JP2021515680A - Decoupling ankle care robot and complete decoupling parallel connection mechanism - Google Patents

Abstract

The present invention is a three-rotation, one-moving decoupling ankle care robot composed of a series-parallel connection mechanism with a symmetrical body, and connects a base, a movable platform, a foot pedal, and a base and a movable platform. Of the three branches, the first branch is the PRR branch and the second and third branches are both symmetrically distributed with respect to the bottom of the base. A branch, a foot pedal and a movable platform are connected in series to form a part of a branch, and the entire mechanism becomes a 3R1T mechanism, providing a three-rotation, one-moving decoupling ankle care robot. Further, the present invention includes a base, a movable platform, and three branches, the first branch and the second branch are both PRR branches, the third branch is a CPU branch, and three. The two branches provide a symmetric, two-rotation, one-moving, complete decoupling parallel connection mechanism that allows perfect decoupling by motion kinematic pair. The mechanism according to the present invention is a kinematics decoupling mechanism, and by controlling different branches, the movement of the ankle joint can be realized individually, and the movement kinematic pair of the branch has symmetry. Since there are few, the accuracy of control is easily improved, the configuration is compact, and the stability is good. [Selection diagram] Fig. 1

Description

The present invention relates to the field of ankle care, and more particularly to a decoupling ankle care robot capable of three rotations and one movement, and a symmetrical two rotations and one movement complete decoupling parallel connection mechanism.

Ankle injury is one of the most common bone joint injuries, with the ankle being the center of microregulation of the gait and balance of the human body, and ankle care training is extremely important for patients. It makes sense. For many stroke and hemiplegic patients, it is also necessary to strengthen training for the ankle joint. Training devices are used for ankle care training to reduce the workload of medical personnel and enhance the effectiveness of training. In the prior art, the workbench is generally moved by a series connection mechanism for the training device, but the structure is not strong and the degree of freedom for movement is small. On the other hand, when a training device based on a parallel connection mechanism is adopted, the strength is increased, but the configuration is complicated, the volume is large, and the mounting is difficult.

As a result of investigating the prior art, Patent Document 1 discloses an ankle joint nursing robot including a base of the mechanism and a work table installed above the base, and between the work table and the base, the ankle joint care robot is disclosed. Three link mechanisms having the same configuration are installed in parallel, and each is a first link mechanism, a second link mechanism, and a third link mechanism, and the workbench is inverted back and forth by the movement of the link mechanism. , Flip left and right, or rotate to a horizontal plane. The above-mentioned robot can perform training such as dorsiflexion / toe flexion, varus / valgus, and internal rotation / external rotation for the ankle joint by using the work table. However, it is inconvenient to control because this mechanism has kinematic coupling properties.

Patent Document 2 discloses a parallel connection ankle care robot and a control method thereof. The mechanism includes a base, a support frame is inserted into the base, and an adjustment mechanism is movable in the support frame. This adjustment mechanism includes a main rod, a front arm rod and a leg support rod so that the tip of the main rod is attached to the front arm rod and the leg support rod is connected to the main rod. The link is attached to the front arm rod and the main rod is movably engaged with the support frame. An adjustment mechanism and a movement mechanism are further included, and a pneumatic artificial muscle or a linear motor is used as a driving means, and the driving mechanism has its tip attached to the link of the adjustment mechanism and its end attached to the movement mechanism to exercise. The mechanism is movably engaged with the rear end of the main rod. The robot disclosed by the present invention has been applied to different patients due to its adjustable range of motion and can cover exercise training with three degrees of freedom for the ankle joint. However, its control is inconvenient.

In addition, the parallel connection mechanism has advantages such as high speed, high rigidity, large load capacity, and good dynamic response. Therefore, the equipment of the parallel / series-parallel connection structure whose main mechanism is the parallel connection mechanism. Has been greatly applied. Over the past decade or so, the application of parallel connection mechanisms has gradually expanded to many operations that do not require six degrees of freedom in space (eg alignment, attitude positioning, axisymmetric machining). To go. At this time, the parallel connection mechanism with a low degree of freedom can reduce the costs of processing, manufacturing, calibration, control, maintenance, etc., so that the parallel connection mechanism with a low degree of freedom has already been introduced in the academic world of the international parallel mechanism. In particular, the focus is on self-innovation, system design and project application in industries such as aviation, space, automobiles and food and medicine, especially in advanced developed countries. According to the decoupling parallel connection mechanism, in addition to being able to realize decoupling of motion, the higher the degree of mechanical decoupling, the easier it is to solve the analysis in kinematics and dynamics, and to control and trajectory to the robot. The task of planning can be greatly simplified.

Patent Document 3 discloses a symmetric decoupling parallel connection mechanism having three degrees of freedom of two rotations and one movement, and this mechanism has a platform, a base, and a motor and a screw mechanism for connecting the platform to the base. Including four support columns, the ends of the four support columns are fixedly connected to the base, the threading mechanism of the support columns is connected to the platform via a ball joint mechanism, and the ball joint mechanism is centered on the position of the fixed point of the platform. As they are symmetrical with each other. In the present invention, since the drive by four motors is adopted, the mechanism is simple in configuration and the accuracy of machining is guaranteed, but the demand for control is high. Otherwise, the tendency for limitation to occur will adversely affect the final output of the motion, narrowing the space for motion.

Patent Document 4 discloses a kinematic decoupling parallel connection mechanism having three degrees of freedom of two rotations and one movement, and this mechanism is connected between a movable platform, a fixed platform, and a movable platform and a fixed platform. Two branched kinematic chains, one of which is an open kinematic chain and the other of which is a kinematic chain, the kinematic chain is closed. The ring configuration is made by connecting one rotating pair even in series, and the closed ring configuration consists of a first sub-branch and a second sub-branch, and the axis of the first column pair of the open kinetic chain is. , Parallel to the axis of the sixth kinematic pair of the dual-purpose chain, and both perpendicular to the center line of the fourth moving kinematic pair of the dual-purpose chain, one-to-one control of the input motion of the main drive joint and the output motion of the movable platform. It becomes a relationship and has good decoupling properties for kinematics. However, since one branch has too many kinematic kinematic pairs, it is inconvenient to control and the expected effect cannot be obtained.

