CN107374911A - A kind of intelligent medical robot for lower limb rehabilitation treatment - Google Patents
A kind of intelligent medical robot for lower limb rehabilitation treatment Download PDFInfo
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- CN107374911A CN107374911A CN201710753177.2A CN201710753177A CN107374911A CN 107374911 A CN107374911 A CN 107374911A CN 201710753177 A CN201710753177 A CN 201710753177A CN 107374911 A CN107374911 A CN 107374911A
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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
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
-
- 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
- A61H2201/5007—Control means thereof computer controlled
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
- A61H2230/06—Heartbeat rate
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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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
-
- 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
-
- 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
- A61H2230/50—Temperature
Abstract
The invention provides a kind of intelligent medical robot for lower limb rehabilitation treatment, motion suspension system is installed on into motion by column to pass above speed system, the patient for carrying out lower limb rehabilitation treatment carries out loss of weight by suspension system and position is kept, and passes in motion under the drive of lower limb exoskeleton robot system and is walked upright on speed system；The gravity center shift that center of gravity self-balancing system connection between lower limb exoskeleton robot system and rotary system follows patient to walk adjusts the height of lower limb exoskeleton robot system；Sensing system collecting device parameter and human parameters, transmit to embedded control system and shown.Control accuracy of the present invention is high, intelligent strong, can carry out upright walking rehabilitation training to patient.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of rehabilitation medical robot.
Background technology
According to 2011《Chinese programs for the elderly statistical communique》It has been shown that, more than the 60 years old old man 1.85 hundred million in China, wherein 46,250,000
Osteoarthritis is serious, and it is badly off to be badly in need of the solution of walk help product.The findings of the survey estimation of Second National disabled population, disabled person are total
Number is 82,960,000, and wherein physical disabilities 24,120,000, they need the help of power-assisted walk help product.There is Patients with Stroke 715 in China
Ten thousand, wherein a quarter needs to receive rehabilitation training, it is necessary to which anthropomorphic robot product help recovers.Ectoskeleton technology and rehabilitation
Training combines, and the rehabilitation training of limbs is carried out using exoskeleton rehabilitation robot, can be controlled by " intelligence " of people
Exoskeleton robot, the rehabilitation exercise of patient is driven using " muscle power " of robot.This mode can not only be inherited at present
Rehabilitation modality and method used by for patients such as cerebral hemorrhage, headstroke, muscular atrophy, spinal cord injury and deteriorations,
It is also possible to thoroughly solves problem present in these recovery training methods.
Current rehabilitation uses manual therapeutic mode more, and major defect includes the following aspects：1) human cost
Height, and having differences property between different rehabilitation therapists；2) it is more difficult in therapeutic process and after treatment end to be entered using objective data
Row evaluation；3) rehabilitation therapist does not have data supporting, and the patient of different phase can not be entered using objective customizationization scheme
Row optimization treatment；4) particularly with patient's early stage, it is difficult to realized and walked upright by manual type, is unfavorable in the body of patient
Circulate and accelerate rehabilitation in portion.
Chinese patent CN2815338Y is a kind of supine lying posture lower limb rehabilitation training robot, using torque motor, gear-box
Etc. type of drive.Chinese invention patent CN101623547A is a kind of lower limb rehabilitation medical robot used for paralytic patient, the bottom of using
Seat, rehabilitation leg training device, the mode of computer control system, realize sitting posture rehabilitation training.Referred at present in publication
Recovery exercising robot presence can not recover person upright's walking, and the shortcomings of intelligent not strong be present.Therefore further
Research one kind has adaptive control function, the intelligent medical robot tool with the combination such as cloud platform, big data and virtual reality
It is significant.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of intelligent medical machine for lower limb rehabilitation treatment
People, control accuracy is high, intelligent strong, can carry out upright walking rehabilitation training to patient.
