CN106420267B - A kind of wearable Intelligent lower limb convalescence device and control method - Google Patents
A kind of wearable Intelligent lower limb convalescence device and control method Download PDFInfo
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- CN106420267B CN106420267B CN201611096826.8A CN201611096826A CN106420267B CN 106420267 B CN106420267 B CN 106420267B CN 201611096826 A CN201611096826 A CN 201611096826A CN 106420267 B CN106420267 B CN 106420267B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 19
- 208000034657 Convalescence Diseases 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 13
- 210000004394 hip joint Anatomy 0.000 claims abstract description 99
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 238000012545 processing Methods 0.000 claims abstract description 19
- 210000001624 hip Anatomy 0.000 claims abstract description 18
- 238000012806 monitoring device Methods 0.000 claims abstract description 8
- 230000000452 restraining effect Effects 0.000 claims description 43
- 210000000689 upper leg Anatomy 0.000 claims description 31
- 210000002414 leg Anatomy 0.000 claims description 17
- 210000000629 knee joint Anatomy 0.000 claims description 13
- 210000000707 wrist Anatomy 0.000 claims description 12
- 238000009530 blood pressure measurement Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 8
- 229910052744 lithium Inorganic materials 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 2
- 239000004917 carbon fiber Substances 0.000 claims description 2
- 239000010985 leather Substances 0.000 claims description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical group C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000036772 blood pressure Effects 0.000 abstract description 7
- 208000007623 Lordosis Diseases 0.000 abstract description 6
- 230000002093 peripheral effect Effects 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000035876 healing Effects 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 201000010099 disease Diseases 0.000 description 2
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- 238000012549 training Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 208000037873 arthrodesis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
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- 238000009532 heart rate measurement Methods 0.000 description 1
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Classifications
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/021—Measuring pressure in heart or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/09—Rehabilitation or training
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5097—Control means thereof wireless
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/30—Blood pressure
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Cardiology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
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- Physiology (AREA)
- Biomedical Technology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pulmonology (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of wearable Intelligent lower limb convalescence device and control methods, the side of the main supporting element of its left side lumbar of device and the main supporting element of left lumbar is linked together by waist adjustment mechanism, left side back support and right side back support are fixed on the waist main backstop of respective side, and master control cabinet is fixed on back support by connection sheet；Hip joint driving mechanism is connected with " G " type structure of Lordosis support；Ling You hip joint executing agency, kneed executing agency, foot mechanism；Vital signs monitoring device is located on the right side arm of human body.Control method includes sensors measure pressure signal, pulse signal, blood pressure signal, and signal is handled through central processing unit, generates Serve Motor Control parameter and vital sign patient parameters, is shown by display screen, and is communicated by wireless WIFI and peripheral large scale equipment.The device route is simple, easy to operate, safe and reliable, accelerates the speed of rehabilitation.
Description
Technical field
The invention belongs to medicine to assist in the treatment of research field, and in particular to a kind of wearable Intelligent lower limb convalescence device and control
Method processed.
Background technique
With the continuous development of society, the living standard of the people and medical level all have a big promotion, thus
The national average life span is set also by 60 years old or so the one's mid-70s promoted by now of six the seventies, to approach World Developed Countries
Average level, with the increase of the average life span, the elderly's ratio shared in social total population is also being continuously increased, and is ended
2010, the elderly population in China 60 years old or more reached the 13.26% of total population more than 1.78 hundred million.Meanwhile over-65s
Elderly population are about 1.19 hundred million, account for the 8.87% of total population, social senilization's problem is more and more severeer.
The fast pace life and immense pressure of social senilization's today's society in addition, cardiovascular and cerebrovascular disease and nervous system
Hemiplegic Patients caused by disease increase year by year.China's apoplexy (cerebral apoplexy) disease incidence the first in the world, wherein about 3/4 patient
There are different degrees of neurotrosis and dyskinesia.Ever-increasing elderly population and apoplexy sequela patient are to rehabilitation
Work proposes severe challenge.Traditional rehabilitation training mode is that doctor is manually trained patient, this obviously deposit it is many not
Just, therefore many medical institutions introduce healing robot.
