CN111419634B - Ankle joint rehabilitation parallel mechanism - Google Patents
Ankle joint rehabilitation parallel mechanism Download PDFInfo
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- CN111419634B CN111419634B CN202010262298.9A CN202010262298A CN111419634B CN 111419634 B CN111419634 B CN 111419634B CN 202010262298 A CN202010262298 A CN 202010262298A CN 111419634 B CN111419634 B CN 111419634B
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- 210000000544 articulatio talocruralis Anatomy 0.000 title description 10
- 230000003068 static effect Effects 0.000 claims abstract description 51
- 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
- 210000003423 ankle Anatomy 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 210000004233 talus Anatomy 0.000 description 12
- 210000000459 calcaneus Anatomy 0.000 description 6
- 210000002303 tibia Anatomy 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 241001227561 Valgus Species 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction 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
- 230000005713 exacerbation Effects 0.000 description 1
- 210000002082 fibula Anatomy 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 210000000450 navicular bone Anatomy 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- 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
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- Health & Medical Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an ankle rehabilitation parallel mechanism, which comprises a static platform, a dynamic platform, two UPU branched chains and an AABA branched chain, wherein the static platform is connected with the dynamic platform; the parallel mechanism is provided with two misaligned rotary sphere centers, namely a fixed sphere center and a movable sphere center; the parallel mechanism is integrally regarded as a spherical motion of two degrees of freedom of a movable spherical center around a fixed spherical center, and a movable platform moves around the movable spherical center under the constraint of three branched chains to perform the spherical motion of one degree of freedom; the three branched chains are respectively converged with the rotation axes of the rotation pairs between the static platforms at a point which is the centering of the parallel mechanism; the three branched chains are respectively converged with the rotation axes of the rotation pairs between the movable platforms at a point which is the movable sphere center of the parallel mechanism; each UPU branched chain is provided with a moving pair along the length direction of the UPU branched chain; the two UPU branched chains control the positions of the centering ball and the moving ball center in space, and the B-shaped connecting rod in the AABA branched chain controls the distance between the centering ball and the moving ball center. The parallel mechanism has lower manufacturing and assembling precision, simpler and more compact structure and lower cost.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to an ankle joint rehabilitation parallel mechanism.
Background
The ankle joint is an important joint in a human body, is an energy pivot for supporting the weight of the body and pushing the human body to push off the ground, and is also the joint most easily damaged due to the weight or external impact. The problems of the motion rehabilitation of the ankle joint are increasingly serious due to the aging in China and the exacerbation of hemiplegic patients. Along with the development of the sports rehabilitation theory and the robot technology, the ankle rehabilitation robot is generated, and can assist therapists in performing sports rehabilitation treatment on the ankle of patients. The ankle rehabilitation robot is stable and controllable in motion, not only can ensure training efficiency and strength, but also can record various data in real time in the rehabilitation process and is used for evaluating treatment effect and correcting treatment scheme. The prior ankle rehabilitation robot mostly equivalent human ankle to a standard spherical pair, and in practice, the human ankle is one of the most complex joints of human body, including tibia, fibula, talus, navicular bone, calcaneus and the like, and if the human ankle is simply equivalent to the standard spherical pair, larger man-machine interaction force can be generated when the human ankle rehabilitation robot is used.