Chinese Patent CN20162074097.4 Gazette Chinese patent CN201510472613. X Gazette Chinese Patent CN2015108762263. China Registered Utility Model CN201520767012.7 Gazette

In other words, dorsiflexion / toe flexion, varus / valgus, internal rotation / external rotation, and traction of the ankle joint to realize the three-dimensional degree of freedom of rotation required for ankle care. To meet the needs of motion, the present invention provides a series-parallel connection mechanism that can realize 3R1T, which is simple in construction, symmetrically distributed, and easy to decouple and control in kinematics. Since the intelligent detection device is installed at the important point, the ankle joint care robot can meet the general care needs, and also has an advantage in cost and strength. In addition, in order to overcome the drawbacks of the conventional mechanism and solve the problem that control becomes inconvenient due to too many kinematic pairs in the branch of the decoupling mechanism, the new mechanism with different configurations and functions is mechanistic. Has become a basic requirement as it develops.

The present invention is a decoupling ankle care robot, which is simple in configuration, symmetrical, easy to control, can realize three degrees of freedom of two rotations and one movement, and can be completely decoupled. And, it is an object of the present invention to provide a symmetric two-turn, one-movement complete decoupling parallel connection mechanism.

The present invention is realized as follows.
The present invention is a three-rotation, one-movable decoupling Cartesian care robot that includes a fuselage, a drive mechanism, and a detection system, wherein the fuselage connects a base, a movable platform, and the base and the movable platform. It is a symmetric series-parallel connection mechanism including three branches and a foot pedal connected in series to the movable platform. At the bottom of the base, it is symmetrically distributed with respect to the Y-axis and in the Y-axis direction. Two slide rails that match the above are installed, two holders that are symmetrical with respect to the Y axis are provided, and the movable platform is the first holder, the second holder, the third holder, and the first holder to which the successes are sequentially connected. It has a frame configuration including four holders, and the parallel connection portion in the series-parallel connection mechanism is a decoupled two-rotation one-movement parallel connection mechanism of 2-CPRR-PRR, and the three branches. The first branch is a PRR branch, and both the second branch and the third branch are CPRR branches in an initial posture that are symmetrically distributed with respect to the YOZ plane. The first link includes a first link and a second link, the first end of which is connected to the slide rail via a moving pair, the second end of which is the first end of the second link, and the axis of which is the base. Connected via a rotating pair that is perpendicular to the bottom of the movable platform, the second link is connected to the first holder of the movable platform via a rotating pair whose axis is parallel to the x-axis of the movable platform. , The second branch includes a first link, a second link and a third link, the first link via a column pair whose first end is perpendicular to the second holder of the base and whose axis is perpendicular to the base. Connected, the second end is connected to the first end of the second link via a moving pair even parallel to the bottom of the base, the second link having the second end perpendicular to the bottom of the base. Connected to the first end of the third link via a rotation pair, the third link has a rotation pair whose second end is in the second holder of the movable platform and whose axis is parallel to the x-axis of the movable platform. Connected via, the third branch includes a first link, a second link and a third link, the first link having a first end perpendicular to the third holder of the base and an axis perpendicular to the base. The second end is connected to the first end of the second link via a moving pair even parallel to the bottom of the base, the second link having the second end. The axis is perpendicular to the bottom of the base It is connected to the first end of the third link via a kinematic pair of rotations, the third link having a second end of the third holder of the movable platform and an axis parallel to the x-axis of the movable platform. The series connection portion in the series-parallel connection mechanism includes the movable platform and the foot pedal, and the foot pedal is fixedly connected to the first end of the foot pedal link and is connected to the foot pedal link. The two ends and the fourth holder of the movable platform provide a three-rotation, one-movable decoupling ankle care robot whose axis is connected via a kinematic pair of rotations passing through the y-axis of the movable platform.

Preferably, the drive mechanism includes four drive motors, each of which realizes three degrees of freedom of rotation and one degree of freedom of movement for the care robot, and the first movement pair of the first branch has momentum. Is provided with a drive motor that indicates the output parameter of the first degree of freedom of movement of this mechanism, and the momentum is the first degree of freedom of rotation of this mechanism for the P pair even included in the first columnar pair of the second branch. A drive motor indicating the output parameter of the third branch is provided, and the R pair of the first columnar pair of the third branch is provided with a drive motor whose momentum indicates the output parameter of the second degree of freedom of rotation of this mechanism, and the foot The rotary pair to which the fixed connection link in the pedal and the fourth holder in the movable platform are connected is provided with a drive motor whose momentum indicates the output parameter of the third degree of freedom of rotation of this mechanism.

Preferably, the detection system includes an angular displacement sensor, a linear displacement sensor, a position limiting switch, and a force sensor, the angular displacement sensor is mounted at a position where the drive pair is a rotational pair, and the linear displacement sensor is The drive pair is mounted at a position where the drive pair is a moving pair, the position limiting switch is distributed at the limit position of each drive pair, the force sensor is mounted on the foot pedal, and the foot pedal is heated or massaged. By attaching the device, an adapter assembly is provided to increase the functionality of the care robot.

Preferably, the ankle joint care robot is a kinematics decoupling mechanism and supports dorsiflexion / toe flexion, varus / valgus, internal rotation / external rotation, and traction movement in ankle movement. By controlling different branches, three rotations and one movement are individually realized.

Preferably, the three centers of rotation of the robot coincide with one point, the length of the link connecting the foot pedals is adjustable, and by adjusting the length of the link, the ankles have different heights. When humans are training in nursing care, the center of the ankle joint and the actual center of rotation of the robot are aligned so that a better nursing effect can be achieved.

