CN104127299A - Soft cable and pneumatic muscle combined drive robot for waist rehabilitation - Google Patents
Soft cable and pneumatic muscle combined drive robot for waist rehabilitation Download PDFInfo
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- CN104127299A CN104127299A CN201410356441.5A CN201410356441A CN104127299A CN 104127299 A CN104127299 A CN 104127299A CN 201410356441 A CN201410356441 A CN 201410356441A CN 104127299 A CN104127299 A CN 104127299A
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- waist
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- flexible cable
- pneumatic muscles
- drive mechanism
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Abstract
The invention discloses a soft cable and pneumatic muscle combined drive robot for waist rehabilitation. The robot comprises a cubic base, a soft cable drive part, a pneumatic muscle drive part, a rotating platform and a waist platform. The rotating platform is arranged in the middle of the bottom of the cubic base. The waist platform is arranged above the rotating platform according to the average height of adults. The waist platform is a U-shaped waist platform horizontally arranged. The U-shaped waist platform is connected with the pneumatic muscle drive part and the soft cable drive part. In the rehabilitation training process, the pneumatic muscle drive part (3) drives the waist to simulate rotation along the X axis and the Y axis. The soft cable drive part drives the waist to simulate the translation track of the human body pelvic bone along the X axis, the Y axis and the Z axis in the normal walking process. The rotating platform drives the waist to simulate rotation along the Z axis, and therefore six-freedom-of-motion rehabilitation training of the waist can be achieved. According to the robot for waist rehabilitation training, the training intensity and the amplitude size can be adjusted in regard to the different patient individuals, and the adaptation of the robot can be improved.
Description
Technical field
What the present invention relates to is a kind of medical rehabilitation exercising device, and specifically a kind of flexible cable pneumatic muscles with 6DOF is combined driving waist rehabilitation robot.
Technical background
The number of patients of the waist movement obstacle causing due to social senilization and other accidental cause is in rising trend, therefore to improving the waist rehabilitation level of training and efficiency, has had further requirement.Under existing technical conditions, generally by flexible cable, drive waist to rotate, but it is not clearly that flexible cable drives the effect of rotating, the angle that waist rotates in this process is very limited, be difficult to adapt to bending over and swinging compared with wide-angle, and rehabilitation training efficiency is lower, yet pneumatic muscles is but suitable for driving rotation in a big way.Therefore by flexible cable pneumatic muscles, combine and drive waist rehabilitation robot effectively to address the above problem, greatly improve level and the efficiency of waist rehabilitation training.Flexible cable pneumatic muscles is combined to drive and is referred to and adopt flexible cable and two kinds of type of drive of pneumatic muscles simultaneously, can good in conjunction with flexible cable compliance, difficult patient be damaged like this, pneumatic muscles is lightweight, starting force is large, have advantages of good compliance and safety, and can improve the waist rehabilitation level of training.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, propose a kind of flexible cable pneumatic muscles and combine driving waist rehabilitation robot, can realize to waist the comprehensive rehabilitation training of 6 freedoms of motion.3, one flexible cable driver parts 4 of a pneumatic muscles driver part and a rotation platform 2 in this robot, have been designed.In the process of rehabilitation training, pneumatic muscles driver part 3 drives waist simulation along the rotation of X-axis and Y-axis; Flexible cable driver part 4 drives waists to simulate in normal walking process human body basin bone along the translation track of X, Y and Z axis; Rotation platform 2 drives waist simulation along the rotation of Z axis, thereby realizes the rehabilitation training of waist 6 freedoms of motion.This waist rehabilitation image training robot can regulate training strength and amplitude size for the difference of individual patient, therefore improves the adaptability of this invention.
