CN117656100A - Motion axis self-adaptive ankle joint motion robot and control method thereof - Google Patents
Motion axis self-adaptive ankle joint motion robot and control method thereof Download PDFInfo
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- CN117656100A CN117656100A CN202410129584.6A CN202410129584A CN117656100A CN 117656100 A CN117656100 A CN 117656100A CN 202410129584 A CN202410129584 A CN 202410129584A CN 117656100 A CN117656100 A CN 117656100A
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- 230000000712 assembly Effects 0.000 claims description 26
- 238000000429 assembly Methods 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 16
- 210000002683 foot Anatomy 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 11
- 230000003044 adaptive effect Effects 0.000 claims description 9
- 230000001012 protector Effects 0.000 claims description 9
- 230000008602 contraction Effects 0.000 claims description 6
- 238000004904 shortening Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 6
- 210000003423 ankle Anatomy 0.000 claims description 3
- FAXIJTUDSBIMHY-UHFFFAOYSA-N diethoxy-(2-ethylsulfanylethoxy)-sulfanylidene-$l^{5}-phosphane;1-diethoxyphosphorylsulfanyl-2-ethylsulfanylethane Chemical compound CCOP(=O)(OCC)SCCSCC.CCOP(=S)(OCC)OCCSCC FAXIJTUDSBIMHY-UHFFFAOYSA-N 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 208000027418 Wounds and injury Diseases 0.000 description 11
- 241000469816 Varus Species 0.000 description 7
- 241001227561 Valgus Species 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000006378 damage Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 101100001671 Emericella variicolor andF gene Proteins 0.000 description 1
- 230000005483 Hooke's law Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
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- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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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 provides a motion axis self-adaptive ankle joint motion robot and a control method thereof, and relates to the field of motion robots.
Description
Technical Field
The invention relates to the field of motion robots, in particular to a motion axis self-adaptive ankle joint motion robot and a control method thereof.
Background
In order to avoid injury of the ankle joint in the movement process, most ankle joint movement robots are researched based on fixed rotation axes at present, the biological rotation center is difficult to be matched with the rotation center of the robot, the movement axes are continuously changed in the ankle joint movement process, the superposition of the movement axes with the human body is difficult to be realized by simple rigidity equivalent, the inertia impact of a rigid mechanism is large, the flexibility is poor, and the rigid connecting rod is easy to generate harmful impact in the movement training process.
Chinese patent application CN201210555816.1 discloses an exoskeleton robot for lower limb exercise training and a motion control method thereof, the robot comprising a support balancing stand, exoskeleton mechanical legs, a treadmill and a control system; the motion control method provides two modes, namely a passive walking motion mode and an active walking motion mode: in the passive walking movement mode, the control robot drives an operator to complete specific movement or move with a correct physiological gait track; in the active walking movement mode, the robot suppresses the limited abnormal movement of the operator, directly corrects or generates the gait training track expected by the operator through the self-adaptive controller, and indirectly achieves the purpose that the robot provides the walking movement assisting force and the resistance. However, the ankle joint in the movement process cannot be changed completely in the patent application, and the coincidence of the movement axis of the robot and the biological movement axis cannot be realized.
Therefore, it is necessary to provide a motion axis self-adaptive ankle joint motion robot and a control method thereof, which automatically compensates for the axis and adapts to the change of the axis during the motion.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a motion axis self-adaptive ankle joint motion robot and a control method thereof, wherein the motion axis of an ankle joint is fitted with the motion axis of the robot through a double-fork arm mechanism and a spring, the damage in the motion process is avoided, the extension and shortening of a rope are accurately controlled through the rotation angle of a motor through a rope retraction assembly, the friction between the rope and a pulley is reduced through a pulley deflection assembly, the rope direction is easier to change, and the dorsiflexion/plantarflexion, varus/valgus, internal rotation/supination of the ankle joint are realized through the mutual matching of the assemblies, so that the motion training of the ankle joint is realized.
The invention provides a motion axis self-adaptive ankle joint motion robot, which comprises an axis compensation assembly, a rope winding and unwinding assembly, a pulley deflection assembly, a support assembly and a rope, wherein the axis compensation assembly is connected with the rope winding and unwinding assembly; the axis compensation assembly comprises a support column, a fixed sleeve, a double-fork arm mechanism, a rotating frame, a spring, a pedal connecting frame, pedal sliding rails, pedals, a knob and a position sensor, wherein the support column is symmetrically arranged in the support assembly, a first end face of the support column is connected with a bottom plate of the support assembly, the fixed sleeve is connected with a second end face of the support column, two sides of the rotating frame are rotationally connected with the fixed sleeve through the double-fork arm mechanism, a first end of the spring is fixedly connected with the rotating frame, a second end of the spring is rotationally connected with a support arm of the pedal connecting frame, pedal sliding rails are symmetrically arranged on two sides of a support plate of the pedal connecting frame, the pedals are in sliding connection with the pedal sliding rails, the knob passes through the pedal sliding rails to be in threaded connection with the pedals, and the position sensor is connected with the pedals; the rope winding and unwinding assembly is arranged on the bottom plate and comprises a motor, a drum shaft, a winding drum, a first gear, a gear frame, a second gear, a gear shaft, a third gear, a cam piece, a fourth gear, a guide rod and a synchronizing block, wherein the first rotating shaft of the drum shaft is connected with an output shaft of the motor through a coupler, the winding drum is in sliding connection with the guide shaft of the drum shaft, the second rotating shaft of the drum shaft is in rotating connection with the bottom plate through a bearing seat, the first gear is connected with the first rotating shaft of the drum shaft, the gear frame is arranged at one side position of the winding drum, the second gear is in rotating connection with the gear frame through the gear shaft, the second gear is in meshed transmission with the first gear, the third gear is in meshed transmission with the gear shaft, the cam shaft of the cam piece is in rotating connection with the gear frame, the fourth gear is in meshed transmission with the third gear, the guide rod is arranged at one side position of the cam piece, two ends of the guide rod are connected with the gear frame, the sliding block of the synchronizing block is in sliding connection with the guide rod, the cylindrical guide block of the synchronizing block is in sliding connection with the guide block of the cam piece, and the driving block of the synchronizing block is in sliding connection with the winding drum; the pulley deflection assembly comprises a supporting seat, a bearing block, a swinging part, a swinging pulley, a rack, a tension spring seat and a tension spring, wherein the bearing block is connected with a first end face of the supporting seat, the swinging part is rotationally connected with the bearing block, the swinging part is in sliding connection with a sliding groove of the supporting seat, the swinging pulley is arranged in the middle of the swinging part, the rack is arranged on the supporting seat through the rack seat, the rack is in sliding connection with the rack seat, the rack is in meshed transmission with the swinging part, the first end of the tension spring is connected with the rack through the tension spring seat, and the second end of the tension spring is connected with the rack seat.