The document with application number 201910868664.2 discloses a three-degree-of-freedom generalized spherical parallel mechanism which mainly comprises two ABA branched chains and one AABA branched chain, wherein 'double-center line segments' of all B-type connecting rods are required to be completely overlapped all the time, namely, the centers of all the B-rod centering balls are overlapped to form the centering ball of the parallel mechanism, and the centers of all the B-rod moving balls are overlapped to form the moving ball of the parallel mechanism. The intersection points of the axes of the holes at the two ends of all the A-shaped connecting rods connected with the movable platform are always coincident with the movable sphere center, and the axes of the holes at the two ends of all the A-shaped connecting rods connected with the fixed platform are always coincident with the fixed sphere center; if the assembly precision of an A-type connecting rod or a B-type connecting rod with one branched chain or the branched chain cannot meet the requirement, the centering centers or the movable centers of the B rods of all the B-type connecting rods cannot be overlapped, so that the whole mechanism loses the degree of freedom, and the manufacturing precision and the assembly precision of the required mechanism are very high; because the constraint force of each motion branched chain is calculated according to the spiral theory, each motion branched chain can provide a constraint force along the connecting line of the centering sphere and the center sphere of the moving sphere, so that two redundant constraint forces are generated, namely two virtual constraints are generated; and if the center distance between the centering ball and the moving ball needs to be adjusted, 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 the double-center line segment are required to be changed, and the accurate adjustment of the center distance between the centering ball and the moving ball is difficult to achieve in the processing precision.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an ankle rehabilitation parallel mechanism; the parallel mechanism has lower manufacturing and machining precision and assembly precision, simpler and more compact structure and lower cost, and the change of the center distance between the centering ball and the moving ball is easier to realize in the machining aspect.
In order to achieve the above purpose, the technical scheme of the invention is that an ankle rehabilitation parallel mechanism is provided, which comprises a static platform and a movable platform, wherein the parallel mechanism is provided with two misaligned rotary sphere centers, namely a fixed sphere center and a movable sphere center, and the distance between the two sphere centers is an adjustable fixed value; it is characterized in that the method comprises the steps of,
the parallel mechanism also comprises two UPU branched chains and an AABA branched chain, wherein the two UPU branched chains are symmetrical about the AABA branched chains, and the two tail ends of the three branched chains are respectively connected with the static platform and the dynamic platform through a rotary pair;
the parallel mechanism is integrally regarded as a spherical motion of two degrees of freedom of a movable spherical center around a fixed spherical center, and a movable platform moves around the movable spherical center under the constraint of three branched chains to perform the spherical motion of one degree of freedom; the three branched chains are respectively converged with the rotation axes of the rotation pairs between the static platforms at a point which is the centering of the parallel mechanism; the three branched chains are respectively converged with the rotation axes of the rotation pairs between the movable platforms at a point which is the movable sphere center of the parallel mechanism;
the AABA type branched chain is connected by a rotary pair from top to bottom in sequence by an A type connecting rod and a B type connecting rod 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 two end holes of the upper two A-shaped connecting rods are coincident with the centering sphere of the parallel mechanism, and the intersection points of the axial leads of the two end holes of the lower A-shaped connecting rods are coincident with the movable sphere of the parallel mechanism;
the B-shaped connecting rod is a double-sphere-center spherical connecting rod, namely the B-shaped connecting rod is provided with two generalized sphere centers, namely a B-rod centering sphere and a B-rod moving sphere center are respectively overlapped, and the B-rod centering sphere is overlapped with the centering sphere of the parallel mechanism, and the B-rod moving sphere center is overlapped with the moving sphere center of the parallel mechanism; the line segment formed by connecting two generalized sphere centers of the B-shaped connecting rod is defined as a double-center line segment, and the length of the double-center line segment is defined as a double-center distance, namely the double-center distance of the B-shaped connecting rod is equal to the distance between a movable sphere center and a fixed sphere center;
each UPU branched chain is provided with a moving pair along the length direction of the UPU branched chain; the two UPU branched chains control the pose of the double-heart line segment in space, and the B-shaped connecting rod in the AABA branched chain controls the double-heart distance.
