CN107149539B - Lower limb rehabilitation walking-aid robot supporting omnidirectional movement and control method - Google Patents

Lower limb rehabilitation walking-aid robot supporting omnidirectional movement and control method Download PDF

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Publication number
CN107149539B
CN107149539B CN201610125466.3A CN201610125466A CN107149539B CN 107149539 B CN107149539 B CN 107149539B CN 201610125466 A CN201610125466 A CN 201610125466A CN 107149539 B CN107149539 B CN 107149539B
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guide rail
module
robot
measuring device
support
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CN201610125466.3A
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CN107149539A (en
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叶震
刘鹏
陆瑾瑶
乐珺
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Shanghai Electric Group Corp
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Shanghai Electric Group Corp
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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
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • 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
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • 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
    • 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
    • A61H2201/5058—Sensors or detectors
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/20—Distances or displacements
    • A63B2220/24—Angular displacement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/836—Sensors arranged on the body of the user

Abstract

The invention relates to a lower limb rehabilitation walking aid robot supporting omnidirectional movement, wherein a vehicle body module is used for the omnidirectional movement of the robot to realize the cooperative motion with a user; the lifting module is connected to the vehicle body module and used for supporting and lightening the load of a user; the supporting module is connected to the lifting module, has three passive degrees of freedom, is used for giving a certain free motion space to a user, realizes flexible connection between the user and the robot, and detects displacement information of the user; the tension module is connected to the support module and used for detecting the interaction force between a user and the robot and providing feedback information for the control of the body module and the lifting module of the robot; the quick connection module is connected with the tension module and used for quick connection and separation between a user and the robot. The invention also relates to a control method of the robot. The invention can move along with the patient in all directions, so that the patient can do rehabilitation exercise under the real walking condition.

Description

Lower limb rehabilitation walking-aid robot supporting omnidirectional movement and control method
Technical Field
The invention relates to the technical field of rehabilitation medical instruments, in particular to a lower limb rehabilitation walking-aid robot supporting omnidirectional movement.
Background
According to data statistics, the number of the existing stroke patients in China is about 1000 or more than ten thousand, more than 250 patients are newly added every year, and the number of the patients is increased along with the aging. Of these patients, 70% to 80% of patients suffer from various degrees of lower limb movement disorders. Medical studies have shown that motor dysfunction caused by such nerve damage can be treated by repetitive active or passive training for specific functions of the limb.
In the traditional rehabilitation exercise training treatment process, a patient usually needs to be assisted by a doctor to perform exercise training of each single or comprehensive item, but the method has certain limitations: 1. the number of doctors is extremely insufficient relative to a large patient group; 2. the labor intensity of doctors is high, the doctors are difficult to help patients to carry out rehabilitation training for a long time, and the training time is easily shorter than the time necessary for obtaining the optimal treatment effect; 3. during training, doctors often need to adopt unreasonable sitting postures, which can have adverse effects on the health of the doctors; 4. repeated training and real-time monitoring of treatment effects are not possible, direct feedback to the patient is not available, and adjustment of the training program according to the recovery effect is not facilitated. Based on the above points, it is urgently needed to develop a lower limb rehabilitation robot to assist a doctor in rehabilitation training.
Currently, the types of the lower limb rehabilitation robot in mainstream are an exoskeleton type, a handle supporting type and a rope driving type.
Patent CN 102670379 a discloses a mobile wearable lower limb rehabilitation robot, which comprises an exoskeleton support and a lower limb exoskeleton, wherein: the lower limb exoskeleton is used for walking of a patient and providing gait analysis and rehabilitation training; the exoskeleton support is used for fixing a patient and a rehabilitation robot, and support rollers are arranged at four ends of the support base.
Patent CN 101803988 discloses a multifunctional standing-aid walking-aid rehabilitation robot. The robot comprises a mechanical standing assisting device, a chassis moving device and a monitoring control device. The mechanical standing-assisting device drives the handrail device through the electric push rod to assist the patient to swing the two arms. The chassis realizes the all-round movement through four mecanum wheels and four motors. The monitoring device comprises a vision sensor, a distance measuring sensor, a six-dimensional force sensor and a pressure sensor array.
Patent CN 101862255 a discloses a cable-drawn lower limb gait rehabilitation robot, which comprises a frame, a treadmill, a cable-drawn system, a linkage system and an angle sensor. The robot helps a user to perform rehabilitation training in a rope traction mode.
The exoskeleton rehabilitation robot mainly aims at patients who have no walking ability or extremely low walking ability. Because the exoskeleton artificial limb mechanism is adopted to forcibly drive the patient to move in the rehabilitation mode, the movement freedom degree of the pelvis and the lower limbs of the patient during walking can be greatly limited, so that the movement force application mode of the muscles is different from that of normal people.
The handle-supported rehabilitation robot requires a patient to support the body by hand strength, has high physical strength requirement on the patient, and is not suitable for patients with injured hands or weak hand strength. For normal walking rehabilitation, it is difficult to perform hand and foot coordination rehabilitation training.
The rope-driven rehabilitation robot has a simple structure, but generally has a large volume, is generally suitable for chassis-fixed rehabilitation instruments such as treadmills and the like, and is difficult to control weight loss with high precision due to the existence of component force on the rope when applied to mobile rehabilitation instruments.
In addition, the rehabilitation robots mentioned in the above patents do not have the function of assisting the patient to do rehabilitation training during transverse, rotational, oblique movements and the like. For example, patent CN 102670379 a has no closed loop feedback, and lacks adaptive adjustment function for the walking state of the patient. Patent CN 101803988, adopt range finding sensor monitoring patient's gait, can not detect patient's lateral motion, slant motion or rotation etc. can not make the robot do corresponding motion to cooperation patient carries out rehabilitation.
Disclosure of Invention
The invention aims to provide a lower limb rehabilitation walking aid robot supporting omnidirectional movement, which can move in all directions along with a patient so that the patient can perform rehabilitation movement under a real walking condition.
