CN108245380A - A kind of human body lower limbs recovery exercising robot - Google Patents

Abstract

The invention discloses a human body lower limb rehabilitation training robot, comprising an exoskeleton power device, a treadmill, a waist connection device, a suspension weight-reducing device and a control system thereof, wherein the exoskeleton power device drives the human body to walk according to the gait of a normal person track; the treadmill cooperates with the exoskeleton to provide the same training speed for the patient; the suspension weight-reducing device lifts the human body through ropes, and can pull the patient up and down according to the predetermined track and provide weight-reducing force; the waist connection device is the power of the exoskeleton The connecting part of the device and the suspension weight reduction device can realize the adaptive adjustment of the width of the human body and meet the undulating movement of the human body during walking; Gait training, the weight loss system pulls the patient to move according to the synchronous center of gravity trajectory, so as to simulate the ups and downs of the body when a normal human walks, and improve the rehabilitation effect.

Description

A human lower limb rehabilitation training robot

technical field

The invention relates to medical rehabilitation equipment, in particular to a human lower limb rehabilitation training robot.

Background technique

For patients suffering from central nervous system diseases such as spinal injuries and strokes, the vast majority will face movement disorders, and most of the patients have varying degrees of loss of living ability and working ability, which seriously endangers their health. Modern medicine believes that by repeatedly providing a certain intensity of stimulation to the central nervous system, the functional walking ability of patients after central nervous system injury can be restored. At present, the traditional lower limb rehabilitation training is that professional physical therapists repeatedly pull the patient's affected limb according to the gait of normal human walking "hand in hand" to stimulate the motor central nervous system and assist them to obtain walking ability. However, this method not only increases the rehabilitation The labor intensity of the doctor, and the required treatment costs are higher, and the treatment effect is low. Therefore, the demand for lower limb rehabilitation robots is particularly urgent.

Chinese patents CN106344340A and CN105997441B both relate to a wearable lower limb walking rehabilitation robot, but both need to provide patients with a large range of venues for their activities, and at the same time, patients need to rely on crutches and other tools to maintain body balance and balance Poor, resulting in low training quality. Chinese Patent No. CN102836048B relates to a tilting bed-type lower limb rehabilitation training robot. The patient lies on the bed and the upper body is fixed, which limits the movement of the upper body of the human body and causes physical discomfort. At the same time, because the body is in a tilted state, the real walking environment cannot be completely restored. Rehabilitation The effect is poor. The Chinese patent "Suspension Adaptive Weight Loss Device for Rehabilitation Training and Rehabilitation Training Robot" (CN107693301A) proposes an adaptive weight loss box including a rope hoisting device and an adaptive center of gravity following device, although it reduces the space occupied by the robot, and To a certain extent, the real walking environment is restored. However, since the lower limb training aids cannot move independently and cannot simulate normal walking gait, it is difficult for patients to maintain body balance during training, and the center of gravity follows the effect poorly, which not only affects the training effect, It is also easy to cause certain harm to patients.

Contents of the invention

In order to solve the deficiencies in the prior art, the present invention proposes a human lower limb rehabilitation training robot.

To achieve the above object, the present invention adopts the following technical solutions:

The robot includes a gait training system, a weight loss system and a waist connection device. The gait training system includes an exoskeleton power device. The exoskeleton power device includes a lower extremity exoskeleton worn by the human body. The length adjustment mechanism and the leggings mechanism, the joint connection mechanism includes a fixed section and a movable section connected with the fixed section, the joint driver is arranged on the fixed section, the movable section is respectively connected with the length adjustment mechanism and the joint driver, and the leggings mechanism is arranged on the length adjustment mechanism The weight reduction system includes a rope that can follow the change of the center of gravity of the human body and a weight reduction bracket for supporting the rope. The waist connecting device is arranged on the weight reduction bracket and can be used for connecting the lower limb exoskeleton.

Preferably, the joint driver includes a connecting rod, a driver housing arranged on the fixed section, and a motor mounting seat connected to the driver housing. The motor mounting seat is provided with a first servo motor, and the first servo motor passes through a shaft coupling. It is connected with the lead screw arranged in the driver shell, and the nut mount is provided on the lead screw. The nut mount includes a nut connected with the lead screw and a nut sleeve arranged on the nut. Linearly slidable guide rail sliders are connected, one end of the connecting rod is hinged with the nut sleeve, and the other end extends out of the driver shell and is hinged with the movable section.

Preferably, the joint connection mechanism specifically includes a joint pressure plate, a fixed end connector (which can be used to connect the waist connection device) and a movable end connector. It is arranged on the fixed-end connector and can freely rotate around the boss. The joint pressure plate is respectively connected with the movable-end connector and the joint driver, and the joint driver is arranged on the fixed-end connector.

Preferably, the boss is a hollow structure, and an encoder for detecting the rotation angle is arranged in the hollow structure, and the rotor of the encoder is connected with the encoder bracket arranged on the joint pressing plate.

Preferably, the length adjustment mechanism includes a length adjustment inner tube and a length adjustment outer tube, the leggings mechanism is connected to the length adjustment outer tube, one end of the length adjustment inner tube extends into the length adjustment outer tube, and a useful The clamping device is used to lock the length-adjusting inner tube exposed to the length of the outer part of the length-adjusting outer tube, and the length-adjusting outer tube or/and the length-adjusting inner tube are connected to the joint connection mechanism.

Preferably, the leggings mechanism includes a leggings inner ring, a leggings outer ring, a strap, a tension and pressure sensor, a miniature guide rail and a lockable guide rail connected to the length adjustment mechanism, and the leggings inner ring and the leggings outer ring are connected through a miniature guide rail , the tension and pressure sensor is arranged between the inner ring of the leggings and the outer ring of the leggings, the strap is arranged on the inner ring of the leggings, and the slider on the lockable guide rail is connected with the outer ring of the leggings.

