CN106166370B - Trailing type lower extremity movement rehabilitation omni-directional mobile robots - Google Patents
Trailing type lower extremity movement rehabilitation omni-directional mobile robots Download PDFInfo
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- CN106166370B CN106166370B CN201610674130.2A CN201610674130A CN106166370B CN 106166370 B CN106166370 B CN 106166370B CN 201610674130 A CN201610674130 A CN 201610674130A CN 106166370 B CN106166370 B CN 106166370B
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- 238000009434 installation Methods 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 claims 1
- 238000012549 training Methods 0.000 abstract description 21
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- 238000010586 diagram Methods 0.000 description 6
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- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
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- 230000002829 reductive effect Effects 0.000 description 2
- 206010024453 Ligament sprain Diseases 0.000 description 1
- 208000008589 Obesity Diseases 0.000 description 1
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- 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
- A61H3/04—Wheeled walking aids for patients or disabled persons
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Abstract
The invention discloses a kind of trailing type lower extremity movement rehabilitation omni-directional mobile robots, its U-shaped roll-out tray is connected with top U-shaped retaining frame by telescopic support device, Omni-mobile chassis is connected with below the front end bending section of the U-shaped frame of Omni-mobile bottom U-shaped roll-out tray, there are two universal wheel components for rear end connection；Omni-mobile chassis includes chassis body frame and continuous switching wheel assembly, and chassis body frame is connected with U-shaped frame；Continuous switching wheel assembly is three, is connected to the bottom surface of the chassis body frame, and circumferentially array angular distribution；Falling protective device is located at the lower section of the top U-shaped retaining frame, and is connected with the top U-shaped retaining frame.User is among U-shaped roll-out tray and top U-shaped retaining frame; it is protected be subject to falling protective device; judge that the walking of user is intended to by intention detection device of walking; control robot follows user to move; protection user's accidentally tumble causes secondary injury, and assisting user carries out lower extremity movement rehabilitation training.
Description
Technical field
The present invention relates to healing robot technical field more particularly to a kind of trailing type lower extremity movement rehabilitation Omni-mobile machines
Device people.
Background technology
In the China that aging of population increasingly sharpens, the quantity of the elderly of lower limb inconvenient walking is more and more, meanwhile, by
The crowd of lower extremity motor function obstacle is also increasing year by year caused by traffic accident, sprain for exercise and other various diseases.
Patient in addition to the operative treatment and drug therapy of taking early stage, for limbs transport by science, correct, rational limb rehabilitation training
The recovery of motivation energy is played the role of considerable.For this reason, it may be necessary to a kind of mechanical device come help patient carry out walking aid rehabilitation instruction
Practice, so as to progressively recover lower extremity motor function.Present healing robot, a kind of rehabilitation machines researched and developed such as Beijing Institute of Technology
Device people (number of patent application 2009100881588), the healing robot can realize the purpose of walking aid rehabilitation training, and walking moves
Moving cell uses four-wheel move mode, and there are two adhesion wheel and two by motor car wheel, two adhesion wheels respectively have a motor
It is operated alone, this mobile chassis can not realize all-around mobile, and changed course is dumb；The healing robot uses can be along backboard
The column slided up and down adjusts the height of robot, but the width for balancing assisted control handle is unadjustable, be only applicable to one
Determine the patient of build；These all limit the use scope of the robot.In addition, a kind of rehabilitation such as Central China University of Science and Technology's research and development
Assistant robot (number of patent application 2011104330357X), the recovery walking aiding robot can equally realize that walking aid rehabilitation is trained
Purpose, wherein robot center chassis it is symmetrical installation three Mecanum wheels, be used to implement the comprehensive of walking mechanism
It is mobile, but Mecanum wheel is complicated, and processing and manufacturing is of high cost, according to continuous switching wheel, can equally realize comprehensive
Mobile effect, and difficulty of processing and cost are greatly lowered；The recovery walking aiding robot control handle is designed as height and bows
Elevation angle degree can be adjusted freely, and for meeting the needs of different height build users, but the left and right width of control handle is not
It is adjustable, the comfort used will be so reduced, and then influences the effect of rehabilitation training.
The content of the invention
Above-mentioned to overcome the problems, such as, the present inventor team is further studied, and explores a kind of trailing type lower extremity movement health
Multiple omni-directional mobile robots, the present invention mainly propose the mechanical system of the robot, rehabilitation omni-directional mobile robots of the invention
Exercise rehabilitation training person can not only be followed, and the height of robot, width are adjustable, can be suitble to difference with all-around mobile
The crowd of build uses, and by adjusting reasonable, comfortable height and width, will play better rehabilitation training effect.
