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WO2022222505A1 - 一种具有双柔性驱动分支的外骨骼机器人踝关节 - Google Patents

一种具有双柔性驱动分支的外骨骼机器人踝关节 Download PDF

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Publication number
WO2022222505A1
WO2022222505A1 PCT/CN2021/138028 CN2021138028W WO2022222505A1 WO 2022222505 A1 WO2022222505 A1 WO 2022222505A1 CN 2021138028 W CN2021138028 W CN 2021138028W WO 2022222505 A1 WO2022222505 A1 WO 2022222505A1
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WO
WIPO (PCT)
Prior art keywords
ankle joint
branch
pair
support frame
bearing
Prior art date
Application number
PCT/CN2021/138028
Other languages
English (en)
French (fr)
Inventor
吴新宇
何勇
刘静帅
李金科
李锋
马跃
孙健铨
连鹏晨
曹武警
王大帅
Original Assignee
中国科学院深圳先进技术研究院
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Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Publication of WO2022222505A1 publication Critical patent/WO2022222505A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive

Definitions

  • the invention belongs to the technical field of robots, and relates to an exoskeleton robot ankle joint with dual flexible drive branches.
  • the lower extremity exoskeleton is a wearable bionic robot similar in structure to the lower extremities of the human body. It can assist the wearer to achieve lower extremity rehabilitation, assist walking, and enhance weight-bearing functions. It has broad application prospects in the fields of rehabilitation, civil and military.
  • the ankle joint is composed of the fork-shaped joint socket formed by the lower articular surface of the tibia, the medial ankle joint surface and the lateral ankle joint surface, and the ankle joint head of the talus. It can do dorsiflexion/plantar flexion around three rotation axes.
  • the self-balancing exoskeleton is oriented to patients with quadriplegia, and needs to completely bionic reconstruct the movement ability of the lower limbs of the human body. Therefore, each joint needs to meet the requirements of human movement in terms of degrees of freedom, rotation center position, stiffness, etc., and each joint needs to be actively controllable .
  • the traditional exoskeleton ankle joint has defects such as few degrees of freedom, insufficient number of drives, and large end inertia.
  • the present invention proposes an exoskeleton robot ankle joint with dual flexible drive branches, which has two active degrees of freedom of dorsiflexion/plantar flexion, varus/valgus, and the rotation center of the two joints. It is highly coincident with the center of the human ankle joint, has high structural rigidity, sufficient driving force, and a high center of gravity, and each driving unit is connected with elastic elements in series, which can realize flexible and safe power output of each joint.
  • the soleplate of the foot is connected with the calf fixing block through the restraining branch, the first driving branch and the second driving branch are arranged on the fixing block of the calf, and the soleplate of the foot is driven by the first driving branch and the second driving branch to realize dorsiflexion/plantar flexion and varus/inversion/ Flip out.
  • the above-mentioned restraint branch includes a left support frame, a right support frame and a cross shaft;
  • the left half shaft of the cross shaft forms a left rotation pair with the left support frame and the first bearing
  • the right half shaft of the cross shaft forms a right rotation pair with the right support frame and the second bearing.
  • the axes of the left and right rotation pairs coincide at The axis of rotation of dorsiflexion/plantar flexion.
  • the rear half shaft of the cross shaft, the third bearing, the fourth bearing and the rear bearing bracket form a rear rotation pair, and the axis of the rear rotation pair coincides with the axis of the inversion/valgus rotation shaft.
  • the left support frame has the same structure as the right support frame.
  • the left support frame is a tripod, the bottom edge of the tripod is fixed with the bottom plate of the foot, and the top corner of the tripod is connected with the left half shaft of the cross shaft through a bearing.
  • the left support frame or the right support frame is provided with a first encoder, and the first encoder is used to detect the rotation angle of dorsiflexion/plantar flexion.
  • the rear bearing bracket is provided with a second encoder, and the second encoder is used to detect the rotation angle of the varus/valgus.
  • first driving branch and the second driving branch are the same.
  • the above-mentioned first driving branch includes a driving mechanism, a moving pair, a first equivalent spherical pair and a second equivalent spherical pair;
  • the driving mechanism drives the moving pair to move, the first equivalent ball pair is connected with the moving pair, and the first equivalent ball pair is connected with the second equivalent ball pair through an elastic link.
  • the above-mentioned driving mechanism is a motor with a code disc
  • the moving pair includes a lead screw and a slider.
  • first equivalent spherical pair has the same structure as the second equivalent spherical pair.
