CN110812130A - A pelvis-assisted walking rehabilitation training robot - Google Patents

Abstract

The invention discloses a pelvis-assisted walking rehabilitation training robot. It includes an auxiliary treadmill, a variable-stiffness drive unit and a pelvic motion assistance system; the auxiliary treadmill is provided with a vertical slide rail arranged vertically, and the variable-stiffness drive unit can be slidably connected to Vertical slide rail; the pelvic movement assistance system includes a support plate, the support plate is provided with a fixed block, the two ends of the support plate are provided with handrails, the support plate is also connected to the waist belt, and an elastic device and a rotation limit are arranged between the fixed block and the support plate The device; the variable-stiffness drive unit includes a drive shaft, the drive shaft is connected with a fixed block, a rotary power structure for driving the drive shaft to rotate, and a horizontal limiting mechanism for driving the drive shaft to elastically traverse; the variable-stiffness drive unit is also connected to the patient. Active weight loss system for weight loss. The weight-reducing part of the present invention is located at the waist, and the pelvic exercise assistance system can perform four-degree-of-freedom rehabilitation exercises for the patient's waist, and can also assist the patient when the patient performs sit-stand conversion training.

Description

A pelvis-assisted walking rehabilitation training robot

technical field

The invention relates to the technical field of rehabilitation robots, in particular to a pelvis-assisted walking rehabilitation training robot.

Background technique

At present, most of the lower limb rehabilitation robots are designed to complete gait training by correcting the walking action of the legs, and part of the lower limbs are restrained and driven by exoskeletons. The scheme lacks control over the movement of the human pelvis or waist. Under this scheme, the upper body of the human body is subjected to upward pulling force and the gravity of the lower body itself, so that a state of stiffness will be formed near the waist, resulting in the human pelvis (waist) and hips and knees during walking training. Abnormal movement of joints, which is disadvantageous for patients with lower extremity dysfunction due to lumbar and spinal injuries. At present, some researchers use the form of parallel rope drive to control the waist movement of the human body. For example, the patent number is 201110027352.2 The rope-driven waist rehabilitation robot adopts a set of gravity balance unit and multiple traction ropes to coordinate actions to reproduce the normal behavior of rehabilitation patients in standing and walking situations. The trajectory of the human pelvis can achieve effective rehabilitation training for the waist. However, at least six traction ropes are required, the driving and wearing are complicated, and the control is difficult.

SUMMARY OF THE INVENTION

In order to solve the deficiencies in the prior art, the present invention provides a pelvic assisted walking rehabilitation training robot, which solves the problems of lack of human waist motion control in the existing assisted walking rehabilitation training, or difficulty in controlling multiple ropes driven by ropes, and inconvenient to wear.

In order to achieve the above goals, the present invention adopts the following technical solutions:

A pelvis-assisted walking rehabilitation training robot, comprising an auxiliary treadmill, a variable-stiffness drive unit and a pelvic motion assistance system;

The auxiliary treadmill is provided with a vertical slide rail arranged vertically, and the variable stiffness driving unit can be slidably connected to the vertical slide rail;

The pelvic exercise assisting system includes a support plate, which is provided with a horizontally rotatable fixing block, both ends of the support plate are provided with handrails, the support plate is also connected to a waist belt, and the fixing block and the support plate are connected. There are elastic devices and rotation limit devices between them;

The variable stiffness driving unit includes a transmission shaft, the transmission shaft is connected with a fixed block, a rotary power structure for driving the transmission shaft to rotate, and a horizontal limiting mechanism for driving the transmission shaft to move elastically;

The variable stiffness drive unit is also connected to an active weight loss system for weight loss of the patient.

As a preferred solution of the present invention, in the aforementioned pelvis-assisted walking rehabilitation training robot, the active weight loss system includes a rope winding motor, and the rope winding motor is connected to the variable stiffness drive unit through a rope, and the rope also passes through The upper pulley is connected to the upper end of the vertical slide rail, and the upper pulley is connected with the vertical spring.