Preferably, the support assembly comprises a bottom plate, a frame, a top plate, leg supports, leg protectors and universal wheels, wherein the first end face of the frame is connected with the first end face of the bottom plate, the first end face of the top plate is connected with the second end face of the frame, the leg supports are connected with the second end face of the top plate, the leg protectors are connected with the leg supports, and the universal wheels are arranged at four corners of the second end face of the bottom plate.
Preferably, the double-fork arm mechanism comprises an arm support, a first fork arm, a second fork arm, a movable seat and a damper, wherein the arm support is connected with the fixed sleeve, first ends of the first fork arm and the second fork arm are both rotationally connected with the arm support, second ends of the first fork arm and the second fork arm are both rotationally connected with the movable seat, the first fork arm and the second fork arm are arranged in parallel, the first end of the damper is rotationally connected with the arm support, and the second end of the damper is rotationally connected with the movable seat.
Preferably, the pulley deflection assemblies, the rope winding and unwinding assemblies and the ropes are the same in number, four groups of rope winding and unwinding assemblies are respectively arranged at four corners of the bottom plate, at least two groups of rope winding and unwinding assemblies are symmetrically and obliquely arranged on the bottom plate, at least four groups of pulley deflection assemblies are arranged on the top plate, and at least two groups of pulley deflection assemblies are symmetrically arranged on the bottom plate; the four corners position department of bottom plate still is provided with the fixed pulley, and the first end of four sets of ropes winds with the reel of the rope subassembly of receiving and releasing of four corners position department, and the swing pulley of the pulley deflection subassembly of fixed pulley and roof position is walked around in proper order to four sets of ropes's second end is connected with the backup pad of footboard link, and the first end of two sets of ropes winds with the reel of the rope subassembly of receiving and releasing that the slope set up, and the swing pulley of pulley deflection subassembly of setting at the bottom plate is walked around to two sets of ropes's second end is connected with the backup pad of footboard link.
Preferably, the spool shaft comprises a rotary disc, a guide shaft, a first rotary shaft and a second rotary shaft, the guide shaft is circumferentially distributed between the two rotary discs, the first rotary shaft and the second rotary shaft are connected with the rotary discs, and the axes of the rotary discs, the guide shaft, the first rotary shaft and the second rotary shaft are identical.
Preferably, the cam member includes a cam, a cam groove provided around the cam, and a cam shaft provided at both ends of the cam.
Preferably, the synchronizing block comprises a sliding block, a cylindrical guide block and a driving block, wherein the cylindrical guide block is arranged on the first end face of the sliding block, the contact end of the cylindrical guide block with a cam groove in the cam piece is hemispherical, the driving block is arranged on the second end face of the sliding block, an arc-shaped groove is formed in one side position of the winding drum, and the driving block is in sliding connection with the arc-shaped groove.
Preferably, the swinging piece comprises a swinging block, a fifth gear and a rotating shaft, the swinging block is in sliding connection with the sliding groove of the supporting seat, the fifth gear is arranged at one side position of the swinging block and is meshed with the rack for transmission, the rotating shaft is arranged at the middle position of the second end face of the swinging block and is in rotating connection with the bearing block, and the axis of the rotating shaft is coincident with the pulley tangent line of the swinging pulley.
Preferably, the pedal connecting frame comprises a support arm and a support plate, wherein the support arm and the support plate are vertically arranged, the tail end of the support arm is provided with a through hole which is connected with a bearing of the axis compensation component, the four corners of the support plate are provided with slotted holes, and the rope is connected with the support plate through the slotted holes; the end positions of the two sides of the rotating frame are symmetrically provided with hollow cylinders, the movable seat is provided with a solid cylinder, and the inner side of the hollow cylinder is rotationally and slidingly connected with the solid cylinder.
In a second aspect of the present invention, there is provided a control method for the aforementioned motion axis adaptive ankle joint motion robot, comprising the steps of:
s1, placing feet on a pedal, fixing the foot with the pedal through a bandage, adjusting the distance between the pedal and a rotating frame through a knob to enable the axis of an ankle joint to coincide with the rotating axis of the rotating frame, and then fixing legs with leg protectors through the bandage;
s2, respectively establishing a global coordinate system and a local coordinate system, and taking the central point of the connecting line of the bottoms of the two side support posts as the originOEstablishing a global coordinate systemOX b Y b Z b The method comprises the steps of carrying out a first treatment on the surface of the With the center of the pedal semicircle as the origin of coordinatesQEstablishing a local coordinate systemQX a Y a Z a The method comprises the steps of carrying out a first treatment on the surface of the Taking the intersection point of the rotation axis of the rotating frame and the axis of the bearing as the origin of coordinatesPEstablishing a local coordinate systemPXYZ；A i Is a ropeL i The connection point with the movable platform is provided with a connecting point,B i is a ropeL i Connection point with swinging pulley, whereini=1,2,3,4,5,6；
S3, based on a local coordinate system, winding the pedalXRotation angle of shaftαWindingYRotation angle of shaftβWindingZRotation angle of shaftγ，By usingZYXEuler angle describes the pose of the pedal, then the local coordinate systemQX a Y a Z a Relative to a local coordinate systemPXYZIs the rotation matrix of (a) P R Q ；
S4, according to the geometric characteristics and the vector parallelogram, the lengths of the ropes are respectively equal tol i Expressed by the relation between the rope connection point and the coordinate point, the specific expression is as follows:
whereini=1,2,3,4,5,6；
In the method, in the process of the invention,l i indicating the length of each rope and,representation ofA i Point to pointB i Position vector of point, ">Representation ofB i Point to originPPosition vector of>Representing the originQTo the origin pointPPosition vector of>Representation ofA i Point to originQIs a position vector of (2);
s5, substituting each parameter point into the length of the ropel i In the expression, a specific relation value between the length of each rope and the rotation angle of the pedal can be obtained;
and S6, rotating the pedal by a required angle, controlling the rotating angle of each motor through a controller according to the obtained specific relation value, and realizing the extension or shortening of each rope so as to realize the rotation of the pedal around the axis, wherein the gesture data of the pedal can be monitored in real time through a gesture sensor and fed back to the controller so as to adjust the expansion and contraction amount of each motor in real time.