  • the above-mentioned first equivalent spherical pair includes a support frame, a cross shaft, a front mounting plate and a rear mounting plate,
  • the upper part of the support frame is provided with an upper half shaft, the upper half shaft is connected with the inner ring of the fifth bearing to form a Z-axis rotation pair, the outer ring of the fifth bearing is connected with the bearing frame, and the bearing frame is connected with the output flange;
  • the left and right shafts of the cross shaft are respectively fixed on the support frame through bearings, the axis of the left and right shafts is the Y-axis direction, the front mounting plate and the rear mounting plate are respectively connected to the front and rear shafts of the cross shaft through bearings, and the front and rear shafts of the cross shaft are the X-axis.
  • This patent designs a new type of exoskeleton robot ankle joint device, the ankle joint has two rotational degrees of freedom, and each degree of freedom is an active degree of freedom, which can bionic reproduce the dorsiflexion/plantar motion of the ankle joint of the lower limbs of the human body. Flexion, inversion/outversion;
  • the characteristic of the designed ankle joint is that the axis of the dorsiflexion/plantar flexion rotation joint meets the axis of varus/valgus rotation at a point, and this point can be adjusted to coincide with the center of the human ankle joint in practical applications. Realize the motion of human-like ankle joint without axis deviation;
  • the characteristic of the designed ankle joint is that its configuration is composed of two PSS driving branches with the same structure and one RR restraining branch with two degrees of freedom, so that the entire ankle joint forms a 2PSS-RR parallel mechanism on the mechanism, This makes this ankle joint have the advantages of high rigidity and high strength in structure;
  • each drive branch has one moving pair and two 3-DOF equivalent ball pairs, wherein the moving pair is the active pair driven by the motor, and the two equivalent ball pairs are passive pairs. Since the passive degree of freedom of the driving branch is 6, each driving branch will not constrain the soleplate of the foot, and the relative motion degree of freedom between the soleplate 3 and the lower leg fixing block 1 is only determined by the restraint branch 2;
  • the characteristic of the designed ankle joint is that the moving pair of each drive branch contains a drive motor, so its weight is higher than that of the passive equivalent ball pair, and the heavy moving pair is fixed at the upper end of the calf fixing block.
  • the center of gravity of the ankle joint is on the upper side, and the sole plate of its main moving part can become light and low inertia, so that the whole ankle joint has high dynamic characteristics;
  • the characteristic of the designed ankle joint is that the two equivalent ball pairs of each drive branch are connected to each other by an elastic link, and the elastic coefficient of the elastic link can be adjusted according to the needs.
  • This design The driving branch becomes an elastic driving branch, which can improve the control flexibility, wearing safety and comfort of the ankle joint;
  • the designed ankle joint is characterized in that the restraint branch 2 has two rotational degrees of freedom, namely the above-mentioned dorsiflexion/plantar flexion rotation and varus/valgus rotation. These two rotational degrees of freedom are passive degrees of freedom, and the rotational angle of each axis can be measured in real time by the encoder, and the measured two directional angle values are fed back to the two drive branches to achieve closed-loop control, which can solve the problem of flexibility The problem of low control precision of the drive branch.
  • Figure 1 is an overall structural diagram of the ankle joint
  • Figure 2 is an exploded view of the overall structure of the ankle joint
  • Fig. 3 is an exploded view of two rotationally constrained branch structures
  • Fig. 4 is an exploded diagram of the drive branch structure
  • Fig. 5 is the exploded view of the equivalent spherical pair structure of the drive branch
  • Figure 6 is an ankle dorsiflexion diagram
  • Figure 7 is a plantar flexion diagram of the ankle joint
  • Figure 8 is a varus view of the ankle joint.
  • Figure 9 is an ankle valgus diagram.
  • the invention relates to an exoskeleton robot ankle joint device with two rotational degrees of freedom, wherein the two rotational degrees of freedom of the ankle joint are active drive degrees of freedom.
  • the designed exoskeleton ankle joint can realize two rotational degrees of freedom (R pair) of varus/valgus, dorsiflexion/plantar flexion, and is characterized by the rotational axis of varus/valgus and dorsiflexion
  • the axis of rotation of the plantar flexion/plantar flexion intersects at the center of the ankle joint of the lower extremity of the human body.
  • This design can highly restore the motion of the human ankle joint, solve the problems of insufficient driving freedom of the existing exoskeleton ankle joint and the deviation of the rotation center, and then realize human-machine compatible rehabilitation. Mobility aid.
