CN111759677B - Leg joint rehabilitation series-parallel robot - Google Patents
Leg joint rehabilitation series-parallel robot Download PDFInfo
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- CN111759677B CN111759677B CN202010780850.3A CN202010780850A CN111759677B CN 111759677 B CN111759677 B CN 111759677B CN 202010780850 A CN202010780850 A CN 202010780850A CN 111759677 B CN111759677 B CN 111759677B
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- 210000001503 joint Anatomy 0.000 title claims abstract description 18
- 210000000629 knee joint Anatomy 0.000 claims abstract description 180
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 117
- 230000003068 static effect Effects 0.000 claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 210000002414 leg Anatomy 0.000 claims abstract description 23
- 210000003423 ankle Anatomy 0.000 claims description 64
- 210000004394 hip joint Anatomy 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 210000001624 hip Anatomy 0.000 claims description 3
- 210000003127 knee Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery 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
-
- 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
- A61H1/024—Knee
-
- 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
- A61H1/0244—Hip
-
- 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
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2205/08—Trunk
- A61H2205/088—Hip
-
- 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
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- 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)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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- General Health & Medical Sciences (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a leg joint rehabilitation series-parallel robot, and belongs to the field of industrial robots. The knee joint parallel mechanism comprises a knee joint static platform and a knee joint dynamic platform, and the tops of a knee joint driving module II and a knee joint driving module III are connected with the knee joint static platform through spherical hinges; the top of the knee joint driving module is connected with the knee joint static platform through a Hooke joint; the bottom of the knee joint driving module I and the bottom of the knee joint driving module II are connected with the knee joint movable platform through a revolute pair; the ankle joint hybrid mechanism is arranged on the knee joint moving platform. The invention aims at the current situation that the actual demand for the joint rehabilitation robot in the prior industry is higher and higher, can realize the rehabilitation training movement of the knee joint and the ankle joint, and can be widely applied to the occasions of medical knee joint rehabilitation training.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a leg joint rehabilitation hybrid robot.
Background
The knee ankle joint is a load bearing joint of a human body, participates in movement, is easy to damage, and is particularly important for postoperative rehabilitation training. At present, the rehabilitation training of knee ankle joint mainly relies on the training of guiding of recovered teacher, and to the robot that is used for knee ankle joint rehabilitation training rarely has practical application, can't satisfy people and carry out knee joint rehabilitation training's convenience requirement at home. Therefore, with the rapid development of the robot technology, it is important to design a robot mechanism to assist people in performing rehabilitation training of knee and ankle joints.
Through retrieval, the Chinese patent application number: 2014100824800, the name of invention creation is: the six-degree-of-freedom leg rehabilitation training robot comprises a rack, a servo motor, three motion branched chains and a training pedal, wherein the motion branched chains are connected with the servo motor through a Hooke hinge mechanism, a first servo motor is connected with a third rotation hinge in the Hooke hinge mechanism, the third rotation hinge is connected with a second rotation hinge through a second connecting rod, the second rotation hinge is connected with a first rotation hinge through the first connecting rod, and the second servo motor is connected with a U-shaped piece in the Hooke hinge mechanism; the axes of the first rotating hinge and the third rotating hinge are mutually vertical and coplanar, and the axis of the second rotating hinge and the axis of the second servo motor are mutually vertical and coplanar; the axes of the second servo motor and the first servo motor are arranged in a vertical state. The application can realize X, Y, Z rotation and movement, and the leg body of the patient is recovered through passive rehabilitation training.
Also as in chinese patent application No.: 2017104066020, the name of invention creation is: an ankle joint rehabilitation training robot system comprises a PUS + S type parallel joint training unit, a motion monitoring and control unit and a leg supporting unit, wherein the PUS + S type parallel ankle joint training unit is used for positioning soles and simulating actual motion of human ankle joints to perform rehabilitation training on the damaged ankle joints of a human body; the PUS + S type parallel joint training unit comprises a sole positioning and fixing soft groove, a rotary training platform, more than three PUS type moving branched chains, a middle strut and a training unit base; the PUS-type motion branched chain comprises a ball hinge, a connector, a connecting rod, a hooke hinge and a hooke hinge supporting seat; the application has adjustable rehabilitation training intensity and controllable exercise instability.
