CN111658380A - Auxiliary rehabilitation training robot - Google Patents
Auxiliary rehabilitation training robot Download PDFInfo
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- CN111658380A CN111658380A CN202010500611.8A CN202010500611A CN111658380A CN 111658380 A CN111658380 A CN 111658380A CN 202010500611 A CN202010500611 A CN 202010500611A CN 111658380 A CN111658380 A CN 111658380A
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- rotating shaft
- pelvis
- omnidirectional
- side rotating
- rehabilitation training
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
- A61G7/1034—Rollers, rails or other means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
- A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1049—Attachment, suspending or supporting means for patients
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/109—Lower body, e.g. pelvis, buttocks
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/043—Wheeled walking aids for disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
Abstract
The invention discloses an auxiliary rehabilitation training robot which comprises an omnidirectional moving platform, a sitting station transfer mechanism and a pelvis supporting mechanism, wherein the sitting station transfer mechanism is vertically arranged on the omnidirectional moving platform, the pelvis supporting mechanism is vertically arranged on the sitting station transfer mechanism, and the pelvis supporting mechanism can move up and down relative to the sitting station transfer mechanism; the sitting station transfer mechanism is used for providing lifting movement force for the pelvis supporting mechanism so as to assist a user in weight-reducing walking training and sitting station transfer training. The invention has small and flexible whole machine and low cost, is convenient for use in family environment, meets the requirement of human body movement, can help patients with dyskinesia to independently complete indoor movement, sitting and standing transfer, daily life tasks and walking training, helps the patients to improve the quality of life, replaces careers and relieves the family burden to a certain extent.
Description
Technical Field
The invention relates to the technical field of rehabilitation instruments, in particular to a robot for assisting rehabilitation training.
Background
In recent years, stroke patients suffer from different degrees of dyskinesia after operation, more than 40 percent of old people suffer from different degrees of dyskinesia, the normal life of the patients is seriously influenced, and the patients need daily care by family members or medical staff, so that the family members are heavily burdened with economic burden. Research shows that the motor function of more than 80 percent of patients with brain injury is remarkably improved after active and effective rehabilitation exercise training is carried out, and most of old people can also keep the motor function after walking training.
A plurality of rehabilitation training devices are researched and developed at home and abroad, but most of the rehabilitation training devices have the problems of large volume, high price, difficult operation and the like, are not suitable for being used in families and community environments, are difficult to be used as auxiliary equipment for daily life, can only carry out transient rehabilitation training in hospitals and are difficult to keep the rehabilitation effect for a long time.
Disclosure of Invention
The invention mainly aims to provide an auxiliary rehabilitation training robot suitable for a family environment, and aims to reduce the size and the production cost, help a patient with motor dysfunction to independently complete indoor movement, sitting-standing transfer, daily life tasks and walking training, help the patient to improve the life quality, replace careers and reduce the family burden to a certain extent.
In order to achieve the purpose, the invention provides an auxiliary rehabilitation training robot, which comprises an omnidirectional moving platform, a sitting station transfer mechanism and a pelvis supporting mechanism, wherein the sitting station transfer mechanism is vertically arranged on the omnidirectional moving platform, the pelvis supporting mechanism is vertically arranged on the sitting station transfer mechanism, and the pelvis supporting mechanism can move up and down relative to the sitting station transfer mechanism;
the sitting station transfer mechanism is used for providing lifting movement force for the pelvis supporting mechanism so as to assist a user in rehabilitation training;
the pelvis supporting mechanism comprises a first parallel connecting rod, a side rotating shaft fixing seat, a side rotating shaft rotating seat and a torque sensor for detecting relative rotating torque between the first parallel connecting rod and the side rotating shaft fixing seat;
one end of the first parallel connecting rod is connected with the sitting station transfer mechanism, the other end of the first parallel connecting rod is connected with one end of the torque sensor, and the other end of the torque sensor is connected with one end of the side rotating shaft fixing seat;
the side rotating shaft is connected with the side rotating shaft fixing seat through an on-shaft flange and connected with an inner hole of the side rotating shaft rotating seat through two bearings, so that the side rotating shaft rotating seat can rotate relative to the side rotating shaft fixing seat and the side rotating shaft.
According to a further technical scheme, the pelvis supporting mechanism further comprises a double-helix torsion spring for realizing side rotation reset force, the double-helix torsion spring is connected with a profiling shaft on the side rotating shaft in a matched mode through a center hole, the double-helix torsion spring is guaranteed not to rotate relative to the side rotating shaft, two movable ends of the double-helix torsion spring are connected with the side rotating shaft rotating seat through screws, and when the side rotating shaft rotating seat rotates relative to the side rotating shaft fixing seat, the double-helix torsion spring provides rotating reset force.
