CN111214363A - A wearable portable robot for low limbs rehabilitation training - Google Patents
A wearable portable robot for low limbs rehabilitation training Download PDFInfo
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- CN111214363A CN111214363A CN202010132873.3A CN202010132873A CN111214363A CN 111214363 A CN111214363 A CN 111214363A CN 202010132873 A CN202010132873 A CN 202010132873A CN 111214363 A CN111214363 A CN 111214363A
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- 230000007246 mechanism Effects 0.000 claims abstract description 258
- 230000033001 locomotion Effects 0.000 claims abstract description 69
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 43
- 238000000034 method Methods 0.000 claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims abstract description 20
- 230000008569 process Effects 0.000 claims abstract description 19
- 239000004744 fabric Substances 0.000 claims abstract description 8
- 230000000694 effects Effects 0.000 claims abstract description 6
- 210000001624 hip Anatomy 0.000 claims description 285
- 210000000629 knee joint Anatomy 0.000 claims description 239
- 210000004394 hip joint Anatomy 0.000 claims description 200
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 199
- 230000005540 biological transmission Effects 0.000 claims description 183
- 230000007306 turnover Effects 0.000 claims description 80
- 238000005452 bending Methods 0.000 claims description 71
- 238000009434 installation Methods 0.000 claims description 71
- 239000003638 chemical reducing agent Substances 0.000 claims description 39
- 210000003423 ankle Anatomy 0.000 claims description 22
- 210000003414 extremity Anatomy 0.000 claims description 19
- 230000002146 bilateral effect Effects 0.000 claims description 14
- 210000003127 knee Anatomy 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000002411 adverse Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 210000000689 upper leg Anatomy 0.000 claims description 3
- 230000005021 gait Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- LUTSRLYCMSCGCS-BWOMAWGNSA-N [(3s,8r,9s,10r,13s)-10,13-dimethyl-17-oxo-1,2,3,4,7,8,9,11,12,16-decahydrocyclopenta[a]phenanthren-3-yl] acetate Chemical compound C([C@@H]12)C[C@]3(C)C(=O)CC=C3[C@@H]1CC=C1[C@]2(C)CC[C@H](OC(=O)C)C1 LUTSRLYCMSCGCS-BWOMAWGNSA-N 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wearable mobile robot for lower limb rehabilitation training. The robot comprises a movable vehicle body, a liftable training space frame and an integrated flexible wearable actuator worn on the lower limb of the human body. The rehabilitation robot is used for assisting the lower limbs of the patient to perform natural gait rehabilitation training, so that the working strength of a rehabilitation therapist is reduced; the wearable flexible fabric integrated with the Bowden cable is used as the actuator, so that the interference of the robot on the fine movement of the lower limbs of the human body is reduced, and the recovery of the natural gait of the patient is facilitated; the mobile vehicle body design is adopted, so that the pleasure and the sense of reality of the patient in the rehabilitation process are increased, and the rehabilitation effect is improved; the design of the semi-enclosed working space is beneficial to protecting the safety of the patient in the training process; the rigidity of the double arms is adjusted to adapt to users with different heights. Meanwhile, the ability of the patient to complete the rehabilitation task is improved by tracking the position of the lower limb through the visual sensing mechanism.
Description
Technical Field
The invention relates to the field of rehabilitation medical equipment, in particular to a wearable mobile robot for lower limb rehabilitation training.
Background
The main current method for Rehabilitation training of lower limbs is to assist The Patient one by a Rehabilitation therapist, which is labor-intensive and inefficient, while most of The existing lower limb Rehabilitation devices, such as The local-assisted lower limb Rehabilitation robots (rieners, R, Lunenburger, L, Jezernik, S. Patient-assisted surgery for Patient-assisted surgery, first experimental Systems [ J ], IEEE Transactions on new Systems and Rehabilitation Engineering,13(3): 380-394), are to wear a set of rigid exoskeletons on The Patient in a closed Rehabilitation training room, perform Rehabilitation training with The assistance of external skeleton and running machine, which limits fine exercise during walking of The Patient (ultrasound a T, help S M D, hot K, home a. simulation J. for Patient, 2015, 34(6): 744-762.), on the other hand, a closed Rehabilitation training environment reduces the patient's sense of participation and healing efficacy (andre Schile, Helm F C T V D. kinetic design to improve learning in human machine interaction [ J. IEEE Transactions on neural systems & Rehabilitation Engineering A Publication of the IEEE Engineering in medicine & Biology Society, 2006, 14(4): 456.). Therefore, a new rehabilitation device is needed to be found, which can replace the work of a rehabilitation trainer to assist patients in rehabilitation training of ankle joints, knee joints and hip joints, and can reduce the interference of the device on the movement of the patients, so that the patients can carry out natural gait training, and the participation sense and the curative effect of the rehabilitation training of the patients are improved.
Disclosure of Invention
In order to solve the problems, the invention provides a wearable mobile robot for lower limb rehabilitation training, which is provided with a semi-surrounding frame structure, wherein power transmission devices are arranged at the front end and the rear end of each power transmission device and are respectively connected with the front side and the rear side of a lower limb of a patient, and the power transmission devices are used for driving the limb of the lower limb of the patient connected with the power transmission devices to move by controlling the rotation of a motor and cooperating with the stretching and tightening movement of a bowden cable pull rope to drive the limb of the lower limb of the patient to.
The purpose of the invention is realized by at least one of the following technical solutions.
A wearable mobile robot for lower limb rehabilitation training comprises a movable vehicle body, a liftable training space frame arranged on the movable vehicle body and a flexible wearable actuator worn on the lower limb of a human body;
the movable vehicle body comprises a vehicle body movement mechanism, a power supply and sensing mechanism, a lifting mechanism and a visual sensing mechanism; the training space frame comprises a front waist transmission mechanism, a rear waist turnover mechanism, a controller, an operation panel and a safe acceleration and deceleration button; the flexible wearable actuator comprises a Bowden cable transmission mechanism, a tension sensor mechanism and integrated flexible trousers;
the vehicle body movement mechanism is arranged at the bottom of the movable vehicle body and provides power for the movement of the movable vehicle body;
the power supply and sensing mechanism is arranged at the bottom of the movable vehicle body and provides power and sensing output;
the lifting mechanism is arranged in the middle of the movable vehicle body connected with the liftable training space frame and is used for meeting the use requirements of patients with different heights and automatically adjusting the height of the liftable training space frame according to different heights of users;
the vision sensor mechanism is used for recording the motion of the lower limbs of the user, extracting the spatial position information of the lower limbs of the user and feeding back and controlling the motion of the robot;
the front waist transmission mechanism is arranged at the front part of the liftable training space frame and provides power for the extension movement of ankles, knees and hip joints of the limbs of the human body;
the back waist transmission mechanism is arranged at the rear part of the liftable training space frame and provides power for the flexion motion of the ankle, knee and hip joints of the limbs of the human body;
the back waist turnover mechanism is arranged at the joint of the liftable training space frame and the back waist transmission mechanism, and the back waist transmission mechanism is turned over after a human body enters the liftable training space frame, so that the back waist transmission direction is convenient, and the safety of the human body in the training process can be ensured;
the controller and the operation panel are arranged on the left side of the liftable training space frame, and medical personnel send instructions to the controller through the operation panel to control the motor;
the safety acceleration and deceleration button is arranged at the top handrail of the liftable training space frame, a user presses the button to accelerate and decelerate the vehicle body and the walking training speed according to the requirement of the user in the training process, and simultaneously presses the emergency stop button to ensure safety when feeling uncomfortable;
the bowden cable transmission mechanisms are wound and distributed along the integrated flexible trousers and transmit the power of the liftable training space frame to the limbs of the human body;
the tension sensor mechanism is arranged at the tail end of the Bowden cable transmission mechanism and used for controlling information feedback and tension safety monitoring;
the integrated flexible trousers are worn on a human body in the training process, and provide an acting point for pulling the lower limb to move for the Bowden cable transmission mechanism.
Furthermore, the vehicle body movement mechanism is of a bilateral structure, and accessories on one side comprise a movable roller rear wheel, a vehicle body movement transmission motor reducer, a transmission output belt wheel shaft, a movable roller mounting plate, a front wheel transmission belt, a rear wheel transmission belt, a movable roller front wheel and a vehicle body movement transmission motor mounting plate;
the vehicle body motion transmission motor is arranged on a vehicle body motion transmission motor mounting plate and is fixedly connected with the bottom of a movable vehicle body, an output shaft of the vehicle body motion transmission motor is fixedly connected with an input end of a speed reducer of the vehicle body motion transmission motor, an output disc of the speed reducer of the vehicle body motion transmission motor is fixedly connected with a transmission output belt wheel shaft, the torque of the vehicle body motion transmission motor after speed reduction and increase is transmitted to a rear wheel of a movable roller through a rear wheel transmission belt and transmitted to a front wheel of the movable roller through a front wheel transmission belt, and the rear wheel of the movable roller and the front wheel of the movable roller are fixedly connected with a frame bottom rear end cross beam of the movable vehicle body and a frame bottom front end cross beam of the;
the fittings and the position relation contained on one side of the vehicle body movement mechanism and the fittings and the position relation contained on the other side of the vehicle body movement mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
Furthermore, the power supply and sensing mechanism is a bilateral mechanism, and accessories on one side comprise a tension sensor amplifier, a tension sensor amplifier mounting guide rail mounting piece, a power supply mounting guide rail mounting piece, a motor power supply safety power supply and a sensor power supply safety power supply;
the position relation between the power supply and the accessories at one side of the sensing mechanism is as follows: the motor power supply safety power supply and the sensor power supply safety power supply are arranged on the power supply installation guide rail, and the tension sensor amplifier is arranged on the tension sensor amplifier installation guide rail; the power supply installation guide rail is fixed on the power supply installation guide rail mounting piece through a screw, and the tension sensor amplifier installation guide rail is fixed on the tension sensor amplifier installation guide rail mounting piece through a screw; the power supply installation guide rail installation part is connected with a vertical beam of a frame short strip of a movable automobile body, the tension sensor amplifier installation guide rail installation part is connected with a vertical beam of a frame long strip of the movable automobile body through a right-angle connecting piece, the motor power supply safety power supply provides an energy source for an automobile body movement transmission motor, a lifting mechanism transmission motor, a stretching hip joint motor, a stretching knee joint motor, a stretching ankle joint motor, a buckling hip joint motor, a buckling knee joint motor and a buckling ankle joint motor, the sensor power supply safety power supply provides an energy source for a stretching knee joint tension sensor, a stretching ankle joint tension sensor, a buckling knee joint tension sensor and a buckling ankle joint tension sensor, and the tension sensor amplifier collects the stretching knee joint tension sensor, the stretching ankle joint tension sensor, the buckling ankle joint tension sensor, the tension, The information of the buckling knee joint tension sensor and the buckling ankle joint tension sensor is transmitted to the controller and the operation panel to be used as feedback input and safety monitoring of the controller;
the accessories and the position relation contained on one side of the power supply and sensing mechanism and the accessories and the position relation contained on the other side of the power supply and sensing mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
Furthermore, the lifting mechanism is a bilateral mechanism, and one side fitting comprises a lifting motor mounting piece, a lifting mechanism transmission motor reducer, a transmission screw lower mounting seat, a thrust ball bearing, a transmission screw, a lifting upright post bearing seat, a guide rod guide sleeve, a lifting guide rod mounting seat, lifting mechanism dustproof cloth, a lifting mechanism coupler, a lifting lower bearing plate, a lifting upper bearing plate and a transmission nut;
the position relation among the accessories on one side of the lifting mechanism is as follows: the lifting mechanism transmission motor is arranged on the lifting and descending bearing plate through a lifting motor mounting piece, the output end of the lifting mechanism transmission motor is fixedly connected with the input end of a lifting mechanism transmission motor reducer, the output end of the lifting mechanism transmission motor reducer is connected with the lower tail end of a transmission screw through a lifting mechanism coupler, and a transmission nut arranged on the lifting plate is matched with the transmission screw through a thread pair; a shaft shoulder at the lower end of the transmission screw is matched and connected with a thrust ball bearing shaft hole in a transmission screw lower mounting seat of the lifting lower bearing plate; the lifting mechanism is fixed in the middle of the long frame vertical beam of the movable vehicle body through the lifting lower bearing plate, and is fixed at the top of the long frame vertical beam of the movable vehicle body through the lifting upper bearing plate; the lifting guide rods arranged between the lifting upper bearing plate and the lifting lower bearing plate through the lifting guide rod mounting seats slide up and down in the guide rod guide sleeves arranged on the lifting plates, the lifting upright post bearing seats are arranged at four corners of the lifting plates and are fixedly connected with the lifting upright posts of the training frame in the training space frame to bear the weight of the lifting training space frame; the lifting mechanism dustproof cloth is arranged at the top of the lifting mechanism to prevent dust from entering and seal the lifting space;
after the lifting mechanism transmission motor is decelerated by a lifting mechanism transmission motor reducer to increase the torque, the torque is transmitted to a transmission screw rod through a lifting mechanism coupler, the transmission screw rod rotates to drive a transmission nut to move up and down so as to drive a lifting plate to move up and down, and thus a lifting training space frame which is arranged on the lifting plate through a lifting guide rod mounting seat is driven to move up and down; in order to reduce the adverse effect of non-axial force on the transmission of the lifting mechanism and increase the transmission precision, the lifting guide rod plays a role in guiding the lifting mechanism when moving up and down;
the parts and the position relation contained on one side of the lifting mechanism and the parts and the position relation contained on the other side of the lifting mechanism are in mirror symmetry with the central axis of the movable vehicle body.