For realizing above-mentioned technical purpose, the present invention adopts following technical scheme:
A kind of flexible cable pneumatic muscles is combined driving waist rehabilitation device, comprise cube pedestal, flexible cable driver part, pneumatic muscles driver part, rotation platform and waist platform, it is characterized in that: in the middle of described cube base bottom, be provided with rotation platform, for human body, stand and drive waist to rotate, above described rotation platform, according to adult's average height, be provided with waist platform, for auxiliary human body, stand and drive waist movement, the U-shaped waist platform that described waist platform is horizontal positioned, described U-shaped waist platform dual-side connects respectively a set of pneumatic muscles driver part, two ends and U-shaped bottom portion connect respectively a flexible cable driver part, two described cover pneumatic muscles driver parts are installed on the crossbeam of described cube pedestal two sides, two described cover pneumatic muscles driver parts are installed on described cube pedestal by joint shaft, three described flexible cable driver parts provide to upper pulling force to U-shaped waist platform by three pulley modules that are installed in described cube pedestal top cross beam, are also provided with the human body handrail that is positioned at waist platform the place ahead in described cube pedestal.
Described pneumatic muscles driver part comprises the first parallelogram drive mechanism and the second parallelogram drive mechanism, the first described parallelogram drive mechanism is by connecting rod a1, b1, c1, d1 is connected in sequence, the second parallelogram drive mechanism is by connecting rod a2, b2, c2, d2 is connected in sequence, between described connecting rod c1 and d1 junction point place and a2 and b2 junction point place, be provided with connecting axle, the first described parallelogram drive mechanism and the second parallelogram drive mechanism differ 90 ° of angles by this connecting axle with plane and couple together and form total drive mechanism, described total drive mechanism one end is connected waist platform by being connected to c2 with the connecting axle at d2 junction point place, the other end is arranged on the crossbeam of described cube pedestal side by the joint shaft being connected on a1 and b1 connecting axle, also comprise and the vertically arranged crossbeam of joint shaft, described crossbeam can rotate and drive total drive mechanism motion around joint shaft, described crossbeam two ends are separately installed with the pneumatic muscles power unit that vertical crossbeam vertically arranges.
Described flexible cable driver part comprises the flexible cable being connected on U-shaped waist platform, and described flexible cable is through being arranged on the pulley module on cube pedestal top crossbeam, and the other end is wrapped on spool.
Described rotation platform is by large V belt wheel support and control, described large V belt wheel is arranged on a cube base bottom center by bearing, by connecting the V band of motor, drive, described motor is arranged on cube pedestal one side, between its main shaft and large V belt wheel, by V, be with connection, described V is with a side to be provided with V belt wheel tensioning module.
Described V belt wheel tensioning module is arranged on a cube base bottom by tensioning bearing, described tensioning bearing is provided with can adjust by adjusting screw the regulating wheel guide rail of position, in described regulating wheel guide rail, by rotating shaft, be fixed with regulating wheel, described V band can slide in regulating wheel.
Described spool all has corresponding step motor control.
Described pneumatic muscles drives platform to select the Mckibben type pneumatic muscles of Festo company, by pneumatic muscles inflation, venting being realized to contraction and the elongation of muscle, thereby drive the parallelogram drive mechanism of two series connection, and then drive waist bend over, swing back and swing certain angle by waist platform.
Flexible cable driver part drives flexible cable to rotate the effect that reaches length variations by motor, flexible cable hangs by being arranged on the pulley module of cube pedestal top cross beam and realizes commutation, can simulate the walk translation track of basin bone in process of normal person when three flexible cable comprehensive functions.
By stepping motor main shaft, by V, be with transmission, and then drive large V belt wheel 13 to rotate to realize the accurate rotational angle of rotation platform, thereby make waist reach the effect of twisting, and angle can regulate, adapt to individual variation.