The technical solution adopted for the present invention to solve the technical problems is：A kind of intelligent medical for lower limb rehabilitation treatment
Robot, including lower limb exoskeleton robot system, suspension system, motion biography speed system, rotary system, center of gravity self-balancing system
System, cloud platform display system, embedded control system and sensing system；
Described motion suspension system is installed on motion by column and passed above speed system, carries out the trouble of lower limb rehabilitation treatment
Person carries out loss of weight by suspension system and position is kept, and passes in motion and is walked upright on speed system；
The motion passes the upper surface of speed system according to the speed translation of setting；
Described lower limb exoskeleton robot system is arranged on column by rotary system, can be rotated around column, when
When lower limb exoskeleton robot system is rotated to above motion biography speed system, by patient's lower limb and lower limb exoskeleton robot system
Fixation is attached, drives patient's lower limb to be trained by lower limb exoskeleton robot system；
Connected between described lower limb exoskeleton robot system and rotary system by center of gravity self-balancing system, follow trouble
The height of gravity center shift regulation lower limb exoskeleton robot system when person walks；
Described sensing system collection lower limb exoskeleton robot system, the operational factor of motion Chuan Su mechanisms and patient
Human parameters, transmit to embedded control system, and pass through described cloud platform display system and receive embedded control system
Display；
Described embedded control system realizes that lower limb exoskeleton robot system, suspension system, motion pass speed system, rotation
Self Adaptive Control, Mode-switch and the intelligence for transfering from one department to another system, center of gravity self-balancing system, cloud platform display system and sensing system are high
Precision start, and information exchange is externally carried out by cloud platform.
Described lower limb exoskeleton robot system includes hip joint horizontal boom beam, hip joint bearing, hip joint disc type
Motor, thigh structure, knee joint bearing, knee joint disc type electric machine and shank structure；Described hip joint horizontal boom beam both ends
Thigh structure one end is connected by hip joint bearing respectively, and thigh structure is driven around hip joint axle by hip joint disc type electric machine
Forward dynamic；The other end of the thigh structure connects shank structure by knee joint bearing, and is driven by knee joint disc type electric machine
Dynamic shank structure is stayed with one's parents in order to make them happy oscillating bearing rotation.
Described suspension system includes loss of weight motor, loss of weight spring, movable pulley mechanism and suspention motor；Described loss of weight electricity
The affixed column of machine, loss of weight motor output end by loss of weight spring connect suspention motor, described loss of weight spring and suspention motor it
Between pass through movable pulley system converting motion direction；Bandage of the described suspention motor lifting tying with patient.
Described motion, which passes speed system, includes stepper motor and pedrail mechanism, the cylinder that stepper motor passes through pedrail mechanism
Axle drives pedrail mechanism to carry out rolling movement.
Described rotary system realizes screw-in and the back-out of lower limb exoskeleton mechanism using motor-driven form, screw in and
The extreme position of back-out is mounted on supersonic range finder and infrared sensor, and rotary system cuts off electricity after reaching the limit of position
Machine is powered.
Described center of gravity self-balancing system includes upper cantilever beam, Analysis of A Cantilever Beam Under and spring mechanism；Parallel upper cantilever beam and
Analysis of A Cantilever Beam Under connects and composes quadric chain between rotary system and lower limb exoskeleton robot system, and quadric chain is with
Connected between limb exoskeleton robot system by spring mechanism.
Described embedded control system includes controller and cloud platform；Described controller uses host computer-slave computer
Formula controller；Described sensing system collection lower limb exoskeleton robot system, the operational factor of motion Chuan Su mechanisms and trouble
The human parameters of person, transmits to supervisory controller and is controlled computing；Described supervisory controller is controlled by slave computer
Device carries out SERVO CONTROL to lower limb exoskeleton robot system and motion Chuan Su mechanisms；Controller externally carries out letter by cloud platform
Breath interaction.
Described sensing system includes absolute rotary encoder, current sensor, pressure sensor, displacement of the lines sensing
Device, proximity switch, eeg sensor, myoelectric sensor and heart rate, blood pressure, temperature sensor；Described absolute type rotary coding
The hip joint and knee axis of device collection lower limb exoskeleton robot system hold rotational angle；Described current sensor, pressure
Sensor gathers the electric current of hip joint and knee joint disc type electric machine, voltage signal respectively；Described linear movement pick-up collection is outstanding
Hang the position signalling of motor and loss of weight motor output end；The position signalling of described proximity switch collection rotary system；Described
Eeg sensor, the motion intention signal of myoelectric sensor collection patient；Described heart rate, blood pressure and temperature sensor collection is suffered from
The basic physiological parameter of person.