But there are many restrictions for existing lower limb rehabilitation robot ectoskeleton on the market at present: ectoskeleton drive system is more
It is driven using hydraulic or air pressure, control precision is not high, noise is big, and drive system shell uses fixed structure, in order to guarantee to close
The rotational angle of section is exposed to many internal mechanisms outer, and is easy to damage user；Furthermore have ectoskeleton to be only capable of
The normal operation for guaranteeing mechanism cannot detect physical condition when patient uses, and patient can not intuitively understand the operation of equipment
Situation.Therefore, in view of the above technical problems, it is necessary to provide a kind of motor-driven safe and reliable, easy to control, with high accuracy
Lower limb rehabilitation ectoskeleton, to solve drawbacks described above.
Summary of the invention
The problem to be solved in the present invention be just to provide it is a kind of based on wireless technology, for Rehabilitation training additional pass is provided
Save the convalescence device of torque, it is desirable that the device route is simple, easy to operate, safe and reliable, and can monitor vital sign patient and reality
When the wearable Intelligent lower limb convalescence device that shows, accelerate the speed of rehabilitation.
To achieve the above object, the invention provides the following technical scheme:
A kind of wearable Intelligent lower limb convalescence device, including right side back support, master control cabinet, left side back-supported
Frame, waistband fixing bolt, waistband, connection sheet, left lumbar supporting element, front side waist portion adjustment structure, posterior lumbar adjustment structure,
Hip joint fixing bolt, hip joint driving mechanism, left side lumbar supporting element, dislocation connector, dislocation connector bolt, thigh master
Connector, big leg restraint gear, knee joint driving mechanism, small leg restraint gear, the main connector of shank, sole bolt, sole, foot
Portion's fixing belt；
The left lumbar support frame is identical with left side lumbar support frame structure, and one end is G type structure, and the other end passes through
Front side waist portion adjustment structure and posterior lumbar adjustment structure are fixed；Six axis motion process are provided on the left side lumbar support frame
Component；Danger button is provided on the left lumbar support frame；
The left side back support and right side back support are respectively fitted over left side lumbar main backstop and left lumbar
On main backstop, and it is fastenedly connected with screw；The master control cabinet is fixed on left side back support and right side by connection sheet
On back support, the sets of holes on the waistband pass through left side back support and right side back support, and use hip joint
Fixing bolt is fixed；
The hip joint driving mechanism is located at the downside of Lordosis support, the hip joint driving mechanism and Lordosis support
It is threadedly coupled by hip joint fixing shell with the G type structure of Lordosis support；The dislocation connector, the main connector of thigh,
Big leg restraint gear forms hip joint executing agency, and the dislocation connector both ends are provided with adjusting circular hole, the adjusting circular hole
It is fixedly connected with the output flange of hip joint driving mechanism, the main connector both ends of thigh are provided with circular hole, the circular hole and dislocation
The adjusting circular hole of one end is bolted on connector, and the big leg restraint gear is connected with the main connector of thigh；
The knee joint driving mechanism is fastenedly connected by screw thread and the main connector of thigh；The main connector of shank, shank are solid
Determine mechanism and form kneed executing agency, the main connector of shank is fixedly connected with knee joint driving mechanism, small leg restraint gear
It is connected with the main connector of shank；
The sole and foot's fixing belt form foot mechanism, and sole and the main connector of shank are hinged, and foot's fixing belt is solid
Surely it is riveted on sole；The vital signs monitoring device is located on the right side of patient on arm.
Further, the left lumbar support construction includes L-type supporting element and G type connector；The L-type supporting element
Thread cnnecting shaft is arranged in one end, and thread cnnecting shaft and G type connector are fastened by nut.