The fixed platform is characterized in that a first fixed platform hinged support, a second fixed platform hinged support and a third fixed platform hinged support are uniformly distributed on the fixed platform in a circumference manner, and the axes of the hinged holes of the three fixed platform hinged supports meet at a point which is the centering of the parallel mechanism;
the movable platform is provided with a first movable platform hinge support, a second movable platform hinge support and a third movable platform hinge support which are uniformly distributed on the circumference, and the axes of the hinge holes of the three movable platform hinge supports meet at a point which is the movable sphere 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 movable pair on the UPU branched chain consists of a Hooke joint connecting rod and a Hooke joint connecting shaft, wherein the lower end of the Hooke joint connecting rod is provided with a sleeve, one end of the Hooke joint connecting shaft extends into the sleeve and can slide in the sleeve, and the movable pair is formed between the Hooke joint connecting rod and the Hooke joint connecting shaft; the upper end of the Hooke's joint connecting rod is hinged with the short shaft of the upper Hooke's joint, and the long shaft of the upper Hooke's joint 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 coincident with the axis of the hinge hole of the corresponding static platform hinge support, and the axis of the short shaft of each upper hook hinge is perpendicular to the axis of the hinge hole of the corresponding static platform hinge support; the axes of the long shafts of the two upper hook hinges intersect at a point, the point coincides with the centering sphere of the parallel mechanism, the axis of the long shaft of each lower hook hinge is perpendicular to the axis of the hinge hole of the corresponding movable platform hinge support, and the axis of the short shaft of the lower hook hinge coincides with the axis of the hinge hole of the corresponding movable platform hinge support; the axes of the two lower hook long axes are intersected at a point, and the point is overlapped with the movable sphere center of the parallel mechanism;
the AABA type branched chain is connected by three A type connecting rods and one B type connecting rod sequentially through a rotation pair in an AABA mode, wherein one end of the 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 the 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 the UPU branched chain consists of the hook joint connecting rod and an electric push rod; the long shaft of the upper hook hinge is hinged with a corresponding hinged support of the static platform, and the short shaft of the upper hook hinge is hinged with the upper end of the hook hinge connecting rod; the lower end of the Hooke's 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's hinge connecting rod when the electric push rod works; the installation 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 branched chain, wherein each UPU branched chain generates a constraint force passing through the intersection point of the upper hook long axis and the lower hook long axis, and the constraint force is parallel to the short axis of the respective upper hook; the AABA type branched chain generates a constraint force along the connecting line of the spherical center of the centering ball and the spherical center of the moving ball, 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 is not influenced; the parallel mechanism only requires that the axis of the upper hook long shaft of each UPU branched chain passes through the centering sphere, the axis of the lower hook long shaft passes through the moving sphere, the centering sphere of the B rod of the B-type connecting rod of the AABA type connecting rod coincides with the centering sphere, and the moving sphere of the B rod coincides with the moving sphere; compared with a parallel mechanism formed by an ABA type branched chain and an AABA type connecting rod, the double-center line segments of all the B type connecting rods are required to be completely overlapped all the time, the intersection points of the axial leads of the holes at the two ends of all the A type connecting rods connected with the movable platform are always overlapped with the movable sphere center, and the axial leads of the holes at the two ends of all the A type connecting rods connected with the fixed platform are always overlapped with the fixed sphere center, so that the manufacturing and processing precision and the assembly precision of the scheme are obviously reduced; if the center distance between the centering ball and the moving ball is to be adjusted, only the length of the A-type connecting rod and the length of the B-type connecting rod of the AABA-type connecting rod and the length of the double-center line segment are required to be changed, and the UPU branched chain only needs to adjust the movement amount of the moving pair according to the selected center distance due to the existence of the moving pair, so that the processing difficulty and the processing precision are further reduced.
In summary, compared with the existing three-degree-of-freedom parallel mechanism formed by the ABA branched chain and the AABA branched chain, the three-degree-of-freedom parallel mechanism has lower manufacturing and machining precision and assembly precision, simpler and more compact structure and lower cost, and the change of the center of sphere distance between the centering sphere and the moving sphere is easier to realize in the machining aspect.
