Ankle-jointed robot with self-adaptive motion axis and its control method

Abstract

The present invention provides an ankle joint movement robot with self-adapting movement axis and its control method, which is related to the field of movement robots. The movement robot includes an axis compensation means, a rope winding / reeling means, a pulley deflection means, a support means, a fixed pulley and a rope, the axis compensation means, the rope winding / reeling means, the pulley deflection means, the fixed pulley and the rope are all installed on the support means, and the rope winding / reeling means, the pulley deflection means and the fixed pulley are all installed symmetrically on both sides of the axis compensation means. In the present invention, the ankle joint movement axis and the robot movement axis direction are matched by the two arm mechanisms and the spring, so that damage can be avoided during the movement process, the rope winding / reeling means realizes accurate control of the rope extension and contraction according to the rotation angle of the motor, the pulley deflection means suppresses the friction between the rope and the pulley, and makes it easy to change the rope direction, and various means can be combined to realize various movements of the ankle joint.

Description

[Technical field]

[0001] The present invention relates to the technical field of locomotion robots, and in particular to an ankle-jointed locomotion robot with self-adaptive movement axis and a control method thereof. [Background technology]

[0002] In order to prevent damage to the ankle joint during the movement process, currently many ankle joint movement robots are researched based on a fixed rotation axis. It is difficult to realize that the center of rotation of the robot coincides with the center of rotation of the living body. During the movement of the ankle joint, the movement axis is constantly changing, so it is difficult to realize overlap with the human body movement axis due to the effect of simple rigidity, etc. In addition, the rigid mechanism has a large collision due to inertia and a low compliance, so the rigid connecting rod is prone to harmful collision during exercise and training.

[0003] Chinese patent application CN201210555816.1 discloses an exoskeleton robot for lower leg exercise training and its motion control method, the robot includes a support balance frame, an exoskeleton mechanical leg, a treadmill and a control system, the motion control method provides a passive walking mode and an active walking mode, in which the passive walking mode is linked with the control robot to make the operator complete a specific exercise or move according to the trajectory of an accurate physiological walking posture, and in the active walking mode, the robot indirectly suppresses the abnormal motion of the operator until the correction is completed or the self-adaptive controller generates a walking training trajectory desired by the operator, thereby indirectly achieving the purpose of applying auxiliary force or resistance force to the walking motion by the robot. However, the application cannot fully prepare for the changes that occur in the ankle joint during the exercise process, and cannot fully realize 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 with self-adapting movement axis, which can automatically compensate the axis and self-adapt the axis to changes in the movement process, and a control method thereof. [Means for solving the problem]

[0005] In response to the problems existing in the prior art, the present invention provides an ankle exercise robot and its control method that can self-adapt its motion axis. By using both arm mechanisms and springs, the ankle motion axis and the robot motion axis can be adapted to avoid damage during the exercise process. The rope winding / reeling means accurately controls the extension and contraction of the rope according to the rotation angle of the motor. The pulley deflection means reduces friction between the rope and the pulley, making it easier to change the direction of the rope. By combining each means with each other, dorsiflexion / plantar flexion, inversion / eversion, and internal / external rotation at the ankle can be achieved, thereby enabling exercise and training of the ankle.

[0006] The present invention includes an axis compensation means, a rope unwinding / winding means, a pulley deflection means, a support means and a rope. The axis compensation means includes a support, a fixed part, two arm mechanisms, a turning frame, a spring, a footplate connecting frame, a footplate slide rail, a footplate, a knob and a posture sensor. The support is symmetrically installed in the support means, a first end surface of the support is connected to a bottom plate of the support means, and the fixed part is connected to a second end surface of the support. The turning frames are both rotatably connected to the fixed parts via the two arm mechanisms on both sides, 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 screwed to the footplate. The posture 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 winding drum shaft, a winding drum, 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 winding drum shaft is connected to the motor through a coupling. The winding drum is connected to the output shaft of the winding drum shaft so as to slide on the guide shaft of the winding drum shaft, 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 synchronous block is slidably connected to the guide rod, the columnar guide block of the synchronous block is slidably connected to the cam groove of the cam portion, and the drive block of the synchronous block is slidably connected to the winding drum, the pulley deflection means includes 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 face of the support seat, the swinging part is rotatably connected to the bearing block, and the swinging part is slidably connected to the sliding 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 is rolled 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 that self-adapts the axis of motion.

[0007] Preferably, the support means includes a bottom plate, a framework, a top 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 bottom plate, a first end surface of the top plate is connected to a second end surface of the framework, the thigh frame is connected to a second end surface of the top 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 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, 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, 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.