Compared with prior art the present invention has the following advantages: in the present invention, robot architecture has 6 freedoms of motion, assisting patients waist complete bend over, layback, left swing, right pendulum, sway one's hips, the rehabilitation training of basin bone, upper and lower translation, left and right and 6 freedoms of motion of front and back translation.In driving process, pneumatic muscles and flexible cable combine, and drive rotation pneumatic muscles, can realize accurate angle and control; Drive translation to adopt flexible cable, can accurately realize distance and control, brought into play to greatest extent the advantage of two kinds of type of drive.Qie Gai robot can do the adjustment of corresponding exercise intensity and amplitude according to the difference of individual patients, reach good rehabilitation training effect.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of healing robot;
Fig. 2 is pneumatic muscles driver part structure partial schematic diagram;
Fig. 3 is rotating platform mechanism partial schematic diagram;
Fig. 4 is flexible cable driver part structure partial schematic diagram;
Fig. 5 is V belt wheel tensioning module diagram;
Fig. 6 is pulley modular structure partial schematic diagram;
Fig. 7 is step motor drive V pulley structure partial schematic diagram;
In figure: 1-pedestal, 2-rotation platform, 3-pneumatic muscles driver part, 4-flexible cable driver part, 5-connecting axle, 6-connects pin, 7-pneumatic muscles, 8-joint shaft, 9-crossbeam, 10-connecting rod, 11-step motor drive unit, 12-V band, the large V belt wheel of 13-, 14-tensioner, 15-waist platform, 16-pulley module, 17-flexible cable, 18-tensioning bearing, 19-regulating wheel, 20-regulating wheel guide rail, 21-adjustment screw, 22-pulley pedestal, 23-pulley, 24-split pin, 25-motor cabinet, 26-motor, the little V belt wheel of 27-.
The specific embodiment
Below in conjunction with the embodiment in accompanying drawing, the invention will be further described:
As shown in Figure 1, a kind of flexible cable pneumatic muscles is combined driving waist rehabilitation device, comprise cube pedestal 1, flexible cable driver part 4, pneumatic muscles driver part 3, rotation platform 2 and waist platform 15, described cube pedestal is provided with rotation platform 2 in the middle of 1 bottom, for human body, stand and drive waist to rotate, above described rotation platform 2, according to adult's average height, be provided with waist platform 15, for auxiliary human body, stand and drive waist movement, the U-shaped waist platform that described waist platform 15 is horizontal positioned, described U-shaped waist platform dual-side connects respectively a set of pneumatic muscles driver part 3, two ends and U-shaped bottom portion connect respectively a flexible cable driver part 4, two described cover pneumatic muscles driver parts 3 are installed on the crossbeam of described cube pedestal two sides, two described cover pneumatic muscles driver parts are installed on described cube pedestal by joint shaft, three described flexible cable driver parts provide to upper pulling force to U-shaped waist platform by three pulley modules that are installed in described cube pedestal top cross beam, are also provided with the human body handrail that is positioned at waist platform the place ahead in described cube pedestal.
As shown in Figure 2, described pneumatic muscles driver part 3 comprises the first parallelogram drive mechanism and the second parallelogram drive mechanism, the first described parallelogram drive mechanism is by connecting rod a1, b1, c1, d1 is connected in sequence, the second parallelogram drive mechanism is by connecting rod a2, b2, c2, d2 is connected in sequence, between described connecting rod c1 and d1 junction point place and a2 and b2 junction point place, be provided with connecting axle, the first described parallelogram drive mechanism and the second parallelogram drive mechanism differ 90 ° of angles by this connecting axle with plane and couple together and form total drive mechanism, described total drive mechanism one end is connected waist platform by being connected to c2 with the connecting axle 5 at d2 junction point place, the other end is arranged on the crossbeam of described cube pedestal side by the joint shaft 8 being connected on a1 and b1 connecting axle, also comprise and the vertically arranged crossbeam 9 of joint shaft, described crossbeam 9 can rotate and drive total drive mechanism motion around joint shaft, described crossbeam two ends are separately installed with the pneumatic muscles power unit 7 that vertical crossbeam vertically arranges.
As shown in Figure 4, described flexible cable driver part 4 comprises the flexible cable 17 being connected on U-shaped waist platform 15, and described flexible cable 17 is through being arranged on the pulley module 16 on cube pedestal top crossbeam, and the other end is wrapped on spool.Flexible cable 17 is walked around pulley module 16 and is commutated.Described spool is by Electric Machine Control, and when thereby the length of three flexible cables 17 of described driven by motor changes, drive waist platform 15 is simulated human motion, the track of basin bone, realizes rehabilitation training.