Further, the hip joint driving mechanism is identical as knee joint driving mechanism structure；The hip joint driving machine
Structure includes coding counter, hip joint servo motor, hip joint servo motor gasket, hip joint L-type retarder gasket, knee joint
Driving mechanism output shaft, hip joint key, hip joint output flange, hip joint fixing shell, left side fixed disc, the fixed circle in right side
Ring, hip joint rotation case, positioning bearing, bearing locating flange and hip joint shell gasket；The hip joint servo motor
Tail portion is equipped with coding counter, and hip joint servo motor output shaft is connected with hip joint L-type retarder；The hip joint servo
Hip joint servo motor gasket and hip joint L-type retarder gasket are provided between motor and hip joint L-type retarder；The knee
Joint driving mechanism output shaft is connected with hip joint output flange by hip joint key；The hip joint fixing shell and left side
Fixed disc, right side clamping rings are fixedly connected to form outer housing by screw, and hip joint rotation case and hip joint are fixed outer
Shell phase connection, output shaft one end are connected with positioning bearing, and the other end is connected with hip joint L-type retarder.
Further, the big leg restraint gear include restraining fixed structure, long fixing bolt, pressure-strain piece and
Thigh restraining；The restraining fixed structure is U-shaped structure；The pressure-strain piece is fixed on the interior of restraining fixed structure
Side, restraining fixed structure are fixed by long fixing bolt and the main connector of thigh, thigh restraining and restraining fixed structure
It is fixed.
Further, the left side back support, right side back support, left lumbar supporting element, front side waist portion tune
Section structure, posterior lumbar adjustment structure, left lumbar supporting element, dislocation connector, the main connector of thigh, shank main connector
Material is carbon fiber；The material of the waistband is hard leather.
Further, the master control cabinet include Main Control Tank bottom case, it is master control case lid, WIFI antenna, central processing unit, wireless
WIFI module, lithium battery and the first bluetooth module；The Main Control Tank bottom case, master control case lid are bolted；Described WIFI days
Line is fixedly connected with Main Control Tank bottom case, and WIFI antenna one end is located at outside Main Control Tank bottom case；It is the central processing unit, wireless
WIFI module, lithium battery, the first bluetooth module are built in box house, and on fixed Main Control Tank bottom case.
Further, the vital signs monitoring device includes display screen, wrist restraining, pulses measure module, data
Connecting line, large arm restraining, blood pressure measurement module and the second bluetooth module；Second bluetooth module, display screen and pulse are surveyed
Amount module is placed on wrist restraining, the blood pressure measurement module and large arm fetter band connection, and wrist restraining and large arm fetter
Band is fixedly connected by data connecting line.
Based on the control method of wearable Intelligent lower limb convalescence device, include the following steps:
Step 1) generated pressure signal is acted between pressure-strain piece measurement human body lower limbs and convalescence device；Pulse
Measurement module measures human pulse signal；Blood pressure measurement module measures human blood-pressure signal；
Step 2) institute's measuring pressure signal through amplify and analog-to-digital conversion after through bus transfer to central processing unit；Pulse signal
Central processing unit is transmitted to through the second bluetooth module with after analog-to-digital conversion through amplifying with blood pressure signal；
Step 3) the various signals of central processing unit processing；
Step 4) central processing unit generates Serve Motor Control parameter and vital sign patient parameters, parameter pass through display
Screen display, and communicated by wireless WIFI module and peripheral large scale equipment；
Step 5) encoder measures servo motor revolving speed, and pass through pid control algorithm and repairs servo motor revolving speed；
Step 6) above step one is repeated to step 5, realize the normal operation of wearable Intelligent lower limb convalescence device.
Compared with prior art, the beneficial effects of the present invention are:
Healing robot uses motor driven, and control precision is high and generation noise is less.
Hip joint and kneed shell have used fixing shell and rotation protection shell, and fixing shell plays limit
Effect, rotation protection shell play the role of preventing exposure inside driving mechanism and prevent patient from coming to harm.
