CN111419634A - Novel ankle joint rehabilitation parallel mechanism - Google Patents
Novel ankle joint rehabilitation parallel mechanism Download PDFInfo
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- CN111419634A CN111419634A CN202010262298.9A CN202010262298A CN111419634A CN 111419634 A CN111419634 A CN 111419634A CN 202010262298 A CN202010262298 A CN 202010262298A CN 111419634 A CN111419634 A CN 111419634A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 101
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 36
- 230000003068 static effect Effects 0.000 claims abstract description 47
- QWCKQJZIFLGMSD-UHFFFAOYSA-N alpha-aminobutyric acid Chemical compound CCC(N)C(O)=O QWCKQJZIFLGMSD-UHFFFAOYSA-N 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 210000001503 joint Anatomy 0.000 claims description 10
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 210000004233 talus Anatomy 0.000 description 12
- 238000012545 processing Methods 0.000 description 7
- 210000000459 calcaneus Anatomy 0.000 description 6
- 210000002303 tibia Anatomy 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000002082 fibula Anatomy 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Abstract
The invention discloses a novel ankle joint rehabilitation parallel mechanism which comprises a static platform, a movable platform, two UPU branched chains and an AABA type branched chain, wherein the static platform is connected with the movable platform through a connecting rod; the parallel mechanism is provided with two non-coincident rotating spherical centers which are respectively a fixed spherical center and a movable spherical center; the whole parallel mechanism is regarded as that the movable sphere center makes two-degree-of-freedom spherical motion around the fixed sphere center, and the movable platform makes one-degree-of-freedom spherical motion around the movable sphere center under the constraint of the three branched chains; the three branched chains are respectively converged with the rotary axis of the rotary pair between the static platforms at one point, and the point is the centering of the parallel mechanism; the three branched chains are respectively intersected with the rotary axis of the rotary pair between the movable platforms at one point, and the point is the movable spherical center of the parallel mechanism; each UPU branched chain is provided with a sliding pair along the length direction of the UPU branched chain; the two UPU branched chains control the position of the fixed sphere center and the moving sphere center in the space, and the B-type connecting rod in the AABA-type branched chain controls the distance between the fixed sphere center and the moving sphere center. The parallel mechanism is lower in manufacturing and assembling precision, simpler and more compact in structure and lower in cost.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to a novel ankle joint rehabilitation parallel mechanism.
Background
The ankle joint is an important joint in the human body, which is an energy hinge that supports the weight of the body and pushes the body to kick off the ground, and is also the joint most vulnerable to damage due to weight or external impact. The problem of motion rehabilitation of ankle joints is becoming more serious increasingly with the aggravation of Chinese aging and hemiplegia patients. With the development of the exercise rehabilitation theory and the robot technology, the ankle joint rehabilitation robot is generated, and can assist a therapist to carry out exercise rehabilitation treatment on the ankle joint of a patient. The ankle joint rehabilitation robot has stable and controllable motion, can ensure the training efficiency and strength, can record various data in real time in the rehabilitation process and is used for evaluating the treatment effect and correcting the treatment scheme. Most of existing ankle joint rehabilitation robots are equivalent to a standard spherical pair with human ankle joints, and actually the human ankle joints are one of the most complex joints of the human body, including tibia, fibula, talus, scaphoid, calcaneus and the like.
The document with the application number of 201910868664.2 discloses a three-degree-of-freedom generalized spherical parallel mechanism, which mainly comprises two ABA type branched chains and one AABA type branched chain, and requires that "two-center line segments" of all B type connecting rods are completely overlapped all the time, that is, all B rod centering sphere centers are overlapped to form a centering sphere center of the parallel mechanism, and all B rod moving sphere centers are overlapped to form a moving sphere center of the parallel mechanism. The intersection points of the shaft axes of the two end holes of all the A-shaped connecting rods connected with the movable platform are always coincided with the movable sphere center, and the shaft axes of the two end holes of all the A-shaped connecting rods connected with the fixed platform are always coincided with the fixed sphere center; if the assembly precision of the A-type connecting rod or the B-type connecting rod with a branched chain or the branched chain does not meet the requirement, the B rod centering ball centers or the moving ball centers of all the B-type connecting rods cannot be overlapped, so that the whole mechanism loses the degree of freedom, and the requirements on the manufacturing precision and the assembly precision of the mechanism are high; because the constraint force of each moving branched chain is calculated and obtained according to the spiral theory, each moving branched chain provides a constraint force along the connecting line of the fixed spherical center and the moving spherical center, two redundant constraint forces are generated, namely two virtual constraints are generated; and if the rod length of the A-type connecting rod and the rod length of the B-type connecting rod of each branched chain and the length of a double-center line segment need to be changed for adjusting the ball center distance between the fixed ball center and the moving ball center, the accurate adjustment of the ball center distance between the fixed ball center and the moving ball center is difficult to achieve in the aspect of processing accuracy.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a novel ankle joint rehabilitation parallel mechanism; the parallel mechanism has the advantages of lower manufacturing and assembling precision, simpler and more compact structure, lower cost and easier realization of changing the ball center distance between the fixed ball center and the movable ball center in the aspect of processing.