As shown in Figure 3, described rotation platform 2 is by large V belt wheel 13 support and control, described large V belt wheel 13 is arranged on cube pedestal 1 bottom centre by bearing, by connecting the V of step motor drive unit 11, be with 12 drivings, described motor 26 is arranged on cube pedestal 1 one sides, between its main shaft and large V belt wheel 13, by V, be with 12 connections, described V is with 12 1 sides to be provided with V belt wheel tensioning module 14.Stepping electricity 26 is with 12 transmissions to drive large V belt wheel 13 to rotate by V, wherein by tensioner 14, regulates V with 12 tensioning degree.Large V belt wheel 13 is assembled together by thrust bearing and pedestal 1.
As shown in Figure 5, described V belt wheel tensioning module 14 is arranged on cube pedestal 1 bottom by tensioning bearing 18, described tensioning bearing 18 is provided with can adjust by adjusting screw 21 the regulating wheel guide rail 20 of position, in described regulating wheel guide rail 20, by rotating shaft, is fixed with regulating wheel 19, described V is with 12 can be in the interior slip of regulating wheel 19.Wherein tensioning bearing 18 is fixed on pedestal 1 by four screws, and regulating wheel guide rail 20 is connected with tensioning bearing 18 by dovetail groove, can drive regulating wheel guide rail 20 and regulating wheel 19 to move and realize the function that regulates Zhang Jinli while rotating adjustment screw 21.
As shown in Figure 6, the described cube pulley module for pedestal top crossbeam that is arranged on comprises the top sheave pedestal 22 that is welded on crossbeam, and described pulley 23 is arranged in pulley pedestal 22 by split pin 24.
Described step motor drive unit 11 structures, as shown in Figure 7, comprise motor cabinet 25, motor 26 and little V belt wheel 27.Between support 25 wherein and pedestal 1, be threaded connection, between motor 26 and motor cabinet 25, be connected by screw, between little V belt wheel 27 and motor 26, by key, be connected.Motor 26 drives little V belt wheel 27 to rotate while rotating, and then is with 12 to be transferred to large V belt wheel 13 by V, thereby realizes the rehabilitation training that sways one's hips.
After pressing pneumatic muscles driver part 3 start buttons, control pneumatic circuit and pneumatic muscles 7 is inflated to contraction and the elongation that realizes muscle with venting, thereby drive crossbeam 9 to rotate, and then by the parallelogram drive mechanism of two series connection of joint shaft 8 drivings, by waist platform 15, drive waist to bend over, swing back and certain angle that swings, before pressing stop button, carry out above-mentioned circulation always.Press after the start button of flexible cable driver part 4, thereby the track of motor drives three flexible cables 17 walking around pulley module 16 that its length is changed while driving the 15 simulation human motion of waist platform basin bone, realize rehabilitation training, before pressing stop button, carry out above-mentioned circulation always.Press after rotation platform 2 start buttons, motor 26 is with 12 to carry out transmission by V, drive large V belt wheel 13 to rotate, when motor 26 turns over after certain angle, after deceleration transmission, large V belt wheel 13 turns over angle corresponding thereto, wherein by tensioner 14, regulates V with 12 tensioning degree.Large V belt wheel 13 is assembled together by thrust bearing and pedestal, presses stop button and carries out this circulation before always.Three motion platforms can be worked simultaneously and also can have been worked independently patient's waist rehabilitation training, whether the operation that can control each platform by startup and the stop button of each platform, patient can select to be applicable to the optimum training of oneself voluntarily, thereby reaches good rehabilitation training effect.