[0009] Preferably, the pulley deflection means, the rope unwinding / winding means and the ropes are the same in number, four rope unwinding / winding means are respectively installed at the four corners of the bottom plate, at least two rope unwinding / winding means are symmetrically installed diagonally on the bottom plate, at least four pulley deflection means are installed on the top plate, at least two pulley deflection means are symmetrically installed 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 reel drums of the rope unwinding / winding means located at the four corners, second ends of the four ropes are wound around the fixed pulleys in sequence and connected to the swing pulleys of the pulley deflection means located on the top plate and the support plate of the footplate connection frame, first ends of the at least two ropes are wound around the reel drums 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 installed on the bottom plate and the support plate of the footplate connection 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 shaft being disposed on 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 is installed on a first end surface of the slide block, and the contact end of the cam portion with the cam groove is hemispherical, the drive block is installed on a second end surface of the slide block, one side position of the winding drum is installed in the arc-shaped groove, and the drive block is connected to slide in the arc-shaped groove.

[0013] Preferably, the oscillating part includes a oscillating block, a fifth gear and a rotating shaft, the oscillating block is connected to slide in 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 rotating shaft is installed at a central position of the second end face of the oscillating block and is connected to rotate with the bearing block, and the axis of the rotating shaft and the pulley of the oscillating pulley have overlapping tangents.

[0014] Preferably, the step connecting frame includes a support arm and a support plate, the support arm and the support plate are vertically installed, the support arm has a through hole at its end and is connected to the bearing of the axial compensation means, the support plate has slots at its four corners, and the rope is connected to the support plate through the slots, the turning frame has hollow pillars symmetrically installed at both end positions, 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-joint-movement robot that self-adapts the movement axis, comprising the steps of: Step S1: placing the foot on a footboard, fixing the footboard to the footboard with a bandage, adjusting the distance between the footboard and the turning frame with a knob, and fixing the thigh together with the thigh brace with a banding so that the axis of the ankle joint and the turning axis of the turning frame overlap; Step S2: create a global coordinate system and a local coordinate system, and create a global coordinate system OXbYbZb with the center point of the connection line at the bottom of both side supports as the origin O; create a local coordinate system QXaYaZa with the center of the semicircle of the step as the coordinate origin Q; create a local coordinate system PXYZ with the intersection point 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, in which the attitude of the step is expressed by the ZYX Euler angles based on the rotation angle α with respect to the X axis, the rotation angle β with respect to the Y axis, and the rotation angle γ with respect to the Z axis for the local coordinate system and the step, the rotation matrix of the local coordinate system QXaYaZa with respect 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, a specific relationship value between each rope length and the step turning angle is obtained; and step S6 of obtaining the rotation angle of each motor by calculation based on the angle required for the footboard to rotate, controlling the rotation angle of each motor by a controller, realizing the rotation of the footboard relative to the axis by expanding and contracting each rope, detecting the posture data of the footboard in real time by a posture sensor and feeding it back to the controller to adjust the expansion and contraction amount of each motor in real time. Effect of the Invention

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

[0017] The ankle joint movement robot with self-adapting movement axis of the present invention uses the two-arm mechanism in the axis compensation means to compensate the movement axis in real time, and realizes the matching of the ankle joint movement axis with the robotic movement axis, thereby preventing damage to the ankle joint during the movement process.

[0018] The ankle exercise robot of the present invention, which has a self-adapting axis of motion, uses a rope winding / reeling means to provide power so that the rope pulls the footboard in rotation, reducing collisions due to inertia, and the thigh is fixed to the human body by a thigh brace. By combining each means with each other, dorsiflexion / plantar flexion, inversion / eversion, and internal / external rotation at the ankle joint can be achieved, thereby enabling exercise and training of the ankle joint.