Preferably, the lower extremity exoskeleton includes two joint connection mechanisms, one corresponding to the lower limb hip joint, one corresponding to the lower limb knee joint, the upper joint connection mechanism is connected to the waist connection device through its fixed end, and the upper and lower joints The connection mechanism is connected through a length adjustment mechanism, and the other length adjustment mechanism is connected to the lower end (movable end) of the lower joint connection mechanism; the lower extremity exoskeleton specifically includes the hip joint driver, the knee joint driver, the hip joint pelvic side connector, the hip joint femur Side connector, knee femoral connector, knee tibial connector, thigh length adjustment mechanism and calf length adjustment mechanism, hip drive is set on the hip pelvic connector, hip driver and hip femur The side connecting piece is connected with the freely rotatable joint pressure plate set on the pelvic side connecting piece of the hip joint, the thigh side length adjustment mechanism is respectively connected with the femoral side connecting piece of the hip joint and the femoral side connecting piece of the knee joint, and the knee joint driver is set on the knee On the femoral side connector of the joint, the knee joint driver and the tibial side connector of the knee joint are connected with the freely rotatable joint pressure plate set on the femoral side connector of the knee joint, and the calf side length adjustment mechanism is connected with the tibial side connector of the knee joint, The calf side length adjustment mechanism and the thigh side length adjustment mechanism are respectively provided with a leggings mechanism, and the hip joint pelvis side connector and the knee joint femoral side connector are respectively provided with a hip joint femoral side connector and a knee joint tibial side connector. Corner encoder.

Preferably, the waist connection device includes a width adjustment mechanism and a support mechanism; the width adjustment mechanism includes a width adjustment support plate, two adjustable distance exoskeleton mounting plates (for connecting the hip joint pelvis side of the lower extremity exoskeleton) parts) and the linear guide rail and positive and negative lead screw set on the width adjustment support plate, the end of the positive and negative lead screw is provided with a hand wheel, one of the exoskeleton mounting The nut is connected with the linear bearing arranged on the corresponding side of the linear guide rail, and the other exoskeleton mounting plate is connected with the anti-thread nut arranged on the positive and negative thread screw and the linear bearing arranged on the corresponding side of the linear guide rail;

The support mechanism includes an upper swing rod, a lower swing rod and a support seat connected to the weight reduction bracket, the front ends of the upper swing rod and the lower swing rod are hinged to the width adjustment support plate, and the rear ends of the upper swing rod and the lower swing rod are connected to the width adjustment support plate. The support base is hinged.

Preferably, the weight reduction system specifically includes an adaptive weight reduction box, a weight reduction bracket and a cable traction assembly. The cable traction assembly includes a weight reduction suit, a tension sensor, a rope and a pulley block arranged on the weight reduction support. One end of the tension sensor is connected to the The weight-loss suit is connected, and the other end is connected with the rope, and the rope extends into the self-adaptive weight-loss box through the pulley block;

The self-adaptive weight reduction box includes a box body and a mounting plate arranged in the box body, a rope hoisting device and an adaptive center of gravity following device, and the rope hoisting device and the self-adaptive center of gravity following device are respectively arranged on both sides of the mounting plate , the rope is sequentially connected to the rope hoisting device and the self-adaptive center of gravity following device through a pulley arranged on the mounting plate;

The gait training system also includes a treadmill arranged at the bottom of the weight-reducing support.

Preferably, the robot also includes an industrial computer, a motion control card, an exoskeleton power unit control module, a treadmill control module, and a weight reduction system control module; the exoskeleton power unit control module includes a servo motor (ie, the first servo Motors, two lower extremity exoskeletons have four servo motors) drivers and encoders for detecting the rotation angle (rotation angle) of the joint connection mechanism, the servo motor drivers are connected with the servo motors and the motion control card respectively, and the motion control card and the motion control card The encoders are respectively connected with the industrial computer; the treadmill control module includes a DC motor governor and a speed sensor, and the DC motor governor is respectively connected with the DC motor and the industrial computer for providing power to the treadmill, and the speed sensor is connected with the industrial computer. The industrial computer is connected; the weight reduction system control module includes a suspension weight reduction sub-module and a center of gravity following sub-module; the suspension weight reduction sub-module includes a data acquisition card connected with the industrial computer and the tension sensor;

The exoskeleton power device control module drives the lower extremity exoskeleton according to the preset gait trajectory for human lower limb rehabilitation training, and uses the lower extremity exoskeleton to drive the human body to perform lower limb gait training;

The suspension weight reduction sub-module uses the value detected by the tension sensor as feedback according to the preset weight reduction force, compares it with the set value of the weight reduction force, calculates the adjustment variation of the weight reduction force, converts the adjustment variation into a control signal and transmits it through the motion control card Pass it to the rope hoisting device (servo motor B), and use the rope hoisting device to adjust the length of the rope until the set weight reduction force is reached;

The center of gravity following sub-module controls the adaptive center of gravity following device (servo motor A) through the motion control card according to the preset trajectory of the center of gravity, and uses the adaptive center of gravity following device to drive the rope to synchronously pull the human body up and down while training the gait of the lower limbs sports.

The beneficial effects of the present invention are reflected in:

The gait training system in the present invention can drive the patient's lower limbs to simulate normal gait movement; the weight loss system can provide a certain weight loss force for the patient during the gait training process, and can follow the patient by adjusting the length of the rope according to the predetermined trajectory The change of the center of gravity, combined with the waist connection device to maintain its body stability, overcomes the lack of difficulty in maintaining body balance during training, making the center of gravity follow better, and can reshape the patient's motor central nervous system, allowing the patient to regain walking ability, and Improve the effect of rehabilitation treatment.

Further, the encoder is installed in the hollow structure on the fixed-end connector at each joint, the encoder housing can be fixed with the fixed-end connector, the encoder shaft and the movable-end connector are fixed through the encoder bracket, by This encoder can measure the rotation angle at the joint, and it is used to display the joint angle during the patient's training. This installation method is compact and easy to measure the angle. At the same time, the built-in installation method is convenient for encoder protection, preventing bumps and improving equipment. safety.