The invention has the characteristics and beneficial effects that:
1. according to the motion axis self-adaptive ankle joint motion robot, the motion axis is compensated in real time through the double-fork arm mechanism in the axis compensation assembly, so that the motion axis of the ankle joint is fitted with the motion axis of the robot, and the ankle joint is prevented from being damaged in the motion process.
2. The motion axis self-adaptive ankle joint motion robot provided by the invention has the advantages that the rope retraction assembly provides power to enable the rope traction pedal to rotate, the impact inertia is small, the leg protector is used for fixing the legs of a human body, and the dorsiflexion/plantarflexion, varus/valgus and internal rotation/external rotation of the ankle joint are realized through the mutual matching of the assemblies, so that the motion training of the ankle joint is realized.
3. According to the motion axis self-adaptive ankle joint motion robot, the winding drum rotates and moves through the rope winding and unwinding assembly, so that the rope is uniformly wound on the winding drum, rope winding confusion caused by vibration generated when the rope is wound is avoided, and the accurate calculation of the rotation angle of the motor and the control of the extension and shortening of the rope are realized.
4. According to the motion axis self-adaptive ankle joint motion robot, the pulley deflection assembly is used for driving the rope to rotate the pedal, the fixed pulley adaptively rotates, the rope direction is self-adaptive, friction between the rope and the pulley is reduced, and the direction change of the rope is ensured to be easier.
Drawings
FIG. 1 is a schematic view of the overall structure of an axis of motion adaptive ankle joint movement robot of the present invention;
FIG. 2 is a schematic view of the central axis compensation assembly of the present invention;
FIG. 3 is a schematic view of a dual yoke mechanism according to the present invention;
fig. 4 is a schematic view of the rope reel assembly of the present invention;
FIG. 5 is a schematic front view of the pulley deflection assembly of the present invention;
FIG. 6 is a schematic view of the pulley deflection assembly of the present invention;
fig. 7 is a schematic view of the location of the cord retraction assembly of the present invention;
FIG. 8 is a force analysis schematic of a sheave deflection assembly of the present invention;
FIG. 9 is a schematic diagram of the overall force analysis of the present invention;
FIG. 10 is a left side schematic view of the overall force analysis of the present invention;
FIG. 11 is a schematic illustration of a geometric model of the present invention;
fig. 12 a-12 c are schematic diagrams of various rope and pedal angle change curves in the present invention;
FIGS. 13 a-13 f illustrate the winding of the drive ropes and pedals in accordance with the present inventionXA shaft(s),YThe shaft performs a compound motion profile schematic.
The main reference numerals:
1. an axis compensation assembly; 101. a support post; 102. a fixed sleeve; 103. a double fork arm mechanism; 1031. an arm support; 1032. a first yoke; 1033. a second yoke; 1034. a movable seat; 1035. a damper; 104. a rotating frame; 105. a spring; 106. a spring seat; 107. a bearing; 108. a clasp; 109. a pedal connection frame; 1091. a support arm; 1092. a support plate; 110. a pedal slide rail; 111. a pedal; 112. a knob; 113. a pose sensor; 2. a rope winding and unwinding assembly; 21. a rope winding and unwinding component A; 22. a rope winding and unwinding component B; 23. a rope winding and unwinding component C; 24. a rope winding and unwinding assembly D; 25. rope winding and unwinding components E and 26 and a rope winding and unwinding component F; 201. A motor bracket; 202. a motor; 203. a spool shaft; 2031. a rotating disc; 2032. a guide shaft; 2033. a first rotation shaft; 2034. a second rotation shaft; 204. a coupling; 205. a reel; 206. a bearing seat; 207. a first gear; 208. a gear frame; 209. a second gear; 210. a gear shaft; 211. a third gear; 212. a cam member; 2121. a cam; 2122. cam grooves; 2123. a cam shaft; 213. a fourth gear; 214. a guide rod; 215. a synchronization block; 2151. a slide block; 2152. a cylindrical guide block; 2153. a driving block; 3. a pulley deflection assembly; 31. a support base; 32. a bearing block; 33. a swinging member; 331. a swinging block; 332. a fifth gear; 333. a rotating shaft; 34. a swinging pulley; 35. a rack seat; 36. a rack; 37. a tension spring seat; 38. a tension spring; 4. a support assembly; 41. a bottom plate; 42. a frame; 43. a top plate; 44. a leg support; 45. leg protectors; 46. a universal wheel; 5. a fixed pulley; 6. a rope.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The invention provides a motion axis self-adaptive ankle joint motion robot, which is shown in fig. 1, and comprises an axis compensation component 1, a rope retraction component 2, a pulley deflection component 3, a support component 4, a fixed pulley 5 and a rope 6, wherein the axis compensation component 1, the rope retraction component 2, the pulley deflection component 3, the fixed pulley 5 and the rope 6 are all arranged in the support component 4, and the rope retraction component 2, the pulley deflection component 3 and the fixed pulley 5 are all symmetrically arranged on two sides of the axis compensation component 1. The support assembly 4 comprises a bottom plate 41, a frame 42, a top plate 43, leg supports 44, leg protectors 45 and universal wheels 46, wherein a first end surface of the frame 42 is connected with a first end surface of the bottom plate 41, a first end surface of the top plate 43 is connected with a second end surface of the frame 4, the leg supports 44 are connected with a second end surface of the top plate 43, the leg protectors 45 are connected with the leg supports 44, and the universal wheels 46 are arranged at four corners of the second end surface of the bottom plate 41.