The present invention also includes a base, a movable platform, and a first branch, a second branch, and a third branch connecting the base and the movable platform. A decoupling parallel connection mechanism, the base including two parallel slide rails and one holder, the movable platform having a regular triangular shape, with a first holder, a second holder and a third holder. , The first branch and the second branch are provided at the three vertices, respectively, and each of them is a PRR branch including a link, a moving pair of P pairs and a rotating pair of R pairs, and the third branch. The branch is a CPU branch including a link, a C pair of columnar pairs, a P pair of moving pairs and a U pair of hook joints, and the first branch, the second branch and the third branch are based on a motion pair. , Complete decoupling is feasible, the first branch and the second branch include a first link and a second link, respectively, and the first end of the first link of the first branch , is connected to the base of the first slide rail, to form a P ₁ even number, the first end of the first link of the second branch is connected to the base of the second slide rail, P ₂ contraposition _{The movement direction of the P 1} pair even in the first branch and the movement direction of the P ₂ pair even in the second branch are both the same direction along the Y-axis direction of the fixed coordinate system of the base. , and the said second end of the first link of the first branch, the first branch is connected to the first end of the second link of the branch, to form a R ₁ even number, the axial direction of the R ₁ contraposition When a Z-axis direction at the base of the fixed coordinate system is the same direction passing through the o ₁ point movable platform, the second end of the first link of the second branch, the second branch second the link is connected to a first end of, to form a R ₂ contraposition, wherein R ₂ contraposition of second branch is to collinear and R ₁ contraposition in the first branch, the first branch the second end of the second link, the connected to the first holder of the movable platform, to form a R ₃ contraposition, the second end of the second link of the second branch, the second of said movable platform is connected to the holder, to form a R ₄ even number, the axis of the R ₄ contraposition of the second branch is always collinear with the axis of the R ₃ contraposition in the first branch, o ₁ point on the movable platform The third branch includes the third link and the fourth link, and the first end of the third link is connected to the holder of the base via C pair even, and the column pair even. And axis and always the base plane of the vertical, the second end of said third link, said fourth link first end to be connected through the P ₃ contraposition of the direction of the P ₃ kinematic pair, the base plane Always parallel to, the second end of the fourth link is connected to the third holder of the movable platform via a U pair, and the U pair of the third branch consists of two rotating pairs and two. It has rotation axes that are perpendicular to each other in direction, the first rotation axis of the U pair is always perpendicular to the plane of the base, and the second rotation axis of the U pair is parallel to the surface of the base. providing one branch of R ₃ kinematic pair of axes and the second branch of the complete decoupling parallel connection mechanism R ₄ symmetrical second rotating one mobile always parallel to the axis of the kinematic pair.

Preferably, the first branch and the second branch are symmetrically distributed on both sides of the movable platform, and the first link of the first branch and the first link of the second branch are integrated as a whole. The overall width is equal to the distance between the two slide rails at the base, and the second link of the first branch and the second link of the second branch are L-shaped, and the above-mentioned The length of the sides of the movable platform is longer than the distance between the two slide rails on the base.

Preferably, the moving pair of the first branch is provided with a drive motor in which the momentum indicates the output parameter of the first degree of freedom of movement of the parallel connection mechanism, and the rotating pair of the second branch has the momentum. A drive motor indicating the output parameter of the first rotation degree of freedom of this parallel connection mechanism is provided, and the momentum of the P pair included in the C pair even of the columnar pair of the third branch is the second rotation of this parallel connection mechanism. A drive motor is provided to indicate the output parameters of the degrees of freedom.

Preferably, the movable platform of the parallel connection mechanism, the three by each branch three drive motors provided around the axis of the x-axis and z-axis in the coordinate system of the movable platform around a o ₁ point movable platform Along with rotating to, it realizes that it moves along the Y-axis direction in the fixed coordinate system of the fixed platform.

The present invention has the following beneficial effects as compared with the prior art.
(1) The number of motion kinematic pairs included in the branch of the robot mechanism is small, the kinematic kinematic pair becomes easy, and the control becomes easy.
(2) For the decoupling of the robot mechanism, each input amount can correspond only to the specified motion.
(3) Since the branches of the robot mechanism are symmetrically distributed and the two branches have the same configuration, the manufacturing cost and time can be saved.
(4) It is easy to attach the mechanism, the movable space of the ankle joint is large, the mobility is high, and the movement requirements of all the ankle joints are satisfied.
(5) The three-dimensional rotation center of the robot can be made to coincide with the actual rotation center of the ankle joint of a different human by adjusting the length of the link.
(6) The center of three-dimensional rotation of the robot is located at a fixed position on the movable platform, preferably because the center of gravity of the foot is always located between the two slide rails in the first branch during actual operation. It is possible to guarantee the stability of movement and the rigidity of the robot.
(7) The robot can be applied not only to medical care but also to home health by attaching other auxiliary facilities to the foot pedal according to the needs for many functions.
(8) The symmetric two-rotation, one-moving, complete decoupling parallel connection mechanism according to the present invention can maintain the advantages such as high strength of the parallel connection mechanism, compact configuration, and good stability. In kinematics, it is possible to realize complete decoupling of three degrees of freedom, two rotations along the space x and z axes and one movement parallel to the base along the Y axis, and each input amount is unique. It can correspond to the identified motion, has symmetry in the mechanism, the composition of the two branches is the same, the manufacturing cost and time can be saved, and the motion contained in the branch. Fewer pairs, easier motion pairs, improved control accuracy, reduced control complexity, lower requirements for mounting accuracy than other parallel connection mechanisms, convenient mounting of mechanisms, more movable space It is large, its control is complicated in the conventional symmetrical parallel connection mechanism, and it is possible to overcome the drawbacks such as strong consistency.

It is a schematic diagram of all movement kinematic pairs positions in the nursing care robot which concerns on this invention. It is a schematic diagram of the member of the branch 1 in the nursing care robot which concerns on this invention. It is a schematic diagram of the members of the branches 2 and 3 in the nursing care robot which concerns on this invention. It is a schematic diagram of the member of the series connection part in the nursing care robot which concerns on this invention. It is a schematic diagram of the distribution of the detection sensor in the nursing care robot which concerns on this invention. FIG. 5 is a schematic configuration diagram of the entire symmetrical two-rotation, one-moving, complete decoupling parallel connection mechanism according to the second embodiment of the present invention. FIG. 5 is a schematic configuration diagram of a third branch of a symmetrical two-rotation, one-moving, complete decoupling parallel connection mechanism according to a second embodiment of the present invention.

Hereinafter, exemplary embodiments, features and effects of the present invention will be described in detail with reference to the drawings. The drawings show the same functions and similar parts with the same reference numerals. The drawings show each aspect of the embodiment, but are not drawn to scale unless otherwise specified.

