 22 of the second branch 2 through a moving pair P22 parallel to the bottom of the base 6, the other end of the second link 22 of the second branch 2 is connected to one end of the third link 23 of the second branch 2 through a rotating pair R23 with an axis perpendicular to the bottom of the base 6, and finally, the other end of the third link 23 of the second branch 2 is connected to the second support 42 of the movable platform 4 through a rotating pair R24 with an axis parallel to the x axis;
one end of the first link 31 of the third branch 3 is connected with the third bracket 63 of the base through a cylindrical pair C31 pair with the axis perpendicular to the base 6, the other end is connected with one end of the second link 32 of the third branch 3 through a moving pair P32 parallel to the bottom of the base 6, the other end of the second link 32 of the third branch 3 is connected with one end of the third link 32 of the third branch 3 through a revolute pair R33 with the axis perpendicular to the bottom of the base 6, and finally, the other end of the third link 33 of the third branch 3 is connected with the third bracket 43 of the movable platform 4 through a revolute pair R34 with the axis parallel to the x axis; preferably, the second branch 2 and the third branch 3 have the same structure and are symmetrically distributed on two sides of the movable platform 4, so that the uniformity of the performance of the movable platform 4 in the x direction can be ensured;
as shown in fig. 4, the series part of the series-parallel mechanism comprises a movable platform 4 and a pedal 5, the pedal 5 is fixedly connected with one end of a pedal connecting rod 51 at the front end and the rear end of the pedal connecting rod 5, the other end of the pedal connecting rod 51 is connected with a fourth bracket 44 of the movable platform 4 through a y-axis revolute pair R51, preferably, the movable platform 4 is connected with a foot pedal 5 which can rotate around the y-axis direction in series, so that the ankle joint rehabilitation robot taking the foot pedal as an end effector has a 3R1T mechanism as a whole, preferably, the three rotation axis axes of the robot are intersected at a point O1, by adjusting the length of a foot pedal connecting rod 51 connecting the foot pedal 5 and the movable platform 4, the distance between the pedal 5 and the rotation center O1 can be adjusted to adapt to people with different ankle joint heights, so that the actual ankle joint center is superposed with the actual rotation center of the rehabilitation robot to achieve a better exercise training effect; preferably, the foot pedal 5 is arranged inside the frame of the movable platform 4 and below the frame; preferably, the feet are ensured not to be interfered by the frame of the movable platform 4 and other components in the movement process, the size of the frame of the movable platform 4 can be suitable for the size of more than 90 percent of the feet of people, and corresponding adjustment can be carried out to the most suitable state aiming at the safety protection facilities corresponding to the feet with different sizes; a heating device or a massage device can be arranged to enrich the function of the rehabilitation robot; in addition, according to different crowd's needs, can add other corresponding structures on the running-board in order to enrich the function of whole robot.