In order to achieve the above purpose, the technical scheme of the invention is to provide a novel ankle joint rehabilitation parallel mechanism, which comprises a static platform and a movable platform, wherein the parallel mechanism is provided with two non-coincident rotary spherical centers, namely a fixed spherical center and a movable spherical center, and the distance between the two spherical centers is an adjustable fixed value; it is characterized in that the preparation method is characterized in that,
the parallel mechanism also comprises two UPU branched chains and an AABA type branched chain, wherein the two UPU branched chains are symmetrical relative to the AABA type branched chain, and two tail ends of the three branched chains are respectively connected with the static platform and the movable platform through a revolute pair;
the whole parallel mechanism is regarded as that the movable sphere center makes two-degree-of-freedom spherical motion around the fixed sphere center, and the movable platform makes one-degree-of-freedom spherical motion around the movable sphere center under the constraint of the three branched chains; the three branched chains are respectively converged with the rotary axis of the rotary pair between the static platforms at one point, and the point is the centering of the parallel mechanism; the three branched chains are respectively intersected with the rotary axis of the rotary pair between the movable platforms at one point, and the point is the movable spherical center of the parallel mechanism;
the AABA type branched chain is connected by an A type connecting rod and a B type connecting rod in sequence from top to bottom through a rotary pair in an AABA mode; the A-shaped connecting rod is a spherical connecting rod, and the axial leads of the holes at the two ends of the A-shaped connecting rod are intersected at one point; the intersection points of the axial leads of the holes at the two ends of the two A-shaped connecting rods at the upper part are coincided with the fixed spherical center of the parallel mechanism, and the intersection points of the axial leads of the holes at the two ends of the A-shaped connecting rods at the lower part are coincided with the movable spherical center of the parallel mechanism;
the B-type connecting rod is a double-sphere spherical connecting rod, namely the B-type connecting rod is provided with two generalized sphere centers which are respectively a B-rod centering sphere center and a B-rod moving sphere center, the B-rod centering sphere center is superposed with the centering sphere center of the parallel mechanism, and the B-rod moving sphere center is superposed with the moving sphere center of the parallel mechanism; the line segment formed by connecting two generalized spherical centers of the B-shaped connecting rod is defined as a double-center line segment, the length of the double-center line segment is defined as double-center distance, namely the double-center distance of the B-shaped connecting rod is equal to the distance between the movable spherical center and the fixed spherical center;
each UPU branched chain is provided with a sliding pair along the length direction of the UPU branched chain; the two UPU branched chains control the pose of a double-center line segment in the space, and the B-type connecting rod in the AABA type branched chain controls the double-center distance.
The fixed platform is uniformly distributed with a first fixed platform hinged support, a second fixed platform hinged support and a third fixed platform hinged support on the circumference, and the axes of the hinged holes of the three fixed platform hinged supports are converged at one point, namely the centering sphere of the parallel mechanism;
the movable platform is uniformly distributed with a first movable platform hinged support, a second movable platform hinged support and a third movable platform hinged support on the circumference, and the axes of the hinged holes of the three movable platform hinged supports are converged at one point, namely the movable spherical center of the parallel mechanism;
each UPU branched chain comprises an upper hook joint, a hook joint connecting rod, a hook joint support and a lower hook joint; the moving pair on the UPU branched chain is composed of a Hooke hinge connecting rod and a Hooke hinge connecting shaft, a sleeve is arranged at the lower end of the Hooke hinge connecting rod, one end of the Hooke hinge connecting shaft extends into the sleeve and can slide in the sleeve, and a moving pair is formed between the Hooke hinge connecting rod and the Hooke hinge connecting rod; the upper end of the Hooke's hinge connecting rod is hinged with the short shaft of the upper Hooke's hinge, and the long shaft of the upper Hooke's hinge is hinged with the corresponding hinged support of the static platform; the other end of the Hooke hinge connecting shaft is fixed at the upper end of the Hooke hinge support, the lower end of the Hooke hinge support is hinged with the short shaft of the lower Hooke hinge, and the long shaft of the lower Hooke hinge is hinged with the corresponding hinge support of the movable platform;
the axis of the long shaft of each upper hook hinge is superposed with the axis of the hinge hole of the respective static platform hinge support, and the axis of the short shaft of each upper hook hinge is vertical to the axis of the hinge hole of the respective static platform hinge support; the axes of the long shafts of the two upper hooke joints are intersected at one point, the point is superposed with the center of a fixed sphere of the parallel mechanism, the axis of the long shaft of each lower hooke joint is vertical to the axis of a hinge hole of each movable platform hinge support, and the axis of the short shaft of each lower hooke joint is superposed with the axis of the hinge hole of each movable platform hinge support; the axes of the two lower hook hinge long shafts are intersected at one point, and the point is superposed with the moving spherical center of the parallel mechanism;
the AABA type branched chain is formed by sequentially connecting three A type connecting rods and a B type connecting rod through a slewing pair in an AABA mode, wherein one end of a first A type connecting rod is hinged with a second hinged support of the static platform, and the other end of the first A type connecting rod is hinged with one end of a second A type connecting rod; the other end of the second A-shaped connecting rod is hinged with one end of the B-shaped connecting rod, the other end of the B-shaped connecting rod is hinged with one end of the third A-shaped connecting rod, and the other end of the third A-shaped connecting rod is hinged with the second hinge support of the movable platform.