First Embodiment In the schematic diagram of the configuration of the entire robot shown in FIG. 1, the body is configured by a symmetrical series-parallel connection mechanism, and the base 6, the movable platform 4, and the base 6 and the movable platform 4 are connected to each other. The parallel connection part in the series-parallel connection mechanism including the foot pedal 5 connected in series to the two branches 1, 2, 3 and the movable platform 4 is a parallel connection mechanism called 2-CPRR-PRR, where C is a cylinder. Kinematic pair indicates pair, P indicates moving pair, R indicates one rotating pair, columnar pairing is a combination of one moving pair and one rotating pair, and 2-CPRR is columnar pair, moving pair, rotation. It is shown that both sets of branches in which pair-even and rotating pair-even are sequentially connected are included, and PRR indicates a branch constructed by sequentially connecting moving pair-even, rotating pair-even, and rotating pair-even. The parallel connection mechanism is a combination of three branches. In the three branches of the connection base 6 and the movable platform 4, the first branch 1 is a PRR branch, and the second branch and the third branches 2 and 3 are all symmetrically distributed CPRR branches. Is. Therefore, it is possible to guarantee the isotropic movement of the mechanism and the ease of installation. By installing two slide rails 61 along the Y-axis direction and symmetrically distributed on both sides of the Y-axis at the bottom of the base 6, stability in mechanical operation is improved. At the bottom of the base 6, two holders 62 and 63 connected to the second branch and the third branch are symmetrically installed on both sides of the Y-axis, respectively. The movable platform 4 is a frame, and the first holder, the second holder, the third holder, and the fourth holder of the movable platform are all installed on the frame. As shown in FIG. 4, the first holder 41, the second holder 42, the third holder 43, and the fourth holder 44 are the first branch 1, the second branch 2, the third branch 3, and the foot, respectively. It is connected to the pedal link 51.

As shown in FIG. 2, in the three branches, the first branch 1 is the PRR branch, and one end of the first link 11 of the first branch 1 moves to the slide rail 61 of the base 6. Connected via P11, the other end is connected to one end of the second link 12 of the first branch 1 via a rotating kinematic pair R12 whose axis is perpendicular to the bottom of the base, and the second link of the first branch 1 At the same time, one end of 12 is connected to the first holder 41 of the movable platform 4 symmetrically distributed at both ends of the movable platform to form a rotational kinematic pair, and the axis of the rotational kinematic pair R13 is the second rotational kinematic pair of the first branch 1. axis of R12 and intersecting the three-dimensional rotation center _{o 1.}

As shown in FIG. 3, in the three branches, the second branch 2 and the third branch 3 are both CPRR branches. It is preferable that the initial positions of the two branches are symmetrically distributed with respect to the YOZ plane. Also, preferably, the first link 21 of the second branch 2 is connected to the second holder 62 of the base 6 at one end via a cylindrical pair C21 whose axis is perpendicular to the base 6, and the other end is the second. The second link 22 of the second branch 2 is connected to one end of the second link 22 of the branch 2 via a moving pair P22 parallel to the bottom of the base 6, and the second link 22 of the second branch 2 has the other end and the axis of the base 6. It is connected to one end of the third link 23 of the second branch 2 via a rotating pair R23 perpendicular to the bottom, and finally the third link 23 of the second branch 2 has the other end of the movable platform 4th. The two holders 42 are connected via a rotating pair R24 whose axis is parallel to the x-axis.

The first link 31 of the third branch 3 is connected to the third holder 63 at one end of the base in a cylindrical pair C31 pair whose axis is perpendicular to the base 6, and the other end is the second link of the third branch 3. The second link 32 of the third branch 3 is connected to a moving pair P32 parallel to the bottom of the base 6 at one end of 32 via a rotating pair R33 whose other end is perpendicular to the bottom of the base 6. It is connected to one end of the third link 32 of the third branch 3, and finally, the third link 33 of the third branch 3 has the other end of the third holder 43 of the movable platform 4 and the axis of the x-axis. It is connected to a parallel rotating pair R34. It is preferable that the second branch 2 and the third branch 3 have the same configuration and are symmetrically distributed on both sides of the movable platform 4. Then, in the x direction, the performance of the movable platform 4 is unified.

As shown in FIG. 4, the series connection portion in the series-parallel connection mechanism includes the movable platform 4 and the foot pedal 5. The foot pedal 5 is fixedly connected to one end of the foot pedal link 51 at both front and rear ends thereof, and the other end of the foot pedal link 51 is connected to the fourth holder 44 of the movable platform 4 so that the axis of the foot pedal 5 passes through the y-axis. It is connected via R51. Preferably, by connecting the foot pedal 5 that rotates about the axis in the y-axis direction in series to the movable platform 4, the entire ankle joint nursing robot using the foot pedal as an end actuator becomes a 3R1T mechanism. The axes of the three rotation axes of the robot intersect O1. Rotate with the foot pedal 5 by adjusting the length of the connecting foot pedal 5 and the foot pedal link 51 of the movable platform 4 so that it can be adapted to humans with different ankle heights and for better exercise training effects. It is preferable that the distance from the center O1 is adjusted so that the actual center of the ankle joint and the actual center of rotation of the nursing robot coincide with each other. Preferably, the foot pedal 5 is located inside the frame of the movable platform 4, more preferably below the frame. It is preferable that the size of the frame of the movable platform 4 can accommodate 90% or more of the size of the human foot so that the foot does not interfere with the frame of the movable platform 4 and other members during the movement process. .. Protective members for feet of different sizes may also be in the proper condition with the corresponding adjustments. Preferably, the foot pedal 5 is provided with an adapter assembly and a fixed protective member to make the mechanism more stable and comfortable. Further, it is preferable to increase the function of the nursing robot by attaching a heating device or a massage device. In addition, other corresponding configurations may be added to the foot pedal to enrich the functionality of the robot as a whole, in response to different human news.

The ankle care robot is a kinematics decoupling mechanism, and decoupling means that there is a one-to-one correspondence between input and output. Ankle care robots are not a complete decoupling mechanism, and even some decoupling mechanisms can still be referred to as decoupling mechanisms. By controlling different branches, three rotations and one movement can be realized respectively, and ankle joint movements such as dorsiflexion / toe flexion, varus / valgus, internal rotation / external rotation, and traction movement correspond. Can be realized. Preferably, the first kinematic pair P11 of the first branch 1 is provided with a drive motor 1 in which the amount of exercise indicates the output parameter of the first degree of freedom of movement of this mechanism in order to realize the traction movement of ankle joint care. , The P pair kinematic pair contained in the first kinematic pair C21 of the second branch 2 has the first rotational degree of freedom of this mechanism in order to realize the dorsiflexion / toe flexion movement of ankle joint care. A drive motor 2 indicating the output parameters of the above is provided, and the R kinematic pair included in the first kinematic pair C31 of the third branch 3 has an amount of exercise in order to realize the internal rotation / external rotation movement of the ankle joint care. Is provided with a drive motor 3 indicating the output parameter of the second rotational degree of freedom of this mechanism, and is connected to the kinematic pair R51 connecting the foot pedal link 51 fixedly connected to the foot pedal 5 and the fourth holder 44 of the movable platform 4. Is provided with a drive motor 4 in which the amount of exercise indicates the output parameter of the third degree of freedom of rotation of this mechanism in order to realize the varus / valgus movement of ankle joint care.