Furthermore, the visual sensing mechanism is a bilateral mechanism, and accessories on one side comprise a lens, a camera and a movable holder;
the position relation among the accessories on one side of the visual sensing mechanism is as follows: the lens and the camera are arranged on the movable holder, and the angle and the position of the lens are adjusted according to requirements; the movable motion is fixedly connected to a lifting plate of the lifting mechanism;
the accessory and the position relation contained on one side of the visual sensing mechanism and the accessory and the position relation contained on the other side of the visual sensing mechanism are in mirror symmetry with respect to the middle axis of the movable vehicle body.
Furthermore, the front waist transmission mechanism is a bilateral mechanism, and accessories on one side comprise a front waist motor mounting plate, a front waist motor driver mounting plate, a stretching hip joint motor, a stretching knee joint motor, a stretching ankle joint motor, a stretching hip joint motor driver, a stretching knee joint motor driver, a stretching ankle joint motor driver, a stretching hip joint wire core guide outlet, a stretching knee joint wire core guide outlet, a pulling rope ankle joint wire core guide outlet, a front waist guide wheel mounting box, a stretching hip joint guide wheel, a stretching knee joint guide wheel, a stretching ankle joint guide wheel, a stretching hip joint motor output shaft, a stretching knee joint motor output shaft, a front waist Bowden wire core guide wheel mounting part and a front waist Bowden wire core guide wheel;
the position relation among the accessories on one side of the front waist transmission mechanism is as follows: the stretching hip joint motor driver, the stretching knee joint motor driver and the stretching ankle joint motor driver are installed on a front waist motor driver installation plate, a stretching hip joint guide wheel, a stretching knee joint guide wheel and a stretching ankle joint guide wheel are installed on the inner surface of a front waist guide wheel installation box, the front waist guide wheel installation box is installed on the inner side of a front waist of the liftable training space frame, the stretching hip joint motor, the stretching knee joint motor and the stretching ankle joint motor are fixedly connected onto the front waist motor installation plate, and the front waist motor installation plate is fixedly connected into the front waist of the liftable training space frame; the front waist Bowden wire core guide wheel is arranged on the inner surface of the front waist guide wheel mounting box through a front waist Bowden wire core guide wheel mounting piece; the stretching hip joint wire core guide outlet, the stretching knee joint wire core guide outlet and the stretching ankle joint wire core guide outlet are arranged on the inner side, close to the human body, of the front waist guide wheel mounting box;
the output shafts of the hip joint stretching motor, the knee joint stretching motor and the ankle joint stretching motor respectively transmit the power of the hip joint stretching motor, the knee joint stretching motor and the ankle joint stretching motor to a hip joint stretching guide wheel, a knee joint stretching guide wheel and an ankle joint stretching guide wheel; the stretching hip joint Bowden wire core bypasses the stretching hip joint guide wheel and then bypasses a front waist Bowden wire core guide wheel arranged on the inner surface of the front waist guide wheel mounting box, and finally the power for stretching the hip joint is transmitted out through a stretching hip joint wire core guide outlet; similar to the hip joint, the bowden cable core of the stretching knee joint bypasses the stretching knee joint guide wheel and then bypasses a front waist bowden cable core guide wheel arranged on the inner surface of the front waist guide wheel mounting box, and finally the power for stretching the knee joint is transmitted out through a stretching hip joint cable core guide outlet; similar to the hip joint and the knee joint, the stretching ankle bowden cable core bypasses the stretching ankle guide wheel and then bypasses the front waist bowden cable core guide wheel, and finally the power for stretching the hip joint is transmitted out through the stretching hip joint cable core guide outlet;
the position relation of the parts and the components contained on one side of the front waist transmission mechanism and the position relation of the parts and the position relation contained on the other side of the front waist transmission mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
Furthermore, the back waist transmission mechanism is a bilateral mechanism, and one side accessory comprises a back waist motor mounting plate, a back waist motor driver mounting plate, a flexion hip joint motor, a flexion knee joint motor, a flexion ankle joint motor, a flexion hip joint motor driver, a flexion knee joint motor driver, a flexion ankle joint motor driver, a flexion hip joint wire core guide outlet, a flexion knee joint wire core guide outlet, a flexion ankle joint wire core guide outlet, a back waist guide wheel mounting box, a flexion hip joint guide wheel, a flexion knee joint guide wheel, a flexion ankle joint guide wheel, a flexion hip joint motor output shaft, a flexion knee joint motor output shaft, a flexion ankle joint motor output shaft, a back waist bowden cable wire core guide wheel mounting part and a back waist bowden cable wire core guide wheel;
the position relation between accessories on one side of the back waist transmission mechanism is as follows: the bending hip joint motor driver, the bending knee joint motor driver and the bending ankle joint motor driver are installed on a back waist motor driver installation plate, the bending hip joint guide wheel, the bending knee joint guide wheel and the bending ankle joint guide wheel are installed on the inner surface of a back waist guide wheel installation box, the back waist guide wheel installation box is installed on the inner side of the back waist of the liftable training space frame, the bending hip joint motor, the bending knee joint motor and the bending ankle joint motor are fixedly connected on the back waist motor installation plate, and the back waist motor installation plate is fixedly connected in the back waist frame of the liftable training space frame; the rear waist Bowden wire core guide wheel is mounted on the inner surface of the rear waist guide wheel mounting box through a rear waist Bowden wire core guide wheel mounting piece; the bent hip joint wire core guide outlet, the bent knee joint wire core guide outlet and the bent ankle joint wire core guide outlet are arranged on the inner side, close to the human body, of the rear waist guide wheel mounting box;
the flexion hip joint motor output shaft, the flexion knee joint motor output shaft and the flexion ankle joint motor output shaft respectively transmit the power of the flexion hip joint motor, the flexion knee joint motor and the flexion ankle joint motor to the flexion hip joint guide wheel, the flexion knee joint guide wheel and the flexion ankle joint guide wheel; the bending hip joint bowden cable core bypasses the bending hip joint guide wheel and then bypasses a rear waist bowden cable core guide wheel arranged on the inner surface of the rear waist guide wheel mounting box, and finally the power of the bending hip joint is transmitted out through a bending hip joint wire core guide outlet; similar to the hip joint, the bowstring knee joint bowstring wire core bypasses the bowstring knee joint guide wheel, then bypasses a rear waist bowstring wire core guide wheel arranged on the inner surface of the rear waist guide wheel mounting box, and finally transmits the power of the bowstring knee joint through the bowstring knee joint wire core guide outlet; similar to the hip joint and the knee joint, the bending ankle joint Bowden wire core bypasses the bending ankle joint guide wheel and then bypasses the rear waist Bowden wire core guide wheel, and finally the power of the bending ankle joint is transmitted out through the bending ankle joint wire core guide outlet;
the above-mentioned accessories and positional relationship included on one side of the rear waist transmission mechanism and the accessories and positional relationship included on the other side are in mirror symmetry with respect to the central axis of the movable vehicle body.
Further, the back waist turnover mechanism is a bilateral mechanism, and one side fitting comprises a back waist turnover motor mounting plate, a back waist turnover motor reducer mounting seat, a back waist turnover motor reducer, a back waist turnover coupler, a back waist turnover front shaft mounting seat, a back waist turnover front shaft, a back waist turnover front arm, a back waist turnover rear arm, a back waist turnover shell back waist turnover rear shaft, a back waist turnover rear shaft bearing, a back waist turnover rear shaft mounting seat and a back waist turnover rear shaft mounting seat mounting plate;
the position relation among accessories on one side of the back waist turnover mechanism is as follows: the rear waist overturning motor is fixedly connected with a rear waist overturning motor reducer, the rear waist overturning motor reducer is installed on a rear waist overturning motor installation plate through a rear waist overturning motor reducer installation seat, an output shaft of the rear waist overturning motor reducer is connected with a rear waist overturning front shaft through a rear waist overturning coupling to transmit torque, the rear waist overturning front shaft is fixedly connected with a rear waist overturning front arm at the front side, a rear waist overturning rear shaft fixedly connected with a rear waist overturning rear arm is matched with a rear waist overturning rear shaft bearing shaft hole installed on a rear waist overturning rear shaft installation seat, and the rear waist overturning rear shaft installation seat is fixedly connected on a rear waist overturning rear shaft installation seat installation plate; the back waist turnover mechanism is arranged at the inner side of the training space frame close to the human body through a back waist turnover motor mounting plate, and is arranged at the tail part of the training space frame through a back waist turnover rear shaft mounting plate;
the accessories and the position relation contained on one side of the rear waist overturning mechanism and the accessories and the position relation contained on the other side of the rear waist overturning mechanism are in mirror symmetry with respect to the middle axis of the movable vehicle body.