The invention can be applied to the design of human ankle rehabilitation robots and exoskeletons, can fully meet the requirements of dorsi extension/plantarflexion, adduction/abduction and varus/valgus of the human ankle, can fully fit the instantaneous movement between the ankle talus and the calcaneus, fully eliminates the man-machine interaction force caused by the ankle talus in the traditional ankle rehabilitation mechanism, has simple structure, strong bearing capacity and high movement flexibility, is safe and reliable, and is suitable for various crowds.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a UPU branched chain of the present invention;
FIG. 3 is a schematic diagram of the AABA type branch chain of the present invention;
reference numerals illustrate: 1. a static platform; 2. centering the sphere; 3. a movable sphere center; 4. a movable platform; 5. a Hooke's joint is arranged; 6. a hook hinge connecting rod; 7. a Hooke hinge support; 8. a hook joint is arranged; 9. a first A-shaped connecting rod; 10. a second type A connecting rod; 11. a B-type connecting rod; 12. a third type A connecting rod; 13. a Hooke's joint connecting shaft; 101. a first hinge support of the static platform; 102. a second hinge 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 hinge support of the movable platform; 403. and a movable platform No. three hinged support.
Detailed Description
The invention will be further described with reference to examples and figures. The specific examples are only for further detailed description of the present invention and do not limit the scope of the present application.
The invention provides an ankle rehabilitation parallel mechanism (abbreviated as parallel mechanism), which comprises a static platform 1, a dynamic platform 4, two UPU branched chains and an AABA branched chain, wherein the two UPU branched chains are connected with each other through a connecting rod; the two UPU branched chains are symmetrical about the AABA branched chains to form a semi-symmetrical structure, and the two tail ends of the three branched chains are respectively connected with the static platform 1 and the dynamic platform 4 through a rotation pair; the parallel mechanism is provided with two misaligned rotary sphere centers, namely a centering sphere center 2 and a movable sphere center 3, and the distance between the two sphere centers is an adjustable fixed value; the whole parallel mechanism can be regarded as the spherical motion of the movable spherical center 3 with two degrees of freedom around the fixed spherical center 2, and the movable platform 4 can be regarded as the spherical motion with one degree of freedom around the movable spherical center 3 under the constraint of three branched chains; the three branched chains are respectively converged with the rotation axes of the rotation pairs between the static platforms 1 at a point which is the centering 2 of the parallel mechanism; the three branched chains respectively meet the rotation axes of the rotation pairs between the movable platforms 4 at a point which is the movable sphere center 3 of the parallel mechanism;
the AABA type branched chain is connected by a rotary pair from top to bottom in sequence by an A type connecting rod and a B type connecting rod 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 two end holes of the upper two A-shaped connecting rods are overlapped with the centering ball center 2 of the parallel mechanism, and the intersection points of the axial leads of the two end holes of the lower A-shaped connecting rods are overlapped with the movable ball center 3 of the parallel mechanism;
the B-shaped connecting rod is a double-sphere-center spherical connecting rod, namely the B-shaped connecting rod is provided with two generalized sphere centers, namely a B-rod centering sphere and a B-rod moving sphere center are respectively overlapped, wherein the B-rod centering sphere is overlapped with a centering sphere 2 of the parallel mechanism, and the B-rod moving sphere center is overlapped with a moving sphere 3 of the parallel mechanism; the line segment formed by connecting two generalized sphere centers of the B-shaped connecting rod is defined as a double-center line segment, and the length of the double-center line segment is defined as a double-center distance, namely the double-center distance of the B-shaped connecting rod is equal to the distance between the movable sphere center 3 and the centering sphere center 2;
each UPU branched chain is provided with a moving pair along the length direction of the UPU branched chain; the two UPU branched chains control the pose of the double-heart line segment in space, and the B-shaped connecting rod in the AABA branched chain controls the double-heart distance.