One end of the first link 11 of the first branch 1 is simultaneously connected to two slide rails 61 symmetrically distributed on the base 6 to form a moving kinematic pair. Preferably, it is one drive motor 1 that drives this kinematic pair, and the forward and reverse rotation of the motor realizes movement in both positive and negative directions along the Y axis throughout the mechanism, and this configuration enables a parallel connection mechanism. The rigidity is improved, and the stability during movement is also improved. One end of the second link 12 of the first branch 1 is simultaneously connected to the first holder 41 of the movable platform symmetrically distributed at both ends of the movable platform 4 to form a rotation kinematic pair, and the axis of the rotation kinematic pair is the first. It intersects the axis of the second kinematic pair R12 of one branch 1 and the center of rotation in three dimensions. Alternatively, if it is possible to realize that the branch 1 moves in the Y direction, it is not necessary to adopt the form of a slide rail for the first moving kinematic pair P11 of the first branch 1 of the mechanism. A formula or a roller type may be adopted. Further, the entire robot has a smaller configuration and is easier to implement.

When the P kinematic pair of the first kinematic pair in the second branch 2 is the drive kinematic pair, the R kinematic pair in the cylinder kinematic pair is not affected by the drive motor 2 and is regarded as a motion kinematic pair. Preferably, when the R kinematic pair of the first cylinder kinematic pair in the third branch 3 is the driving kinematic pair, the P kinematic pair of the cylinder kinematic pair is not affected by the driving motor 3 and is regarded as a driven motion kinematic pair. It is preferable that the first and second branches are the same and are symmetrically distributed with respect to the YZ plane. Then, the positions of the drive motor 2 and the drive motor 3 may be switched between the second and third branches, but only one motor drives one branch, and the kinematic pair is driven. It is necessary to guarantee that are P-even and C-even in the kinematic pair, respectively. A drive motor 4 is provided in the rotary pair that connects the link fixedly connected to the foot pedal and the fourth holder of the movable platform, and the branch holder of the movable platform 4 is preferentially installed at one end, which is relatively small. The platform.

The robot detection system mainly includes an angular displacement sensor, a linear displacement sensor, a position limiting switch and a force sensor. As shown in FIG. 5, the sensor that detects the output amount of the robot rotating in the Z direction and is installed on the rotary pair R12 of the branch is the angular displacement sensor J1. The sensor that detects the output amount of the robot rotating in the X direction and is installed on the rotational pair R13 of the branch 1 is the angular displacement sensor J2. The sensor that detects the output amount of the robot rotating in the Y direction and is installed on the rotational pair R13 of the branch 1 is the angular displacement sensor J3. Further, the angular displacement sensor J4 installed in the R kinematic pair in the C kinematic pair of the driving kinematic pair of the third branch 3 is for immediately receiving the feedback information of the driving kinematic pair. The sensor installed at the end of the base 6 that detects the output amount of the robot moving in the Y direction is the linear displacement sensor Z1. A position limiting switch X1 is installed at the upper end of the second holder 62 of the base 6, and a position limiting switch X2 is installed at the upper end of the second holder 62 of the base 6. A force sensor L1 for detecting the force at the toe end is installed at the tip of the foot pedal 5, and a force sensor L2 for detecting the force to pull in the Y direction is installed at the center of the foot pedal 5. A force sensor L3 that detects the force of the heel is installed at the end. By installing these sensors, not only is it guaranteed that the robot information is processed intelligently, but also the safety and stability of the entire robot are improved. To the extent possible to keep costs down, mechanical and electrical collection systems may provide intuitive feedback on the trainee's physiology.

The specific process of use of the first embodiment of the present invention is as follows.

Different human ankle heights so that the actual center of rotation of the human body coincides with the actual center of rotation of the robot, i.e. point o1 of the movable platform, before training the care by the robot. Based on this, adjust the length of the foot pedal link. A fixed belt is attached to the foot pedal to ensure a good match between the foot and the robot throughout the motion process. When used, the foot is placed in a fixed belt to ensure a stable match of the foot position with respect to the foot pedal.

In the process being used, the drive motor 1 cooperates with the drive motor 3 to individually realize the traction movement of the ankle joint, or in the traction process, the internal rotation / external rotation movement is realized. can do. The drive motor 2 can individually realize the finger flexion motion of the back foot of the ankle joint, and the drive motor 3 can individually realize the internal rotation / external rotation motion of the ankle joint. Therefore, the varus and valgus movements of the ankle joint can be realized individually. When the required various types of joint movement speeds and ranges are set, the movements can be individually realized by individually controlling a plurality of motors at the same time. At the same time, the best nursing care training effect can be obtained by collecting feedback signals of various types of exercise and immediately adjusting the exercise of the mechanism. When main dynamic training is required, each drive motor may be unlocked and each motor may be used as a driven tool.

Second Embodiment As shown in FIG. 6, the base 104 is _{fixed to the Cartesian coordinate system O 0-} X ₀ Y ₀ Z ₀ in space, and the fixed coordinate system O-XYZ of the base 104 has an XY plane. There _{Z 0} and perpendicular to the axis, X and Y-axis in the base 104, respectively, parallel to the _{X 0} axis and _{Y 0} axis direction in the spatial rectangular coordinate system, the movable coordinate system _o1-xyz of the movable platform 105, o _One point is _{located at the connection of the axes of R 3} pairs and R ₄ pairs, the z axis is perpendicular to the movable platform 105, the y axis is perpendicular to the connection of the axes of R ₃ pairs and R ₄ pairs, and the x axis. There parallel to tie line of the axis of R ₃ contraposition and R ₄ kinematic pair.