In summary, a great deal of designs of rehabilitation training robots for knee and ankle joints are disclosed, but new designs which are more abundant, diversified and practical are still needed in the industry.
Disclosure of Invention
1. Technical problem to be solved by the invention
Aiming at the current situation that the actual demand of the joint rehabilitation robot is higher and higher in the current industry, the invention provides the leg joint rehabilitation hybrid robot, which can realize the rehabilitation training movement of knee joints and ankle joints and achieve a better rehabilitation training effect.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention discloses a leg joint rehabilitation hybrid robot, which comprises a knee joint parallel mechanism and an ankle joint parallel mechanism, wherein the knee joint parallel mechanism comprises a knee joint static platform and a knee joint dynamic platform which are distributed up and down, and a knee joint driving module I, a knee joint driving module II and a knee joint driving module III which are distributed triangularly are connected between the knee joint static platform and the knee joint dynamic platform; the tops of the second knee joint driving module and the third knee joint driving module are respectively connected with the knee joint static platform through spherical hinges; the top of the knee joint driving module is connected with the knee joint static platform through a Hooke joint; the bottom of the knee joint driving module I and the bottom of the knee joint driving module II are respectively connected with the knee joint movable platform through revolute pairs; the ankle joint hybrid mechanism is arranged on the knee joint moving platform.
Furthermore, the ankle joint hybrid mechanism comprises an ankle joint parallel unit and an ankle joint fixing unit, the ankle joint fixing unit is arranged at the top of the ankle joint parallel unit, an ankle joint static platform is arranged at the bottom of the ankle joint parallel unit, the ankle joint parallel unit comprises a first ankle joint driving module, a second ankle joint driving module and a third ankle joint driving module which are distributed in a triangular mode, the tops of the first ankle joint driving module and the second ankle joint driving module are connected with the ankle joint fixing unit through spherical hinges respectively, and the bottoms of the first ankle joint driving module and the second ankle joint driving module are connected with the ankle joint static platform through hooke hinges respectively; the top of the ankle joint driving module is connected with the ankle joint fixing unit through a Hooke joint, and the bottom of the ankle joint driving module is connected with the ankle joint static platform through an ankle joint connecting plate.
Furthermore, the ankle joint series-parallel mechanism further comprises an ankle joint rotating unit, the ankle joint rotating unit comprises a servo motor, a driving shaft and a mounting support arranged on the knee joint moving platform, the servo motor is arranged on the mounting support, the output end of the servo motor is connected with a first gear, a second gear meshed with the first gear is arranged at the bottom end of the driving shaft, and the driving shaft is in running fit with the mounting support and is connected with the ankle joint static platform at the top.
Furthermore, the output end of the servo motor is connected with a gear connecting block through a tensioning sleeve, and a first gear is connected to the gear connecting block.
Furthermore, the driving shaft is fixed on the mounting bracket through a joint bearing, and the bottom of the driving shaft is connected with a second gear through a screw.
Furthermore, the ankle joint hybrid mechanism is arranged in the middle of the knee joint moving platform.
Furthermore, the first ankle driving module, the second ankle driving module and the third ankle driving module are installed at three points of the isosceles right triangle, wherein the first ankle driving module is located at the right vertex of the isosceles right triangle, and the first ankle driving module and the second ankle driving module are respectively located at the hypotenuse points of the isosceles right triangle.
Furthermore, the installation positions of the first ankle driving module, the second ankle driving module and the third ankle driving module are distributed to form an isosceles right triangle, and the axis position of the middle point of the hypotenuse of the isosceles right triangle coincides with the axis position of the driving shaft.