As shown in fig. 2 and 3, the axis compensation assembly 1 comprises a supporting column 101, a fixed sleeve 102, a double-fork arm mechanism 103, a rotating frame 104, a spring 105, a spring seat 106, a bearing 107, a clamping ring 108, a pedal connecting frame 109, a pedal sliding rail 110, a pedal 111, a knob 112 and a position sensor 113, wherein the supporting column 101 is symmetrically arranged in the supporting assembly 4, a first end surface of the supporting column 101 is connected with a bottom plate 41 of the supporting assembly 4, the fixed sleeve 102 is connected with a second end surface of the supporting column 101, both sides of the rotating frame 104 are rotationally connected with the fixed sleeve 102 through the double-fork arm mechanism 103, a first end of the spring 105 is fixedly connected with the rotating frame 104, a second end of the spring 105 is connected with the spring seat 106, the spring seat 106 is rotationally connected with a supporting arm 1091 of the pedal connecting frame 109 through a bearing 107 and a clamping ring 108, both sides of a supporting plate of the pedal connecting frame are symmetrically provided with the pedal sliding rail 110, namely the pedal sliding rail 110 is symmetrically arranged at both sides of a supporting plate 1092 of the pedal connecting frame 109, the pedal 111 is slidingly connected with the pedal sliding rail 110, the knob 112 is in threaded connection with the pedal 111 through the pedal sliding rail 110, and the position sensor 113 is connected with the pedal 111. The double-fork arm mechanism 103 comprises an arm support 1031, a first fork arm 1032, a second fork arm 1033, a movable seat 1034 and a damper 1035, wherein the arm support 1031 is connected with the fixed sleeve 102, first ends of the first fork arm 1032 and the second fork arm 1033 are both in rotary connection with the arm support 1031, second ends of the first fork arm 1032 and the second fork arm 1033 are both in rotary connection with the movable seat 1034, the first fork arm 1032 and the second fork arm 1033 are arranged in parallel, a first end of the damper 1035 is in rotary connection with the arm support 1031, and a second end of the damper 1035 is in rotary connection with the movable seat 1034; the pedal connecting frame 109 comprises a support arm 1091 and a support plate 1092, wherein the support arm 1091 and the support plate 1092 are vertically arranged, through holes are formed at the tail ends of the support arm 1091 and are connected with the bearing 107, slotted holes are formed at four corners of the support plate 1092, and the rope 6 is connected with the support plate 1092 through the slotted holes; the two side ends of the rotating frame 104 are symmetrically provided with hollow cylinders, the movable base 1034 is provided with a solid cylinder, and the inner side of the hollow cylinder is rotationally and slidingly connected with the solid cylinder.
As shown in fig. 4, the rope reel assembly 2 is disposed on the base plate 41, the rope reel assembly 2 includes a motor bracket 201, a motor 202, a spool shaft 203, a coupler 204, a spool 205, a bearing housing 206, a first gear 207, a gear frame 208, a second gear 209, a gear shaft 210, a third gear 211, a cam piece 212, a fourth gear 213, a guide rod 214, and a synchronizing block 215, the motor bracket 201 is connected to the base plate 41 of the support assembly 4, the mounting end of the motor 202 is connected to the motor bracket 201, a first rotation shaft 2033 of the spool shaft 203 is connected to the output shaft of the motor 202 through the coupler 204, the spool 205 is slidably connected to the guide shaft 2032 of the spool shaft 203, a second rotation shaft of the spool shaft is rotatably connected to the base plate through the bearing housing 206, that is, the bearing housing 206 is rotatably connected to the second rotation shaft 2034 of the spool shaft 203, the fixed end of the bearing housing 206 is connected to the base plate 41, the first gear 207 is connected to the first rotation shaft 2033 of the spool shaft 203, the gear frame 208 is disposed at one side of the spool 205 and connected to the base plate 41, the second gear 209 is rotatably connected to the gear shaft 208, the guide rod 208 is rotatably connected to the guide block 215 at one side of the guide rod 215, and the guide block 215 is rotatably connected to the guide block 215 is rotatably at the other side of the second rotation shaft 213 is rotatably connected to the guide block 215, and the guide block 215 is rotatably connected to the second rotation 212, and the guide block is rotatably 213 is rotatably connected to the second rotation block 215 and the second rotation is rotatably connected to the second rotation end of the guide block 215. The spool shaft 203 includes a rotating disk 2031, a guiding shaft 2032, a first rotating shaft 2033 and a second rotating shaft 2034, the guiding shaft 2032 is circumferentially distributed between the two rotating disks 2031, the first rotating shaft 2033 and the second rotating shaft 2034 are connected with the rotating disk 2031, and the axes of the rotating disk 2031, the guiding shaft 2032, the first rotating shaft 2033 and the second rotating shaft 2034 are identical. The cam member 212 includes a cam 2121, a cam groove 2122, and a cam shaft 2123, the cam groove 2122 being circumferentially provided on the cam 2121, the cam shaft 2123 being provided at both ends of the cam 2121. The synchronizing block 215 comprises a sliding block 2151, a cylindrical guide block 2152 and a driving block 2153, wherein the cylindrical guide block 2152 is arranged on a first end surface of the sliding block 2151, a contact end of the cylindrical guide block 2152 with a cam groove 2122 in the cam piece 212 is hemispherical, the driving block 2153 is arranged on a second end surface of the sliding block 2151, an arc-shaped groove is arranged at one side position of the winding drum 205, and the driving block 2153 is in sliding connection with the arc-shaped groove.