As a preferred solution of the present invention, in the aforementioned pelvis-assisted walking rehabilitation training robot, the upper pulley is connected to a load-bearing block, and the load-bearing block can be slidably connected to an inner guide post, and the inner guide post is sleeved with a vertical Toward the spring, the upper end of the vertical spring is connected to the bearing block, and the lower end is fixedly connected to the lower stopper.

As a preferred solution of the present invention, in the aforementioned pelvis-assisted walking rehabilitation training robot, the variable-stiffness drive unit further includes a transition support, a motor, an electric cylinder, a horizontal moving rod, and a side plate, and the side plate passes through a linear sliding motion. The block is connected to the vertical slide rail, the horizontal moving rod is connected to the side plate through the horizontal sliding block, the transition support is connected to the drive transmission shaft and the horizontal moving rod, and the electric cylinder is used to drive the transition support and the horizontal moving rod along the The horizontal slider slides, and the motor is used to drive the transmission shaft to rotate.

As a preferred solution of the present invention, in the aforementioned pelvis-assisted walking rehabilitation training robot, the motor is connected to the transition support, and the motor drives the transmission shaft to rotate through a synchronous belt.

As a preferred solution of the present invention, the aforementioned pelvis-assisted walking rehabilitation training robot further includes an auxiliary knee bending mechanism, and the auxiliary knee bending mechanism includes a cross universal joint, a connecting rod, and an elastic body connected in sequence. The upper end of the joint is connected to the support plate, and the cross universal joint is also provided with a knee-bending motor for driving the swing of the connecting rod.

As a preferred solution of the present invention, the aforementioned pelvis-assisted walking rehabilitation training robot further includes an assisting sit-up mechanism, and the assisting sit-up mechanism includes a support plate support rod and a support plate, and the upper end of the support plate support rod is connected to In the pelvic exercise assistance system, the support plate support rod is provided with a chute, the support plate can be slidably connected to the chute, and the support plate support rod is rotatably connected to the pelvic exercise assistance system.

As a preferred solution of the present invention, in the aforementioned pelvic-assisted walking rehabilitation training robot: a sitting-up electric cylinder is also provided between the support rod and the pelvic motion assistance system.

As a preferred solution of the present invention, in the aforementioned pelvis-assisted walking rehabilitation training robot, the transmission shaft is also connected to a torque sensor and a lower force sensor.

As a preferred solution of the present invention, in the aforementioned pelvis-assisted walking rehabilitation training robot, an upper force sensor is further provided between the upper pulley and the load-bearing block.

Beneficial effects achieved by the present invention:

Compared with the prior art, the weight loss part of the present invention is located at the waist, which avoids lifting the upper body of the patient and forces the patient to be in a rigid state. The active weight loss system can reduce the bearing capacity of the lower limbs and waist of the patient, and the bearing capacity can be reduced. Make adjustments.

The invention can carry out four degrees of freedom rehabilitation exercise for the patient's waist, assist the patient's pelvis movement control during walking rehabilitation training, and achieve effective rehabilitation training for the waist. Sit-up mechanisms and assisted knee flexion mechanisms can also assist patients.

Description of drawings

Fig. 1 is the overall structure diagram of the present invention;

Fig. 2 is the structure diagram of the pelvic movement assistance system of the present invention;

Fig. 3 is the structure diagram of the variable stiffness drive unit of the present invention;

Figure 4 is a structural diagram of the variable stiffness drive unit of the present invention (a side plate is hidden);

Fig. 5 is the structure diagram of the active weight reduction system of the present invention;

Fig. 6 is the structure diagram of auxiliary treadmill of the present invention;

Fig. 7 is the auxiliary knee bending mechanism diagram of the present invention;

Fig. 8 is the structure diagram of the assisting sit-up mechanism of the present invention;

