CN104666054B - All-around mobile suspension recovering aid robot with force feedback - Google Patents
All-around mobile suspension recovering aid robot with force feedback Download PDFInfo
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- CN104666054B CN104666054B CN201410623457.8A CN201410623457A CN104666054B CN 104666054 B CN104666054 B CN 104666054B CN 201410623457 A CN201410623457 A CN 201410623457A CN 104666054 B CN104666054 B CN 104666054B
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Abstract
The present invention provides the all-around mobile suspension recovering aid robot of a kind of band force feedback, this robot is constituted by assisting trunk motion, lifting regulating mechanism and Omni-mobile chassis, the all-around mobile suspension lower limbs rehabilitation training robot that the present invention proposes carries out while rehabilitation training provides a kind of safe and reliable, the intelligent and equipment of hommization, also delaying walking ability decline to provide exercise platform for weak old people patient.
Description
Technical field
The invention belongs to rehabilitation medical instrument field, disclose the all-around mobile suspension recovering aid robot of a kind of all-around mobile suspension lower limbs rehabilitation training robot, specially band force feedback.
Background technology
Along with whole world Aging Problem is increasingly serious, lower extremity motor function sexual disorders and damage trainee that the factor such as disease of brain, athletic injury and vehicle accident is caused dramatically increase.This kind of patient is in addition to operative treatment is with necessary Drug therapy timely, and patient moving functional restoration is played an important role by correct, the rehabilitation training of science.For patient with severe symptoms and the weight-loss type rehabilitation training of weak old man, it can be assisted to carry out ambulation training, and have certain rehabilitation efficacy, but can only be trained on a treadmill at present, the domain of walk, walking manner has certain limitation.At present, the most relevant research and document have: the robot Kine assist that Chicago,U.S the Institute for Rehabilitation and Research is developed, it is possible to complete gait and the balance training of trainee, can bear certain body weight simultaneously and provide the moment of torsion of trunk attitude.The trailing wheel of this type of robot is as driving control wheel, and front-wheel is deflecting roller, and upper body is fixed in robot by safety equipment by patient when accepting mobile training, prevents from falling down and causes secondary damage.According to exercise treatment regimen, presetting the walking path of robot, trainee follows robot under the guidance of doctor and completes corresponding action.Play the purpose of athletic rehabilitation.But this healing robot is non-omni-directional mobile robots, patient can only move at fixed-direction.Shanghai Communications University Fang Dingguo etc. are disclosed, the patent name of Patent No. 201310370758 is the patent of invention of " lower limbs rehabilitation training robot ", its mechanical framework of the lower limb rehabilitation robot illustrated is fixed with ground, can only be fixed on a position when patient carries out rehabilitation training.The patent of invention that patent name is " gait rehabilitation robot for using rope to pull lower limbs " of Patent No. 201010203502.6 and the patent name of Patent No. 201110027352.2 are that the patent of invention of " a kind of lower limbs rehabilitation training robot " all uses wire saws system.The patent name of Patent No. 201410154885.0 is that the patent of invention of " lower limbs rehabilitation training robot and training method thereof " discloses, the healing robot of a kind of moving trolley structure with waist fixing device.This kind of healing robot cannot realize Omni-mobile.Analyze above healing robot, find existing patent or there is the problem of the protection that patient is not prevented secondary damage, or it is dumb to there is machinery itself, it is impossible to carrying out the supplemental training problem of Omni-mobile formula.
Summary of the invention
Goal of the invention: the present invention provides the all-around mobile suspension recovering aid robot of a kind of band force feedback, solving the conventional poor stability existing for device, poor reliability, not intelligence and the problem of hommization not, carrying out rehabilitation training for patient provides a kind of safe and reliable, the intelligent and equipment of hommization.