Further, in the joint driver part, the crank slider transmission mechanism composed of joint pressure plate, connecting rod and guide rail slider is adopted. The servo motor controls the movement of the nut through the screw, and converts the linear motion of the nut into the rotation of the crank to drive the joint. , in this way, the precision of joint movement is high, which can drive patients to train according to the predetermined gait trajectory, and improve the accuracy of training. Larger, it can drive patients more effectively and improve the rehabilitation effect.

Further, the patient's leg is fastened by the strap and the inner ring of the leggings mechanism, and as the patient's rehabilitation degree increases, the active movement consciousness of the patient's leg is enhanced (specifically, the value of the tension and pressure sensor is completely consistent with the patient's completeness during the training process). Different from passive training), the tension and compression sensor can detect the patient's active movement intention and play a role in the future active control. At the same time, when the inner and outer rings of the leggings mechanism slide freely on the lockable guide rail, appropriate relative movement can occur between the patient's leg and the exoskeleton, which satisfies the horizontal micro-movement of the patient's leg and improves the comfort of the patient's training .

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the lower limb rehabilitation training robot;

Fig. 2 is a schematic diagram of the overall structure of the exoskeleton power device;

Fig. 3 is a schematic structural diagram of the length adjustment rod of the exoskeleton power unit in Fig. 2;

Fig. 4 is a schematic diagram (a), (b) of the joint drive of the exoskeleton power device in Fig. 2 and an exploded view (c) of the hip joint driver structure;

Fig. 5 is an exploded schematic diagram of the encoder installation structure at the knee joint of the exoskeleton power device in Fig. 2;

Fig. 6 is an overall schematic diagram (a) and an exploded view (b) of the leggings mechanism of the exoskeleton power device in Fig. 2;

Fig. 7 is a schematic structural diagram of the waist connection device; wherein, (a) is a schematic structural diagram of a width adjustment mechanism; (b) is a schematic structural diagram of a supporting mechanism; (c) is a schematic diagram of the installation of a rotating shaft;

Fig. 8 is a schematic diagram of the overall structure of the suspension weight reducing device;

Fig. 9 is the structural representation of the self-adaptive weight reduction box of the suspension weight reduction device in Fig. 8; wherein, (a) is the front view of the mounting plate; (b) is the rear view of the mounting plate;

Fig. 10 is a schematic diagram of the suspension weight reducing device in Fig. 8;

Fig. 11 is a control system hardware connection diagram of the lower limb rehabilitation training robot;

Fig. 12 is a flowchart of patient rehabilitation training;

In the figure: 1-exoskeleton power unit; 2-running platform; 3-lumbar connection device; 4-adaptive weight reduction box; 5-weight reduction bracket; 6-cable traction assembly; Pelvic head; 9-Hip joint encoder installation device; 10-Hip joint femoral side connection piece; 11-Thigh side length adjustment rod; 12-Knee joint driver; 13-Knee joint femoral side joint piece; 14-Knee joint encoder Installation device; 15-knee tibial side connector; 16-calf side length adjustment rod; 17-gaiter mechanism; 18-AC servo motor; 19-motor mounting seat; 20-single diaphragm coupling; 21-driver shell ;22-rail slide block; 23-drive micro guide rail; 24-screw bearing; 25-connecting rod; 26-nut sleeve; 27-drive nut; 28-ball screw; 29-absolute encoder; 30-joint Pressing plate; 31-encoder installation disc; 32-encoder bracket; 33-gaiters outer ring; 34-gaiters inner ring; 35-medical straps; 39-gaiter slider; 40-tension and pressure sensor; 41-gaiter micro-slider; 42-gaiter miniature guide rail; 43-set screw; 44-sensor installation round block; 45-width adjustment support plate; 46-linear guide rail; 47-Linear bearing; 48-Hand wheel; 49-Exoskeleton mounting plate; 50-Installation vertical plate; - Upper swing rod; 56- Lower swing rod; 57- Support base; 58- Lock nut; 59- Shaft sleeve; 60- Deep groove ball bearing; Sensor; 65-weight-loss clothing; 66-casters; 67-mounting plate front fixed pulley A; 68-mounting plate front movable pulley; 69-moving plate; 70-rail bearing seat; 71-weight loss box guide rail; Bearing; 73-flap; 74-weight reduction box nut; 75-weight reduction box screw; 76-screw bearing seat; 77-elastic diaphragm coupling; 78-DC servo motor A; 79-servo motor A mounting ;80-DC servo motor B; 81-reducer; 82-reducer mounting frame; 83-plum coupling; 84-rope roller bearing seat; 85-rope roller; Side steering fixed pulley; 88-box cover; 89-mounting plate front fixed pulley B; 90-installation plate; 91-long opening; 92-length adjustment rod inner tube; 93-length adjustment rod outer tube; Mounting block; 95 - Clamping device.

Detailed ways

The present invention will be described in detail below with reference to the drawings and embodiments, and the embodiments are used to explain the present invention, rather than limit the protection scope of the present invention.

Referring to Fig. 1, the present invention provides a wearable exoskeleton robot for lower limb rehabilitation training, which is used for lower limb rehabilitation training of patients with central nervous system injuries such as cerebral apoplexy and spinal injury, including a gait training system, a waist connection device 3 and Suspension weight reduction system, gait training system uses two exoskeletons to drive the patient's lower limbs for training according to the trajectory of normal human walking, and the weight reduction system drives the patient to undulate in the vertical plane according to the trajectory of the center of gravity under the gait training trajectory, And provide the patient with a certain weight reduction force to maintain the patient's body stability; the waist connection device is used as the connection device between the gait training system and the weight loss system, and can adjust the width of the two exoskeletons in the gait training system to adapt to The width of the patient can also meet the structural requirements of the patient's body undulation during gait training.