[0019] The ankle joint exercise robot with self-adapting motion axis of 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 prevent the rope from 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-adapting motion axis of the present invention uses a pulley deflection means to allow the fixed pulley to rotate appropriately when the driving rope turns around the footboard, self-adapt the rope direction, reduce the friction between the rope and the pulley, and make it easier to change the direction of the rope. [Brief description of the drawings]

[0021] [Figure 1] FIG. 2 is a mode diagram showing the overall configuration of an ankle joint movement robot with self-adaptive movement axis according to the present invention. [Diagram 2] FIG. 4 is a mode diagram showing the configuration of an axis compensation means according to the present invention. [Diagram 3] FIG. 4 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 a rope unwinding / winding means according to the present invention. [Diagram 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 a 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] FIG. 4 is a mode diagram showing the analysis of the forces applied to the pulley deflection means according to the present invention; [Figure 9] FIG. 1 is a mode diagram showing a fully subjected force analysis according to the present invention. [Figure 10] FIG. 2 is a mode diagram showing the analysis of the overall force according to the present invention from the left side. [Figure 11] FIG. 2 is a mode diagram showing a geometric model according to the present invention. [Figure 12a] FIG. 11 is a mode diagram showing a graph of changes in each rope and step angle according to the present invention. [Figure 12b] FIG. 11 is a mode diagram showing a graph of changes in each rope and step angle according to the present invention. [Figure 12c] FIG. 11 is a mode diagram showing a graph of changes in each rope and step angle according to the present invention. [Figure 13a] FIG. 13 is a mode diagram showing a graph of the change in the combined motion of the drive ropes and the footboard relative to the X and Y axes according to the present invention. [Figure 13b] FIG. 13 is a mode diagram showing a graph of the change in the combined motion of the drive ropes and the footboard relative to the X and Y axes according to the present invention. [Figure 13c] FIG. 13 is a mode diagram showing a graph of the change in the combined motion of the drive ropes and the footboard relative to the X and Y axes according to the present invention. [Figure 13d] FIG. 13 is a mode diagram showing a graph of the change in the combined motion of the drive ropes and the footboard relative to the X and Y axes according to the present invention. [Figure 13e] FIG. 13 is a mode diagram showing a graph of the change in the combined motion of the drive ropes and the footboard relative to the X and Y axes according to the present invention. [Figure 13f] FIG. 13 is a mode diagram showing a graph of the change in the combined motion of the drive ropes and the footboard relative to the X and Y axes according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0023] The ankle joint movement robot with self-adapting movement axis provided by the present invention, as shown in FIG. 1, includes 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 a universal wheel 46, wherein 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 wheel 46 is installed at the four corners of the second end surface of the bottom plate 41.

[0024] As shown in FIG. 2 and FIG. 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 engagement ring 108, a footboard connecting frame 109, a footboard slide rail 110, a footboard 111, a knob 112 and a posture sensor 113. The support 101 is symmetrically installed on the support means 4, 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 connected to the fixed part 102 on both sides via the two arm mechanisms 103 so as to be rotatable. The 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 the spring seat 106, the spring seat 106 is rotatably connected to the support arm 1091 of the step connection frame 109 via a bearing 107 and an engagement ring 108, the support plate of the step connection frame has step slide rails symmetrically installed on both sides, the step slide rails 110 are symmetrically installed on both sides of the support plate 1092 in the step connection frame 109, the step 111 is slidably connected to the step slide rail 110, the knob 112 passes through the step slide rail 110 and is screwed to the step 111, and the posture sensor 113 is connected to the step 111. Both arm mechanisms 103 include an arm support base 1031, a first arm 1032, a second arm 1033, a movable base 1034 and a damper 1035. The arm support base 1031 is connected to the fixed part 102. First ends of the first arm 1032 and the second arm 1033 are both rotatably connected to the arm support base 1031. Second ends of the first arm 1032 and the second arm 1033 are both rotatably connected to the movable base 1034. The first arm 1032 and the second arm 1033 are installed in parallel. A first end of the damper 1035 is rotatably connected to the arm support base 1031. A second end of the damper 1035 is rotatably connected to the movable base 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 its end which is connected to the bearing 107. Slots are provided at the four corners of the support plate 1092, and the rope 6 is connected to the support plate 1092 through the slots.The rotating frame 104 has hollow cylinders symmetrically installed at both ends, and a solid cylinder is installed on the moving seat 1034, and the inside of the hollow cylinder is connected to the solid cylinder so as to slide while rotating.

[0025] 4, the rope unwinding / winding means 2 is installed on the bottom plate 41. The rope unwinding / winding means 2 includes a motor frame 201, a motor 202, a winding drum 203, a joint 204, a winding 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 synchronous 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 winding 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, and 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 first gear 208 is installed at one side of the reel 205 and connected to the bottom plate 41, the second gear 209 is rotatably connected to the gear frame 208 via a gear shaft 210, and the second gear 209 is rotated 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 connected to the gear frame 208 to rotate, the fourth gear 213 is connected to the cam shaft 2123, and the fourth gear 213 is rotated 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 winding drum 203 includes a rotating disk 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 rotating disks 2031, the first rotating shaft 2033 and the second rotating shaft 2034 are both connected to the rotating disk 2031, and the rotating disk 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 surface 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 surface of the slide block 2151. The winding drum 205 has an arc-shaped groove installed at one side, and the drive block 2153 is connected so as to slide in the arc-shaped groove.