Healing robot uses Radio Transmission Technology, reduces connection line required for healing robot, whole more beautiful
It sees, while also reducing the failure rate and maintenance difficulty of robot, it is simpler with the connection of large-scale vital sign monitoring device around
Single, movement is more freely；
Robot is equipped with pulse and blood pressure real-time monitoring equipment, and patient can intuitively understand the feelings of itself using display screen
Condition guarantees exercise intensity in the range of own situation allows；
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is overall structure schematic rear view of the present invention；
Fig. 3 is waist adjustment Standard explosive view of the present invention；
Fig. 4 is the main supporting mechanism explosive view of waist of the present invention；
Fig. 5 is hip joint driving mechanism explosive view of the present invention；
Fig. 6 is big leg restraint gear schematic diagram of the invention；
Fig. 7 is Main Control Tank structural schematic diagram of the present invention；
Fig. 8 is vital signs monitoring device schematic diagram of the present invention.
Appended drawing reference is as follows:
Back support, 2- master control cabinet, 201- Main Control Tank bottom case, 202- central processing unit, 203-WIFI days on the right side of 1-
WIFI module that line, 204- are wireless, 205- lithium battery, the first bluetooth module of 206-, the left side 3- back support, the fixed spiral shell of 4- waistband
Bolt, 5- waistband, 6- connection sheet, 7- left lumbar supporting element, 701-G type connector, 702- waist fixing bolt, 704-G type connect
Fitting fixing bolt, 705-L type supporting element, 8- front side waist portion adjustment structure, 9- posterior lumbar adjustment structure, 10- hip joint it is solid
Determine bolt, 11- hip joint driving mechanism, 1101- coding counter, 1102- hip joint servo motor, 1103- retarder to fix
Bolt, 1104- hip joint servo motor gasket, 1105- hip joint L-type retarder gasket, 1106- hip joint L-type retarder,
1107- hip joint key, 1108- hip joint shell fixing bolt, the left side 1109- fixed disc, 1110- hip joint driving mechanism are defeated
Shaft, 1111- hip joint rotation case, 1112- hip joint output flange, 1113- hip joint output flange bolt, 1114- hip
Arthrodesis shell, 1115- positioning bearing, 1116- output flange retaining ring, 1117- bearing locating flange, outside 1118- hip joint
Shell washer, clamping rings on the right side of 1119-, 1120- hip joint bolt of cover, 12- left side lumbar supporting element, 13- dislocation connector,
14- dislocation connector bolt, the main connector of 15- thigh, the big leg restraint gear of 16-, 1601- restraining fixed structure, 1602- long
Fixing bolt, 1603- pressure-strain piece, 1604- thigh restraining, 17- knee joint driving mechanism, the small leg restraint gear of 18-,
The main connector of 19- shank, 20- sole bolt, 21- sole, 22- foot fixing belt, six axis motion process component of 24-, 2501-
Display screen, 2502- wrist restraining, 2503- pulses measure module, 2504- data connecting line, 2505- large arm restraining,
2506- blood pressure measurement module, the second bluetooth module of 2507-.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.
