Foot joint motion robot of for self-adaptation of motion axial line and control method thereof

Abstract

To provide a foot joint motion robot for self-adaptation of a motion axial line, and a control method of the motion robot.SOLUTION: A motion robot includes axial line compensation means, rope winding out and up means, pulley deflection means, support means, a fixed pulley, and a rope. All of the axial line compensation means, the rope winding out and up means, the pulley deflection means, the fixed pulley, and the rope are installed in the support means. The rope winding out and up means, the pulley deflection means, and the fixed pulley are installed symmetrically in both sides of the axial line compensation means. In the present invention, by both arm mechanisms and a spring, it is possible to achieve matching of a motion axial line of a foot joint and a motion axial direction of the robot, and a damage in a motion process can be avoided. By the rope winding out and up means, it is possible to achieve accurate control of a telescopic motion of the rope on the basis of a turning angle of a motor. By the pulley deflection means, friction between the rope and the pulley is suppressed, and a direction of the rope is easily changed. By combination of the pieces of means, various motions of the foot joint can be achieved.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the technical field of locomotion robots, and more particularly to ankle-jointed locomotion robots with self-adaptive movement axes and a control method thereof. [Background technology]

[0002] To prevent ankle joint damage during movement, many ankle joint exercise robots are currently being researched based on a fixed rotation axis. However, it is difficult to ensure that the center of rotation of the robot coincides with the human body's rotation center. Because the movement axis constantly changes during ankle joint movement, it is difficult to achieve overlap with the human body's movement axis through simple rigidity effects. In addition, rigid mechanisms have large inertial collisions and poor compliance, making the rigid connecting rod prone to harmful collisions during exercise and training.

[0003] Chinese patent application CN201210555816.1 discloses an exoskeleton robot for lower leg exercise training and its motion control method, in which the robot includes a support balance frame, an exoskeleton mechanical thigh, a treadmill, and a control system, and the motion control method provides a passive walking mode and a passive walking mode, in which the passive walking mode is linked with the control robot to guide the operator to complete a specific exercise or move along an accurate physiological walking trajectory, and in the passive walking mode, the robot indirectly suppresses abnormal movements of the operator until correction is completed or a self-adaptive controller generates a walking training trajectory desired by the operator, thereby indirectly achieving the purpose of applying assistive or resistive forces to the walking movement of the robot. However, this application does not fully address changes that occur in the ankle joint during exercise, and does not fully achieve the overlap of the robot's motion axis with the biological motion axis. Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, it is necessary to provide an ankle joint movement robot and its control method that can automatically compensate the axis and self-adapt the axis to changes in the movement process. [Means for solving the problem]

[0005] To address the problems of the prior art, the present invention provides an ankle joint exercise robot and its control method that can self-adapt its movement axis. The arm mechanism and springs are used to match the ankle joint movement axis with the robot's movement axis, preventing damage during exercise. The rope winding and reeling means accurately controls the rope extension and contraction according to the motor's rotation angle. The pulley deflection means reduces friction between the rope and pulley, making it easier to change the direction of the rope. By combining each means, dorsiflexion, plantar flexion, inversion, eversion, and internal and external rotation at the ankle joint can be achieved, allowing for ankle joint exercise and training.

[0006] The present invention includes an axis compensation means, a rope unwinding and winding means, a pulley deflection means, a support means, and a rope. The axis compensation means includes a support, a fixing part, two arm mechanisms, a turning frame, a spring, a footplate connecting frame, a footplate slide rail, a footplate, a knob, and a position sensor. The support is symmetrically installed in the support means, a first end surface of the support is connected to the bottom plate of the support means, and the fixing part is connected to a second end surface of the support. The turning frames are both rotatably connected to the fixing part via two arm mechanisms, and a first end of the spring is fixedly connected to the turning frame, and a second end of the spring is connected to the footplate. The footplate connecting frame is rotatably connected to the support arm of the footplate connecting frame, and footplate slide rails are symmetrically installed on both sides of the support plate of the footplate connecting frame, and the footplate is connected to the footplate slide rail so as to slide. The knob passes through the footplate slide rail and is screw-connected to the footplate, and the position sensor is connected to the footplate. The rope unwinding / winding means is installed on the bottom plate, and the rope unwinding / winding means includes a motor, a reeling drum shaft, a reeling drum, a first gear, a gear frame, a second gear, a gear shaft, a third gear, a cam part, a fourth gear, a guide rod and a synchronization block, and the first rotating shaft of the reeling drum shaft is connected to the motor through a coupling. the winding drum is connected to the output shaft of the winding drum shaft, the winding drum is connected to the guide shaft of the winding drum shaft so as to slide, the second rotating shaft of the winding drum shaft is connected to the bottom plate so as to rotate through a bearing seat, the first gear is connected to the first rotating shaft of the winding drum shaft, the gear frame is installed at one side of the winding drum, the second gear is connected to the gear frame so as to rotate through a gear shaft, and the second gear rolls to mesh with the first gear, the third gear is connected to the gear shaft, the cam shaft of the cam part is connected to the gear frame so as to rotate, the fourth gear is connected to the cam shaft, and the fourth gear rolls to mesh with the third gear, the inner rod is installed at one side of the cam portion, both ends of the guide rod are connected to the gear frame, the slide block of the synchronizer block is slidably connected to the guide rod, the columnar guide block of the synchronizer block is slidably connected to the cam groove of the cam portion, and the drive block of the synchronizer block is slidably connected to the winding drum, the pulley deflection means includes a support seat, a bearing block, a swing part, a swing pulley, a rack, a tension spring seat and a tension spring, the bearing block is connected to a first end face of the support seat, the swing part is rotatably connected to the bearing block, and the swing part is slidably connected to the slide groove of the support seat,A swing pulley is installed at the center of the swing part, a rack is installed on a support seat via a rack seat and is connected to the rack seat so as to slide, the rack rolls to engage with the swing part, a first end of a tension spring is connected to the rack via the tension spring seat, and a second end of the tension spring is connected to the rack seat, and the ankle joint exercise robot has a self-adaptable axis of movement.

