CN112472518A - Three-degree-of-freedom parallel mechanism for lower limb rehabilitation - Google Patents
Three-degree-of-freedom parallel mechanism for lower limb rehabilitation Download PDFInfo
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- CN112472518A CN112472518A CN202011318211.1A CN202011318211A CN112472518A CN 112472518 A CN112472518 A CN 112472518A CN 202011318211 A CN202011318211 A CN 202011318211A CN 112472518 A CN112472518 A CN 112472518A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 46
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 24
- 210000003414 extremity Anatomy 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging 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
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a three-degree-of-freedom parallel mechanism for lower limb rehabilitation, which is simple in structure, good in rigidity and free of a spherical hinge. The device comprises a fixed base and a movable platform, wherein the fixed base is connected with the movable platform through a first branched chain, a second branched chain and a third branched chain, and the first branched chain and the second branched chain have the same structure and sequentially comprise a moving pair, a rotating pair, a connecting rod and a universal pair which are connected between the fixed base and the movable platform; the third branched chain comprises a moving pair, a universal pair, a connecting rod and a universal pair; the axes of the sliding pairs in each branched chain are parallel to each other, the axes of the rotating pairs of the first branched chain and the second branched chain are vertical to the axis of the sliding pair, and the first rotating axis of the first universal pair of the third branched chain is parallel to the axis of the sliding pair; in the first branched chain and the second branched chain, the second rotating axes of the two universal pairs are coaxial, and the rotating axes of the two rotating pairs are parallel to each other.
Description
Technical Field
The invention relates to the technical field of lower limb rehabilitation instruments, in particular to a three-degree-of-freedom parallel mechanism for lower limb rehabilitation.
Background
At present, most of traditional lower limb rehabilitation robots are of series structures, series nodes correspond to joints of lower limbs of a human body, the structural form is simple, the joints are independently driven and are not coupled, and the robot has the advantages of being simple in kinematics correction, easy to control and large in working space. Based on the advantages, the series mechanism with mature technology is widely applied to the field of rehabilitation robots. However, due to the open-loop structural form of the serial mechanism, the deformation and errors among all joints are accumulated, so that the overall rigidity and precision of the robot are reduced; in addition, the axes of the serial nodes and the axes of the human joints deviate along with the movement of the mechanism, so that secondary injury to limbs is caused. Therefore, under the conditions that the population is aging and the demand of the rehabilitation robot is higher and higher, the traditional series robot cannot meet the demand gradually. To solve the problem, scholars and researchers at home and abroad explore a novel lower limb rehabilitation robot based on parallel mechanisms in recent years. Compared with a six-degree-of-freedom parallel mechanism, the less-degree-of-freedom parallel mechanism has the advantages of low coupling degree, easiness in modularization and the like, and is more and more favored by researchers.
The existing parallel mechanism for lower limb rehabilitation has the defects of excessive ball hinges in the mechanism, complex structure, difficulty in ensuring the machining and assembling precision and limited working space (such as CN104970945A and CN 105943306A). In addition, a clearance is inevitably formed between the ball head of the ball hinge and the ball socket due to the movable fit relationship, the process error and the friction during the hinge motion can aggravate the clearance error, and the precision of the mechanism is reduced.
Disclosure of Invention
The invention provides a three-degree-of-freedom parallel mechanism for lower limb rehabilitation, which aims to solve the problems that the existing parallel mechanism needs to adopt a spherical hinge and is complex in structure, and has the advantages of simple structure, good rigidity and no spherical hinge.