Each UPU branched chain comprises an upper hook joint, a hook joint connecting rod, a hook joint support and a lower hook joint, and a moving pair on each UPU branched chain consists of a hook joint connecting rod and an electric push rod; the long shaft of the upper hook joint is hinged with a corresponding hinged support of the static platform, and the short shaft of the upper hook joint is hinged with the upper end of the hook joint connecting rod; the lower end of the Hooke hinge connecting rod is in interference fit with an output shaft of the electric push rod, and a moving pair is formed between the electric push rod and the Hooke hinge connecting rod when the electric push rod works; the mounting part of the electric push rod is fixed at the upper end of the Hooke hinge support, the lower end of the Hooke hinge support is hinged with the short shaft of the lower Hooke hinge, and the long shaft of the lower Hooke hinge is hinged with the hinge support corresponding to the movable platform.
Compared with the prior art, the invention has the beneficial effects that:
the invention mainly comprises two UPU branched chains and an AABA type branched chain, wherein each UPU branched chain generates a restraining force passing through the intersection point of the axis of the long axis of the upper hook joint and the axis of the long axis of the lower hook joint, and the restraining force is parallel to the respective axis of the short axis of the upper hook joint; the AABA type branched chain generates a constraint force along a connecting line of the fixed sphere center and the movable sphere center, and the three constraint forces are linearly independent, namely the parallel mechanism has three degrees of freedom and no virtual constraint, and the motion performance of the parallel mechanism cannot be influenced; the parallel mechanism only requires that the axis of the upper Hooke long shaft of each UPU branched chain passes through a fixed spherical center, the axis of the lower Hooke long shaft passes through a movable spherical center, the B rod fixed spherical center of the B type connecting rod of the AABA type connecting rod is coincided with the fixed spherical center, and the movable spherical center of the B rod is coincided with the movable spherical center; compared with a parallel mechanism formed by an ABA type branched chain and an AABA type connecting rod, which requires that the 'double-center line segments' of all B type connecting rods are always completely superposed, the shaft axis intersection points of all A type connecting rod two-end holes connected with a movable platform are always superposed with the movable ball center, and the shaft axes of all A type connecting rod two-end holes connected with a fixed platform are always superposed with the fixed ball center, the manufacturing and processing precision and the assembling precision of the scheme are obviously reduced by a large margin; if the distance between the fixed spherical center and the movable spherical center needs to be adjusted, only the length of the A-type connecting rod of the AABA-type connecting rod and the length of the rod length of the B-type connecting rod and the length of the double-center line segment need to be changed, and the UPU branched chain only needs to adjust the movement amount of the moving pair according to the selected distance between the fixed spherical center and the movable spherical center, so that the processing difficulty and the processing precision are further reduced.
In summary, compared with the existing three-degree-of-freedom parallel mechanism composed of the ABA type branched chain and the AABA type branched chain, the three-degree-of-freedom parallel mechanism has the advantages that the manufacturing and processing precision and the assembling precision are lower, the structure is simpler and more compact, the cost is lower, and the change of the center distance between the fixed center and the movable center is easier to realize in the aspect of processing.
The ankle joint rehabilitation robot can be applied to the design of human ankle joint rehabilitation robots and exoskeletons, can fully meet the requirements of human ankle joint dorsal extension/plantar flexion, adduction/abduction and inversion, can fully fit the instantaneous motion between ankle joint talus and calcaneus, fully eliminates the human-computer interaction force caused by the ankle joint talus of the traditional ankle joint rehabilitation mechanism, has the advantages of simple structure, strong bearing capacity, high motion flexibility, safety and reliability, and is suitable for various crowds.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the structure of a UPU branched chain of the present invention;
FIG. 3 is a schematic structural diagram of an AABA type branched chain of the present invention;
description of reference numerals: 1. a static platform; 2. centering the sphere; 3. moving the ball center; 4. a movable platform; 5. a hook joint is arranged; 6. a hook hinge connecting rod; 7. a hook hinge support; 8. a hook joint is arranged; 9. a first type A connecting rod; 10. a second type A connecting rod; 11. a B-shaped connecting rod; 12. a third type a connecting rod; 13. a hook hinge connecting shaft; 101. a first hinge support of the static platform; 102. a second hinged support of the static platform; 103. a third hinged support of the static platform; 401. a first hinge support of the movable platform; 402. a second hinged support of the movable platform; 403. and a third hinged support of the movable platform.
