阅读说明：本技术 一种基于含约束支链的髋假体并联机构的下肢假肢 (A kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain ) 是由 宋马军 郭盛 王向阳 陈光荣 曲海波 于 2019-09-05 设计创作，主要内容包括：一种基于含约束支链的髋假体并联机构的下肢假肢,它主要由定平台、驱动支链、约束支链、末端操作平台、过渡安装座、小腿二元杆和足踝假体所组成,用以实现髋关节的屈伸与内外展运动,以及膝关节与踝关节的屈伸运动。本发明设计的含约束支链的髋假体并联机构中,末端操作平台通过驱动支链的伸缩和约束支链的运动限制可实现空间二自由度纯转动,模仿人体髋关节的屈伸与内外展运动,驱动支链仿效大腿骨骼肌群,通过伸缩给机构提供动能,驱动移动副可用滚珠丝杠,该髋假体并联机构涉及医疗康复机器人并适用于髋断离截肢患者。并联机构具有结构简单,采用约束支链不仅能提高结构刚度和承载能力,还能减少电机使用和生产成本,简化控制结构的难度。(A kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain, it is mainly made of fixed platform, driving branch, constrained branched chain, end effector platform, transition mounting base, shank binary bar and ankle prosthese, to realize the flexion and extension of hip joint bent and stretched with interior abduction exercise and knee joint and ankle-joint.In the hip prosthesis parallel institution containing constrained branched chain that the present invention designs, end effector platform is limited by flexible and constrained branched chain the movement of driving branch can be achieved the pure rotation of space two degrees of freedom, imitate bending and stretching and interior abduction exercise for human hip, branch is driven to imitate thigh skeleton muscle group, kinetic energy is provided to mechanism by stretching, drive prismatic pair that can use ball-screw, which is related to medical rehabilitation robot and is suitable for hip dialysis patients with amputation.Parallel institution has structure simple, can not only improve the rigidity of structure and bearing capacity using constrained branched chain, moreover it is possible to reduce motor use and production cost, the difficulty of simple control structure.)

1. a kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain, basic system includes: fixed platform (1) drives Dynamic branch (2.1,2.2), constrained branched chain (3), end effector platform (4), transition mounting base (5), shank binary bar (6) and ankle Prosthese (7) is formed；The artificial leg is respectively by the pure one-rotation parallel mechanism of the two degrees of freedom containing constrained branched chain as hip vacation Body mechanism, and successively connect to form an artificial leg with the shank binary bar of single-degree-of-freedom and ankle prosthese；Due to hip joint Interior outward turning campaign use in real life of mechanism is considerably less, and the kinetic characteristic can be ignored in the design of hip prosthesis mechanism, this It is comprehensive as mechanism configuration using screw theory using the flexion and extension for realizing hip joint and interior abduction exercise as design object in invention The mathematical tool of conjunction devises the configuration for meeting all the driving branches and constrained branched chain of hip prosthesis mechanism；Synthesis can must drive The kinetic characteristic of branch terminals is respectively the branched configuration of 2R1T (R represents rotation, and T represents movement, similarly hereinafter) and 3R1T, about bundle branch The kinetic characteristic of chain end is respectively the branched configuration of 2R and 3R, and meets the design by shipping the obtained parallel institution of calculation Target.

2. a kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain according to claim 1, feature Be: the driving branch (2.1,2.2) includes: undersetting (2-1), U-shaped seat (2-2), the cylindrical drum (2-3) of translator, The piston rod (2-4) of translator, square joint (2-5), upper bracket (2-6).

3. the connection between the components of driving branch according to claim 2: undersetting (2-1) passes through with fixed platform (1) Screw connects into fixed joint；Undersetting (2-1) and U-shaped seat (2-2) form revolute pair, the cylindrical drum of U-shaped seat (2-2) and translator (2-3) forms revolute pair, meanwhile, two revolute pair axis vertical take-offs are equivalent to a Hooke pair；The cylindrical drum (2-3) of translator and The piston rod (2-4) of translator forms driving prismatic pair, and ball-screw or electric putter can be used, and imitation depends on thigh femur table Face skeletal muscle stretches, and the rotation for hip prosthesis around hip joint provides kinetic energy；The piston rod (2-4) and square joint (2- of translator 5) it is connected through a screw thread to form fixed joint；Square joint (2-5) and upper bracket (2-6) form revolute pair, meanwhile, the revolute pair axis Direction is parallel with the pivot center that the cylindrical drum (2-3) of translator is formed with U-shaped seat (2-2)；Upper bracket (2-6) and end effector Platform (4) is connected by screw into fixed joint；Thigh femoral surface skeletal muscle is imitated into driving branch (2.1,2.2) in the design The biomechanics characteristic of group realizes the power source of spatial rotational movement mainly as end effector platform.