In present example, in conjunction with attached drawing 1,2,3 and 4, wearable Intelligent lower limb convalescence device, by waist mechanism, back
Portion mechanism, driving mechanism and executing agency's composition, wherein left lumbar support frame 7 is identical with 12 mechanism of left side lumbar support frame,
One end is G type connector 701, and the other end is fixed by front side waist portion adjustment structure 8 and posterior lumbar adjustment structure 9；Six axis
Motion process component 24 is located at the outside of left side lumbar support frame 12, and danger button is located at the outside of left lumbar support frame 7；
The left side back support 3 and 1 set of right side back support are on respective side waist main backstop, blending bolt
It is fastenedly connected；Master control cabinet 2 is fixed on left side back support 3 and right side back support 1 by connection sheet 6, on waistband 5
Sets of holes pass through left side back support 3 and right side back support 1, and fixed using bolt；
The hip joint driving mechanism 11 is located at the downside of Lordosis support 7, and by hip joint fixing shell 1104 with
The G type connector 701 of Lordosis support 7 is threadedly coupled；Misplace connector 13, the main connector 15 of thigh, big leg restraint gear 16
Constitute hip joint executing agency, the fixed company of the hip joint output flange 1112 of dislocation connector 13 and hip joint driving mechanism 11
It connects, the main connector 15 of thigh is fixedly connected with dislocation connector 13, and big leg restraint gear 16 is connected with the main connector 15 of thigh；
The knee joint driving mechanism 17 is connect in such a way that screw fastens with the main connector 15 of thigh；The main connection of shank
Part 19, small leg restraint gear 18 form kneed executing agency, and the main connector 19 of shank and knee joint driving mechanism 17 are fixed
Connection, small leg restraint gear 18 are connected with the main connector 19 of shank；
The sole 21 and foot's fixing belt 22 constitute foot mechanism, and sole 21 and the main connector 19 of shank are hinged, foot
The fixation of portion's fixing belt 22 is riveted on sole 21；
In conjunction with Fig. 8, vital signs monitoring device is located on the right side of patient on arm, and wrist restraining 2502 is wrapped in wrist,
Large arm restraining 2505 is wrapped in large arm upper end；
In the present embodiment, it when patient dresses mechanism, is supported by adjusting left side lumbar supporting element 12 and left lumbar
The rehabilitation crowd of different waist sizes may be implemented in the positional relationship of part 7；Several circular holes being distributed on waistband various can arrange in pairs or groups
To be suitble to itself, and the flexible material of inside is but also use feeling rises；Thigh dislocation connector and the main connector of thigh pass through
The difference in bolted hole is adjusted, the needs of different height rehabilitation personnels can be suitble to.
In the present embodiment, in conjunction with attached drawing 5, hip joint driving mechanism 11 is by coding counter 1101, hip joint servo electricity
Machine 1102, retarder 1106, hip joint fixing shell 1114 and hip joint rotation case 1111, hip joint output flange 1112,
Bearing 1115, washer 1118, cage connection bearing locating flange 1117 is positioned to form, its working principle is that: hip joint servo electricity
Machine 1102 rotates after receiving the instruction of control system, and coding counter 1101 records revolving speed, hip joint servo motor 1102
Output shaft match with the input terminal of hip joint L-type retarder 1106, realize slow down, and pass through hip joint L-type retarder
1106 hip joint driving mechanism output shaft 1110 exports the revolving speed after deceleration, realizes turning for hip joint output flange 1112
It is dynamic, achieve the purpose that hip joint driving mechanism.
In the present embodiment, in conjunction with attached drawing 6, big leg restraint gear 16 includes restraining fixed structure 1601, long fixed spiral shell
Bolt 1602, pressure-strain piece 1603, thigh restraining 1604, wherein pressure-strain piece 1603 is fixed on restraining fixed structure
1601 inside, restraining fixed structure 1601 is fixed by long fixing bolt 1602 and the main connector 15 of thigh, thigh constraint
Band 1604 and restraining fixed structure 1601 are fixed.When patient motion, the movement of thigh and shank, which passes through, passes through thigh restraining 16
With shank restraining 18, deform pressure-strain piece 1603, to measure pressure value.
In the present embodiment, in conjunction with attached drawing 7, master control cabinet 2 includes Main Control Tank bottom case 201, master control case lid 207, WIFI days
Line 203, central processing unit 202, wireless WIFI module 204, lithium battery 205, the first bluetooth module 206, wherein Main Control Tank bottom case
201, master control case lid 207 is bolted, WIFI antenna 203 is fixedly connected with Main Control Tank bottom case 201, and antenna end is in cabinet
Outside, central processing unit 202, wireless WIFI module 204, lithium battery 205, the first bluetooth module 206 are in box house and master control
Bottom shell 201 is fixedly connected.
In the present embodiment, vital signs monitoring device includes display screen 2501, wrist restraining 2502, pulses measure mould
Block 2503, data connecting line 2504, large arm restraining 2505, blood pressure measurement module 2506, the second bluetooth module 2507, wherein blue
Tooth module 2507, display screen 2501 and pulses measure module 2503 and the fixation of wrist restraining 2502, blood pressure measurement module 2506
It is connected in large arm restraining 2505, wrist restraining 2502 is fixedly connected with large arm restraining 2505 and data connecting line 2504.