Detailed Description
The present invention will be further described with reference to the following examples and accompanying drawings. The specific examples are only for illustrating the present invention in further detail and do not limit the scope of protection of the present application.
The invention provides a novel ankle joint rehabilitation parallel mechanism (short for parallel mechanism), which comprises a static platform 1, a movable platform 4, two UPU branched chains and an AABA type branched chain, wherein the static platform is connected with the movable platform through a connecting rod; the two UPU branched chains are symmetrical about the AABA type branched chain to form a semi-symmetrical structure, and two tail ends of the three branched chains are respectively connected with the static platform 1 and the movable platform 4 through a revolute pair; the parallel mechanism is provided with two non-coincident rotating spherical centers which are respectively a fixed spherical center 2 and a moving spherical center 3, and the distance between the two spherical centers is an adjustable fixed value; the whole parallel mechanism can be regarded as that the movable sphere center 3 makes two-degree-of-freedom spherical motion around the fixed sphere center 2, and the movable platform 4 makes one-degree-of-freedom spherical motion around the movable sphere center 3 under the constraint of the three branched chains; the three branched chains are respectively intersected with the rotary axis of the rotary pair between the static platforms 1 at one point which is the centering 2 of the parallel mechanism; the three branched chains are respectively intersected with the rotary axis of the rotary pair between the movable platforms 4 at one point which is the movable spherical center 3 of the parallel mechanism;
the AABA type branched chain is connected by an A type connecting rod and a B type connecting rod in sequence from top to bottom through a rotary pair in an AABA mode; the A-shaped connecting rod is a spherical connecting rod, and the axial leads of the holes at the two ends of the A-shaped connecting rod are intersected at one point; the intersection points of the axial leads of the holes at the two ends of the two A-shaped connecting rods at the upper part are coincided with the fixed spherical center 2 of the parallel mechanism, and the intersection points of the axial leads of the holes at the two ends of the A-shaped connecting rods at the lower part are coincided with the movable spherical center 3 of the parallel mechanism;
the B-type connecting rod is a double-sphere spherical connecting rod, namely the B-type connecting rod is provided with two generalized sphere centers which are respectively a B-rod centering sphere center and a B-rod moving sphere center, the B-rod centering sphere center is superposed with a centering sphere center 2 of the parallel mechanism, and the B-rod moving sphere center is superposed with a moving sphere center 3 of the parallel mechanism; a line segment formed by connecting two generalized spherical centers of the B-shaped connecting rod is defined as a double-center line segment, the length of the double-center line segment is defined as double-center distance, namely the double-center distance of the B-shaped connecting rod is equal to the distance between the dynamic spherical center 3 and the fixed spherical center 2;
each UPU branched chain is provided with a sliding pair along the length direction of the UPU branched chain; the two UPU branched chains control the pose of a double-center line segment in the space, and the B-type connecting rod in the AABA type branched chain controls the double-center distance.
Example 1
The novel ankle joint rehabilitation parallel mechanism (see fig. 1-3) comprises a static platform 1, a movable platform 4, two UPU branched chains and an AABA type branched chain;
the fixed platform 1 is uniformly distributed with a fixed platform first hinged support 101, a fixed platform second hinged support 102 and a fixed platform third hinged support 103 on the circumference, and the axes of the hinged holes of the three fixed platform hinged supports are intersected at one point, namely the centering ball 2 of the parallel mechanism;
a first movable platform hinged support 401, a second movable platform hinged support 402 and a third movable platform hinged support 403 are uniformly distributed on the circumference of the movable platform 4, and the axes of the hinged holes of the three movable platform hinged supports are intersected at one point, namely the movable ball core 3 of the parallel mechanism;
each UPU branched chain is formed by a Hooke hinge and comprises an upper Hooke hinge 5, a Hooke hinge connecting rod 6, a Hooke hinge support 7, a lower Hooke hinge 8 and a Hooke hinge connecting shaft 13; the long shaft of an upper Hooke joint 5 of one UPU branched chain is hinged with a first hinge support 101 of the static platform 1, and the short shaft of the upper Hooke joint 5 is hinged with the upper end of a Hooke joint connecting rod 6; the lower end of the Hooke's hinge connecting rod 6 is provided with a sleeve, one end of the Hooke's hinge connecting shaft 13 extends into the sleeve and can slide in the sleeve, and a moving pair is formed between the Hooke's hinge connecting rod 6 and the sleeve; the other end of the Hooke hinge connecting shaft 13 is fixed at the upper end of the Hooke hinge support 7, the lower end of the Hooke hinge support 7 is hinged with the short shaft of the lower Hooke hinge 8, and the long shaft of the lower Hooke hinge 8 is hinged with the first hinge support 401 of the movable platform; the long shaft of an upper hook hinge 5 of the other UPU branched chain is hinged with a third hinged support 103 of the static platform, and the long shaft of a lower hook hinge 8 of the UPU branched chain is hinged with a third hinged support 403 of the movable platform;
the axis of the long shaft of each upper Hooke's hinge 5 is superposed with the axis of the hinge hole of each static platform hinge support, and the axis of the short shaft of each upper Hooke's hinge 5 is vertical to the axis of the hinge hole of each static platform hinge support; the axes of the long axes of the two upper Hooke's joints 5 are intersected at one point, the point is superposed with the fixed spherical center 2 of the parallel mechanism, the axis of the long axis of each lower Hooke's joint 8 is vertical to the axis of the hinge hole of the respective movable platform hinge support, and the axis of the short axis of each lower Hooke's joint 8 is superposed with the axis of the hinge hole of the respective movable platform hinge support; the axes of the long axes of the two lower hooke joints 8 are intersected at one point, and the point is superposed with the moving spherical center 3 of the parallel mechanism;