Technical scheme: the present invention is achieved by the following technical solutions:
A kind of all-around mobile suspension recovering aid robot of band force feedback, it is characterized in that: this robot is constituted by assisting trunk motion, lifting regulating mechanism and Omni-mobile chassis, Omni-mobile chassis is arranged on the bottom of whole robot, lifting regulating mechanism is fixed on Omni-mobile chassis, auxiliary trunk motion is fixed on lifting regulating mechanism, fixing and patient bindiny mechanism below auxiliary trunk motion.
Described Omni-mobile chassis body is mechanical framework body, in mechanical framework body lower end, four servomotors are installed, the output shaft of servomotor connects deceleration device, and deceleration device is connected with Omni-mobile wheel, and 4 Omni-mobile wheels are arranged on mechanical framework body bottom portion.
Described lifting regulating mechanism includes that 4 support bars, 4 support bars are arranged on Omni-mobile chassis, and auxiliary trunk motion is installed in the upper end between 4 support bars.
Described auxiliary trunk motion includes X, Y, the horizontal performance element of Z-direction, rotates performance element and be positioned at the elastic actuator below horizontal performance element, X, Y, the lower end of horizontal performance element of Z-direction connect and rotate performance element, rotate performance element and connect elastic actuator by axial rotary performance element；X axis performance element is arranged on the front beam of auxiliary trunk motion upper end, Y-axis performance element is perpendicular to X-axis and is arranged on auxiliary trunk motion top, Z-axis direction performance element is perpendicular to Y-axis performance element and X axis performance element is installed, and forms three dimensional structure；Rotate performance element to be arranged under Y-axis performance element, its lower end is connected with elastic actuator by axial rotary performance element, elastic actuator is made up of spring mechanism, Delta parallel mechanism and testing agency, spring mechanism includes that measuring the linear springs of X, Y, Z axis direction force, Delta parallel mechanism lower end and hole post is constituted, Kong Zhu is arranged on the outside of Delta parallel mechanism lower end, and 8 linear springs connect Delta parallel mechanism lower end and apertura lateralis post；Delta parallel mechanism lower end connects Delta parallel mechanism upper end by connecting rod, and testing agency is arranged in connecting rod, and rotary encoder and rotating spring are positioned on Delta parallel mechanism lower end；The lower end of axial rotary performance element connects Delta parallel mechanism upper end.
Auxiliary trunk motion is connected with patient bindiny mechanism, is provided with the device of immobilized patients trunk of braces in patient bindiny mechanism.
The Delta parallel mechanism lower end of auxiliary trunk motion connects and patient bindiny mechanism by measuring the spring of rotation torque.
Arranging 5 magnetic coder compositions in Delta parallel mechanism, wherein 4 straight line magnetic coders are arranged at the telescopic straight-line motion mechanism of parallel institution lower end.A rotary magnetic encoder is also had to be arranged in the rotary shaft of center.
Advantage and effect: the present invention provides the all-around mobile suspension recovering aid robot of a kind of band force feedback, in order to reach described requirement, the present invention is according to the Omni-mobile chassis of the human body movement data Design assistant human motion analyzed, auxiliary trunk motion and auxiliary force flexibility decoupling mechanism.According to the human motion range parameter analyzed, carry out human engineering research, optimize mobile chassis and the mechanical parameter of bindiny mechanism's model.On the basis of setting up Simulation Platform of Virtual Prototype, by human motion speed parameter, trunk position and the speed parameter analyzed, carry out virtual prototype simulation test, Optimized model mechanical parameter.According to the weight data consulted, virtual prototype platform carries out to contact force decoupling device power test, optimize elasticity and the mechanical parameter of auxiliary force decoupling mechanism.Finally determine each several part mechanism parameter.The all-around mobile suspension lower limbs rehabilitation training robot that the present invention provides; use unique suspension system; not only can assisted movement; can guarantee that again the safety of patient; for preventing patient's secondary damage from providing protection; use Omni-mobile chassis, make lower limbs rehabilitation training robot disclosed by the invention can meet the requirement of any Walking path setting.