Example 1
The ankle rehabilitation parallel mechanism (see fig. 1-3) comprises a static platform 1, a dynamic platform 4, two UPU branched chains and an AABA branched chain;
the static platform 1 is provided with a static platform I hinged support 101, a static platform II hinged support 102 and a static platform III hinged support 103 which are uniformly distributed on the circumference, the axes of the hinged holes of the three static platform hinged supports meet at a point which is the centering 2 of the parallel mechanism;
the movable platform 4 is provided with a first movable platform hinge support 401, a second movable platform hinge support 402 and a third movable platform hinge support 403 which are uniformly distributed on the circumference, and the axes of the hinge holes of the three movable platform hinge supports meet at a point which is the movable sphere center 3 of the parallel mechanism;
each UPU branched chain consists of a Hooke joint and comprises an upper Hooke joint 5, a Hooke joint connecting rod 6, a Hooke joint support 7, a lower Hooke joint 8 and a Hooke joint connecting shaft 13; the long shaft of an upper hook 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 hook 5 is hinged with the upper end of a hook connecting rod 6; the lower end of the Hooke joint connecting rod 6 is provided with a sleeve, one end of the Hooke joint connecting shaft 13 extends into the sleeve and can slide in the sleeve, and a moving pair is formed between the Hooke joint connecting rod 6 and the Hooke joint connecting shaft; 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 the upper hook 5 of the other UPU branched chain is hinged with a third hinge support 103 of the static platform, and the long shaft of the lower hook 8 of the UPU branched chain is hinged with the third hinge support 403 of the movable platform;
the axis of the long shaft of each upper hook 5 coincides with the axis of the hinge hole of the corresponding static platform hinge support, and the axis of the short shaft of each upper hook 5 is perpendicular to the axis of the hinge hole of the corresponding static platform hinge support; the axes of the long shafts of the two upper hook hinges 5 are intersected at a point, the point coincides with the centering ball 2 of the parallel mechanism, the axis of the long shaft of each lower hook hinge 8 is perpendicular to the axis of the hinge hole of the corresponding movable platform hinge support, and the axis of the short shaft of the lower hook hinge 8 coincides with the axis of the hinge hole of the corresponding movable platform hinge support; the axes of the long shafts of the two lower hook hinges 8 intersect at a point which coincides with the movable sphere center 3 of the parallel mechanism;
the AABA type branched chain is connected by three A type connecting rods and one B type connecting rod sequentially through a rotation pair in an AABA mode, wherein one end of a first A type connecting rod 9 is hinged with a second hinge 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 rehabilitation robot, firstly, the average relative rotation spherical center between the tibia and the talus of a patient and the average relative rotation spherical center between the talus and the calcaneus of the patient are determined according to the talus size of the patient, 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, and the fixed spherical center 2 of the parallel mechanism always coincides with the average relative rotation spherical center of the talus and the calcaneus in the motion fitting process, and the movable spherical center 3 of the parallel mechanism always coincides with the average relative rotation spherical center of the tibia and the talus.
When in use, the upper end of the first A-shaped connecting rod 9 and the long shaft of each upper hook 5 are respectively provided with a servo motor, namely the first A-shaped connecting rod 9 and the two upper hook 5 are used as a driving part and are driven by a revolute pair; the three servo motors respectively drive the upper hook 5 in the two UPU branched chains and the A-shaped connecting rod 9 in the AABA branched chains 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 to further control the pose of the brake platform 4; the first A-shaped connecting rod 9 of the AABA-shaped branched chain drives the second A-shaped connecting rod 10 to rotate, and two upper hook joints 5 in the two UPU branched chains drive respective hook joint connecting rods 6 to rotate; because the axes of the first hinge support 101, the third hinge support 103 and the long shafts of the two upper hook hinges 5 of the static platform 1 intersect at a point which coincides with the centering 2 of the parallel mechanism; the axes of the long shafts of the first hinge support 401, the third hinge support 403 and the two lower hook hinges 8 of the movable platform 5 intersect at a point which coincides with the movable sphere center 3 of the parallel mechanism; because the Hooke hinge connecting rod 6 is connected with the Hooke hinge support 7 by adopting a moving pair, the two rods move along the length direction of the UPU branched chain; the gesture of the double-heart line segment in space is only two degrees of freedom, so that the two