The symmetrical two-rotation, one-moving, complete decoupling parallel connection mechanism according to the present invention includes the first branch 101, the second branch 102, the third branch 103, the base 104 and, as shown in FIG. The movable platform 105 is included, and the first branch 101, the second branch 102, and the third branch 103 are connected to the base 104 and the movable platform 105, respectively. The base 104 is rectangular in appearance and includes a first slide rail 141, a second slide rail 142 and a holder 143, and the first slide rail 141 and the second slide rail 142 are symmetrically distributed on both sides of the holder 143. The holder 143 is located at the center line of the base 104, the first slide rail 141 and the second slide rail 142 are symmetrical with respect to the YZ plane, and the holder 143 is located in the YZ plane and at the base 104. Vertical. The movable platform 105 is apparently an equilateral triangle, and each vertex of the equilateral triangle has three holders, a first holder 151, a second holder 152, and a third holder 153, respectively.

The first branch 101 and the second branch 102 are both PRR branches composed of links, P pairs and R pairs, and the third branch 103 is a link, C pair, P pair and U pair. The CPU branch is composed of, and the first branch 101, the second branch 102, and the third branch 103 realize complete decoupling by the even number of movements.

At the first branch 101, the first end of the first link 111 is connected to the first slide rail 141 of the base 104 via the P pair, and the second end of the first link 111 is the second link 112. One end is connected via R kinematic pair, and the other end of the second link 112 is connected to the first holder 151 of the movable platform 105 via R kinematic pair.

To the second branch 102, one end of the first link 121 is connected to the second slide rail 142 of the base 104 via a P pair, and the other end of the first link 121 is connected to one end of the second link 122. , The other end of the second link 122 is connected to the second holder 152 of the movable platform 105 via the R kinematic pair.

As shown in FIG. 7, to the third branch 103, one end of the first link 131 is connected to the holder 143 of the base 104 via a C pair, and the other end of the first link 131 is the second link. One end of the 132 is connected via a P pair, and the other end of the second link 132 is connected to the third holder 153 of the movable platform 105 via a U pair.

_{The moving direction of the P 1} kinematic pair in the first branch 101 _{is the same as the moving direction of the P 2} kinematic pair in the second branch 102, and both are parallel to the base 104 plane along the Y-axis direction. The axis of the _{R 1} contraposition of first branch 101 perpendicular to the plane of the base 104, moreover, passes through the _{o 1} point movable platform 105, the plane of the _{R 3} kinematic pair of axes base 104 of the first branch 101 And parallel to the X-axis direction. And _{R 1} contraposition of _{R 2} contraposition and first branch 101 of the second branch 102 is collinear passes through o1 point of the movable platform 105, the axis of the _{R 4} contraposition of second branch 102 is first minute always collinear with the axis of the _{R 3} kinematic pair of branches 101.

The axis of the C pair even in the third branch 103 is perpendicular to the plane of the base 104, the P3 pair even direction of the third branch 103 is always parallel to the plane 104 of the base, and there are two U pairs of the third branch 103. consists of a rotational axis, one axis of rotation is always perpendicular to the plane of the base 104, another axis of rotation parallel to the platform of the base 104, moreover, always the axis of the R ₃ contraposition of first branch 101 and the parallel to the axis of the _{R 4} kinematic pair of bifurcated 102.

The first branch 101 and the second branch 102 are symmetrically distributed on both sides of the movable platform 105, and the first link 111 of the first branch 101 and the first link 121 of the second branch 102 are regarded as one whole. , The distance between this overall configuration and the first slide rail 141 or the second slide rail 142 at the base 104 is equal. The second link 112 of the first branch 101 and the second link 122 of the second branch 102 are L-shaped, and the second link 112 of the first branch 101 and the second link 122 of the second branch 102 are two. The additive sum of the lengths of the two sides is equal to the length of the sides of the movable platform 105, and the length of the sides of the movable platform 105 is larger than the distance between the first slide rail 141 and the second slide rail 142 at the base 104.

The P ₁ even number of first branch 101, the momentum driving motor is provided showing the output parameter of the first freedom of movement of the parallel connection mechanism, the R ₂ contraposition of second branch 102, the momentum Is provided with a drive motor that indicates the output parameter of the first degree of freedom of rotation of this parallel connection mechanism, and the momentum of the P pair included in the C pair of the third branch 103 is the second of this parallel connection mechanism. A drive motor is provided to indicate the output parameters of the degree of freedom of rotation.

The movable platform 105 of the parallel connection mechanism is centered on the o1 point by the three drive motors provided on the first branch 101, the second branch 102, and the third branch 103, respectively. It can be realized to rotate around and move along the Y-axis direction with two degrees of freedom. Moreover, this three-degree-of-freedom motion is a complete decoupling, that is, the rotational characteristics of the movable platform 105 are related to only one axis of rotation, R2 kinematic pair and U kinematic pair, and have a one-to-one correspondence. To do. U kinematic pair of the third branch 103 is constituted by two axes of rotation, one of the rotation axis is parallel to the base 104 platform, moreover, always the axis of the R ₃ contraposition of first branch 101 and second branch 102 It is parallel to the axis of the R ₄ even number of. Therefore, characteristics of the rotation of the movable platform 105 is not related to one of the rotational axis deer of R2 even number and R ₃ kinematic pair, yet one-to-one correspondence, characterized P ₁ even number of moving in the Y direction of the movable platform 105 It can be said that it has nothing to do with it.

Hereinafter, based on the embodiment, a symmetrical two-rotation-one-movement complete decoupling parallel connection mechanism according to the present invention will be described in detail.

According to the configuration of the present invention, the symmetrical two-rotation, one-moving, complete decoupling parallel connection mechanism is simply abbreviated as the 2-CPU-PRR mechanism, and the first branch 101 and the second branch in the 2-CPU-PRR mechanism are used. Regarding the motion of the movable platform 105 with respect to the base 104, the 102 and the third branch 103 achieve perfect decoupling by motion pairing, and each input amount corresponds to the only identified motion. It is not necessary to control the motors of the three branches at the same time, the control is facilitated, and only the corresponding motors need to be driven according to the required degree of freedom. Then, the complexity of the control is reduced, the accuracy of the control is improved, and the practicality of the 2-CPU-PRR mechanism is improved.