The specific technical solution of the present invention is：Trailing type lower extremity movement rehabilitation omni-directional mobile robots move bottom including U-shaped
Frame, top U-shaped retaining frame, falling protective device and telescopic support device.The U-shaped roll-out tray includes：U-shaped frame；Omni-mobile
Chassis, the Omni-mobile chassis are connected with the lower section of U-shaped frame front end bending section, and the Omni-mobile chassis includes：Bottom
Disk body frame, the chassis body frame are connected with the U-shaped frame；Continuous switching wheel assembly, the continuous switching wheel assembly is three, even
The bottom surface of the chassis body frame, and circumferentially array angular distribution are connected on, the continuous switching wheel assembly includes：Fixed frame, institute
Fixed frame is stated with the chassis body frame to be connected；Continuous switching wheel assembly, the continuous switching wheel assembly are installed on described solid
Determine pivotly to be connected among frame and with the fixed frame；Actuator, the actuator and the continuous switching wheel assembly phase
Even rotated so that the continuous switching is driven to take turns assembly；Universal wheel component, the universal wheel component are two, and two described universal
Wheel assembly is connected respectively with two ends of the U-shaped frame, and supports the U-shaped frame；The falling protective device is located at described
The lower section of top U-shaped retaining frame, and be connected with the top U-shaped retaining frame；The telescopic support device is three, and is stretched described in three
Two ends of the contracting support device one end respectively with U-shaped frame front end bending section and the U-shaped frame are connected, the retractable support
Two ends of the other end of device respectively with the front end bending section of the top U-shaped retaining frame and the top U-shaped retaining frame are connected.
Preferably, in the trailing type lower extremity movement rehabilitation omni-directional mobile robots of technical solution of the present invention, it is described solid
Determining frame includes two side plates, and two side plates are equipped with axle bed；The continuous switching wheel assembly include continuous switching wheel with
Wheel shaft, the wheel shaft with it is described it is continuous switching wheel it is coaxial be connected, the wheel shaft is installed in two side plates of the fixed frame
The axle bed in, and the axle bed with it is described wheel between centers be equipped with bearing；The actuator includes fixed body and drive shaft, described
Fixed body is connected with the fixed frame, and the drive shaft is connected with the wheel shaft and the wheel shaft is driven to rotate；The actuator
Using DC speed-reducing.
Preferably, in the trailing type lower extremity movement rehabilitation omni-directional mobile robots of technical solution of the present invention, it is described complete
Connecting flange is further included to mobile chassis, the Omni-mobile chassis is bent by the connecting flange and the U-shaped frame front end
Duan Xianglian.
Preferably, in the trailing type lower extremity movement rehabilitation omni-directional mobile robots of technical solution of the present invention, it is described on
Square U-shaped retaining frame includes：U-frame, the U-frame include two side levers；Side Hu Gang, the side shield thick stick is two, and described in two
Side shield thick stick is connected respectively with two side levers of the U-frame；Web beam, the web beam are located at two side shields
It is connected between thick stick and with two side shield thick sticks；Adjust wide backplate component, it is described to adjust wide backplate component for two and be respectively provided at two
On a side shield thick stick, and the wide backplate component of the tune further includes：Backplate, the backplate for two and respectively with two sides
Shield thick stick is connected；Broad gauge road is adjusted, the tune broad gauge road is two and is respectively provided at the backplate both sides；Adjusting bolt, the adjusting
Bolt is two and is located at the front end that thick stick is protected in the side；Locked bolt, the locked bolt are located at the rear end of the side shield thick stick；Behaviour
Vertical handle, the control handle is two and is connected respectively with two backplates.
Preferably, in the trailing type lower extremity movement rehabilitation omni-directional mobile robots of technical solution of the present invention, it is described on
Square U-shaped retaining frame further includes：Under stretch connecting rod, connecting rod is stretched under described three and to be connected with the U-frame, three flexible branch
Support arrangement respectively by three it is described under stretch connecting rod and be connected with the U-frame.
Preferably, in the trailing type lower extremity movement rehabilitation omni-directional mobile robots of technical solution of the present invention, it is described to stretch
Contracting support device includes：Fixed link, the fixed link are connected with the U-shaped frame；Telescopic rod, the telescopic rod telescopically with institute
State top U-shaped retaining frame it is described under stretch connecting rod and be connected.
Preferably, in the trailing type lower extremity movement rehabilitation omni-directional mobile robots of technical solution of the present invention, it is described to fall
Protective device includes：Anti- to fall shield trousers, the anti-shield trousers that fall are worn on human body；Butt rigging, the butt rigging to be multiple,
And one end of the butt rigging is connected with the anti-shield trousers that fall, the other end is connected with the top U-shaped retaining frame；Meanwhile it connects
Rigging is equipped with pulling force sensor.