[0007] Preferably, the support means includes a bottom plate, a framework, an upper plate, a thigh frame, a thigh brace and universal wheels, wherein a first end surface of the framework is connected to a first end surface of the bottom plate, a first end surface of the upper plate is connected to a second end surface of the framework, the thigh frame is connected to a second end surface of the upper plate, the thigh brace is connected to the thigh frame, and the universal wheels are installed at the four corners of the second end surface of the bottom plate.

[0008] Preferably, both arm mechanisms include an arm support seat, a first arm, a second arm, a movable seat and a damper, the arm support seat is connected to the fixed part, first ends of the first arm and the second arm are both rotatably connected to the arm support seat, second ends of the first arm and the second arm are both rotatably connected to the movable seat, the first arm and the second arm are installed in parallel, a first end of the damper is rotatably connected to the arm support seat, and a second end of the damper is rotatably connected to the movable seat.

[0009] Preferably, the numbers of the pulley deflection means, the rope unwinding / winding means and the ropes are the same, four rope unwinding / winding means are installed at each of the four corners of the bottom plate, at least two rope unwinding / winding means are installed symmetrically and diagonally on the bottom plate, at least four pulley deflection means are installed on the top plate, at least two pulley deflection means are installed symmetrically on the bottom plate, fixed pulleys are further installed at the four corners of the bottom plate, first ends of the at least four ropes are wound around the spools of the rope unwinding / winding means located at the four corners, second ends of the four ropes are wound around the fixed pulleys in turn and connected to the swing pulleys of the pulley deflection means located on the top plate and the support plate of the footplate connecting frame, first ends of at least two ropes are wound around the spools of the rope unwinding / winding means installed diagonally, and second ends of the two ropes are connected to the swing pulleys of the pulley deflection means located on the bottom plate and the support plate of the footplate connecting frame.

[0010] Preferably, the reel shaft includes a rotating disk, a guide shaft, a first rotating shaft, and a second rotating shaft, the guide shaft rotates circumferentially and is distributed between the two rotating disks, the first rotating shaft and the second rotating shaft are both connected to the rotating disk, and the rotating disks, the guide shaft, the first rotating shaft, and the second rotating shaft all have the same axis.

[0011] Preferably, the cam portion includes a cam, a cam groove, and a cam shaft, the cam groove being disposed around the cam, and the cam shafts being disposed at both ends of the cam.

[0012] Preferably, the synchronization block includes a slide block, a columnar guide block, and a drive block, the columnar guide block being installed on a first end surface of the slide block, and the contact end of the cam portion with the cam groove being hemispherical, the drive block being installed on a second end surface of the slide block, one side of which is installed in the arc-shaped groove, and the drive block being connected to slide in the arc-shaped groove.

[0013] Preferably, the oscillating part includes a oscillating block, a fifth gear, and a swivel shaft, the oscillating block is slidably connected to the sliding groove of the support seat, the fifth gear is installed at a position on one side of the oscillating block and rolls to mesh with the rack, the swivel shaft is installed at the center position of the second end face of the oscillating block and is rotatably connected to the bearing block, and the axis of the swivel shaft and the pulley of the oscillating pulley are tangent to each other.

[0014] Preferably, the step connecting frame includes a support arm and a support plate, the support arm and the support plate are installed vertically, the support arm has a through hole at the end and is connected to the bearing of the axis compensation means, slots are provided at the four corners of the support plate, and the ropes are connected to the support plate through the slots, the turning frame has hollow pillars symmetrically installed at the end positions on both sides, and a solid pillar is installed on the moving seat, and the inside of the hollow pillar is connected to the solid pillar so as to slide while turning.

[0015] According to a second aspect of the present invention, there is provided a method for controlling an ankle-jointed kinematic robot that self-adapts the kinematic axis, comprising the steps of: Step S1: Place the foot on the footboard, fix it to the footboard with a bandage, adjust the distance between the footboard and the turning frame with the knob, overlap the axis of the ankle joint with the turning axis of the turning frame, and fix the thigh together with the thigh brace with a banding. Step S2: Create a global coordinate system and a local coordinate system. The global coordinate system OXbYbZb is created with the center of the connecting line at the bottom of both side supports as the origin O. The local coordinate system QXaYaZa is created with the center of the semicircle of the step as the coordinate origin Q. The local coordinate system PXYZ is created with the intersection of the rotation axis of the rotation frame and the axis of the bearing as the coordinate origin P. Ai is the connection point between the rope Li and the motion platform, and Bi is the connection point between the rope Li and the swing pulley, where i=1, 2, 3, 4, 5, 6. Step S3: When the posture of the step is expressed by the ZYX Euler angles based on the rotation angle α relative to the X axis, the rotation angle β relative to the Y axis, and the rotation angle γ relative to the Z axis for the local coordinate system and the step, the rotation matrix of the local coordinate system QXaYaZa relative to the local coordinate system PXYZ becomes PRQ; According to the geometric characteristics and vector parallelogram, the length li of each rope is expressed by the relationship between the rope connection point and the coordinate point, and the specific expression is JPEG2025118499000002.jpg33170 Step S5: Substituting each parameter point into the expression of the rope length li to obtain a specific relationship value between each rope length and the tread turning angle; and (S6) obtaining the rotation angle of each motor by calculation based on the angle required for the footplate to rotate, controlling the rotation angle of each motor by a controller, realizing the rotation of the footplate relative to the axis by realizing the extension and contraction of each rope, and detecting the posture data of the footplate in real time by a posture sensor and feeding it back to the controller to adjust the extension and contraction amount of each motor in real time. [Effects of the Invention]

[0016] The characteristics and beneficial effects of the present invention are as follows:

[0017] The ankle joint movement robot with self-adaptive movement axis of the present invention uses a dual-arm mechanism in the axis compensation means to compensate the movement axis in real time, and matches the ankle joint movement axis with the robotic movement axis, thereby preventing damage to the ankle joint during movement.