  • an exoskeleton robot ankle joint with dual flexible drive branches includes a calf fixing block 1, a restraint branch 2, a foot base 3, a first drive branch 4 and a second drive branch 5; the foot base 3 passes through
  • the restraint branch 2 is connected with the calf fixing block 1
  • the first driving branch 4 and the second driving branch 5 are arranged on the calf fixing block 1
  • the foot sole plate 3 is driven by the first driving branch 4 and the second driving branch 5 to realize dorsiflexion/plantar flexion Flexion and inversion/outversion.
  • the lower leg fixing block 1 is a structure with a concave cross-section
  • the restraining branch 2 has two rotational degrees of freedom
  • the sole plate 3 is a light-weight and high-strength plate
  • the first driving branch 4 and the second driving branch 5 include A driving moving pair, two passive equivalent ball pairs and a flexible connecting rod.
  • the upper end of the restraining branch 2 is fixedly connected with the lower end mounting hole of the inner concave surface of the calf fixing block 1
  • the lower end of the restraining branch 2 is fixedly connected with the mounting hole on the upper surface of the foot bottom plate 3, so that the foot bottom plate 3 can produce two directions relative to the calf fixing block 1 rotational degrees of freedom.
  • the movable sub-bases of the first driving branches 4 and 5 are respectively fixed to the mounting holes of the left rear and right rear outer mounting surfaces of the lower leg fixing block 1 , and the ends of the first driving branches 4 and 5 are equivalent to spherical pairs. It is fixedly connected with the left rear and right rear mounting holes of the foot bottom plate 3 . Since each driving branch has 6 passive degrees of freedom and 1 active degree of freedom, the driving branch will not produce motion constraints between the sole plate 3 and the lower leg fixing block 1, but it can drive the two generated by the restraining branch 2. rotational degrees of freedom.
  • the lower leg fixing block 1 has a concave cross section along the horizontal direction, and the structure has the characteristics of light weight and high strength, which can reduce the overall weight of the ankle joint while ensuring the strength requirements.
  • the concave structure can form a semi-closed cavity in space, which is convenient for the binding and fixing of the lower limbs of the human body, and it has three installation planes of left rear, right rear and right rear, which is convenient for the fixing of the driving branch and the restraining branch connect.
  • Mounting holes with different heights are designed on the three mounting surfaces of the left rear, right rear and right rear of the calf fixing block 1, which can be used to adjust the mounting height of each driving branch and restraining branch, thereby adapting to different sizes of human lower limbs.
  • the restraining branch 2 is shown in FIG. 3 , the branch has two rotational degrees of freedom, and the axes of each rotational degree of freedom are perpendicular to each other. It intersects with the axis of dorsiflexion/plantar flexion at point P, which can be adjusted to coincide with the center of the ankle joint of the lower limb of the wearing human body in practical applications.
  • the cross axis 21 of the restraining branch 2 is designed in a concave shape, in order to form a semi-closed loop cavity to wrap the heel of the human body.
  • the left half shaft of the cross shaft 21 forms a left rotation pair with the left support frame 23 and the first bearing 22, while the right half shaft of the cross shaft 21 forms a right rotation pair with the right support frame 24 and the second bearing 25, and the left and right rotations
  • the axis of the pair coincides with the axis of the axis of dorsiflexion/plantar flexion.
  • the left support frame 23 and the right support frame 24 are both tripod structures.
  • the bottom edge of the tripod is fixed to the foot bottom plate 3 , and the top corner of the tripod is connected to the left half shaft of the cross shaft 21 through a bearing.
  • the rear half shaft of the cross shaft 21, the third bearing 27, the fourth bearing 28, and the rear bearing bracket 29 form a rear rotation pair, and the axis of the rear rotation pair coincides with the axis of the inversion/valgus rotation shaft.
  • a first encoder 26 is fixed on the right support frame 24 for detecting the rotation angle of dorsiflexion/plantar flexion.
  • a second encoder 210 is fixed on the rear bearing bracket 29 for detecting the rotation angle of varus/valgus. Since the two first driving branches 4 and the second driving branch 5 both contain elastic elements, it is impossible to ensure accurate driving of the two rotating joints of the ankle joint under the condition of open-loop control. Therefore, the angle fed back by the first encoders 26 and 210 cannot be guaranteed. The values are used for closed-loop control of the two drive branches, which in turn ensures precise control of the two revolute joints.
  • the left support frame 23 and the right support frame 24 are fixed on the corresponding installation holes of the foot bottom plate 3, and the rear bearing bracket 29 is fixed on the calf fixing block 1, so that the foot bottom plate 3 can only produce two freedoms relative to the calf fixing block 1. degrees of rotation without relative movement.
