Ankle rehabilitation spherical rotation type medical robot

Abstract

The present invention discloses an ankle rehabilitation spherical rotation type medical robot, which is characterized by comprising a fixed platform assembly and a moving platform; the fixed platform assembly includes a first fixed platform, a second fixed platform and a third fixed platform; a first branch chain is arranged between the first fixed platform and the moving platform; a third branch chain is arranged between the third fixed platform and the moving platform; a second branch chain is further included, one end of the second branch chain is connected to the second fixed platform, and the other end of the second branch chain is connected to the first branch chain. This robot is used to solve the problems of redundant kinematic pairs and complex motion control.

Description

Technical Field

[0001] The present invention relates to the technical fields of medicine and parallel mechanisms, and particularly to a spherical rotation type medical robot for ankle rehabilitation. Background Art

[0002] With the development of the times, parallel mechanisms no longer appear in a single form, but are applied in different industries, such as the aerospace industry, the automotive industry, clinical medicine, etc. For clinical medicine, nowadays, more attention is paid to the performance of medical rehabilitation machines, with higher precision, higher efficiency, and higher requirements.

[0003] A fully decoupled parallel mechanism is a parallel mechanism in which the input and output do not affect each other. Each input corresponds to only one output, and each drive does not interfere with each other. The relationship between the input and output can be obtained without complex calculations, and it has the advantages of simple structure, simple operation, and easy installation. The mutual integration and promotion of the two will make great contributions to the development of the medical cause. However, at present, ankle rehabilitation parallel mechanisms generally have problems of redundant kinematic pairs and complex motion control. Summary of the Invention

[0004] The purpose of the present invention is to provide a spherical rotation type medical robot for ankle rehabilitation, which is used to solve the problems of redundant kinematic pairs and complex motion control.

[0005] The technical solution adopted by the present invention is that a spherical rotation type medical robot for ankle rehabilitation includes a fixed platform assembly and a moving platform;

[0006] The fixed platform assembly includes a first fixed platform, a second fixed platform, and a third fixed platform; a first branch chain is arranged between the first fixed platform and the moving platform; a third branch chain is arranged between the third fixed platform and the moving platform; and a second branch chain is further included, one end of the second branch chain is connected to the second fixed platform, and the other end of the second branch chain is connected to the first branch chain.

[0007] The features of the present invention further lie in:

[0008] The first branch chain includes a first revolute pair, a first link, a second revolute pair, a second link, and a third revolute pair connected in sequence; the second revolute pair is also connected to the first branch chain;

[0009] The first revolute pair, the second revolute pair, and the third revolute pair are perpendicular to each other;

[0010] The axis of the first revolute pair is along the X-axis direction;

[0011] The axis of the second revolute pair is along the Y-axis direction;

[0012] The axis of the third revolute pair is along the Z-axis direction.

[0013] The second branch chain includes a first moving pair, a fifth connecting rod, a fourth rotating pair, a fourth connecting rod, a second moving pair, a third connecting rod, and a first screw pair that are connected in sequence;

[0014] One end of the fifth connecting rod is slidably connected to the second fixed platform through the first moving pair, the other end of the fifth connecting rod is rotatably connected to one end of the fourth connecting rod through the fourth rotating pair, the fourth rotating pair is installed on the fourth connecting rod, the other end of the fourth connecting rod is movably connected to one end of the third connecting rod through the second moving pair, and the other end of the third connecting rod is rotatably connected to the first screw pair;

[0015] The third connecting rod is a V-shaped connecting rod; the first screw pair is also connected to the second rotating pair.

[0016] The axis of the first moving pair is along the X-axis direction;

[0017] The moving axis of the first moving pair coincides with the axis of the first rotating pair;

[0018] The axis of the first screw pair is along the Y-axis direction.

