CN114668629A - Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain - Google Patents
Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain Download PDFInfo
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- CN114668629A CN114668629A CN202210431032.1A CN202210431032A CN114668629A CN 114668629 A CN114668629 A CN 114668629A CN 202210431032 A CN202210431032 A CN 202210431032A CN 114668629 A CN114668629 A CN 114668629A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 64
- 230000003068 static effect Effects 0.000 claims abstract description 53
- 238000000034 method Methods 0.000 claims abstract description 8
- 210000002683 foot Anatomy 0.000 claims description 9
- 210000000549 articulatio subtalaris Anatomy 0.000 claims description 8
- 239000002131 composite material Substances 0.000 claims description 5
- 210000002303 tibia Anatomy 0.000 claims description 5
- 150000001875 compounds Chemical class 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000000452 restraining effect Effects 0.000 description 5
- QWCKQJZIFLGMSD-UHFFFAOYSA-N alpha-aminobutyric acid Chemical compound CCC(N)C(O)=O QWCKQJZIFLGMSD-UHFFFAOYSA-N 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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- 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention relates to a novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with a son closed chain, which comprises a static platform, a movable platform, an input servo motor, a closed-loop series-parallel branched chain and two UPS branched chains, wherein the static platform is connected with the movable platform through a connecting rod; the motion of the parallel mechanism can be regarded as the combined motion of the spherical motion of the movable sphere center around the fixed sphere center and the spherical motion of the movable platform around the movable sphere center, and the combined motion is used for fitting the motion of the ankle joint so as to reduce the human-computer interaction force generated in the rehabilitation training process of the ankle joint; the bottom of moving platform front end is equipped with the arc guide rail, closed loop series-parallel connection branch seven connecting rods upper end forms the sliding pair with the arc guide rail sliding connection of moving platform, closed loop series-parallel connection branch three connecting rods lower extreme and closed loop series-parallel connection branch six connecting rods lower extreme articulate with closed loop series-parallel connection branch seven connecting rods lower extreme simultaneously and form compound revolute pair, and then with the spherical motion decoupling zero of moving platform round the moving sphere center be a compound revolute pair and moving pair, make the mechanism kinematics simpler, the control degree of difficulty and cooperation precision have been reduced.
Description
Technical Field
The invention belongs to the technical field of rehabilitation instruments, and particularly relates to a novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with a closed chain containing a son.
Background
The ankle joint is composed of a tibialis distance joint and a subtalar joint, both joints have certain mobility, and the movement of the ankle joint can be regarded as complex movement composed of the movement of the two joints. The existing ankle joint rehabilitation robot does not consider the kinematic coupling of the tibialis distance joint and the subtalar joint, but simply and equivalently uses the motion of the ankle joint as the spherical motion, so that the situation that the motion of the mechanism is inconsistent with the motion of the ankle joint of a patient generally exists during rehabilitation, the man-machine interaction force generated during the rehabilitation training is large, the discomfort of the patient is easily caused, and even the secondary injury is caused to the patient.
The patent application with the application number of 202010262298.9 discloses a novel ankle joint rehabilitation parallel mechanism, the mechanism mainly comprises an ABAA branched chain and two UPU branched chains, the three branched chains respectively provide a restraining force, wherein the ABAA branched chain provides a restraining force along the direction of a double-line, the two UPU branched chains both provide a point of intersection of a long axis of an upper hooke hinge and a long axis of a lower hooke hinge, and are parallel to the restraining force in the direction of a short axis of the respective upper hooke hinge, the three restraining forces are linearly independent, the movement of a movable platform along the direction of the three restraining forces is restrained, the whole mechanism is represented as three rotational degrees of freedom, and the mechanism is compact in structure. The disadvantages of this mechanism are: 1. the ankle joint is equivalent to a UR model, and the rotation of the subtalar joint is considered as fixed-axis rotation, which is greatly different from the actual rotation; 2. in order to ensure that the mechanism can complete generalized spherical motion, the axes of two upper hooke joint long shafts in two UPU branched chains need to intersect at one point, the point coincides with the fixed spherical center of the parallel mechanism, the axes of two lower hooke joint long shafts need to intersect at one point, and the point coincides with the movable spherical center of the parallel mechanism, the two coincidence relations increase the manufacturing difficulty and the assembly difficulty of the mechanism, if the coincidence relation cannot be ensured during processing and assembly, the overall motion form of the mechanism is greatly changed, and the cooperation requires that the mechanism has extremely high rigidity, if the two UPU branched chains have small deformation in the motion process, the overall motion form of the mechanism is also greatly changed, the mechanism cannot be ensured to move according to a preset ankle joint rehabilitation track, and secondary damage is easily caused to a patient.