Preferably, in the trailing type lower extremity movement rehabilitation omni-directional mobile robots of technical solution of the present invention, it is described to add
Instrument is equipped among deck transverse, interface is installed, for installing display instrument；The U-shaped roll-out tray is installed equipped with electrical equipment
Interface, for installing electrical equipment, the electrical equipment includes control module and power module.
Preferably, in the trailing type lower extremity movement rehabilitation omni-directional mobile robots of technical solution of the present invention, it is described on
Walking is additionally provided in square U-shaped retaining frame and is intended to detection device.
Preferably, in the trailing type lower extremity movement rehabilitation omni-directional mobile robots of technical solution of the present invention, the U-shaped
The U-shaped frame of roll-out tray is formed by metal pipe material bending；The U-frame of the top U-shaped retaining frame is rolled over by metal pipe material
It is curved to form.
Through the above technical solutions, the continuous switching wheel assembly is the three and three continuous switching wheel assemblies
Under the respective driving of three actuators, turn to can be with the difference of rotating speed according to input for three continuous switching wheels
Realize Omni-mobile chassis all-around mobile in the plane.The display instrument be used for show robot motion state,
A variety of rehabilitation training patterns such as training data and switching are active and passive etc., facilitate carry out man-machine interactive operation.When lower limb action
When inconvenient patient needs to carry out rehabilitation training, the display instrument is set for active rehabilitation training pattern, robot will at this time
Automatic sensing position of human body is so as to following the run trace of user under the action of control system；If user cannot completely solely
When vertical standing or crank, both hands can be placed on the backplate of two sides shield thick sticks, so that body can be supported
Part gravity, can prevent from falling to a certain extent；Simultaneously as with the falling protective device, user wears
Put on it is described it is anti-fall shield trousers, when user's crank will fall, the anti-shield trousers that fall can prevent user from falling ground
Face, for ensuring the safety of user；In addition to following the run trace of user automatically, user can be with hand for robot
The run trace of control handle control robot is held, which can meet the diversified demand of user's active control；
When user needs to carry out specific run trace rehabilitation training, operate the display instrument and be switched to passive rehabilitation training mould
Formula, the run trace that user follows robot pre-set carry out walking aid rehabilitation training.
In addition, telescopically it is connected between the telescopic rod and the fixed link；When the height of user is higher or compared with
When short, can trailing type lower extremity movement rehabilitation omni-directional mobile robots vertical height be realized by telescopic rod described in up and down adjustment
It adjusts；Meanwhile it can realize that trailing type lower extremity movement rehabilitation is complete by backplate described in loosening the locked bolt and left and right adjusting
Adjusting to mobile robot or so width so can not only improve trailing type lower extremity movement rehabilitation omni-directional mobile robots
Usage comfort, and meet the use demand of more crowds.
Technical solution using the present invention will obtain following advantageous effect：(1) the Omni-mobile chassis is used, is realized
The all-around mobile of the lower-limb motion recovery machine device people, user can utmostly simulation normal person gait rule and habit
It is used to carry out rehabilitation training；(2) using the telescopic support device and the wide backplate component of the tune, the trailing type lower limb are realized
The adjusting of athletic rehabilitation omni-directional mobile robots height and width can meet the use demand of more crowds；(3) described in using
Falling protective device can prevent user's accidentally tumble in rehabilitation training from causing secondary injury, so as to further carry
The security of system is risen.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of trailing type lower extremity movement rehabilitation omni-directional mobile robots according to embodiments of the present invention；
Fig. 2 is another stereoscopic schematic diagram of trailing type lower extremity movement rehabilitation omni-directional mobile robots shown in FIG. 1；
Fig. 3 be I in Fig. 1 at partial enlarged view；
Fig. 4 is the section view of the continuous switching wheel assembly of trailing type lower extremity movement rehabilitation omni-directional mobile robots shown in FIG. 1
Schematic diagram；
Fig. 5 be II in Fig. 1 at partial enlarged view；
Fig. 6 be III in Fig. 1 at partial enlarged view；
Fig. 7 is the stereoscopic schematic diagram of the reduction height of trailing type lower extremity movement rehabilitation omni-directional mobile robots shown in FIG. 1；