Furthermore, the bowden cable transmission mechanism is a bilateral mechanism, and one side part comprises a stretching hip joint bowden cable shell, a stretching knee joint bowden cable shell, a stretching ankle joint bowden cable shell, a stretching hip joint bowden cable core, a stretching knee joint bowden cable core, a stretching ankle joint bowden cable core, a buckling knee joint bowden cable core, a buckling hip joint bowden cable core, a buckling ankle joint bowden cable shell, a buckling knee joint bowden cable shell, a buckling hip joint bowden cable shell and a plurality of bowden cable shell fixing parts;
the position relation among the accessories on one side of the Bowden cable transmission mechanism is as follows: the stretching hip joint Bowden wire core, the stretching knee joint Bowden wire core, the stretching ankle joint Bowden wire core, the buckling knee joint Bowden wire core and the buckling hip joint Bowden wire core slide in the stretching hip joint Bowden wire shell, the stretching knee joint Bowden wire shell, the stretching ankle joint Bowden wire shell, the buckling hip joint Bowden wire shell, the buckling knee joint Bowden wire shell and the buckling ankle joint Bowden wire shell respectively, and the upper end terminal of the stretching hip joint Bowden wire shell, the stretching knee joint Bowden wire shell, the stretching ankle joint Bowden wire shell, the buckling hip joint Bowden wire shell, the buckling knee joint Bowden wire shell and the buckling ankle joint Bowden wire shell respectively slide in the stretching hip joint Bowden wire core guide outlet, the stretching knee joint wire core guide outlet, the buckling hip joint wire core guide outlet, the buckling ankle joint Bowden wire core, The bending knee joint cable core guide outlet and the bending ankle joint cable core guide outlet are connected, and the tail ends of the lower ends of the bending knee joint cable core guide outlet and the bending ankle joint cable core guide outlet are respectively connected with the front side of a bowden cable shell fixing waistband, the front side of a knee joint bowden cable shell fixing toughness belt, the front side of an ankle joint bowden cable core toughness belt, the rear side of the bowden cable shell fixing waistband, the rear side of a knee joint bowden cable shell fixing toughness belt and the rear side of an ankle joint bowden cable core toughness belt through bowden cable shell fixing pieces; the upper ends of the tension hip joint Bowden wire core, the tension knee joint Bowden wire core, the tension ankle joint Bowden wire core, the flexion knee joint Bowden wire core and the flexion hip joint Bowden wire core are respectively connected with a tension hip joint guide wheel, a tension knee joint guide wheel, a tension ankle joint guide wheel, a flexion hip joint guide wheel, a flexion knee joint guide wheel and a flexion ankle joint guide wheel, and the other ends of the tension hip joint Bowden wire core, the flexion knee joint Bowden wire core, the patient shoe wearing front side, the hip joint Bowden wire core, the knee joint Bowden wire core, the; the shell of the Bowden cable guides the core of the Bowden cable;
the positions and the accessories of one side of the Bowden cable transmission mechanism and the positions and the accessories of the other side of the Bowden cable transmission mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
Furthermore, the tension sensor mechanism is a bilateral mechanism, and one side of the tension sensor mechanism comprises a tension sensor for stretching knee joint, a tension sensor for stretching ankle joint, a tension sensor for buckling knee joint, a tension sensor for buckling ankle joint, a connecting piece at the upper end of the tension sensor and a connecting piece at the lower end of the tension sensor;
the position relation among the accessories on one side of the tension sensor mechanism is as follows: the upper end of the tensile knee joint tension sensor is connected with one end of a tensile knee joint Bowden wire core through a tension sensor upper end connecting piece, and the lower end of the tensile knee joint tension sensor is connected with the other end of the tensile knee joint Bowden wire core through a tension sensor lower end connecting piece; the upper end of the tension sensor of the tension ankle joint is connected with one end of a tension ankle joint Bowden wire core through an upper end connecting piece of the tension sensor, and the lower end of the tension sensor is connected with the other end of the tension ankle joint Bowden wire core through a lower end connecting piece of the tension sensor; the upper end of the buckling knee joint tension sensor is connected with one end of a buckling knee joint Bowden wire core through a tension sensor upper end connecting piece, and the lower end of the buckling knee joint tension sensor is connected with the other end of the buckling knee joint Bowden wire core through a tension sensor lower end connecting piece; the upper end of the buckling ankle joint tension sensor is connected with one end of a buckling ankle joint Bowden wire core through a tension sensor upper end connecting piece, and the lower end of the buckling ankle joint tension sensor is connected with the other end of the buckling ankle joint Bowden wire core through a tension sensor lower end connecting piece;
the stretching knee joint tension sensor, the stretching ankle joint tension sensor, the buckling knee joint tension sensor and the buckling ankle joint tension sensor collect tension information in the rehabilitation training process of a patient, and the information is transmitted to the tension sensor amplifier for signal amplification and then transmitted to the controller and the operation panel to serve as a control quantity, so that the safety and the reliability in the rehabilitation process are ensured;
the position relation of the fittings contained on one side of the tension sensor mechanism and the position relation of the fittings contained on the other side of the tension sensor mechanism are in mirror symmetry with respect to the middle axis of the integrated flexible trousers.
Further, the integrated flexible trousers comprise flexible trousers, a bowden cable shell fixing waistband, a knee joint fixing bowden cable shell toughness belt, an ankle joint fixing bowden cable shell toughness belt, a hip joint fixing bowden cable core toughness belt, a knee joint fixing bowden cable core toughness belt and shoes;
the integrated flexible trousers comprise the following position relations between the flexible trousers fittings: the bowden cable shell fixing waistband is connected with the tail end of the upper part of the flexible trousers, the hip joint fixing bowden cable core toughness belt and the knee joint fixing bowden cable shell toughness belt are fixedly connected to the thigh part of the flexible trousers, and the ankle joint fixing bowden cable shell toughness belt and the knee joint fixing bowden cable core toughness belt are fixedly connected to the shank part of the flexible trousers; the shoes are worn on the feet of the user, and the flexible trousers are worn on the limbs of the lower limbs of the human body; the bowden cable shell fixing waistband, the knee joint bowden cable shell fixing toughness belt and the ankle joint bowden cable shell fixing toughness belt provide force points for the installation of the lower end ends of a stretching hip joint bowden cable shell, a stretching knee joint bowden cable shell, a stretching ankle joint bowden cable shell, a buckling knee joint bowden cable shell and a buckling hip joint bowden cable shell in the bowden cable transmission mechanism, and the hip joint bowden cable core stretching core, the knee joint bowden cable stretching core, the ankle joint bowden cable core, the knee joint bowden cable core and the buckling ankle joint bowden cable core in the bowden cable transmission mechanism pull the motion of human limbs.
Compared with the prior art, the invention has the following advantages:
the invention can replace the work of the rehabilitation therapist, assist the lower limb of the patient to carry out natural gait rehabilitation training through the rehabilitation robot, and reduce the working strength of the rehabilitation therapist; the wearable flexible fabric integrated with the Bowden cable is used as the actuator, so that the interference of the robot on the fine movement of the lower limbs of the human body is reduced, and the recovery of the natural gait of the patient is facilitated; the mobile vehicle body design is adopted, so that the pleasure and the sense of reality of the patient in the rehabilitation process are increased, and the rehabilitation effect is improved; the design of the semi-enclosed working space is beneficial to protecting the safety of the patient in the training process; the rigidity of the double arms is adjusted to adapt to users with different heights. Meanwhile, the ability of the patient to complete the rehabilitation training task is improved by tracking the position of the lower limb through the visual sensing mechanism.
Drawings
Fig. 1 is a schematic structural diagram of a wearable mobile robot for lower limb rehabilitation training according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a movable vehicle body according to an embodiment of the present invention.
Fig. 3 is a schematic view of a flexible wearing structure in an embodiment of the present invention.
Fig. 4 is a schematic structural view of the back waist turnover mechanism in the embodiment of the invention.
Fig. 5 is a side view of a side structure of a liftable training frame in an embodiment of the invention.
Fig. 6 is a top view of a side structure of a liftable training frame in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following detailed description of the embodiments of the present invention, taken in conjunction with the accompanying drawings, is provided by way of example, and not by way of limitation.
Example (b):
as shown in fig. 1 to 6, a wearable mobile robot for lower limb rehabilitation training comprises a movable vehicle body, a liftable training space frame mounted on the movable vehicle body, and a flexible wearable actuator worn on a limb of a lower limb of a human body;
the movable vehicle body comprises a vehicle body movement mechanism, a power supply and sensing mechanism, a lifting mechanism and a visual sensing mechanism; the training space frame comprises a front waist transmission mechanism, a rear waist turnover mechanism, a controller, an operation panel 2 and a safe acceleration and deceleration button 1; the flexible wearable actuator comprises a Bowden cable transmission mechanism, a tension sensor mechanism and integrated flexible trousers;
the vehicle body movement mechanism is arranged at the bottom of the movable vehicle body and provides power for the movement of the movable vehicle body;
the power supply and sensing mechanism is arranged at the bottom of the movable vehicle body and provides power and sensing output;
the lifting mechanism is arranged in the middle of the movable vehicle body connected with the liftable training space frame and is used for meeting the use requirements of patients with different heights and automatically adjusting the height of the liftable training space frame according to different heights of users;
the vision sensor mechanism is used for recording the motion of the lower limbs of the user, extracting the spatial position information of the lower limbs of the user and feeding back and controlling the motion of the robot;
the front waist transmission mechanism is arranged at the front part of the liftable training space frame and provides power for the extension movement of ankles, knees and hip joints of the limbs of the human body;
the back waist transmission mechanism is arranged at the rear part of the liftable training space frame and provides power for the flexion motion of the ankle, knee and hip joints of the limbs of the human body;
the back waist turnover mechanism is arranged at the joint of the liftable training space frame and the back waist transmission mechanism, and the back waist transmission mechanism is turned over after a human body enters the liftable training space frame, so that the back waist transmission direction is convenient, and the safety of the human body in the training process can be ensured;
the controller and the operation panel 2 are arranged on the left side of the liftable training space frame, and medical personnel send instructions to the controller through the operation panel to control the motor;
the safe acceleration and deceleration button 1 is arranged at the top handrail of the liftable training space frame, a user presses the button to accelerate and decelerate the vehicle body and the walking training speed according to the requirement of the user in the training process, and simultaneously presses the emergency stop button to ensure the safety when feeling uncomfortable;
the bowden cable transmission mechanisms are wound and distributed along the integrated flexible trousers and transmit the power of the liftable training space frame to the limbs of the human body;
the tension sensor mechanism is arranged at the tail end of the Bowden cable transmission mechanism and used for controlling information feedback and tension safety monitoring;
the integrated flexible trousers are worn on a human body in the training process, and provide an acting point for pulling the lower limb to move for the Bowden cable transmission mechanism.