The Chinese patent with the application number of 201921527838.0 discloses a four-degree-of-freedom generalized spherical parallel mechanism with a closed loop, which mainly comprises a closed loop branched chain and two AABA branched chains, wherein the position of the dynamic sphere center of the mechanism is determined by the closed loop branched chain, and the position and the posture of a dynamic platform are determined by the closed loop branched chain and the two AABA branched chains together, so that the closed loop branched chain and the two AABA branched chains are required to have higher coupling degree, and the control difficulty is increased; the branched chain of the mechanism is composed of an A-type connecting rod and a B-type connecting rod, so that the movement of the mechanism is completely restrained by the cooperation between the A-type connecting rod and the B-type connecting rod, and higher cooperation precision is required.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the technical problem of designing a novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with a closed chain containing a son; the parallel mechanism mainly comprises two UPS branched chains and a closed loop series-parallel branched chain, the motion of the parallel mechanism can be regarded as the combined motion of the spherical motion of the movable sphere center around the fixed sphere center and the spherical motion of the movable platform around the movable sphere center, and the combined motion is used for fitting the motion of the tibialis distance joint and the subtalar joint in the ankle joint so as to reduce the man-machine interaction force generated in the rehabilitation training process of the ankle joint; the decoupling is carried out on the spherical motion of the movable platform around the movable sphere center, so that the mechanism kinematics is simpler, and the control difficulty is reduced.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with a son closed chain comprises a static platform, a movable platform and an input servo motor; the mechanism is characterized by also comprising a closed-loop series-parallel branched chain and two UPS branched chains;
the static platform is composed of a bottom plate and a vertical support positioned at the front end of the bottom plate, a static platform first hinged support and a static platform second hinged support are symmetrically arranged on the left side and the right side of the upper part of the vertical support, and a static platform third hinged support and a static platform fourth hinged support are symmetrically arranged on the left side and the right side of the middle part of the bottom plate;
an arc-shaped guide rail is arranged at the bottom of the front end of the movable platform, the opening of the arc-shaped guide rail is upward, the circle center of the arc-shaped guide rail is overlapped with the movable ball center of the parallel mechanism, and a first movable platform hinged support and a second movable platform hinged support are symmetrically arranged on two sides of the bottom of the rear end of the movable platform; the first hinged support of the movable platform is hinged with the upper end of a UPS branched chain, and the lower end of the UPS branched chain is hinged with the third hinged support of the static platform; the second hinged support of the movable platform is hinged with the upper end of the other UPS branched chain, and the lower end of the UPS branched chain is hinged with the fourth hinged support of the static platform;
the closed-loop hybrid branch chain comprises a first connecting rod of the closed-loop hybrid branch chain, a second connecting rod of the closed-loop hybrid branch chain, a third connecting rod of the closed-loop hybrid branch chain, a fourth connecting rod of the closed-loop hybrid branch chain, a fifth connecting rod of the closed-loop hybrid branch chain, a sixth connecting rod of the closed-loop hybrid branch chain and a seventh connecting rod of the closed-loop hybrid branch chain; the upper end of a first connecting rod of a closed-loop series-parallel branched chain is hinged with a first hinged support of a static platform to form a revolute pair A1The lower end of the first connecting rod of the closed-loop hybrid-connected branch chain is hinged with the upper end of the second connecting rod of the closed-loop hybrid-connected branch chain to form a revolute pair B1, and the lower end of the second connecting rod of the closed-loop hybrid-connected branch chain is