UPU branched chains control the gesture of the double-heart line segment in space, and the B-shaped connecting rod in the AABA branched chain controls the double-heart distance; therefore, the angle input quantity of the long axis of the upper hook 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; the first A-shaped connecting rod 9 and the second A-shaped connecting rod 10 of the AABA-shaped branched chain are both A-shaped spherical connecting rods, and the intersection point of the axes of holes at two ends of the first A-shaped connecting rod and the second A-shaped connecting rod coincides with the centering ball, so that the centering ball of the B-shaped connecting rod 11 coincides with the centering ball 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 coincides with the intersection point of the axes of the hinge holes of the three hinge supports of the movable platform 5, namely coincides with the movable spherical center 3 of the parallel mechanism, so that the 'B-rod movable spherical center' of the B-shaped connecting rod 11 is limited to coincide with the movable spherical center 3 of the parallel mechanism; the spatial movement of the B-shaped link 11 is a rotation about a "double centerline segment"; if the angle input quantity of the long axes of the two upper hook hinges 5 of the UPU branched chain of the driving element is given, the space pose of the double-heart line segment of the parallel mechanism is fixed; at the moment, the static platform 1, the first A-shaped connecting rod 9, the second A-shaped connecting rod 10 and the second B-shaped connecting rod 11 form a spherical four-bar mechanism, and the spherical four-bar mechanism has one degree of freedom, namely the first A-shaped connecting rod 9 drives the second A-shaped connecting rod 10 to drive the second B-shaped connecting rod to rotate around a double-heart line segment; the B-type connecting rod drives the movable platform 4 to move in a spherical surface around the movable sphere center 3 of the parallel mechanism under the limitation of two UPU branched chains through the A-type connecting rod.
In summary, the angle input of the long axes of the two upper hooke hinges 5 of the driving element controls the spherical movement of the driving sphere center 3 around the centering sphere 2, which has two degrees of freedom, and when the parallel mechanism is used in the design of a human ankle rehabilitation robot, the parallel mechanism mainly fits the relative movement between the tibia and the talus of the ankle of a user; the angle input quantity of the first A-shaped connecting rod 9 of the driving part controls the spherical surface motion of the movable platform 4 around the spherical center 3, and the first A-shaped connecting rod has one degree of freedom, and mainly fits the relative motion between the talus and calcaneus of the ankle joint of a user; the parallel mechanism has three degrees of freedom as a whole, can fit ankle joint movement more accurately, and greatly reduces man-machine interaction force caused by mechanism configuration.
Example 2
The ankle rehabilitation parallel mechanism (see fig. 1-3) comprises a static platform 1, a dynamic platform 4, two UPU branched chains and an AABA branched chain;
the static platform 1 is provided with a static platform I hinged support 101, a static platform II hinged support 102 and a static platform III hinged support 103 which are uniformly distributed on the circumference, the axes of the hinged holes of the three static platform hinged supports meet at a point which is the centering 2 of the parallel mechanism;
the movable platform 4 is provided with a first movable platform hinge support 401, a second movable platform hinge support 402 and a third movable platform hinge support 403 which are uniformly distributed on the circumference, and the axes of the hinge holes of the three movable platform hinge supports meet at a point which is the movable sphere center 3 of the parallel mechanism;
each UPU branched chain consists of a Hooke joint and comprises an upper Hooke joint 5, a Hooke joint connecting rod 6, a Hooke joint support 7, a lower Hooke joint 8 and an electric push rod; the long shaft of an upper hook 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 hook 5 is hinged with the upper end of a hook connecting rod 6; the Hooke's joint connecting rod 6 is in interference fit on an output shaft of the electric push rod, and a moving pair is formed between the electric push rod and the Hooke's joint connecting rod 6 when the electric push rod works; the installation 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 the upper hook 5 of the other UPU branched chain is hinged with a third hinge support 103 of the static platform, and the long shaft of the lower hook 8 of the UPU branched chain is hinged with the third hinge support 403 of the movable platform;