The technical scheme adopted by the invention for solving the technical problems is as follows: the lower limb rehabilitation walking-aid robot supporting omnidirectional movement comprises a vehicle body module, a lifting module, a supporting module, a pulling force module and a quick connection module, and is characterized in that the vehicle body module is used for the omnidirectional movement of the robot to realize the cooperative movement with a user; the lifting module is connected to the vehicle body module and is used for supporting and lightening the load of a user; the supporting module is connected to the lifting module, has three passive degrees of freedom, is used for giving a certain free motion space to a user, realizes flexible connection between the user and the robot, and detects displacement information of the user; the tension module is connected to the support module and used for detecting the interaction force between a user and the robot and providing feedback information for the control of the body module and the lifting module of the robot; the quick connection module is connected with the tension module and used for quick connection and separation between a user and the robot.
The vehicle body module comprises a vehicle frame, Mecanum wheels, a transmission mechanism, a driving mechanism, an installation platform and a control box; the lower end of the frame is provided with Mecanum wheels, and the upper end of the frame is provided with an installation platform for installing a lifting module; the frame is also provided with a control box; the control box controls the driving mechanism to drive the transmission mechanism to drive the Mecanum wheels to form different motion combinations, and omnibearing motion is achieved.
The transmission mechanism is a synchronous belt and a synchronous belt wheel; the driving mechanism is a servo motor and a planetary reducer; the servo motor is connected with the planetary reducer and is arranged in the middle of two sides of the frame; the Mecanum wheel is connected with the planetary reducer through a synchronous belt and a synchronous belt wheel; the control box is installed at the rear side of the frame, and the installation platform is connected to the middle position of the rear side of the frame.
The lifting module comprises a guide rail frame, a first linear guide rail, a first sliding block, a lifting mechanism and an actuating mechanism; the linear guide rail is arranged on the guide rail frame, and the first sliding block is arranged on the first linear guide rail; the supporting module is connected with the first sliding block through a lifting mechanism; the actuating mechanism drives the supporting module on the lifting mechanism to move up and down along the first linear guide rail.
The lifting mechanism comprises a ball screw and a screw nut arranged on the ball screw, and the executing mechanism is a gear box; the guide rail frame is formed by welding a plurality of square steels, and a flat plate is welded at the bottom of the guide rail frame to be used as a bottom mounting plate of the guide rail frame; the gear box is arranged on the upper side of the mounting plate at the bottom of the guide rail frame; the first linear guide rails are arranged on two sides of the guide rail frame; the ball screw is arranged in the middle of the guide rail frame and is connected with an output shaft of the gear box through a first coupler; and the motor on the gear box rotates to drive the ball screw to rotate, so that the nut moves up and down.
The supporting module comprises a lifting connecting plate, a lower guide rail mounting plate, an upper guide rail mounting plate, a rotating mechanism and a rotating supporting arm; the lifting connecting plate is connected with the lifting module; the lower guide rail mounting plate is overlapped on the lifting connecting plate through a first interlayer mechanism, and the upper guide rail mounting plate is overlapped on the lower guide rail mounting plate through a second interlayer mechanism; the first interlayer mechanism and the second interlayer mechanism are used for realizing the adjustment of the freedom degree of movement in four directions, namely front, back, left and right; the rotary supporting arm is arranged on the upper guide rail mounting plate through a rotary mechanism and can rotate on the peripheral surface where the upper guide rail mounting plate is arranged; the tail end of the rotary supporting arm is used for being connected with the tension module.
The rotating mechanism comprises a crossed roller bearing and a connecting shaft; the outer ring of the crossed roller bearing is in threaded connection with the upper guide rail mounting plate, and the inner ring of the crossed roller bearing is in threaded connection with the connecting shaft; the connecting shaft is sleeved in the hole of the rotary supporting arm and fixedly connected with the upper surface of the rotary supporting arm.
The support module further comprises a limiting mechanism, and the limiting mechanism comprises a limiting pin and a limiting stop block; the spacer pin is installed the lower surface of support arm, limit stop installs on the upper guideway mounting panel, spacer pin one end is limited in limit stop realizes spacing to the rotation angle of rotation support arm.
The first interlayer mechanism comprises a second sliding block, a second linear guide rail and a first linear displacement measuring device; the second linear guide rail is arranged on the lifting connecting plate, and the second sliding block is arranged on the second linear guide rail and connected with the lower surface of the lower guide rail mounting plate; the first linear displacement measuring device is used for detecting the displacement of the second sliding block.
The first interlayer mechanism further comprises a first spring guide rod, a first spring mounting support and a first spring guide rod support; the first spring mounting support is mounted on the lifting connecting plate, the first spring guide rod support is connected with the lower surface of the lower guide rail mounting plate, and the first spring guide rod penetrates through holes of the first spring mounting support and the first spring guide rod support in sequence; the first spring guide rod is sleeved with a first compression spring, one end of the first compression spring abuts against the first spring guide rod support, the other end of the first compression spring abuts against a first spring adjusting shaft, and the first spring adjusting shaft is connected in a hole of the first spring mounting support.
First linear displacement measuring device includes first displacement measuring device mount pad and first displacement measuring device, first displacement measuring device mount pad is connected the lower surface of lower rail mounting panel, install first displacement measuring device in the hole of first displacement measuring device mount pad, first displacement measuring device is terminal to be in the same place with first displacement measuring device leg joint, first displacement measuring device leg joint is on the lift connecting plate.
The second interlayer mechanism comprises a third sliding block, a third linear guide rail, a second linear displacement measuring device and an angle measuring device; the third linear guide rail is arranged on the lower guide rail mounting plate, and the third sliding block is connected with the lower surface of the upper guide rail mounting plate; the second linear displacement measuring device mounting base is connected to the upper surface of the lower guide rail mounting plate, and the second linear displacement measuring device is used for detecting the displacement of the third sliding block; the angle measuring device is used for detecting the rotation angle of the rotating supporting arm.
The second interlayer mechanism comprises a second spring guide rod, a second spring mounting support and a second spring guide rod support; the second spring mounting support is mounted on the lower surface of the upper guide rail mounting plate, the second spring guide rod support is connected with the upper surface of the lower guide rail mounting plate, and the second spring guide rod penetrates through holes of the second spring mounting support and the second spring guide rod support in sequence; and a second compression spring is sleeved on the second spring guide rod, one end of the second compression spring abuts against the second spring guide rod support, the other end of the second compression spring abuts against a second spring adjusting shaft, and the second spring adjusting shaft is connected in a hole of the second spring mounting support.