The technical scheme is as follows: a three degree of freedom parallel mechanism for low limbs is recovered, it includes fixed baseplate and moves the platform, fixed baseplate through first branch chain, second branch chain and third branch chain with move the platform and connect its characterized in that: the first branch chain comprises a first moving pair, a first rotating pair, a first connecting rod and a first universal pair which are sequentially connected, and the first universal pair comprises a first rotating shaft connected with the first connecting rod and a second rotating shaft connected with the moving platform;
the second branch chain comprises a second moving pair, a second rotating pair, a second connecting rod and a second universal pair which are sequentially connected, and the second universal pair comprises a third rotating shaft connected with the second connecting rod and a fourth rotating shaft connected with the movable platform;
the third branch chain comprises a third moving pair, a third universal pair, a third connecting rod and a fourth universal pair which are sequentially connected, the third universal pair comprises a rotating shaft five connected with the third moving pair and a rotating shaft six connected with one end of the third connecting rod, and the fourth universal pair comprises a rotating shaft seven connected with the other end of the third connecting rod and a rotating shaft eight connected with the movable platform;
the first moving pair, the second moving pair and the third moving pair are respectively connected with the fixed base, the first universal pair, the second universal pair and the fourth universal pair are respectively connected with the moving platform, and the axes of the first moving pair, the second moving pair and the third moving pair are parallel to each other; the rotating axis of the first rotating pair is perpendicular to the axis of the first moving pair, the rotating axis of the first rotating pair is parallel to the axis of the first rotating shaft, the rotating axis of the second rotating pair is perpendicular to the axis of the second moving pair, the rotating axis of the second rotating pair is parallel to the axis of the third rotating shaft, the rotating axis of the first rotating pair is parallel to the rotating axis of the second rotating pair, the axis of the second rotating shaft is coaxial to the axis of the fourth rotating shaft, the axis of the fifth rotating shaft is parallel to the axis of the third moving pair, the axis of the sixth rotating shaft is parallel to the axis of the seventh rotating shaft, and when the moving platform is in a horizontal state, the axis of the eighth rotating shaft is parallel to the axis of the first rotating shaft and the axis of the third rotating shaft respectively.
It is further characterized in that:
the first sliding pair is vertically arranged;
the second sliding pair is vertically arranged;
the third moving pair is vertically arranged;
the first moving pair comprises a first guide rail arranged on the fixed base and a first sliding block in sliding fit with the first guide rail, and the first sliding block is driven to move on the first guide rail through a driving mechanism;
the second sliding pair comprises a second guide rail arranged on the fixed base and a second sliding block in sliding fit with the second guide rail, and the second sliding block is driven to move on the second guide rail through a driving mechanism;
the third moving pair comprises a third guide rail arranged on the fixed base and a third sliding block in sliding fit with the third guide rail, and the third sliding block is driven to move on the third guide rail through a driving mechanism;
the movable platform is provided with a sole fixing device;
the first branched chain and the second branched chain are symmetrically distributed on two sides of the third branched chain;
the movable platform is square, and the first branched chain and the second branched chain are respectively connected with two opposite sides of the movable platform.
The invention has the beneficial effects that: the parallel mechanism provided by the invention can realize two-rotation one-movement motion in space, and the first branched chain and the second branched chain which form the mechanism have the same structure, so that the parallel mechanism is convenient to manufacture and install; the whole mechanism has the advantages of simple structure, high rigidity, good flexibility, easy control and the like, and the mechanism does not contain a ball hinge, is easy to manufacture and process and has high precision. When in use, the linear uniaxial driver can be connected in series with the linear uniaxial driver to form a 2T2R hybrid lower limb rehabilitation robot so as to perform rehabilitation training of hip joints, knee joints and ankle joints of lower limbs.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a diagram illustrating a first branch structure;
FIG. 3 is a schematic diagram of a second branched chain structure;
FIG. 4 is a schematic view of a third branched structure;
FIG. 5 is a schematic structural view of a first gimbal pair;
FIG. 6 is a schematic diagram of a third gimbal pair split structure;
FIG. 7 is a schematic diagram of a fourth gimbal pair splitting structure.