Fig. 8 is the stereoscopic schematic diagram of the hoisting depth of trailing type lower extremity movement rehabilitation omni-directional mobile robots shown in FIG. 1；
Fig. 9 is the stereoscopic schematic diagram of the reduction width of trailing type lower extremity movement rehabilitation omni-directional mobile robots shown in FIG. 1；
Figure 10 is the three-dimensional signal of the larger width of trailing type lower extremity movement rehabilitation omni-directional mobile robots shown in FIG. 1
Figure；
Reference numeral：
1000 trailing type lower extremity movement rehabilitation omni-directional mobile robots；
1U shape roll-out trays；
11U shape framves；12 Omni-mobile chassis；13 universal wheel components；14 pedestals；
121 chassis body frames；122 continuous switching wheel assemblies；123 connecting flanges；
1211 electrical equipments install interface；
1221 fixed frames；1222 continuous switching wheel assemblies；1223 actuators；1224 axle beds；
12211 side plates；
12221 continuous switching wheels；12222 wheel shafts；
12231 fixed bodies；12232 drive shafts；
141 top bases；142 bottom bases；
131 universal wheel connectors；132 universal wheels；
2 top U-shaped retaining frames；
21U shape frames；22 connector sleeves；23 side Hu Gang；24 web beams；25 adjust wide backplate component；Connecting rod is stretched under 26；
211 side levers；2111 ultrasonic sensors；
241 instrument install interface；242 display instruments；
251 backplates；252 adjust broad gauge road；253 adjusting bolts；254 locked bolts；255 control handles；
3 falling protective devices；
31 prevent falling shield trousers；32 butt riggings；33 pulling force sensors；
4 telescopic support devices；
41 fixed links；42 telescopic rods.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment described by reference to attached drawing is exemplary, and is only used for
It explains the present invention, and is not considered as limiting the invention.
Trailing type lower extremity movement rehabilitation Omni-mobile according to embodiments of the present invention is described in detail with reference to Fig. 1 to Figure 10
Robot.
As shown in Figure 1, Figure 2, Figure 3 shows, trailing type lower extremity movement rehabilitation omni-directional mobile robots include：U-shaped roll-out tray 1,
Top U-shaped retaining frame 2, falling protective device 3 and telescopic support device 4.U-shaped roll-out tray 1 includes：U-shaped frame 11, Omni-mobile bottom
Disk 12, universal wheel component 13.Omni-mobile chassis 12 is connected with the lower section of 11 front end bending section of U-shaped frame, Omni-mobile chassis 12
Including：Chassis body frame 121, chassis body frame 121 are connected with U-shaped frame 11；Continuous switching wheel assembly 122, it is continuous to switch wheel assembly 122
For three, the bottom surface of chassis body frame 121, and circumferentially array angular distribution are connected to, the continuous wheel assembly 122 that switches includes：Gu
Determine frame 1221, fixed frame 1221 is connected with chassis body frame 121；Continuous switching wheel assembly 1222, continuous switching wheel assembly
1222 are installed among fixed frame 1221 and are pivotly connected with fixed frame 1221；Actuator 1223, actuator 1223 is with connecting
Continuous switching wheel assembly 1222 is connected continuous switching wheel assembly 1222 is driven to rotate；Universal wheel component 13 is two, two
Universal wheel component 13 is connected respectively with two ends of U-shaped frame 11, and supports U-shaped frame 11；Falling protective device 3 is located above U
The lower section of shape retaining frame 2, and be connected with top U-shaped retaining frame 2；Telescopic support device 4 is three, and three telescopic support devices 4 one
Two ends respectively with 11 front end bending section of U-shaped frame and U-shaped frame 11 is held to be connected, the other end of telescopic support device 4 respectively with
The front end bending section of top U-shaped retaining frame 2 is connected with two ends of top U-shaped retaining frame 2.
Specifically, embodiment as shown in Figure 1, Figure 2, Figure 3 shows, U-shaped roll-out tray 1 further include pedestal 14, and pedestal 14 is three
A, pedestal 14 is split type, and including top base 141 and bottom base 142, half is respectively equipped among top base 141 and bottom base 142
Circular groove, top base 141 and bottom base 142 are withheld in U-shaped frame 11, and top base 141 and bottom base 142 are connected through a screw thread part
Connection, makes pedestal 14 be clamped with U-shaped frame 11.Pedestal 14 is three, preceding including pedestal 1402 after a preceding pedestal 1401 and two
Pedestal 1401 is fixed on the front end bending section of U-shaped frame 11, to connect U-shaped frame 11 and telescopic support device 4 and U-shaped frame 11
With Omni-mobile chassis 12；Pedestal 1402 is fixed at two straightway of rear end of U-shaped frame 11 afterwards, to connect U-shaped frame 11 with stretching
Contracting support device 4.
As shown in figure 3, Omni-mobile chassis 12 further includes：Connector 123, Omni-mobile chassis 12 pass through connector 123
It is connected with U-shaped frame 11, chassis body frame 121 also installs interface 1211 comprising electrical equipment, described electrical to install electrical equipment
Equipment includes control module and power module.