The gait training system includes an exoskeleton power unit 1 and a running platform 2 , and the suspension weight reduction system includes an adaptive weight reduction box 4 , a weight reduction bracket 5 and a cable traction assembly 6 . The gait training system (specifically, the exoskeleton power unit) is connected to the suspension weight reduction system (specifically, the weight reduction bracket) through the waist connecting device 3, and the three cooperate under the action of the gait training and the suspension weight reduction control system Exercise to assist patients in normal gait rehabilitation training.

Referring to FIG. 2 , FIG. 3 and FIG. 5 , the exoskeleton power device 1 includes two symmetrical lower limb exoskeletons. Taking the lower extremity exoskeleton worn on the left leg as an example, the lower extremity exoskeleton is mainly composed of a driver for driving the corresponding joints (hip joint, knee joint) of the leg, a joint connection mechanism, and an encoder (used for patient movement during gait training). Angle display) installation device, length adjustment bar and the leggings mechanism 17 etc. that are installed on the corresponding length adjustment bar. Specifically, the hip joint driver 7 is installed on the hip joint pelvis head 8 (ie, the hip joint pelvis side connector) by screws, and the round holes provided on the joint pressure plates 30 on both sides are in contact with the boss circumference on the hip joint pelvis head 8 ( can rotate freely), meanwhile, the two side joint pressure plates 30 and the hip joint femoral side connecting piece 10 are fixed by screws, and the opposite end of the hip joint femoral side connecting piece 10 and the hip joint pelvic head 8 is a corresponding circular arc surface. Driven, the hip joint femoral side connector 10 can rotate around the hip pelvic head 8, the connecting rod 25 on the hip joint driver 7 and the joint pressure plate 30 are hinged through the hinge, and the joint pressure plate is used as a crank, thus, the hip joint driver 7 utilizes The linear motion of the internal slider drives the position of the hip joint of the corresponding leg of the exoskeleton of the lower extremity to rotate (thus driving the hip joint) in the action mode of the crank slider mechanism. The inner tube 92 of the length adjustment rod is welded, and the length adjustment rod outer tube 93 in the thigh side length adjustment rod 11 is welded with one end of the femoral side connector 13 of the knee joint. Similarly, the lower extremity exoskeleton can also rotate at the knee joint of the corresponding leg, wherein the knee joint driver 12 is fixed on the femoral side connector 13 of the knee joint by screws, and one end of the tibial side connector 15 of the knee joint is fixed by a screw on the two sides. side joint pressing plate 30, the boss circumference on the other end of the knee joint femoral side connector 13 is in contact with the round hole provided on the joint pressing plate 30 (freely rotatable), and the knee joint tibial side connecting member 15 is connected with the knee joint femur side The opposite end of the piece 13 is a circular arc surface with a corresponding shape. Driven by the joint pressure plate, the knee joint tibial side connection piece 15 can rotate around the knee joint femoral side connection piece 13, and the connecting rod on the knee joint driver 12 passes through the joint pressure plate 30. The hinge is hinged, so that the knee joint driver 12 can drive the position of the corresponding leg knee joint of the lower extremity exoskeleton to rotate (thus driving the knee joint), and the other end of the knee joint tibial side connector 15 is connected with the calf side length adjustment rod 16 Pipe 92 is welded in the length adjusting rod.

Referring to Fig. 3, the inner tube 92 of the length adjusting rod is built in the outer tube 93 of the length adjusting rod, both of which can slide freely, so that each length adjusting rod is stretchable and adjustable, after adjustment, it is clamped and fixed by the clamping device 95, suitable for For different lengths of the lower limbs of a human body, two leggings installation blocks 94 are respectively arranged on the corresponding length adjustment rod outer tube 93 for installation of the leggings mechanism 17 .

Referring to Fig. 4, the hip joint driver 7 is powered by an AC servo motor 18, and the AC servo motor 18 is fixed on the motor mount 19 by screws, and the motor mount 19 is also connected to the driver housing 21 by screws, and the motor extends The two ends of the ball screw are fixed with the ball screw 28 through the single-diaphragm coupling 20, and the two ends of the ball screw are fixed in the driver housing 21 through the screw bearing 24. The driver housing is also provided with a driver miniature parallel to the screw. Guide rail 23 and the guide rail slider 22 that is positioned on it, described guide rail slider 22 is connected with nut cover 26 one side, makes nut cover can only move along miniature guide rail 23 (sliding in a straight line and self does not rotate), described nut cover The other side of 26 is hinged with a connecting rod 25, and the nut sleeve 26 is also fixed on the driver nut 27, so that when the AC servo motor 18 rotates, the ball screw 28 is driven to rotate through the single-diaphragm coupling 20, so that the driver The nut 27 moves along the miniature guide rail 23 of the driver, thereby driving the connecting rod 25 to drive the joint pressure plate at the corresponding position (8 places of the hip joint pelvic head) to rotate, and to drive the joint connection mechanism to rotate (specifically refers to the hip joint femoral side connector 10 around the hip joint pelvis) head 8 rotation). In addition, the structural principle of the knee joint driver 12 is the same as that of the hip joint driver 7, and its connecting rods protrude from different sides of the respective driver housings according to the needs of the moving space.

Referring to Fig. 5, the encoder installation device is used to install an absolute encoder 29, and the absolute encoder 29 is respectively placed on the corresponding legs of the lower extremity exoskeleton through the hip joint encoder installation device 9 and the knee joint encoder installation device 14 The position of the hip and knee joints. Take the knee joint encoder installation device 14 as an example, the encoder installation device includes an encoder installation disc 31 and an encoder bracket 32, the encoder installation disc 31 is connected with the knee joint femoral side connector 13, an absolute encoder 29 Built into the round hole of the femoral side connecting piece 13 of the knee joint, and connected with the encoder installation disk 31, the round hole is located at the end surface of the boss of the femoral side connecting piece 13 of the knee joint, and the encoder passes through the round hole The joint pressure plate 30 at the boss, the outer shell of the absolute encoder 29 is fixed to the femoral side connector 13 of the knee joint through the encoder mounting disc 31, and the encoder bracket 32 is fixed on the joint pressure plate at the side of the boss. 30, the rotor of the absolute encoder 29 is connected to the encoder bracket 32, thus, the relative rotation of the femoral joint 13 of the knee joint and the tibial joint 15 of the knee joint can be converted into the shell of the absolute encoder 29 and the rotor The synchronous rotation of the knee joint can detect the rotation angle of the knee joint. The above description is also applicable to the installation device of the hip joint encoder and the detection of the corresponding hip joint rotation angle.