[0026] As shown in FIG. 5 and FIG. 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 the 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 first end surface of the swinging part 33 so as to slide. The swing part 33 includes a swing block 331, a fifth gear 332 and a rotating shaft 333, the swing block 331 is connected to the sliding groove of the support seat 31, the fifth gear 332 is an incomplete gear, the fifth gear 332 is installed at one side of the swing block 331, the fifth gear 332 is installed at one side of the swing block 331, and the fifth gear 332 is installed at one side of the swing block 331. The fifth gear 332 is an incomplete gear, the fifth gear 332 is installed at one side of the swing block 331, and the fifth gear 332 is rolled to mesh with the rack. The pivot shaft 333 is disposed at the center of the second end face of the swing block 331, and is connected to the bearing block so as to rotate, such that the axis of the pivot shaft 333 and the pulley tangent of the swing pulley 34 overlap with each other.

[0027] The pulley deflection means, the rope unwinding / winding means and the rope are the same in number, and only six rope unwinding / winding means 2 are installed, and only four rope unwinding / winding means are installed at each of the four corners of the bottom plate, that is, the four rope unwinding / winding means 2 are symmetrically installed at the four corners of the first end surface of the bottom plate 41, and at least two of them are symmetrically installed at the first end surface of the bottom plate 41. Only six pulley deflection means 3 are installed. At least four pulley deflection means are installed on the top plate, that is, at least four of them are symmetrically installed on the first end surface of the top plate 43, and at least two pulley deflection means are symmetrically installed on the first end surface of the bottom plate 41. Fixed pulleys are further installed on the four corners of the bottom plate, that is, fixed pulleys 5 are installed on 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 their first ends wound around the reel drums 205 of the rope unwinding / winding means 2 at the four corners, and their second ends wound around the fixed pulleys 5 in sequence, 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 footplate connection frame 109. Among them, at least two of the ropes are installed so that their first ends are wound around the reel drum 205 of the rope unwinding / winding means 2 installed at an angle, and their second ends are 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 footplate 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 symmetrically installed at the four corners of a 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 symmetrically installed at an angle on the first end face of the bottom plate 41.

[0029] As shown in FIG. 8, Ti is the pulling force of the six ropes, where i=1, 2, 3, 4, 5, 6, Ti1 is the component of the rope parallel to the turning axis of the swing pulley, Ti2 is the component of the rope perpendicular to the turning axis of the swing pulley, F2 is the acting force of the swing part 33 on the rack 36, F3 is the acting force of the tension spring 38 on the rack 36, L is the center line of the support seat 31, θ is the included angle between the rope and the center line L, and O is the center of the turning axis of the swing part 33. When the rope is deflected, the swing pulley 34 receives the rope component force Ti1, the swing pulley 34 rotates to point O and is deflected, the swing part 33 generates an acting force F2 on the rack 36, the rack 36 moves by Δx, and the left tension spring stretches. According to Hooke's law F=kΔx, the pulling force F3 by the tension spring increases. When 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 swing pulley 34 rotates to point O and deflects clockwise. When the angle θ between the rope 6 and the center line L changes from a large value to a small value, Ti1 decreases, F2 decreases, and F3 is greater than F2, so the rack 36 moves to the right. Due to the meshing of the fifth gear 332 of the swing part 33 with the rack 36, the swing part 33 rotates to point O and rotates counterclockwise, and the swing pulley 34 rotates counterclockwise, so that the swing pulley 34 is always kept in the same direction as the swing direction of the rope 6.

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

[0031] According to another aspect of the present invention, a control method for an ankle joint movement robot with self-adaptive movement axis is provided as shown in FIG. 11, which 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 swivel frame 104 is adjusted with the knob 112 so that the ankle joint axis and the swivel axis of the swivel frame 104 overlap, and the thigh is fixed together with the thigh brace 45 by bundling. In step S2, a global coordinate system and a local coordinate system are created, with the center point of the connecting line at the bottom of the pillars 101 on both sides as the origin O to create a global coordinate system OXbYbZb, and the local coordinate system QXaYaZa is created with the center of the semicircle of the step 111 as the coordinate origin Q to create a local coordinate system PXYZ with 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 an intersection 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 expresses each rope length li according to the relationship between the rope connection point and the coordinate point according to the geometric characteristics and the vector parallelogram, and the specific expression is JPEG0007605549000003.jpg33170 In step S5, by substituting each parameter point into the expression for the rope length li, a 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 footboard 111 to rotate, 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 footboard 111 around the axis. When the footboard 111 rotates around the axis, the posture sensor 113 detects the posture data of the footboard 111 in real time, and feeds it back to the controller to realize the real-time adjustment of the extension and contraction amount of each motor.