the AABA type branched chain is formed by sequentially connecting three A type connecting rods and a B type connecting rod through a slewing pair in an AABA mode, wherein one end of a first A type connecting rod 9 is hinged with a second hinged support 102 of the static platform, and the other end of the first A type connecting rod 9 is hinged with one end of a second A type connecting rod 10; the other end of the second A-shaped connecting rod 10 is hinged with one end of the B-shaped connecting rod 11, the other end of the B-shaped connecting rod 11 is hinged with one end of the third A-shaped connecting rod 12, and the other end of the third A-shaped connecting rod 12 is hinged with the second hinge support 402 of the movable platform.
The working principle and the working flow of the embodiment are as follows:
when the parallel mechanism is applied to a human ankle joint rehabilitation robot, firstly, according to the size of a talus of a patient, the average relative rotating spherical center between the tibia and the talus of the patient and the average relative rotating spherical center between the talus and the calcaneus are determined, so that the distance parameter between the fixed spherical center 2 and the movable spherical center 3 can be calculated, the 'double-center distance' of the parallel mechanism is determined according to the distance parameter, the fact that the fixed spherical center 2 of the parallel mechanism is always coincided with the average relative rotating spherical centers of the talus and the calcaneus in the motion fitting process is achieved, and the movable spherical center 3 of the parallel mechanism is always coincided with the average relative rotating spherical centers of the tibia and the talus.
When the device is used, the upper end of the first A-shaped connecting rod 9 and the long shaft of each upper Hooke hinge 5 are respectively provided with a servo motor, namely, the first A-shaped connecting rod 9 and the two upper Hooke hinges 5 are used as driving parts and are driven by revolute pairs; the three servo motors respectively drive an upper Hooke joint 5 in the two UPU branched chains and an A-shaped connecting rod 9 in the AABA branched chain to rotate relative to the static platform 1, the angle input quantity of the three servo motors is the input quantity of the parallel mechanism, and the pose of each branched chain is controlled so as to control the pose of the movable platform 4; a type connecting rod 9 of the AABA type branched chain drives a type II A connecting rod 10 to rotate, and two upper Hooke joints 5 in the two UPU branched chains drive respective Hooke joint connecting rods 6 to rotate; the axes of the long axes of the first hinged support 101, the third hinged support 103 and the two upper hooke hinges 5 of the static platform 1 are intersected at one point, and the point is superposed with the centering 2 of the parallel mechanism; the axes of the first hinged support 401, the third hinged support 403 and the long axes of the two lower hooke hinges 8 of the movable platform 5 are intersected at one point, and the point is superposed with the movable spherical center 3 of the parallel mechanism; the Hooke hinge connecting rod 6 is connected with the Hooke hinge support 7 through a sliding pair, and the two rods move along the length direction of the UPU branched chain; the double-center line segment is positioned in a plane where the axis of the long axis of the upper Hooke joint connecting rod 5 and the axis of the long axis of the lower Hooke joint 8 of each UPU branched chain are positioned, the posture of the double-center line segment in the space only has two degrees of freedom, so that the two UPU branched chains control the posture of the double-center line segment in the space, and the B-type connecting rod in the AABA-type branched chain controls the double-center distance; therefore, the angle input quantity of the long axis of the upper Hooke's hinge 5 in the two UPU branched chains determines the space position of the movable spherical center 3 of the parallel mechanism, and the movable spherical center 3 has two degrees of freedom; a type connecting rod 9 and A type connecting rod 10 of the AABA type branched chain are both A type spherical connecting rods, and the axis line intersection of the holes at the two ends of the A type connecting rod and the A type connecting rod coincides with the centering center of the sphere, so that the 'B rod centering center' of the B type connecting rod 11 is limited to coincide with the centering center 2 of the parallel mechanism; the intersection point of the axes of the holes at the two ends of the third A-shaped connecting rod is superposed with the intersection point of the axes of the hinged holes of the three hinged supports of the movable platform 5, namely superposed with the movable ball center 3 of the parallel mechanism, so that the 'B rod movable ball center' of the B-shaped connecting rod 11 is limited to be superposed with the movable ball center 3 of the parallel mechanism; therefore, the spatial movement of the B-shaped connecting rod 11 is the rotation around the double-center line segment; if the angle input quantity of the long axes of the two upper hooke joints 5 of the UPU branched chain of the prime mover is given, the spatial pose of the 'double-center line segment' of the parallel mechanism is fixed; at the moment, the static platform 1, the first A-type connecting rod 9, the second A-type connecting rod 10 and the B-type connecting rod 11 form a spherical four-bar mechanism, and the spherical four-bar mechanism has a degree of freedom, namely, the first A-type connecting rod 9 drives the B-type connecting rod to rotate around a 'double-center line segment' through the second A-type connecting rod 10; the B-type connecting rod drives the movable platform 4 to do spherical motion around the movable spherical center 3 of the parallel mechanism under the limitation of the two UPU branched chains through the third A-type connecting rod.