As shown in fig. 5 and 6, the pulley deflection assembly 3 includes a supporting seat 31, a bearing block 32, a swinging member 33, a swinging pulley 34, a rack seat 35, a rack 36, a tension spring seat 37 and a tension spring 38, the bearing block 32 is disposed at a middle position of the supporting seat 31, the bearing block 32 is connected with a first end surface of the supporting seat 31, a rotating shaft 333 of the swinging member 33 is rotatably connected with the bearing block 32, a swinging block 331 of the swinging member 33 is slidably connected with a sliding groove of the supporting seat 31, the swinging pulley 34 is disposed at a middle position of the first end surface of the swinging member 33, the rack is disposed on the supporting seat through the rack seat, that is, the rack seat 35 is symmetrically disposed on the first end surface of the supporting seat 31, the rack 36 is slidably connected with the rack seat 35, and the rack 36 is meshed with a fifth gear 332 of the swinging member 33, the tension spring seat 37 is symmetrically disposed at two ends of the rack 36, the first end of the tension spring is connected with the rack seat through the tension spring seat, that is the first end of the tension spring 38 is connected with the tension spring seat 37, and the second end of the tension spring 38 is connected with the rack seat 35. The swinging member 33 includes a swinging block 331, a fifth gear 332 and a rotating shaft 333, where the swinging block 331 is slidably connected with the sliding groove of the supporting seat 31, the fifth gear 332 is an incomplete gear, the fifth gear 332 is disposed at a side position of the swinging block 331, and the fifth gear is meshed with the rack for transmission. The rotating shaft 333 is arranged in the middle of the second end surface of the swinging block 331, and is rotationally connected with the bearing block, and the axis of the rotating shaft 333 coincides with the pulley tangent line of the swinging pulley 34.
The pulley deflection assemblies, the rope winding and unwinding assemblies and the ropes are the same in number, the rope winding and unwinding assemblies 2 are arranged into six groups, four groups of rope winding and unwinding assemblies are respectively arranged at four corners of the bottom plate, namely, the four groups of rope winding and unwinding assemblies 2 are symmetrically arranged at four corners of the first end face of the bottom plate 41, and at least two groups of rope winding and unwinding assemblies 2 are symmetrically and obliquely arranged on the first end face of the bottom plate 41. The pulley deflection assemblies 3 are arranged in six groups, at least four groups of the pulley deflection assemblies are arranged on the top plate, i.e. at least four groups of the pulley deflection assemblies are symmetrically arranged on the first end surface of the top plate 43, and at least two groups of the pulley deflection assemblies are symmetrically arranged on the first end surface of the bottom plate 41. Fixed pulleys are also arranged at the four corners of the bottom plate, namely fixed pulleys 5 are arranged at the four corners of the first end face of the bottom plate 41. The ropes 6 are arranged in six groups, wherein the first ends of at least four groups of ropes are wound on the reels 205 of the rope reeling and unreeling assembly 2 at four corners, and the second ends of the four groups of ropes are sequentially wound around the fixed pulley 5 and the swinging pulley 34 of the pulley deflecting assembly 3 at the top plate position and are connected with the supporting plate 1092 of the pedal connecting frame 109. Wherein a first end of at least two sets of ropes is wound around the drum 205 of the obliquely arranged rope reel assembly 2 and a second end of the two sets of ropes is connected to the support plate 1092 of the pedal link 109 around the swing pulley 34 of the pulley deflection assembly 3 provided at the bottom plate 41.
As shown in fig. 7, the rope winding and unwinding members a 21, B22, C23, and D24 are four groups of rope winding and unwinding members symmetrically disposed at four corners of the first end surface of the base plate 41, and the rope winding and unwinding members E25 and F26 are two groups of rope winding and unwinding members symmetrically disposed at the first end surface of the base plate 41 in an inclined manner.
As shown in figure 8 of the drawings,T i respectively the pulling force of six ropes, whereini=1,2,3,4,5,6，T i1 For the component of the rope parallel to the axis of rotation of the oscillating pulley,T i2 is a component of force perpendicular to the axis of rotation of the oscillating pulley,F 2 for the force of the oscillating member 33 against the rack 36,F 3 for the force of the tension spring 38 against the rack 36,Las a center line of the supporting seat 31,θfor ropes and centre linesLThe included angle between the two parts is that,Othe point is the center of the rotation axis of the swinging member 33; when the rope deflects, the oscillating sheave 34 receives a component of the ropeT i1 The oscillating pulley 34 will wind aroundOThe point being deflected and the oscillating member 33 exerting a force on the rack 36F 2 The rack 36 is displaced by deltaxThe left tension spring stretches, by hooke's law:F=kΔxit can be seen that the tension of the tension springF 3 Increasing; when the rope 6 is aligned with the centre lineLAngle therebetweenθIn the event of an increase in the volume,T i1 the number of the cells to be processed is increased,F 2 is enlarged andF 2 greater thanF 3 The rack 36 moves to the left and the swing pulley 34 windsOThe point deflects clockwise; when the rope 6 is aligned with the centre lineLAngle therebetweenθWhen the size of the container is changed from large to small,T i1 the number of the steps of the method is reduced,F 2 reduced due toF 3 Greater thanF 2 The rack 36 will move to the right, and the swing member 33 is wound around due to the engagement of the fifth gear 332 of the swing member 33 with the rack 36OThe point rotates counter-clockwise and the swinging pulley 34 will always remain in the same direction as the rope 6 swings.