the axis of the long shaft of each upper hook 5 coincides with the axis of the hinge hole of the corresponding static platform hinge support, and the axis of the short shaft of each upper hook 5 is perpendicular to the axis of the hinge hole of the corresponding static platform hinge support; the axes of the long shafts of the two upper hook hinges 5 are intersected at a point, the point coincides with the centering ball 2 of the parallel mechanism, the axis of the long shaft of each lower hook hinge 8 is perpendicular to the axis of the hinge hole of the corresponding movable platform hinge support, and the axis of the short shaft of the lower hook hinge 8 coincides with the axis of the hinge hole of the corresponding movable platform hinge support; the axes of the long shafts of the two lower hook hinges 8 intersect at a point which coincides with the movable sphere center 3 of the parallel mechanism;
the AABA type branched chain is connected by three A type connecting rods and one B type connecting rod sequentially through a rotation pair in an AABA mode, wherein one end of a first A type connecting rod 9 is hinged with a second hinge 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:
the two electric push rods and the servo motor arranged on the AABA branched chain work, namely, the two UPU branched chain shifting pairs and the AABA branched chain rotating pairs are used for driving; the servo motor arranged on the AABA type branched chain drives the A type connecting rod 9 to rotate, and the electric push rod of each UPU branched chain enables the distance between the upper hook 5 and the lower hook 8 of the UPU branched chain to change, 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 gesture of a double-center line segment is changed, namely the space position of the movable sphere center 3 of the parallel mechanism is changed; the first type A connecting rod 9, the second type A connecting rod 10, the second type B connecting rod 11 and the third type A connecting rod 12 are sequentially connected into an AABA type branched chain, and the 'B rod centering center' of the B type connecting rod 11, the intersection point of the axial lines of the holes at the two ends of the first type A connecting rod 9 and the intersection point of the axial lines of the holes at the two ends of the second type A connecting rod 10 are overlapped with the centering 2 of the parallel mechanism, the 'double center distance' of the B type connecting rod 11 is equal to the distance between the centering 2 and the moving center 3, and the intersection point of the axial lines of the holes at the two ends of the third type A connecting rod 12 of the B type connecting rod 11 is overlapped with the moving center 3 of the parallel mechanism, so that the space motion of the B type connecting rod 11 is the rotation around the 'double center line segment'; the B-type connecting rod drives the movable platform 4 to move around the ball center 3 to make spherical surface movement under the limitation of two UPU branched chains through the A-type connecting rod with the number three.
In summary, the amount of expansion and contraction of the two electric pushrods controls the spherical movement of the movable ball center 3 around the centering ball center 2, determines the spatial position of the movable ball center 3 of the parallel mechanism, has two degrees of freedom, and mainly fits the relative movement between the tibia and the talus of the ankle of a user when the parallel mechanism is used in the design of a human ankle rehabilitation robot; the angle input quantity of the type A connecting rod controls the spherical motion of the movable platform 4 around the spherical center 3, and has one degree of freedom, and the degree of freedom mainly fits the relative motion between the talus and calcaneus of the ankle joint of a user; the parallel mechanism has three degrees of freedom as a whole, can fit ankle joint movement more accurately, greatly reduces man-machine interaction force caused by mechanism configuration, and achieves the purpose of rehabilitation training of the ankle joint of a patient.
The invention is applicable to the prior art where it is not described.
Claims (1)
1. An ankle rehabilitation parallel mechanism comprises a static platform and a movable platform, wherein the parallel mechanism is provided with two misaligned rotary sphere centers, namely a centering sphere center and a movable sphere center, and the distance between the two sphere centers is an adjustable fixed value; it is characterized in that the method comprises the steps of,
the parallel mechanism also comprises two UPU branched chains and an AABA branched chain, wherein the two UPU branched chains are symmetrical about the AABA branched chains, and the two tail ends of the three branched chains are respectively connected with the static platform and the dynamic platform through a rotary pair; the parallel mechanism is integrally regarded as a spherical motion of two degrees of freedom of a movable spherical center around a fixed spherical center, and a movable platform moves around the movable spherical center under the constraint of three branched chains to perform the spherical motion of one degree of freedom; the three branched chains are respectively converged with the rotation axes of the rotation pairs between the static platforms at a point which is the centering of the parallel mechanism; the three branched chains are respectively converged with the rotation axes of the rotation pairs between the movable platforms at a point which is the movable sphere center of the parallel mechanism;