[0032] In a preferred embodiment, as shown in Figs. 12a to 13f, Figs. 12a to 12c respectively show that the lengths of the first to sixth ropes expand and contract as the rotation angle of the footboard 111 changes, and Figs. 13a to 13f respectively show that the lengths of the ropes change as the rotation angle changes when the ankle joint rotates about the X-axis and Y-axis to perform combined movements of dorsiflexion / plantar flexion, inversion / eversion, and internal / external rotation, while rotating about 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 embodiments. 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 a user sits on the adjustable chair, the user places his / her feet on the footboard 111 and fixes them 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 thighs together with the thigh brace 45 with a banding.

[0035] When the user is performing a backbending exercise, the motors 202 in the rope unwinding / winding means C 23 and the rope unwinding / winding means D 24 rotate to rotate the winding drum 205, and at the same time, the combination of the gears and cams causes the winding drum 205 to move, the rope 6 is wound 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, which are the rope unwinding / winding means, contracts. At the same time, the motors 202 in the rope unwinding / winding means A 21 and the rope unwinding / winding means B 22 rotate to rotate the winding drum 205, and the rope unwinding / winding means A 21 and the rope unwinding / winding means B The rope 6 wound around the winding drum 205 of 22 is lengthened, and at the same time, the dampers 1035 of both arm mechanisms 103 are expanded and contracted, thereby being driven by the axis of movement of the user's ankle joint, and as the rope 6 is contracted and extended, 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 plantar flexion, 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 motion, 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 foot plate 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 winding / winding means A 21, rope winding / winding means B 22, rope winding / winding means C 23, and rope winding / 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 passively applied to 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 exercise robot with self-adapting motion axis of the present invention uses both arm mechanisms 103 and springs 105 to match the motion axis of the ankle with the motion axis of the robot, thereby preventing damage to the ankle during movement. The rope winding / reeling means accurately controls the extension and contraction of the rope 6 in accordance with 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 with each other, dorsiflexion / plantar flexion, inversion / eversion, and internal / external rotation at the ankle can be achieved, thereby achieving ankle exercise and training.

[0039] The above-described examples 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 modifications and improvements to the technical means of the present invention without departing from the spirit of the present invention. Any such modifications 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 Step 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 Rolled Body 2031 Turntable 2032 Guide shaft 2033 First Rotating Axis 2034 Second Rotating Axis 204 Joint 205 Rolled 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 Seat 36 Rack 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 winding / reeling means, a pulley deflection means, a support means, and a rope, the axis compensation means includes a support, a fixed part, two arm mechanisms, a turning frame, a spring, a footboard connecting frame, a footboard slide rail, a footboard, a knob and a posture sensor, the support is symmetrically installed in the support means, a first end face of the support is connected to a bottom plate of the support means, the fixed part is connected to a second end face of the support, the turning frames are both rotatably connected to the fixed parts via the two arm mechanisms on both sides, the spring has a first end fixedly connected to the turning frame and a second end rotatably connected to the support arm of the footboard connecting frame, the support plates of the footboard connecting frame are symmetrically installed on the footboard slide rail on both sides, the footboard is connected to the footboard slide rail so as to slide, the knob passes through the footboard slide rail and is screwed to the footboard, and the posture sensor is connected to the footboard; 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 portion, a fourth gear, a guide rod, and a synchronization block. The first rotating shaft of the reeling drum shaft is connected to the output shaft of the motor via a joint, the reeling drum is connected to the guide shaft of the reeling drum shaft so as to slide, the second rotating shaft of the reeling drum shaft is connected to the bottom plate so as to rotate via a bearing seat, the first gear is connected to the first rotating shaft of the reeling drum shaft, the gear frame is installed at a position on one side of the reeling drum, and the second gear rotates on the gear frame via the gear shaft. 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 portion is connected to the gear frame to rotate, the fourth gear is connected to the cam shaft and the fourth gear rolls to mesh with the third gear, a guide rod is installed at one side of the cam portion and both ends of the guide rod are connected to the gear frame, the slide block of the synchronous block is connected to slide with the guide rod, the columnar guide block of the synchronous block is connected to slide with the cam groove of the cam portion, and the drive block of the synchronous block is connected to slide with the winding drum, a pulley deflection means for deflecting the movement of the ankle joint with a self-adapting movement axis, 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 at the support seat via the rack seat and is connected to the rack seat so as to slide, the rack is rolled 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-adapting motion axis as described in claim 1, characterized in that the supporting means includes a bottom 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 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.