[0019] The third branch chain includes a third moving pair, an eleventh connecting rod, a fifth rotating pair, a tenth connecting rod, a fourth moving pair, a ninth connecting rod, a sixth rotating pair, an eighth connecting rod, a fifth moving pair, a seventh connecting rod, and a second screw pair that are connected in sequence;

[0020] One end of the eleventh connecting rod is slidably connected to the third fixed platform through the third moving pair, the other end of the eleventh connecting rod is rotatably connected to one end of the tenth connecting rod through the fifth rotating pair, and the fifth rotating pair is installed on the tenth connecting rod;

[0021] The other end of the tenth connecting rod is movably connected to one end of the ninth connecting rod through the fourth moving pair;

[0022] The other end of the ninth connecting rod is rotatably connected to one end of the eighth connecting rod through the sixth rotating pair;

[0023] The sixth rotating pair is installed on the eighth connecting rod;

[0024] The other end of the eighth connecting rod is movably connected to one end of the seventh connecting rod through the fifth moving pair;

[0025] The other end of the seventh connecting rod is rotatably connected to the moving platform through the second screw pair;

[0026] The seventh connecting rod is a V-shaped connecting rod.

[0027] The axis of the third moving pair is along the X-axis direction;

[0028] The moving axis of the third moving pair coincides with the axis of the first rotating pair;

[0029] The axis of the sixth rotating pair is along the Y-axis direction;

[0030] The axis of the sixth rotating pair coincides with the axis of the first screw pair;

[0031] The axis of the second screw pair is along the Z-axis direction;

[0032] The axis of the second screw pair coincides with the axis of the third rotating pair.

[0033] The axes of the first rotating pair, the second rotating pair, and the third rotating pair intersect at the coordinate origin O of the XYZ three-dimensional coordinate system. The axes of the fourth rotating pair, the fifth rotating pair, and the sixth rotating pair intersect at the origin O. The axis of the first screw pair intersects with the axis of the second screw pair at the origin O. The axes of motion of the first sliding pair and the third sliding pair pass through the origin O;

[0034] The moving axis of the first sliding pair and the third sliding pair both coincide with the axis of the first rotating pair;

[0035] The included angle between the moving direction of the second sliding pair and the axis of the first screw pair is 30°;

[0036] The included angle between the axis of the fifth rotating pair and the moving direction of the fourth sliding pair is 45°;

[0037] The included angle between the moving direction of the fifth sliding pair and the axis of the second screw pair is 45°.

[0038] The first rotating pair, the first sliding pair, and the third sliding pair are respectively connected with driving motors.

[0039] The beneficial effects of the present invention are as follows:

[0040] (1) The medical robot of the present invention controls the moving platform to rotate around the axis of the first rotating pair by driving the first rotating pair, controls the moving platform to rotate around the axis of the first screw pair by driving the first sliding pair, and controls the moving platform to rotate around the axis of the second screw pair by driving the third sliding pair;

[0041] In the medical robot of the present invention, the driving motors are respectively arranged on the first rotating pair, the first sliding pair, and the third sliding pair. The first rotating pair, the first sliding pair, and the third sliding pair are all connected with driving motors, and the driving motors are all installed on the corresponding fixed platform. At the same time, the 3 driving motor control mechanisms of the medical robot of the present invention perform spatial rotational motions. Each motor independently controls a rotational motion, solving the problem of complex motion control, improving the dynamic motion performance of the mechanism, and the 3 rotational motions are completely independent; the medical robot of the present invention is completely decoupled, that is, the motion branches do not affect each other, solving the problem of redundant motion pairs, and at the same time overcoming the problem that the dynamic performance of the driving motor is reduced due to being arranged on the moving components, and overcoming the problem of single driving form.

[0042] (2) By acting on different drive mechanisms, the medical robot of the present invention enables the corresponding output, that is, the corresponding ankle rehabilitation branch chain, to complete ankle rehabilitation treatments in different poses. The states in different poses do not affect each other, and there are no strict requirements for the direction of ankle rehabilitation treatment. Different treatments can be carried out according to the patient's requirements and conditions, achieving different beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic diagram of the mechanism of the spherical rotation type ankle rehabilitation medical robot of the present invention in the initial position;

[0044] Figure 2 is a pose diagram of the spherical rotation type ankle rehabilitation medical robot of the present invention in the initial position based on the ankle joint fixing brace;

[0045] Figure 3 is a driving pose diagram of the first rotating pair R11 of the spherical rotation type ankle rehabilitation medical robot of the present invention based on the ankle joint fixing brace;

[0046] Figure 4 is a driving pose diagram of the first sliding pair P21 of the spherical rotation type ankle rehabilitation medical robot of the present invention based on the ankle joint fixing brace;

[0047] Figure 5 is a driving pose diagram of the third sliding pair P31 of the spherical rotation type ankle rehabilitation medical robot of the present invention based on the ankle joint fixing brace.