Specifically, as shown in fig. 2, the vehicle body movement mechanism is a double-sided mechanism, and one-side accessories include a movable roller rear wheel 25, a vehicle body movement transmission motor 24, a vehicle body movement transmission motor reducer 27, a transmission output belt wheel shaft 29, a movable roller mounting plate 20, a front wheel transmission belt 30, a rear wheel transmission belt 26, a movable roller front wheel 32, and a vehicle body movement transmission motor mounting plate 28;
the position relation among the accessories on one side of the vehicle body movement mechanism is as follows: the vehicle body motion transmission motor 24 is arranged on the vehicle body motion transmission motor mounting plate 28 and is fixedly connected with the bottom of the movable vehicle body, the output shaft 29 of the vehicle body motion transmission motor is fixedly connected with the input end of a speed reducer 27 of the vehicle body motion transmission motor, the output disc of the vehicle body movement transmission motor reducer 27 is fixedly connected with a transmission output belt wheel shaft 29, the torque after the speed reduction and the increase of the vehicle body movement transmission motor 24 is transmitted to a movable roller rear wheel 25 through a rear wheel transmission belt 26 and transmitted to a movable roller front wheel 32 through a front wheel transmission belt 30, the movable roller rear wheel 25 and the movable roller front wheel 32 are fixedly connected with the movable vehicle body bottom rear end cross member 21 and the movable vehicle body bottom front end cross member 31 through the movable roller mounting plates 20 mounted at the front and rear of the movable vehicle body bottom, the frame bottom rear end cross beam 21 of the movable vehicle body and the frame bottom front end cross beam 31 of the movable vehicle body are both of long-strip steel structures;
the fittings and the position relation contained on one side of the vehicle body movement mechanism and the fittings and the position relation contained on the other side of the vehicle body movement mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
Specifically, as shown in fig. 2, the power supply and sensing mechanism is a double-sided mechanism, and one-side accessories include a tension sensor amplifier 14, a tension sensor amplifier mounting rail 15, a tension sensor amplifier mounting rail mounting member 16, a power supply mounting rail 22, a power supply mounting rail mounting member 23, a motor power supply safety power supply 17, and a sensor power supply safety power supply 18;
the position relation between the power supply and the accessories at one side of the sensing mechanism is as follows: the motor power supply safety power supply 17 and the sensor power supply safety power supply 18 are arranged on the power supply mounting guide rail 22, and the tension sensor amplifier 14 is arranged on the tension sensor amplifier mounting guide rail 15; the power supply installation guide rail 22 is fixed on the power supply installation guide rail installation part 23 through a screw, and the tension sensor amplifier installation guide rail 15 is fixed on the tension sensor amplifier installation guide rail installation part 16 through a screw; the power supply installation guide rail installation part 23 is connected with the vertical beam 19 of the short frame strip of the movable automobile body, the tension sensor amplifier installation guide rail installation part 16 is connected with the vertical beam 40 of the long frame strip of the movable automobile body through a right-angle connecting piece, the vertical beam 40 of the long frame strip of the movable automobile body is a long steel structure, the motor power supply safety power supply 17 provides an energy source for the automobile body motion transmission motor 24, the lifting mechanism transmission motor 13, the stretching hip joint motor 113, the stretching knee joint motor 114, the stretching ankle joint motor 111, the buckling hip joint motor 117, the buckling knee joint motor 118 and the buckling ankle joint motor 121, the sensor power supply safety power supply 18 provides an energy source for the stretching knee joint tension sensor 53, the stretching ankle joint tension sensor 57, the buckling knee joint tension sensor 63 and the buckling ankle joint tension sensor 60, and the tension sensor amplifier 14 collects the stretching knee joint tension sensor 53, the buckling, The information of the stretching ankle joint tension sensor 57, the buckling knee joint tension sensor 63 and the buckling ankle joint tension sensor 60 is transmitted to the controller and the operation panel 2 to be used as the feedback input and the safety monitoring of the controller;
the accessories and the position relation contained on one side of the power supply and sensing mechanism and the accessories and the position relation contained on the other side of the power supply and sensing mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
Specifically, as shown in fig. 2, the lifting mechanism is a double-sided mechanism, and one-side fittings include a lifting motor mounting piece 11, a lifting mechanism transmission motor 13, a lifting mechanism transmission motor reducer 12, a transmission screw lower mounting base 34, a thrust ball bearing 35, a transmission screw 37, a lifting upright post receiving base 7, a guide rod guide sleeve 39, a lifting guide rod 6, a lifting guide rod mounting base 9, a lifting mechanism dustproof cloth 3, a lifting mechanism coupler 10, a lifting lower receiving plate 33, a lifting plate 8, a lifting upper receiving plate 38 and a transmission nut 36;
the position relation among the accessories on one side of the lifting mechanism is as follows: the lifting mechanism transmission motor 13 is arranged on the lifting lower bearing plate 33 through a lifting motor mounting piece 11, the output end of the lifting mechanism transmission motor 13 is fixedly connected with the input end of a lifting mechanism transmission motor reducer 12, the output end of the lifting mechanism transmission motor reducer 12 is connected with the lower tail end of a transmission screw 37 through a lifting mechanism coupler 10, and a transmission nut 36 arranged on the lifting plate 8 is matched with the transmission screw 37 through a thread pair; the shaft shoulder at the lower end of the transmission screw 37 is matched and connected with the shaft hole of a thrust ball bearing 35 arranged in the transmission screw lower mounting seat 34 of the lifting lower bearing plate 33; the lifting mechanism is fixed in the middle of the long frame vertical beam 40 of the movable vehicle body through the lifting lower bearing plate 33, and is fixed on the top of the long frame vertical beam 40 of the movable vehicle body through the lifting upper bearing plate 38; the lifting guide rods 6 arranged between the lifting upper bearing plate 38 and the lifting lower bearing plate 33 through the lifting guide rod mounting seat 9 slide up and down in the guide rod guide sleeves 39 arranged on the lifting plate 8, and the lifting upright post bearing seats 7 are arranged at four corners of the lifting plate 8 and are fixedly connected with the lifting upright posts 110 of the training space frame to bear the weight of the lifting training space frame; the lifting mechanism dustproof cloth 3 is arranged at the top of the lifting mechanism to prevent dust from entering and seal a lifting space;
after the lifting mechanism transmission motor 13 is decelerated by a lifting mechanism transmission motor reducer 12 to increase the moment, the torque is transmitted to a transmission screw 37 through a lifting mechanism coupler 10, the transmission screw 37 rotates to drive a transmission nut 36 to move up and down so as to drive a lifting plate 8 to move up and down, and thus, a lifting training space frame which is arranged on the lifting plate 8 through a lifting guide rod mounting seat 6 is driven to move up and down; in order to reduce the adverse effect of non-axial force on the transmission of the lifting mechanism and increase the transmission precision, the lifting guide rod 6 plays a role in guiding the lifting mechanism when moving up and down;
the parts and the position relation contained on one side of the lifting mechanism and the parts and the position relation contained on the other side of the lifting mechanism are in mirror symmetry with the central axis of the movable vehicle body.
Specifically, as shown in fig. 2, the visual sensing mechanism is a double-sided mechanism, and one side of the visual sensing mechanism includes a lens 4, a camera 41 and a movable holder 5;
the position relation among the accessories on one side of the visual sensing mechanism is as follows: the lens 4 and the camera 41 are arranged on the movable cloud deck 5, and the angle and the position of the lens 4 are adjusted according to requirements; the movable motion is fixedly connected to a lifting plate 8 of the lifting mechanism;
the accessory and the position relation contained on one side of the visual sensing mechanism and the accessory and the position relation contained on the other side of the visual sensing mechanism are in mirror symmetry with respect to the middle axis of the movable vehicle body.
Specifically, as shown in fig. 5 and 6, the front waist drive mechanism is a double-sided mechanism, one side accessory comprises a front waist motor mounting plate 90, a front waist motor driver mounting plate 86, a stretching hip joint motor 113, a stretching knee joint motor 114, a stretching ankle joint motor 111, a stretching hip joint motor driver 87, a stretching knee joint motor driver 88, a stretching ankle joint motor driver 89, a stretching hip joint wire core guide outlet 99, a stretching knee joint wire core guide outlet 97, a pulling rope ankle joint wire core guide outlet 98, a front waist guide wheel mounting box 91, a stretching hip joint guide wheel 92, a stretching knee joint guide wheel 96, a stretching ankle joint guide wheel 93, a stretching hip joint motor output shaft 115, a stretching knee joint motor output shaft 116, a stretching ankle joint motor output shaft 112, a front waist Bowden wire core guide wheel mounting part 95 and a front waist Bowden wire core guide wheel 94;
the position relation among the accessories on one side of the front waist transmission mechanism is as follows: the stretching hip joint motor driver 87, the stretching knee joint motor driver 88 and the stretching ankle joint motor driver 89 are installed on the front waist motor driver installation plate 86, the stretching hip joint guide wheel 92, the stretching knee joint guide wheel 96 and the stretching ankle joint guide wheel 93 are installed on the inner surface of the front waist guide wheel installation box 91, the front waist guide wheel installation box 91 is installed on the inner side of the front waist of the liftable training space frame, the stretching hip joint motor 113, the stretching knee joint motor 114 and the stretching ankle joint motor 111 are fixedly connected on the front waist motor installation plate 90, and the front waist motor installation plate 90 is fixedly connected in the front waist frame of the liftable training space frame; the front waist bowden cable core guide wheel 94 is arranged on the inner surface of the front waist guide wheel mounting box 91 through a front waist bowden cable core guide wheel mounting piece 95; the stretching hip joint wire core guide outlet 99, the stretching knee joint wire core guide outlet 97 and the stretching ankle joint wire core guide outlet 98 are arranged on the inner side, close to the human body, of the front waist guide wheel mounting box 91;
the stretching hip joint motor output shaft 115, the stretching knee joint motor output shaft 116 and the stretching ankle joint motor output shaft 112 respectively transmit the power of the stretching hip joint motor 113, the stretching knee joint motor 114 and the stretching ankle joint motor 111 to the stretching hip joint guide wheel 92, the stretching knee joint guide wheel 96 and the stretching ankle joint guide wheel 93; the stretching hip joint Bowden wire core 46 bypasses the stretching hip joint guide wheel 92 and then bypasses a front waist Bowden wire core guide wheel 94 arranged on the inner surface of the front waist guide wheel mounting box 91, and finally the power for stretching the hip joint is transmitted out through a stretching hip joint wire core guide outlet 99; similar to the hip joint, the bowden cable core 51 of the knee joint is stretched to bypass the knee joint stretching guide wheel 96 and then bypass the front waist bowden cable core guide wheel 94 arranged on the inner surface of the front waist guide wheel mounting box 91, and finally the power for stretching the knee joint is transmitted out through the hip joint stretching wire core guide outlet 97; similar to the hip joint and the knee joint, the stretching ankle bowden cable core 55 bypasses the stretching ankle guide wheel 93 and then bypasses the front waist bowden cable core guide wheel 94, and finally the power for stretching the hip joint is transmitted out through the stretching hip joint core guide outlet 98;