Present invention additionally comprises handrail system, is fixed on motion and passes speed system both sides.
The beneficial effects of the invention are as follows：
1) motion suspension system is installed on motion by column and passed above speed system by the present invention, carries out lower limb rehabilitation treatment
Patient loss of weight and position carried out by suspension system kept, pass speed in motion under the drive of lower limb exoskeleton robot system
Walked upright in system, carry out rehabilitation training；
2) present invention uses high-precision servo motor, it is possible to increase the control accuracy of joint position；
3) present invention uses the double-core embedded type control system based on ARM and POWERPC, realizes the adaptive of different modalities
Control and high security control, it is intelligent strong；
4) present invention realizes that embedded control system is assisted with IOT by using the cloud platform based on embedded control system
View interconnection, and the teledata based on cloud platform are monitored and controlled, and the maintainability and after-sale service quality of equipment is greatly improved,
Realize predictive maintenance.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of center of gravity self-balancing system；
Fig. 3 is the composition frame chart of embedded control system；
In figure, 1- lower limb exoskeleton robot systems；2- suspension systems；3- motions pass speed system；4- rotary systems；5- weights
Heart self-balancing system；6- embedded control systems；7- sensing systems.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention provides a kind of intelligent medical robot for lower limb rehabilitation treatment, including lower limb exoskeleton robot system
System, suspension system, motion pass speed system, rotary system, center of gravity self-balancing system, cloud platform display system, handrail system, insertion
Formula control system and its sensing system；Wherein motion biography speed system is fixed on ground, and cloud platform display system is fixed on motion
The front carriage of speed system is passed, handrail system is fixed on motion and passes speed system both sides.The side that motion passes speed system passes through bottom
The form of welding is connected with column, and the structure that column internal mechanism and its top horizontal stretch out collectively constitutes suspension system.Rotation
The central shaft of system is fixed on the outside of column, uses U-shaped steel structure to be pivoted about with column, and the spacing of rotary system is stood
Column device is fixed on the opposite side that motion passes speed system.Center of gravity self-balancing system is fixed on the end of rotary system U-shaped steel structure,
Lower limb exoskeleton robot system is fixed on center of gravity self-balancing system end.Embedded control system is fixed in column, sensing
Device system is fixed on lower limb exoskeleton mechanism, motion Chuan Su mechanisms and human body surface.
During present invention work, human body carries out loss of weight by described suspension system and position is kept, and stands upright on motion and passes speed
In system；Lower limb exoskeleton robot system is screwed in by rotary system, is screwed into the human body being fixed in suspension system,
And human body lower limbs and lower limb exoskeleton robot system are attached with fixing；Lower limb exoskeleton robot system drives human body
When being trained, the adaptive change for following gravity center of human body of center of gravity self-balancing system；Embedded control system realizes whole machine
The Self Adaptive Control of device people, Mode-switch and the high-precision start of intelligence, and realize with cloud platform interact and virtual reality ring
The interconnection in border.
Described lower limb exoskeleton robot system includes hip joint horizontal boom beam, hip joint bearing, hip joint disc type
Motor, thigh structure, knee joint bearing, knee joint disc type electric machine and shank structure.Wherein hip joint bearing and hip joint disc type
Motor connection is connected to the hip joint bearing other end, the end of thigh structure in hip joint horizontal boom beam end, thigh structure
It is connected with knee joint bearing and knee joint disc type electric machine, shank structure is connected to the other end of knee joint bearing.Wherein thigh knot
Structure and shank structure are rod-like structure, and thigh structure length adjustable range is 43cm-53cm, shank structure length adjustable range
For 28cm-38cm, 0-90 ° of motion of knee joint scope, -45 ° -+55 ° of hip joint range of movement, using DC servo motor and rolling
The form of ballscrew is driven.