4. a kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain according to claim 1, feature Be: the constrained branched chain (3) includes: under compared with seat (3-1), U-shaped seat (3-2) constrains lower beam (3-3), constrains upper boom (3- 4), cover board (3-5), square joint (3-6), upper free bearing (3-7).

5. the connection between the components of constrained branched chain according to claim 4: lower free bearing (3-1) passes through with fixed platform (1) Screw connects into fixed joint；Lower free bearing (3-1) and U-shaped seat (3-2) form revolute pair, U-shaped seat (3-2) and constraint lower beam (3-3) Revolute pair is formed, meanwhile, two revolute pair axis vertical take-offs are equivalent to a Hooke pair；Constrain lower beam (3-3) and constraint upper boom (3- 4) revolute pair is formed, revolute pair axis direction passes through constraint upper boom (3-4) simultaneously along the direction of constrained branched chain, cover board (3-5) It is connected by screw to constraint lower beam (3-3), restriction upper boom (3-4) moving along constrained branched chain direction；Constrain upper boom (3- 4) it is connected through a screw thread to form fixed joint with square joint (3-6)；Square joint (3-6) and upper free bearing (3-7) form revolute pair, together When, the revolute pair axis direction is vertical with the pivot center that constraint lower beam (3-3) is formed with U-shaped seat (3-2)；Upper free bearing (3-7) Fixed joint is connected by screw into end effector platform (4)；Constrained branched chain (3) are imitated to the binary of thigh femur in the design Bar characteristic, and be only capable of under the push-and-pull action for being rotated at both ends rotating around hip joint and knee joint, and driving branch at two, it realizes End effector platform in the two degrees of freedom rotational motion in space, imitate human hip flexion and extension and interior abduction exercise.

Technical field

The invention belongs to medical rehabilitation robot technology and artificial intelligence equipment field, in particular to a kind of based on containing constraint The artificial leg of the hip prosthesis parallel institution of branch, it can compensate the hip that high amputation patient or hip joint dialysis patient lose and close Locomitivity is saved, patient is enable to restore the kinetic characteristic of hip joint and the locomitivity of daily life.

Background technique

In recent years, a series of natural calamities, the diabetic's complication, traffic accident caused with global warming And other contingencies etc. frequently occur, and the number of lower limb amputation patient is especially caused also to increase year by year.Lower limb amputation is suffered from For person, the limbs lost are equivalent to the autokinetic movement ability that loses, the even self-care ability of daily life, it can not only make The body and mind of patients with amputation also will increase the burden of society by heavy strike.Hip joint is connect as trunk with lower limb Turning joint plays a significant role in organization of human body, it can not only make lower limb receiving trunk important, and spatial rotational ability can also Realize that kinetic characteristic is such as walked, jumps and translated to lower limb.However, according to incompletely statistics, the whole world every year there are about 1,000,000 person-times into Row lower limb amputation and artificial limb installation, and hip joint prosthesis and displaced patient account for about 80%, therefore, compensatory hip joint patients with amputation The design of hip prosthesis mechanism play an important role and broad application prospect.

It with scientific and technological level is constantly promoted, with extensive use of the robot technology in different field, is made based on machine The research of the artificial leg mechanism of device robot mechanism is ground with the hot spot being designed in domestic and international medical rehabilitation robot technology research One of study carefully, meanwhile, the country is due to the limitation of the level such as technical research and process for machining and manufacturing, and robot technology is in healing robot Application in have biggish market prospects.Currently, existing hip joint prosthesis mechanism type is more in the market, but each component connects It connects and is all made of cascade, the stiffness characteristics of the conventional prosthesis mechanism are poor, and motion credibility is difficult to ensure, and tandem type mechanism Component need to be increased just and can ensure that multiple freedom degrees, the size and weight for often resulting in prosthetic device are bigger than normal.Therefore, a energy is designed The motion intention for meeting the multiple freedom degrees of patient is a problem to be solved but also with the artificial leg mechanism of superperformance.