[0048] Figure 6 is a physical diagram of the ankle joint fixing brace used by the spherical rotation type ankle rehabilitation medical robot of the present invention.

[0049] In the figure, 1. First connecting rod, 2. Second connecting rod, 3. Third connecting rod, 4. Fourth connecting rod, 5. Fifth connecting rod, 6. Moving platform, 7. Seventh connecting rod, 8. Eighth connecting rod, 9. Ninth connecting rod, 10. Tenth connecting rod, 11. Eleventh connecting rod, 12. First fixed platform, 13. Second fixed platform, 14. Third fixed platform, 15. Ankle joint fixing brace.

[0050] R11 - First rotating pair, R12 - Second rotating pair, R13 - Third rotating pair, P21 - First sliding pair, R22 - Fourth rotating pair, P23 - Second sliding pair, H24 - First screw pair, P31 - Third sliding pair, R32 - Fifth rotating pair, P33 - Fourth sliding pair, R34 - Sixth rotating pair, P35 - Fifth sliding pair, H36 - Second screw pair. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] The present invention provides an ankle rehabilitation spherical rotation type medical robot, as Figure 1 shown, which includes a fixed platform assembly and a moving platform 6;

[0053] The fixed platform assembly includes a first fixed platform 12, a second fixed platform 13 and a third fixed platform 14, and the axes of the three fixed platforms coincide; a first branch chain is arranged between the first fixed platform 12 and the moving platform 6; a third branch chain is arranged between the third fixed platform 14 and the moving platform 6; a second branch chain is further included, one end of the second branch chain is connected to the second fixed platform 13, and the other end of the second branch chain is connected to the first branch chain.

[0054] The first branch chain includes a first rotating pair R11, a first connecting rod 1, a second rotating pair R12, a second connecting rod 2 and a third rotating pair R13 which are connected in sequence; the second rotating pair R12 is further connected to the first branch chain; the first connecting rod 1 and the second connecting rod 2 are arc-shaped rods.

[0055] One end of the first connecting rod 1 is rotatably connected to the first fixed platform 12 through the first rotating pair R11, and the other end of the first connecting rod 1 is rotatably connected to the second connecting rod 2 through the second rotating pair R12;

[0056] The second connecting rod 2 is respectively movably connected to the second rotating pair R12 and the third rotating pair R13;

[0057] The first rotating pair R11, the second rotating pair R12 and the third rotating pair R13 are perpendicular to each other;

[0058] The axis of the first rotating pair R11 is along the X-axis direction;

[0059] The axis of the second rotating pair R12 is along the Y-axis direction;

[0060] The axis of the third rotating pair R13 is along the Z-axis direction.

[0061] The second branch chain includes a first sliding pair P21, a fifth connecting rod 5, a fourth rotating pair R22, a fourth connecting rod 4, a second sliding pair P23, a third connecting rod 3 and a first screw pair H24 which are connected in sequence;

[0062] One end of the fifth connecting rod 5 is slidably connected to the second fixed platform 13 through the first sliding pair P21, the other end of the fifth connecting rod 5 is rotatably connected to one end of the fourth connecting rod 4 through the fourth rotating pair R22, the fourth rotating pair R22 is installed on the fourth connecting rod 4, the other end of the fourth connecting rod 4 is movably connected to one end of the third connecting rod 3 through the second sliding pair P23, and the other end of the third connecting rod 3 is rotatably connected to the first screw pair H24;

[0063] The third connecting rod 3 is a V-shaped connecting rod; the first screw pair H24 is further connected to the second rotating pair R12.

[0064] The first screw pair H24 is rotationally connected to the third rotating pair R13.