  • the first driving branches 4 and 5 have the same structure, and the first driving branch 4 includes a driving mechanism, a moving pair, a first equivalent ball pair 45 and a second equivalent ball pair 47
  • the driving mechanism drives the moving pair to move, the first equivalent ball pair 45 is connected with the moving pair, and the first equivalent ball pair 45 is connected with the second equivalent ball pair 47 through the elastic link 46 .
  • the driving branch 4 contains a moving pair and two 3-DOF equivalent spherical pairs, which constitute a PSS branch.
  • the moving pair is composed of a lead screw 42 and a slider 43, and is driven by a motor 41 with a code disc.
  • the first equivalent ball pairs 45 and 47 with 3 degrees of freedom are connected end to end through an elastic link 46, wherein the first equivalent ball pair 45 is fixedly connected to the slider 43 through the adapter plate 44, and the second equivalent ball pair is 47 is fixed on the corresponding mounting hole of the foot bottom plate 3.
  • the first equivalent ball pairs 45 and 47 in the driving branch have the same structure, and the first equivalent ball pair 45 is taken as an example, as shown in FIG. 5 .
  • the three rotation axes X, Y, and Z of the first equivalent spherical pair 45 are perpendicular to each other, and the three intersect at one point.
  • the upper half shaft of the support frame 451 is connected with the inner ring of the fifth bearing 454 to form a Z-axis rotation pair, the outer ring of the fifth bearing 454 is connected with the bearing frame 453, and the output flange 452 is fixed on the mounting hole of , used to connect the elastic link 46 .
  • the bearing 4512 is installed on the hole of the left mounting plate of the support frame 451, its outer ring is fixed by the left baffle 4511, and its inner ring is sleeved with the left half shaft of the cross shaft 4515 to form a left rotation pair.
  • the ninth bearing 4514 is installed on the hole of the right mounting plate of the support frame 451, its outer ring is fixed by the right baffle 4513, and its inner ring is sleeved with the right half shaft of the cross shaft 4515 to form a right rotating pair.
  • the axes of the left and right rotating pairs coincide with each other on the Y axis.
  • the sixth bearing 456 is sleeved in the hole of the front mounting plate 457, the outer ring is fixed by the front baffle 455, and the inner ring of the sixth bearing 456 is sleeved with the front half shaft of the cross shaft to form the front rotating pair.
  • the seventh bearing 459 is sleeved in the hole of the rear mounting plate 4510, and its outer ring is fixed by the rear baffle 458.
  • the inner ring of the seventh bearing 459 is sleeved with the rear half shaft of the cross shaft to form a rear rotating pair.
  • the axes of the front and rear rotating pairs coincide with each other on the X axis.
  • the bottom surfaces of the front mounting plate 457 and the rear mounting plate 4510 are parallel to each other and are used to be fixed in the corresponding holes of the foot bottom plate 3 .
  • the exoskeleton robot ankle joint can realize dorsiflexion/plantar flexion rotational motion, as shown in Figure 6 and Figure 7.
  • the present invention uses two driving branches with the same structure to drive the two rotational degrees of freedom of the ankle joint.
  • Each driving branch consists of a moving pair (P pair) and two three-degree-of-freedom equivalent spherical pairs (S pair) connected end to end, wherein the moving pair is the driving pair, and the equivalent spherical pair is the passive pair.
  • the two three-degree-of-freedom equivalent ball pairs are connected by an elastic rod, so that the driving branch forms a flexible driving branch, which can not only absorb the impact force from the sole of the foot, but also improve the wearing flexibility of the ankle joint, thereby improving the The wearing safety and comfort of the exoskeleton robot are improved.
  • the exoskeleton ankle joint designed by the present invention can be equivalent to a 2PSS-RR parallel mechanism in mechanism, wherein 2PSS represents two moving pairs-ball pair-ball pair drive distributed in the left and right rear positions of the ankle soleplate branch, RR represents a two-rotation pair constraint branch. Since the three branches can bear the external force/moment exerted on the ankle joint, the ankle joint has the advantages of high stiffness and high strength.