Its principle is: pulses measure module 2503 measures the pulse frequency of patient, and blood pressure measurement module 2506 measures the blood pressure pressure of patient
Force value, surveyed numerical value passes first bluetooth module 206 for being defeated by master control box via the second bluetooth module 2507, by central processing
After the processing of device 202, numerical value is sent to LCD2501 display screen via the second bluetooth module 2507 again and is shown, to realize patient
Real-time understanding to itself basic condition, avoids causing danger.
In the present embodiment, control method are as follows:
Step 1: pressure-strain piece 1603, which measures, acts on generated pressure signal between human body lower limbs and convalescence device；Arteries and veins
Measurement module 2503 of fighting measures human pulse signal；Blood pressure measurement module 2506 measures human blood-pressure signal；
Step 2: institute's measuring pressure signal is after amplification and analog-to-digital conversion through bus transfer to central processing unit 202；Pulse letter
Number and blood pressure signal amplified and analog-to-digital conversion after through bluetooth module 2507 be transmitted to central processing unit 202；
Step 3: central processing unit 202 handles various signals；
Step 4: central processing unit 202 generates 1102 control parameter of servo motor and vital sign patient parameters, and parameter is logical
The display of display screen 2501 is crossed, and is communicated by wireless WIFI module 204 and peripheral large scale equipment；
Step 5: encoder measures 1102 revolving speed of servo motor, repairs 1102 turns of servo motor by pid control algorithm
Speed；
Step 6: it repeats above step one and arrives step 5, realize the normal operation of wearable Intelligent lower limb convalescence device.
In description of the invention, not making the term of specific explanation, such as " flexible connection ", " fixation " and " connection " should all
It is interpreted broadly, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be straight
It connects in succession, is also possible to be indirectly connected with by intermediary.It for the ordinary skill in the art, can be according to specific
Situation understands the concrete meaning of above-mentioned term in the present invention.Although the present invention has been presented for some embodiments of the present invention,
It will be appreciated by those of skill in the art that without departing from the spirit of the invention, can to the embodiments herein into
Row changes.Above-described embodiment is only exemplary, should not be using the embodiments herein as the restriction of interest field of the present invention.
Claims (5)
1. a kind of wearable Intelligent lower limb convalescence device, which is characterized in that including right side back support (1), master control cabinet
(2), left side back support (3), waistband fixing bolt (4), waistband (5), connection sheet (6), left lumbar support frame (7), preceding
Side waist adjustment structure (8), posterior lumbar adjustment structure (9), hip joint fixing bolt (10), hip joint driving mechanism (11),
Left side lumbar support frame (12), dislocation connector (13), dislocation connector bolt (14), the main connector of thigh (15), thigh are solid
Determine mechanism (16), knee joint driving mechanism (17), small leg restraint gear (18), the main connector of shank (19), sole bolt (20),
Sole (21) and foot's fixing belt (22)；
The left side back support (3) and right side back support (1) one end are respectively perpendicular and are sleeved on left side lumbar support frame
(12) it and on left lumbar support frame (7), and is fastenedly connected with screw；The left side back support (3) and right side back branch
It is connected with master control cabinet (2) on support (1) by connection sheet (6), and fixed with waistband fixing bolt (4)；
The left lumbar support frame (7) is identical with left side lumbar support frame (12) structure, and one end is G type connector (701),
The other end is fixed together by front side waist portion adjustment structure (8) and posterior lumbar adjustment structure (9)；The left side lumbar support
Six axis motion process components (24) are provided on frame (12)；Danger button is provided on the left lumbar support frame (7)；It is described