As shown in figures 9 and 10 of the drawings,F G is the gravity of the human foot,F G1 the force component parallel to the pedal 111 is the gravity of the human foot,F G2 to act on the pedal 111 by the foot of the human body,F d for the resistance of the damper 1035,F d1 as a component force of the resistance force of the damper 1035 in the vertical direction,F d2 is a component force of the resistance force of the damper 1035 in the horizontal direction; in the initial state, the tension of six ropesT i And the resistance of the damper 1035F d Pressure of foot of human body against pedal 111F G Balance is maintained, and when the ankle joint moves, the tension of six ropes is keptT i When the motion axis of the ankle joint is displaced vertically upward, the resistance of the damper 1035 is reduced, the movable base 1034 is moved upward, the rotation axis of the turret 104 is displaced vertically upward to coincide with the motion axis of the ankle joint, and when the ankle joint is dorsiflexed, the gravity of the foot of the human bodyF G Will generate a force component parallel to the pedal 111F G1 The spring 105 is compressed to compensate for the ankle joint axis of motion.
In another aspect of the present invention, there is provided a control method of an ankle joint movement robot with a movement axis adaptive, as shown in fig. 11, comprising the steps of:
s1, placing the foot on the pedal 111, fixing the foot with the pedal 111 through a bandage, adjusting the distance between the pedal 111 and the rotating frame 104 through the knob 112, enabling the ankle joint axis to coincide with the rotating axis of the rotating frame 104, and fixing the leg with the leg protector 45 through the bandage.
S2, respectively establishing a global coordinate system and a local coordinate system by taking the bottom connecting line central points of the two side support posts 101 asOrigin of originOEstablishing a global coordinate systemOX b Y b Z b The method comprises the steps of carrying out a first treatment on the surface of the With the semicircular center of the pedal 111 as the origin of coordinatesQEstablishing a local coordinate systemQX a Y a Z a The method comprises the steps of carrying out a first treatment on the surface of the Taking the intersection point of the rotation axis of the rotating frame 104 and the axis of the bearing 107 as the origin of coordinatesPEstablishing a local coordinate systemPXYZ；A i Is a ropeL i The connection point with the movable platform is provided with a connecting point,B i is a ropeL i At the point of connection with the oscillating pulley 34, wherei=1,2,3,4,5,6。
S3, based on a local coordinate system, the pedal 111 winds aroundXRotation angle of shaftαWindingYRotation angle of shaftβWindingZRotation angle of shaftγ，By usingZYXEuler angles describe the pose of the pedal 111, then the local coordinate systemQX a Y a Z a Relative to a local coordinate systemPXYZIs the rotation matrix of (a) P R Q 。
S4, according to the geometric characteristics and the vector parallelogram, the lengths of the ropes are respectively equal tol i Expressed by the relation between the rope connection point and the coordinate point, the specific expression is as follows:
whereini=1,2,3,4,5,6；
In the method, in the process of the invention,l i indicating the length of each rope and,representation ofA i Point to pointB i Position vector of point, ">Representation ofB i Point to originPPosition vector of>Representing the originQTo the origin pointPPosition vector of>Representation ofA i Point to originQIs used for the position vector of (a).
S5, substituting each parameter point into the length of the ropel i In the expression, a specific relation value between each rope length and the pedal rotation angle can be obtained.
And S6, rotating the pedal 111 by a required angle, controlling the rotation angle of each motor through a controller according to the obtained specific relation value, and realizing the extension or shortening of each rope so as to realize the rotation of the pedal 111 around the axis, wherein the gesture data of the pedal 111 can be monitored in real time through the gesture sensor 113 and fed back to the controller so as to adjust the expansion and contraction amount of each motor in real time.
In a preferred form, as shown in fig. 12 a-13 f, fig. 12 a-12 c are the lengths of the first through sixth cords, respectively, as the angle of rotation of the pedal 111 changes, and fig. 13 a-13 f are the lengths of the cords as the angle of rotation changes, respectively, when the pedal performs a compound motion of dorsiflexion/plantarflexion, varus/valgus of the ankle joint about the X-axis, Y-axis, and no motion of adduction/valgus about the Z-axis.
The motion axis adaptive ankle joint motion robot and the control method thereof according to the present invention will be described in further detail with reference to the following examples. The use process of the motion axis self-adaptive ankle joint motion robot is as follows:
first, the user sits on the adjustable seat, places the user's foot on the pedal 111, fixes the foot to the pedal 111 by means of the bandage, adjusts the distance between the pedal 111 and the turret 104 by means of the knob 112 so that the ankle axis coincides with the rotation axis of the turret 104, and then fixes the user's leg to the leg supporter 45 by means of the bandage.
When a user performs dorsiflexion, the motor 202 in the rope retraction assembly C23 and the rope retraction assembly D24 rotates to enable the winding drum 205 to rotate, the winding drum 205 moves through the cooperation of the gears and the cams while the winding drum 205 rotates, the rope 6 is uniformly wound on the winding drum 205, the rope 6 wound on the winding drum of the rope retraction assembly C23 and the rope retraction assembly D24 contracts, simultaneously, the motor 202 in the rope retraction assembly A21 and the rope retraction assembly B22 rotates to enable the winding drum 205 to rotate, the rope 6 wound on the winding drum 205 of the rope retraction assembly A21 and the rope retraction assembly B22 extends or shortens, meanwhile, the damper 1035 in the double-fork arm mechanism 103 passively adapts to the motion axis of the ankle joint of the user, the pedal 111 moves around the rotation axis of the rotating frame 104 along with the contraction and extension of the rope 6, and when the user performs dorsiflexion, the user performs dorsiflexion motion on the ankle joint, and the dorsiflexion motion of the rotation directions of the rope retraction assemblies A21, the rope retraction assembly B22, the rope retraction assembly C23 and the motor 202 are opposite to the dorsiflexion direction of the user.