hinged with the upper end of the third connecting rod of the closed-loop hybrid-connected branch chain to form a revolute pair C1The upper end of a fourth connecting rod of the closed-loop series-parallel branched chain is hinged with a second hinged support of the static platform to form a revolute pair A2The lower end of the fourth connecting rod of the closed-loop series-parallel branched chain is hinged with the upper end of the fifth connecting rod of the closed-loop series-parallel branched chain to form a revolute pair B2The lower end of the fifth connecting rod of the closed-loop series-parallel branched chain is hinged with the upper end of the sixth connecting rod of the closed-loop series-parallel branched chain to form a revolute pair C2The lower end of a third connecting rod of the closed-loop series-parallel branched chain and the lower end of a sixth connecting rod of the closed-loop series-parallel branched chain are hinged with the lower end of a seventh connecting rod of the closed-loop series-parallel branched chain to form a composite revolute pair D, and the upper end of the seventh connecting rod of the closed-loop series-parallel branched chain is connected with an arc-shaped guide rail of the movable platform in a sliding manner to form a moving pair E;
two input servo motors are arranged on the static platform, the output shaft of one input servo motor is connected with the upper end of the first connecting rod of the closed-loop series-parallel branched chain, and the output shaft of the other input servo motor is connected with the upper end of the fourth connecting rod of the closed-loop series-parallel branched chain;
the above-mentioned revolute pair A1、B1、A2And B2The rotary axes of the two rotary pairs are intersected at one point, the intersection point is the centering sphere of the parallel mechanism, and the rotary pair C1、C2The rotating axis of the D and the rotating axis of the D are intersected at one point, the intersection point is the movable sphere center of the parallel mechanism, and the distance between the fixed sphere center and the movable sphere center is a fixed value; the parallel mechanism has four degrees of freedom, and the moving ball center rotates around the fixed ball center in the moving process of the parallel mechanism, and the moving platform rotates around the moving ball center in a spherical manner.
Furthermore, two arc-shaped guide rails are arranged at the bottom of the front end of the movable platform at intervals; the upper end of the seventh connecting rod of the closed-loop series-parallel branched chain is provided with a connector, the two sides of the connector are provided with bosses, and each boss is connected with a respective arc-shaped guide rail in a sliding manner.
Further, when the mechanism is actually applied, the foot of the patient is worn on the movable platform, the position of the fixed sphere center corresponds to the tibia pitch joint center of the patient, the position of the movable sphere center corresponds to the subtalar joint center of the patient, and the spherical motion of the movable sphere center relative to the fixed sphere center is used for fitting the motion of the tibia pitch joint, so that the dorsal extension and plantar flexion motion of the foot is realized; the spherical motion of the movable platform relative to the movable sphere center is used for fitting the motion of the subtalar joint, so that the inward and outward turning motion and the inward and outward turning motion of the foot are realized; the ankle joint of the patient is controlled to carry out rehabilitation training according to a preset track by controlling the position and the posture of the movable platform.
Furthermore, the UPS branched chain consists of a Hooke hinge connecting rod, a servo electric cylinder and a spherical hinge connecting rod; the lower end of a Hooke hinge connecting rod of one UPS branched chain is hinged with a third hinged support of the static platform through a Hooke hinge to form a U pair of the UPS branched chain, the upper end of the Hooke hinge connecting rod is connected with the fixed end of a servo electric cylinder, a push rod of the servo electric cylinder is fixedly connected with the lower end of a spherical hinge connecting rod, and the servo electric cylinder forms a P pair of the UPS branched chain; the upper end of the spherical hinge connecting rod is hinged with the first hinge support of the movable platform through a spherical hinge to form an S pair of the UPS branched chain.