The second linear displacement measuring device comprises a second displacement measuring device mounting seat and a second displacement measuring device, the second displacement measuring device mounting seat is connected with the lower surface of the upper guide rail mounting plate, the second displacement measuring device is mounted in a hole of the second displacement measuring device mounting seat, the tail end of the second displacement measuring device is connected with a second displacement measuring device support, and the second displacement measuring device is connected with the lower guide rail mounting plate through a support.
The angle measuring device comprises a coupling connecting shaft, a second coupling, an angle measuring bracket and an angle measurer; the angle measurer bracket is arranged on the lower surface of the upper guide rail mounting plate, and the angle measurer is connected with the angle measurer bracket through threads; and the shaft of the angle measurer is connected with the coupling connecting shaft through a second coupling.
The angle measurer is an angle sensor, a rotary encoder, a torque sensor or a speed measuring encoder.
The tension module comprises a fixed connecting mechanism, a force transmission mechanism, a first force sensor and a second force sensor; the fixed connecting mechanism is used for installing a first force sensor and a second force sensor and is connected with the supporting module and the quick-connection module; when the fixing mechanism is subjected to forces in four directions, namely up, down, front and back, the second force sensor can detect forces in two directions, and the forces are simultaneously transmitted to the first force sensor through the force transmission mechanism, so that the first force sensor can detect forces in the other two directions.
The fixed connecting mechanism comprises a side plate, an upper side plate and four outer side plates; the force transmission mechanism comprises a guide rail mounting plate and a fourth linear guide rail; two outer side plates of the four outer side plates are connected with the rotary supporting arms of the supporting module and are connected with the side surfaces of the side plates; the upper side plate is connected with the upper sides of the other two outer side plates, and the opposite surfaces of the two outer side plates connecting the side plates are connected with the other two outer side plates; the inner side surfaces of the four outer side plates are provided with a fourth sliding block positioned on a fourth linear guide rail, and the fourth linear guide rail is arranged on the guide rail mounting plate; one end of the first force sensor is fixed with the side plate, the other end of the first force sensor is connected with the guide rail mounting plate, one end of the second force sensor is fixed with the upper side plate, and the other end of the second force sensor is connected with the guide rail mounting plate; when the upper side plate is stressed in the up-down direction and the front-back direction, the second force sensor can detect the force in the up-down direction, and the force is simultaneously transmitted to the first force sensor through the guide rail mounting plate, so that the first force sensor can detect the force in the front-back direction.
The quick connection module comprises a clamping mechanism, a pressing plate, a connecting plate and a half-length waistband; the clamping mechanism is connected with the tension module; the clamping mechanism can fix the connecting plate when clamping; the half waist belt is pressed between the pressing plate and the connecting plate.
The clamping mechanism comprises a clamping block, a cam handle and a connecting pin; the clamping block is fixed on the tension module; the cam handle is arranged in the threaded hole of the clamping block; the connecting pin is inserted into the central hole of the clamping block and is connected with the connecting plate; when the cam handle is rotated to be vertical to the installation surface of the cam handle, the gap of the clamping block is increased to the size that the connecting pin can be pulled out; when the cam handle is rotated to be parallel to the mounting surface of the cam handle, the gap of the clamping block is reduced, so that the connecting pin inserted into the central hole is clamped in the hole and cannot be pulled out, and the connecting plate is fixed between the clamping block and the end surface of the connecting pin.
The technical scheme adopted by the invention for solving the technical problems is as follows: the control method of the lower limb rehabilitation walking aid robot supporting the omnidirectional movement is further provided, wherein the support module detects the relative displacement between the user and the lower limb rehabilitation walking aid robot, and controls the vehicle body module according to the detected relative displacement so as to ensure that the relative displacement distance between the user and the lower limb rehabilitation walking aid robot is in the free movement range provided by the support module; the pulling force module detects the relative acting force between the user and the lower limb rehabilitation walking-aid robot, controls the vehicle body module according to the detected relative acting force to ensure that the vehicle body module can have follow-up property, and controls the lifting module to ensure that the load of the user is lightened.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
the invention adopts the modularization idea for the design of the whole robot, and all modules are mutually independent, thereby being convenient for installation, maintenance and module upgrade. Especially, the robot and the patient are connected in a quick insertion mode, so that a doctor can conveniently wear a training coat for the patient on one hand, and the application range of the robot can be expanded by upgrading a connecting piece connected with the patient on the other hand, and different requirements of the patient, such as physique, training items and the like, are met.
The invention adopts an inertial sensor to obtain the gait of the patient. The inertial sensor is directly arranged on the training outer sleeve, is fixed on each joint arm through wearing of the patient and moves along with the movement of each joint, so that the state of each joint of the patient in training can be truly reflected. Compared with a distance measuring sensor, the device is more visual and accurate, and can also accurately identify the intentions of the patient such as in-situ shaking, turning, oblique movement, transverse movement and the like.
The support module provided by the invention adopts two groups of guide rails and a rotating shaft design, and is matched with the spring and the damping block, three passive degrees of freedom are provided to form flexible connection between a user and the robot, and the support is provided while the user is provided with enough freedom of movement in a safe range, so that the user cannot generate a constraint feeling. The guide rail and the rotating shaft are provided with the displacement sensor and the angle sensor, so that the robot can acquire the position information of the patient in real time, can be used for estimating training effect parameters such as the center track, the pace and the like of the patient, and can also be used as feedback control information of the bottom motion platform.
The invention adopts hip joint support, frees the hands of the patient, enables the patient to be closer to the real situation when doing walking rehabilitation training, and can assist in completing certain upper and lower limb coordination rehabilitation training items.
The weight reduction module is controlled by a servo motor and matched with the force sensor and the inertial sensor, so that the robot can support the weight of a user according to set parameters to help the user reduce the load, and can stably support the patient when the patient is carelessly unstable, so that the user is prevented from falling or being subjected to excessive impact, and the rehabilitation training can be finished by the robot in a safe and gradual manner.
The force sensing module designed by the invention overcomes the defect of poor tensile property of the traditional force sensor; the multi-dimensional force sensing function is realized by combining a plurality of one-dimensional force sensors; the whole module also encapsulates the force sensor, and reduces the influence of external environment change on a sensing circuit of the force sensor.