[0018] The ankle joint exercise robot with self-adaptable movement axis of the present invention uses a rope winding / reeling means to provide power, which causes the rope to pull the footboard in rotation, reducing collisions due to inertia.The thigh is fixed by a thigh brace, and by combining each means, dorsiflexion / plantar flexion, inversion / eversion, and internal / external rotation at the ankle joint can be achieved, thereby realizing ankle joint exercise and training.

[0019] The ankle joint movement robot with self-adaptable movement axis according to the present invention uses a rope unwinding / winding means to move while rotating the spool. By winding the rope evenly around the spool, it is possible to avoid the rope becoming disorganized due to vibrations that occur when the rope is wound, and the expansion and contraction of the rope can be accurately calculated and controlled according to the rotation angle of the motor.

[0020] The ankle joint exercise robot with self-adaptable movement axis of the present invention uses a pulley deflection means so that when the driving rope turns around the footboard, the fixed pulley turns appropriately, allowing the rope direction to self-adapt, reducing friction between the rope and the pulley, and making it easier to change the direction of the rope. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a mode diagram showing the overall configuration of an ankle joint movement robot with self-adaptive movement axis according to the present invention; FIG. [Figure 2] FIG. 4 is a mode diagram showing the configuration of an axis compensation means according to the present invention. [Figure 3] FIG. 2 is a mode diagram showing the configuration of both arm mechanisms according to the present invention. [Figure 4] FIG. 3 is a mode diagram showing the configuration of the rope unwinding / winding means according to the present invention. [Figure 5] FIG. 2 is a front view of the pulley deflection means according to the present invention; [Figure 6] FIG. 4 is a mode diagram showing the configuration of the pulley deflection means according to the present invention. [Figure 7] FIG. 4 is a mode diagram showing the position of the rope unwinding / winding means according to the present invention. [Figure 8] 10 is a mode diagram showing the analysis of the forces received by the pulley deflection means according to the present invention; FIG. [Figure 9] FIG. 10 is a mode diagram showing a fully force-applied analysis according to the present invention. [Figure 10] FIG. 1 is a mode diagram showing the analysis of the overall force according to the present invention from the left side. [Figure 11] FIG. 1 is a mode diagram illustrating a geometric model according to the present invention. [Figure 12a] FIG. 10 is a mode diagram showing a graph of changes in each rope and step angle according to the present invention. [Figure 12b] FIG. 10 is a mode diagram showing a graph of changes in each rope and step angle according to the present invention. [Figure 12c] FIG. 10 is a mode diagram showing a graph of changes in each rope and step angle according to the present invention. [Figure 13a] FIG. 10 is a mode diagram showing a graph of the change in the combined motion of each drive rope and the footplate relative to the X and Y axes according to the present invention. [Figure 13b] FIG. 10 is a mode diagram showing a graph of the change in the combined motion of each drive rope and the footplate relative to the X and Y axes according to the present invention. [Figure 13c] FIG. 10 is a mode diagram showing a graph of the change in the combined motion of each drive rope and the footplate relative to the X and Y axes according to the present invention. [Figure 13d] FIG. 10 is a mode diagram showing a graph of the change in the combined motion of each drive rope and the footplate relative to the X and Y axes according to the present invention. [Figure 13e] FIG. 10 is a mode diagram showing a graph of the change in the combined motion of each drive rope and the footplate relative to the X and Y axes according to the present invention. [Figure 13f] FIG. 10 is a mode diagram showing a graph of the change in the combined motion of each drive rope and the footplate relative to the X and Y axes according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] In order to clearly explain the technical contents, structural features, and objects and effects to be achieved of the present invention, the following detailed description will be given with reference to the accompanying drawings in conjunction with the specification.

[0023] As shown in FIG. 1, the ankle joint movement robot with self-adaptable movement axis provided by the present invention comprises an axis compensation means 1, a rope winding / reeling means 2, a pulley deflection means 3, a support means 4, a fixed pulley 5, and a rope 6, wherein the axis compensation means 1, the rope winding / reeling means 2, the pulley deflection means 3, the fixed pulley 5, and the rope 6 are all installed on the support means 4, and the rope winding / reeling means 2, the pulley deflection means 3, and the fixed pulley 5 are installed symmetrically on both sides of the axis compensation means 1. The support means 4 includes a bottom plate 41, a framework 42, an upper plate 43, a thigh frame 44, a thigh brace 45 and universal wheels 46, and a first end surface of the framework 42 is connected to a first end surface of the bottom plate 41, a first end surface of the upper plate 43 is connected to a second end surface of the framework 4, the thigh frame 44 is connected to a second end surface of the upper plate 43, the thigh brace 45 is connected to the thigh frame 44, and the universal wheels 46 are installed at the four corners of the second end surface of the bottom plate 41.