Compared with the prior art, the invention has the beneficial effects that:
1. the bottom of moving platform is equipped with the arc guide rail, the upper end and the arc guide rail sliding connection of the seven connecting rod of closed loop series-parallel connection branch form the sliding pair, the lower extreme and the three connecting rod lower extremes of closed loop series-parallel connection branch and the six connecting rod lower extremes of closed loop series-parallel connection branch form compound revolute pair, the sphere motion decoupling of moving platform round the moving sphere center becomes moving pair and compound revolute pair, not only reduced the coupling degree of moving platform and closed loop series-parallel connection branch, the kinematics of mechanism is simpler, the control degree of difficulty has been reduced, and make the space of moving platform for the sphere motion of moving sphere center bigger, guarantee that the mechanism can better fit ankle joint motion.
2. The invention uses two UPS branched chains, reduces the redundant constraint of parallel connection of the mechanism, reduces the singularity of the mechanism, further simplifies the kinematics of the mechanism and has better motion and force transmission performance. Only the closed-loop series-parallel branched chain of the whole mechanism contains the spherical connecting rod, so that the use of the spherical connecting rod is reduced, and the matching relation between the UPS branched chain and the closed-loop series-parallel branched chain is not required to be considered, so that the matching precision requirement of the mechanism is reduced, and the processing and manufacturing cost of the mechanism is greatly reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a stationary platen according to the present invention;
FIG. 3 is a schematic structural diagram of the movable platform of the present invention;
FIG. 4 is a schematic structural diagram of a closed-loop hybrid branched chain of the present invention;
FIG. 5 is a schematic structural diagram of an A-shaped connecting rod of the present invention;
FIG. 6 is a schematic structural diagram of a B-shaped connecting rod of the present invention;
FIG. 7 is a schematic diagram of a UPS branch of the present invention;
description of reference numerals: 1. a static platform; 2. a movable platform; 3. a closed-loop series-parallel branched chain; 4. a UPS branch chain; 5. centering the sphere; 6. moving the ball center; 7. inputting a servo motor;
101. a first hinge support of the static platform; 102. a second hinged support of the static platform; 103. a third hinged support of the static platform; 104. a fourth hinged support of the static platform; 105. a base plate; 106. a vertical support; 201. a first hinge support of the movable platform; 202. a second hinged support of the movable platform; 203. an arc-shaped guide rail; 301. a connecting rod of a closed-loop series-parallel branched chain I; 302. a closed-loop series-parallel branched chain connecting rod II; 303. a third connecting rod of a closed-loop series-parallel branched chain; 304. a closed-loop series-parallel branched-chain connecting rod IV; 305. a closed-loop series-parallel branched chain connecting rod No. five; 306. a six-connection rod of a closed-loop series-parallel branched chain; 307. a closed-loop series-parallel branched chain No. seven connecting rod; 401. a hook hinge connecting rod; 402. a servo electric cylinder; 403. a spherical hinge connecting rod; 501. b, centering the ball; 502. the B rod moves the center of the ball.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited thereto.