Furthermore, the first knee joint driving module, the second knee joint driving module and the third knee joint driving module are symmetrically arranged at intervals of 120 degrees.
Furthermore, the bottom of the first knee joint driving module is connected with the movable knee joint platform through a second knee joint revolute pair, the bottom of the second knee joint driving module is connected with the movable knee joint platform through the first knee joint revolute pair, and the first knee joint revolute pair and the second knee joint revolute pair are both vertically installed with the edge of the movable knee joint platform.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
(1) the leg joint rehabilitation hybrid robot comprises a knee joint parallel mechanism and an ankle joint hybrid mechanism, wherein three degrees of freedom of the knee joint parallel mechanism and four degrees of freedom of the ankle joint hybrid mechanism can simultaneously realize rehabilitation training motions of hip, knee joint and ankle joint.
(2) According to the leg joint rehabilitation hybrid robot, the knee joint parallel mechanism has two rotational degrees of freedom which can simulate the rotational motion of the hip and knee joint, the ankle joint parallel mechanism has three rotational degrees of freedom which can simulate the rotational motion of the ankle joint, and the translational degree of freedom vertical to the whole rack can be matched with the motion during the rotational rehabilitation motion, so that the motion comfort of the legs is improved.
(3) The leg joint rehabilitation hybrid robot has the characteristics of large adjustability of motion range, simple structure, low cost, small occupied space, stable work and the like, and can be widely applied to medical knee joint rehabilitation training occasions.
Drawings
Fig. 1 is a schematic structural view of a leg joint rehabilitation hybrid robot according to the present invention;
fig. 2 is a schematic structural view of a leg joint rehabilitation hybrid robot according to the present invention;
FIG. 3 is a schematic view of a partial structure of a parallel knee joint mechanism according to the present invention;
FIG. 4 is a schematic structural view of the ankle hybrid mechanism according to the present invention;
FIG. 5 is a partial schematic view of the series-parallel ankle joint mechanism of the present invention;
FIG. 6 is a schematic structural view of an ankle joint rotation unit according to the present invention;
FIG. 7 is a schematic cross-sectional view of an ankle joint rotation unit according to the present invention;
FIG. 8 is a schematic diagram of the hinge position of the ankle hybrid mechanism according to the present invention.
The reference numerals in the schematic drawings illustrate:
100. a knee joint parallel mechanism; 200. an ankle hybrid mechanism;
101. a knee joint static platform; 102. a first knee joint driving module; 103. a knee joint movable platform; 104. a second knee joint driving module; 105. a knee joint driving module III; 106. a hook hinge of the knee joint; 107. a first knee joint connecting plate; 108. a first knee joint is in spherical hinge connection; 109. a second knee joint connecting plate; 110. a second knee joint spherical hinge; 111. a third knee joint connecting plate; 112. a first knee joint revolute pair; 113. a knee joint revolute pair II; 114. a third knee joint ball joint;
201. an ankle joint parallel unit; 202. an ankle joint rotation unit; 203. an ankle joint fixing unit; 204. an ankle joint is in spherical hinge I; 205. an ankle joint driving module I; 206. an ankle joint Hooke joint I; 207. an ankle joint ball joint II; 208. a hooke joint II of the ankle joint; 209. an ankle joint driving module II; 210. an ankle joint driving module III; 211. a third hooke joint of the ankle joint; 212. an ankle joint connecting plate; 213. an ankle joint static platform; 214. a servo motor; 215. a first gear; 216. mounting a bracket; 217. a drive shaft; 218. a second gear; 219. a tensioning sleeve; 220. a gear connecting block; 221. and a knuckle bearing.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The present invention will be further described with reference to the following examples.