The ankle joint rehabilitation robot is a decoupling mechanism in kinematics, wherein decoupling means that the input and the output have one-to-one correspondence, the ankle joint rehabilitation robot is a part of decoupling mechanism and is not a complete decoupling mechanism, but can still be called as the decoupling mechanism, and can correspondingly realize dorsiflexion/toe flexion, inversion/eversion, internal rotation/external rotation and traction movement in ankle joint movement by controlling different branches to realize three rotations and one movement respectively; preferably, the first revolute pair P11 of the first branch 1 is provided with a drive motor 1, the movement of which represents the output parameter of the first degree of freedom of movement of the mechanism; the traction movement of ankle joint rehabilitation is realized; a driving motor 2 is arranged at a P pair contained in the first cylindrical pair C21 of the second branch 2, the motion amount of the driving motor represents the output parameter of the first rotational degree of freedom of the mechanism, and dorsiflexion/toe flexion motion of ankle joint rehabilitation is realized; a driving motor 3 is arranged at the R pair contained in the first cylindrical pair C31 of the third branch 3, the motion quantity of the driving motor represents the output parameter of the second rotational degree of freedom of the mechanism, and the internal rotation/external rotation motion of ankle joint rehabilitation is realized; a driving motor 4 is arranged at a revolute pair R51 which is fixedly connected with a pedal connecting rod 51 on the pedal 5 and connected with a fourth bracket 44 of the movable platform 4, the motion amount of the driving motor 4 represents the output parameter of the third rotational degree of freedom of the mechanism, and the inversion/eversion motion of ankle joint rehabilitation is realized;
one end of the first connecting rod 11 of the first branch 1 is connected with two sliding guide rails 61 symmetrically distributed on the base 6 to form a moving pair, preferably, only one driving motor 1 for driving the moving pair is arranged, the movement of the whole mechanism along the positive and negative directions of the Y axis can be realized through the positive and negative rotation of the motor, the rigidity of the parallel mechanism is improved by the structure, and the motion stability is also enhanced. One end of the second connecting rod 12 of the first branch 1 is connected with the first support 41 of the movable platform symmetrically distributed at two ends of the movable platform 4 to form a revolute pair, the axis of the revolute pair is intersected with the axis of the second revolute pair R12 of the first branch 1 at a three-dimensional rotation center, the first moving pair P11 of the first branch 1 of the mechanism can be in a wheel type or a crawler type as long as the Y-direction movement of the branch 1 can be realized, and therefore the overall structure size of the robot can be reduced and the robot is easy to package.
When the P pair in the first cylindrical pair in the second branch 2 is used as a driving pair, the R pair in the cylindrical pair is not affected by the driving motor 2 and is used as a passive kinematic pair, preferably, when the R pair in the first cylindrical pair in the third branch 3 is used as a driving pair, the P pair in the cylindrical pair is not affected by the driving motor 3 and is used as a passive kinematic pair, preferably, because the first and second branches are the same and are symmetrically distributed about a YZ plane, the positions of the driving motor 2 and the driving motor 3 can be interchanged between the second branch and the third branch, but it must be ensured that only one driving motor is arranged in one branch and the driven kinematic pairs are the P pair and the C pair in the cylindrical pair respectively; a driving motor 4 arranged at a revolute pair connecting a connecting rod fixedly connected with the pedal and a fourth support of the movable platform is preferentially arranged at one end of the movable platform 4 with a smaller branch support.
The robot monitoring system mainly comprises an angular displacement sensor, a linear displacement sensor, a limit switch and a force sensor, as shown in fig. 5, the sensor for monitoring the Z-direction rotation output quantity of the robot is an angular displacement sensor J1, the sensor is placed at a first branch revolute pair R12, the sensor for monitoring the X-direction rotation output quantity of the robot is an angular displacement sensor J2, the sensor is placed at a first branch revolute pair R13, the sensor for monitoring the Y-direction rotation output quantity of the robot is an angular displacement sensor J3, and the sensor is placed at a first branch revolute pair R13; in addition, an angular displacement sensor J4 is arranged at the R pair in the driving pair C pair of the third branch 3, so that the real-time information feedback of the driving pair is realized, and a sensor for monitoring the Y-direction moving output quantity of the robot is a linear displacement sensor Z1 and is placed at the rear end of the base 6; a limit switch X1 is arranged at the upper end of the second bracket 62 of the base 6, and a limit switch X2 is arranged at the upper end of the second bracket 62 of the base 6; a force sensor L1 is arranged at the front end of the pedal plate 5 for monitoring toe end stress, a force sensor L2 is arranged at the middle end of the pedal plate 5 for monitoring Y-direction traction stress, and a force sensor L3 is arranged at the rear end of the pedal plate 5 for monitoring heel end stress; through the arrangement of the sensors, the information intellectualization of the robot can be ensured, and the overall safety and stability of the robot are enhanced. On the basis of controllable cost, an electromechanical acquisition system can be adopted to more intuitively know the physiological feedback of the trainer.