[0024] As shown in FIGS. 2 and 3, the axis compensation means 1 includes a support 101, a fixed part 102, two arm mechanisms 103, a swivel frame 104, a spring 105, a spring seat 106, a bearing 107, an engaging ring 108, a footplate connecting frame 109, a footplate slide rail 110, a footplate 111, a knob 112, and a posture sensor 113. The support 101 is symmetrically installed on the support means 4, and a first end surface of the support 101 is connected to the bottom plate 41 of the support means 4, and the fixed part 102 is connected to a second end surface of the support 101. The swivel frame 104 is swivelably connected to the fixed part 102 via the two arm mechanisms 103 on both sides, and a first end of the spring 105 is connected to the swivel frame 104. The spring 105 is fixedly connected, the second end of the spring 105 is connected to a spring seat 106, the spring seat 106 is rotatably connected to a support arm 1091 of the step connection frame 109 via a bearing 107 and an engaging ring 108, step slide rails are symmetrically installed on both sides of the support plate of the step connection frame, step slide rails 110 are symmetrically installed on both sides of the support plate 1092 of the step connection frame 109, a step 111 is slidably connected to the step slide rail 110, a knob 112 passes through the step slide rail 110 and is screw-connected to the step 111, and a posture sensor 113 is connected to the step 111. Both arm mechanisms 103 include an arm support seat 1031, a first arm 1032, a second arm 1033, a movable seat 1034 and a damper 1035. The arm support seat 1031 is connected to the fixed part 102. The first ends of the first arm 1032 and the second arm 1033 are both rotatably connected to the arm support seat 1031. The second ends of the first arm 1032 and the second arm 1033 are both rotatably connected to the movable seat 1034. The first arm 1032 and the second arm 1033 are installed in parallel. The first end of the damper 1035 is rotatably connected to the arm support seat 1031. The second end of the damper 1035 is rotatably connected to the movable seat 1034. The step connecting frame 109 includes a support arm 1091 and a support plate 1092, which are installed vertically. The support arm 1091 has a through hole at the end that is connected to the bearing 107. The support plate 1092 has slots at its four corners, through which the rope 6 is connected to the support plate 1092.The turning frame 104 has hollow pillars symmetrically installed at both end positions, and solid pillars are installed on the moving seats 1034, and the insides of the hollow pillars are connected to the solid pillars so that they can slide while turning.

[0025] As shown in Fig. 4, the rope unwinding / reeling means 2 is installed on the bottom plate 41. The rope unwinding / reeling means 2 includes a motor frame 201, a motor 202, a reeling drum 203, a joint 204, a reeling drum 205, a bearing seat 206, a first gear 207, a gear frame 208, a second gear 209, a gear shaft 210, a third gear 211, a cam portion 212, a fourth gear 213, a guide rod 214, and a synchronization block 215. The motor frame 201 is connected to the bottom plate 41 of the support means 4, the mounting end of the motor 202 is connected to the motor frame 201, and the reeling drum 203 is connected to the motor frame 201. The first rotating shaft 2033 of the winding drum 203 is connected to the output shaft of the motor 202 via a joint 204, the winding drum 205 is slidably connected to the guide shaft 2032 of the winding drum 203, the second rotating shaft of the winding drum is rotatably connected to the bottom plate via a bearing seat, that is, the bearing seat 206 is rotatably connected to the second rotating shaft 2034 of the winding drum 203, the fixed end of the bearing seat 206 is connected to the bottom plate 41, the first gear 207 is connected to the first rotating shaft 2033 of the winding drum 203, and the gear frame 2 2. The second gear 209 is rotatably connected to the gear frame 208 via a gear shaft 210, and the second gear 209 rotates to mesh with the first gear 207. The third gear 211 is connected to the gear shaft 210. The cam shaft 2123 of the cam portion 212 is rotatably connected to the gear frame 208. The fourth gear 213 is connected to the cam shaft 2123, and the fourth gear 213 rotates to mesh with the third gear 207. 11, the guide rod 214 is installed at a position on one side of the cam portion 212, and both ends of the guide rod 214 are connected to the gear frame 208, the slide block 2151 of the synchronization block 215 is connected to slide on the guide rod 214, the columnar guide block 2152 of the synchronization block 215 is connected to slide on the cam groove 2122 of the cam portion 212, and the drive block 2153 of the synchronization block 215 is connected to slide on the winding drum 205.The reel 203 includes a turntable 2031, a guide shaft 2032, a first rotating shaft 2033, and a second rotating shaft 2034. The guide shaft 2032 rotates circumferentially and is distributed between the two turntables 2031. The first rotating shaft 2033 and the second rotating shaft 2034 are both connected to the turntable 2031. The turntable 2031, the guide shaft 2032, the first rotating shaft 2033, and the second rotating shaft 2034 all have the same axis. The cam unit 212 includes a cam 2121, a cam groove 2122, and a cam shaft 2123. The cam groove 2122 is installed around the cam 2121, and the cam shafts 2123 are installed at both ends of the cam 2121. The synchronization block 215 includes a slide block 2151, a columnar guide block 2152, and a drive block 2153. The columnar guide block 2152 is installed on a first end face of the slide block 2151, and the contact end with the cam groove 2122 of the cam portion 212 is hemispherical. The drive block 2153 is installed on a second end face of the slide block 2151. The winding drum 205 has an arc-shaped groove on one side, and the drive block 2153 is connected to slide in the arc-shaped groove.

[0026] As shown in Figures 5 and 6, the pulley deflection means 3 includes a support seat 31, a bearing block 32, a swinging part 33, a swinging pulley 34, a rack seat 35, a rack 36, a tension spring seat 37 and a tension spring 38. The bearing block 32 is installed at the center position of the support seat 31, and the bearing block 32 is connected to a first end surface of the support seat 31. The rotating shaft 333 of the swinging part 33 is connected to the bearing block 32 so as to rotate. The swing block 331 of the swinging part 33 is connected to the sliding groove of the support seat 31 so as to slide. The swinging pulley 34 is connected to the center of the first end surface of the swinging part 33. The swing unit 33 includes a swing block 331, a fifth gear 332, and a rotating shaft 333. The swing block 331 is slidably connected to the sliding groove of the support seat 31. The fifth gear 332 is an incomplete gear and is installed on one side of the swing block 331. The rack 36 is slidably connected to the rack seat 35 and rolls to mesh with the fifth gear 332 of the swing unit 33. The tension spring seats 37 are symmetrically installed on both ends of the rack 36. A first end of the tension spring is connected to the rack via the tension spring seat. The first end of the tension spring 38 is connected to the tension spring seat 37, and the second end of the tension spring 38 is connected to the rack seat 35. The swing unit 33 includes a swing block 331, a fifth gear 332, and a rotating shaft 333. The swing block 331 is slidably connected to the sliding groove of the support seat 31. The fifth gear 332 is an incomplete gear and is installed on one side of the swing block 331 and rolls to mesh with the rack. The swivel shaft 333 is installed at the center of the second end face of the swing block 331, and is connected to the bearing block so as to be rotatable, and the axis of the swivel shaft 333 and the pulley tangent of the swing pulley 34 overlap.