Example 1
As shown in fig. 1 to 8, the hybrid robot for leg joint rehabilitation of the present embodiment includes a knee joint parallel mechanism 100 and an ankle joint parallel mechanism 200, wherein the knee joint parallel mechanism 100 includes a knee joint static platform 101 and a knee joint dynamic platform 103 which are distributed up and down, and a knee joint driving module i 102, a knee joint driving module ii 104 and a knee joint driving module iii 105 which are distributed in a triangular manner are connected between the knee joint static platform 101 and the knee joint dynamic platform 103; the tops of the second knee joint driving module 104 and the third knee joint driving module 105 are respectively connected with the knee joint static platform 101 through spherical hinges; the top of the knee joint driving module I102 is connected with a knee joint static platform 101 through a Hooke joint; the bottom of the knee joint driving module III 105 is connected with the knee joint movable platform 103 through a spherical hinge, and the bottoms of the knee joint driving module I102 and the knee joint driving module II 104 are respectively connected with the knee joint movable platform 103 through a revolute pair; the ankle hybrid mechanism 200 is arranged on the knee joint movable platform 103.
Specifically, as shown in fig. 2, the knee joint static platform 101 is provided with three sections of connecting rods, wherein the middle plate extends outwards in a scattered manner, and each section of connecting rod is correspondingly connected with one driving module; the top of the first knee joint driving module 102 is provided with a first knee joint connecting plate 107, the first knee joint connecting plate 107 is connected with one end of the knee joint static platform 101 through a knee joint hooke joint 106, and the bottom of the first knee joint driving module 102 is connected with the knee joint movable platform 103 through a second knee joint revolute pair 113; the top of the second knee joint driving module 104 is provided with a third knee joint connecting plate 111, the third knee joint connecting plate 111 is connected with one end of the knee joint static platform 101 through a second knee joint spherical hinge 110, and the bottom of the second knee joint driving module 104 is connected with the knee joint movable platform 103 through a first knee joint revolute pair 112; the top of the knee joint driving module III 105 is provided with a knee joint connecting plate II 109, the knee joint connecting plate II 109 is connected with one end of the knee joint static platform 101 through a knee joint spherical hinge I108, and the bottom of the knee joint driving module III 105 is connected with the knee joint movable platform 103 through a knee joint spherical hinge III 114. The first knee joint driving module 102, the second knee joint driving module 104 and the third knee joint driving module 105 are symmetrically arranged at intervals of 120 degrees, as shown in fig. 3, namely, the first knee joint revolute pair 112, the second knee joint revolute pair 113 and the third knee joint spherical hinge 114 are symmetrically distributed at intervals of 120 degrees, the knee joint movable platform 103 is set to be a regular hexagon structure, three groups of supporting plates are uniformly arranged at intervals at the edge and used for installing the first knee joint revolute pair 112, the second knee joint revolute pair 113 and the third knee joint spherical hinge 114, and the first knee joint revolute pair 112 and the second knee joint revolute pair 113 are both vertically installed with the edge of the knee joint movable platform 103. The first knee joint driving module 102 can drive the movable knee joint platform 103 to swing back and forth around the static knee joint platform 101; the second knee joint driving module 104 and the third knee joint driving module 105 can realize the left-right swing of the knee joint movable platform 103 around the knee joint static platform 101, so that the rehabilitation motion of the knee joint is realized.
As shown in fig. 4, the ankle hybrid mechanism 200 includes an ankle parallel unit 201 and an ankle fixing unit 203, the ankle fixing unit 203 is disposed at the top of the ankle parallel unit 201, an ankle static platform 213 is disposed at the bottom of the ankle parallel unit 201, the ankle parallel unit 201 includes a first ankle driving module 205, a second ankle driving module 209 and a third ankle driving module 210 which are distributed in a triangular manner, the tops of the first ankle driving module 205 and the second ankle driving module 209 are connected to the ankle fixing unit 203 through spherical hinges, and the bottoms of the first ankle driving module 205 and the second ankle driving module 209 are connected to the ankle static platform 213 through hooke hinges; the top of the third ankle driving module 210 is connected with the ankle fixing unit 203 through a Hooke's joint, and the bottom of the third ankle driving module 210 is connected with the ankle static platform 213 through an ankle connecting plate 212.