The meaning of the reference numerals: 1-human body model; 2-pelvic motion assistance system; 3-variable stiffness drive unit; 4-active weight loss system; 5-assist treadmill; 6-assist knee bending mechanism; ;2-1-armrest;2-2-connecting rod;2-3-belt;2-4-lower support plate;2-5-upper support plate;2-6-spring fixing plate;2-7-waist type slot; 2-8-fixed block; 2-9-spring one; 2-10-arc plate; 4-1-upper force sensor; 4-2-transition pulley; 4-4-bearing block; 4-5-vertical Spring; 4-6-inner guide post; 4-8-lower stop; 4-9-rope; 5-1-display; 5-4-vertical slide rail; 5-5-top plate; 3-2-transition Junction support; 3-3-large pulley; 3-4-synchronous belt; 3-5-small pulley; 3-6-side plate; 5-4-linear slide rail; 3-7-linear slider; 3-8- horizontal slider; 3-9- torque sensor; 3-10- lower force sensor; 3-11- connecting piece; 3-12- electric cylinder; 3-13- moving rod; 3-14- fixing piece ;3-15-retaining ring;3-16-spring two;3-17-servo motor;3-18-transmission shaft;6-1-lock nut;6-2-connection block;6-3-cross ten thousand Joint; 6-4-Link; 6-5-Elastomer; 6-6-Knee Motor; 7-3-Chute; 7-2-Lock Spring; 7-1-Pallet; 7-4- Pallet support rod; 7-5-sit up electric cylinder.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.

As shown in FIGS. 1 to 8 : this embodiment discloses a pelvis-assisted walking rehabilitation training robot: including an auxiliary treadmill 5, a variable-stiffness drive unit 3 and a pelvic motion assistance system 2; the auxiliary treadmill 5 is provided with a vertical setting The vertical slide rail 5-4, the variable stiffness drive unit 3 is slidably connected to the vertical slide rail 5-4.

The pelvic exercise assisting system 2 includes a support plate, the support plate is provided with a horizontally rotatable fixing block 2-8, both ends of the support plate are provided with handrails 2-1, the support plate is also connected to the waist belt 2-3, and the fixed block 2-8 is connected with the belt 2-3. An elastic device and a rotation limiting device are arranged between the support plates. The support plate includes an upper support plate 2-5 and a lower support plate 2-4, and the two support plates are arranged in parallel.

3 to 4 : the variable-stiffness drive unit 3 of this embodiment includes a transmission shaft 3-18, the transmission shaft 3-18 is connected to the fixed block 2-8, a rotary power structure for driving the transmission shaft 3-18 to rotate, a A horizontal limiting mechanism for elastic transverse movement of the drive transmission shaft 3-18.

Specifically, the variable-stiffness drive unit 3 further includes a transition support 3-2, a motor 3-17 (rotational power structure), an electric cylinder 3-12, a horizontal moving rod 3-13 and a side plate 3-6. The linear slider 3-7 is connected to the vertical slide rail 5-4, the horizontal moving rod 3-13 is connected to the side plate 3-6 through the horizontal slider 3-8, and the transition support 3-2 is connected to the drive transmission shaft 3-18 And the horizontal moving rod 3-13, the electric cylinder 3-12 is used to drive the transition support 3-2, the horizontal moving rod 3-13 slides along the horizontal slider 3-8, and the motor 3-17 is used to drive the transmission shaft 3-18 turn.

Among them, the motor 3-17 is connected to the transition support 3-2, the power output end of the motor 3-17 is provided with a small pulley 3-5, and the transmission shaft 3-18 is provided with a large pulley 3-3. The transmission is realized through the synchronous belt 3-4, and then the motor 3-17 drives the transmission shaft 3-18 to rotate.

The variable-stiffness drive unit 3 of the present embodiment is also connected to an active weight loss system for reducing the weight of the patient's waist. The active weight loss system provides an upward lifting force to the patient's waist to achieve weight loss.