When the user performs the varus movement, the motor 202 in the rope retraction assembly a 21 and the rope retraction assembly D24 rotates to rotate the winding drum 205, so that the rope 6 wound on the winding drum 205 of the rope retraction assembly a 21 and the rope retraction assembly D24 is contracted, the motor 202 in the rope retraction assembly B22 and the rope retraction assembly C23 rotates to rotate the winding drum 205, so that the rope 6 wound on the winding drum 205 of the rope retraction assembly B22 and the rope retraction assembly C23 is extended, and at the same time, the spring 105 is deformed to passively adapt to the movement axis of the ankle joint of the user, and the pedal 111 moves around the spring seat 106 along with the contraction and extension of the rope 6, so that the varus movement of the ankle joint of the user occurs, and similarly, when the user performs the valgus movement, the motor 202 in the rope retraction assembly a 21, the rope retraction assembly B22, the rope retraction assembly C23 and the rope retraction assembly D24 is rotated in the opposite direction to the varus movement.
When the user performs the inward retraction movement, the motor 202 in the rope retraction assembly C23 and the rope retraction assembly F26 rotates to rotate the drum 205, so that the rope 6 wound on the drum 205 of the rope retraction assembly C23 and the rope retraction assembly F26 is contracted, the motor 202 in the rope retraction assembly D24 and the rope retraction assembly E25 rotates to rotate the drum 205, so that the rope 6 wound on the drum 205 of the rope retraction assembly D24 and the rope retraction assembly E25 is extended, and at the same time, the spring 105 is deformed to passively adapt to the movement axis of the ankle joint of the user, and the user ankle joint is restrained by the spring 105 along with the contraction and extension of the rope 6, and similarly, when the user performs the outward retraction movement, the rotation direction of the motor 202 in the rope retraction assembly C23, the rope retraction assembly D24, the rope retraction assembly E25 and the rope retraction assembly F26 is opposite to the inward retraction movement.
According to the motion axis self-adaptive ankle joint motion robot, the motion axis of an ankle joint is fitted with the motion axis of the robot through the double-fork arm mechanism 103 and the spring 105, damage in the ankle joint motion process is avoided, the extension and shortening of the rope 6 are accurately controlled through the rotation angle of the motor 202 through the rope retraction assembly, the friction between the rope 6 and a pulley is reduced through the pulley deflection assembly 3, the direction of the rope 6 is easier to change, and the dorsiflexion/plantarflexion, varus/valgus and internal rotation/external rotation of the ankle joint are realized through the mutual matching of the assemblies.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. The motion axis self-adaptive ankle joint motion robot is characterized by comprising an axis compensation assembly, a rope retraction assembly, a pulley deflection assembly, a support assembly and a rope;
the axis compensation assembly comprises a support column, a fixed sleeve, a double-fork arm mechanism, a rotating frame, a spring, a pedal connecting frame, pedal sliding rails, pedals, a knob and a position sensor, wherein the support column is symmetrically arranged in the support assembly, a first end face of the support column is connected with a bottom plate of the support assembly, the fixed sleeve is connected with a second end face of the support column, two sides of the rotating frame are rotationally connected with the fixed sleeve through the double-fork arm mechanism, a first end of the spring is fixedly connected with the rotating frame, a second end of the spring is rotationally connected with a support arm of the pedal connecting frame, pedal sliding rails are symmetrically arranged on two sides of a support plate of the pedal connecting frame, the pedals are in sliding connection with the pedal sliding rails, the knob passes through the pedal sliding rails to be in threaded connection with the pedals, and the position sensor is connected with the pedals;
the rope winding and unwinding assembly is arranged on the bottom plate and comprises a motor, a drum shaft, a winding drum, a first gear, a gear frame, a second gear, a gear shaft, a third gear, a cam piece, a fourth gear, a guide rod and a synchronizing block, wherein the first rotating shaft of the drum shaft is connected with an output shaft of the motor through a coupler, the winding drum is in sliding connection with the guide shaft of the drum shaft, the second rotating shaft of the drum shaft is in rotating connection with the bottom plate through a bearing seat, the first gear is connected with the first rotating shaft of the drum shaft, the gear frame is arranged at one side position of the winding drum, the second gear is in rotating connection with the gear frame through the gear shaft, the second gear is in meshed transmission with the first gear, the third gear is in meshed transmission with the gear shaft, the cam shaft of the cam piece is in rotating connection with the gear frame, the fourth gear is in meshed transmission with the third gear, the guide rod is arranged at one side position of the cam piece, two ends of the guide rod are connected with the gear frame, the sliding block of the synchronizing block is in sliding connection with the guide rod, the cylindrical guide block of the synchronizing block is in sliding connection with the guide block of the cam piece, and the driving block of the synchronizing block is in sliding connection with the winding drum;
the pulley deflection assembly comprises a supporting seat, a bearing block, a swinging part, a swinging pulley, a rack, a tension spring seat and a tension spring, wherein the bearing block is connected with a first end face of the supporting seat, the swinging part is rotationally connected with the bearing block, the swinging part is in sliding connection with a sliding groove of the supporting seat, the swinging pulley is arranged in the middle of the swinging part, the rack is arranged on the supporting seat through the rack seat, the rack is in sliding connection with the rack seat, the rack is in meshed transmission with the swinging part, the first end of the tension spring is connected with the rack through the tension spring seat, and the second end of the tension spring is connected with the rack seat.
2. The motion axis adaptive ankle joint motion robot according to claim 1, wherein the support assembly comprises a base plate, a frame, a top plate, a leg support, a leg guard, and a universal wheel, the first end surface of the frame is connected to the first end surface of the base plate, the first end surface of the top plate is connected to the second end surface of the frame, the leg support is connected to the second end surface of the top plate, the leg guard is connected to the leg support, and the universal wheel is provided at four corners of the second end surface of the base plate.
3. The motion axis adaptive ankle joint motion robot according to claim 1, wherein the double-fork arm mechanism comprises an arm support, a first fork arm, a second fork arm, a movable seat and a damper, the arm support is connected with the fixed sleeve, first ends of the first fork arm and the second fork arm are both rotatably connected with the arm support, second ends of the first fork arm and the second fork arm are both rotatably connected with the movable seat, the first fork arm and the second fork arm are arranged in parallel, the first end of the damper is rotatably connected with the arm support, and the second end of the damper is rotatably connected with the movable seat.