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Abstract

一种具有双柔性驱动分支的外骨骼机器人踝关节，包括小腿固定块（1）、约束分支（2）、脚底板（3）、第一驱动分支（4）和第二驱动分支（5），脚底板通过约束分支（2）与小腿固定块（1）连接，第一驱动分支（4）和第二驱动分支（5）设置在小腿固定块（1）上，通过第一驱动分支（4）和第二驱动分支（5）带动脚底板实现背屈/跖屈和内翻/外翻转动。该结构可以实现柔性安全动力输出。

Description

一种具有双柔性驱动分支的外骨骼机器人踝关节 技术领域
本发明属于机器人技术领域，涉及一种具有双柔性驱动分支的外骨骼机器人踝关节。
 背景技术
下肢外骨骼是一种与人体下肢结构相似的可穿戴仿生机器人，能够辅助穿戴者实现下肢康复、助力行走以及增强负重等功能，在康复、民用和军事等领域有着广泛的应用前景。根据人体关节的运动机理研究，踝关节是由胫骨下关节面、内踝关节面和外踝关节面形成的叉状关节窝和距骨的踝状关节头构成，能够围绕三个转动轴作背屈/跖屈、内翻/外翻以及微小的内旋/外旋运动，其中背屈/跖屈、内翻/外翻两个转动是保障人体进行平衡、行走、坐立等日常运动的基本前提。
自平衡外骨骼面向四肢瘫患者，需要完全仿生重建人体下肢运动能力，因而其各个关节需要在自由度数、转动中心位置、刚度等方面均需满足人体运动要求，并且每个关节均需要主动可控。
传统外骨骼踝关节存在自由度少、驱动数量不足、末端惯量较大等缺陷。
 技术问题
为了克服现有技术的不足，本发明提出一种具有双柔性驱动分支的外骨骼机器人踝关节，其拥有背屈/跖屈、内翻/外翻两个主动自由度，两个关节的转动中心与人体踝关节中心高度重合，结构刚度大、驱动力足、重心靠上，且每个驱动单元串接有弹性元件，可以实现各个关节的柔性安全的动力输出。
本发明解决上述问题的技术方案是：一种具有双柔性驱动分支的外骨骼机器人踝关节，其特殊之处在于，
包括小腿固定块、约束分支、脚底板、第一驱动分支和第二驱动分支；
脚底板通过约束分支与小腿固定块连接，第一驱动分支和第二驱动分支设置在小腿固定块上，通过第一驱动分支和第二驱动分支带动脚底板实现背屈/跖屈和内翻/外翻转动。
进一步地，上述约束分支包括左支撑架、右支撑架和一个交叉轴；
交叉轴的左半轴与左支撑架、第一轴承形成左转动副，交叉轴的右半轴与右支撑架、第二轴承形成右转动副，左、右转动副的轴线重合于背屈/跖屈的转轴轴线。交叉轴的后半轴与第三轴承、第四轴承、后轴承支架形成后转动副，后转动副的轴线重合于内翻/外翻的转轴轴线。
进一步地，上述左支撑架与右支撑架结构相同。左支撑架为一个三脚架，三脚架的底边与脚底板固定，三脚架顶角处通过轴承与交叉轴的左半轴连接。
进一步地，上述左支撑架或右支撑架上设有第一编码器，第一编码器用于检测背屈/跖屈的旋转角度。
进一步地，上述后轴承支架上设有第二编码器，第二编码器用于检测内翻/外翻的旋转角度。
进一步地，上述第一驱动分支和第二驱动分支结构相同。
进一步地，上述第一驱动分支包括驱动机构、移动副、第一等效球副和第二等效球副；
驱动机构驱动移动副运动，第一等效球副与移动副连接，第一等效球副通过弹性连杆与第二等效球副连接。
进一步地，上述驱动机构为带有码盘的电机，移动副包括丝杠和滑块。
进一步地，上述第一等效球副与与第二等效球副结构相同。
进一步地，上述第一等效球副包括支撑架、十字轴、前安装板与后安装板，
支撑架的上部设有上半轴，上半轴与第五轴承的内圈连接形成Z轴方向转动副，第五轴承的外圈与轴承架连接，轴承架与输出法兰连接；
十字轴的左右轴分别通过轴承固定在支撑架上，左右轴的轴线为Y轴方向，前安装板与后安装板分别通过轴承与十字轴的前后轴连接，十字轴的前后轴为X轴。
本发明的优点：
1）本专利设计了一种新型外骨骼机器人踝关节装置，该踝关节具有两个转动自由度，且每个自由度均为主动自由度，可以仿生复现人体下肢踝关节的背屈/跖屈转动、内翻/外翻转动；
2）所设计的踝关节其特点在于背屈/跖屈转动关节轴线与内翻/外翻转动轴线交汇于一点，而该点可在实际应用中调整为与人体踝关节中心重合，该设计可以实现无轴线偏差的仿人踝关节运动；
3）所设计的踝关节其特点在于其构型由两个具有相同结构的PSS驱动分支和一个两自由度的RR约束分支组成，进而使得整个踝关节在机构上形成一个2PSS-RR并联机构，这使得此踝关节在结构上具有高刚度、高强度的优点；