[0027] The numbers of pulley deflection means, rope unwinding / reeling means, and ropes are the same, and only six rope unwinding / reeling means 2 are installed, with four rope unwinding / reeling means installed at each of the four corners of the bottom plate, i.e., the four rope unwinding / reeling means 2 are symmetrically installed at the four corners of the first end surface of the bottom plate 41, and at least two of the rope unwinding / reeling means 2 are symmetrically installed at an angle on the first end surface of the bottom plate 41. Only six pulley deflection means 3 are installed. At least four of the pulley deflection means are installed on the top plate, i.e., at least four of the pulley deflection means are symmetrically installed on the first end surface of the top plate 43, and at least two of the pulley deflection means are symmetrically installed on the first end surface of the bottom plate 41. Fixed pulleys are further installed at the four corners of the bottom plate, i.e., fixed pulleys 5 are installed at the four corners of the first end surface of the bottom plate 41. Only six ropes 6 are installed, and at least four of them have first ends wound around the reel drums 205 of the rope unwinding / winding means 2 at the four corners, and second ends wound around the fixed pulleys 5 in order, before being connected to the oscillating pulley 34 of the pulley deflection means 3 located on the top plate and the support plate 1092 of the tread connection frame 109. Of these, at least two of the ropes have first ends wound around the reel drums 205 of the rope unwinding / winding means 2 installed at an angle, and second ends wound around the oscillating pulley 34 of the pulley deflection means 3 on the bottom plate 41, and are connected to the support plate 1092 of the tread connection frame 109.

[0028] As shown in FIG. 7 , rope unwinding / winding means A 21, rope unwinding / winding means B 22, rope unwinding / winding means C 23, and rope unwinding / winding means D 24 are four rope unwinding / winding means installed symmetrically at the four corners of the first end face of the bottom plate 41, and rope unwinding / winding means E 25 and rope unwinding / winding means F 26 are two rope unwinding / winding means installed symmetrically at an angle on the first end face of the bottom plate 41.

[0029] As shown in Figure 8, Ti represents the pulling forces of the six ropes, where i = 1, 2, 3, 4, 5, and 6. Ti1 is the rope component parallel to the swing pulley's axis of rotation, Ti2 is the rope component perpendicular to the swing pulley's axis of rotation, F2 is the force acting on the swing pulley 33 against the rack 36, F3 is the force acting on the tension spring 38 against the rack 36, L is the center line of the support seat 31, θ is the angle between the rope and the center line L, and O is the center of the swing pulley's axis of rotation. When the rope is deflected, the swing pulley 34 receives the rope component force Ti1, causing the swing pulley 34 to rotate to point O and deflect. The swing pulley 33 generates a force F2 acting on the rack 36, which displaces the rack 36 by Δx and stretches the left tension spring. According to Hooke's Law F = kΔx, the pulling force F3 of the tension spring increases. As the angle θ between the rope 6 and the center line L increases, Ti1 increases, F2 increases, and F2 is greater than F3, so the rack 36 moves to the left and the oscillating pulley 34 rotates to point O and deflects clockwise. As the angle θ between the rope 6 and the center line L changes from a larger value to a smaller value, Ti1 decreases, F2 decreases, and F3 is greater than F2, so the rack 36 moves to the right. Due to the engagement between the fifth gear 332 of the oscillating part 33 and the rack 36, the oscillating part 33 rotates to point O and rotates counterclockwise, and the oscillating pulley 34 rotates counterclockwise, keeping the oscillating pulley 34 always in the same direction as the oscillating direction of the rope 6.

[0030] 9 and 10, FG is the gravity of the human foot, FG1 is the component of gravity of the human foot parallel to the step 111, FG2 is the force acting on the human foot against the step 111, Fd is the resistance of the damper 1035, Fd1 is the component of the resistance of the damper 1035 in the vertical direction, and Fd2 is the component of the resistance of the damper 1035 in the horizontal direction. In the initial state, the pulling force Ti of the six ropes and the resistance Fd of the damper 1035 are kept in balance with the pressure FG of the human foot against the step 111. When the ankle joint moves, the pulling force Ti of the six ropes changes, and when the axis of movement of the ankle joint moves vertically upward, the resistance of the damper 1035 decreases, the movable seat 1034 moves upward, and the rotation axis of the swivel frame 104 moves vertically upward and overlaps with the axis of movement of the ankle joint.When the ankle joint moves dorsiflexion, a component force FG1 parallel to the foot plate 111 is generated in the gravity FG of the human foot, compressing the spring 105 to compensate for the axis of movement of the ankle joint.