In conclusion, the angle input quantity of the long axes of the two upper Hooke's joints 5 of the prime mover controls the spherical motion of the brake spherical center 3 around the fixed spherical center 2, the parallel mechanism has two degrees of freedom, and when the parallel mechanism is used in the design of the human ankle joint rehabilitation robot, the parallel mechanism is mainly used for fitting the relative motion between the tibia and the talus of the ankle joint of a user; the angle input quantity of the first motive power part A-shaped connecting rod 9 controls the spherical surface motion of the brake platform 4 around the spherical center 3, has a degree of freedom, and is mainly fit for the relative motion between the talus and the calcaneus of the ankle joint of a user; the parallel mechanism has three degrees of freedom as a whole, can fit more accurately to the motion of the ankle joint, and greatly reduces the human-computer interaction force caused by the mechanism configuration.
Example 2
The novel ankle joint rehabilitation parallel mechanism (see fig. 1-3) comprises a static platform 1, a movable platform 4, two UPU branched chains and an AABA type branched chain;
the fixed platform 1 is uniformly distributed with a fixed platform first hinged support 101, a fixed platform second hinged support 102 and a fixed platform third hinged support 103 on the circumference, and the axes of the hinged holes of the three fixed platform hinged supports are intersected at one point, namely the centering ball 2 of the parallel mechanism;
a first movable platform hinged support 401, a second movable platform hinged support 402 and a third movable platform hinged support 403 are uniformly distributed on the circumference of the movable platform 4, and the axes of the hinged holes of the three movable platform hinged supports are intersected at one point, namely the movable ball core 3 of the parallel mechanism;
each UPU branched chain is composed of a Hooke hinge and comprises an upper Hooke hinge 5, a Hooke hinge connecting rod 6, a Hooke hinge support 7, a lower Hooke hinge 8 and an electric push rod; the long shaft of an upper Hooke joint 5 of one UPU branched chain is hinged with a first hinge support 101 of the static platform 1, and the short shaft of the upper Hooke joint 5 is hinged with the upper end of a Hooke joint connecting rod 6; the Hooke's hinge connecting rod 6 is in interference fit with an output shaft of the electric push rod, and a moving pair is formed between the electric push rod and the Hooke's hinge connecting rod 6 when the electric push rod works; the mounting part of the electric push rod is fixed at the upper end of the Hooke hinge support 7, the lower end of the Hooke hinge support 7 is hinged with the short shaft of the lower Hooke hinge 8, and the long shaft of the lower Hooke hinge 8 is hinged with the first hinge support 401 of the movable platform; the long shaft of an upper hook hinge 5 of the other UPU branched chain is hinged with a third hinged support 103 of the static platform, and the long shaft of a lower hook hinge 8 of the UPU branched chain is hinged with a third hinged support 403 of the movable platform;
the axis of the long shaft of each upper Hooke's hinge 5 is superposed with the axis of the hinge hole of each static platform hinge support, and the axis of the short shaft of each upper Hooke's hinge 5 is vertical to the axis of the hinge hole of each static platform hinge support; the axes of the long axes of the two upper Hooke's joints 5 are intersected at one point, the point is superposed with the fixed spherical center 2 of the parallel mechanism, the axis of the long axis of each lower Hooke's joint 8 is vertical to the axis of the hinge hole of the respective movable platform hinge support, and the axis of the short axis of each lower Hooke's joint 8 is superposed with the axis of the hinge hole of the respective movable platform hinge support; the axes of the long axes of the two lower hooke joints 8 are intersected at one point, and the point is superposed with the moving spherical center 3 of the parallel mechanism;
the AABA type branched chain is formed by sequentially connecting three A type connecting rods and a B type connecting rod through a slewing pair in an AABA mode, wherein one end of a first A type connecting rod 9 is hinged with a second hinged support 102 of the static platform, and the other end of the first A type connecting rod 9 is hinged with one end of a second A type connecting rod 10; the other end of the second A-shaped connecting rod 10 is hinged with one end of the B-shaped connecting rod 11, the other end of the B-shaped connecting rod 11 is hinged with one end of the third A-shaped connecting rod 12, and the other end of the third A-shaped connecting rod 12 is hinged with the second hinge support 402 of the movable platform.