In some embodiments of the invention, walking is additionally provided in top U-shaped retaining frame 2 and is intended to detection device, the walking
Being intended to detection device includes installing on control handle 255, the pulling force sensor 33 of falling protective device 3 and two side levers 211
Ultrasonic sensor 2111, as shown in Figure 5, Figure 6.
Specifically, the schematic cross-sectional view of continuous switching wheel assembly as shown in Figure 4, continuous switching wheel assembly 122 pass through solid
Determine frame 1221 with chassis body frame 121 to be connected, fixed frame 1221 is connected through a screw thread part with chassis body frame 121 and is connected, fixed frame
1221 include two side plates 12211, and two side plates 12211 are equipped with axle bed 1224, and axle bed 1224 passes through screw thread with side plate 12211
Connector is connected；Continuous switching wheel assembly 1222 includes continuous switching and takes turns 12221 and wheel shaft 12222, wheel shaft 12222 with it is continuous
Switching wheel 12221 is coaxially connected, and the two by key connection realizes and rotate synchronously that wheel shaft 12222, which is installed in, is connected to fixation
In axle bed 1224 on two side plates 12211 of frame 1221, and bearing is equipped between axle bed 1224 and wheel shaft 12222；Actuator
1223 include fixed body 12231 and drive shaft 12232, and fixed body 12231 is connected with fixed frame 1221, drive shaft 12232 and wheel
Axis 12222 is connected and drive shaft 12222 rotates；In the present embodiment, actuator 1223 uses DC speed-reducing, has driving
The advantages that efficient, convenient for control.
Further, universal wheel component 13 includes universal wheel connector 131 and universal wheel 132, two universal wheel connections
Part 131 is connected with the end of 11 two straightways of U-shaped frame, and universal wheel 132 is connected through a screw thread part and is connected to universal wheel connector
131 lower sections.
As shown in Figure 1 and Figure 2, by the technical solution of above-described embodiment, three continuous switching wheels 12221 are respectively at three
The different all-around mobiles for turning to, Omni-mobile chassis 12 being realized under the driving of different rotating speeds of actuator 1223, meanwhile,
Two universal wheel components 13 play the mobile effect of auxiliary, and trailing type lower extremity movement rehabilitation is realized together with Omni-mobile chassis 12
The all-around mobile of omni-directional mobile robots.
As shown in Figure 1, Figure 2, the embodiment shown in Fig. 5 and Fig. 6, top U-shaped retaining frame 2 include：U-frame 21, connector sleeve 22, side shield
Thick stick 23, web beam 24, adjust wide backplate component 25 and under stretch connecting rod 26.Wherein, U-frame 21 further includes two side levers 211, strengthens
Crossbeam 24 is equipped with instrument and installs interface 241, and display instrument 242 is mounted on instrument and installs interface 241.As shown in Figure 1, Figure 2, Fig. 6 institutes
Show, connector sleeve 22 is provided with cross through hole, the front end bending section of U-frame 21 be sleeved in the transverse holes of connector sleeve 22 and with connector sleeve 22
It is connected through a screw thread part to be connected, similar, two 211 ends of side lever of U-frame 21 are sleeved in the transverse holes of two connector sleeves 22
And it is connected through a screw thread part with connector sleeve 22 and is connected；Moreover, partial enlarged view as shown in Figure 6, side shield thick stick 23 is two, and two
A side shield thick stick 23 is connected through a screw thread part with two side levers 211 respectively and is connected in the vertical direction；Also, adjust wide backplate component 25
For two, and part is connected through a screw thread with side shield thick stick 23 respectively and be connected, and wide backplate component 25 is adjusted to further include：Backplate 251 adjusts width
Track 252, adjusting bolt 253, locked bolt 254 and control handle 255.Wherein, backplate 251 passes through bolt phase with side shield thick stick 23
Even, broad gauge road 252 is adjusted to be located at the both sides of backplate 251, further, partial enlarged view as shown in Figure 5, adjusting bolt 253 is
Two, and two adjusting bolts 253 are each provided at the front end of side shield thick stick 23, adjusting bolt 253 is divided for optical axis section and thread segment, screw thread
Section is connected with the threaded hole of side shield thick stick 23 by screw thread pair, and optical axis section is with adjusting broad gauge road 252 to coordinate, and bolt head and backplate 251
Between leave certain gap, backplate 251 is enable preferably to be moved along adjusting bolt 253, moreover, part as shown in Figure 4
Enlarged drawing, locked bolt 254 is located at the rear end of side shield thick stick 23, and is connected with the threaded hole of side shield thick stick 23 by screw thread pair, is used for
Loosen or lock the position of backplate 251；Control handle 255 be two, and two control handles 255 respectively with two backplates
251 are connected, and in use, the duplex of user is individually placed on two backplates 251, while both hands are held in two operating handles
On hand 255, the run trace of manual control robot can be realized by manipulation handle 255；Further, strengthen horizontal
Beam 24 is located between two side shield thick sticks 23, and is connected by way of bolt or welding with two side shield thick sticks 23, and is strengthened horizontal
Beam 24 is equipped with instrument in middle and installs interface 241；In addition, display instrument 242 is bolted to instrument installation interface 241
Place, display instrument 242 are used to show interactive interface and carry out man-machine interactive operation.