[0031] According to another aspect of the present invention, a control method for an ankle joint kinematic robot with self-adaptive kinematic axis is provided, as shown in FIG. 11, and includes the following steps: In step S1, the foot is placed on the footboard 111 and fixed to the footboard 111 with a bandage, the distance between the footboard 111 and the turning frame 104 is adjusted with the knob 112 so that the ankle joint axis and the turning axis of the turning frame 104 overlap, and the thigh is fixed together with the thigh brace 45 with bundling. In step S2, a global coordinate system and a local coordinate system are created, with the center of the connecting line at the bottom of the support columns 101 on both sides as the origin O to create the global coordinate system OXbYbZb, and the center of the semicircle of the step 111 as the coordinate origin Q to create the local coordinate system QXaYaZa, and the intersection of the rotation axis of the rotating frame 104 and the axis of the bearing 107 as the coordinate origin P to create the local coordinate system PXYZ, where Ai is the connection point between the rope Li and the motion platform, and Bi is the connection point between the rope Li and the oscillating pulley 34, where i=1, 2, 3, 4, 5, 6. In step S3, the posture of the step 111 is expressed using the ZYX Euler angles based on the local coordinate system, the rotation angle α of the step 111 relative to the X axis, the rotation angle β of the step 111 relative to the Y axis, and the rotation angle γ of the step 111 relative to the Z axis, and the rotation matrix of the local coordinate system QXaYaZa relative to the local coordinate system PXYZ becomes PRQ. Step S4: According to the geometric characteristics and vector parallelogram, each rope length li is expressed by the relationship between the rope connection point and the coordinate point, and the specific expression is: JPEG2025118499000003.jpg33170 In step S5, by substituting each parameter point into the expression for the rope length li, the specific relationship value between each rope length and the turning angle of the step can be obtained. In step S6, the rotation angle of the motor is calculated based on the angle required for the rotation of the step 111, and the controller controls the rotation angle of each motor to realize the extension and contraction of each rope, thereby further realizing the rotation of the step 111 around the axis. When the step 111 is rotating around the axis, the posture sensor 113 detects the posture data of the step 111 in real time and feeds it back to the controller, so that the extension and contraction amount of each motor can be adjusted in real time.

[0032] In a preferred embodiment, as shown in Figures 12a to 13f, Figures 12a to 12c show that the lengths of the first to sixth ropes respectively expand and contract as the rotation angle of the footboard 111 changes, and Figures 13a to 13f show that the lengths of each rope change as the rotation angle changes when the footboard rotates around the X-axis and Y-axis, performing combined movements of dorsiflexion / plantar flexion, inversion / eversion, and internal / external rotation of the ankle joint, while rotating around the Z-axis without adduction / abduction.

[0033] The ankle joint exercise robot with self-adaptive motion axis and its control method according to the present invention will be further described below with reference to the following examples. The process of using the ankle joint exercise robot with self-adaptive motion axis according to the present invention is as follows.

[0034] First, when the user sits on the adjustable chair, the user places the foot on the footboard 111 and fixes it to the footboard 111 with a bandage, adjusts the distance between the footboard 111 and the swivel frame 104 with the knob 112 so that the ankle joint axis and the swivel axis of the swivel frame 104 overlap, and fixes the user's thigh together with the thigh brace 45 with a banding.

[0035] When the user is performing dorsiflexion exercise, the motors 202 in the rope unwinding / winding means C 23 and the rope unwinding / winding means D 24 rotate, causing the winding drum 205 to rotate. At the same time as the winding drum 205 rotates, the combination of each gear and cam causes the winding drum 205 to move, causing the rope 6 to wind evenly around the winding drum 205, and the rope 6 wound around the winding drums of the rope unwinding / winding means C 23 and the rope unwinding / winding means D 24 to contract. At the same time, the motors 202 in the rope unwinding / winding means A 21 and the rope unwinding / winding means B 22 rotate, causing the winding drum 205 to rotate, causing the rope unwinding / winding means A 21 and the rope unwinding / winding means B The rope 6 wound around the reel drum 205 of 22 is lengthened, and at the same time, the dampers 1035 of both arm mechanisms 103 are extended and retracted, thereby acting as a passive force on the axis of movement of the user's ankle joint, and as the rope 6 contracts and extends, the foot plate 111 moves around the axis of rotation of the swivel frame 104. Then, when the user's ankle joint performs dorsiflexion and similarly the user performs plantarflexion, the rotation direction of the motors 202 in the rope unwinding / winding means A 21, rope unwinding / winding means B 22, rope unwinding / winding means C 23, and rope unwinding / winding means D 24 becomes opposite to that of the dorsiflexion movement.

[0036] When the user is performing an inversion movement, the motors 202 in the rope unwinding / winding means A 21 and the rope unwinding / winding means D 24 rotate, causing the winding drum 205 to rotate, and the rope 6 wound around the winding drum 205 of the rope unwinding / winding means A 21 and the rope unwinding / winding means D 24 contracts, and the motors 202 in the rope unwinding / winding means B 22 and the rope unwinding / winding means C 23 rotate, causing the winding drum 205 to rotate, and the rope 6 wound around the winding drum 205 of the rope unwinding / winding means B 22 and the rope unwinding / winding means C The rope 6 wound around the reel 205 of 23 is lengthened, and at the same time, the spring 105 is deformed and is driven along the axis of movement of the user's ankle joint. As the rope 6 contracts and elongates, the footplate 111 moves around the spring seat 106, and the user's ankle joint performs an inversion movement. Similarly, when the user performs an eversion movement, the rotation direction of the motor 202 in the rope unwinding / winding means A 21, rope unwinding / winding means B 22, rope unwinding / winding means C 23, and rope unwinding / winding means D 24 becomes opposite to the inversion movement.

[0037] When the user is performing adduction exercise, the motors 202 in the rope unwinding / winding means C 23 and the rope unwinding / winding means F 26 rotate, causing the winding drum 205 to rotate, and the rope 6 wound around the winding drum 205 of the rope unwinding / winding means C 23 and the rope unwinding / winding means F 26 contracts, and the motors 202 in the rope unwinding / winding means D 24 and the rope unwinding / winding means E 25 rotate, causing the winding drum 205 to rotate, and the rope 6 wound around the winding drum 205 of the rope unwinding / winding means D 24 and the rope unwinding / winding means E The rope 6 wound around the reel 205 of 25 is lengthened, and at the same time, the spring 105 is deformed and is driven along the axis of movement of the user's ankle joint. As the rope 6 contracts and elongates, the spring 105 restricts the position, causing the user's ankle joint to perform adduction. Similarly, when the user is performing abduction, the rotation direction of the motor 202 in the rope unwinding / winding means C 23, rope unwinding / winding means D 24, rope unwinding / winding means E 25, and rope unwinding / winding means F 26 is opposite to that of the adduction movement.