Six axis motion process components (24) are connect by conducting wire with master control cabinet (2) with danger button；
Hip joint driving mechanism (11) are provided on the downside of the left lumbar support frame (7) and left side lumbar support frame (12),
The G type connector (701) of the left lumbar support frame (7) and left side lumbar support frame (12) respectively with hip joint driving mechanism
(11) the hip joint fixing shell (1114) in is bolted；The hip joint output flange (1112) of hip joint driving mechanism (11)
It is bolted by dislocation connector bolt (14) and dislocation connector (13) one end；The other end of dislocation connector (13) passes through
Screw thread is connected with the main connector of thigh (15) one end, the other end of the main connector of thigh (15) and knee joint driving mechanism (17)
One end is connected；Big leg restraint gear (16) are provided on the inside of the main connector of thigh (15)；The knee joint driving mechanism (17) is another
One end is connected with the main connector of shank (19) one end；The main connector of shank (19) other end and sole (21) pass through sole bolt
(20) it connects；Riveting has foot's fixing belt (22) on sole (21)；Vital signs monitoring device is located on the right side of patient on arm；
The hip joint driving mechanism (11) is identical as knee joint driving mechanism (17) structure；The hip joint driving mechanism (11)
Including coding counter (1101), hip joint servo motor (1102), hip joint servo motor gasket (1104), hip joint L-type
Retarder gasket (1105), hip joint driving mechanism output shaft (1110), hip joint key (1107), hip joint output flange
(1112), hip joint fixing shell (1114), left side fixed disc (1109), right side clamping rings (1119), hip joint rotation
Shell (1111), positioning bearing (1115), bearing locating flange (1117) and hip joint shell gasket (1118)；The hip joint
Servo motor (1102) is connect by conducting wire with master control cabinet (2)；
The tail portion of the hip joint servo motor (1102) is equipped with coding counter (1101), hip joint servo motor (1102)
Output shaft is connected with hip joint L-type retarder (1106)；The hip joint servo motor (1102) and hip joint L-type retarder
(1106) hip joint servo motor gasket (1104) and hip joint L-type retarder gasket (1105) are provided between；The hip closes
Left side fixed disc (1109), hip joint output flange (1112), axis are sequentially installed on section driving mechanism output shaft (1110)
Hold locating flange (1117), hip joint shell gasket (1118) and right side clamping rings (1119), wherein hip joint output flange
(1112) it is connected by hip joint key (1107) with hip joint driving mechanism output shaft (1110)；The output of hip joint driving mechanism
Axis (1110) one end is mounted in positioning bearing (1115), and the other end is mounted on the output end of hip joint L-type retarder (1106)；
The big leg restraint gear (16) includes restraining fixed structure (1601), long fixing bolt (1602), pressure-strain piece
(1603) and thigh restraining (1604)；The restraining fixed structure (1601) is U-shaped structure；The pressure-strain piece
(1603) it is fixed on the inside of restraining fixed structure (1601), restraining fixed structure (1601) passes through long fixing bolt
(1602) fixed with the main connector of thigh (15), thigh restraining (1604) and restraining fixed structure (1601) are fixed.
2. wearable Intelligent lower limb convalescence device according to claim 1, which is characterized in that the left lumbar support frame
It (7) include L-type supporting element (705) and G type connector (701)；One end setting G type connector of the L-type supporting element (705) is solid
Determine bolt (704), and G type connector fixing bolt (704) and G type connector (701) are fastened by L-type supporting element nut.
3. wearable Intelligent lower limb convalescence device according to claim 1, which is characterized in that the left side back support
(3), right side back support (1), left side lumbar support frame (12), front side waist portion adjustment structure (8), posterior lumbar adjust knot
Structure (9) left lumbar support frame (7), misplaces connector (13), the material of the main connector of thigh (15), the main connector of shank (19)
Matter is carbon fiber；The material of the waistband (5) is hard leather.