4. The motion axis self-adaptive ankle joint motion robot according to claim 1, wherein the number of the pulley deflection assemblies, the rope winding and unwinding assemblies and the number of the ropes are the same, four groups of rope winding and unwinding assemblies are respectively arranged at four corners of the bottom plate, at least two groups of rope winding and unwinding assemblies are symmetrically and obliquely arranged on the bottom plate, at least four groups of pulley deflection assemblies are arranged on the top plate, and at least two groups of pulley deflection assemblies are symmetrically arranged on the bottom plate; the four corners position department of bottom plate still is provided with the fixed pulley, and the first end of four sets of ropes winds with the reel of the rope subassembly of receiving and releasing of four corners position department, and the swing pulley of the pulley deflection subassembly of fixed pulley and roof position is walked around in proper order to four sets of ropes's second end is connected with the backup pad of footboard link, and the first end of two sets of ropes winds with the reel of the rope subassembly of receiving and releasing that the slope set up, and the swing pulley of pulley deflection subassembly of setting at the bottom plate is walked around to two sets of ropes's second end is connected with the backup pad of footboard link.
5. The motion axis adaptive ankle motion robot according to claim 1, wherein the spool shaft comprises a rotating disc, a guide shaft, a first rotating shaft and a second rotating shaft, the guide shaft is circumferentially distributed between the two rotating discs, the first rotating shaft and the second rotating shaft are connected with the rotating discs, and axes of the rotating discs, the guide shaft, the first rotating shaft and the second rotating shaft are identical.
6. The motion axis adaptive ankle motion robot according to claim 1, wherein the cam member includes a cam, a cam groove, and a cam shaft, the cam groove being circumferentially provided on the cam, the cam shaft being provided at both ends of the cam.
7. The motion axis self-adaptive ankle joint motion robot according to claim 5, wherein the synchronizing block comprises a slider, a cylindrical guide block and a driving block, the cylindrical guide block is arranged on a first end face of the slider, a contact end of the cylindrical guide block with a cam groove in the cam piece is hemispherical, the driving block is arranged on a second end face of the slider, an arc-shaped groove is arranged at one side position of the winding drum, and the driving block is in sliding connection with the arc-shaped groove.
8. The motion axis self-adaptive ankle joint motion robot according to claim 1, wherein the swing member comprises a swing block, a fifth gear and a rotating shaft, the swing block is slidably connected with the sliding groove of the supporting seat, the fifth gear is arranged at one side position of the swing block, the fifth gear is in meshed transmission with the rack, the rotating shaft is arranged at the middle position of the second end face of the swing block, the rotating shaft is rotatably connected with the bearing block, and the axis of the rotating shaft coincides with a pulley tangent line of the swing pulley.
9. The motion axis self-adaptive ankle joint motion robot according to claim 1, wherein the pedal connecting frame comprises a support arm and a support plate, the support arm and the support plate are vertically arranged, through holes are arranged at the tail ends of the support arm and are connected with bearings of the axis compensation assembly, slotted holes are arranged at four corners of the support plate, and the ropes are connected with the support plate through the slotted holes; the end positions of the two sides of the rotating frame are symmetrically provided with hollow cylinders, the movable seat is provided with a solid cylinder, and the inner side of the hollow cylinder is rotationally and slidingly connected with the solid cylinder.
10. A method of controlling an axis of motion adaptive ankle joint movement robot according to any one of claims 1 to 9, comprising the steps of:
s1, placing feet on a pedal, fixing the foot with the pedal through a bandage, adjusting the distance between the pedal and a rotating frame through a knob to enable the axis of an ankle joint to coincide with the rotating axis of the rotating frame, and then fixing legs with leg protectors through the bandage;
s2, respectively establishing a global coordinate system and a local coordinate system, and taking the central point of the connecting line of the bottoms of the two side support posts as the originOEstablishing a global coordinate systemOX b Y b Z b The method comprises the steps of carrying out a first treatment on the surface of the With the center of the pedal semicircle as the origin of coordinatesQEstablishing a local coordinate systemQX a Y a Z a The method comprises the steps of carrying out a first treatment on the surface of the Taking the intersection point of the rotation axis of the rotating frame and the axis of the bearing as the origin of coordinatesPEstablishing a local coordinate systemPXYZ；A i Is a ropeL i The connection point with the movable platform is provided with a connecting point,B i is a ropeL i Connection point with swinging pulley, whereini=1,2,3,4,5,6；
S3, based on a local coordinate system, winding the pedalXRotation angle of shaftαWindingYRotation angle of shaftβWindingZRotation angle of shaftγ，By usingZYXEuler angle describes the pose of the pedal, then the local coordinate systemQX a Y a Z a Relative to a local coordinate systemPXYZIs the rotation matrix of (a) P R Q ；
S4, according to the geometric characteristics and the vector parallelogram, the lengths of the ropes are respectively equal tol i Expressed by the relation between the rope connection point and the coordinate point, the specific expression is as follows:
whereini=1,2,3,4,5,6；
In the method, in the process of the invention,l i indicating the length of each rope and,representation ofA i Point to pointB i Position vector of point, ">Representation ofB i Point to originPPosition vector of>Representing the originQTo the origin pointPPosition vector of>Representation ofA i Point to originQIs a position vector of (2);
s5, substituting each parameter point into the length of the ropel i In the expression, a specific relation value between the length of each rope and the rotation angle of the pedal can be obtained;
and S6, rotating the pedal by a required angle, controlling the rotating angle of each motor through a controller according to the obtained specific relation value, and realizing the extension or shortening of each rope so as to realize the rotation of the pedal around the axis, wherein the gesture data of the pedal can be monitored in real time through a gesture sensor and fed back to the controller so as to adjust the expansion and contraction amount of each motor in real time.
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