The invention provides a novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism (mechanism for short) with a son closed chain, which comprises a static platform 1, a movable platform 2, a closed-loop series-parallel branched chain 3, a UPS branched chain 4 and an input servo motor 7, wherein the static platform is connected with the movable platform through a connecting rod;
as shown in fig. 2, the static platform 1 is composed of a bottom plate 105 and a vertical support 106 located at the front end of the bottom plate 105, four hinged supports are arranged on the static platform 1, namely a static platform first hinged support 101 and a static platform second hinged support 102 on two sides of the upper part of the vertical support 106, and a static platform third hinged support 103 and a static platform fourth hinged support 104 on two sides of the middle part of the bottom plate 105; the first hinge support 101 and the second hinge support 102 of the static platform are symmetrical about the symmetrical plane of the static platform 1, and the third hinge support 103 and the fourth hinge support 104 of the static platform are symmetrical about the symmetrical plane of the static platform 1;
as shown in fig. 3, an arc-shaped guide rail 203 is arranged at the bottom of the front end of the movable platform 2, and a first movable platform hinged support 201 and a second movable platform hinged support 202 are symmetrically arranged on two sides of the bottom of the rear end of the movable platform 2; the first hinge support 201 of the movable platform is hinged with the upper end of a UPS branched chain 4, and the lower end of the UPS branched chain 4 is hinged with the third hinge support 103 of the static platform; the second hinged support 202 of the movable platform is hinged with the upper end of the other UPS branched chain 4, and the lower end of the UPS branched chain 4 is hinged with the fourth hinged support 104 of the static platform; the arc-shaped guide rail 203 is symmetrical about the symmetry plane of the movable platform 2, the opening of the arc-shaped guide rail 203 is upward, the circle center of the arc-shaped guide rail 203 is superposed with the movable sphere center 6 of the parallel mechanism, the central angle of the arc-shaped guide rail 203 is given according to the motion range of the ankle joint, and the value range of the central angle is 90-120 degrees;
as shown in FIG. 4, the closed-loop hybrid branch 3 is composed of seven connecting rods, which are respectively a closed-loop hybrid branchA first chain connecting rod 301, a second closed-loop series-parallel branched chain connecting rod 302, a third closed-loop series-parallel branched chain connecting rod 303, a fourth closed-loop series-parallel branched chain connecting rod 304, a fifth closed-loop series-parallel branched chain connecting rod 305, a sixth closed-loop series-parallel branched chain connecting rod 306 and a seventh closed-loop series-parallel branched chain connecting rod 307; wherein, the upper end of the first connecting rod 301 of the closed-loop series-parallel branched chain is hinged with the first hinged support 101 of the static platform to form a revolute pair A1The lower end of the first connecting rod 301 of the closed-loop series-parallel branched chain is hinged with the upper end of the second connecting rod 302 of the closed-loop series-parallel branched chain to form a revolute pair B1, and the lower end of the second connecting rod 302 of the closed-loop series-parallel branched chain is hinged with the upper end of the third connecting rod 303 of the closed-loop series-parallel branched chain to form a revolute pair C1The upper end of a closed-loop series-parallel branched chain fourth connecting rod 304 is hinged with a static platform second hinged support 102 to form a revolute pair A2The lower end of the fourth connecting rod 304 of the closed-loop series-parallel branched chain is hinged with the upper end of the fifth connecting rod 305 of the closed-loop series-parallel branched chain to form a revolute pair B2The lower end of the fifth connecting rod 305 of the closed-loop series-parallel branched chain is hinged with the upper end of the sixth connecting rod 306 of the closed-loop series-parallel branched chain to form a revolute pair C2The lower end of the third connecting rod 303 of the closed-loop series-parallel branched chain and the lower end of the sixth connecting rod 306 of the closed-loop series-parallel branched chain are hinged with the lower end of the seventh connecting rod 307 of the closed-loop series-parallel branched chain to form a composite revolute pair D, and the upper end of the seventh connecting rod 307 of the closed-loop series-parallel branched chain is connected with the arc-shaped guide rail 203 of the movable platform 2 in a sliding manner to form a movable pair E;
the above-mentioned revolute pair A1、B1、A2And B2The rotary axes of the two rotary pairs are intersected at one point, the intersection point is the centering center 5 of the parallel mechanism, and the rotary pair C1、C2The distance between the fixed sphere center 5 and the movable sphere center 6 is a fixed value which can be adjusted according to the size of the ankle joint of a user;
two input servo motors 7 are symmetrically arranged on the left side and the right side of the static platform 1, the axis of an output shaft of one input servo motor 7 is superposed with the rotation axis of the first hinge support 101 of the static platform, and the output shaft of the input servo motor 7 is connected with the upper end of the first connecting rod 301 of the closed-loop series-parallel branched chain to form a first drive; the axis of the output shaft of the other input servo motor 7 is superposed with the rotary axis of the second hinged support 102 of the static platform, and the output shaft of the input servo motor 7 is connected with the upper end of the fourth connecting rod 304 of the closed-loop series-parallel branched chain to form a second drive; the servo electric cylinders 402 of the two UPS branched chains 4 are respectively a third driving cylinder and a fourth driving cylinder, and the parallel mechanism has four degrees of freedom through the four driving cylinders, so that the movable ball center 6 of the parallel mechanism rotates around the fixed ball center 5 in the movement process, and the movable platform 2 rotates around the movable ball center 6.