[0065] The axis of the first sliding pair P21 is along the X-axis direction;

[0066] The moving axis of the first sliding pair P21 coincides with the axis of the first rotating pair R11;

[0067] The axis of the first screw pair H24 is along the Y-axis direction.

[0068] The third branch chain includes a third sliding pair P31, an eleventh connecting rod 11, a fifth rotating pair R32, a tenth connecting rod 10, a fourth sliding pair P33, a ninth connecting rod 9, a sixth rotating pair R34, an eighth connecting rod 8, a fifth sliding pair P35, a seventh connecting rod 7, and a second screw pair H36 connected in sequence;

[0069] One end of the eleventh connecting rod 11 is slidably connected to the third fixed platform 14 through the third sliding pair P31, and the other end of the eleventh connecting rod 11 is rotationally connected to one end of the tenth connecting rod 10 through the fifth rotating pair R32, and the fifth rotating pair R32 is installed on the tenth connecting rod 10;

[0070] The other end of the tenth connecting rod 10 is movably connected to one end of the ninth connecting rod 9 through the fourth sliding pair P33;

[0071] The other end of the ninth connecting rod 9 is rotationally connected to one end of the eighth connecting rod 8 through the sixth rotating pair R34;

[0072] The sixth rotating pair R34 is installed on the eighth connecting rod 8;

[0073] The other end of the eighth connecting rod 8 is movably connected to one end of the seventh connecting rod 7 through the fifth sliding pair P35;

[0074] The other end of the seventh connecting rod 7 is rotationally connected to the moving platform 6 through the second screw pair H36;

[0075] The seventh connecting rod 7 is a V-shaped connecting rod.

[0076] The second screw pair H36 is installed on the moving platform 6.

[0077] The axis of the third sliding pair P31 is along the X-axis direction;

[0078] The moving axis of the third sliding pair P31 coincides with the axis of the first rotating pair R11;

[0079] The axis of the sixth rotating pair R34 is along the Y-axis direction;

[0080] The axis of the sixth rotating pair R34 coincides with the axis of the first screw pair H24;

[0081] The axis of the second screw pair H36 is along the Z-axis direction;

[0082] The axis of the second screw pair H36 coincides with the axis of the third rotating pair R13.

[0083] The axes of the first rotating pair R11, the second rotating pair R12, and the third rotating pair R13 intersect at the coordinate origin O of the XYZ three-dimensional coordinate system. The axes of the fourth rotating pair R22, the fifth rotating pair R32, and the sixth rotating pair R34 intersect at the origin O. The axis of the first screw pair H24 intersects with the axis of the second screw pair H36 at the origin O. The motion direction axes of the first translating pair P21 and the third translating pair P31 pass through the origin O;

[0084] The moving axis of the first translating pair P21 and the third translating pair P31 both coincide with the axis of the first rotating pair R11;

[0085] The included angle between the motion direction of the second translating pair P23 and the axis of the first screw pair H24 is 30°;

[0086] The included angle between the axis of the fifth rotating pair R32 and the motion direction of the fourth translating pair P33 is 45°;

[0087] The included angle between the motion direction of the fifth translating pair P35 and the axis of the second screw pair H36 is 45°.

[0088] The first rotating pair R11, the first translating pair P21, and the third translating pair P31 are respectively connected with drive motors.

[0089] During use, as Figure 2 shown, fix the sole of the ankle fixation brace 15 on the moving platform 6 of the present invention. It can be selectively fixed and connected by bolts and nuts. Figure 3 This is the driving pose diagram of the ankle rehabilitation spherical rotation type medical robot of the present invention based on the ankle fixation brace under the drive of R11. The driving devices of the first translating pair P21 and the third translating pair P31 are fixed, and the driving device of the first rotating pair R11 drives;

[0090] Driven by the driving device of the first rotating pair R11, the moving platform 6 rotates around the axis of the first rotating pair R11. When the patient's foot is placed in the ankle fixation brace, the first rotating pair R11 controls the moving platform 6 to rotate around the axis of the rotating pair R11. The ankle fixation brace follows the rotation of the moving platform 6. The first rotating pair R11 controls the ankle to rotate around the X-axis, realizing the rehabilitation training of the ankle's rotation around the X-axis, that is, realizing the dorsiflexion and plantar flexion movements of the ankle;