Specifically, as shown in fig. 5, the top of the first ankle driving module 205 is connected to the ankle fixing unit 203 through a first ankle ball joint 204, and the bottom of the first ankle driving module 205 is connected to the ankle static platform 213 through a first ankle hook joint 206; the top of the second ankle joint driving module 209 is connected with the ankle joint fixing unit 203 through a second ankle joint spherical hinge 207, and the bottom of the second ankle joint driving module 209 is connected with the ankle joint static platform 213 through a third ankle joint Hooke hinge 211; the top of the third ankle driving module 210 is connected with the ankle fixing unit 203 through the second ankle hooke joint 208, and the bottom of the third ankle driving module 210 is connected with the ankle static platform 213 through the ankle connecting plate 212.
As shown in fig. 8, the first ankle driving module 205, the second ankle driving module 209 and the third ankle driving module 210 are installed at three points of an isosceles right triangle, wherein the third ankle driving module 210 is located at the right-angled vertex of the isosceles right triangle, and the first ankle driving module 205 and the second ankle driving module 209 are respectively located at the hypotenuse points of the isosceles right triangle.
As shown in fig. 6 and 7, the ankle hybrid mechanism 200 in this embodiment further includes an ankle joint rotation unit 202, the ankle joint rotation unit 202 includes a servo motor 214, a driving shaft 217, and a mounting bracket 216 disposed on the knee joint movable platform 103, the servo motor 214 is disposed on the mounting bracket 216, an output end of the servo motor 214 is connected with a first gear 215, a second gear 218 engaged with the first gear 215 is disposed at a bottom end of the driving shaft 217, and the driving shaft 217 is rotatably fitted to pass through the mounting bracket 216 and is connected with the ankle joint stationary platform 213 at a top portion thereof. Specifically, the output end of the servo motor 214 is connected with a gear connecting block 220 through a tensioning sleeve 219, and a first gear 215 is connected to the gear connecting block 220. The driving shaft 217 is fixed on the mounting bracket 216 through a joint bearing 221, and the bottom of the driving shaft 217 is connected with a second gear 218 through a screw.
In this embodiment, the installation positions of the first ankle driving module 205, the second ankle driving module 209 and the third ankle driving module 210 are distributed to form an isosceles right triangle, and the axis position of the middle point of the hypotenuse coincides with the axis position of the driving shaft 217. That is, the axis of the driving shaft 217 is located at the middle point of the hypotenuse of the isosceles right triangle in a top view, providing the ankle hybrid mechanism 200 with a central rotational degree of freedom. The driving module in this embodiment can be an electric cylinder driving module, which is not described herein again.
In this embodiment, the ankle hybrid mechanism 200 is disposed at the middle position of the knee joint movable platform 103, and the matching motion of each electric cylinder driving module can realize two rotational degrees of freedom around the plane of the ankle fixing unit 203, and the ankle rotating unit 202 can provide rotational degrees of freedom around the perpendicular to ankle static platform 213, thereby realizing the rehabilitation training of the ankle.