2-In order for the movable platform 105 in the CPU-PRR mechanism to acquire horizontal movement along the Y direction with respect to the base 104, it is not necessary to drive the drive motors of the three branches at the same time, and the P in the first branch 101 _By driving only one pair of even drive motors, the corresponding degrees of freedom can be obtained.

2-In order for the movable platform 105 in the CPU-PRR mechanism to acquire rotational degrees of freedom around the X-axis axis with respect to the base 104, it is not necessary to drive the drive motors of the three branches at the same time, and the third component. The corresponding degrees of freedom can be obtained by driving only the drive motor installed in the P pair included in the C pair in the branch 103.

2-In order for the movable platform 105 in the CPU-PRR mechanism to acquire rotational degrees of freedom around the Z-axis axis with respect to the base 104, it is not necessary to drive the drive motors of the three branches at the same time, and the second component. By driving only the R2 kinematic pair drive motor on the branch 102, the corresponding degrees of freedom can be obtained.

The 2-CPU-PPR parallel connection mechanism of the present invention has advantages such as clearly less kinematic pairs in branches, lower requirements and accuracy for mounting, and easy kinematic decoupling and control. Since the two centers of rotation are aligned at one point, the mechanism is stable and can meet a number of needs in modern industry, such as executing designs and testing platform construction. ..

The 2-CPU-PRR mechanism according to the present invention has a compact structure in a parallel connection mechanism, has a small cumulative error, and maintains the advantages of stability in motion, and is used in kinematics. Complete decoupling of the mechanism with three degrees of freedom can be realized, the 2-CPU-PRR mechanism has symmetry, the first branch and the second branch have the same configuration, and the configuration is simple. It reduces processing difficulties, saves manufacturing costs and time, facilitates attachment and detachment, allows the platform to be verified by related tests, and has a mechanical branch called 2-CPU-PRR with less kinematic pairs. Improves control accuracy, requires lower mounting accuracy than other parallel connection mechanisms, has a large movable space, complicates control with conventional symmetric parallel connection mechanisms, and has strong consistency. Can be overcome.

Finally, what should be explained is that the above examples merely explain the technical means of the present invention, do not limit them, and have described the present invention in detail with reference to preferred examples. It is still possible for those skilled in the art to amend specific embodiments of the present invention or evenly replace a part thereof, and as long as they do not deviate from the gist of the technical plan according to the present invention, such amendments may be made. Equal substitution is also included in the scope of the present invention for which protection is to be claimed.

P11 branch 1 1st moving pair even R12 branch 1 2nd rotation pair even R13 branch 1 3rd rotation pair even C21 branch 2 1st column pair even P22 branch 2 2nd moving pair R23 branch 2 3rd rotation pair R24 Branch 2 4th kinematic pair C31 branch 3 1st column kinematic pair P32 branch 3 2nd moving kinematic pair R33 branch 3 3rd kinematic pair R34 branch 3 4th kinematic pair R51 Series connection kinematic pair 1 1st branch 11 1 link 12 2nd link 2 2nd branch 21 1st link 22 2nd link 23 3rd link 3 3rd branch 31 1st link 32 2nd link 33 3rd link 6 base 61 Slide rail 62 2nd holder 63 Third holder 4 Movable platform 41 First holder 42 Second holder 43 Third holder 44 Fourth holder 5 Foot pedal 51 Foot pedal link 101 First branch 111 First link 112 Second link 102 Second branch 121 First Link 122 Second link 103 Third branch 131 First link 132 Second link 104 Base 141 First slide rail 142 Second slide rail 143 Holder 105 Movable platform 151 First holder 152 Second holder 153 Third holder P ₁ First One moving pair P ₂ Second moving pair P ₃ Third moving pair C Cylindrical pair R ₁ First rotation pair R ₂ Second rotation pair R ₃ Third rotation pair R ₄ Fourth rotation pair U Hook joint sub

Claims (9)