Described suspension system includes loss of weight motor, loss of weight spring, movable pulley mechanism, suspends motor in midair.Wherein loss of weight motor
Positioned at column bottom, loss of weight motor is connected with its upper end loss of weight spring using bolt fixed mode, and loss of weight spring upper end is slided with dynamic
Wheel system connects, and suspention motor is connected with the other end of movable pulley system.It is realized to human body in the form of Double Motor Control
Suspention function and different weight loss of weight function.
Described motion passes speed system, it is characterised in that：Comprising stepper motor and pedrail mechanism, stepper motor passes through crawler belt
The cylindrical shaft of mechanism, pedrail mechanism is driven to carry out rolling movement.It can carry out 0-5km/h change speed control, velocity variations
Precision is 0.1km/h, and the movement velocity of real-time collaborative lower limb exoskeleton robot system, is controlled by embedded control system is unified
System.
Described rotary system includes column internal bearings, U-shaped steel structure and spacing column structure.U-shaped steel structure is with standing
Post internal bearings are connected, and spacing column is located at column agency opposite side.It uses motor-driven form to realize lower limb exoskeleton
The function that mechanism is screwed in and screwed out automatically.
Described center of gravity self-balancing system includes upper cantilever beam, Analysis of A Cantilever Beam Under and spring mechanism.Upper cantilever beam and lower cantalever
Connected between beam by spring mechanism.It uses passive gas spring system structure design, realizes gravity center of human body's excursion 10cm
Interior center of gravity self-balancing.
Described embedded control system includes ARM+POWERPC double-core processing module, power interface, and cloud platform connects
Mouthful, motion passes speed system interface, sensor interface, brake switch interface, driver interface, test equipment interface.It uses ARM
+ POWERPC double-core processing system, realize high safety, highly reliable robot system control function, and the transmission for passing through IoT
Agreement, realize the both-way communication with cloud platform and virtual reality device.
Described sensor subsystem includes the absolute rotary encoder needed for robot control system closed-loop control, electricity
Flow sensor, pressure sensor, linear movement pick-up and proximity switch, include the brain fax sense of human body real-time parameter feedback
The sensor such as device, myoelectric sensor and heart rate, blood pressure, temperature.Wherein absolute rotary encoder, current sensor, pressure pass
Sensor is installed in the hip joint and knee joint bearing of lower limb exoskeleton robot system, gathers disc type electric machine signal；Displacement of the lines
Sensor is installed on suspention motor and loss of weight motor end, gathers its position signalling；Proximity switch is installed in spacing column, is adopted
Collect rotary system position signalling.In addition, eeg sensor, myoelectric sensor are installed on the outside of human body brain and skin of lower extremity, adopt
Collect human motion signal of intent；Heart rate, blood pressure and temperature sensor are installed on handrail system front end, collection basic human body physiological ginseng
Number.
Embodiments of the invention include lower limb exoskeleton robot system 1, suspension system 2, motion biography speed system 3, rotation
System 4, center of gravity self-balancing system 5, embedded control system 6 and sensing system 7.
In described lower limb exoskeleton robot system 1, thigh and shank structure use titanium alloy material, back-supported and
Lumbar support structure uses aluminum alloy materials, and is connected by steel construction fastener with center of gravity self-balancing system.Thigh leg length
Degree regulation is adjusted by V-groove structure, degree of regulation 1cm.Thigh length adjusting range is 43cm-53cm, leg length
Degree adjustable range is 28cm-38cm, 0-90 ° of motion of knee joint scope, -45 ° -+55 ° of hip joint range of movement, is watched using direct current
The form for taking motor and ball-screw is driven, and application absolute rotary encoder, current sensor, pressure sensor,
Torque sensor etc. realizes that the position control of lower limb exoskeleton robot and the power of different modalities control.
The described main body of suspension system 2 is fixed in column, comprising a suspension point controlled motor, passes through movable pulley system
The structure of system suspend in midair the regulation of height, and loss of weight motor realizes different people by controlling the position of a groups of springs in addition
The regulation of body loss of weight weight.