Referring to Fig. 6, the leggings mechanism 17 is composed of leggings inner ring 34, leggings outer ring 33, leggings guide rail 37, tension and pressure sensor 40, etc., the leggings inner ring 34 and leggings outer ring 33 are in a semi-encircling shape, and the leggings inner ring Leggings miniature slider 41 is installed on 34, leggings miniature guide rail 42 is installed on described leggings outer ring 33, leggings inner ring 34 is placed in leggings outer ring 33, opening direction is the same, through leggings miniature guide rail 42 and leggings miniature slider The cooperation of 41 is a sliding connection, so that the inner ring of the leggings can slide weakly in the outer ring of the leggings, and the medical straps 35 pass through the square holes on both sides of the opening of the inner ring of leggings 34 to fix the patient's legs. In order to facilitate subsequent measurement of the interaction force between the patient's leg and the exoskeleton, one end of the tension-pressure sensor 40 is screwed into the threaded hole on the leggings outer ring 33, and the other end of the tension-pressure sensor 40 is screwed into The sensor is installed in the round block 44, and the sensor is installed in the round block through the set screw 43 and fixed in the round hole in the middle of the inner ring of the leggings. The leggings outer ring 33 is fixed with the leggings slider 39 by screws, the leggings slider 39 can slide freely on the leggings guide rail 37, and can also be fastened by the strap screw 38, another leggings slider on the leggings guide rail 37 A right-angle rod 36 is fixed on the top, and the right-angle rod 36 is inserted into the legging installation block 94 or the legging tube clamp on the length adjustment rod outer tube 93, and is locked on the length adjustment rod outer tube 93 by the leggings installation block 94, thereby completing the leggings Installation of mechanism 17. As a result, the patient's leg is fixed to the inner ring of the leggings, and the outer ring of the leggings is fixed to the exoskeleton. The tension and compression sensors can measure the interaction force between the patient and the exoskeleton, which is convenient for future research on the perception of human active intentions.

Referring to FIG. 7 , the waist connection device 3 includes a width adjustment mechanism and a support mechanism, and the exoskeleton power unit 1 is connected to the weight reduction system through the waist connection device 3 . Wherein, the width adjustment mechanism is mainly composed of a width adjustment support plate 45, a linear guide rail 46, a linear bearing 47, a positive and negative lead screw 52, a positive tooth nut 53, a negative tooth nut 51, a hand wheel 48 and an exoskeleton mounting plate 49, etc. composition. Specifically, the upper and lower linear guide rails 46 are arranged on the front of the width adjustment support plate 45, and each linear guide rail is provided with two sets of sliding bearing groups. The two linear bearings 47 of the guide rail slide freely; the positive and negative thread screw 52 is installed on the front of the width adjustment support plate 45 through the JK bearing seats 54 on both sides, and the two ends of the positive and negative thread screw are equipped with handwheels 48; The reverse tooth nut 51 and the positive tooth nut 53 are placed opposite to each other to form a set of nut groups. The two sets of nut groups are symmetrically installed on the positive and negative tooth screw 52. The upper and lower sliding bearing groups and the nut groups on the same side are all connected to the The installation riser 50 is fixed, and the installation riser 50 is fixedly connected with the exoskeleton installation plate 49 by screws (the lower extremity exoskeleton is fixed on the exoskeleton installation plate 49 through the hip joint pelvic head 8), and by rotating the hand wheel 48, the lead screw forces The nut drives the exoskeleton to move towards each other, and adjusts the distance between the two lower extremity exoskeletons to meet different body widths, and at the same time, to meet the ups and downs of the patient's body during the gait training process. The supporting mechanism is composed of an upper swing rod 55, a lower swing rod 56, a support seat 57 and a shaft connection device, etc. Specifically, the upper swing rod 55 is placed in parallel with the lower swing rod 56, and forms a parallel structure with the width adjustment support plate 45 and the support seat 57. Quadrilateral; the upper swing rod 55 and the lower swing rod 56 are provided with deep groove ball bearings 60, and the lugs on the back of the upper swing rod 55, the lower swing rod 56 and the width adjustment support plate 45 pass through the deep groove ball bearings 60 and the rotating shaft. 61. The shaft sleeve 59 (the shaft sleeve touches the inner ring of the bearing to prevent the swing rod from moving axially along the rotating shaft) is connected and fastened by the lock nut 58, that is, the front ends of the upper and lower swing rods 55 and 56 are hinged on the The width is adjusted on the support plate 45; and the rear end is hinged on the support seat 57. During the patient’s gait training process, the width adjustment mechanism can drive the exoskeleton of the lower limbs to rotate around the support base 57 with the ups and downs of the human body. Always in a vertical plane, with the help of the parallelogram principle, the width-adjusting support plate 45 is also in a vertical state during the training process of the patient driven by the lower extremity exoskeleton, that is, parallel to the plane of the support seat, so as to maintain the vertical state of the human body. Ensure the patient's body balance.

After wearing the exoskeleton, the patient stands on the treadmill 2 (the treadmill includes a treadmill driven by a DC motor), and the exoskeleton drives the lower limbs of the patient to perform rehabilitation according to the predetermined gait trajectory. At the same time, the treadmill 2 starts and stops synchronously at the same speed.