1 and 5: the active weight reduction system specifically includes a roping motor 4-10, the roping motor 4-10 is connected to the variable stiffness drive unit 3 through a rope 4-9, and the rope 4-9 is also connected to the vertical sliding The upper pulley 4-7 at the upper end of the rail 5-4 is connected to the vertical spring 4-5.

The upper pulley 4-7 is connected to the load-bearing block 4-4, the load-bearing block 4-4 is slidably connected to the inner guide post 4-6, the inner guide post 4-6 is sleeved with a vertical spring 4-5, and the vertical spring 4- 5. The upper end is connected to the bearing block 4-4, and the lower end is connected to the lower stopper 4-8. In order to facilitate the detection of the weight reduction, an upper force sensor 4-1 is also provided between the upper pulley 4-7 and the bearing block 4-4.

In practical application, the rope winding motor 4-10 can be installed on the auxiliary treadmill 5, but there may be a phenomenon that the lateral distance between the rope winding motor 4-10 and the variable stiffness drive unit 3 is too large. 9. Inclination may occur (not vertically), which will cause the detection value of the upper force sensor 4-1 to deviate from the actual value. In order to avoid this phenomenon, this embodiment also includes a transition pulley 4-2, a transition pulley 4- 2- It is arranged parallel to the upper pulley 4-7 to ensure the vertical arrangement of the rope 4-9.

1 and 6: this embodiment also includes an auxiliary knee bending mechanism 6, and the auxiliary knee bending mechanism 6 includes a cross universal joint 6-3, a connecting rod 6-4, an elastic body 6-5, and a cross universal joint 6 connected in sequence. The upper end of -3 is connected to the support plate, and the cross universal joint 6-3 is also provided with a knee-bending motor 6-6 for driving the link 6-4 to swing. One end of the universal joint 6-3 is provided with a connecting block 6-2, and the connecting block 6-2 is connected to the lower support plate 2-4 through a locking nut 6-1. When the knee bending motor 6-6 rotates, it can drive a shaft in the cross universal joint 6-3 to rotate, and then drive the driving link 6-4 to swing, and the driving link 6-4 drives the patient's knee joint through the connecting block 6-2 Bending, to achieve the patient's assisted knee flexion during walking training.

As shown in FIG. 8 , when the strength of the lower limbs of the patient is weak, the assisting squatting can also be realized by the assisting sit-up mechanism 7 of the present embodiment. 1. The upper end of the supporting plate support rod 7-4 is connected to the pelvic movement assistance system (2). The supporting plate supporting rod 7-4 is provided with a chute 7-3, and the supporting plate 7-1 is slidably connected to the chute 7-3. There are also locking springs 7-2 between the support plate 7-1 and the chute 7-3, and the number of the locking springs 7-2 is not less than two. The lower end of the support plate 7-1 is provided with a connecting column, which can be slidably connected to the chute 7-3 and is arranged inside the locking spring 7-2, which can play the role of shock absorption and buffering. . Furthermore, during the process from squatting to standing, the pelvis not only moves upward, but also moves forward, and the support plate 7-1 can slide in the chute 7-3 to compensate for the forward movement.

When the pelvic motion assistance system 2 moves up and down, the entire sit-up assist mechanism 7 can be driven to ascend or descend, but in this way, the assist sit-up mechanism 7 can only follow the pelvic motion assistance system 2 to move up and down synchronously. In order to enable the sit-up assist mechanism 7 to operate independently, and to facilitate the adjustment of the relative height between the support plate 7-1 and the pelvic motion assistance system 2, and to meet the needs of patients with different heights, this embodiment also includes a support rod 7 for the support plate. There is also a sit-up electric cylinder 7-5 between the -4 and the pelvic exercise assistance system 2. When the sit-up electric cylinder 7-5 is stretched, the upper end of the sit-up electric cylinder 7-5 is connected to the pelvic exercise assistance system 2, and the lower end is connected to the support plate Support rod 7-4. The pallet support rods 7-4 can be rotatably connected to the pelvic movement assistance system, and the rotation mechanism can be any one of the prior art. -4 Rotate to other positions to avoid affecting the patient's lower extremities.