As preferred embodiment, as shown in Figure 1 and Figure 2, the U-shaped frame 11 of U-shaped roll-out tray 1 is bent by metal pipe material
It forms；Likewise, the U-frame 21 of top U-shaped retaining frame 2 is also bent by metal pipe material, and in other examples, U-shaped frame
11 can also be welded with U-frame 21 using metal tube.
In addition, telescopic support device 4 is three, as shown in Figure 1 and Figure 2, telescopic support device 4 further includes 41 He of fixed link
Telescopic rod 42, and three fixed links 41 are connected through a screw thread part with three top bases 141 respectively and are connected.In the present embodiment, stretch
Contracting support device 4 is electric pushrod, can also be some other sides such as leading screw, rack pinion in other embodiments
Case.The connection mode of connecting rod 26 and telescopic rod 42 is stretched under detailed hereafter, under stretch connecting rod 26 for three, and before U-frame 21
The lower end for stretching connecting rod 26 under bending section is held to be connected through a screw thread part with telescopic rod 42 to be connected, upper end is sleeved on the connection of connector sleeve 22
It in hole and is connected through a screw thread part and is connected, 21 front end of connection mode and U-frame of connecting rod 26 and telescopic rod 42 is stretched under other two
It is similar with the connection mode of telescopic rod 42 that connecting rod 26 is stretched under bending section.
In embodiment as shown in Figure 1, Figure 2, Figure 6 shows, falling protective device 3 further includes anti-fall and protects trousers 31, butt rigging 32
With pulling force sensor 33.Wherein, prevent fall shield trousers 31 be worn on human body, as shown in Figure 1, 2, butt rigging 32 have it is multiple, it is each
One end of a butt rigging 32 is connected with the anti-shield trousers 31 that fall, and the other end is connected with the side lever 211 of top U-shaped retaining frame 2.Further
, the embodiment as shown in Figure 1, Figure 2, shown in Fig. 5, Fig. 6 is also equipped with pulling force sensor 33, pulling force sensor 33 on butt rigging 32
One end be sleeved on by lantern ring on butt rigging 32, the other end is connected with the anti-shield trousers 31 that fall, the stressing conditions of pulling force sensor 33,
The parametric synthesis that other detection devices can be combined judges that the walking of user is intended to.When the measured value of pulling force sensor 33 is more than
During setting value, that is, represent user fall has pulled it is anti-fall shield trousers 31, at this moment prevent falling shield trousers 31 to protect being worn on the inside
User, it is made not to be subject to secondary injury；Meanwhile control system control actuator 1223 is in the lock state, and is made and is driven
The continuous switching wheel assembly 1222 that moving part 1223 is connected is also at lock-out state, so that trailing type lower extremity movement rehabilitation is complete
Stop lock state is in mobile robot, further ensures that user's is safe to use.
Further, the embodiment as shown in Figure 1, Figure 2, shown in Fig. 5, Fig. 6 can also be respectively provided with two on two side levers 211
Ultrasonic sensor 2111.The walking, which is intended to detection device, includes control handle 255, the pull sensing of falling protective device 3
The ultrasonic sensor 2111 installed on device 33 and two side levers 211.Control handle 255 can pass through user's human hand control
System rotates in certain conical region, and the pulling force sensor 33 of falling protective device 3 can be by stressing conditions, supersonic sensing
Device 2111 detects the position of user opposed robots, and above-mentioned information feeds back to control system, to judge the walking of user
It is intended to, and is associated with the trailing type lower extremity movement rehabilitation omni-directional mobile robots of the present invention, fortune is followed so as to fulfill robot
It is dynamic.Specifically, user can select rehabilitation training pattern by display instrument 242, when selecting the automatic mode of active training,
Four ultrasonic sensors 2111 and the relative position of 33 joint-detection of pulling force sensor to user, and by data feedback to control
System processed, its walking of interpretation are intended to, and control system changes Omni-mobile by controlling the rotating speed of three actuators 1223 and turning to
The motion state on chassis 12；When user selects the manual mode of active training, four ultrasonic sensors 2111 are not involved in
Work, user operate operating handle 255 manually, according to road conditions or the intended operation control handle 255 of user, control
System obtains control signal and is handled, and then controls three 1223 respective rotating speeds of actuator and turn to and change Omni-mobile
The motion state on chassis 12 realizes the rehabilitation training under manual mode.