In the closed-loop hybrid branch 3, the first connecting rod 301, the third connecting rod 303, the fourth connecting rod 304 and the sixth connecting rod 306 of the closed-loop hybrid branch are all A-type connecting rods, and the second connecting rod 302 and the fifth connecting rod 305 are all B-type connecting rods; as shown in FIG. 5, the A-shaped connecting rod is a spherical connecting rod, and the axes of the holes at the two ends of the A-shaped connecting rod are converged at one point; as shown in FIG. 6, the B-type link is a two-center spherical link having two generalized centers, namely, a B-axis moving center 501 and a B-axis centering center 502, which define the distance between the B-axis moving center 501 and the B-axis centering center 502 as the "two-center distance" of the B-type link.
As shown in fig. 7, the UPS branch chain 4 is composed of a hooke joint link 401, a servo electric cylinder 402, and a ball joint link 403; the lower end of a Hooke hinge connecting rod 401 of one UPS branched chain 4 is hinged with a third hinge support 103 of the static platform through a Hooke hinge to form a U pair of the UPS branched chain 4, the upper end of the Hooke hinge connecting rod 401 is connected with the fixed end of a servo electric cylinder 402, a push rod of the servo electric cylinder 402 is fixedly connected with the lower end of a spherical hinge connecting rod 403, and the servo electric cylinder 402 forms a P pair of the UPS branched chain 4 and is input to the UPS branched chain 4; the upper end of the spherical hinge connecting rod 403 is hinged with the first hinge support 201 of the movable platform through a spherical hinge to form an S pair of the UPS branched chain 4; and the other UPS branched chain 4 is connected with the fourth hinged support 104 of the static platform and the second hinged support 202 of the movable platform in the same way.
Two arc-shaped guide rails 203 are arranged at the bottom of the front end of the movable platform 2 at intervals; the upper end of the seven connecting rod 307 of the closed-loop series-parallel branched chain is provided with a connector, the two sides of the connector are provided with bosses, each boss is matched with the arc-shaped guide rail 203, the sliding connection between the seven connecting rod 307 of the closed-loop series-parallel branched chain and the arc-shaped guide rail 203 is realized, and the sliding stability is improved.
The working principle and the working process of the invention are as follows:
the motion of the parallel mechanism can be regarded as the combined motion of the spherical motion of the movable sphere center 6 around the fixed sphere center 5 and the spherical motion of the movable platform 2 around the movable sphere center 6, the motion relation of the fixed sphere center 5 and the movable sphere center 6 is completely determined by the closed-loop series-parallel branched chain 3, the first driving and the second driving control the motion of the mechanism respectively by controlling the rotary motion of the first connecting rod 301 of the closed-loop series-parallel branched chain and the fourth connecting rod 304 of the closed-loop series-parallel branched chain relative to the vertical support 106 of the static platform 1, when the input of the first drive and the second drive is determined, the spatial poses of the first connecting rod 301 and the fourth connecting rod 304 of the closed-loop mixed-connected branched chain are determined, the spatial poses of the rods forming the closed-loop mixed-connected branched chain 3 are determined, at the moment, the position of the dynamic sphere center 6 is correspondingly determined, thus driving one and driving two directly by rotating different angles to control the spherical motion of the brake center 6 around the centering center 5; when the position of the moving sphere center 6 is determined, the servo electric cylinders for driving the third and the fourth are changed through the stretching amount, the sliding of the seventh connecting rod 307 of the closed-loop hybrid-connected branched chain along the arc-shaped guide rail 203 and the rotation relative to the lower end of the third connecting rod 303 of the closed-loop hybrid-connected branched chain and the lower end of the sixth connecting rod 306 of the closed-loop hybrid-connected branched chain, namely the composite revolute pair D and the moving pair E, are controlled, and the two movements are decoupling of the spherical movement of the moving platform 2 around the moving sphere center 6.