The all-around mobile suspension lower limbs rehabilitation training robot that the present invention proposes carries out while rehabilitation training provides a kind of safe and reliable, the intelligent and equipment of hommization, also delaying walking ability decline to provide exercise platform for weak old people patient.
In sum, due to the fact that biological parameters such as considering the height of target group, body weight, limb activity scope, by design such as the reasonably optimizing of robot degree of freedom, structure, mechanical parameter etc. being improved the comfortableness of different users, use unique suspension type system can not only assisted movement, also ensuring that the safety during training, using Omni-mobile chassis can be the rehabilitation research platform that infirmed persons provides that training track multiplicity is high.Meanwhile, also walking ability decline is delayed to provide exercise platform for old people.
Accompanying drawing illustrates:
Fig. 1 is all-around mobile suspension recovering aid robot overall structure figure；
Fig. 2 is auxiliary trunk motion schematic diagram；
Fig. 3 is all-around mobile chassis structure schematic diagram；
Fig. 4 is auxiliary trunk motion horizontal performance element schematic diagram.
Detailed description of the invention:The present invention is described further below in conjunction with the accompanying drawings:
As shown in Figure 1, the present invention relates to the all-around mobile suspension recovering aid robot of a kind of band force feedback, this robot is constituted by assisting trunk motion 1, lifting regulating mechanism 2 and Omni-mobile chassis 3, Omni-mobile chassis 3 is arranged on the bottom of whole robot, lifting regulating mechanism 2 is fixed on Omni-mobile chassis 3, auxiliary trunk motion 1 is fixed on lifting regulating mechanism 2, fixing and patient bindiny mechanism 10 below auxiliary trunk motion 1.
Described Omni-mobile chassis 3 main body is mechanical framework body 11, in mechanical framework body lower end, four servomotors 41 are installed, the output shaft of servomotor 41 connects deceleration device 13, and deceleration device is connected with Omni-mobile wheel 12, and 4 Omni-mobile wheels 12 are arranged on bottom mechanical framework body 11.
Described lifting regulating mechanism 2 includes that 4 support bars, 4 support bars are arranged on Omni-mobile chassis 3, plays fixing support and the effect of regulation height, and auxiliary trunk motion 1 is installed in the upper end between 4 support bars.
Described auxiliary trunk motion 1 includes X, Y, the horizontal performance element 90 of Z-direction, rotates performance element 40 and be positioned at the elastic actuator 60 below horizontal performance element, X, Y, the lower end of horizontal performance element 90 of Z-direction connect and rotate performance element 40, rotate performance element 40 and connect elastic actuator 60 by axial rotary performance element 4；X axis performance element 16 is arranged on the front beam of auxiliary trunk motion upper end, Y-axis performance element 15 is perpendicular to X-axis and is arranged on auxiliary trunk motion top, Z-axis direction performance element 14 is perpendicular to Y-axis performance element and X axis performance element is installed, and forms three dimensional structure；Rotate performance element to be arranged under Y-axis performance element, its lower end is connected with elastic actuator by axial rotary performance element 4, elastic actuator is made up of spring mechanism, Delta parallel mechanism and testing agency, for detecting patient at X, Y, the Z-direction active force to robot.Spring mechanism includes that measuring the linear springs 8 of X, Y, Z axis direction force, Delta parallel mechanism lower end 62 and hole post 7 is constituted, hole post 7 is arranged on the outside of Delta parallel mechanism lower end 62,8 linear springs 8 connect Delta parallel mechanism lower end 62 and every 2 one group of 7,8 linear springs of apertura lateralis post；Delta parallel mechanism is used for eliminating space extra dof, and space motion is constrained to X, Y, Z-direction motion.Delta parallel mechanism lower end 62 connects Delta parallel mechanism upper end 61 by connecting rod 63, and testing agency is arranged in connecting rod 63, is used for detecting the connecting rod displacement of Delta parallel mechanism lower end.Rotary encoder 51 and rotating spring are positioned on Delta parallel mechanism lower end 62, for detection level moment of torsion；The lower end of axial rotary performance element 4 connects Delta parallel mechanism upper end 61.Arranging 5 magnetic coders in Delta parallel mechanism, wherein 4 straight line magnetic coders 5 are arranged at the telescopic straight-line motion mechanism of parallel institution lower end.A rotary magnetic encoder 51 is also had to be arranged in the rotary shaft of center, by Delta parallel mechanism to rotational restraint (the most remaining X, Y, Z-direction Three Degree Of Freedom), by the resilient suspension system built, parallel institution and testing agency, it is achieved the active force of patient is decoupled.