By above-mentioned technical solution, when user needs to carry out lower limb rehabilitation training, duplex can be placed on to two shields
On plate 251, while by display instrument 242 active or passive exercise pattern, Omni-mobile chassis 12 is selected to change as needed
Become three 1223 respective steerings of actuator and rotating speed, reach the comprehensive shifting of trailing type lower extremity movement rehabilitation omni-directional mobile robots
Dynamic effect, and then user is aided in carry out lower limb rehabilitation training.
Further, trailing type lower extremity movement rehabilitation omni-directional mobile robots of the invention can be with height up and down with suitable
Answer the user of different heights.Specifically, as shown in fig. 7, when trailing type lower extremity movement rehabilitation omni-directional mobile robots need to drop
During low clearance, the fixed link 41 for making telescopic support device 4 is fixed, when telescopic rod 42 is relatively fixed bar 41 and moves down, band
It is dynamic be connected with telescopic rod 42 under stretch connecting rod 26 and move downward, while U-frame 21 stretches connecting rod 26 under and is connected, such U-frame 21
As telescopic rod 42 moves downward simultaneously, the height of healing robot mechanical system is thereby reduced；It is followed as shown in figure 8, working as
When formula lower extremity movement rehabilitation omni-directional mobile robots need hoisting depth, the fixed link 41 for making telescopic support device 4 is fixed,
Telescopic rod 42 is relatively fixed bar 41 and moves up, and drive is stretched connecting rod 26 under being connected with telescopic rod 42 and moved upwards, while U-frame
21 stretch connecting rod 26 under is connected, and such U-frame 21 moves upwards simultaneously with telescopic rod 42, and then improves healing robot
Highly.
In addition, the trailing type lower extremity movement rehabilitation omni-directional mobile robots of the present invention can be according to the build obesity of user
Degree and usage comfort demand carry out adjustment width.Specifically, as shown in figure 9, when trailing type lower extremity movement rehabilitation omnidirectional moves
When mobile robot needs to reduce width, loosen locked bolt 254, left and right sliding backplate 251, when left side backplate 251 slides to the right
And and right side backplate 251 slides to the left so that the width of trailing type lower extremity movement rehabilitation omni-directional mobile robots reduces；On the contrary
Ground, as shown in Figure 10, when left side backplate 251 slides to the left and right side backplate 251 slides to the right, trailing type lower extremity movement rehabilitation
The width increase of omni-directional mobile robots, it is complete thus can to change trailing type lower extremity movement rehabilitation by adjusting backplate 251
To the width of mobile robot, locked bolt 254 is tightened again when width is suitable.
It has been the prior art for other compositions of robot, and to be known to one of ordinary skill in the art, therefore no longer
It is described in detail.Certainly, for beauty, can Omni-mobile chassis 12 etc. be subjected to attractive, decorative, falls within common scheme, do not do
It introduces.
Although an embodiment of the present invention has been shown and described, those of ordinary skill in the art can be to these implementations
Example carries out a variety of change, modification, replacement and modification, and the scope of the present invention is limited by claim and its equivalent.
Claims (10)
1. trailing type lower extremity movement rehabilitation omni-directional mobile robots, which is characterized in that including：
U-shaped roll-out tray, the U-shaped roll-out tray include：
U-shaped frame；
Omni-mobile chassis, the Omni-mobile chassis are connected with the lower section of U-shaped frame front end bending section, the Omni-mobile
Chassis includes：
Chassis body frame, the chassis body frame are connected with the U-shaped frame；
Continuous switching wheel assembly, the continuous switching wheel assembly is three, is connected to the bottom surface of the chassis body frame, and circumferentially
Array angular distribution, the continuous switching wheel assembly include：
Fixed frame, the fixed frame are connected with the chassis body frame；
Continuous switching wheel assembly, the continuous switching wheel assembly are installed among the fixed frame and can with the fixed frame
Pivotally it is connected；
Actuator, the actuator are connected the continuous switching wheel assembly is driven to turn with the continuous switching wheel assembly
It is dynamic；
Universal wheel component, the universal wheel component are two, two universal wheel components, two ends with the U-shaped frame respectively
End is connected, and supports the U-shaped frame；
Top U-shaped retaining frame；
Falling protective device, the falling protective device is located at the lower section of the top U-shaped retaining frame, and is protected with the top U-shaped
Frame is connected；
Telescopic support device, the telescopic support device be three, and three described telescopic support device one end respectively with the U
Shape frame front end bending section is connected with two ends of the U-shaped frame, the other end of the telescopic support device respectively with it is described on
The front end bending section of square U-shaped retaining frame is connected with two ends of the top U-shaped retaining frame.