The power supply system of the invention adopts the storage battery and the inverter, so that the rehabilitation robot can not be limited by power supply and is suitable for various rehabilitation environments.
Drawings
Fig. 1 is a schematic structural diagram of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a body module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lifting module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a support module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a first sandwich mechanism in a support module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a second sandwich mechanism in a support module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an angle measuring device in a support module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a tension module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 9 is a schematic diagram illustrating an internal structure of a tension module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a quick-connection module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a clamping mechanism in a quick-connection module of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention;
fig. 12 is a block diagram illustrating control of a lower limb rehabilitation robot based on mecanum wheels according to an embodiment of the present invention.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The invention relates to a lower limb rehabilitation walking-aid robot supporting omnidirectional movement, which comprises a vehicle body module, a lifting module, a supporting module, a pulling force module and a quick connection module, wherein the vehicle body module is used for the omnidirectional movement of the robot so as to realize the cooperative motion with a user; the lifting module is vertically connected to the vehicle body module and is used for supporting and lightening the load of a user; the supporting module is transversely connected to the lifting module, has three passive degrees of freedom and is used for providing a certain free motion space for a user, realizing flexible connection between the user and the robot and detecting displacement information of the user; the tension module is connected to the support module and used for detecting the interaction force between a user and the robot and providing feedback information for the control of the body module and the lifting module of the robot; the quick connection module is connected with the tension module and used for quick connection and separation between a user and the robot.
The robot can move in all directions along with a user, and provides enough movement freedom and movement space for the joints of the user, so that the user can perform rehabilitation training without motion interference and real walking conditions. The robot can also reduce certain load of a user, and when the user is unstable and falls down, the robot can support the robot in a flexible mode, so that the robot cannot fall down and cannot be impacted excessively. Meanwhile, the robot can record various information of the user in real time and is used for guiding the judgment of the rehabilitation effect and the establishment of the rehabilitation strategy.
As shown in fig. 1, the lower limb rehabilitation robot based on mecanum wheels has five modules, which are respectively: the device comprises a vehicle body module 1, a lifting module 2, a supporting module 3, a tension module 4 and a quick connection module 5. Connect module 5 soon and link to each other with pulling force module 4, pulling force module 4 links to each other with support module 3, and support module 3 links to each other with lifting module 2, and lifting module 2 links to each other with automobile body module 1, can be convenient between module and the module install or dismantle.
As shown in fig. 2, a vehicle body module 1 of a lower limb rehabilitation robot based on mecanum wheels includes: the frame 11, the first synchronous belt pulley 141, the bolt seat 151, the synchronous belt 142, the tension bolt 152, the second synchronous belt pulley 143, the mecanum wheel 121, the wheel seat 122, the vehicle body servo motor 131, the planetary reducer 132, the motor seat 133 and the mounting platform 16. Wherein: mecanum wheel 121 is mounted in a recess of wheel seat 122, and wheel seat 122 is bolted to the lower surfaces of the four ends of frame 11; the vehicle body servo motor 131 is connected with the planetary reducer 132, and both are mounted on a motor base 133, and the motor base 133 is mounted on the upper surface of the frame 11; the first synchronous pulley 141 is connected with the planetary reducer 132 on the outer side surface of the motor base 133, the second synchronous pulley 143 is connected with the mecanum wheel 121 on the outer side surface of the wheel base 122, and the first synchronous pulley 141 and the second synchronous pulley 143 are connected through a synchronous belt 142 to form a transmission device; the tensioning bolt 151 is installed in the bolt seat 152, the bolt seat 152 is installed on the upper surface of the vehicle body 11, one end of the tensioning bolt 151 abuts against the motor seat 133, and the position of the motor seat 133 can be adjusted by rotating the tensioning bolt 151, so that the synchronous belt 142 is tensioned; the rear side of the frame 11 is also provided with a stabilizing module 6, and the center of gravity of the whole lower limb rehabilitation robot can be stabilized by the stabilizing module 6, so that a user can more conveniently use the robot, and the user is prevented from falling down due to instability. The mounting platform 16 is mounted at the rear center of the frame 11, which can better support the patient; the lifting module 2 is bolted to the mounting platform 16 and is mounted on the vehicle body module 1.
As shown in fig. 3, the lifting module 2 of the lower limb rehabilitation robot based on mecanum wheels includes: the linear guide rail 241, the screw base upper backing plate 216, the first bearing seat 254, the first slider 242, the screw nut 252, the ball screw 251, the guide rail bracket 211, the guide rail pressing plate 215, the nut seat 253, the screw base lower backing plate 217, the guide rail supporting seat 214, the second bearing seat 255, the shaft end nut 256, the first coupling 26, the gear box 22, the side supporting bracket 23, the guide rail backing plate 213 and the bottom mounting plate 212. Wherein: the guide rail frame 211 is formed by welding multiple sections of square steel and is also welded with the bottom mounting plate 212 into a whole; the guide rail backing plate 213 is welded on the front side of the square steel on the two sides of the guide rail frame 211, the guide rail supporting seat 214 is welded under the guide rail pressing plate 215, and a bolt penetrates through a threaded hole of the guide rail backing plate to abut against the lower side surface of the first linear guide rail 241; the first linear guide rail 241 is connected to the guide rail base plate 213 through a thread, and the first slider 242 is embedded in the first linear guide rail 241 and can move linearly smoothly; the rail pressing plate 215 is connected to the rail pad plate 213 by a screw and abuts against a side surface of the first linear guide 241 to prevent the position of the first linear guide 241 from being loosened; the screw rod seat upper backing plate 216 is welded at the center of the front face of the transverse square steel at the upper end of the guide rail frame 241, and the screw rod seat lower backing plate 217 is welded at the center of the front face of the transverse square steel at the lower end of the guide rail frame 241; the first bearing seat 254 is connected with the screw base upper backing plate 216 through a screw, and the second bearing seat 255 is connected with the screw base lower backing plate 217 through a screw; the upper end and the lower end of the ball screw 251 are respectively installed in the holes of the first bearing seat 254 and the second bearing seat 255; the nut seat 253 is in threaded connection with the lead screw nut 252, and the support module 3 is connected with the lifting module 2 through the lead screw nut 252 and the first sliding blocks 242 on both sides; the side support brackets 23 are in threaded connection with the bottom mounting plate 212, the gear box 22 is mounted between the side support brackets 23, and the output shaft of the gear box 22 is connected with the lower end of the ball screw 251 through the first coupler 26.