[0091] Figure 4 This is the driving pose diagram of the ankle rehabilitation spherical rotation type medical robot of the present invention based on the ankle fixation brace under the drive of P21;

[0092] The first rotating pair R11 and the third translating pair P31 are fixedly arranged, and are driven by the driving device of the first translating pair P21;

[0093] Driven by the driving device of the first translating pair P21, the moving platform 6 rotates around the axis of the first screw pair H24. The first translating pair P21 controls the moving platform 6 to rotate around the axis of the first screw pair H24. The ankle joint fixing brace rotates following the moving platform 6. The first translating pair P21 controls the ankle to rotate around the Y axis, realizing the rehabilitation training of the ankle rotating around the Y axis, that is, realizing the inversion and eversion movements of the ankle;

[0094] Figure 5 This is the driving pose diagram of the ankle rehabilitation spherical rotating type medical robot of the present invention based on the ankle joint fixing brace under the drive of P31;

[0095] The first translating pair P21 and the first rotating pair R11 are fixedly arranged, and are driven by the driving device of the third translating pair P31;

[0096] Driven by the driving device of the third translating pair P31, the moving platform 6 rotates around the axis of the second screw pair H36. The third translating pair P31 controls the moving platform 6 to rotate around the axis of the second screw pair H36. The ankle joint fixing brace rotates following the moving platform 6. The third translating pair P31 controls the ankle to rotate around the Z axis, realizing the rehabilitation training of the ankle rotating around the Z axis, that is, realizing the adduction and abduction movements of the ankle;

[0097] An ankle joint fixing brace with the application number CN202230128668.X, the publication number CN307459435S, and the patent name "Ankle Joint Fixing Brace" can be selected and fixedly connected to the moving platform 6;

[0098] Figure 6 The figure shows the physical diagram of the ankle joint fixing brace 15. The model and brand of this brace are from Luofute, and the manufacturing enterprise is Hengshui Tongyao Medical Instrument Co., Ltd. Due to differences in age and gender, the ankle joint fixing brace is not uniquely required and can be selected according to the patient's situation.

[0099] It should be specifically noted that the spherical rotation in the present invention refers to a three-degree-of-freedom three-rotation parallel mechanism; the robot of the present invention is provided with drive motors on the first fixed platform 12, the second fixed platform 13 and the third fixed platform 14 respectively. That is, the three drive motors are respectively connected to three kinematic chains, and the three drive motors respectively drive three branch chains so that the moving platform 6 of the parallel mechanism can realize three-degree-of-freedom rotation centered on point O, and this three-degree-of-freedom motion is completely decoupled. That is, the rotation characteristics of the moving platform 6 correspond one by one to the rotation axes of the first revolute pair R11, the first screw pair H24 and the second screw pair H36. The three drive motors of the medical robot of the present invention control the mechanism to perform spatial rotation motion, and each motor independently controls a rotation motion, which solves the problem of complex motion control and improves the dynamic motion performance of the mechanism. The three rotation motions are completely independent; the medical robot of the present invention is completely decoupled, that is, the kinematic chains do not affect each other, which solves the problem of redundant kinematic pairs. At the same time, it also overcomes the problem that the dynamic performance of the drive motor is reduced due to being arranged on the moving component, and overcomes the problem of single drive form.

[0100] Embodiment 1

[0101] Ankle rehabilitation spherical rotation type medical robot, as Figure 1 shown, includes a fixed platform assembly and a moving platform 6;

[0102] The fixed platform assembly includes a first fixed platform 12, a second fixed platform 13 and a third fixed platform 14, and the axes of the three fixed platforms coincide; a first branch chain is arranged between the first fixed platform 12 and the moving platform 6; a third branch chain is arranged between the third fixed platform 14 and the moving platform 6; a second branch chain is further included, one end of the second branch chain is connected to the second fixed platform 13, and the other end of the second branch chain is connected to the first branch chain.