In this embodiment, the knee joint parallel mechanism 100 is mainly used for performing rehabilitation exercise on hip and knee joints, two rotational degrees of freedom can be used for performing two rotational rehabilitation exercises of flexion and extension of the knee joints and contraction and extension of the hip joints, and the degree of freedom of movement can be matched with the rotational exercises to realize the up-and-down movement of the whole leg; the ankle joint hybrid mechanism 200 is mainly used for rehabilitation exercise of ankle joints, provides three rotational degrees of freedom and one degree of freedom of movement, wherein the three rotational degrees of freedom are respectively used for realizing rehabilitation training of dorsiflexion and toe flexion, inversion and eversion, adduction and abduction of the ankle joints, and the degree of freedom of movement is matched with the rotational degree of freedom to realize overall traction exercise of the ankle joints which are too vertical and horizontal. The robot of the embodiment can realize mechanism motion by adopting a force and position mixed control mode of a servo system, can set the motion amplitude and force of the mechanism in a personalized manner according to rehabilitation requirements, can customize the motion path and range of the robot according to the recovery degree of knee and ankle joints and the length of legs, can adopt a human-computer interface for operation and motion parameter adjustment, is flexible to operate, and can be widely applied to the field of medical rehabilitation.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (7)
1. The utility model provides a recovered series-parallel connection robot of shank joint which characterized in that: the ankle rehabilitation training device comprises a knee joint parallel mechanism (100) and an ankle joint hybrid mechanism (200), wherein the knee joint parallel mechanism (100) is used for carrying out rehabilitation movement on hip and knee joints, and the ankle joint hybrid mechanism (200) is used for carrying out rehabilitation movement on ankle joints; the knee joint parallel mechanism (100) comprises a knee joint static platform (101) and a knee joint dynamic platform (103) which are distributed up and down, and a knee joint driving module I (102), a knee joint driving module II (104) and a knee joint driving module III (105) which are distributed triangularly are connected between the knee joint static platform (101) and the knee joint dynamic platform (103); the tops of the second knee joint driving module (104) and the third knee joint driving module (105) are respectively connected with the knee joint static platform (101) through spherical hinges; the top of the knee joint driving module I (102) is connected with a knee joint static platform (101) through a Hooke joint; the bottom of the knee joint driving module III (105) is connected with the knee joint movable platform (103) through a spherical hinge, and the bottoms of the knee joint driving module I (102) and the knee joint driving module II (104) are respectively connected with the knee joint movable platform (103) through a revolute pair; the ankle joint hybrid mechanism (200) is arranged on the knee joint movable platform (103);
the ankle joint hybrid mechanism (200) is arranged in the middle position above the knee joint movable platform (103); the ankle joint hybrid mechanism (200) comprises an ankle joint parallel unit (201) and an ankle joint fixing unit (203), the ankle joint fixing unit (203) is arranged at the top of the ankle joint parallel unit (201), an ankle joint static platform (213) is arranged at the bottom of the ankle joint parallel unit (201), the ankle joint parallel unit (201) comprises a first ankle joint driving module (205), a second ankle joint driving module (209) and a third ankle joint driving module (210) which are distributed in a triangular mode, the tops of the first ankle joint driving module (205) and the second ankle joint driving module (209) are connected with the ankle joint fixing unit (203) through spherical hinges respectively, and the bottoms of the first ankle joint driving module (205) and the second ankle joint driving module (209) are connected with the ankle joint static platform (213) through Hooke hinges respectively; the top of the third ankle joint driving module (210) is connected with the ankle joint fixing unit (203) through a Hooke joint, and the bottom of the third ankle joint driving module (210) is connected with the ankle joint static platform (213) through an ankle joint connecting plate (212);
ankle joint series-parallel connection mechanism (200) still includes ankle joint rotation unit (202), ankle joint rotation unit (202) include servo motor (214), drive shaft (217), and set up installing support (216) on knee joint movable platform (103), servo motor (214) set up on installing support (216), and the output of servo motor (214) is connected with gear one (215), the bottom of drive shaft (217) is provided with gear two (218) with gear one (215) meshing, drive shaft (217) normal running fit passes installing support (216) and the top links to each other with ankle joint quiet platform (213).
2. The hybrid robot for rehabilitation of leg joints according to claim 1, wherein: the output end of the servo motor (214) is connected with a gear connecting block (220) through a tensioning sleeve (219), and a first gear (215) is connected to the gear connecting block (220).