When in use, the support plate 7-1 supports the crotch of the patient, and supports the crotch of the patient through the expansion and contraction of the sit-up electric cylinder 7-5, thereby assisting the patient to perform the squat-up movement. On the other hand, the rope of the weight loss system drives the whole body to lift, and the electric cylinders 3-12 move forward, which can also assist the patient in the transition from sitting to standing, that is, assist the patient in squatting; Bit-to-sitting transition movement.

When in use, the patient's waist is fixed on the arc plate 2-10 through the belt 2-3. When the patient twists the waist, the entire variable-stiffness drive unit 3 rotates around the transmission shaft 3-18, which can be rotated by the motor 3-18. 17 is realized to provide a certain torque, and the output torque of the motor 3-17 can also be monitored in real time through the torque sensor 3-9, which is the first degree of freedom (rotation) for rehabilitation. When the patient twists in the horizontal direction, that is, with the fixed block 2-8 as the axis, the two springs 1-2-9 can provide a restoring force, so that the twisting in this direction has a certain elastic resistance, and the greater the twisting amplitude The larger the elastic resistance, the greater the elastic resistance, which is the second rehabilitation degree of freedom (rotation).

When the patient's waist swings back and forth, that is, the horizontal moving rod 3-13 is used as the axis. When the electric cylinder 3-12 is not working, it is in a follow-up state. , so that the patient can swing freely; when the electric cylinder 3-12 works, the electric cylinder 3-12 realizes expansion and contraction to realize the drive of the patient's waist, and the lower force sensor 3-10 can detect the output force of the electric cylinder 3-12 in real time. This is the third rehabilitation degree of freedom (lateral translation).

When the patient's waist needs to be squatted up and down, the entire pelvic motion assistance system 2 and the variable stiffness drive unit 3 can slide along the vertical slide rails 5-4. During the sliding process, the active weight loss system provides a certain upward pulling force. The upward pulling force can be buffered by the vertical spring 4-5, and the upper force sensor 4-1 connected to the upper pulley 4-7 can detect the magnitude of the weight reduction in real time. This is the fourth rehabilitation degree of freedom (vertical translation).

During the recovery process, the patient stands on the auxiliary treadmill 5, and the auxiliary treadmill 5 is provided with a transmission belt, which is similar to a treadmill, so that the patient can perform rehabilitation without moving. At the same time, the auxiliary treadmill 5 is provided with a human-computer interaction device - a display 5-1, which can display the current working status of the device, or play a rehabilitation action guide video to guide the patient to recover; The system sets the working parameters of the equipment, and the patient can also select the rehabilitation training mode and the corresponding rehabilitation training parameters.

Compared with the prior art, the weight loss part of the present invention is located at the waist, which avoids lifting the upper body of the patient and forces the patient to be in a rigid state. The active weight loss system can reduce the bearing capacity of the lower limbs and waist of the patient, and the bearing capacity can be reduced. Make adjustments.

The invention can carry out four degrees of freedom rehabilitation exercise for the patient's waist, assist the patient's pelvis movement control during walking rehabilitation training, and achieve effective rehabilitation training for the waist. The sitting-up mechanism 7 and the auxiliary knee-bending mechanism 6 can also assist the patient.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the technical principle of the present invention, several improvements and modifications can also be made. These improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a pelvis is supplementary to walk rehabilitation training robot which characterized in that: comprises an auxiliary treadmill (5), a variable rigidity driving unit (3) and a pelvis movement auxiliary system (2);

the auxiliary running table (5) is provided with a vertical sliding rail (5-4) which is vertically arranged, and the variable-rigidity driving unit (3) is connected to the vertical sliding rail (5-4) in a sliding manner;