2. trailing type lower extremity movement rehabilitation omni-directional mobile robots according to claim 1, it is characterised in that：
The fixed frame includes two side plates, and two side plates are equipped with axle bed；
The continuous switching wheel assembly includes continuous switching wheel and wheel shaft, and the wheel shaft takes turns coaxial phase with the continuous switching
Even, the wheel shaft is installed in the axle bed of two side plates of the fixed frame, and the axle bed and the wheel between centers
Equipped with bearing；
The actuator includes fixed body and drive shaft, and the fixed body is connected with the fixed frame, the drive shaft with it is described
Wheel shaft is connected and the wheel shaft is driven to rotate；The actuator uses DC speed-reducing.
3. trailing type lower extremity movement rehabilitation omni-directional mobile robots according to claim 1, which is characterized in that the omnidirectional
Mobile chassis further includes connecting flange, and the Omni-mobile chassis passes through the connecting flange and U-shaped frame front end bending section
It is connected.
4. trailing type lower extremity movement rehabilitation omni-directional mobile robots according to claim 1, which is characterized in that the top
U-shaped retaining frame includes：
U-frame, the U-frame include two side levers；
Side Hu Gang, the side shield thick stick is two, and thick sticks two side lever phases with the U-frame respectively are protected in two sides
Even；
Web beam, the web beam are located between two side shield thick sticks and are connected with two side shield thick sticks；
The wide backplate component of tune, it is described to adjust wide backplate component for two and be respectively provided on two sides shield thick sticks, and the tune is wide
Backplate component further includes：
Backplate, the backplate are connected for two and respectively with two sides shield thick sticks；
Broad gauge road is adjusted, the tune broad gauge road is two and is respectively provided at the backplate both sides；
Adjusting bolt, the adjusting bolt are two and are located at the front end that thick stick is protected in the side；
Locked bolt, the locked bolt are located at the rear end of the side shield thick stick；
Control handle, the control handle is two and is connected respectively with two backplates.
5. trailing type lower extremity movement rehabilitation omni-directional mobile robots according to claim 1, which is characterized in that the top
U-shaped retaining frame further includes：Under stretch connecting rod, connecting rod is stretched under described three and to be connected with the U-frame, three retractable supports
Device respectively by three it is described under stretch connecting rod and be connected with the U-frame.
6. trailing type lower extremity movement rehabilitation omni-directional mobile robots according to claim 1, which is characterized in that described flexible
Support device includes：
Fixed link, the fixed link are connected with the U-shaped frame；
Telescopic rod, the telescopic rod telescopically with the top U-shaped retaining frame it is described under stretch connecting rod and be connected.
7. trailing type lower extremity movement rehabilitation omni-directional mobile robots according to claim 1, which is characterized in that the tumble
Protective device includes：
Anti- to fall shield trousers, the anti-shield trousers that fall are worn on human body；
Butt rigging, the butt rigging is multiple, and one end of the butt rigging is connected with the anti-shield trousers that fall, the other end
It is connected with the top U-shaped retaining frame；Meanwhile butt rigging is equipped with pulling force sensor.
8. trailing type lower extremity movement rehabilitation omni-directional mobile robots according to claim 4, it is characterised in that：The reinforcement
Instrument is equipped among crossbeam, interface is installed, for installing display instrument；The U-shaped roll-out tray is equipped with electrical equipment installation and connects
Mouthful, for installing electrical equipment, the electrical equipment includes control module and power module.
9. according to any trailing type lower extremity movement rehabilitation omni-directional mobile robots of claim 1-8, which is characterized in that institute
It states and walking intention detection device is additionally provided in the U-shaped retaining frame of top.
10. trailing type lower extremity movement rehabilitation omni-directional mobile robots according to claim 1, which is characterized in that the U-shaped
The U-shaped frame of roll-out tray is formed by metal pipe material bending；The U-frame of the top U-shaped retaining frame is rolled over by metal pipe material
It is curved to form.
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| CN201610674130.2A CN106166370B (en) | 2016-08-16 | 2016-08-16 | Trailing type lower extremity movement rehabilitation omni-directional mobile robots |
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| CN201610674130.2A CN106166370B (en) | 2016-08-16 | 2016-08-16 | Trailing type lower extremity movement rehabilitation omni-directional mobile robots |
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| CN106166370B true CN106166370B (en) | 2018-06-05 |
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