The working principle and the working flow of the embodiment are as follows:
two electric push rods and a servo motor arranged on the AABA type branched chain work, namely, the two electric push rods are driven by a sliding pair of the two UPU branched chains and a rotating pair of the AABA branched chain; a servo motor arranged on the AABA type branched chain drives a first A type connecting rod 9 to rotate, and an electric push rod of each UPU branched chain changes the distance between an upper hook joint 5 and a lower hook joint 8 of the UPU branched chain, so that the movable platform 4 moves; the electric push rod of the UPU branched chain drives the whole UPU branched chain to move, so that the posture of the double-center line segment is changed, namely the spatial position of a movable ball core 3 of the parallel mechanism is changed; the first A-type connecting rod 9, the second A-type connecting rod 10, the B-type connecting rod 11 and the third A-type connecting rod 12 are sequentially connected to form an AABA type branched chain, the ' B rod centering center ' of the B-type connecting rod 11, the intersection point of the shaft axes of the two end holes of the first A-type connecting rod 9 and the intersection point of the shaft axes of the two end holes of the second A-type connecting rod 10 are coincided with the centering center 2 of the parallel mechanism, the ' two-center distance ' of the B-type connecting rod 11 is equal to the distance between the centering center 2 and the moving center 3, the ' B rod moving center ' of the B-type connecting rod 11 and the intersection point of the shaft axes of the two end holes of the third A-type connecting rod 12 are coincided with the moving center 3 of the parallel mechanism, and therefore the spatial movement of the B-type connecting rod 11 is rotation around the ' two-; the B-type connecting rod drives the movable platform 4 to do spherical motion around the spherical center 3 under the limitation of the two UPU branched chains through the third A-type connecting rod.
In conclusion, the spherical motion of the two electric push rods, which controls the spherical motion of the brake sphere center 3 around the fixed sphere center 2, determines the spatial position of the parallel mechanism, which has two degrees of freedom, and when the parallel mechanism is used in the design of the human ankle joint rehabilitation robot, the parallel mechanism mainly fits the relative motion between the tibia and the talus of the ankle joint of a user; the angle input quantity of the first A-shaped connecting rod controls the spherical motion of the brake platform 4 around the spherical center 3, has a degree of freedom, and is mainly used for fitting the relative motion between the talus and the calcaneus of the ankle joint of a user; the parallel mechanism has three degrees of freedom as a whole, can fit more accurate fitting ankle joint movement, greatly reduces the human-computer interaction force caused by the mechanism configuration, and achieves the aim of rehabilitation training of the ankle joint of a patient.
Nothing in this specification is said to apply to the prior art.
Claims (3)
1. A novel ankle joint rehabilitation parallel mechanism comprises a static platform and a movable platform, wherein the parallel mechanism is provided with two non-coincident rotating spherical centers which are respectively a fixed spherical center and a movable spherical center, and the distance between the two spherical centers is an adjustable fixed value; it is characterized in that the preparation method is characterized in that,
the parallel mechanism also comprises two UPU branched chains and an AABA type branched chain, wherein the two UPU branched chains are symmetrical relative to the AABA type branched chain, and two tail ends of the three branched chains are respectively connected with the static platform and the movable platform through a revolute pair; the whole parallel mechanism is regarded as that the movable sphere center makes two-degree-of-freedom spherical motion around the fixed sphere center, and the movable platform makes one-degree-of-freedom spherical motion around the movable sphere center under the constraint of the three branched chains; the three branched chains are respectively converged with the rotary axis of the rotary pair between the static platforms at one point, and the point is the centering of the parallel mechanism; the three branched chains are respectively intersected with the rotary axis of the rotary pair between the movable platforms at one point, and the point is the movable spherical center of the parallel mechanism;
the AABA type branched chain is connected by an A type connecting rod and a B type connecting rod in sequence from top to bottom through a rotary pair in an AABA mode; the A-shaped connecting rod is a spherical connecting rod, and the axial leads of the holes at the two ends of the A-shaped connecting rod are intersected at one point; the intersection points of the axial leads of the holes at the two ends of the two A-shaped connecting rods at the upper part are coincided with the fixed spherical center of the parallel mechanism, and the intersection points of the axial leads of the holes at the two ends of the A-shaped connecting rods at the lower part are coincided with the movable spherical center of the parallel mechanism;
the B-type connecting rod is a double-sphere spherical connecting rod, namely the B-type connecting rod is provided with two generalized sphere centers which are respectively a B-rod centering sphere center and a B-rod moving sphere center, the B-rod centering sphere center is superposed with the centering sphere center of the parallel mechanism, and the B-rod moving sphere center is superposed with the moving sphere center of the parallel mechanism; the line segment formed by connecting two generalized spherical centers of the B-shaped connecting rod is defined as a double-center line segment, the length of the double-center line segment is defined as double-center distance, namely the double-center distance of the B-shaped connecting rod is equal to the distance between the movable spherical center and the fixed spherical center;
each UPU branched chain is provided with a sliding pair along the length direction of the UPU branched chain; the two UPU branched chains control the pose of a double-center line segment in the space, and the B-type connecting rod in the AABA type branched chain controls the double-center distance.