[0038] The ankle joint exercise robot with self-adaptable movement axis of the present invention uses both arm mechanisms 103 and springs 105 to match the movement axis of the ankle joint with the movement axis direction of the robot, preventing damage to the ankle joint during movement. The rope winding / reeling means accurately controls the extension and contraction of the rope 6 according to the rotation angle of the motor 202. The pulley deflection means 3 reduces friction between the rope 6 and the pulley, making it easier to change the direction of the rope 6. By combining each means, dorsiflexion / plantar flexion, inversion / eversion, and internal / external rotation at the ankle joint can be achieved, thereby realizing ankle joint exercise and training.

[0039] The examples described above are merely illustrative of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Those skilled in the art may make various changes and improvements to the technical means of the present invention as long as they do not deviate from the spirit of the present invention, and all such changes and improvements are included in the scope of protection provided by the claims of the present invention. [Explanation of symbols]

[0040] 1 axis compensation means 101 Post 102 Fixed part 103 Double arm mechanism 1031 Arm support seat 1032 First Arm 1033 Second Arm 1034 Mobile Seat 1035 Damper 104 Turning Frame 105 Spring 106 Spring seat 107 Bearings 108 Engagement ring 109 Tread connection frame 1091 Support Arm 1092 Support plate 110 Tread slide rail 111 Tread 112 knob 113 Attitude Sensor 2 Rope unwinding and winding means 21 Rope unwinding / winding means A 22 Rope unwinding / winding means B 23 Rope unwinding / winding means C 24 Rope unwinding and winding means D 25 Rope unwinding / winding means E 26 Rope unwinding / winding means F 201 motor frame 202 Motor 203 Winding body 2031 Turntable 2032 Guide shaft 2033 First rotation axis 2034 Second rotation axis 204 Joint 205 Winding body 206 Bearing seat 207 First Gear 208 Gear Frame 209 Second Gear 210 Gear shaft 211 Third Gear 212 Cam section 2121 Cam 2122 Cam groove 2123 wheel set 213 Fourth Gear 214 Guide Stick 215 Synchronous Block 2151 Slide Block 2152 Pillar guide block 2153 Drive Block 3 Pulley deflection means 31 Support seat 32 Bearing block 33 Swinging part 331 Swing Block 332 Fifth Gear 333 Rotation Axis 34 Swing Pulley 35 rack seats 36 racks 37 Extension spring seat 38 Extension spring 4 Support means 41 Bottom plate 42 Framework 43 Top plate 44 Thigh frame 45 Thigh brace 46 Universal Wheel 5 fixed pulley 6. Rope

Claims

1. The rope includes an axis compensation means, a rope unwinding / winding means, a pulley deflection means, a support means, and a rope; the axis compensation means comprises a support, a fixing part, two arm mechanisms, a turning frame, a spring, a step connecting frame, a step slide rail, a step, a knob and a position sensor, the support is symmetrically installed in the support means, a first end face of the support is connected to the bottom plate of the support means, the fixing part is connected to a second end face of the support, the turning frames are both rotatably connected to the fixing parts via the two arm mechanisms, the first end of the spring is fixedly connected to the turning frame and the second end is rotatably connected to the support arm of the step connecting frame, the support plates of the step connecting frame are symmetrically installed on the step slide rails on both sides, the step is slidably connected to the step slide rail, the knob passes through the step slide rail and is screw-connected to the step, and the position sensor is connected to the step; The rope unwinding / winding means is installed on the bottom plate, and the rope unwinding / winding means includes a motor, a reel shaft, a reel, a first gear, a gear frame, a second gear, a gear shaft, a third gear, a cam portion, a fourth gear, a guide rod, and a synchronization block. The first rotating shaft of the reel shaft is connected to the output shaft of the motor via a coupling, the reel is slidably connected to the guide shaft of the reel shaft, the second rotating shaft of the reel shaft is rotatably connected to the bottom plate via a bearing seat, the first gear is connected to the first rotating shaft of the reel shaft, the gear frame is installed at one side of the reel, and the second gear rotates on the gear frame via the gear shaft. the second gear rotates to mesh with the first gear, the third gear is connected to the gear shaft, the cam shaft of the cam section is connected to the gear frame to rotate, the fourth gear is connected to the cam shaft and the fourth gear rotates to mesh with the third gear, a guide rod is installed at one side of the cam section and both ends of the guide rod are connected to the gear frame, the slide block of the synchronizer block is connected to slide with the guide rod, the columnar guide block of the synchronizer block is connected to slide with the cam groove of the cam section, and the drive block of the synchronizer block is connected to slide with the winding drum, a pulley deflection means for deflecting the movement axis of an ankle joint, the pulley deflection means comprising: a support seat, a bearing block, a swinging part, a swinging pulley, a rack, a tension spring seat and a tension spring; the bearing block is connected to a first end surface of the support seat, the swinging part is connected to the bearing block so as to rotate, the swinging part is connected to the sliding groove of the support seat so as to slide; the swinging pulley is installed at a central position of the swinging part, the rack is installed on the support seat via the rack seat and is connected to the rack seat so as to slide, and the rack rolls to engage with the swinging part; a first end of the tension spring is connected to the rack via the tension spring seat, and a second end of the tension spring is connected to the rack seat.