Auxiliary trunk motion is connected with patient bindiny mechanism 10, is provided with the device of immobilized patients trunk of braces in patient bindiny mechanism 10.
The Delta parallel mechanism lower end 62 of auxiliary trunk motion connects and patient bindiny mechanism 10 by measuring the spring 9 of rotation torque.
As in figure 2 it is shown, by Delta parallel mechanism to rotational restraint (the most remaining X, Y, Z-direction Three Degree Of Freedom), by the resilient suspension system built and parallel institution, it is achieved the auxiliary force of patient is decoupled.Patient's active force to robot, by flexible biological power decoupling device, decoupling X, Y, Z axis direction force and rotation torque, and acts on four-degree-of-freedom robot performance element.Spring tension is the product of coefficient of elasticity and deformation length, detects spring displacement by magnetic coder thus obtains spring tension.Five contactless angle magnetic coders are positioned at joint and the center of parallel institution.Further optimize design for the present invention and establish technical foundation.
Described all-around mobile chassis structure, as it is shown on figure 3, include mechanical framework body 11, Omni-mobile wheel 12, servomotor 13, can be that infirmed persons provides the rehabilitation research platform training track multiplicity high.
When carrying out rehabilitation training, patient stands in all-around mobile chassis 3, the adjustable height of regulation lifting regulating mechanism 2, makes recovery exercising robot adapt to different crowd, to ensure the comfort level of patient.Meanwhile, patient's shoulder is fixed with auxiliary trunk motion 1 lower end wearing bindiny mechanism, it is ensured that safety when patient is trained.
Concrete training step is as follows:
Consider the biological parameters such as the height of patient, body weight, limb activity scope, patient moving speed, trunk position, formulate corresponding rehabilitation strategies for patient, i.e. all-around mobile chassis is carried out the setting of track and movement velocity.
When patient trains, stand in the middle of healing robot, regulate lifting regulating mechanism 2, to adapt to Patient height, patient's shoulder is dressed bindiny mechanism with auxiliary trunk motion lower end and fixes.
nullStart power supply，Healing robot starts to help patient to carry out rehabilitation training，During training, people and robotic contact produce time-varying、Interference is there is in uncertain power to TRAJECTORY CONTROL，Now，Auxiliary force flexibility is decoupled by auxiliary trunk motion，Artificial indefinite interference is become known、Measurable interference processes，Send into compensation device，Carry out artificial disturbance suppressing control，Process is: when patient does rehabilitation training with healing robot，Auxiliary trunk motion can be affected by the power of patient body，Show themselves in that when patient moves，X on performance element、Y、Z-direction can produce displacement，Rotary shaft can produce moment of torsion because producing the anglec of rotation，Now，Measurement spring in Delta parallel mechanism produces deformation，Spring tension is the product of coefficient of elasticity and deformation length，It is positioned at the contactless angle magnetic coder detection spring deformation at parallel institution joint and center by decoupling thus obtains X、Y、Z-direction spring tension，And then obtain Human-to-Machine people X、Y、Z-direction active force.
After obtaining the force feedback information of people, force compensating can be oriented by regulation auxiliary trunk motion, and patient's degree of dependence to robot can be obtained.When auxiliary force tapers into, illustrating that patient, in gradually rehabilitation, adjusts rehabilitation strategies with this, movement locus and speed to all-around mobile chassis reset, and meet patient in different rehabilitation period, the degree of dependence to healing robot.Reach to make the purpose of patient's progressively rehabilitation.