Detailed Description
As shown in fig. 1, the three-degree-of-freedom parallel mechanism for lower limb rehabilitation comprises a fixed base 1 and a movable platform 2, wherein the movable platform 2 is square, a first branched chain 4 and a second branched chain 5 are respectively connected with two opposite sides of the movable platform 2, a sole fixing device 21 is installed on the movable platform 2, the fixed base 1 is connected with the movable platform 2 through the first branched chain 3, the second branched chain 4 and a third branched chain 5, and the first branched chain 3 and the second branched chain 4 are symmetrically distributed on two sides of the third branched chain 5.
Specifically, as shown in fig. 2, the first support chain 3 includes a first moving pair 31, a first rotating pair 32, a first connecting rod 33 and a first gimbal pair 34, which are connected in sequence, the first moving pair 31 is vertically disposed, the first moving pair 31 includes a first guide rail 311 mounted on the fixed base 1 and a first slider 312 slidably engaged with the first guide rail 311, the first slider 312 is driven to move on the first guide rail 311 by a driving mechanism 6 such as a driving motor, in conjunction with fig. 5, the first gimbal pair 34 includes a first rotating shaft 341 connected to the first connecting rod 33 and a second rotating shaft 342 connected to the moving platform 2, the first connecting rod 33 can rotate around an axis where the first rotating shaft 341 is located, the moving platform 2 can rotate around an axis where the second rotating shaft 342 is located, more specifically, the first rotating shaft 341 and the second rotating shaft 342 further include a U-shaped support 7 for mounting the first rotating shaft 341 and the second rotating shaft 342, the first rotating shaft 341 is fixed to the first connecting rod 33, and the first rotating shaft 341 is rotatably connected to the U-shaped support 7 by a bearing, the rotating shaft II is rotatably connected with the U-shaped bracket I7 through a bearing.
Similar to the first branch chain 3, as shown in fig. 3, the second branch chain 4 includes a second moving pair 41, a second rotating pair 42, a second connecting rod 43 and a second universal pair 44 which are connected in sequence, the second moving pair 41 is vertically arranged, the second moving pair 41 includes a second guide rail 411 mounted on the fixed base 1 and a second sliding block 412 in sliding fit with the second guide rail 411, the second sliding block 412 is driven to move on the second guide rail 411 by the driving mechanism 6, referring to fig. 5, the second universal pair 44 includes a third rotating shaft 441 connected with the second connecting rod 43 and a fourth rotating shaft 442 connected with the movable platform 2 similar to the first universal pair 34, the second connecting rod 43 can rotate around an axis where the third rotating shaft 441 is located, and the movable platform 2 can rotate around an axis where the fourth rotating shaft 442 is located.
As shown in fig. 4, the third branched chain 5 includes a third moving pair 51, a third universal pair 52, a third connecting rod 53 and a fourth universal pair 54 connected in sequence, the third moving pair 51 is vertically disposed, the third moving pair 51 includes a third guide rail 511 mounted on the fixed base 1 and a third sliding block 512 slidably engaged with the third guide rail 511, the third sliding block 512 is driven to move on the third guide rail 511 by a driving mechanism 6, in combination with fig. 6, the third universal pair 52 includes a fifth rotating shaft 521 connected with the third moving pair 51 and a sixth rotating shaft 522 connected with one end of the third connecting rod 53, a cross shaft can be used as the fifth rotating shaft 521 and the sixth rotating shaft 522, the third universal pair 52 can be directly selected as a hooke joint, more specifically, the third sliding block 512 is connected with the fifth rotating shaft 521 by a second U-shaped bracket 8, the second U-shaped bracket 8 is connected with the fifth rotating shaft 521 by a bearing, one end of the third connecting rod 53 is connected with the sixth rotating shaft 522 by a third U-shaped bracket 9, the fourth universal pair 54 structure can also combine with the structure of fig. 7 and referring to the first universal pair 34, and includes a rotating shaft seven 542 connected to the other end of the third connecting rod 53, and a rotating shaft eight 541 connected to the moving platform 2, where the other end of the third connecting rod 53 can rotate around the axis where the rotating shaft seven 542 is located, and the moving platform 2 can rotate around the axis where the rotating shaft eight 541 is located.