4）所设计的踝关节其特点在于每个驱动分支具有一个移动副和两个3自由度等效球副，其中移动副为电机驱动的主动副，而两个等效球副为被动副，由于驱动分支的被动自由度为6，因而每个驱动分支均不会对脚底板产生约束，脚底板3与小腿固定块1之间的相对运动自由度只由约束分支2决定；
5）所设计的踝关节其特点在于每个驱动分支的移动副由于含有驱动电机，因而其重量高于被动等效球副，重量大的移动副固定在小腿固定块的上端固定孔位，这使得踝关节的重心偏上，而其主要运动部件脚底板可以变得轻质、低惯量，进而使得整个踝关节具有高动态特性；
6）所设计的踝关节其特点在于每个驱动分支的两个等效球副之间是由一根弹性连杆相互连接的，该弹性连杆的弹性系数可以依据需求进行调整，这种设计使得驱动分支变为了弹性驱动分支，可以提升踝关节的控制柔顺性、穿戴安全性和舒适性；
7）所设计的踝关节其特点在于约束分支2具有两个转动自由度，即上文所述的背屈/跖屈转动、内翻/外翻转动。这两个转动自由度均为被动自由度，而每个轴线的转动角度可由编码器进行实时测量，并将测量的两个方向角度值反馈给两个驱动分支来实现闭环控制，进而可解决柔性驱动分支的控制精度低的问题。
 附图说明
图1是踝关节总体结构图；
图2是踝关节总体结构爆炸图；
图3是两转动约束分支结构爆炸图；
图4是驱动分支结构爆炸图；
图5是驱动分支等效球副结构爆炸图；
图6是踝关节背屈图；
图7是踝关节跖屈图；
图8是踝关节内翻图。
图9是踝关节外翻图。
其中：
1、小腿固定块；
2、约束分支；
21、交叉轴；22、第一轴承；23、左支撑架；24、右支撑架；25、第二轴承；26、第一编码器；27、第三轴承；28、第四轴承；29、后轴承支架；210、第二编码器；
3、脚底板；
4、第一驱动分支；
41、电机；42、丝杠；43、滑块；44、转接板；45、第一等效球副；46、弹性连杆；47、第二等效球副；
451、支撑架；452、输出法兰；453、轴承架；454、第五轴承；455、前挡板，456、第六轴承，457、前安装板；458、后挡板；459、第七轴承；4510、后安装板；4511、左挡板；4512、第八轴承；4513、右挡板；4514、第九轴承；4515、十字轴；
5、第二驱动分支。
 本发明的实施方式
为使本发明实施方式的目的、技术方案和优点更加清楚，下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本发明保护的范围。因此，以下对在附图中提供的本发明的实施方式的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施方式。
本发明涉及一种具有两个转动自由度的外骨骼机器人踝关节装置，踝关节的两个转动自由度均为主动驱动自由度。如图1所示，所设计的外骨骼踝关节可以实现内翻/外翻、背屈/跖屈两个转动自由度（R副），其特点在于内翻/外翻的转动轴线与背屈/跖屈转动轴线交汇于人体下肢踝关节中心，该设计可以高度还原人体踝关节运动，解决现有外骨骼踝关节驱动自由度不足、存在转动中心偏差等问题，进而实现人机相容的康复助行运动。
如图2所示，一种具有双柔性驱动分支的外骨骼机器人踝关节，包括小腿固定块1、约束分支2、脚底板3、第一驱动分支4和第二驱动分支5；脚底板3通过约束分支2与小腿固定块1连接，第一驱动分支4和第二驱动分支5设置在小腿固定块1上，通过第一驱动分支4和第二驱动分支5带动脚底板3实现背屈/跖屈和内翻/外翻转动。
具体地，小腿固定块1为一个横截面呈凹形的结构，约束分支2具有两个转动自由度，脚底板3为轻质高强度的板材，第一驱动分支4和第二驱动分支5包含一个驱动移动副、两个被动等效球副以及一个柔性连接杆。约束分支2的上端与小腿固定块1的内凹面下端安装孔固接，约束分支2的下端与脚底板3上表面安装孔固接，使得脚底板3可以相对于小腿固定块1产生两个方向的转动自由度。第一驱动分支4、5的移动副底座分别与小腿固定块1的左后、右后两个方位外安装面的安装孔位固接，而第一驱动分支4、5的末端等效球副与脚底板3的左后、右后两个方位安装孔位固接。由于每个驱动分支均具有6个被动自由度和1个主动自由度，因而驱动分支不会对脚底板3和小腿固定块1之间产生运动约束，但其可以驱动由约束分支2产生的两个转动自由度。
优选地，所述的小腿固定块1，其沿水平方向的横截面成凹字形，该结构具有轻质高强度的特点，可以在保证强度要求的同时降低踝关节整体重量。该凹形结构可以在空间上形成一个半封闭腔体，便于人体下肢的绑缚与固定，且其具有左后、右后、正后三个方位的安装平面，便于驱动分支和约束分支的固定连接。在小腿固定块1的左后、右后、正后三个安装面上设计有高低不等的安装孔，可用于调整各个驱动分支与约束分支的安装高度，进而适应不同尺寸的人体下肢。