Based on this, the present invention devises a kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain, mainly The Structure Configuration Synthesis method of parallel institution containing constrained branched chain and concrete model modeling to hip prosthesis is applied to.It is mainly used in the present invention Main body mechanism of the parallel institution containing constrained branched chain as hip prosthesis, it can not only improve the rigidity and carrying energy of prosthetic device Power, moreover it is possible to meet multivariant kinetic characteristic in the case where keeping mechanism, overall dimensions compact and low cost.Meanwhile The introducing of constrained branched chain not only increases the stiffness characteristics of mechanism, moreover it is possible to make mechanism using less low energy consumption driving motor, benefit In subsequent control implementation of strategies.

Summary of the invention

Technical problem of the invention is to devise a kind of lower limb vacation based on the hip prosthesis parallel institution containing constrained branched chain Limb mainly models the Structure Configuration Synthesis method of parallel institution containing constrained branched chain and concrete model that are applied to hip prosthesis.The mechanism solution Generally existing structural volume is big in the existing hip joint prosthesis mechanism that determined, in quality, kinetic stability is poor, bearing capacity not Foot and the problems such as being only able to achieve single freedom degree.Since use is very in real life for the interior outward turning campaign of hip joint mechanism It is few, the kinetic characteristic can be ignored in the design of hip prosthesis mechanism, it is only necessary to realize bending and stretching and interior abduction exercise for hip joint.Therefore, Sky can be achieved in the movement limitation of push-and-pull and a passive branch that the end effector platform of the mechanism can drive branch by two Between the pure rotation of two degrees of freedom, to imitate hip joint flexion and extension and interior abduction exercise, make it that there is with human hip height The bionical characteristic of degree.

The present invention adopts the following technical scheme that realization:

A kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain, it is characterised in that: including fixed platform (1), branch (2.1,2.2), constrained branched chain (3), end effector platform (4), transition mounting base (5), shank binary bar (6) are driven With ankle prosthese (7).

It is described by fixed platform (1), two driving branches (2.1,2.2), constrained branched chain (3) box end effector platform (4) in the hip prosthesis parallel institution configuration design formed, screw theory method is used respectively to driving branch and constrained branched chain Structure Configuration Synthesis is carried out, the branched structure form for meeting design object of the present invention is set forth in Tables 1 and 2.Wherein, in table ()_⊥Indicate that two pivot centers are mutually orthogonal in bracket and two kinematic pairs are installed together and are equivalent to U pair, ⊥ indicates kinematic pair Axis is vertical with face where fixed platform, and * indicates kinematic pair axis direction along branch chain direction.

The driving branch (2.1,2.2) includes: undersetting (2-1), U-shaped seat (2-2), the cylindrical drum (2- of translator 3), the piston rod (2-4) of translator, square joint (2-5), upper bracket (2-6)；

Constitute the connection between the components of driving branch: undersetting (2-1) and fixed platform (1) are connected by screw into fixation It is secondary；Undersetting (2-1) and U-shaped seat (2-2) form revolute pair, and cylindrical drum (2-3) formation of U-shaped seat (2-2) and translator rotates Pair, meanwhile, two revolute pair axis vertical take-offs are equivalent to a Hooke pair；The piston of cylindrical drum (2-3) and translator of translator Bar (2-4) forms driving prismatic pair, and electric putter or ball-screw can be used, and imitates the skeletal muscle for depending on thigh femoral surface Group, to drive hip prosthesis mechanism around the rotation of hip joint；The piston rod (2-4) and square joint (2-5) of translator pass through screw thread Connection forms fixed joint；Square joint (2-5) and upper bracket (2-6) form revolute pair, meanwhile, the revolute pair axis direction with it is U-shaped Seat (2-2) is parallel with the pivot center that the cylindrical drum (2-3) of translator is formed；Upper bracket (2-6) and end effector platform (4) are logical It crosses screw and connects into fixed joint；Branch (2.1,2.2) will be driven to imitate the biology of thigh femoral surface skeleton muscle group in the design Mechanical characteristic realizes the power source of spatial rotational movement mainly as end effector platform.