In fig. 3, the ball screw 251 and the screw nut 252 are adopted as the lifting mechanism capable of realizing weight reduction transmission, and it is worth mentioning that the function of weight reduction transmission can also be realized by other devices such as a synchronous belt. The inside of the gear box 22 can adopt a gear transmission mode to transmit the power of the servo motor to the ball screw, and can also adopt a synchronous belt transmission mode to transmit the power of the servo motor to the ball screw, and the power can be specifically selected according to the actual application environment.
As shown in fig. 4, the support module 3 of the lower limb rehabilitation robot based on mecanum wheels includes: the lifting connecting plate 31, the lower guide rail mounting plate 32, the upper guide rail mounting plate 33, the cross roller bearing 381, the connecting shaft 382, the rotating supporting arm 383, the limit pin 391, the limit stop 392, the first interlayer mechanism 301 between the lifting connecting plate 31 and the lower guide rail mounting plate 32, and the second interlayer mechanism 302 between the lower guide rail mounting plate 32 and the upper guide rail mounting plate 33. Wherein: the lifting connecting plate 31 is connected with a nut seat 253 and a first sliding block 242 in the lifting module 2 through screws, the lower guide rail mounting plate 32 is overlapped on the lifting connecting plate 31 through a sandwich mechanism, and the upper guide rail mounting plate 33 is overlapped on the lower guide rail mounting plate 32 through the sandwich mechanism; the outer ring of the cross roller bearing 381 is in threaded connection with the upper guide rail mounting plate 33, and the inner ring of the cross roller bearing 381 is in threaded connection with the connecting shaft 382; the connecting shaft 382 is sleeved in a hole of the rotating support arm 383, and is connected with the upper surface of the rotating support arm 383 through a screw; the tail end of the rotary support arm 383 is in threaded connection with the tension module 4; the limit pin 391 is installed on the lower surface of the rotation support arm 383, the limit stop 392 is installed on the upper guide rail installation plate 33, and one end of the limit pin 391 is located between the two limit stops 392, so that the rotation support arm 383 rotates to limit the rotation angle.
As shown in fig. 5, the first sandwiching mechanism 301 includes: the linear potentiometer comprises a second sliding block 342, a compression spring 361, a second linear guide rail 341, a spring adjusting shaft 362, a spring guide rod 363, a spring mounting seat 364, a polyurethane pad 365, a spring guide rod seat 366, a linear potentiometer mounting seat 352, a linear potentiometer 351 and a potentiometer connecting bracket 353. Wherein, the second linear guide 341 is installed on the lifting connection plate 31, and the second slider 342 is connected with the lower surface of the lower guide installation plate 32; the spring mounting support 364 is mounted on the lifting connecting plate 31, the spring guide rod support 366 is connected with the lower surface of the lower guide rail mounting plate 32, and the spring guide rod 363 sequentially penetrates through the holes of the spring mounting support 364 and the spring guide rod support 366; a compression spring 361 is fitted over the spring guide 363, with one end abutting the spring guide support 366 and the other end abutting the spring adjustment shaft 362, the spring adjustment shaft 362 being connected in a bore of the spring mounting support 364; the linear potentiometer mounting seat 352 is connected to the lower surface of the lower rail mounting plate 32, the linear potentiometer 351 is mounted in a hole of the potentiometer mounting seat 352, the end of the linear potentiometer 351 is connected with the potentiometer support 353 through a nut, and the potentiometer support 353 is connected to the lifting connecting plate 31.
As shown in fig. 6, the second sandwiching mechanism 302 includes: a second slider 342, a compression spring 361, a second linear guide 341, a spring adjusting shaft 362, a spring guide rod 363, a spring mounting seat 364, a polyurethane pad 365, a spring guide rod seat 366, a linear potentiometer mounting seat 352, a linear potentiometer 351, a potentiometer connecting bracket 353 and an angle measuring device 37. Wherein, the second linear guide 341 is mounted on the lower guide mounting plate 32, and the second slider 342 is connected with the lower surface of the upper guide mounting plate 33; a spring mounting support 364 is mounted on the lower surface of the upper guide rail mounting plate 33, a spring guide rod support 366 is connected with the upper surface of the lower guide rail mounting plate 32, and a spring guide rod 363 sequentially penetrates through holes of the spring mounting support 364 and the spring guide rod support 366; a compression spring 361 is fitted over the spring guide 363, with one end abutting the spring guide support 366 and the other end abutting the spring adjustment shaft 362, the spring adjustment shaft 362 being connected in a bore of the spring mounting support 364; a linear potentiometer mounting seat 352 is connected to the upper surface of the lower guide rail mounting plate 32, a linear potentiometer 351 is mounted in a hole of the potentiometer mounting seat 352, the tail end of the linear potentiometer 351 is connected with a potentiometer support 353 through a nut, and the potentiometer support 353 is connected to the lower surface of the upper guide rail mounting plate 33; the angle measuring device is connected to the upper rail mounting plane 33.
As shown in fig. 7, the angle measuring device 37 includes: a coupling connecting shaft 374, a second coupling 373, an angular displacement sensor support 372, and an angular displacement sensor 371. The angular displacement sensor support 372 is mounted on the lower surface of the upper guide rail mounting plate 33, and the angular displacement sensor 371 is in threaded connection with the angular displacement sensor support 372; the shaft of the angular displacement sensor 371 is connected to the coupling connecting shaft 374 through the second coupling 373, and the coupling connecting shaft 374 is connected to the connecting shaft 382.
In this embodiment, a linear potentiometer is used as the linear displacement measuring device, and it should be mentioned that other linear displacement measuring devices can be used to measure displacement, such as a grating ruler, a magnetic grating ruler, and a laser displacement sensor; devices that measure displacement indirectly, such as velocity sensors, acceleration sensors, etc., may also be employed. In the present embodiment, the angle sensor is used as an angle measuring device, and it should be mentioned that other angle measuring devices may be used to measure the angle, such as a rotary encoder; devices that measure angle indirectly, such as torque sensors, tacho encoders, etc., may also be used.