作为本发明的一个优选实施例，所述的约束分支2如图3所示，该分支具有两个转动自由度，且每个转动自由度的轴线均相互垂直，其中内翻/外翻的转轴与背屈/跖屈的转轴交汇于P点，该P点在实际应用中可以调整为与穿戴人体下肢踝关节中心重合。约束分支2的交叉轴21设计为凹形状，目的在于形成半闭环空腔来包裹人体脚后跟。交叉轴21的左半轴与左支撑架23、第一轴承22形成左转动副，而21的右半轴与右支撑架24、第二轴承25形成右转动副，左、右转动副的轴线重合于背屈/跖屈的转轴轴线。左支撑架23与右支撑架24均为三脚架结构，三脚架的底边与脚底板3固定，三脚架顶角处通过轴承与交叉轴21的左半轴连接。交叉轴21的后半轴与第三轴承27、第四轴承28、后轴承支架29形成后转动副，后转动副的轴线重合于内翻/外翻的转轴轴线。
优选地，在右支撑架24上固定第一编码器26，用于检测背屈/跖屈的旋转角度。在后轴承支架29上固定第二编码器210，用于检测内翻/外翻的旋转角度。由于两个第一驱动分支4、第二驱动分支5均含有弹性元件，无法确保在开环控制的情况下精确驱动踝关节的两个旋转关节，因而第一编码器26、210所反馈的角度值用于两个驱动分支进行闭环控制，进而确保两个旋转关节的精确控制。左支撑架23与右支撑架24固接在脚底板3的相应安装孔位上，后轴承支架29固定在小腿固定块1上，使得脚底板3相对于小腿固定块1只能产生两个自由度的转动，而不能产生相对移动。
作为本发明的一个优选实施例，所述第一驱动分支4、5具有相同的结构，第一驱动分支4包括驱动机构、移动副、第一等效球副45和第二等效球副47；驱动机构驱动移动副运动，第一等效球副45与移动副连接，第一等效球副45通过弹性连杆46与第二等效球副47连接。
具体地，以第一驱动分支4为例，如图4所示。驱动分支含有一个移动副和两个3自由度等效球副，构成一个PSS分支。移动副由丝杠42和滑块43组成，并由带有码盘的电机41驱动，丝杠42的下底面固接在小腿固定块1的相应安装面上。3自由度第一等效球副45和47通过一根弹性连杆46进行首尾连接，其中第一等效球副45通过转接板44与滑块43固接，而第二等效球副47固接在脚底板3相应的安装孔位上。
所述驱动分支中的第一等效球副45与47具有相同结构，以第一等效球副45为例，如图5所示。第一等效球副45的三个转动轴X、Y、Z相互垂直，且三者交汇于一点。支撑架451的上半轴与第五轴承454的内圈连接形成Z轴方向转动副，第五轴承454的外圈与轴承架453连接，而输出法兰452固接在453的安装孔位上，用于连接弹性连杆46。轴承4512安装在支撑架451的左安装板的孔位上，其外圈由左挡板4511固定，其内圈与十字轴4515的左半轴套接在一起形成左转动副。第九轴承4514安装在支撑架451的右安装板的孔位上，其外圈由右挡板4513固定，其内圈与十字轴4515的右半轴套接在一起形成右转动副。左、右转动副的轴线相互重合于Y轴。第六轴承456套接在前安装板457的孔位中，其外圈由前挡板455固定，第六轴承456的内圈与十字轴的前半轴套接在一起形成前转动副。第七轴承459套接在后安装板4510的孔位中，其外圈由后挡板458固定，第七轴承459的内圈与十字轴的后半轴套接在一起形成后转动副。前、后转动副的轴线相互重合于X轴。前安装板457与后安装板4510的底面相互平行且用于固定在脚底板3相应孔位。
本发明的工作原理：
当第一驱动分支4、驱动分支5的电机同时启动，通过丝杠42带动滑块43同时向下或向上移动，滑块43通过等效球副、弹性连杆46带动脚底板3前后转动，使外骨骼机器人踝关节可实现背屈/跖屈转动运动，如图6、图7所示。
当第一驱动分支4、驱动分支5的电机同时启动，两个驱动分支反方向运动时，滑块43通过等效球副、弹性连杆46带动脚底板3左右转动，使外骨骼机器人踝关节实现内翻/外翻转动运动，如图8、图9所示。
为了提高踝关节的刚度、降低运动部件的转动惯量，本发明采用2个结构相同的驱动分支对踝关节的2个转动自由度进行驱动。每个驱动分支由一个移动副（P副）、两个首尾相连的三自由度等效球副（S副）组成，其中移动副为驱动副，而等效球副为被动副。通过将质量较大的移动副布置在踝关节的上端，可以提高踝关节的重心位置，进而降低主要运动部件（脚底板）的运动惯量，提高系统的动态特性。此外，两个三自由度等效球副由一个弹性杆件相连接，使得驱动分支构成一个柔性驱动分支，这既能吸收来自足底的冲击力又能提升踝关节的穿戴柔顺性，进而提高了外骨骼机器人的穿戴安全性与舒适度。