The specific using process of the invention is as follows:
before the robot is used for rehabilitation training, the length of the pedal connecting rod is adjusted according to the heights of different human ankles so as to achieve the actual ankle rotating center of the human body and the actual rotating center of the robot, namely the movable platform o1The point coincidence, in order to guarantee the cooperation degree of foot and robot in whole motion process, install the fixed band on the running-board, put the foot in the fixed band in order to guarantee the relative running-board of position of foot and stably cooperate when using.
In the use process, the independent ankle joint traction movement or the internal and external rotation movement in the traction process can be realized by the driving motor 1 and the driving motor 3; the dorsiflexion movement of the ankle joint can be independently realized by driving the motor 2; the internal and external rotation of the ankle joint can be independently realized by driving the motor 3; the inward and outward turning movement of the ankle joint can be independently realized by the driving motor 4; given the variety of articulation speeds and ranges required, corresponding motion can be achieved by simultaneously controlling a plurality of corresponding motors. Meanwhile, the motion of the mechanism is adjusted in real time through various collected motion feedback signals so as to achieve the best rehabilitation training effect. If active training is needed, all the driving motors are unlocked, and the motors are all driven elements.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and are not limited thereto: although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or some or all of the technical features may be equivalently replaced, without departing from the spirit of the corresponding technical solutions.
Claims (5)
1. A three-rotation one-movement decoupling ankle rehabilitation robot comprises a robot body, a driving mechanism and a monitoring system, and is characterized in that,
the machine body is a symmetrical parallel-serial mechanism, and the parallel-serial mechanism comprises a base, a movable platform, three branches connecting the base and the movable platform, and a pedal connected with the movable platform in series;
the bottom of the base is provided with two sliding guide rails which are symmetrically distributed about a Y axis and are consistent with the Y axis direction, and the bottom of the base is provided with two supports which are symmetrical about the Y axis;
the movable platform is of a frame structure and comprises a first support, a second support, a third support and a fourth support which are sequentially connected end to end;
the parallel part in the parallel-serial mechanism is a 2-CPRR-PRR parallel mechanism, the parallel mechanism is a decoupled two-rotation one-movement parallel mechanism, the first branch of three branches connecting the base and the movable platform is a PRR branch, the second branch and the third branch are both CPRR branches, and the initial poses are symmetrically distributed on a YOZ plane;
the first branch comprises a first connecting rod of the first branch and a second connecting rod of the first branch, the first end of the first connecting rod of the first branch is connected with the sliding guide rail through a sliding pair, the second end of the first connecting rod of the first branch is connected with the first end of the second connecting rod of the first branch through a revolute pair with an axis perpendicular to the bottom of the base, and the second end of the second connecting rod of the first branch is connected with the first support of the movable platform through a revolute pair with an axis parallel to the x axis of the movable platform;
the second branch comprises a first connecting rod of the second branch, a second connecting rod of the second branch and a third connecting rod of the second branch, the first end of the first connecting rod of the second branch is connected with the second support of the base through a cylindrical pair of which the axis is vertical to the base, the second end of the first connecting rod of the second branch is connected with the first end of the second connecting rod of the second branch through a sliding pair parallel to the bottom of the base, the second end of the second connecting rod of the second branch is connected with the first end of the third connecting rod of the second branch through a revolute pair of which the axis is vertical to the bottom of the base, and the second end of the third connecting rod of the second branch is connected with the second support of the movable platform through a revolute pair of which the axis is parallel to the x axis of the movable platform;
the third branch comprises a first connecting rod of the third branch, a second connecting rod of the third branch and a third connecting rod of the third branch, the first end of the first connecting rod of the third branch is connected with a third support of the base through a cylindrical pair of which the axis is vertical to the base, the second end of the first connecting rod of the third branch is connected with the first end of the second connecting rod of the third branch through a sliding pair parallel to the bottom of the base, the second end of the second connecting rod of the third branch is connected with the first end of the third connecting rod of the third branch through a revolute pair of which the axis is vertical to the bottom of the base, and the second end of the third connecting rod of the third branch is connected with the third support of the movable platform through a revolute pair of which the axis is parallel to the x axis of the movable platform; and
the series connection part of the series-parallel mechanism comprises the movable platform and the pedal, the pedal is fixedly connected with the first end of the pedal connecting rod, and the second end of the pedal connecting rod is connected with the fourth support of the movable platform through a rotating pair of a y shaft on the movable platform through an axis.