The parallel mechanism fits the motion of a tibialis distance joint and a subtalar joint in the ankle joint through combined motion so as to reduce the human-computer interaction force generated in the rehabilitation training process of the ankle joint; when the mechanism is used in practice, the foot of a patient is worn on the movable platform 2, the position of the fixed ball center 5 corresponds to the tibia distance joint center of the patient, the position of the movable ball center 6 corresponds to the subtalar joint center of the patient, the position and the posture of the movable platform 2 are controlled jointly through four drives, and then the ankle joint of the patient is controlled to perform rehabilitation training according to a preset track. The spherical motion of the dynamic sphere center 6 relative to the fixed sphere center 5 is used for fitting the motion of the tibialis distance joint and is mainly used for realizing the dorsiflexion and plantar flexion of the foot; the spherical motion of the movable platform 2 relative to the movable sphere center 6 is used for fitting the motion of the subtalar joint, so that the composite revolute pair D and the revolute pair E in the closed-loop series-parallel branched chain 3 are mainly used for realizing the inward and outward turning motion and the inward and outward turning motion of the foot.
Nothing in this specification is said to apply to the prior art.
Claims (4)
1. A novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with a son closed chain comprises a static platform, a movable platform and an input servo motor; the mechanism is characterized by also comprising a closed-loop series-parallel branched chain and two UPS branched chains;
the static platform is composed of a bottom plate and a vertical support positioned at the front end of the bottom plate, a static platform first hinged support and a static platform second hinged support are symmetrically arranged on the left side and the right side of the upper part of the vertical support, and a static platform third hinged support and a static platform fourth hinged support are symmetrically arranged on the left side and the right side of the middle part of the bottom plate;
an arc-shaped guide rail is arranged at the bottom of the front end of the movable platform, the opening of the arc-shaped guide rail is upward, the circle center of the arc-shaped guide rail is overlapped with the movable ball center of the parallel mechanism, and a first movable platform hinged support and a second movable platform hinged support are symmetrically arranged on two sides of the bottom of the rear end of the movable platform; the first hinged support of the movable platform is hinged with the upper end of a UPS branched chain, and the lower end of the UPS branched chain is hinged with the third hinged support of the static platform; the second hinged support of the movable platform is hinged with the upper end of the other UPS branched chain, and the lower end of the UPS branched chain is hinged with the fourth hinged support of the static platform;
the closed-loop hybrid branch chain comprises a first connecting rod of the closed-loop hybrid branch chain, a second connecting rod of the closed-loop hybrid branch chain, a third connecting rod of the closed-loop hybrid branch chain, a fourth connecting rod of the closed-loop hybrid branch chain, a fifth connecting rod of the closed-loop hybrid branch chain, a sixth connecting rod of the closed-loop hybrid branch chain and a seventh connecting rod of the closed-loop hybrid branch chain; the upper end of a first connecting rod of a closed-loop series-parallel branched chain is hinged with a first hinged support of a static platform to form a revolute pair A1The lower end of the first connecting rod of the closed-loop hybrid-connected branch chain is hinged with the upper end of the second connecting rod of the closed-loop hybrid-connected branch chain to form a revolute pair B1, and the lower end of the second connecting rod of the closed-loop hybrid-connected branch chain is hinged with the upper end of the third connecting rod of the closed-loop hybrid-connected branch chain to form a revolute pair C1The upper end of a fourth connecting rod of the closed-loop series-parallel branched chain is hinged with a second hinged support of the static platform to form a revolute pair A2The lower end of the fourth connecting rod of the closed-loop series-parallel branched chain is hinged with