本发明所设计的外骨骼踝关节在机构上可以等效为一个2PSS-RR并联机构，其中2PSS代表分布在踝关节脚底板左后、右后方位的两个移动副-球副-球副驱动分支，RR代表一个两转动副约束分支。由于三个分支均能够承受施加在踝关节上的外力/力矩，因而该踝关节具有高刚度和高强度的优点。
以上所述仅为本发明的实施例，并非以此限制本发明的保护范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的系统领域，均同理包括在本发明的保护范围内。

Claims (10)

  1. 一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    包括小腿固定块（1）、约束分支（2）、脚底板（3）、第一驱动分支（4）和第二驱动分支（5）；
    脚底板（3）通过约束分支（2）与小腿固定块（1）连接，第一驱动分支（4）和第二驱动分支（5）设置在小腿固定块（1）上，通过第一驱动分支（4）和第二驱动分支（5）带动脚底板（3）实现背屈/跖屈和内翻/外翻转动。
  2. 根据权利要求1所述的一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    所述约束分支（2）包括左支撑架（23）、右支撑架（24）和一个交叉轴（21）；
    交叉轴（21）的左半轴通过与轴承安装在左支撑架（23）上形成左转动副，交叉轴（21）的右半轴通过与轴承安装在右支撑架（24）上形成右转动副；交叉轴（21）的后半轴通过轴承安装在后轴承支架（29）上形成后转动副。
  3. 根据权利要求2所述的一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    所述左支撑架（23）与右支撑架（24）结构相同。左支撑架（23）为一个三脚架，三脚架的底边与脚底板（3）固定，三脚架顶角处通过轴承与交叉轴（21）的左半轴连接。
  4. 根据权利要求3所述的一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    所述左支撑架（23）或右支撑架（24）上设有第一编码器（26），第一编码器（26）用于检测背屈/跖屈的旋转角度。
  5. 根据权利要求4所述的一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    所述后轴承支架（29）上设有第二编码器（210），第二编码器（210）用于检测内翻/外翻的旋转角度。
  6. 根据权利要求1-5任一所述的一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    所述第一驱动分支（4）和第二驱动分支（5）结构相同。
  7. 根据权利要求6所述的一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    所述第一驱动分支（4）包括驱动机构、移动副、第一等效球副（45）和第二等效球副（47）；
    驱动机构驱动移动副运动，第一等效球副（45）与移动副连接，第一等效球副（45）通过弹性连杆（46）与第二等效球副（47）连接。
  8. 根据权利要求7所述的一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    所述驱动机构为带有码盘的电机（41），移动副包括丝杠（42）和滑块（43）。
  9. 根据权利要求1-5任一所述的一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    所述第一等效球副（45）与与第二等效球副（47）结构相同。
  10. 根据权利要求9所述的一种具有双柔性驱动分支的外骨骼机器人踝关节，其特征在于：
    第一等效球副（45）包括支撑架（451）、十字轴（4515）、前安装板（457）与后安装板（4510），
    支撑架（451）的上部设有上半轴，上半轴与第五轴承（454）的内圈连接形成Z轴方向转动副，第五轴承（454）的外圈与轴承架（453）连接，轴承架（453）与输出法兰（452）连接；
    十字轴（4515）的左右轴分别通过轴承固定在支撑架（451）上，左右轴的轴线为Y轴方向，前安装板（457）与后安装板（4510）分别通过轴承与十字轴（4515）的前后轴连接，十字轴（4515）的前后轴为X轴。
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