4. wearable Intelligent lower limb convalescence device according to claim 1, which is characterized in that master control cabinet (2) packet
Include Main Control Tank bottom case (201), master control case lid (207), WIFI antenna (203), central processing unit (202), wireless WIFI module
(204), lithium battery (205) and the first bluetooth module (206)；The Main Control Tank bottom case (201), master control case lid (207) pass through spiral shell
It tethers and connects；The WIFI antenna (203) is fixedly connected with Main Control Tank bottom case (201), and WIFI antenna (203) one end is located at master control
Bottom shell (201) is external；The central processing unit (202), wireless WIFI module (204), lithium battery (205), the first bluetooth mould
Block (206) is connected by conducting wire, and is built in box house and is fixed on Main Control Tank bottom case (201).
5. wearable Intelligent lower limb convalescence device according to claim 1, which is characterized in that the vital signs monitoring is set
Standby includes display screen (2501), wrist restraining (2502), pulses measure module (2503), data connecting line (2504), large arm
Restraining (2505), blood pressure measurement module (2506) and the second bluetooth module (2507)；Second bluetooth module (2507) shows
Display screen (2501) and pulses measure module (2503) be placed on wrist restraining (2502), the blood pressure measurement module (2506) with
Large arm restraining (2505) connection, wrist restraining (2502) and large arm restraining (2505) are solid by data connecting line (2504)
Fixed connection.
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| CN201611096826.8A CN106420267B (en) | 2016-12-02 | 2016-12-02 | A kind of wearable Intelligent lower limb convalescence device and control method |
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| CN201611096826.8A CN106420267B (en) | 2016-12-02 | 2016-12-02 | A kind of wearable Intelligent lower limb convalescence device and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106859916A (en) * | 2017-03-24 | 2017-06-20 | 林娟娟 | Leg training instrument |
| WO2019031958A1 (en) * | 2017-08-10 | 2019-02-14 | Centro De Enseñanza Técnica Industrial | Apparatus for arm and shoulder muscle rehabilitation |
| CN107684503A (en) * | 2017-10-22 | 2018-02-13 | 杨远明 | One kind auxiliary recovery set for lower limbs |
| CN107664979A (en) * | 2017-11-09 | 2018-02-06 | 顺德职业技术学院 | Novel lower limb joint recovering Setup Controller |
| CN109648546B (en) * | 2019-02-25 | 2021-09-07 | 清华大学 | Adjustable light and thin exoskeleton knee joint driver |
| CN110664586B (en) * | 2019-09-26 | 2023-05-16 | 湖北文理学院 | Waist rehabilitation robot |
| CN111053677A (en) * | 2020-01-09 | 2020-04-24 | 荷塘探索国际健康科技发展（北京）有限公司 | Limb rehabilitation training device |
| CN112315734B (en) * | 2020-09-27 | 2022-06-10 | 重庆理工大学 | Pneumatic muscle-driven lower limb rehabilitation exoskeleton and rehabilitation work control method thereof |
| CN113520688A (en) * | 2021-06-17 | 2021-10-22 | 四川护理职业学院 | Intelligent ankle and foot correction device and method for children with cerebral palsy |
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| CN105213155A (en) * | 2015-10-29 | 2016-01-06 | 刘珩先 | A kind of artificial intelligence motion's auxiliary facilities |
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| JP3833921B2 (en) * | 2001-10-18 | 2006-10-18 | 本田技研工業株式会社 | Walking state determination apparatus and method |
| US7628766B1 (en) * | 2003-10-29 | 2009-12-08 | The Regents Of The University Of California | Lower extremity enhancer |
| KR101222916B1 (en) * | 2010-12-29 | 2013-01-16 | 경북대학교 산학협력단 | Waist support structure, and robot suit for wearable robot for assisting the muscular strength of lower extremity using thereof |
| US9855181B2 (en) * | 2013-03-15 | 2018-01-02 | Bionik Laboratories, Inc. | Transmission assembly for use in an exoskeleton apparatus |
| JP6357627B2 (en) * | 2014-01-30 | 2018-07-18 | 国立大学法人 筑波大学 | Wearable motion assist device |
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| CN105213155A (en) * | 2015-10-29 | 2016-01-06 | 刘珩先 | A kind of artificial intelligence motion's auxiliary facilities |
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