the position relation of the parts and the components contained on one side of the front waist transmission mechanism and the position relation of the parts and the position relation contained on the other side of the front waist transmission mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
Specifically, as shown in fig. 5 and 6, the rear waist transmission mechanism is a double-sided mechanism, one side accessory comprises a back waist motor mounting plate 109, a back waist motor driver mounting plate 85, a flexion hip joint motor 117, a flexion knee joint motor 118, a flexion ankle joint motor 121, a flexion hip joint motor driver 82, a flexion knee joint motor driver 83, a flexion ankle joint motor driver 84, a flexion hip joint wire core guide outlet 100, a flexion knee joint wire core guide outlet 102, a flexion ankle joint wire core guide outlet 101, a back waist guide wheel mounting box 108, a flexion hip joint guide wheel 103, a flexion knee joint guide wheel 104, a flexion ankle joint guide wheel 107, a flexion hip joint motor output shaft 119, a flexion knee joint motor output shaft 120, a flexion ankle joint motor output shaft 122, a back waist Bowden wire core guide wheel mounting part 106 and a back waist Bowden wire core guide wheel 105;
the flexion hip joint motor driver 82, the flexion knee joint motor driver 83 and the flexion ankle joint motor driver 84 are installed on the rear waist motor driver installation plate 85, the flexion hip joint guide wheel 103, the flexion knee joint guide wheel 104 and the flexion ankle joint guide wheel 107 are installed on the inner surface of the rear waist guide wheel installation box 108, the rear waist guide wheel installation box 108 is installed on the inner side of the rear waist of the liftable training space frame, the flexion hip joint motor 117, the flexion knee joint motor 118 and the flexion ankle joint motor 121 are fixedly connected on the rear waist motor installation plate 109, and the rear waist motor installation plate 109 is fixedly connected in the rear waist frame of the liftable training space frame; the rear waist bowden cable core guide wheel 105 is mounted on the inner surface of the rear waist guide wheel mounting box 108 through a rear waist bowden cable core guide wheel mounting member 106; the bending hip joint wire core guide outlet 100, the bending knee joint wire core guide outlet 102 and the bending ankle joint wire core guide outlet 101 are arranged on the inner side, close to the human body, of the rear waist guide wheel mounting box 108;
the flexion hip joint motor output shaft 119, the flexion knee joint motor output shaft 120 and the flexion ankle joint motor output shaft 122 respectively transmit the power of the flexion hip joint motor 117, the flexion knee joint motor 118 and the flexion ankle joint motor 121 to the flexion hip joint guide wheel 103, the flexion knee joint guide wheel 104 and the flexion ankle joint guide wheel 107; the bending hip joint bowden cable core 64 bypasses the bending hip joint guide wheel 103, then bypasses a rear waist bowden cable core guide wheel 105 arranged on the inner surface of a rear waist guide wheel mounting box 108, and finally transmits the power of the bending hip joint through a bending hip joint core guide outlet 100; similar to the hip joint, the bowstring knee joint bowstring wire core 63 bypasses the bowstring knee joint guide wheel 104, then bypasses the rear bowstring knee joint wire core guide wheel 105 arranged on the inner surface of the rear waist guide wheel mounting box 108, and finally transmits the power of the bowstring knee joint through the bowstring knee joint wire core guide outlet 102; similar to the hip joint and the knee joint, the bending ankle bowden cable core 61 bypasses the bending ankle guide wheel 107 and then bypasses the rear waist bowden cable core guide wheel 105, and finally the power of the bending ankle is transmitted out through the bending ankle cable core guide outlet 101;
the above-mentioned accessories and positional relationship included on one side of the rear waist transmission mechanism and the accessories and positional relationship included on the other side are in mirror symmetry with respect to the central axis of the movable vehicle body.
Specifically, as shown in fig. 4, the rear waist turnover mechanism is a double-sided mechanism, and one-side accessories include a rear waist turnover motor mounting plate 68, a rear waist turnover motor 69, a rear waist turnover motor reducer mounting seat 70, a rear waist turnover motor reducer 71, a rear waist turnover coupling 72, a rear waist turnover front shaft mounting seat 73, a rear waist turnover front shaft 74, a rear waist turnover front arm 75, a rear waist turnover rear arm 77, a rear waist turnover housing 76, a rear waist turnover rear shaft 78, a rear waist turnover rear shaft bearing 79, a rear waist turnover rear shaft mounting seat 80, and a rear waist turnover rear shaft mounting seat 81;
the position relation among accessories on one side of the back waist turnover mechanism is as follows: the rear waist turnover motor 69 is fixedly connected with a rear waist turnover motor reducer 71, the rear waist turnover motor reducer 71 is mounted on a rear waist turnover motor mounting plate 68 through a rear waist turnover motor reducer mounting seat 70, an output shaft of the rear waist turnover motor reducer 71 is connected with a rear waist turnover front shaft 74 through a rear waist turnover coupling 72 to transmit torque, the rear waist turnover front shaft 74 is fixedly connected with a rear waist turnover front arm 75 at the front side, a rear waist turnover rear shaft 78 fixedly connected with a rear waist turnover rear arm 77 is matched with a rear waist turnover rear shaft bearing 79 shaft hole mounted on a rear waist turnover rear shaft mounting seat 80, and the rear waist turnover rear shaft mounting seat 80 is fixedly connected on a rear waist turnover rear shaft mounting seat 81; the back waist turnover mechanism is arranged at the inner side of the training space frame close to the human body through a back waist turnover motor mounting plate 68, and is arranged at the tail part of the training space frame through a back waist turnover rear shaft mounting seat mounting plate 81;
the accessories and the position relation contained on one side of the rear waist overturning mechanism and the accessories and the position relation contained on the other side of the rear waist overturning mechanism are in mirror symmetry with respect to the middle axis of the movable vehicle body.
Specifically, as shown in fig. 3 and 5, the bowden cable transmission mechanism is a double-sided mechanism, and one-sided accessories include a stretching hip bowden cable shell 42, a stretching knee bowden cable shell 43, a stretching ankle bowden cable shell 44, a stretching hip bowden cable core 46, a stretching knee bowden cable core 51, a stretching ankle bowden cable core 55, a bending ankle bowden cable core 61, a bending knee bowden cable core 63, a bending hip bowden cable core 64, a bending ankle bowden cable shell 65, a bending knee bowden cable shell 66, a bending hip bowden cable shell 67 and a plurality of bowden cable shell fixing pieces 50;
the position relation among the accessories on one side of the Bowden cable transmission mechanism is as follows: the stretching hip joint Bowden wire core 46, the stretching knee joint Bowden wire core 51, the stretching ankle joint Bowden wire core 55, the flexing ankle joint Bowden wire core 61, the flexing knee joint Bowden wire core 63 and the flexing hip joint Bowden wire core 64 slide in the stretching hip joint Bowden wire shell 42, the stretching knee joint Bowden wire shell 43, the stretching ankle joint Bowden wire shell 44, the flexing hip joint Bowden wire shell 67, the flexing knee joint Bowden wire shell 66 and the flexing ankle joint Bowden wire shell 65 respectively, and the upper end terminal of the stretching hip joint Bowden wire shell 42, the stretching knee joint Bowden wire shell 43, the stretching ankle joint Bowden wire shell 44, the flexing hip joint Bowden wire shell 67, the flexing knee joint Bowden wire shell 66 and the flexing ankle joint Bowden wire shell 65 respectively slide in the stretching hip joint Bowden wire core guide outlet 99, the stretching knee joint wire core guide outlet 97, the stretching joint, The stretching ankle joint wire core guide outlet 98, the bending hip joint wire core guide outlet 100, the bending knee joint wire core guide outlet 102 and the bending ankle joint wire core guide outlet 101 are connected, and the tail ends of the lower ends of the stretching ankle joint wire core guide outlet and the bending hip joint wire core guide outlet are respectively connected with the front side of a bowden cable shell fixing waistband 45, the front side of a knee joint fixing bowden cable shell toughness belt 49, the front side of an ankle joint fixing bowden cable wire core toughness belt 54, the rear side of the bowden cable shell fixing waistband 45, the rear side of the knee joint fixing bowden cable shell toughness belt 49 and the rear side of the ankle joint fixing bowden cable wire core toughness belt 54 through bowden cable shell fixing; the upper end of the tension hip joint Bowden wire core 46, the tension knee joint Bowden wire core 51, the tension ankle joint Bowden wire core 55, the flexion ankle joint Bowden wire core 61, the flexion knee joint Bowden wire core 63 and the flexion hip joint Bowden wire core 64 are respectively connected with a tension hip joint guide wheel 92, a tension knee joint guide wheel 96, a tension ankle joint guide wheel 93, a flexion hip joint guide wheel 103, a flexion knee joint guide wheel 104 and a flexion ankle joint guide wheel 107, and the lower end of the tension hip joint Bowden wire core is respectively connected with the front side of a fixed hip joint Bowden wire core toughness belt 48, the front side of a fixed knee joint Bowden wire core toughness belt 52, the front side of a patient wearing shoe 59, the rear side of the fixed hip joint Bowden wire core toughness belt 48, the rear side of the fixed knee joint Bowden wire core toughness; the shell of the Bowden cable guides the core of the Bowden cable;
the positions and the accessories of one side of the Bowden cable transmission mechanism and the positions and the accessories of the other side of the Bowden cable transmission mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
Specifically, as shown in fig. 3, the tension sensor mechanism is a bilateral mechanism, and one-side accessories include a tension sensor 53 for a knee joint, a tension sensor 57 for an ankle joint, a tension sensor 62 for a knee joint, a tension sensor 60 for an ankle joint, an upper end connector 56 for a tension sensor, and a lower end connector 58 for a tension sensor;
the position relation among the accessories on one side of the tension sensor mechanism is as follows: the upper end of the tension sensor 53 for the knee joint is connected with one end of the cable core 51 of the bowden cable for the knee joint through a tension sensor upper end connecting piece 56, and the lower end of the tension sensor is connected with the other end of the cable core 51 of the bowden cable for the knee joint through a tension sensor lower end connecting piece 58; the upper end of the stretching ankle joint tension sensor 57 is connected with one end of the stretching ankle joint Bowden wire core 55 through a tension sensor upper end connecting piece 56, and the lower end of the stretching ankle joint tension sensor 57 is connected with the other end of the stretching ankle joint Bowden wire core 55 through a tension sensor lower end connecting piece 58; the upper end of the flexed knee joint tension sensor 62 is connected with one end of the flexed knee joint Bowden wire core 63 through the tension sensor upper end connecting piece 56, and the lower end is connected with the other end of the flexed knee joint Bowden wire core 63 through the tension sensor lower end connecting piece 58; the upper end of the buckling ankle joint tension sensor 60 is connected with one end of a buckling ankle joint Bowden wire core 61 through a tension sensor upper end connecting piece 56, and the lower end of the buckling ankle joint tension sensor is connected with the other end of the buckling ankle joint Bowden wire core 61 through a tension sensor lower end connecting piece 58;
the stretching knee joint tension sensor 53, the stretching ankle joint tension sensor 57, the buckling knee joint tension sensor 62 and the buckling ankle joint tension sensor 60 collect tension information in the rehabilitation training process of a patient, and the information is transmitted to the tension sensor amplifier 14, amplified, transmitted to the controller and the operation panel 2 as a control quantity, so that the safety and the reliability in the rehabilitation process are ensured;
the position relation of the fittings contained on one side of the tension sensor mechanism and the position relation of the fittings contained on the other side of the tension sensor mechanism are in mirror symmetry with respect to the middle axis of the integrated flexible trousers.