A three-turn, one-moving decoupling ankle care robot that includes a torso, drive mechanism, and detection system.
The fuselage is a symmetrical series-parallel connection mechanism including a base, a movable platform, three branches connecting the base and the movable platform, and a foot pedal connected in series with the movable platform.
At the bottom of the base, two slide rails that are symmetrically distributed with respect to the Y-axis and that coincide with the Y-axis direction are installed, and two holders that are symmetrical with respect to the Y-axis are provided.
The movable platform has a frame configuration that includes a first holder, a second holder, a third holder, and a fourth holder to which the success is sequentially connected.
The parallel connection portion in the series-parallel connection mechanism is a decoupled two-rotation one-movement parallel connection mechanism of 2-CPRR-PRR, and the first branch of the three branches is a PRR branch. The second branch and the third branch are both CPRR branches in the initial posture that are symmetrically distributed with respect to the YOZ plane.
The first branch includes a first link and a second link.
The first link is connected to the slide rail via a moving kinematic pair, the second end is connected to the first end of the second link via a rotating kinematic pair whose axis is perpendicular to the bottom of the base. Connected,
The second link has a second end connected to the first holder of the movable platform via a kinematic pair whose axis is parallel to the x-axis of the movable platform.
The second branch includes a first link, a second link and a third link.
The first link is connected to the second holder of the base via a cylindrical kinematic pair whose axis is perpendicular to the base, and the second end is parallel to the bottom of the base at the first end of the second link. Connected via moving kinematic pair,
The second link is connected to the first end of the third link via a rotating pair whose axis is perpendicular to the bottom of the base.
The third link is connected to the second holder of the movable platform at its second end via a kinematic pair whose axis is parallel to the x-axis of the movable platform.
The third branch includes a first link, a second link and a third link.
The first end of the first link is connected to the third holder of the base via a cylindrical kinematic pair whose axis is perpendicular to the base, and the second end is connected to the first end of the second link by the base. Connected via a moving kinematic pair parallel to the bottom of the
The second link is connected to the first end of the third link via a rotating pair whose axis is perpendicular to the bottom of the base.
The third link has a second end connected to the third holder of the movable platform via a kinematic pair whose axis is parallel to the x-axis of the movable platform.
The series connection portion in the series-parallel connection mechanism includes the movable platform and the foot pedal.
The foot pedal is fixedly connected to the first end of the foot pedal link.
The second end of the foot pedal link and the fourth holder of the movable platform are connected via a kinematic pair of rotations whose axes pass through the y-axis of the movable platform. Decoupling ankle care robot. The drive mechanism includes four drive motors that each realize three degrees of freedom of rotation and one degree of freedom of movement for the nursing robot.
The first moving kinematic pair of the first branch is provided with a drive motor in which the momentum indicates the output parameter of the first movement degree of freedom of this mechanism.
The P pair included in the first column pair even of the second branch is provided with a drive motor in which the momentum indicates the output parameter of the first rotational degree of freedom of this mechanism.
The R pair of the first cylinder pair of the third branch is provided with a drive motor whose momentum indicates the output parameter of the second degree of freedom of rotation of this mechanism.
The rotary pair to which the fixed connection link in the foot pedal and the fourth holder in the movable platform are connected is provided with a drive motor whose momentum indicates the output parameter of the third degree of freedom of rotation of this mechanism. The three-turn, one-movable decoupling ankle care robot according to claim 1. The detection system includes an angular displacement sensor, a linear displacement sensor, a position limiting switch, and a force sensor.
The angular displacement sensor is mounted at a position where the drive pair is a rotational pair.
The linear displacement sensor is mounted at a position where the driving kinematic pair is a moving kinematic pair.
The position limiting switches are distributed at the limit positions of each drive pair and even.
The force sensor is attached to the foot pedal and
The three-rotation, one-movable decoupling according to claim 2, wherein an adapter assembly for increasing the function of the nursing robot is provided by attaching a heating device or a massage device to the foot pedal. Ankle care robot. The ankle joint care robot is a kinematically decoupling mechanism, and realizes dorsiflexion / toe flexion, varus / valgus, internal rotation / external rotation, and traction movement in the movement of the ankle joint. The three-rotation, one-movement decoupling ankle care robot according to claim 3, wherein three rotations and one movement are individually realized by controlling different branches. The three centers of rotation of the robot coincide with one point,
The length of the link connecting the foot pedal is adjustable, and by adjusting the length of the link, it can be used as the center of the ankle joint when humans with different heights of the ankle are training for long-term care. The three-rotation, one-movable decoupling ankle care robot according to claim 1, wherein the actual rotation center of the robot is aligned with the actual rotation center of the robot so that a better care effect can be achieved. With a symmetrical bi-rotation, one-moving, fully decoupling parallel connection mechanism that includes a base, a movable platform, and a first branch, a second branch, and a third branch that connect the base to the movable platform. There,
The base includes two parallel slide rails and one holder.
The movable platform has a regular triangular shape, and a first holder, a second holder, and a third holder are provided at three vertices, respectively, and the first branch and the second branch are all linked. , PRR branch including moving kinematic pair P kinematic pair and rotating kinematic pair R kinematic pair, and the third branch is a CPU component including link, columnar kinematic pair C kinematic pair, moving kinematic pair P kinematic pair and hook joint U kinematic pair. It is a branch, and the first branch, the second branch and the third branch can achieve complete decoupling by kinematic kinematic pair.
The first branch and the second branch include a first link and a second link, respectively.
The first end of the first link of the first branch is connected to the base of the first slide rail, to form a P ₁ even number,
The first end of the first link of the second branch is connected to the base of the second slide rail, to form a P ₂ contraposition,
_{The moving direction of the P 1} kinematic pair in the first branch and the moving direction of the P ₂ kinematic pair in the second branch are both the same direction along the Y-axis direction of the fixed coordinate system of the base.
The second end of the first link of the first branch, the coupled to the first end of the second link of the first branch to form a R ₁ contraposition,
The axial direction of the R ₁ even number, and Z-axis direction at the base of the fixed coordinate system is the same direction passing through the o ₁ point movable platform,
The second end of the first link of the second branch, the coupled to the first end of the second link of the second branch to form a R ₂ contraposition,
Wherein R ₂ contraposition of second branch is to collinear and R ₁ contraposition in the first branch,
The second end of the second link of the first branch, the coupled to the first holder of the movable platform, to form a R ₃ contraposition,
The second end of the second link of the second branch, the coupled to the second holder movable platform to form R ₄ even number,
The axis of the R ₄ contraposition of the second branch is always collinear with the axis of the R ₃ contraposition in the first branch, always passes through o ₁ point on the movable platform,
The third branch includes a third link and a fourth link.
The first end of the third link is connected to the holder of the base via a C pair, so that the axis of the cylinder pair is always perpendicular to the base plane.
The second end of said third link, said fourth link first end to be connected through the P ₃ contraposition of the direction of the P ₃ even number, always parallel to the base plane,
The second end of the fourth link is connected to the third holder of the movable platform via a U pair.
The U pair of the third branch is composed of two rotation pairs and has rotation axes perpendicular to each other in two directions, and the first rotation axis of the U pair is always perpendicular to the plane of the base. second rotational axis of the U kinematic pair, parallel to said base platform, always parallel to the axis of the R ₄ even number of axes and the second branch of R ₃ contraposition of the first branch, and wherein the Symmetrical two-turn, one-moving, fully decoupling parallel connection mechanism. The first branch and the second branch are symmetrically distributed on both sides of the movable platform.
The first link of the first branch and the first link of the second branch are integrated as a whole, and the total width is equal to the distance between the two slide rails at the base.
The second link of the first branch and the second link of the second branch are L-shaped, and the side length of the movable platform is longer than the distance between the two slide rails at the base. The symmetrical two-turn, one-moving, fully decoupling parallel connection mechanism according to claim 6. The moving kinematic pair of the first branch is provided with a drive motor in which the momentum indicates the output parameter of the first degree of freedom of movement of this parallel connection mechanism.
The rotational pair of the second branch is provided with a drive motor whose momentum indicates the output parameter of the first rotational degree of freedom of this parallel connection mechanism.
7. The kinematic pair included in the C kinematic pair of the columnar kinematic pair of the third branch is provided with a drive motor whose momentum indicates the output parameter of the second rotational degree of freedom of the parallel connection mechanism. Symmetrical two-turn, one-moving, fully decoupling parallel connection mechanism as described in. Moveable platform of the parallel connection mechanism, the three drive motors provided to each of the three branches, for rotation about the axis of x-axis and z-axis in the coordinate system of the movable platform around a o ₁ point movable platform The symmetric bi-rotation-one-movement complete decoupling parallel connection mechanism according to claim 8, which also realizes movement along the Y-axis direction in a fixed coordinate system of a fixed platform.

Images