Referring to Fig. 8, in the suspension weight reduction system, the weight reduction bracket 5 includes an upper bracket body for supporting the cable traction assembly, and a lower bracket body that is plugged and fitted with the pin, and the lower bracket body includes a door frame 62, a spacer The two square tubes arranged and the standpipe and liftable handrail installed on the square tube, the upper bracket body is installed on the standpipe, and the bottom of the square tube is equipped with casters 66 to facilitate the movement of the weight-reducing support 5. The running platform 2 Located between the two square tubes, the door frame 62 is installed on the rear side of the weight-reducing bracket 5 and connected with the risers on both sides. The support seat 57 can be fixed on the door frame 62 by screws; the cable traction assembly 6 is mainly Consists of a weight-loss suit 65, a tension sensor 64, and a rope 63. Specifically, one end of the tension sensor 64 is connected to the weight-loss suit 65, and the other end of the tension sensor 64 is connected to a rope 63. The rope 63 extends to the Adapt to the inside of the weight reduction box 4, and the self-adaptive weight reduction box 4 is installed on the riser. The patient wears a weight-reducing suit 65, is lifted by the rope 63, and is synchronized with the gait training system under the traction of the servo motor in the self-adaptive weight-reducing box 4, and moves according to a predetermined trajectory. At the same time, the weight-reducing device also provides certain weight-reducing force for the patient.

Referring to FIG. 9 , the self-adaptive weight reduction box 4 includes a box body and a box cover 88 , an adaptive center-of-gravity following device is fixedly installed on the front of a mounting plate 90 in the box, and a rope hoisting device is fixedly installed on the back of the mounting plate 90 .

In the rope hoisting device (FIG. 9b), the DC servo motor B 80 is matched with the reducer 81 as the torque output unit, the output end of the reducer 81 is fixedly connected with the plum blossom coupling 83, and the plum blossom coupling 83 is fixed with the rope roller 85. The rope roller 85 is wound with the rope 63 used for patient suspension; the reducer 81 is fixed on the mounting plate 90 by the reducer mounting frame 82, and the rope roller 85 is fixed on the mounting plate 90 by the rope roller bearing seat 84; the patient recovers Before the training, the patient is raised to a certain height by the rope hoisting device, and adjusted to the set weight reduction force through the feedback value of the tension sensor 64, and then the rope hoisting device stops working to prepare for gait training.

The self-adaptive center-of-gravity following device (Fig. 9a) is mainly composed of a motor connected to a ball screw through a shaft coupling to drive the moving plate, and the moving plate can follow the center of gravity of the patient during gait training to ensure a relatively stable weight-reducing force. Specifically, the weight reduction box nut 74 is fixed on the lower part of the moving plate 69, and the left and right sides of the moving plate 69 are provided with wing plates 73. Sliding, the guide rail 71 of the weight reduction box is fixed on the mounting plate 90 through the guide rail bearing seat 70 (the linear bearing moves linearly along the guide rail fixed on the front of the mounting plate); the two ends of the screw 75 of the weight reduction box are fixed on the mounting plate by the screw bearing seat 76 90, the weight reduction box screw 75 is connected with the DC servo motor A 78 through the elastic diaphragm coupling 77, thereby transmitting motion, the weight reduction box screw 75 rotates, and drives the weight reduction box nut 74 to move up and down, thereby driving the moving plate 69 up and down in a straight line Movement; DC servo motor A 78 is fixed on the mounting plate 90 by the servo motor A mounting bracket 79; the moving plate 69 top is equipped with the front moving pulley 68 of the mounting plate, and two fixed pulleys on the front of the mounting plate form a pulley block, and the rope 63 is mounted on the mounting plate The rope roller 85 on the back side of 90 draws around the side of the mounting plate and turns to the fixed pulley 87 and then draws the casing through the block of pulleys on the front of the mounting plate. The pulley leads to the movable pulley, and the rope is led to the elongated opening 91 arranged on the casing by another fixed pulley (fixed pulley A 67 at the front of the mounting plate), thereby being drawn out of the casing. The position of the strip opening 91 is biased toward the self-adaptive center of gravity following device on the front of the mounting plate 90. After the rope 63 is drawn out from the opening, it is connected to the tension sensor 64 on the upper end of the weight-loss clothing 65 (such as a weight-loss vest), and the rope passes through the box body. The elongated opening of the belt enters the self-adaptive weight reduction box, and is finally wound on the rope roller 85 through the pulley block.

Referring to FIG. 10 , the working principle of the suspension weight reduction system: under the feedback of the tension sensor 64, the DC servo motor B 80 in the rope hoisting device is controlled to release/tighten the rope, and the weight reduction force of the patient is adjusted to a set value; In the process of rehabilitation training, according to the pre-set human body in the vertical direction (that is, the center of gravity movement track), it is transformed into the rotation angle of the DC servo motor A 78 in the adaptive center of gravity following device, driving the movable pulley 6,8 on the front of the mounting plate Move and adjust the length of the rope 63 to follow the change of the patient's center of gravity in real time.

Referring to Fig. 11, the gait training and suspension weight reduction control system includes an industrial computer, a motion control card, a gait training system control module and a suspension weight reduction system control module.

The control module of the gait training system includes an exoskeleton power unit control submodule and a treadmill control submodule. Specifically, the control submodule of the exoskeleton power unit mainly includes a servo motor driver, a terminal board, a serial port converter, etc., and the servo motor on the exoskeleton power unit (specifically located in the hip joint driver and the knee joint driver) passes pulse The wire and the power line are connected to the servo motor driver, and the servo motor driver is connected to the motion control card through the terminal board, and the motion control card adopts Ethernet (Ethernet) communication to receive control commands from the industrial computer, thereby driving the joint movement, The absolute encoder is connected to the industrial computer through a serial port converter to collect joint rotation angles for displaying the patient's movement form; the treadmill control sub-module mainly includes a DC motor governor, a D/A module, a speed sensor, and an Arduino development board, etc. Specifically, the Arduino development board is connected to the D/A module to output analog to control the motor governor, which is used to adjust the speed of the DC motor of the treadmill. The speed sensor is connected to the Arduino development board to feed back the speed of the motor. This performs closed-loop control on the speed of the motor, and at the same time, the industrial computer realizes the communication control of the Arduino development board through a serial port connection.