2. The three-rotation one-translation decoupling ankle rehabilitation robot of claim 1, the driving mechanism comprises four driving motors which respectively realize three rotational degrees of freedom and one movement degree of freedom of the rehabilitation robot, the driving motor is arranged at the first moving pair of the first branch, the motion amount of the robot represents the output parameters of the first freedom degree of movement of the robot, a driving motor is arranged at the P pairs contained in the first cylindrical pair of the second branch, the motion amount of the robot represents the output parameter of the first rotational degree of freedom of the robot, a driving motor is arranged at the R pair of the first cylindrical pair of the third branch, the motion amount of the driving motor represents the output parameter of the second rotational degree of freedom of the robot, a driving motor is arranged at a revolute pair which is fixedly connected with a connecting rod on the pedal and connected with a fourth bracket of the movable platform, and the motion amount of the driving motor represents the output parameter of the third rotational degree of freedom of the robot.
3. The three-rotation one-movement decoupling ankle rehabilitation robot according to claim 2, wherein the monitoring system comprises an angular displacement sensor, a linear displacement sensor, limit switches and a force sensor, the angular displacement sensor is installed at a position where the driving pair is a revolute pair, the linear displacement sensor is installed at a position where the driving pair is a moving pair, the limit switches are distributed at the limit positions of the driving pairs, the force sensor is installed on the pedal plate, and the pedal plate is provided with a switching assembly capable of being provided with a heating device or a massage device.
4. The decoupling ankle joint rehabilitation robot with three rotations and one movement according to claim 3, wherein the ankle joint rehabilitation robot is a decoupling mechanism in kinematics, and can independently realize three rotations and one movement by controlling different branches, so as to correspondingly realize dorsiflexion/toe flexion, inversion/eversion, internal rotation/external rotation and traction movement in the ankle joint movement.
5. The three-rotation one-movement decoupling ankle rehabilitation robot according to claim 1, wherein three rotation centers of the robot coincide at a point, the length of a connecting rod connected with a pedal is adjustable, and the ankle centers of people with different ankle heights coincide with the actual rotation center of the robot in the rehabilitation training process by adjusting the length of the connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910266824.6A CN109925167B (en) | 2019-04-03 | 2019-04-03 | Three-rotation one-movement decoupling ankle joint rehabilitation robot |
| JP2020558966A JP6921454B2 (en) | 2019-04-01 | 2020-04-01 | Decoupling ankle care robot and complete decoupling parallel connection mechanism |
| PCT/CN2020/082737 WO2020200231A1 (en) | 2019-04-01 | 2020-04-01 | Decoupled ankle rehabilitation robot and completely decoupled parallel mechanism |
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| CN201910266824.6A CN109925167B (en) | 2019-04-03 | 2019-04-03 | Three-rotation one-movement decoupling ankle joint rehabilitation robot |
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| CN109925167B true CN109925167B (en) | 2020-03-13 |
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| JP6921454B2 (en) * | 2019-04-01 | 2021-08-18 | 東莞理工学院 | Decoupling ankle care robot and complete decoupling parallel connection mechanism |
| CN112137842B (en) * | 2020-10-23 | 2023-05-23 | 中国石油大学(华东) | Parallel three-degree-of-freedom ankle joint rehabilitation robot |
| CN113350124A (en) * | 2021-07-09 | 2021-09-07 | 北京航空航天大学 | Ten-degree-of-freedom partial decomposition coupling deep sensation training platform |
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