The position relationship among the moving pair, the revolute pair and the universal pair is as follows: the first moving pair 31, the second moving pair 41 and the third moving pair 51 are respectively connected with the fixed base 1, the first universal pair 34, the second universal pair 44 and the fourth universal pair 54 are respectively connected with the moving platform 2, and the axes of the first moving pair 31, the second moving pair 41 and the third moving pair 51 are parallel to each other; the rotation axis of the first rotating pair 32 is perpendicular to the axis of the first moving pair 31, the rotation axis of the first rotating pair 32 is parallel to the axis of the first rotating shaft 341, the rotation axis of the second rotating pair 42 is perpendicular to the axis of the second moving pair 41, the rotation axis of the second rotating pair 42 is parallel to the axis of the third rotating shaft 441, the rotation axis of the first rotating pair 32 is parallel to the rotation axis of the second rotating pair 42, the axis of the second rotating shaft 342 is coaxial to the axis of the fourth rotating shaft 442, the axis of the fifth rotating shaft 521 is parallel to the axis of the third moving pair 51, the axis of the sixth rotating shaft 522 is parallel to the axis of the seventh rotating shaft 542, and when the moving platform 2 is in a horizontal state, the axis of the eighth rotating shaft 541 is parallel to the axes of the first rotating shaft 341 and the third rotating shaft 441, respectively.
The three-degree-of-freedom 2PRU-PUU parallel mechanism is formed by a first branched chain 3 (PRU branched chain), a second branched chain 4 (PRU branched chain) and a third branched chain 5 (PUU branched chain) (wherein P represents a moving pair and is an active driving pair of the mechanism, R represents a rotating pair, and U represents a universal pair), so that the two-rotation-one-movement three-degree-of-freedom movement of the moving platform 2 in space can be realized, and specifically, when the sole fixing device 21 is combined, when the sole fixing device is in a horizontal state, the axis where a toe to a heel is located is taken as an X axis, the vertical direction is taken as a Z axis, and the direction vertical to the X axis and the Z axis is taken as a Y axis, so that the mechanism can realize the rotation of the Y axis, the rotation of the X axis; the 2T2R series-parallel lower limb rehabilitation robot formed by connecting the mechanism in series through the mounting seat 10 and the linear single-axis driver 11 can realize the movement in the X-axis direction, and a user can perform rehabilitation training of hip joints, knee joints and ankle joints of lower limbs through the movement of the mechanism after putting feet into the sole fixing device 21.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A three degree of freedom parallel mechanism for low limbs is recovered, it includes fixed baseplate and moves the platform, fixed baseplate through first branch chain, second branch chain and third branch chain with move the platform and connect its characterized in that: the first branch chain comprises a first moving pair, a first rotating pair, a first connecting rod and a first universal pair which are sequentially connected, and the first universal pair comprises a first rotating shaft connected with the first connecting rod and a second rotating shaft connected with the moving platform;
the second branch chain comprises a second moving pair, a second rotating pair, a second connecting rod and a second universal pair which are sequentially connected, and the second universal pair comprises a third rotating shaft connected with the second connecting rod and a fourth rotating shaft connected with the movable platform;
the third branch chain comprises a third moving pair, a third universal pair, a third connecting rod and a fourth universal pair which are sequentially connected, the third universal pair comprises a rotating shaft five connected with the third moving pair and a rotating shaft six connected with one end of the third connecting rod, and the fourth universal pair comprises a rotating shaft seven connected with the other end of the third connecting rod and a rotating shaft eight connected with the movable platform;
the first moving pair, the second moving pair and the third moving pair are respectively connected with the fixed base, the first universal pair, the second universal pair and the fourth universal pair are respectively connected with the moving platform, and the axes of the first moving pair, the second moving pair and the third moving pair are parallel to each other; the rotating axis of the first rotating pair is perpendicular to the axis of the first moving pair, the rotating axis of the first rotating pair is parallel to the axis of the first rotating shaft, the rotating axis of the second rotating pair is perpendicular to the axis of the second moving pair, the rotating axis of the second rotating pair is parallel to the axis of the third rotating shaft, the rotating axis of the first rotating pair is parallel to the rotating axis of the second rotating pair, the axis of the second rotating shaft is coaxial to the axis of the fourth rotating shaft, the axis of the fifth rotating shaft is parallel to the axis of the third moving pair, the axis of the sixth rotating shaft is parallel to the axis of the seventh rotating shaft, and when the moving platform is in a horizontal state, the axis of the eighth rotating shaft is parallel to the axis of the first rotating shaft and the axis of the third rotating shaft respectively.