Meanwhile, rehabilitation is well protected, to prevent patient's secondary injury in the training process by auxiliary trunk motion.
Patient's active force to robot, by elastic actuator system, decoupling X, Y, Z axis direction force and rotation torque.Spring tension is the product of coefficient of elasticity and deformation length, detects spring displacement by magnetic coder thus obtains spring tension.Five contactless angle magnetic coders are positioned at joint and the center of parallel institution.
Patient is connected with the wearing mechanism of auxiliary trunk motion lower end, while ensureing rehabilitation training effect by suspension system, also provides safeguard for the safety of patient during training.
Claims (7)
1. the all-around mobile suspension recovering aid robot of a band force feedback, including Omni-mobile chassis (3), Omni-mobile chassis (3) is arranged on the bottom of whole robot, it is characterized in that: this robot also includes assisting trunk motion (1) and lifting regulating mechanism (2), lifting regulating mechanism (2) is fixed on Omni-mobile chassis (3), auxiliary trunk motion (1) is fixed on lifting regulating mechanism (2), and auxiliary trunk motion (1) lower section is fixed and patient bindiny mechanism (10).
The all-around mobile suspension recovering aid robot of band force feedback the most according to claim 1, it is characterized in that: described Omni-mobile chassis (3) main body is mechanical framework body (11), four servomotors (41) are installed in mechanical framework body lower end, the output shaft of servomotor (41) connects deceleration device (13), deceleration device is connected with Omni-mobile wheel (12), and 4 Omni-mobiles wheel (12) are arranged on mechanical framework body (11) bottom.
The all-around mobile suspension recovering aid robot of band force feedback the most according to claim 1, it is characterized in that: described lifting regulating mechanism (2) includes 4 support bars, 4 support bars are arranged on Omni-mobile chassis (3), and auxiliary trunk motion (1) is installed in the upper end between 4 support bars.
The all-around mobile suspension recovering aid robot of band force feedback the most according to claim 1, it is characterized in that: described auxiliary trunk motion (1) includes X, Y, the horizontal performance element (90) of Z-direction, rotates performance element (40) and be positioned at the elastic actuator (60) below horizontal performance element, X, Y, the lower end of horizontal performance element (90) of Z-direction connect and rotate performance element (40), rotate performance element (40) and connect elastic actuator (60) by axial rotary performance element (4)；X axis performance element (16) is arranged on the front beam of auxiliary trunk motion upper end, Y-axis performance element (15) is perpendicular to X-axis and is arranged on auxiliary trunk motion top, Z-axis direction performance element (14) is perpendicular to Y-axis performance element and X axis performance element is installed, and forms three dimensional structure；Rotate performance element to be arranged under Y-axis performance element, its lower end is connected with elastic actuator by axial rotary performance element (4), elastic actuator is made up of spring mechanism, Delta parallel mechanism and testing agency, spring mechanism includes that measuring the linear springs (8) of X, Y, Z axis direction force, Delta parallel mechanism lower end (62) and Kong Zhu (7) is constituted, Kong Zhu (7) is arranged on the outside of Delta parallel mechanism lower end (62), and 8 linear springs (8) connect Delta parallel mechanism lower end (62) and apertura lateralis post (7)；Delta parallel mechanism lower end (62) connects Delta parallel mechanism upper end (61) by connecting rod (63), and testing agency is arranged in connecting rod (63), and rotary encoder (51) and rotating spring are positioned on Delta parallel mechanism lower end (62)；The lower end of axial rotary performance element (4) connects Delta parallel mechanism upper end (61).
The all-around mobile suspension recovering aid robot of band force feedback the most according to claim 4, it is characterized in that: auxiliary trunk motion is connected with patient bindiny mechanism (10), in patient bindiny mechanism (10), the device of immobilized patients trunk of braces is installed.