3. The hybrid robot for rehabilitation of leg joints according to claim 1, wherein: the driving shaft (217) is fixed on the mounting bracket (216) through a joint bearing (221), and the bottom of the driving shaft (217) is connected with a second gear (218) through a screw.
4. The hybrid robot for rehabilitation of leg joints according to claim 1, wherein: the installation positions of the first ankle joint driving module (205), the second ankle joint driving module (209) and the third ankle joint driving module (210) are positioned at three end points of the isosceles right triangle, wherein the third ankle joint driving module (210) is positioned at the right-angle vertex position of the equal waist right-angle triangle, and the first ankle joint driving module (205) and the second ankle joint driving module (209) are respectively positioned at the hypotenuse end point position of the equal waist right-angle triangle.
5. The hybrid robot for rehabilitation of leg joints according to claim 4, wherein: the installation positions of the first ankle joint driving module (205), the second ankle joint driving module (209) and the third ankle joint driving module (210) are distributed to form an isosceles right triangle, and the axis position of the middle point of the hypotenuse of the isosceles right triangle coincides with the axis position of the driving shaft (217).
6. The hybrid robot for rehabilitation of leg joints according to claim 1, wherein: the knee joint driving module I (102), the knee joint driving module II (104) and the knee joint driving module III (105) are symmetrically arranged at intervals of 120 degrees.
7. The hybrid robot for rehabilitation of leg joints according to claim 6, wherein: the bottom of the first knee joint driving module (102) is connected with the movable knee joint platform (103) through a first knee joint revolute pair (113), the bottom of the second knee joint driving module (104) is connected with the movable knee joint platform (103) through a first knee joint revolute pair (112), and the first knee joint revolute pair (112) and the second knee joint revolute pair (113) are both vertically installed with the edge of the movable knee joint platform (103).
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| KR100541433B1 (en) * | 2002-12-23 | 2006-01-11 | 삼성전자주식회사 | Walking Robot with Two Legs |
| CN100588384C (en) * | 2006-09-14 | 2010-02-10 | 燕山大学 | Biological fusion type foot joint rehabilitation robot |
| FR2930905B1 (en) * | 2008-05-09 | 2010-10-01 | Bia | ANKLE FOR HUMANOIDE ROBOT |
| CN101704244B (en) * | 2009-11-19 | 2011-06-01 | 天津理工大学 | 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
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| CN201960564U (en) * | 2011-03-16 | 2011-09-07 | 安徽理工大学 | Two-freedom degree robot shoulder joint mechanism |
| CN102499854B (en) * | 2011-11-18 | 2014-04-09 | 上海电机学院 | Parallel structure type ankle joint rehabilitation training device |
| CN204296909U (en) * | 2014-12-25 | 2015-04-29 | 中国矿业大学 | One kind humanoid robot series parallel type pedipulator |
| CN105997436B (en) * | 2016-07-06 | 2019-03-22 | 燕山大学 | A kind of four-degree-of-freedom multi-pose lower limb rehabilitation robot |
| CN209154403U (en) * | 2018-06-29 | 2019-07-26 | 中北大学 | A kind of ankle healing robot based on four-freedom hybrid mechanism |
| CN208799474U (en) * | 2018-07-05 | 2019-04-30 | 北京京东方光电科技有限公司 | A kind of flexibility clothes for human leg's rehabilitation training |
| CN109700637B (en) * | 2019-02-28 | 2024-02-23 | 燕山大学 | Ankle joint rehabilitation robot |
| CN109984920B (en) * | 2019-05-15 | 2020-01-10 | 燕山大学 | Man-machine integrated knee joint rehabilitation robot |
| CN110353949B (en) * | 2019-08-08 | 2020-12-01 | 北京交通大学 | Active knee and ankle joint artificial limb mechanism based on metamorphic parallel mechanism |
| CN110711109B (en) * | 2019-09-24 | 2021-02-09 | 燕山大学 | Metamorphic parallel mechanism suitable for ankle joint rehabilitation |
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