the AABA type branched chain is connected by a rotary pair from top to bottom in sequence by an A type connecting rod and a B type connecting rod 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 two end holes of the upper two A-shaped connecting rods are coincident with the centering sphere of the parallel mechanism, and the intersection points of the axial leads of the two end holes of the lower A-shaped connecting rods are coincident with the movable sphere of the parallel mechanism;
the B-shaped connecting rod is a double-sphere-center spherical connecting rod, namely the B-shaped connecting rod is provided with two generalized sphere centers, namely a B-rod centering sphere and a B-rod moving sphere center are respectively overlapped, and the B-rod centering sphere is overlapped with the centering sphere of the parallel mechanism, and the B-rod moving sphere center is overlapped with the moving sphere center of the parallel mechanism; the line segment formed by connecting two generalized sphere centers of the B-shaped connecting rod is defined as a double-center line segment, and the length of the double-center line segment is defined as a double-center distance, namely the double-center distance of the B-shaped connecting rod is equal to the distance between a movable sphere center and a fixed sphere center;
each UPU branched chain is provided with a moving pair along the length direction of the UPU branched chain; the two UPU branched chains control the pose of a double-heart line segment in space, and the B-shaped connecting rod in the AABA branched chain controls the double-heart distance;
the fixed platform is characterized in that a first fixed platform hinged support, a second fixed platform hinged support and a third fixed platform hinged support are uniformly distributed on the fixed platform in a circumference manner, and the axes of the hinged holes of the three fixed platform hinged supports meet at a point which is the centering of the parallel mechanism;
the movable platform is provided with a first movable platform hinge support, a second movable platform hinge support and a third movable platform hinge support which are uniformly distributed on the circumference, and the axes of the hinge holes of the three movable platform hinge supports meet at a point which is the movable sphere 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 movable pair on the UPU branched chain consists of a Hooke joint connecting rod and a Hooke joint connecting shaft, wherein the lower end of the Hooke joint connecting rod is provided with a sleeve, one end of the Hooke joint connecting shaft extends into the sleeve and can slide in the sleeve, and the movable pair is formed between the Hooke joint connecting rod and the Hooke joint connecting shaft; the upper end of the Hooke's joint connecting rod is hinged with the short shaft of the upper Hooke's joint, and the long shaft of the upper Hooke's joint 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 coincident with the axis of the hinge hole of the corresponding static platform hinge support, and the axis of the short shaft of each upper hook hinge is perpendicular to the axis of the hinge hole of the corresponding static platform hinge support; the axes of the long shafts of the two upper hook hinges intersect at a point, the point coincides with the centering sphere of the parallel mechanism, the axis of the long shaft of each lower hook hinge is perpendicular to the axis of the hinge hole of the corresponding movable platform hinge support, and the axis of the short shaft of the lower hook hinge coincides with the axis of the hinge hole of the corresponding movable platform hinge support; the axes of the two lower hook long axes are intersected at a point, and the point is overlapped with the movable sphere center of the parallel mechanism;
the AABA type branched chain is connected by three A type connecting rods and one B type connecting rod sequentially through a rotation pair in an AABA mode, wherein one end of the 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 the 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 a 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 the UPU branched chain consists of the hook joint connecting rod and an electric push rod; the long shaft of the upper hook hinge is hinged with a corresponding hinged support of the static platform, and the short shaft of the upper hook hinge is hinged with the upper end of the hook hinge connecting rod; the lower end of the Hooke's 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's hinge connecting rod when the electric push rod works; the installation 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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| CN111700774B (en) * | 2020-07-21 | 2024-03-29 | 河北工业大学 | Ankle joint fitting mechanism with motion decoupling function |
| CN112238444B (en) * | 2020-10-19 | 2022-08-05 | 中国民航大学 | Parallel mechanism containing vertical non-coplanar linear driving branched chain |
| CN113397919B (en) * | 2021-07-21 | 2022-04-01 | 深圳市大寰机器人科技有限公司 | Exoskeleton robot for ankle rehabilitation |
| CN113648183A (en) * | 2021-08-19 | 2021-11-16 | 廊坊瑞立达智能机器有限公司 | Ankle joint rehabilitation training device |
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