In the lower limb rehabilitation walking aid robot, a torque sensor or an angular displacement sensor is used for measuring a rotation direction of a patient relative to the robot, so that the robot is controlled to rotate along with the patient. When the angular displacement sensor is adopted, the rotation of the patient around the robot can drive the rotary supporting arm 383 to rotate around the connecting shaft 382, so that the angular displacement sensor is driven to rotate, the rotation angle of the patient relative to the robot is measured in real time, and the direction and the movement speed of the robot are controlled according to the rotation angle and the rotation angular speed to rotate along with the patient. When the torque sensor is adopted, the shaft of the torque sensor is fixed, so that the rotation of the patient around the robot cannot drive the rotary supporting arm 383 to rotate around the connecting shaft 382, but the rotary torque is transmitted to the torque sensor, so that the rotary direction and the force of the patient relative to the robot can be obtained, and the movement direction and the movement speed of the robot can be controlled according to the rotary direction and the force to move along with the patient.
As shown in fig. 8 and 9, the tension module 4 of the lower limb rehabilitation robot based on mecanum wheels includes: the first tension sensor 431, the rail mounting plate 40, the side plate 411, the first outer plate 412, the second outer plate 413, the third linear rail and slider 44, the upper plate 421, the second tension sensor 432, the third outer plate 422, and the fourth outer plate 423. Two convex edges are arranged at two sides of the side plate 411 and the upper side plate 421, and the first outer side plate 412 and the second outer side plate 413 are respectively arranged at two sides of the side plate 411 and closely attached to the outer sides of the convex edges at two sides of the side plate 411; similarly, the third outer panel 422 and the fourth outer panel 423 are mounted on two sides of the upper panel 421 and closely attached to the outer sides of the two side ribs of the upper panel 421, and the first outer panel 412 and the second outer panel 413, and the third outer panel 422 and the fourth outer panel 423 can be ensured to be parallel by the two side ribs; two groups of third linear guide rails and sliders 44 are respectively mounted in the grooves of the guide rail mounting plate 40 and on the inner side surfaces of the first outer side plate 412, the second outer side plate 413, the third outer side plate 422 and the fourth outer side plate 423; the first tension sensor 431 is screwed into a threaded hole on the side of the guide rail mounting plate 40, the axis of the first tension sensor is along the horizontal direction, and the other end of the first tension sensor passes through a hole of the side plate 411 and is fixed with the side plate 411 through a nut; similarly, the second tension sensor 432 is screwed into a threaded hole on the side of the rail mounting plate 40, the axis of which is in the vertical direction, and the other end of which passes through a hole of the upper side plate 421 and is fixed to the upper side plate 421 by a nut.
As shown in fig. 10, the quick-connect module 5 of the lower limb rehabilitation robot based on mecanum wheels includes: a connecting pin 523, a cam handle 522, a clamping block 521, a connecting plate 513, a half waist belt 511 and a pressing plate 512. The connecting pin 523, the cam handle 522 and the clamping block 521 form a clamping mechanism as shown in fig. 11, the clamping block 521 is fixed on the upper side plate 421 through a screw, and a shaft of the cam handle 522 is fixed in a hole on the side surface of the clamping block 521 through threaded connection; the connecting pin 523 is fixed on the upper surface of the connecting plate 513 through a screw, the connecting pin 523 is inserted into a central hole of the clamping block 521, when the handle of the cam handle 522 is screwed, the connecting pin 523 is clamped in the hole of the clamping block 521, so that the connecting plate 513 is also fixed between the clamping block 521 and the end surface of the connecting pin 523; the half-length waist belt 511 is pressed between the pressing plate 512 and the connecting plate 513, and the pressing plate 512 and the connecting plate 513 are connected together through short-head screws; other mechanisms can be added between the connecting plate 513 and the half-length waist belt 511 to meet different rehabilitation training requirements. In this embodiment, the quick connection module 5 is fixed directly above the upper side plate 421 by screws, and it should be mentioned that the quick connection module 5 can also be installed in front of the upper side plate 421, and the installation position and the fixing mode can be adjusted according to actual needs.
When the lower limb rehabilitation robot based on the mecanum wheels provided in this embodiment is used, the half-length belt 511 is first put on the user and fastened. The user sits on the seat, and the robot removes to suitable position, and lifting module 2 drives support module 3 and descends to suitable height, then will connect the connecting pin 523 of module 5 soon and insert in pressing from both sides the centre bore of tight piece 521, and the cam handle 522 of screwing then links together user and rehabilitation robot, and lifting module 2 drives support module 3 and raises to suitable height, then can begin to carry out the rehabilitation training motion. During rehabilitation training, the lifting module 2 provides the weight reduction force required by the user to reduce the load borne by the user, the support module 3 provides the freedom of movement within a certain range for the user, and when the relative displacement between the user and the robot is within the movement range, the resistance of the relative movement is small, so that the connection flexibility between the user and the robot is improved. Meanwhile, as shown in fig. 12, the linear potentiometer 351 and the angular displacement sensor 371 of the support module 3 can detect the relative displacement between the user and the robot, and the detected displacement data is also used for controlling the mecanum wheel of the vehicle body module 1 to perform omnidirectional motion, so as to ensure that the relative displacement distance between the user and the robot is in the free motion range provided by the support module 3. That is, when the relative displacement amounts detected by the linear potentiometer 351 and the angular displacement sensor 371 of the support module 3 exceed the free movement range that can be provided by the support module 3, the control unit drives the mecanum wheels to realize the all-directional movement by controlling the vehicle body module so that the relative displacement distance between the user and the robot is within the free movement range that can be provided by the support module 3. The tension module 4 can also detect the relative acting force between the user and the robot, and the detected information of the relative acting force is also used for controlling the follow-up effect of the vehicle body module 1 and the weight reduction effect of the lifting module 2. That is, when the tension module 4 detects that the force in the front-back direction between the user and the robot is too large, the control unit controls the vehicle body module 1 to drive the mecanum wheels to realize omnidirectional motion, so as to realize follow-up; when the tension module 4 detects that the force in the vertical direction between the user and the robot is too large, the control unit controls the lifting module 2 to drive the gear box 22 to work, so that the effect of reducing the load is achieved. The displacement information detection and the force information detection enable the robot not to bring large constraint feeling to a user during rehabilitation training, and meanwhile, a certain free movement space is provided for the user, so that the rehabilitation training is closer to the walking state of a normal person. After the training is finished, the lifting module 2 drives the supporting module 3 to descend, the user returns to the seat, the cam handle 522 is loosened, the connecting pin 523 is pulled out from the central hole of the clamping block 521, and the separation of the robot and the user is finished. The waist band 511 is unfastened and the whole rehabilitation training process is finished.