3. The ankle joint exercise robot with self-adapting motion axis as claimed in claim 1, characterized in that the two arm mechanisms include an arm support base, a first arm, a second arm, a moving base and a damper, the arm support base is connected to a fixed part, first ends of the first arm and the second arm are both rotatably connected to the arm support base, second ends of the first arm and the second arm are both rotatably connected to the moving base, the first arm and the second arm are installed in parallel, a first end of the damper is rotatably connected to the arm support base, and a second end of the damper is rotatably connected to the moving base.

4. The pulley deflection means, the rope winding / reeling means and the rope are the same in number, the four corners of the bottom plate are respectively provided with four rope winding / reeling means, at least two rope winding / reeling means are symmetrically installed on the bottom plate, at least four pulley deflection means are installed on the top plate, at least two pulley deflection means are symmetrically installed on the bottom plate, fixed pulleys are further installed at the four corners of the bottom plate, and at least four ropes are provided with first ends of the rope winding / reeling means located at the four corners. the first ends of at least two ropes are wound around the reel of the rope winding and unwinding means disposed at an angle, and the second ends of the two ropes are wound around the reel of the pulley deflection means disposed at the bottom plate and then connected to the support plate of the footplate connection frame. The ankle joint exercise robot with self-adapting motion axis according to claim 1, characterized in that: the first ends of at least two ropes are wound around the reel of the rope winding and unwinding means disposed at an angle, and the second ends of the two ropes are wound around the reel of the pulley deflection means disposed at the bottom plate and then connected to the support plate of the footplate connection frame.

5. The ankle joint exercise robot with self-adapting motion axis as claimed in claim 1, characterized in that 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 disk, the guide shaft, the first rotating shaft and the second rotating shaft all have the same axis.

6. The ankle joint exercise robot with self-adapting motion axis as claimed in claim 1, characterized in that the cam part includes 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-adapting motion axis as claimed in claim 5, characterized in that the synchronization block includes a slide block, a columnar guide block and a drive block, the columnar guide block is installed on a first end surface of the slide block, and a contact end of the cam part with the cam groove is hemispherical, the drive block is installed on a second end surface of the slide block, one side position of the hoist body is installed in the arc-shaped groove, and the drive block is connected to slide in the arc-shaped groove.

8. 2. The ankle joint exercise robot with self-adapting motion axis as claimed in claim 1, characterized in that the oscillating part includes a oscillating block, a fifth gear and a rotating 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 rotating shaft is installed at a central position of a second end face of the oscillating block and is rotatably connected to the bearing block, and the axis of the rotating shaft and the pulley of the oscillating pulley have overlapping tangents.

9. 2. The ankle joint exercise robot with self-adapting motion 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 and is connected to the bearing of the axis compensation means, the support plate has slots at its four corners, and the rope is connected to the support plate through the slots, the turning frame has hollow pillars symmetrically installed at both end positions, 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.

10. A method for controlling an ankle joint movement robot with self-adaptation of the movement axis according to any one of claims 1 to 9, comprising: Step S1: placing the foot on a footboard, fixing the footboard to the footboard with a bandage, adjusting the distance between the footboard and the turning frame with a knob, and fixing the thigh together with the thigh brace with a banding so that the axis of the ankle joint and the turning axis of the turning frame overlap; Step S2: creating a global coordinate system and a local coordinate system, with the center point of the connection line at the bottom of the support on both sides as the origin O to create a global coordinate system OXbYbZb; creating a local coordinate system QXaYaZa with the center of the semicircle of the step as the coordinate origin Q; creating a local coordinate system PXYZ with the intersection point 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: expressing the posture of the step using 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, so that 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, a specific relationship value between each rope length and the step turning angle is obtained; and step S6: obtaining the rotation angle of each motor through calculation based on the angle required for the footboard to rotate, controlling the rotation angle of each motor through a controller, realizing the extension and contraction of each rope to realize the rotation of the footboard relative to the axis, detecting the posture data of the footboard in real time through 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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