The control module of the suspension weight reduction system includes a suspension weight reduction sub-module (for adjusting the weight reduction force) and a center of gravity following sub-module. Specifically, the suspension weight reduction sub-module includes a weight reduction motor driver connected to the DC servo motor B 80 and a data acquisition card connected to the tension sensor 64. The weight reduction motor driver is connected to the motion control card through a terminal board. Set the weight reduction force on the industrial computer, and the industrial computer collects the current value of the tension sensor through the data acquisition card as feedback, compares it with the set value, calculates the adjustment change of the weight reduction force and sends it to the motion control card, and the motion control card The pulse signal is sent to the weight loss motor driver, and the weight loss motor driver controls the DC servo motor B to adjust the length of the rope 63 to provide the patient with a preset weight loss force. The center of gravity following sub-module includes a follower motor driver connected to the DC servo motor A 78. The industrial computer will control the follower motor driver by the motion control card through the terminal board according to the preset center of gravity movement track, and the follower motor driver will then drive The DC servo motor A drives the rope 63 to pull the patient up and down synchronously while the patient is performing lower limb gait training.

Referring to Fig. 12, when the patient needs to perform lower limb rehabilitation training, at first, according to the body size of the patient, use each length adjustment bar and width adjustment mechanism to adjust the length and width of the exoskeleton legs (i.e. the distance between the two lower extremity exoskeletons), and then The patient wears the exoskeleton (fixed by the leggings mechanism) and weight-loss clothing, and then enters the weight-loss adjustment stage. First, set the weight-loss force f _set and the allowable error ε of the weight-loss force, read the value f _actual of the tension sensor 64, and calculate f _actual The difference Δf with f _set , judge whether Δf is within the allowable error ε range of the weight reduction force, if f _actual >f _set +ε, the actual value is greater than the upper limit of the set value, indicating that the rope is too tight, control (PID controller) DC The servo motor B 80 releases the rope until |f _actual -f _set |≤ε; if f _actual <f _set -ε, the actual value is smaller than the lower limit of the set value, indicating that the rope is too loose, and the DC servo motor B 80 is controlled to tighten the rope , until |f _actual -f _set |≤ε, at this time the gravity reduction has been adjusted. Next, the industrial computer loads the set gait training trajectory and the synchronous center of gravity movement trajectory during training under the gait trajectory, drives the gait training system and the suspension weight reduction system to move synchronously, and assists patients in lower limb rehabilitation training . After training, the weight loss system puts the patient down and removes the weight loss suit and exoskeleton.

In a word, in the present invention, the exoskeleton power device of the gait training system drives the human body (such as a patient) to carry out lower limb rehabilitation training according to a predetermined gait trajectory (such as when a normal person walks), and the treadmill cooperates with the exoskeleton power device to provide the patient with The same training speed; during this process, the weight loss system also pulls the patient's body ups and downs according to the predetermined trajectory of the center of gravity to meet the vertical changes of the center of gravity when normal people walk. Maintain their body stability; the waist connection device plays a supporting role in the exoskeleton power device, which can realize the adaptation and adjustment of the body width, and can also rotate around the weight-reducing bracket to meet the fluctuation of the patient's body center of gravity during the training process, which is conducive to improving body stability . The robot is suitable for patients of different sizes. The robot is fixed during training, and does not require a large activity field. The patient is standing during training, which restores the real walking environment. The robot helps the patient maintain body balance and improves the effect of rehabilitation treatment.

Claims (10)

1. a kind of human body lower limbs recovery exercising robot, it is characterised in that：The robot includes gait training system, loss of weight system And waist joint device (3), gait training system include ectoskeleton power plant (1), ectoskeleton power plant (1) is including supplying people The lower limb exoskeleton of body wearing, lower limb exoskeleton include joint driver, joint connecting mechanism, length adjustment mechanism and gaiter machine Structure (17), joint connecting mechanism includes fixed section and the active segment being connected with fixed section, joint driver are arranged on fixed section, Active segment is connected respectively with length adjustment mechanism and joint driver, and gaiter mechanism (17) is arranged on length adjustment mechanism, is subtracted Weight system includes the rope (63) that gravity center of human body can be followed to change and the loss of weight stent (5) for being used to support rope (63), and waist connects Connection device (3) is set on loss of weight stent (5).

2. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The joint driver packet The drive enclosure (21) for include connecting rod (25), being set on the fixed section and the motor being connected with drive enclosure (21) peace Seat (19) is filled, the first servo motor is provided on motor mount (19), the first servo motor is by shaft coupling and is set to drive Leading screw in dynamic device shell (21) is connected, and nut mounting base is provided on the leading screw, and nut mounting base includes being connected with leading screw Nut and the nut set (26) that is set on nut, nut set (26) and be set in drive enclosure (21) can straight line The guide rail slide block (22) of slip is connected, and one end of connecting rod (25) is hinged with nut set (26), and the other end stretches out drive enclosure (21) and with the active segment it is hinged.

3. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The joint connecting mechanism Joint pressing plate (30), fixed end connection and movable end connection are specifically included, round boss is provided on fixed end connection, Joint pressing plate (30) is axially disposed on fixed end connection along the boss and can be freely rotated around the boss, joint pressing plate (30) It is connected respectively with movable end connection and the joint driver, joint driver is arranged on fixed end connection.

4. a kind of human body lower limbs recovery exercising robot according to claim 3, it is characterised in that：The boss is hollow knot Structure, is provided with the encoder for detecting corner in hollow structure, the rotor of the encoder and is set to the joint pressing plate (30) the encoder stent (32) on is connected.

5. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The length adjustment mechanism Including length adjustment inner tube and length adjustment outer tube, the gaiter mechanism (17) is connected with length adjustment outer tube, length adjustment One end built-in length of inner tube is adjusted in outer tube, is provided on length adjustment outer tube and is exposed to length for locked lengths adjusting inner tube Degree adjusts the clamping device (95) that outside pipe divides length, length adjustment outer tube or/and length adjustment inner tube and connects with the joint Connection mechanism is connected.

6. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The gaiter mechanism (17) Including gaiter inner ring (34), gaiter outer shroud (33), bandage, tension-compression sensor (40), miniature guide rail and with the length adjustment machine What structure was connected locks guide rail, and gaiter inner ring (34) and gaiter outer shroud (33) are connected by miniature guide rail, tension-compression sensor (40) It is set between gaiter inner ring (34) and gaiter outer shroud (33), bandage is set in gaiter inner ring (34), can be locked on guide rail Sliding block is connected with gaiter outer shroud (33).

7. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The lower limb exoskeleton tool Body includes hip joint driver (7), knee joint driver (12), hip joint pelvis side connector, femoral hip prosthesis side connector (10), knee joint femoral side connector (13), knee joint tibial side connector (15), thigh side length regulating mechanism and shank side Length adjustment mechanism, hip joint driver (7) are arranged on the connector of hip joint pelvis side, and hip joint driver (7) and hip close Section femur side connector (10) is connected with the joint pressing plate free to rotate being set on the connector of hip joint pelvis side, thigh Side length regulating mechanism is connected respectively with femoral hip prosthesis side connector (10) and knee joint femoral side connector (13), knee joint Driver (12) is arranged on knee joint femoral side connector (13), knee joint driver (12) and knee joint tibial side connector (15) it is connected with the joint pressing plate free to rotate being set on knee joint femoral side connector (13), shank side length is adjusted Mechanism is connected with knee joint tibial side connector (15), on shank side length regulating mechanism and thigh side length regulating mechanism respectively Gaiter mechanism (17) is provided with, is separately provided on hip joint pelvis side connector and knee joint femoral side connector (13) Detect the encoder of femoral hip prosthesis side connector (10) and knee joint tibial side connector (15) corner.

8. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The waist joint device (3) including width adjustment mechanism and supporting mechanism；The width adjustment mechanism includes width adjusting support plate (45), two dermoskeletons Bone installing plate (49) and the linear guide (46) being arranged in width adjusting support plate (45) and positive and negative tooth leading screw (52), it is positive and negative Tooth leading screw (52) end set has handwheel (48), and one of ectoskeleton installing plate (49) is with being arranged on positive and negative tooth leading screw (52) Orthodontic nut (53) and the linear bearing (47) that is arranged in the linear guide (46) respective side be connected, another ectoskeleton peace It loading board (49) and the anti-tooth nut (51) that is arranged on positive and negative tooth leading screw (52) and is arranged in the linear guide (46) respective side Linear bearing (47) be connected；

The supporting mechanism includes upper pendulum bar (55), draft link (56) and the support base (57) being connected with the loss of weight stent (5), The front end of upper pendulum bar (55) and draft link (56) is hinged with the width adjusting support plate (45), upper pendulum bar (55) and draft link (56) rear end is hinged with support base (57).

9. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The loss of weight system is specific Including adaptive loss of weight case (4), loss of weight stent (5) and rope traction component (6), rope traction component (6) includes loss of weight clothes (65), drawing Force snesor (64), rope (63) and the pulley blocks being set on loss of weight stent (5), one end of pulling force sensor (64) and loss of weight It takes (64) to be connected, the other end is connected with rope (63), and rope (6) is extended to through the pulley blocks in adaptive loss of weight case (4)；

The adaptive loss of weight case (4) including babinet and the installing plate being set in babinet (90), rope winding plant and from Center of gravity following device is adapted to, rope winding plant and adaptive center of gravity following device are respectively arranged at the two sides of installing plate (90) On, the rope (63) is followed by the pulley being set on installing plate (90) with rope winding plant and adaptive center of gravity successively Device is connected；

The gait training system further includes the treadmill (2) for being set to loss of weight stent (5) bottom.

10. a kind of human body lower limbs recovery exercising robot according to claim 9, it is characterised in that：The robot also wraps Include industrial personal computer, motion control card, ectoskeleton Power plant control module, treadmill control module and loss of weight system control module； The ectoskeleton Power plant control module includes motor servo driver and for detecting joint connecting mechanism rotational angle Encoder, motor servo driver respectively with motion control card and for joint driver provide power servo motor phase Even, motion control card and the encoder are connected respectively with industrial personal computer；The treadmill control module includes DC motor speed-regulating device And tachogenerator, DC motor speed-regulating device are connected respectively with for the direct current generator to treadmill (2) offer power and industrial personal computer, Tachogenerator is connected with industrial personal computer；The loss of weight system control module includes suspention loss of weight submodule and center of gravity follows submodule Block；Suspention loss of weight submodule includes the data collecting card being connected with industrial personal computer and pulling force sensor (64)；

Ectoskeleton Power plant control module is according under the preset gait Track fusion for human body lower limbs rehabilitation training Limb ectoskeleton drives human body to carry out lower limb gait training using lower limb exoskeleton；

Loss of weight submodule is suspended in midair according to preset loss of weight power, numerical value is detected as feedback using pulling force sensor (64), with subtracting Gravity setting numerical value is compared, and is calculated loss of weight power and is adjusted variable quantity, will be adjusted variable quantity and be converted signal in order to control and pass through fortune Dynamic control card passes to rope winding plant, rope (63) length is adjusted using rope winding plant, until reaching subtracting for setting Gravity；

Center of gravity follows submodule to be followed according to preset centre-of-gravity path by the adaptive center of gravity of motion control card control Device drives rope (63), while lower limb gait training, above and below sync pulling human body using adaptive center of gravity following device Movement.