Claims (20)

1. A lower limb rehabilitation walking-aid robot supporting omnidirectional movement comprises a vehicle body module, a lifting module, a supporting module, a pulling force module and a quick connection module, and is characterized in that the vehicle body module adopts Mecanum wheels for the omnidirectional movement of the robot to realize the cooperative movement with a user; the lifting module is connected to the vehicle body module and is used for supporting and lightening the load of a user; the support module is connected to the lifting module, has three passive degrees of freedom, is used for providing a certain free motion space for a user, realizes flexible connection between the user and the robot, and detects displacement information of the user; the tension module is connected to the support module and used for detecting the interaction force between a user and the robot and providing feedback information for the control of the body module and the lifting module of the robot; the vehicle body module controls the robot to move in all directions, and the quick connection module is connected with the tension module and used for quick connection and separation between a user and the robot.
2. The lower limb rehabilitation walking robot supporting omnidirectional movement of claim 1, wherein the vehicle body module comprises a frame, mecanum wheels, a transmission mechanism, a driving mechanism, a mounting platform and a control box; the lower end of the frame is provided with Mecanum wheels, and the upper end of the frame is provided with an installation platform for installing a lifting module; the frame is also provided with a control box; the control box controls the driving mechanism to drive the transmission mechanism to drive the Mecanum wheels to form different motion combinations, and omnibearing motion is achieved.
3. The lower limb rehabilitation walking aid robot supporting omnidirectional movement according to claim 2, wherein the transmission mechanism is a synchronous belt and a synchronous belt pulley; the driving mechanism is a servo motor and a planetary reducer; the servo motor is connected with the planetary reducer and is arranged in the middle of two sides of the frame; the Mecanum wheel is connected with the planetary reducer through a synchronous belt and a synchronous belt wheel; the control box is installed at the rear side of the frame, and the installation platform is connected to the middle position of the rear side of the frame.
4. The lower limb rehabilitation walking aid robot supporting omnidirectional movement according to claim 1, wherein the lifting module comprises a guide rail frame, a first linear guide rail, a first slide block, a lifting mechanism and an actuating mechanism; the first linear guide rail is arranged on the guide rail frame, and the first sliding block is arranged on the first linear guide rail; the supporting module is connected with the first sliding block through a lifting mechanism; the actuating mechanism drives the supporting module on the lifting mechanism to move up and down along the first linear guide rail.
5. The lower limb rehabilitation walking robot capable of supporting omnidirectional movement according to claim 4, wherein the lifting mechanism comprises a ball screw and a screw nut mounted on the ball screw, and the actuator is a gear box; the guide rail frame is formed by welding a plurality of square steels, and a flat plate is welded at the bottom of the guide rail frame to be used as a bottom mounting plate of the guide rail frame; the gear box is arranged on the upper side of the mounting plate at the bottom of the guide rail frame; the first linear guide rails are arranged on two sides of the guide rail frame; the ball screw is arranged in the middle of the guide rail frame and is connected with an output shaft of the gear box through a first coupler; and the motor on the gear box rotates to drive the ball screw to rotate, so that the nut moves up and down.
6. The lower limb rehabilitation walking aid robot capable of supporting omnidirectional movement according to claim 1, wherein the support module comprises a lifting connection plate, a lower guide rail mounting plate, an upper guide rail mounting plate, a rotating mechanism and a rotating support arm; the lifting connecting plate is connected with the lifting module; the lower guide rail mounting plate is overlapped on the lifting connecting plate through a first interlayer mechanism, and the upper guide rail mounting plate is overlapped on the lower guide rail mounting plate through a second interlayer mechanism; the first interlayer mechanism and the second interlayer mechanism are used for realizing the adjustment of the freedom degree of movement in four directions, namely front, back, left and right; the rotary supporting arm is arranged on the upper guide rail mounting plate through a rotary mechanism and can rotate on the peripheral surface where the upper guide rail mounting plate is arranged; the tail end of the rotary supporting arm is used for being connected with the tension module.
7. The lower limb rehabilitation walker robot supporting omnidirectional movement of claim 6, wherein the rotation mechanism comprises crossed roller bearings and a connecting shaft; the outer ring of the crossed roller bearing is in threaded connection with the upper guide rail mounting plate, and the inner ring of the crossed roller bearing is in threaded connection with the connecting shaft; the connecting shaft is sleeved in the hole of the rotary supporting arm and fixedly connected with the upper surface of the rotary supporting arm.
8. The lower limb rehabilitation walking aid robot capable of supporting omnidirectional movement according to claim 7, wherein the support module further comprises a limiting mechanism, and the limiting mechanism comprises a limiting pin and a limiting stop; the spacer pin is installed the lower surface of rotatory support arm, limit stop installs on the upper guideway mounting panel, spacer pin one end is limited by limit stop realizes that the rotation angle of rotatory support arm carries on spacingly.
9. The lower limb rehabilitation walking robot supporting omnidirectional movement of claim 6, wherein the first sandwich mechanism comprises a second slider, a second linear guide rail and a first linear displacement measuring device; the second linear guide rail is arranged on the lifting connecting plate, and the second sliding block is arranged on the second linear guide rail and connected with the lower surface of the lower guide rail mounting plate; the first linear displacement measuring device is used for detecting the displacement of the second sliding block.