The constrained branched chain (3) includes: under compared with seat (3-1), U-shaped seat (3-2) constrains lower beam (3-3), constrains upper boom (3- 4), cover board (3-5), square joint (3-6), upper free bearing (3-7)；

Constitute the connection between the components of constrained branched chain: lower free bearing (3-1) and fixed platform (1) are connected by screw into fixation It is secondary；Lower free bearing (3-1) and U-shaped seat (3-2) form revolute pair, and U-shaped seat (3-2) and constraint lower beam (3-3) form revolute pair, together When, two revolute pair axis vertical take-offs are equivalent to a Hooke pair；It constrains lower beam (3-3) and constraint upper boom (3-4) forms one and turns Dynamic pair, revolute pair axis direction along the direction of constrained branched chain, cover board (3-5) pass through constraint upper boom (3-4) and with constraint lower beam (3- 3) it is connected by screw to, restriction upper boom (3-4) moving along constrained branched chain direction；Constrain upper boom (3-4) and square joint (3- 6) it is connected through a screw thread to form fixed joint；Square joint (3-6) and upper free bearing (3-7) form revolute pair, meanwhile, the revolute pair axis Direction is vertical with the pivot center that constraint lower beam (3-3) is formed with U-shaped seat (3-2)；Upper free bearing (3-7) and end effector platform (4) it is connected by screw into fixed joint；Constrained branched chain (3) are imitated to the binary bar characteristic of thigh femur in the design, and are only capable of Under the push-and-pull action that both ends rotate rotating around hip joint and knee joint, and drive branch at two, end effector platform is realized Two degrees of freedom rotational motion in space, imitate hip joint flexion and extension and interior abduction exercise.

Compared with prior art, the present invention has the following advantages:

The present invention devises a kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain, is mainly used for imitating The kinetic characteristics such as the flexion and extension of human hip and interior abduction exercise.Since the interior outward turning campaign of hip joint is in real life Use is considerably less, and therefore, hip prosthesis mechanism of the invention is designed, and is only transported with the flexion and extension and interior outreach of realizing hip joint It moves as target.The hip prosthesis parallel institution is related to medical rehabilitation robot and is suitable for lower limb high amputation or hip joint dialysis Patients, have structure is simple, rigidity is high, bearing capacity is strong, at low cost and easy processing manufacture characteristic, meanwhile, parallel institution The constrained branched chain of middle introducing can not only improve mechanism overall stiffness, moreover it is possible to reduce the use of motor, the design of simplified control system Difficulty.

Detailed description of the invention

A kind of artificial leg structural model figure based on the hip prosthesis parallel institution containing constrained branched chain of Fig. 1；

Fig. 2 is based on the hip prosthesis parallel institution structural model figure containing constrained branched chain；

The structural model explosive view of Fig. 3 driving branch；

The structural model explosive view of Fig. 4 constrained branched chain；

In figure: fixed platform (1), driving branch (2.1,2.2), constrained branched chain (3), end effector platform (4), transition installation Seat (5), shank binary bar (6) and ankle prosthese (7).Driving branch (2.1,2.2) includes: undersetting (2-1), U-shaped seat (2- 2), the cylindrical drum (2-3) of translator, the piston rod (2-4) of translator, square joint (2-5), upper bracket (2-6)；Constrained branched chain (3) include: under compared with seat (3-1), U-shaped seat (3-2) constrains lower beam (3-3), constrains upper boom (3-4), cover board (3-5), square joint (3-6), upper free bearing (3-7).

Specific embodiment

To further appreciate that a kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain provided by the invention, The present invention is specifically addressed with specific embodiment with reference to the accompanying drawing.

Fig. 1 is a kind of artificial leg structural model based on the hip prosthesis parallel institution containing constrained branched chain that the present invention designs Figure, comprising: fixed platform (1), driving branch (2.1,2.2), constrained branched chain (3), end effector platform (4), transition mounting base (5), shank binary bar (6) and ankle prosthese (7).In the artificial leg mechanism, the end effector platform of hip prosthesis parallel institution , it can be achieved that the pure rotation of space two degrees of freedom, the kinetic characteristic under the coupling that two drive branch and a constrained branched chain Imitated human hip flexion and extension and interior abduction exercise.In addition, knee ankle-joint prosthetic device uses a shank binary Bar and ankle prosthese, and be connected in series with the end of hip prosthesis prosthetic device by revolute pair, one is formed containing multivariant Artificial leg mechanism.Parallel institution can greatly simplify the structural complexity of prosthetic device in the application of artificial leg mechanism, mention The bearing capacity of high its rigidity of structure and mechanism, the design cost etc. of reducing mechanism.