Claims (5)
1. a flexible cable pneumatic muscles is combined driving waist rehabilitation device, comprise cube pedestal, flexible cable driver part, pneumatic muscles driver part, rotation platform and waist platform, it is characterized in that: in the middle of described cube base bottom, be provided with rotation platform, for human body, stand and drive waist to rotate, above described rotation platform, according to adult's average height, be provided with waist platform, for auxiliary human body, stand and drive waist movement, the U-shaped waist platform that described waist platform is horizontal positioned, described U-shaped waist platform dual-side connects respectively a set of pneumatic muscles driver part, two ends and U-shaped bottom portion connect respectively a flexible cable driver part, two described cover pneumatic muscles driver parts are installed on described cube pedestal by joint shaft, three described flexible cable driver parts provide to upper pulling force to U-shaped waist platform by three pulley modules that are installed in described cube pedestal top cross beam, are also provided with the human body handrail that is positioned at waist platform the place ahead in described cube pedestal.
2. a kind of flexible cable pneumatic muscles according to claim 1 is combined driving waist rehabilitation device, it is characterized in that: described pneumatic muscles driver part comprises the first parallelogram drive mechanism and the second parallelogram drive mechanism, the first described parallelogram drive mechanism is by connecting rod a1, b1, c1, d1 is connected in sequence, the second parallelogram drive mechanism is by connecting rod a2, b2, c2, d2 is connected in sequence, between described connecting rod c1 and d1 junction point place and a2 and b2 junction point place, be provided with connecting axle, the first described parallelogram drive mechanism and the second parallelogram drive mechanism differ 90 ° of angles by this connecting axle with plane and couple together and form total drive mechanism, described total drive mechanism one end is connected waist platform by being connected to c2 with the connecting axle at d2 junction point place, the other end is arranged on the crossbeam of described cube pedestal side by the joint shaft being connected on a1 and b1 connecting axle, also comprise and the vertically arranged crossbeam of joint shaft, described crossbeam two ends are separately installed with the pneumatic muscles power unit that vertical crossbeam vertically arranges, described crossbeam can rotate and drive total drive mechanism motion around joint shaft.
3. a kind of flexible cable pneumatic muscles according to claim 1 is combined driving waist rehabilitation device, it is characterized in that: described flexible cable driver part comprises the flexible cable being connected on U-shaped waist platform, described flexible cable is through being arranged on the pulley module on cube pedestal top crossbeam, the other end is wrapped on spool, and described pulley module is uniformly distributed on cube pedestal top crossbeam.
4. a kind of flexible cable pneumatic muscles according to claim 1 is combined driving waist rehabilitation device, it is characterized in that: described rotation platform is by large V belt wheel support and control, described large V belt wheel is arranged on a cube base bottom center by bearing, by connecting the V band of motor, drive, described motor is arranged on cube pedestal one side, between its main shaft and large V belt wheel, by V, be with connection, described V is with a side to be provided with V belt wheel tensioning module.
5. a kind of flexible cable pneumatic muscles according to claim 4 is combined driving waist rehabilitation device, it is characterized in that: described V belt wheel tensioning module is arranged on a cube base bottom by tensioning bearing, described tensioning bearing is provided with can adjust by adjusting screw the regulating wheel guide rail of position, in described regulating wheel guide rail, by rotating shaft, be fixed with regulating wheel, described V band can slide in regulating wheel.
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| CN201410356441.5A CN104127299B (en) | 2014-07-24 | 2014-07-24 | Flexible cable pneumatic muscles combines driving waist rehabilitation robot |
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| CN201410356441.5A CN104127299B (en) | 2014-07-24 | 2014-07-24 | Flexible cable pneumatic muscles combines driving waist rehabilitation robot |
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| CN104127299A true CN104127299A (en) | 2014-11-05 |
| CN104127299B CN104127299B (en) | 2016-03-02 |
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| CN107928988A (en) * | 2017-12-18 | 2018-04-20 | 合肥工业大学 | Suitable for the transmission mechanism and control method of waist rehabilitation robot |
| CN112999585A (en) * | 2021-03-30 | 2021-06-22 | 郑州铁路职业技术学院 | Auxiliary device for human lumbar vertebra recovery |
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