2. The ankle joint exercise robot with self-adaptable movement axis as described in claim 1, characterized in that the support means includes a base plate, a framework, an upper plate, a thigh frame, a thigh brace and universal wheels, a first end surface of the framework is connected to a first end surface of the base plate, a first end surface of the upper plate is connected to a second end surface of the framework, the thigh frame is connected to a second end surface of the upper plate, the thigh brace is connected to the thigh frame, and universal wheels are installed at the four corners of the second end surface of the base plate.

3. 2. The ankle joint exercise robot with self-adaptable movement axis according to claim 1, wherein the arm mechanisms include an arm support seat, a first arm, a second arm, a moving seat and a damper, the arm support seat is connected to a fixed part, first ends of the first arm and the second arm are both rotatably connected to the arm support seat, and second ends of the first arm and the second arm are both rotatably connected to the moving seat, the first arm and the second arm are installed in parallel, and a first end of the damper is rotatably connected to the arm support seat and a second end of the damper is rotatably connected to the moving seat.

4. The number of pulley deflection means, rope unwinding / winding means and ropes is the same, and four rope unwinding / winding means are respectively installed at the four corners of the bottom plate, and at least two rope unwinding / winding means are installed symmetrically and obliquely on the bottom plate, and at least four pulley deflection means are installed on the top plate, and at least two pulley deflection means are installed symmetrically on the bottom plate, and fixed pulleys are further installed at the four corners of the bottom plate, and first ends of at least four ropes are located at the four corners of the rope unwinding / winding means.

2. The ankle joint exercise robot with self-adaptable movement axis according to claim 1, wherein the first ends of at least two ropes are wound around the spool of the rope winding and unwinding means, and the second ends of the four ropes are wound around the fixed pulleys in order before being connected to the oscillating pulley of the pulley deflection means located on the top plate and the support plate of the footplate connection frame; the first ends of at least two ropes are wound around the slanted spool of the rope winding and unwinding means, and the second ends of the two ropes are wound around the oscillating pulley of the pulley deflection means located on the bottom plate before being connected to the support plate of the footplate connection frame.

5. The ankle joint exercise robot with self-adaptable movement axis according to claim 1, characterized in that the drum shaft includes a turntable, a guide shaft, a first rotation shaft and a second rotation shaft, the guide shaft rotates circumferentially and is distributed between the two turntables, the first rotation shaft and the second rotation shaft are both connected to the turntable, and the turntable, the guide shaft, the first rotation shaft and the second rotation shaft all have the same axis.

6. The ankle joint exercise robot with self-adaptable movement axis as claimed in claim 1, characterized in that the cam part comprises a cam, a cam groove and a cam shaft, the cam groove is installed around the cam, and the cam shaft is installed at both ends of the cam.

7. The ankle joint exercise robot with self-adaptable movement axis according to claim 5, characterized in that the synchronizing block includes a slide block, a columnar guide block and a drive block, the columnar guide block is mounted on a first end face of the slide block, and the contact end of the cam part with the cam groove is hemispherical, the drive block is mounted on a second end face of the slide block, one side of the hoist drum is mounted in the arc-shaped groove, and the drive block is slidably connected to the arc-shaped groove.

8. 2. The ankle joint exercise robot with self-adaptable movement axis according to claim 1, wherein the oscillating part comprises a oscillating block, a fifth gear, and a swivel shaft, the oscillating block is slidably connected to the sliding groove of the support seat, the fifth gear is installed at one side of the oscillating block and rolls to mesh with the rack, the swivel shaft is installed at the center of the second end face of the oscillating block and rotatably connected to the bearing block, and the axis of the swivel shaft and the pulley of the oscillating pulley are tangent to each other.

9. 2. The ankle joint exercise robot with self-adaptable movement axis according to claim 1, wherein the footboard connecting frame comprises a support arm and a support plate, the support arm and the support plate being vertically installed, the support arm has a through hole at its end connected to the bearing of the axis compensation means, the support plate has slots at its four corners, and the ropes are connected to the support plate through the slots, the turning frame has hollow pillars symmetrically installed at both ends, and a solid pillar is installed on the moving seat, the inside of the hollow pillar is connected to the solid pillar so as to slide and turn.

10. A method for controlling an ankle joint movement robot with self-adaptive movement axis according to any one of claims 1 to 9, comprising: Step S1: Place the foot on the footboard, fix it to the footboard with a bandage, adjust the distance between the footboard and the turning frame with the knob, align the axis of the ankle joint with the turning axis of the turning frame, and fix the thigh together with the thigh brace with a banding. Step S2: Create a global coordinate system and a local coordinate system. The global coordinate system OXbYbZb is created with the center of the connecting line at the bottom of both support columns as the origin O. The local coordinate system QXaYaZa is created with the center of the semicircle of the step as the coordinate origin Q. The local coordinate system PXYZ is created with the intersection of the rotation axis of the rotation frame and the axis of the bearing as the coordinate origin P. Ai is the connection point between the rope Li and the motion platform, and Bi is the connection point between the rope Li and the swing pulley, where i=1, 2, 3, 4, 5, 6. Step S3: When the posture of the step is expressed using ZYX Euler angles based on the rotation angle α relative to the X axis, the rotation angle β relative to the Y axis, and the rotation angle γ relative to the Z axis for the local coordinate system and the step, the rotation matrix of the local coordinate system QXaYaZa relative to the local coordinate system PXYZ becomes PRQ; According to the geometric characteristics and vector parallelogram, the length li of each rope is expressed by the relationship between the rope connection point and the coordinate point, and the specific expression is Step S5: by substituting each parameter point into the expression of the rope length li, obtain a specific relationship value between each rope length and the tread turning angle; and (S6) calculating the rotation angle of each motor based on the angle required for the foot to rotate, controlling the rotation angle of each motor with a controller, and realizing the extension and contraction of each rope to realize the rotation of the foot relative to the axis, and detecting the posture data of the foot in real time with a posture sensor and feeding it back to the controller to adjust the extension and contraction amount of each motor in real time.

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