2. The three-degree-of-freedom parallel mechanism for lower limb rehabilitation according to claim 1, characterized in that: the first sliding pair is vertically arranged.
3. The three-degree-of-freedom parallel mechanism for lower limb rehabilitation according to claim 1, characterized in that: the second sliding pair is vertically arranged.
4. The three-degree-of-freedom parallel mechanism for lower limb rehabilitation according to claim 1, characterized in that: the third moving pair is vertically arranged.
5. The three-degree-of-freedom parallel mechanism for lower limb rehabilitation according to claim 1 or 2, characterized in that: the first moving pair comprises a first guide rail arranged on the fixed base and a first sliding block in sliding fit with the first guide rail, and the first sliding block is driven to move on the first guide rail through a driving mechanism.
6. The three-degree-of-freedom parallel mechanism for lower limb rehabilitation according to claim 1 or 3, characterized in that: the second sliding pair comprises a second guide rail arranged on the fixed base and a second sliding block in sliding fit with the second guide rail, and the second sliding block is driven to move on the second guide rail through a driving mechanism.
7. The three-degree-of-freedom parallel mechanism for lower limb rehabilitation according to claim 1 or 4, characterized in that: the third moving pair comprises a third guide rail arranged on the fixed base and a third sliding block in sliding fit with the third guide rail, and the third sliding block is driven to move on the third guide rail through a driving mechanism.
8. The three-degree-of-freedom parallel mechanism for lower limb rehabilitation according to claim 1, characterized in that: and the movable platform is provided with a sole fixing device.
9. The three-degree-of-freedom parallel mechanism for lower limb rehabilitation according to any one of claims 1-4, wherein: the first branched chain and the second branched chain are symmetrically distributed on two sides of the third branched chain.
10. The three-degree-of-freedom parallel mechanism for lower limb rehabilitation according to claim 1, characterized in that: the movable platform is square, and the first branched chain and the second branched chain are respectively connected with two opposite sides of the movable platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011318211.1A CN112472518A (en) | 2020-11-23 | 2020-11-23 | Three-degree-of-freedom parallel mechanism for lower limb rehabilitation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011318211.1A CN112472518A (en) | 2020-11-23 | 2020-11-23 | Three-degree-of-freedom parallel mechanism for lower limb rehabilitation |
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| CN112472518A true CN112472518A (en) | 2021-03-12 |
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| CN202011318211.1A Pending CN112472518A (en) | 2020-11-23 | 2020-11-23 | Three-degree-of-freedom parallel mechanism for lower limb rehabilitation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN115040357A (en) * | 2022-05-31 | 2022-09-13 | 燕山大学 | Ankle joint rehabilitation robot based on 3-PUU/R hybrid mechanism |
-
2020
- 2020-11-23 CN CN202011318211.1A patent/CN112472518A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
| CN115040357A (en) * | 2022-05-31 | 2022-09-13 | 燕山大学 | Ankle joint rehabilitation robot based on 3-PUU/R hybrid mechanism |
| CN115040357B (en) * | 2022-05-31 | 2023-02-21 | 燕山大学 | Ankle joint rehabilitation robot based on 3-PUU/R hybrid mechanism |
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