the pelvis movement auxiliary system (2) comprises a supporting plate, wherein the supporting plate is provided with fixed blocks (2-8), handrails (2-1) are arranged at two ends of the supporting plate, the supporting plate is also connected with a waistband (2-3), and an elastic device and a rotation limiting device are arranged between the fixed blocks (2-8) and the supporting plate;

the variable-rigidity driving unit (3) comprises transmission shafts (3-18), wherein the transmission shafts (3-18) are connected with fixed blocks (2-8), a rotary power structure for driving the transmission shafts (3-18) to rotate, and a horizontal limiting mechanism for driving the transmission shafts (3-18) to elastically move transversely;

the variable stiffness driving unit (3) is also connected with an active weight reduction system for reducing weight of a patient.

2. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: the active weight reduction system comprises a rope winding motor (4-10), the rope winding motor (4-10) is connected with a variable stiffness driving unit (3) through a rope (4-9), the rope (4-9) further penetrates through an upper pulley (4-7) connected to the upper end of a vertical sliding rail (5-4), and the upper pulley (4-7) is connected with a vertical spring (4-5).

3. The pelvis assisted walking rehabilitation training robot as claimed in claim 2, wherein: the upper pulley (4-7) is connected to the bearing block (4-4), the bearing block (4-4) is slidably connected to the inner guide pillar (4-6), the inner guide pillar (4-6) is sleeved with the vertical spring (4-5), the upper end of the vertical spring (4-5) is connected to the bearing block (4-4), and the lower end of the vertical spring is fixedly connected to the lower stop block (4-8).

4. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: the variable stiffness driving unit (3) also comprises a transition support (3-2), a motor (3-17), an electric cylinder (3-12), a horizontal moving rod (3-13) and a side plate (3-6), the side plates (3-6) are connected with the vertical slide rails (5-4) through linear slide blocks (3-7), the horizontal moving rods (3-13) are connected with the side plates (3-6) through horizontal sliding blocks (3-8), the transition support (3-2) is connected with a driving transmission shaft (3-18) and a horizontal moving rod (3-13), the electric cylinder (3-12) is used for driving the transition support (3-2) and the horizontal moving rod (3-13) to slide along the horizontal sliding block (3-8), and the motor (3-17) is used for driving the transmission shaft (3-18) to rotate.

5. The pelvis assisted walking rehabilitation training robot as claimed in claim 4, wherein: the motors (3-17) are connected to the transition supports (3-2), and the motors (3-17) drive the transmission shafts (3-18) to rotate through the synchronous belts (3-4).

6. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: the knee bending assisting mechanism comprises a cross universal joint (6-3), a connecting rod (6-4) and an elastic body (6-5), wherein the cross universal joint (6-3), the connecting rod (6-4) and the elastic body (6-5) are sequentially connected, the upper end of the cross universal joint (6-3) is connected to a supporting plate, and a knee bending motor (6-6) used for driving the connecting rod (6-4) to swing is further arranged on the cross universal joint (6-3).

7. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: the pelvis exercise assisting device is characterized by further comprising an assisting sitting-up mechanism (7), wherein the assisting sitting-up mechanism (7) comprises a supporting plate supporting rod (7-4) and a supporting plate (7-1), the upper end of the supporting plate supporting rod (7-4) is connected with the pelvis exercise assisting system (2), the supporting plate supporting rod (7-4) is provided with a sliding groove (7-3), the supporting plate (7-1) is connected to the sliding groove (7-3) in a sliding mode, and the supporting plate supporting rod (7-4) is connected to the pelvis exercise assisting system (2) in a rotating mode.

8. The pelvis assisted walking rehabilitation training robot as claimed in claim 7, wherein: a sitting electric cylinder (7-5) is also arranged between the supporting plate supporting rod (7-4) and the pelvis movement auxiliary system (2).

9. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: the transmission shaft (3-18) is also connected with a torque sensor (3-9) and a lower force sensor (3-10).

10. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: an upper force sensor (4-1) is also arranged between the upper pulley (4-7) and the bearing block (4-4).

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