10. The lower limb rehabilitation walker robot supporting omnidirectional movement of claim 9, wherein the first sandwich mechanism further comprises a first spring guide, a first spring mounting support and a first spring guide support; the first spring mounting support is mounted on the lifting connecting plate, the first spring guide rod support is connected with the lower surface of the lower guide rail mounting plate, and the first spring guide rod penetrates through holes of the first spring mounting support and the first spring guide rod support in sequence; the first spring guide rod is sleeved with a first compression spring, one end of the first compression spring abuts against the first spring guide rod support, the other end of the first compression spring abuts against a first spring adjusting shaft, and the first spring adjusting shaft is connected in a hole of the first spring mounting support.
11. The lower limb rehabilitation walking aid robot supporting omnidirectional movement according to claim 9, wherein the first linear displacement measuring device comprises a first displacement measuring device mounting seat and a first displacement measuring device, the first displacement measuring device mounting seat is connected to the lower surface of the lower guide rail mounting plate, the first displacement measuring device is mounted in a hole of the first displacement measuring device mounting seat, the tail end of the first displacement measuring device is connected with a first displacement measuring device support, and the first displacement measuring device support is connected to a lifting connecting plate.
12. The lower limb rehabilitation walking robot supporting omnidirectional movement of claim 6, wherein the second sandwich mechanism comprises a third slide block, a third linear guide rail, a second linear displacement measuring device and an angle measuring device; the third linear guide rail is arranged on the lower guide rail mounting plate, and the third sliding block is connected with the lower surface of the upper guide rail mounting plate; the second linear displacement measuring device mounting base is connected to the upper surface of the lower guide rail mounting plate, and the second linear displacement measuring device is used for detecting the displacement of the third sliding block; the angle measuring device is used for detecting the rotation angle of the rotating supporting arm.
13. The lower limb rehabilitation walker robot supporting omnidirectional movement of claim 12, wherein the second sandwich mechanism includes a second spring guide, a second spring mounting support and a second spring guide support; the second spring mounting support is mounted on the lower surface of the upper guide rail mounting plate, the second spring guide rod support is connected with the upper surface of the lower guide rail mounting plate, and the second spring guide rod penetrates through holes of the second spring mounting support and the second spring guide rod support in sequence; and a second compression spring is sleeved on the second spring guide rod, one end of the second compression spring abuts against the second spring guide rod support, the other end of the second compression spring abuts against a second spring adjusting shaft, and the second spring adjusting shaft is connected in a hole of the second spring mounting support.
14. The lower limb rehabilitation walking aid robot supporting omnidirectional movement according to claim 12, wherein the second linear displacement measuring device comprises a second displacement measuring device mounting seat and a second displacement measuring device, the second displacement measuring device mounting seat is connected to the lower surface of the upper guide rail mounting plate, the second displacement measuring device is mounted in a hole of the second displacement measuring device mounting seat, the tail end of the second displacement measuring device is connected with a second displacement measuring device support, and the second displacement measuring device support is connected to the lower guide rail mounting plate.
15. The lower limb rehabilitation walking aid robot supporting omnidirectional movement according to claim 12, wherein the angle measuring device comprises a coupling connecting shaft, a second coupling, an angle measuring bracket and an angle measurer; the angle measurer bracket is arranged on the lower surface of the upper guide rail mounting plate, and the angle measurer is connected with the angle measurer bracket through threads; and the shaft of the angle measurer is connected with the coupling connecting shaft through a second coupling.
16. The lower limb rehabilitation walking aid robot supporting omnidirectional movement according to claim 15, wherein the angle measurer is an angle sensor, a rotary encoder, a torque sensor or a speed measuring encoder.
17. The lower limb rehabilitation walking robot supporting omnidirectional movement of claim 1, wherein the tension module comprises a fixed connection mechanism, a force transmission mechanism, a first force sensor and a second force sensor; the fixed connecting mechanism is used for installing a first force sensor and a second force sensor and is connected with the supporting module and the quick-connection module; when the fixing mechanism is subjected to forces in four directions, namely up, down, front and back, the second force sensor can detect forces in two directions, and the forces are simultaneously transmitted to the first force sensor through the force transmission mechanism, so that the first force sensor can detect forces in the other two directions.
18. The lower limb rehabilitation walking robot supporting omnidirectional movement of claim 17, wherein the fixed connection mechanism comprises a side plate, an upper side plate and four outer side plates; the force transmission mechanism comprises a guide rail mounting plate and a fourth linear guide rail; two outer side plates of the four outer side plates are connected with the rotary supporting arms of the supporting module and are connected with the side surfaces of the side plates; the upper side plate is connected with the upper sides of the other two outer side plates, and the opposite surfaces of the two outer side plates connecting the side plates are connected with the other two outer side plates; the inner side surfaces of the four outer side plates are provided with a fourth sliding block positioned on a fourth linear guide rail, and the fourth linear guide rail is arranged on the guide rail mounting plate; one end of the first force sensor is fixed with the side plate, the other end of the first force sensor is connected with the guide rail mounting plate, one end of the second force sensor is fixed with the upper side plate, and the other end of the second force sensor is connected with the guide rail mounting plate; when the upper side plate is stressed in the up-down direction and the front-back direction, the second force sensor can detect the force in the up-down direction, and the force is simultaneously transmitted to the first force sensor through the guide rail mounting plate, so that the first force sensor can detect the force in the front-back direction.
19. The lower limb rehabilitation walking aid robot supporting omnidirectional movement according to claim 1, wherein the quick-connection module comprises a clamping mechanism, a pressing plate, a connecting plate and a half-length belt; the clamping mechanism is connected with the tension module; the clamping mechanism can fix the connecting plate when clamping; the half waist belt is pressed between the pressing plate and the connecting plate.
20. The lower limb rehabilitation walker robot supporting omnidirectional movement of claim 19, wherein the clamping mechanism comprises a clamping block, a cam handle and a connecting pin; the clamping block is fixed on the tension module; the cam handle is arranged in the threaded hole of the clamping block; the connecting pin is inserted into the central hole of the clamping block and is connected with the connecting plate; when the cam handle is rotated to be vertical to the installation surface of the cam handle, the gap of the clamping block is increased to the size that the connecting pin can be pulled out; when the cam handle is rotated to be parallel to the mounting surface of the cam handle, the gap of the clamping block is reduced, so that the connecting pin inserted into the central hole is clamped in the hole and cannot be pulled out, and the connecting plate is fixed between the clamping block and the end surface of the connecting pin.
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