Specifically, as shown in fig. 3, the one-piece flexible pants comprise a flexible pants 47, a bowden cable shell fixing waistband 45, a fixed knee bowden cable shell flexible band 49, a fixed ankle bowden cable shell flexible band 54, a fixed hip bowden cable core flexible band 48, a fixed knee bowden cable core flexible band 52, and a shoe 59;
the bowden cable shell fixing waistband 45 is connected with the upper tail end of the flexible trousers 47, the hip joint fixing bowden cable core toughness belt 48 and the knee joint fixing bowden cable shell toughness belt 49 are fixedly connected with the thigh part of the flexible trousers 47, and the ankle joint fixing bowden cable shell toughness belt 54 and the knee joint fixing bowden cable core toughness belt 52 are fixedly connected with the shank part of the flexible trousers 47; the shoe 59 is worn on the foot of the user, and the flexible trousers 47 are worn on the lower limb of the human body;
the bowden cable shell fixing waistband 45, the knee joint fixing bowden cable shell toughness belt 48 and the ankle joint fixing bowden cable shell toughness belt 54 provide force application points for the installation of the lower end tail ends of the hip joint stretching bowden cable shell 42, the knee joint stretching bowden cable shell 43, the ankle joint stretching bowden cable shell 44, the flexion ankle joint bowden cable shell 65, the flexion knee joint bowden cable shell 66 and the flexion hip joint bowden cable shell 67 in the bowden cable transmission mechanism, the fixed hip joint Bowden wire core toughness band 48, the fixed knee joint Bowden wire core toughness band 52 and the shoe 59 provide a force application point for pulling the human body limb to move by stretching the hip joint Bowden wire core 46, stretching the knee joint Bowden wire core 51, stretching the ankle joint Bowden wire core 55, bending the ankle joint Bowden wire core 61, bending the knee joint Bowden wire core 63 and bending the lower end of the hip joint Bowden wire core 64 in the Bowden wire transmission mechanism.
Claims (10)
1. The utility model provides a wearable portable robot for low limbs rehabilitation training which characterized in that: comprises a movable vehicle body, a liftable training space frame arranged on the movable vehicle body and a flexible wearable actuator worn on the lower limb of the human body;
the movable vehicle body comprises a vehicle body movement mechanism, a power supply and sensing mechanism, a lifting mechanism and a visual sensing mechanism; the training space frame comprises a front waist transmission mechanism, a rear waist turnover mechanism, a controller, an operation panel (2) and a safe acceleration and deceleration button (1); the flexible wearable actuator comprises a Bowden cable transmission mechanism, a tension sensor mechanism and integrated flexible trousers;
the vehicle body movement mechanism is arranged at the bottom of the movable vehicle body and provides power for the movement of the movable vehicle body;
the power supply and sensing mechanism is arranged at the bottom of the movable vehicle body and provides power and sensing output;
the lifting mechanism is arranged in the middle of the movable vehicle body connected with the liftable training space frame and is used for meeting the use requirements of patients with different heights and automatically adjusting the height of the liftable training space frame according to different heights of users;
the vision sensor mechanism is used for recording the motion of the lower limbs of the user, extracting the spatial position information of the lower limbs of the user and feeding back and controlling the motion of the robot;
the front waist transmission mechanism is arranged at the front part of the liftable training space frame and provides power for the extension movement of ankles, knees and hip joints of the limbs of the human body;
the back waist transmission mechanism is arranged at the rear part of the liftable training space frame and provides power for the flexion motion of the ankle, knee and hip joints of the limbs of the human body;
the back waist turnover mechanism is arranged at the joint of the liftable training space frame and the back waist transmission mechanism, and the back waist transmission mechanism is turned over after a human body enters the liftable training space frame, so that the back waist transmission direction is convenient, and the safety of the human body in the training process can be ensured;
the controller and the operation panel (2) are arranged on the left side of the liftable training space frame, and medical personnel send instructions to the controller through the operation panel to control the motor;
the safe acceleration and deceleration button (1) is arranged at the top handrail of the liftable training space frame, a user presses the button to accelerate and decelerate the vehicle body and the walking training speed according to the requirement of the user in the training process, and simultaneously presses the emergency stop button to ensure the safety when feeling uncomfortable;
the bowden cable transmission mechanisms are wound and distributed along the integrated flexible trousers and transmit the power of the liftable training space frame to the limbs of the human body;
the tension sensor mechanism is arranged at the tail end of the Bowden cable transmission mechanism and used for controlling information feedback and tension safety monitoring;
the integrated flexible trousers are worn on a human body in the training process, and provide an acting point for pulling the lower limb to move for the Bowden cable transmission mechanism.
2. The wearable mobile robot for lower extremity rehabilitation training of claim 1, characterized by: the vehicle body movement mechanism is of a bilateral structure, and accessories on one side comprise a movable roller rear wheel (25), a vehicle body movement transmission motor (24), a vehicle body movement transmission motor reducer (27), a transmission output belt wheel shaft (29), a movable roller mounting plate (20), a front wheel transmission belt (30), a rear wheel transmission belt (26), a movable roller front wheel (32) and a vehicle body movement transmission motor mounting plate (28);
the position relation among the accessories on one side of the vehicle body movement mechanism is as follows: the vehicle body motion transmission motor (24) is arranged on a vehicle body motion transmission motor mounting plate (28) and is fixedly connected with the bottom of the movable vehicle body, the output shaft (29) of the vehicle body motion transmission motor is fixedly connected with the input end of a speed reducer (27) of the vehicle body motion transmission motor, the output disc of the vehicle body motion transmission motor reducer (27) is fixedly connected with a transmission output belt wheel shaft (29), the torque of the vehicle body motion transmission motor (24) after speed reduction and increase is transmitted to a movable roller rear wheel (25) through a rear wheel transmission belt (26) and transmitted to a movable roller front wheel (32) through a front wheel transmission belt (30), the movable roller rear wheel (25) and the movable roller front wheel (32) are fixedly connected with a rear end beam (21) at the bottom of the vehicle body frame and a front end beam (31) at the bottom of the vehicle body frame through movable roller mounting plates (20) which are arranged at the front and the rear of the bottom of the movable vehicle body;
the fittings and the position relation contained on one side of the vehicle body movement mechanism and the fittings and the position relation contained on the other side of the vehicle body movement mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
3. The wearable mobile robot for lower extremity rehabilitation training of claim 1, characterized by: the power supply and sensing mechanism is a bilateral mechanism, and accessories on one side comprise a tension sensor amplifier (14), a tension sensor amplifier mounting guide rail (15), a tension sensor amplifier mounting guide rail mounting piece (16), a power supply mounting guide rail (22), a power supply mounting guide rail mounting piece (23), a motor power supply safety power supply (17) and a sensor power supply safety power supply (18);
the position relation between the power supply and the accessories at one side of the sensing mechanism is as follows: the motor power supply safety power supply (17) and the sensor power supply safety power supply (18) are arranged on the power supply installation guide rail (22), and the tension sensor amplifier (14) is arranged on the tension sensor amplifier installation guide rail (15); the power supply mounting guide rail (22) is fixed on a power supply mounting guide rail mounting piece (23) through a screw, and the tension sensor amplifier mounting guide rail (15) is fixed on a tension sensor amplifier mounting guide rail mounting piece (16) through a screw; the power supply installation guide rail installation part (23) is connected with a frame short vertical beam (19) of the movable vehicle body, the tension sensor amplifier installation guide rail installation part (16) is connected with a frame long vertical beam (40) of the movable vehicle body through a right-angle connecting piece, the motor power supply safety power supply (17) provides energy sources for a vehicle body motion transmission motor (24), a lifting mechanism transmission motor (13), a stretching hip joint motor (113), a stretching knee joint motor (114), a stretching ankle joint motor (111), a buckling hip joint motor (117), a buckling knee joint motor (118) and a buckling ankle joint motor (121), and the sensor power supply safety power supply (18) provides energy sources for a stretching knee joint tension sensor (53), a stretching ankle joint tension sensor (57), a knee joint tension sensor (63) and a buckling ankle joint tension sensor (60), the tension sensor amplifier (14) collects information of a tension knee joint tension sensor (53), a tension ankle joint tension sensor (57), a flexion knee joint tension sensor (63) and a flexion ankle joint tension sensor (60) in the tension sensor mechanism and transmits the information to the controller and the operation panel (2) as feedback input and safety monitoring of the controller;
the accessories and the position relation contained on one side of the vehicle body power supply and sensing mechanism and the accessories and the position relation contained on the other side of the vehicle body power supply and sensing mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
4. The wearable mobile robot for lower extremity rehabilitation training of claim 1, characterized by: the lifting mechanism is of a double-side structure, and accessories on one side comprise a lifting motor mounting piece (11), a lifting mechanism transmission motor (13), a lifting mechanism transmission motor reducer (12), a transmission screw lower mounting seat (34), a thrust ball bearing (35), a transmission screw (37), a lifting upright post bearing seat (7), a guide rod guide sleeve (39), a lifting guide rod (6), a lifting guide rod mounting seat (9), lifting mechanism dustproof cloth (3), a lifting mechanism coupler (10), a lifting lower bearing plate (33), a lifting plate (8), a lifting upper bearing plate (38) and a transmission nut (36);
the position relation among the accessories on one side of the lifting mechanism is as follows: the lifting mechanism transmission motor (13) is arranged on the lifting lower bearing plate (33) through a lifting motor mounting piece (11), the output end of the lifting mechanism transmission motor (13) is fixedly connected with the input end of the lifting mechanism transmission motor reducer (12), the output end of the lifting mechanism transmission motor reducer (12) is connected with the lower tail end of the transmission screw (37) through a lifting mechanism coupler (10), and a transmission nut (36) arranged on the lifting plate (8) is matched with the transmission screw (37) through a thread pair; a shaft shoulder at the lower end of the transmission screw (37) is matched and connected with a shaft hole of a thrust ball bearing (35) arranged in a transmission screw lower mounting seat (34) of the lifting lower bearing plate (33); the lifting mechanism is fixed in the middle of a long frame vertical beam (40) of the movable vehicle body through the lifting lower bearing plate (33), and is fixed on the top of the long frame vertical beam (40) of the movable vehicle body through the lifting upper bearing plate (38); the lifting guide rods (6) which are arranged between the lifting upper bearing plate (38) and the lifting lower bearing plate (33) through the lifting guide rod mounting seats (9) slide up and down in guide rod guide sleeves (39) arranged on the lifting plates (8), the lifting upright post bearing seats (7) are arranged at four corners of the lifting plates (8) and are fixedly connected with the lifting upright posts (110) of the training space frame to bear the weight of the lifting training space frame; the lifting mechanism dustproof cloth (3) is arranged between the lifting mechanism and the frame of the movable vehicle body to prevent dust from entering a closed lifting space;
after the lifting mechanism transmission motor (13) decelerates through a lifting mechanism transmission motor reducer (12) to increase the moment, the torque is transmitted to a transmission screw rod (37) through a lifting mechanism coupler (10), the transmission screw rod (37) rotates to drive a transmission nut (36) to move up and down so as to drive a lifting plate (8) to move up and down, and thus a lifting training space frame which is arranged on the lifting plate (8) through a lifting guide rod mounting seat (6) is driven to move up and down; in order to reduce the adverse effect of non-axial force on the transmission of the lifting mechanism and increase the transmission precision, the lifting guide rod (6) plays a role in guiding the lifting mechanism when moving up and down;
the fittings and the position relation contained on one side of the vehicle body transporting and lifting mechanism and the fittings and the position relation contained on the other side of the vehicle body transporting and lifting mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
5. The wearable mobile robot for lower extremity rehabilitation training of claim 1, characterized by: the visual sensing mechanism comprises a visual sensing mechanism and a visual sensing mechanism, wherein one side accessory comprises a lens (4), a camera (41) and a movable holder (5); the position relation among the accessories on one side of the visual sensing mechanism is as follows: the lens (4) and the camera (41) are arranged on the movable holder (5), and the angle and the position of the lens (4) are adjusted according to requirements; the movable movement is fixedly connected to a lifting plate (8) of the lifting mechanism;
the accessory and the position relation contained on one side of the visual sensing mechanism and the accessory and the position relation contained on the other side of the visual sensing mechanism are in mirror symmetry with respect to the middle axis of the movable vehicle body.