The all-around mobile suspension recovering aid robot of band force feedback the most according to claim 5, it is characterised in that: the Delta parallel mechanism lower end (62) of auxiliary trunk motion connects and patient bindiny mechanism (10) by measuring the spring (9) of rotation torque.
The all-around mobile suspension recovering aid robot of band force feedback the most according to claim 4, it is characterized in that: 5 magnetic coders are set in Delta parallel mechanism, wherein 4 straight line magnetic coders (5) are arranged at the telescopic straight-line motion mechanism of parallel institution lower end, and also a rotary magnetic encoder (51) is arranged in the rotary shaft of center.
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| CN106166103A (en) * | 2016-07-05 | 2016-11-30 | 沈阳化工大学 | A kind of lower limbs rehabilitation training robot system |
| CN107538521A (en) * | 2017-09-20 | 2018-01-05 | 深圳市行者机器人技术有限公司 | A kind of robot debugging training omnidirectional platform |
| CN107617190B (en) * | 2017-10-31 | 2022-11-15 | 清华大学 | Weight-losing training rehabilitation platform |
| CN108186289A (en) * | 2018-02-08 | 2018-06-22 | 东北大学 | A kind of variable freedom upper-limb recovery training device |
| CN108926459B (en) * | 2018-05-31 | 2021-12-10 | 广东智爱机器人科技有限公司 | Method for controlling omnidirectional walking training device |
| CN109044741A (en) * | 2018-07-16 | 2018-12-21 | 郑喜勋 | Tumble-preventing device |
| CN109773792B (en) * | 2019-02-14 | 2021-07-06 | 中科新松有限公司 | Position control device and method for series elastic driver, storage medium and equipment |
| CN110403802A (en) * | 2019-07-16 | 2019-11-05 | 广东智爱机器人科技有限公司 | Electronic correcting posture body weight support treadmill training device |
| CN112506054B (en) * | 2020-11-27 | 2022-06-03 | 沈阳工业大学 | Rehabilitation robot random finite time stable control based on SCN observation active thrust |
| CN113143695B (en) * | 2021-04-15 | 2022-11-01 | 北航歌尔(潍坊)智能机器人有限公司 | Weight reduction device for rehabilitation training and limb rehabilitation system |
| CN114162358B (en) * | 2022-02-11 | 2022-05-17 | 清华大学 | Somatosensory micro-low gravity simulation device |
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| JP2004329278A (en) * | 2003-04-30 | 2004-11-25 | Kochi Univ Of Technology | Body lifting implement and walking training machine provided with the same |
| CN101589984B (en) * | 2009-07-03 | 2011-05-11 | 北京理工大学 | Rehabilitation robot |
| CN101810533B (en) * | 2010-03-08 | 2011-06-29 | 上海交通大学 | Walking aid exoskeleton rehabilitation robot |
| CN101862255B (en) * | 2010-06-21 | 2011-09-14 | 哈尔滨工程大学 | Gait rehabilitation robot for using rope to pull lower limbs |
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| CN102068363B (en) * | 2011-01-25 | 2013-10-30 | 南京航空航天大学 | Rope-driven waist rehabilitation robot |
| JP5127003B2 (en) * | 2011-04-26 | 2013-01-23 | 公立大学法人高知工科大学 | Walking training machine with omnidirectional movement function |
| CN203154230U (en) * | 2013-01-31 | 2013-08-28 | 昆山市工业技术研究院有限责任公司 | Electric weight-reduction training frame |
| CN103462781B (en) * | 2013-08-22 | 2015-07-08 | 上海交通大学 | Lower limb rehabilitation training robot |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
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Effective date of registration: 20230814 Address after: 2nd Floor, Building B, No. 15 Xinggang South Road, Gangkou Town, Zhongshan City, Guangdong Province, 528447 Patentee after: ZHONGSHAN ZHINIU ELECTRONIC CO.,LTD. Address before: 110870 No. 111 Shenyang West Road, Shenyang economic and Technological Development Zone, Liaoning Patentee before: SHENYANG University OF TECHNOLOGY |