Described motion passes speed system 3 and is controlled by embedded control system transmission instruction, can carry out 0-5km/h change
Speed control, velocity variations precision are 0.1km/h, and the movement velocity of real-time collaborative lower limb exoskeleton robot system.It is helped
Hand height and angle can be adjusted manually.
Described rotary system 4 realizes lower limb exoskeleton mechanism screw-in and the work(screwed out automatically using motor-driven form
Can, the extreme position for screwing in and screwing out is mounted on ultrasonic ranging and infrared sensor, is automatically cut off after reaching the limit of position
Control to motor.Extreme position after rotary system screws in is as shown in Figure 1.
Described center of gravity self-balancing system 5 uses passive gas spring system structure design, realizes gravity center of human body's excursion
Center of gravity self-balancing in 10cm, it uses parallel―ordinal shift structure to be connected with lower limb exoskeleton robot system 1, parallelogram
Structure end is connected with gas spring system, realizes fluctuating for self-balancing, and its structure is as shown in Figure 2.
Described embedded control system 6 and sensing system 7 is the core for realizing intelligent medical robot.Referring to the drawings
3, its specific work process is as follows：
1, the host computer for carrying cloud platform is received from high in the clouds instruction, and it is synchronous with virtual reality interface progress real-time,
And can independent control motion biography speed system.
2, carry that the host computer of cloud platform its Core Feature is and double remaining ARM+POWERPC embedded controller is carried out
Communication, is issued to embedded controller, and receive the implementation health shape of embedded controller by instructions such as gait, speed, times
State etc. is fed back, and is further forwarded to cloud platform virtual memory end.
3, pass through breakdown judge logic inside double remaining ARM+POWERPC embedded controller and carry out real time fail inspection
Survey, ensure security of system and stability.And carried out according to the external feedback such as sensor, brake switch, test equipment information comprehensive
Close, realize the real-time optimal closed-loop control that speed variator and motor driver are passed to motion.
4, driver is directly controlled motor, the double remaining ARM+POWERPC of its primary recipient embedded controller
PWM and enable signal, and by motor status Real-time Feedback to embedded controller.
Claims (9)
1. it is a kind of for lower limb rehabilitation treatment intelligent medical robot, including lower limb exoskeleton robot system, suspension system,
Motion passes speed system, rotary system, center of gravity self-balancing system, cloud platform display system, embedded control system and sensor system
System, it is characterised in that：
Described motion suspension system is installed on motion by column and passed above speed system, and the patient for carrying out lower limb rehabilitation treatment is led to
Cross suspension system and carry out loss of weight and position holding, pass in motion and walked upright on speed system；
The motion passes the upper surface of speed system according to the speed translation of setting；
Described lower limb exoskeleton robot system is arranged on column by rotary system, can be rotated around column, be worked as lower limb
When exoskeleton robot system is rotated to above motion biography speed system, patient's lower limb and lower limb exoskeleton robot system are carried out
It is connected, drives patient's lower limb to be trained by lower limb exoskeleton robot system；
Connected between described lower limb exoskeleton robot system and rotary system by center of gravity self-balancing system, follow patient's row
The height of gravity center shift regulation lower limb exoskeleton robot system when walking；
Described sensing system collection lower limb exoskeleton robot system, the operational factor of motion Chuan Su mechanisms and the people of patient
Body parameter, is transmitted to embedded control system, and is shown by described cloud platform display system；
Described embedded control system realizes that lower limb exoskeleton robot system, suspension system, motion pass speed system, rotation system
System, the Self Adaptive Control of center of gravity self-balancing system, cloud platform display system and sensing system, Mode-switch and intelligence high accuracy
Start, and information exchange is externally carried out by cloud platform.
2. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that：Under described
Limb exoskeleton robot system includes hip joint horizontal boom beam, hip joint bearing, hip joint disc type electric machine, thigh structure, knee
Oscillating bearing, knee joint disc type electric machine and shank structure；Described hip joint horizontal boom beam both ends pass through hip joint axle respectively
Connection thigh structure one end is held, and drives thigh structure to be rotated around hip joint bearing by hip joint disc type electric machine；The thigh
The other end of structure connects shank structure by knee joint bearing, and drives shank structure to stay with one's parents in order to make them happy pass by knee joint disc type electric machine
Bearings rotate.
3. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that：Described is outstanding
Crane system includes loss of weight motor, loss of weight spring, movable pulley mechanism and suspention motor；The described affixed column of loss of weight motor, loss of weight
Motor output end connects suspention motor by loss of weight spring, passes through movable pulley system between described loss of weight spring and suspention motor
Converting motion direction；Bandage of the described suspention motor lifting tying with patient.
4. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that：Described fortune
The dynamic speed system that passes includes stepper motor and pedrail mechanism, and stepper motor drives pedrail mechanism to enter by the cylindrical shaft of pedrail mechanism
Row rolling movement.
5. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that：Described rotation
Transfer from one department to another screw-in and back-out that system realizes lower limb exoskeleton mechanism using motor-driven form, the extreme position for screwing in and screwing out is equal
Supersonic range finder and infrared sensor are installed, rotary system cuts off motor power supply after reaching the limit of position.
6. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that：Described weight
Heart self-balancing system includes upper cantilever beam, Analysis of A Cantilever Beam Under and spring mechanism；Parallel upper cantilever beam and Analysis of A Cantilever Beam Under are in rotation system
Quadric chain, quadric chain and lower limb exoskeleton robot system are connected and composed between system and lower limb exoskeleton robot system
Connected between system by spring mechanism.
7. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that：Described is embedding
Entering formula control system includes controller and cloud platform；Described controller uses host computer-slave computer formula controller；Described biography
The human parameters of sensor system acquisition lower limb exoskeleton robot system, the operational factor of motion Chuan Su mechanisms and patient, transmission
Computing is controlled to supervisory controller；Described supervisory controller is by the next machine controller to lower limb exoskeleton machine
People's system and motion Chuan Su mechanisms carry out SERVO CONTROL；Controller externally carries out information exchange by cloud platform.
8. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that：Described biography
Sensor system includes absolute rotary encoder, current sensor, pressure sensor, linear movement pick-up, proximity switch, brain electricity
Sensor, myoelectric sensor and heart rate, blood pressure, temperature sensor；Described absolute rotary encoder collection lower limb exoskeleton
The hip joint and knee axis of robot system hold rotational angle；Described current sensor, pressure sensor gather hip respectively
The electric current of joint and knee joint disc type electric machine, voltage signal；Described linear movement pick-up collection suspention motor and loss of weight motor
The position signalling of output end；The position signalling of described proximity switch collection rotary system；Described eeg sensor, myoelectricity pass
Sensor gathers the motion intention signal of patient；Described heart rate, blood pressure and the basic physiological parameter of temperature sensor collection patient.
9. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that：Also include helping
Hand system, it is fixed on motion and passes speed system both sides.
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| CN109009885A (en) * | 2018-05-28 | 2018-12-18 | 芜湖纵横智能制造产业技术研究有限公司 | A kind of ectoskeleton type lower limb rehabilitation robot easy to use |
| CN109481225A (en) * | 2018-09-30 | 2019-03-19 | 上海神添实业有限公司 | A kind of light weight bionic type upper limb exoskeleton rehabilitation robot system |
| CN109700639A (en) * | 2019-03-04 | 2019-05-03 | 南京中医药大学 | Intelligent lower limb rehabilitation therapeutic equipment and its operating method based on android system |
| CN110236875A (en) * | 2019-05-13 | 2019-09-17 | 广西科技大学 | A kind of movable lower limb exoskeleton rehabilitation robot and its control system |
| CN110840712A (en) * | 2019-11-21 | 2020-02-28 | 合肥工业大学 | Lower limb rehabilitation robot system based on human-computer interaction |
| CN111067543A (en) * | 2019-12-31 | 2020-04-28 | 中航创世机器人(西安)有限公司 | Man-machine interaction system of horizontal stepping type rehabilitation training robot |
| WO2022188605A1 (en) * | 2021-03-10 | 2022-09-15 | 王继荣 | Multifunctional intelligent walking assistance robot for lower-limb rehabilitation |
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