6. The wearable mobile robot for lower extremity rehabilitation training of claim 1, characterized by: the front waist transmission mechanism is of a double-side structure, one side accessory comprises a front waist motor mounting plate (90), a front waist motor driver mounting plate (86), a stretching hip joint motor (113), a stretching knee joint motor (114), a stretching ankle joint motor (111), a stretching hip joint motor driver (87), a stretching knee joint motor driver (88), a stretching ankle joint motor driver (89), a stretching hip joint wire core guide outlet (99), a stretching knee joint wire core guide outlet (97), a stretching rope ankle joint wire core guide outlet (98), a front waist guide wheel mounting box (91), a stretching hip joint guide wheel (92), a stretching knee joint guide wheel (96), a stretching ankle joint guide wheel (93), a stretching hip joint motor output shaft (115), a stretching knee joint motor output shaft (116), a stretching ankle joint motor output shaft (112), a front waist Bowden wire core guide wheel mounting part (95), A front waist Bowden wire core guide wheel (94);
the position relation among the accessories on one side of the front waist transmission mechanism is as follows: the stretching hip joint motor driver (87), the stretching knee joint motor driver (88) and the stretching ankle joint motor driver (89) are installed on a front waist motor driver installation plate (86), the stretching hip joint guide wheel (92), the stretching knee joint guide wheel (96) and the stretching ankle joint guide wheel (93) are installed on the inner surface of a front waist guide wheel installation box (91), the front waist guide wheel installation box (91) is installed on the inner side of a front waist of the liftable training space frame, the stretching hip joint motor (113), the stretching knee joint motor (114) and the stretching ankle joint motor (111) are fixedly connected onto the front waist motor installation plate (90), and the front waist motor installation plate (90) is fixedly connected into the front waist frame of the liftable training space frame; the front waist Bowden wire core guide wheel (94) is arranged on the inner surface of the front waist guide wheel mounting box (91) through a front waist Bowden wire core guide wheel mounting piece (95); the stretching hip joint wire core guide outlet (99), the stretching knee joint wire core guide outlet (97) and the stretching ankle joint wire core guide outlet (98) are arranged on the inner side, close to the human body, of the front waist guide wheel mounting box (91);
the stretching hip joint motor output shaft (115), the stretching knee joint motor output shaft (116) and the stretching ankle joint motor output shaft (112) respectively transmit the power of the stretching hip joint motor (113), the stretching knee joint motor (114) and the stretching ankle joint motor (111) to the stretching hip joint guide wheel (92), the stretching knee joint guide wheel (96) and the stretching ankle joint guide wheel (93); the stretching hip joint Bowden wire core (46) winds around a stretching hip joint guide wheel (92), then winds around a front waist Bowden wire core guide wheel (94) arranged on the inner surface of a front waist guide wheel mounting box (91), and finally transmits the power for stretching the hip joint through a stretching hip joint wire core guide outlet (99); similar to the hip joint, the guy wire core (51) of the knee joint stretching wire passes by the guy wire guide wheel (96) of the knee joint stretching wire, then passes by the front waist guy wire core guide wheel (94) arranged on the inner surface of the front waist guide wheel mounting box (91), and finally the power of the knee joint stretching wire is transmitted out through the guy wire guide outlet (97) of the hip joint stretching wire; similar to the hip joint and the knee joint, the stretching ankle bowden cable core (55) bypasses the stretching ankle guide wheel (93), then bypasses the front waist bowden cable core guide wheel (94), and finally transmits the power for stretching the hip joint through the stretching hip joint cable core guide outlet (98);
the position relation of the parts and the components contained on one side of the front waist transmission mechanism and the position relation of the parts and the position relation contained on the other side of the front waist transmission mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
7. The wearable mobile robot for lower extremity rehabilitation training of claim 1, characterized by: the back waist transmission mechanism is of a double-side structure, one side accessory comprises a back waist motor mounting plate (109), a back waist motor driver mounting plate (85), a flexion hip joint motor (117), a flexion knee joint motor (118), a flexion ankle joint motor (121), a flexion hip joint motor driver (82), a flexion knee joint motor driver (83), a flexion ankle joint motor driver (84), a flexion hip joint wire core guide outlet (100), a flexion knee joint wire core guide outlet (102), a flexion ankle joint wire core guide outlet (101), a back waist guide wheel mounting box (108), a flexion hip joint guide wheel (103), a flexion knee joint guide wheel (104), a flexion ankle joint guide wheel (107), a flexion hip joint motor output shaft (119), a flexion knee joint motor output shaft (120), a back waist Bowden wire guide wheel output shaft (122), a flexion Bowden wire guide wheel mounting piece (106), A rear waist Bowden wire core guide wheel (105);
the position relation between accessories on one side of the back waist transmission mechanism is as follows: the bending hip joint motor driver (82), the bending knee joint motor driver (83) and the bending ankle joint motor driver (84) are installed on a rear waist motor driver installation plate (85), a bending hip joint guide wheel (103), a bending knee joint guide wheel (104) and a bending ankle joint guide wheel (107) are installed on the inner surface of a rear waist guide wheel installation box (108), the rear waist guide wheel installation box (108) is installed on the inner side of the rear waist of the liftable training space frame, the bending hip joint motor (117), the bending knee joint motor (118) and the bending ankle joint motor (121) are fixedly connected onto the rear waist motor installation plate (109), and the rear waist motor installation plate (109) is fixedly connected into the rear waist frame of the liftable training space frame; the rear waist Bowden wire core guide wheel (105) is mounted on the inner surface of the rear waist guide wheel mounting box (108) through a rear waist Bowden wire core guide wheel mounting piece (106); the bending hip joint wire core guide outlet (100), the bending knee joint wire core guide outlet (102) and the bending ankle joint wire core guide outlet (101) are arranged on the inner side, close to a human body, of the rear waist guide wheel mounting box (108);
the flexion hip joint motor output shaft (119), the flexion knee joint motor output shaft (120) and the flexion ankle joint motor output shaft (122) respectively transmit the power of the flexion hip joint motor (117), the flexion knee joint motor (118) and the flexion ankle joint motor (121) to the flexion hip joint guide wheel (103), the flexion knee joint guide wheel (104) and the flexion ankle joint guide wheel (107); the bending hip joint Bowden wire core (64) bypasses the bending hip joint guide wheel (103), then bypasses a rear waist Bowden wire core guide wheel (105) arranged on the inner surface of a rear waist guide wheel mounting box (108), and finally transmits the power of the bending hip joint through a bending hip joint wire core guide outlet (100); similar to the hip joint, the bowden cable core (63) of the knee joint passes by the curved knee joint guide wheel (104), then passes by the rear waist bowden cable core guide wheel (105) arranged on the inner surface of the rear waist guide wheel mounting box (108), and finally the power of the knee joint is transmitted out through the curved knee joint wire core guide outlet (102); similar to the hip joint and the knee joint, the bending ankle bowden cable core (61) bypasses the bending ankle guide wheel (107), then bypasses the rear waist bowden cable core guide wheel (105), and finally transmits the power of the bending ankle through the bending ankle cable core guide outlet (101);
the above-mentioned accessories and positional relationship included on one side of the rear waist transmission mechanism and the accessories and positional relationship included on the other side are in mirror symmetry with respect to the central axis of the movable vehicle body.
8. The wearable mobile robot for lower extremity rehabilitation training of claim 1, characterized by: the rear waist overturning mechanism is of a bilateral structure, and accessories on one side comprise a rear waist overturning motor mounting plate (68), a rear waist overturning motor (69), a rear waist overturning motor reducer mounting seat (70), a rear waist overturning motor reducer (71), a rear waist overturning coupler (72), a rear waist overturning front shaft mounting seat (73), a rear waist overturning front shaft (74), a rear waist overturning front arm (75), a rear waist overturning rear arm (77), a rear waist overturning shell (76), a rear waist overturning rear shaft (78), a rear waist overturning rear shaft bearing (79), a rear waist overturning rear shaft mounting seat (80) and a rear waist overturning rear shaft mounting seat mounting plate (81);
the position relation among accessories on one side of the back waist turnover mechanism is as follows: the back waist turnover motor (69) is fixedly connected with a back waist turnover motor reducer (71), the back waist turnover motor reducer (71) is installed on a back waist turnover motor installation plate (68) through a back waist turnover motor reducer installation seat (70), an output shaft of the back waist turnover motor reducer (71) is connected with a back waist turnover front shaft (74) through a back waist turnover coupling (72) to transmit torque, the back waist turnover front shaft (74) is fixedly connected with a back waist turnover front arm (75) at the front side, a back waist turnover rear shaft (78) fixedly connected with a back waist turnover rear arm (77) is matched with a back waist turnover rear shaft bearing (79) shaft hole installed on a back waist turnover rear shaft installation seat (80), and the back waist turnover rear shaft installation seat (80) is fixedly connected on the back waist turnover rear shaft installation seat (81); the back waist turnover mechanism is arranged at the inner side of the training space frame close to the human body through a back waist turnover motor mounting plate (68), and is arranged at the tail part of the training space frame through a back waist turnover rear shaft mounting seat mounting plate (81);
the accessories and the position relation contained on one side of the rear waist overturning mechanism and the accessories and the position relation contained on the other side of the rear waist overturning mechanism are in mirror symmetry with respect to the middle axis of the movable vehicle body.