[0103] Embodiment 2

[0104] Ankle rehabilitation spherical rotation type medical robot, as Figure 1 shown, includes a fixed platform assembly and a moving platform 6;

[0105] The fixed platform assembly includes a first fixed platform 12, a second fixed platform 13 and a third fixed platform 14, and the axes of the three fixed platforms coincide; a first branch chain is arranged between the first fixed platform 12 and the moving platform 6; a third branch chain is arranged between the third fixed platform 14 and the moving platform 6; a second branch chain is further included, one end of the second branch chain is connected to the second fixed platform 13, and the other end of the second branch chain is connected to the first branch chain.

[0106] The first branch chain includes a first revolute pair R11, a first link 1, a second revolute pair R12, a second link 2 and a third revolute pair R13 connected in sequence; the second revolute pair R12 is also connected to the first branch chain; the first link 1 and the second link 2 are arc-shaped rods.

[0107] Embodiment 3

[0108] Ankle rehabilitation spherical rotation type medical robot, as Figure 1 shown, includes a fixed platform assembly and a moving platform 6;

[0109] The fixed platform assembly includes a first fixed platform 12, a second fixed platform 13 and a third fixed platform 14, and the axes of the three fixed platforms coincide; a first branch chain is arranged between the first fixed platform 12 and the moving platform 6; a third branch chain is arranged between the third fixed platform 14 and the moving platform 6; a second branch chain is further included, one end of the second branch chain is connected to the second fixed platform 13, and the other end of the second branch chain is connected to the first branch chain.

[0110] The first branch chain includes a first rotating pair R11, a first connecting rod 1, a second rotating pair R12, a second connecting rod 2 and a third rotating pair R13 connected in sequence; the second rotating pair R12 is also connected to the first branch chain; the first connecting rod 1 and the second connecting rod 2 are arc-shaped rods.

[0111] One end of the first connecting rod 1 is rotatably connected to the first fixed platform 12 through the first rotating pair R11, and the other end of the first connecting rod 1 is rotatably connected to the second connecting rod 2 through the second rotating pair R12;

[0112] The second connecting rod 2 is respectively movably connected to the second rotating pair R12 and the third rotating pair R13;

[0113] The first rotating pair R11, the second rotating pair R12 and the third rotating pair R13 are perpendicular to each other;

[0114] The axis of the first rotating pair R11 is along the X-axis direction;

[0115] The axis of the second rotating pair R12 is along the Y-axis direction;

[0116] The axis of the third rotating pair R13 is along the Z-axis direction.

Claims

1. Ankle rehabilitation spherical rotation medical robot, characterized in that: It includes a fixed platform component and a moving platform (6); The fixed platform assembly comprises a first fixed platform (12), a second fixed platform (13) and a third fixed platform (14); a first branch chain is arranged between the first fixed platform (12) and the moving platform (6); a third branch chain is arranged between the third fixed platform (14) and the moving platform (6); and a second branch chain is also included, one end of the second branch chain is connected to the second fixed platform (13), and the other end of the second branch chain is connected to the first branch chain; The first branch chain comprises a first rotation pair (R11), a first connecting rod (1), a second rotation pair (R12), a second connecting rod (2) and a third rotation pair (R13) which are connected in sequence; the second rotation pair (R12) is also connected to the first branch chain; One end of the first connecting rod (1) is rotatably connected to the first fixed platform (12) via a first rotating pair (R11), and the other end of the first connecting rod (1) is rotatably connected to the second connecting rod (2) via a second rotating pair (R12); The second connecting rod (2) is movably connected to the second rotation pair (R12) and the third rotation pair (R13); The first rotation pair (R11), the second rotation pair (R12) and the third rotation pair (R13) are perpendicular to each other; The axis of the first rotation pair (R11) is along the X-axis direction; The axis of the second rotation pair (R12) is along the Y-axis direction; The axis of the third rotation pair (R13) is along the Z axis direction; The third branch chain comprises a third movable pair (P31), an eleventh connecting rod (11), a fifth rotational pair (R32), a tenth connecting rod (10), a fourth movable pair (P33), a ninth connecting rod (9), a sixth rotational pair (R34), an eighth connecting rod (8), a fifth movable pair (P35), a seventh connecting rod (7) and a second helical pair (H36) which are connected in sequence; One end of the eleventh connecting rod (11) is slidably connected to the third fixed platform (14) via a third movable pair (P31), and the other end of the eleventh connecting rod (11) is rotationally connected to one end of the tenth connecting rod (10) via a fifth rotation pair (R32), and the fifth rotation pair (R32) is mounted on the tenth connecting rod (10); The other end of the tenth connecting rod (10) is movably connected to one end of the ninth connecting rod (9) via a fourth movable pair (P33); The other end of the ninth connecting rod (9) is rotatably connected to one end of the eighth connecting rod (8) via a sixth rotating pair (R34); The sixth rotation pair (R34) is mounted on the eighth connecting rod (8); The other end of the eighth connecting rod (8) is movably connected to one end of the seventh connecting rod (7) via a fifth movable pair (P35); The other end of the seventh connecting rod (7) is rotationally connected to the moving platform (6) via the second helical pair (H36); The seventh connecting rod (7) is a V-shaped connecting rod.