2. The novel ankle joint rehabilitation parallel mechanism according to claim 1, wherein a first hinge support of the static platform, a second hinge support of the static platform and a third hinge support of the static platform are uniformly distributed on the circumference of the static platform, and the axes of the hinge holes of the three hinge supports of the static platform are intersected at one point, which is the centering center of the parallel mechanism;
the movable platform is uniformly distributed with a first movable platform hinged support, a second movable platform hinged support and a third movable platform hinged support on the circumference, and the axes of the hinged holes of the three movable platform hinged supports are converged at one point, namely the movable spherical center of the parallel mechanism;
each UPU branched chain comprises an upper hook joint, a hook joint connecting rod, a hook joint support and a lower hook joint; the moving pair on the UPU branched chain is composed of a Hooke hinge connecting rod and a Hooke hinge connecting shaft, a sleeve is arranged at the lower end of the Hooke hinge connecting rod, one end of the Hooke hinge connecting shaft extends into the sleeve and can slide in the sleeve, and a moving pair is formed between the Hooke hinge connecting rod and the Hooke hinge connecting rod; the upper end of the Hooke's hinge connecting rod is hinged with the short shaft of the upper Hooke's hinge, and the long shaft of the upper Hooke's hinge is hinged with the corresponding hinged support of the static platform; the other end of the Hooke hinge connecting shaft is fixed at the upper end of the Hooke hinge support, the lower end of the Hooke hinge support is hinged with the short shaft of the lower Hooke hinge, and the long shaft of the lower Hooke hinge is hinged with the corresponding hinge support of the movable platform;
the axis of the long shaft of each upper hook hinge is superposed with the axis of the hinge hole of the respective static platform hinge support, and the axis of the short shaft of each upper hook hinge is vertical to the axis of the hinge hole of the respective static platform hinge support; the axes of the long shafts of the two upper hooke joints are intersected at one point, the point is superposed with the center of a fixed sphere of the parallel mechanism, the axis of the long shaft of each lower hooke joint is vertical to the axis of a hinge hole of each movable platform hinge support, and the axis of the short shaft of each lower hooke joint is superposed with the axis of the hinge hole of each movable platform hinge support; the axes of the two lower hook hinge long shafts are intersected at one point, and the point is superposed with the moving spherical center of the parallel mechanism;
the AABA type branched chain is formed by sequentially connecting three A type connecting rods and a B type connecting rod through a slewing pair in an AABA mode, wherein one end of a first A type connecting rod is hinged with a second hinged support of the static platform, and the other end of the first A type connecting rod is hinged with one end of a second A type connecting rod; the other end of the second A-shaped connecting rod is hinged with one end of the B-shaped connecting rod, the other end of the B-shaped connecting rod is hinged with one end of the third A-shaped connecting rod, and the other end of the third A-shaped connecting rod is hinged with the second hinge support of the movable platform.
3. The novel ankle joint rehabilitation parallel mechanism according to claim 1, wherein each UPU branched chain comprises an upper hook joint, a hook joint connecting rod, a hook joint support and a lower hook joint, and a moving pair on the UPU branched chain consists of the hook joint connecting rod and an electric push rod; the long shaft of the upper hook joint is hinged with a corresponding hinged support of the static platform, and the short shaft of the upper hook joint is hinged with the upper end of the hook joint connecting rod; the lower end of the Hooke hinge connecting rod is in interference fit with an output shaft of the electric push rod, and a moving pair is formed between the electric push rod and the Hooke hinge connecting rod when the electric push rod works; the mounting part of the electric push rod is fixed at the upper end of the Hooke hinge support, the lower end of the Hooke hinge support is hinged with the short shaft of the lower Hooke hinge, and the long shaft of the lower Hooke hinge is hinged with the hinge support corresponding to the movable platform.
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