the upper end of the fifth connecting rod of the closed-loop series-parallel branched chain to form a revolute pair B2Lower end of a fifth connecting rod of a closed-loop series-parallel branched chainThe upper end of the ring hybrid branch chain six-connecting rod is hinged to form a revolute pair C2The lower end of a third connecting rod of the closed-loop series-parallel branched chain and the lower end of a sixth connecting rod of the closed-loop series-parallel branched chain are hinged with the lower end of a seventh connecting rod of the closed-loop series-parallel branched chain to form a composite revolute pair D, and the upper end of the seventh connecting rod of the closed-loop series-parallel branched chain is connected with an arc-shaped guide rail of the movable platform in a sliding manner to form a moving pair E;
two input servo motors are arranged on the static platform, the output shaft of one input servo motor is connected with the upper end of the first connecting rod of the closed-loop series-parallel branched chain, and the output shaft of the other input servo motor is connected with the upper end of the fourth connecting rod of the closed-loop series-parallel branched chain;
the above-mentioned revolute pair A1、B1、A2And B2The rotary axes of the two rotary pairs are intersected at one point, the intersection point is the centering sphere of the parallel mechanism, and the rotary pair C1、C2The rotating axis of the D and the rotating axis of the D are intersected at one point, the intersection point is the movable sphere center of the parallel mechanism, and the distance between the fixed sphere center and the movable sphere center is a fixed value; the parallel mechanism has four degrees of freedom, and the moving ball center rotates around the fixed ball center in the moving process of the parallel mechanism, and the moving platform rotates around the moving ball center in a spherical manner.
2. The novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with the closed chain containing the son as claimed in claim 1, wherein two arc-shaped guide rails are arranged at the bottom of the front end of the movable platform at intervals; the upper end of the seventh connecting rod of the closed-loop series-parallel branched chain is provided with a connector, the two sides of the connector are provided with bosses, and each boss is connected with a respective arc-shaped guide rail in a sliding manner.
3. The novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with the son closed chain as claimed in claim 1 or 2, is characterized in that when the mechanism is actually applied, the foot of a patient is worn on the movable platform, the position of the fixed sphere center corresponds to the tibia pitch joint center of the patient, the position of the movable sphere center corresponds to the subtalar joint center of the patient, and the spherical motion of the movable sphere center relative to the fixed sphere center is used for fitting the motion of the tibia pitch joint to realize the dorsiflexion and plantar flexion of the foot; the spherical motion of the movable platform relative to the movable sphere center is used for fitting the motion of the subtalar joint, so as to realize the inward and outward turning motion and the inward and outward turning motion of the foot; the ankle joint of the patient is controlled to carry out rehabilitation training according to a preset track by controlling the position and the posture of the movable platform.
4. The novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with the son closed chain as claimed in claim 1, wherein the UPS branched chain is composed of a Hooke's hinge connecting rod, a servo electric cylinder and a spherical hinge connecting rod; the lower end of a Hooke hinge connecting rod of one UPS branched chain is hinged with a third hinged support of the static platform through a Hooke hinge to form a U pair of the UPS branched chain, the upper end of the Hooke hinge connecting rod is connected with the fixed end of a servo electric cylinder, a push rod of the servo electric cylinder is fixedly connected with the lower end of a spherical hinge connecting rod, and the servo electric cylinder forms a P pair of the UPS branched chain; the upper end of the spherical hinge connecting rod is hinged with the first hinge support of the movable platform through a spherical hinge to form an S pair of the UPS branched chain.
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