2. The ankle rehabilitation spherical rotation medical robot according to claim 1, characterized in that: The second branch chain comprises a first moving pair (P21), a fifth connecting rod (5), a fourth rotating pair (R22), a fourth connecting rod (4), a second moving pair (P23), a third connecting rod (3) and a first helical pair (H24) which are connected in sequence; One end of the fifth connecting rod (5) is slidably connected to the second fixed platform (13) via a first movable pair (P21), the other end of the fifth connecting rod (5) is rotationally connected to one end of the fourth connecting rod (4) via a fourth rotating pair (R22), the fourth rotating pair (R22) is mounted on the fourth connecting rod (4), the other end of the fourth connecting rod (4) is movably connected to one end of the third connecting rod (3) via a second movable pair (P23), and the other end of the third connecting rod (3) is rotationally connected to the first helical pair (H24); The third connecting rod (3) is a V-shaped connecting rod; the first helical pair (H24) is also connected to the second rotation pair (R12).

3. The ankle rehabilitation spherical rotation medical robot according to claim 2, characterized in that: The axis of the first movable pair (P21) is along the X-axis direction; The moving axis of the first moving pair (P21) coincides with the axis of the first rotating pair (R11); The axis of the first helical pair (H24) is along the Y-axis direction.

4. The ankle rehabilitation spherical rotation medical robot according to claim 2, characterized in that: The axis of the third movable pair (P31) is along the X-axis direction; The moving axis of the third moving pair (P31) coincides with the axis of the first rotating pair (R11); The axis of the sixth rotation pair (R34) is along the Y-axis direction; The axis of the sixth rotation pair (R34) coincides with the axis of the first helical pair (H24); The axis of the second helical pair (H36) is along the Z-axis direction; The axis of the second helical pair (H36) coincides with the axis of the third rotation pair (R13).

5. The ankle rehabilitation spherical rotation medical robot according to claim 4, characterized in that: The axes of the first rotation pair (R11), the second rotation pair (R12), and the third rotation pair (R13) intersect at the origin O of the XYZ three-dimensional coordinate system; the axes of the fourth rotation pair (R22), the fifth rotation pair (R32), and the sixth rotation pair (R34) intersect at the origin O; the axes of the first helical pair (H24) and the second helical pair (H36) intersect at the origin O; and the axes of the movement directions of the first mobile pair (P21) and the third mobile pair (P31) pass through the origin O; The moving axis of the first moving pair (P21) and the third moving pair (P31) both coincide with the axis of the first rotating pair (R11); The angle between the moving direction of the second moving pair (P23) and the axis of the first helical pair (H24) is 30°; The included angle between the axis of the fifth rotation pair (R32) and the movement direction of the fourth translation pair (P33) is 45°; The included angle between the moving direction of the fifth movable pair (P35) and the axis of the second helical pair (H36) is 45°.

6. The ankle rehabilitation spherical rotation medical robot according to claim 4, characterized in that: The first rotating pair (R11), the first moving pair (P21), and the third moving pair (P31) are respectively connected to a driving motor.

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