9. The wearable mobile robot for lower extremity rehabilitation training of claim 1, characterized by: the bowden cable transmission mechanism is a bilateral mechanism, and accessories on one side comprise a stretching hip joint bowden cable shell (42), a stretching knee joint bowden cable shell (43), a stretching ankle joint bowden cable shell (44), a stretching hip joint bowden cable core (46), a stretching knee joint bowden cable core (51), a stretching ankle joint bowden cable core (55), a bending ankle joint bowden cable core (61), a bending knee joint bowden cable core (63), a bending hip joint bowden cable core (64), a bending ankle joint bowden cable shell (65), a bending knee joint bowden cable shell (66), a bending hip joint bowden cable shell (67) and a plurality of bowden cable shell fixing pieces (50);
the position relation among the accessories on one side of the Bowden cable transmission mechanism is as follows: the upper end terminal of the stretching hip joint Bowden wire shell (42), the stretching knee joint Bowden wire shell (43), the stretching ankle joint Bowden wire shell (44), the buckling hip joint Bowden wire shell (67), the buckling knee joint Bowden wire shell (66) and the buckling ankle joint Bowden wire shell (65) respectively slide in the stretching hip joint Bowden wire shell (42), the stretching knee joint Bowden wire shell (43), the stretching ankle joint Bowden wire shell (44), the buckling hip joint Bowden wire shell (67), the buckling knee joint Bowden wire shell (66) and the buckling ankle joint Bowden wire shell (65), and the upper end terminal of the stretching hip joint Bowden wire shell (42), the stretching knee joint Bowden wire shell (43), the stretching ankle joint Bowden wire shell (44), the buckling hip joint Bowden wire shell (67), the upper end terminal of the buckling knee joint Bowden wire shell (65) respectively slide in a guide outlet (99), The knee joint stretching wire core guiding outlet (97), the ankle joint stretching wire core guiding outlet (98), the flexion hip joint wire core guiding outlet (100), the flexion knee joint wire core guiding outlet (102) and the flexion ankle joint wire core guiding outlet (101) are connected, and the tail ends of the lower ends of the two ends are respectively connected with the front side of a Bowden wire shell fixing waistband (45), the front side of a knee joint fixing Bowden wire shell toughness belt (49), the front side of an ankle joint fixing Bowden wire core toughness belt (54), the rear side of the Bowden wire shell fixing waistband (45), the rear side of the knee joint fixing Bowden wire shell toughness belt (49) and the rear side of the ankle joint fixing Bowden wire core toughness belt (54); the upper ends of the stretching hip joint Bowden wire core (46), the stretching knee joint Bowden wire core (51), the stretching ankle joint Bowden wire core (55), the buckling ankle joint Bowden wire core (61), the buckling knee joint Bowden wire core (63) and the buckling hip joint Bowden wire core (64) are respectively connected with a stretching hip joint guide wheel (92), a stretching knee joint guide wheel (96), a stretching ankle joint guide wheel (93), a buckling hip joint guide wheel (103), a buckling knee joint guide wheel (104) and a buckling ankle joint guide wheel (107), and the lower ends of the stretching hip joint Bowden wire core are respectively connected with the front side of a fixed hip joint Bowden wire core toughness belt (48), the front side of a fixed knee joint Bowden wire core toughness belt (52), the front side of a shoe (59) worn by a patient, the rear side of the fixed hip joint Bowden wire core toughness belt (48), the rear side of the fixed knee, The back sides of the patients wearing the shoes (59) are connected, and the shell of the Bowden cable plays a role in guiding the core of the Bowden cable;
the positions and the accessories of one side of the Bowden cable transmission mechanism and the positions and the accessories of the other side of the Bowden cable transmission mechanism are in mirror symmetry with respect to the central axis of the movable vehicle body.
10. The wearable mobile robot for lower extremity rehabilitation training of claim 1, characterized by: the tension sensor mechanism comprises a tension sensor for a knee joint (53), a tension sensor for an ankle joint (57), a tension sensor for a knee joint in flexion (62), a tension sensor for an ankle joint in flexion (60), a connecting piece (56) at the upper end of the tension sensor and a connecting piece (58) at the lower end of the tension sensor;
the position relation among the accessories on one side of the tension sensor mechanism is as follows: the upper end of the tensile knee joint tension sensor (53) is connected with one end of a tensile knee joint Bowden wire core (51) through a tension sensor upper end connecting piece (56), and the lower end of the tensile knee joint tension sensor is connected with the other end of the tensile knee joint Bowden wire core (51) through a tension sensor lower end connecting piece (58); the upper end of the stretching ankle joint tension sensor (57) is connected with one end of the stretching ankle joint Bowden wire core (55) through a tension sensor upper end connecting piece (56), and the lower end of the stretching ankle joint tension sensor is connected with the other end of the stretching ankle joint Bowden wire core (55) through a tension sensor lower end connecting piece (58); the upper end of the flexion knee joint tension sensor (62) is connected with one end of a flexion knee joint Bowden wire core (63) through a tension sensor upper end connecting piece (56), and the lower end of the flexion knee joint tension sensor is connected with the other end of the flexion knee joint Bowden wire core (63) through a tension sensor lower end connecting piece (58); the upper end of the buckling ankle joint tension sensor (60) is connected with one end of a buckling ankle joint Bowden wire core (61) through a tension sensor upper end connecting piece (56), and the lower end of the buckling ankle joint tension sensor is connected with the other end of the buckling ankle joint Bowden wire core (61) through a tension sensor lower end connecting piece (58);
the stretching knee joint tension sensor (53), the stretching ankle joint tension sensor (57), the buckling knee joint tension sensor (62) and the buckling ankle joint tension sensor (60) collect tension information in the rehabilitation training process of a patient, and the information is transmitted to the tension sensor amplifier (14), amplified and transmitted to the controller and the operation panel (2) to serve as a control quantity, so that the safety and the reliability in the rehabilitation process are guaranteed;
the position relation of the accessories and the components contained on one side of the tension sensor mechanism and the position relation of the accessories and the components contained on the other side of the tension sensor mechanism are in mirror symmetry with respect to the central axis of the integrated flexible trousers;
the integrated flexible trousers comprise flexible trousers (47), a Bowden cable shell fixing waistband (45), a knee joint fixing Bowden cable shell toughness belt (49), an ankle joint fixing Bowden cable shell toughness belt (54), a hip joint fixing Bowden cable core toughness belt (48), a knee joint fixing Bowden cable core toughness belt (52) and shoes (59);
the bowden cable shell fixing waistband (45) is connected with the tail end of the upper part of the flexible trousers (47), the hip joint fixing bowden cable core toughness belt (48) and the knee joint fixing bowden cable shell toughness belt (49) are fixedly connected to the thigh part of the flexible trousers (47), and the ankle joint fixing bowden cable shell toughness belt (54) and the knee joint fixing bowden cable core toughness belt (52) are fixedly connected to the shank part of the flexible trousers (47); the shoes (59) are worn on the feet of the user, and the flexible trousers (47) are worn on the limbs of the lower limbs of the human body;
the bowden cable shell fixing waistband (45), the knee joint bowden cable shell fixing toughness band (48) and the ankle joint bowden cable shell fixing toughness band (54) provide force applying points for the installation of the lower end ends of a stretching hip joint bowden cable shell (42), a stretching knee joint bowden cable shell (43), a stretching ankle joint bowden cable shell (44), a buckling ankle joint bowden cable shell (65), a buckling knee joint bowden cable shell (66) and a buckling hip joint bowden cable shell (67) in the bowden cable transmission mechanism, the hip joint bowden cable core fixing toughness band (48), the knee joint bowden cable fixing toughness band (52) and the shoe (59) provide force applying points for the installation of the lower end ends of the stretching hip joint bowden cable core (46), the stretching knee joint bowden cable core (51), the stretching ankle joint bowden cable core (55), the buckling ankle joint bowden cable core (61) in the bowden cable transmission mechanism, The tail ends of the lower ends of the bowstring wire core (63) and the bowstring wire core (64) of the knee joint and the hip joint pull the limbs of the human body to move so as to provide acting points.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010132873.3A CN111214363A (en) | 2020-02-29 | 2020-02-29 | A wearable portable robot for low limbs rehabilitation training |
| PCT/CN2020/124593 WO2021169352A1 (en) | 2020-02-29 | 2020-10-29 | Wearable mobile robot for lower limb rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010132873.3A CN111214363A (en) | 2020-02-29 | 2020-02-29 | A wearable portable robot for low limbs rehabilitation training |
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| CN111214363A true CN111214363A (en) | 2020-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010132873.3A Pending CN111214363A (en) | 2020-02-29 | 2020-02-29 | A wearable portable robot for low limbs rehabilitation training |
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| CN (1) | CN111214363A (en) |
| WO (1) | WO2021169352A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021169352A1 (en) * | 2020-02-29 | 2021-09-02 | 华南理工大学 | Wearable mobile robot for lower limb rehabilitation training |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2558375Y (en) * | 2002-08-14 | 2003-07-02 | 哈尔滨工程大学 | Lower extremity recovery training robot |
| EP1701878A2 (en) * | 2003-12-22 | 2006-09-20 | Ziad Badarneh | An apparatus for physical exercise, and a crank device and foot supporting platforms for use with such apparatus |
| EP3079642A4 (en) * | 2013-12-13 | 2017-11-01 | Alt Innovations LLC | Multi-modal gait-based non-invasive therapy platform |
| CN105534679B (en) * | 2016-01-07 | 2019-01-01 | 南京康龙威康复医学工程有限公司 | intelligent rehabilitation robot |
| CN209270230U (en) * | 2017-09-18 | 2019-08-20 | 华南理工大学 | A kind of tow-armed robot for rehabilitation training of upper limbs |
| CA3038734A1 (en) * | 2018-04-05 | 2019-10-05 | British Columbia Institute Of Technology | Active arm passive leg exercise machine with guided leg movement |
| CN108500957B (en) * | 2018-04-09 | 2021-03-02 | 哈尔滨工业大学 | Wearable flexible upper limb exoskeleton assistance system |
| CN109620637A (en) * | 2018-12-16 | 2019-04-16 | 北京工业大学 | A kind of simple joint bilateral driving device for flexible power-assisted coat |
| CN109662869B (en) * | 2019-01-21 | 2024-02-02 | 中国科学院沈阳自动化研究所 | Wearable flexible lower limb power-assisted robot |
| CN110575350B (en) * | 2019-09-19 | 2022-04-08 | 深圳睿瀚医疗科技有限公司 | Flexible ankle joint rehabilitation robot system |
| CN111214363A (en) * | 2020-02-29 | 2020-06-02 | 华南理工大学 | A wearable portable robot for low limbs rehabilitation training |
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2020
- 2020-02-29 CN CN202010132873.3A patent/CN111214363A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021169352A1 (en) * | 2020-02-29 | 2021-09-02 | 华南理工大学 | Wearable mobile robot for lower limb rehabilitation training |
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