Fig. 2 is provided by the invention based on the hip prosthesis parallel institution structural model figure containing constrained branched chain, comprising: fixed platform (1), branch (2.1,2.2), constrained branched chain (3) and operational tip platform (4) are driven；The parallel institution is mainly by one containing constraint Branch and main body mechanism of the parallel institution as hip prosthesis mechanism for being able to achieve the rotation of space two degrees of freedom, and successively with single freedom Shank binary bar (6) and ankle prosthese (7) series connection of degree form an artificial leg；It is in parallel for the hip prosthesis containing constrained branched chain Ball-screw or linear motor can be used in mechanism, two driving prismatic pairs driven in branches, and imitation depends on thigh femur Flexible, movement offer kinetic energy of the hip prosthesis around hip joint of surface skeletal；The binary bar that constrained branched chain imitates thigh femur is special Property, it in the movement coupling process of two driving branches, realizes the space two degrees of freedom rotation of end effector platform (4), imitates The flexion and extension of human hip and interior abduction exercise.

Fig. 3 is the structural model explosive view of driving branch provided by the invention, comprising: undersetting (2-1), U-shaped seat (2- 2), the cylindrical drum (2-3) of translator, the piston rod (2-4) of translator, square joint (2-5), upper bracket (2-6).Undersetting (2- 1) fixed joint is connected by screw into fixed platform (1)；Undersetting (2-1) and U-shaped seat (2-2) form revolute pair, U-shaped seat (2- 2) revolute pair is formed with the cylindrical drum of translator (2-3), meanwhile, two revolute pair axis vertical take-offs are equivalent to a Hooke pair；Band The cylindrical drum (2-3) of motor and the piston rod (2-4) of translator form driving prismatic pair, and electric putter or ball-screw can be used, The skeleton muscle group for depending on thigh femoral surface is imitated, to drive hip joint to rotate；The piston rod (2-4) of translator connects with side Head (2-5) is connected through a screw thread to form fixed joint；Square joint (2-5) and upper bracket (2-6) form revolute pair, meanwhile, the rotation Secondary axis direction is parallel with the pivot center that the cylindrical drum (2-3) of translator is formed with U-shaped seat (2-2)；Upper bracket (2-6) and end End operating platform (4) is connected by screw into fixed joint；Thigh femoral surface is imitated into driving branch (2.1,2.2) in the design The biomechanics characteristic of skeleton muscle group realizes the power source of spatial rotational movement mainly as end effector platform.

Fig. 4 be constrained branched chain provided by the invention structural model explosive view, comprising: under compared with seat (3-1), U-shaped seat (3- 2) lower beam (3-3), is constrained, is constrained upper boom (3-4), cover board (3-5), square joint (3-6), upper free bearing (3-7).Lower free bearing (3-1) Revolute pair is formed with U-shaped seat (3-2), U-shaped seat (3-2) and constraint lower beam (3-3) form revolute pair, meanwhile, two turns auxiliary shafts Line is orthogonal to be equivalent to a Hooke pair；It constrains lower beam (3-3) and constraint upper boom (3-4) forms a revolute pair, revolute pair axis Along the direction of constrained branched chain, cover board (3-5) passes through constraint upper boom (3-4) and is connected by screw to constraint lower beam (3-3) in direction, Restriction upper boom (3-4) moving along constrained branched chain direction；Constraint upper boom (3-4) is connected through a screw thread with square joint (3-6) Form fixed joint；Square joint (3-6) and upper free bearing (3-7) form revolute pair, meanwhile, the revolute pair axis direction and U-shaped seat (3- 2) vertical with the pivot center that constraint lower beam (3-3) is formed；Upper free bearing (3-7) is connected by screw to end effector platform (4) At fixed joint；Constrained branched chain (3) are imitated to the binary bar characteristic of thigh femur in the design, and are only capable of closing at both ends rotating around hip Section is rotated with knee joint, and under the push-and-pull action for driving branch at two, realizes end effector platform in the two degrees of freedom in space Rotational motion, imitate hip joint flexion and extension and interior abduction exercise.

A kind of artificial leg based on the hip prosthesis parallel institution containing constrained branched chain of the present invention, using containing space The parallel institution of the pure rotation of two degrees of freedom can not only imitate the flexion and extension and interior outreach of human hip as hip prosthesis mechanism Equal multifreedom motions characteristic, the stiffness characteristics and mechanism that the introducing of constrained branched chain can also effectively improve artificial leg mechanism are held Loading capability, conducive to the design for simplifying subsequent control structure.