According to a further technical scheme, the pelvis supporting mechanism further comprises a spline nut, a spline shaft, a spline nut mounting seat, a pelvis support spline end, an annular pressure sensor, a first pressure spring, a front-back force detection module and a damping ball joint hinge;
the spline nut mounting seat is connected with the side rotating shaft rotating seat through a screw, the spline nut is connected with the spline nut mounting seat through a flange of the spline nut, and the spline shaft is mounted on the spline nut;
first pressure spring cover is established on the integral key shaft, one end withstands spline nut, and the cover is established to other end withstands the integral key epaxial annular pressure sensor, pelvis support spline end passes through the fix with screw the both sides axle head of integral key shaft prevents first pressure spring with annular pressure sensor deviates from.
The pelvis supports are connected with spline ends of the pelvis supports on the left side and the right side through screws, and the damping ball head hinges are connected between the pelvis supports on the left side and the right side through screws;
the front and rear pressure detection modules comprise pressure sensors and second pressure springs and are connected with the pelvis support frame through screws.
The invention has the further technical scheme that the parallel connecting rod mechanism comprises two second parallel connecting rods which are arranged in parallel up and down, a plurality of tension springs which are parallel to each other are arranged between the first parallel connecting rod and the corresponding second parallel connecting rod, one ends of the tension springs are connected to the first parallel connecting rod through tension spring supporting columns, and the other ends of the tension springs are connected to the second parallel connecting rods through tension spring supporting columns; the tension spring, the first parallel connecting rod and the second parallel connecting rod form a certain angle, when the pelvis supporting mechanism is lifted to the highest position, the tension spring is in the minimum displacement state, and when the pelvis supporting mechanism is lowered to the lowest position, the tension spring is in the maximum displacement state; the tension of the tension spring is multiplied by the moment arm to obtain the moment for balancing the pelvis supporting mechanism, and the output burden of the first servo motor is reduced.
According to a further technical scheme, the parallel connecting rod mechanism further comprises an upright post cover.
According to a further technical scheme, the omnidirectional mobile platform comprises a bottom plate, a plurality of groups of omnidirectional active wheel trains, an electrical appliance module and a platform cover, wherein the supporting vertical plate is vertically arranged on the bottom plate, the omnidirectional active wheel trains are arranged at the bottom of the bottom plate, the electrical appliance module is arranged on the bottom plate, the electrical appliance module is connected with the omnidirectional active wheel trains, and the platform cover is connected with the side face of the bottom plate.
According to a further technical scheme, the omnidirectional driving wheel train comprises a second servo motor, a second speed reducer, an omnidirectional wheel and a support frame, a signal wire of the second servo motor is connected with the electric appliance module after passing through a wire passing hole in the bottom plate, the second servo motor is connected with the second speed reducer through a first end face flange, the second speed reducer is connected with the support frame through a second end face flange, an output shaft of the second speed reducer is connected with a shaft hole of the omnidirectional wheel, and the support frame is installed on the bottom plate.
The further technical scheme of the invention is that the bottom plate and the platform cover casing are circular arc-shaped.
According to a further technical scheme, the three omnidirectional driving wheel systems are arranged at the bottom of the bottom plate in an isosceles triangle shape.
The auxiliary rehabilitation training robot has the beneficial effects that: the invention has small and flexible whole machine and low cost, is convenient for use in family environment, meets the requirement of human body movement, can help patients with dyskinesia to independently complete indoor movement, sitting and standing transfer, daily life tasks and walking training, helps the patients to improve the quality of life, replaces careers and relieves the family burden to a certain extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the auxiliary rehabilitation training robot of the present invention;
fig. 2 is a schematic view of the overall structure of the pelvic support mechanism;
FIG. 3 is a cross-sectional view of the pelvic support mechanism without the housing;
FIG. 4 is a schematic structural view of the pelvic support mechanism without the housing;
FIG. 5 is a schematic view of the overall structure of the sitting station transfer mechanism without the column housing;
FIG. 6 is a schematic view of the overall structure of the sitting station transfer mechanism without the supporting riser;
fig. 7 is a schematic diagram of the overall structure of an omnidirectional mobile platform;
figure 8 is a bottom view of the omni-directional mobile platform;
FIG. 9 is a side view of an omni-directional mobile platform;
fig. 10 is a schematic diagram of the overall structure of the omnidirectional active wheel train.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 10, the present invention provides a rehabilitation training assisting robot, which is intended to assist a patient with difficulty in moving lower limbs to perform a small range of position movement and walking assistance, so as to assist the patient to perform rehabilitation training of daily movement transfer and lower limb walking function. The auxiliary rehabilitation training robot comprises an omnidirectional moving platform, a sitting station transfer mechanism and a pelvis supporting mechanism. Aiming at the insufficient supporting force of the lower limbs of a user, the auxiliary rehabilitation training robot detects the lifting force required by supporting the user by using a large-torque output motor of the sitting station transfer mechanism and a torque sensor of the pelvis support mechanism, and assists the user to carry out small-range transfer of spatial positions; when a user needs to walk and train, the movement direction of the user is detected through the pressure sensors in the front and back directions and the left and right directions in the pelvis supporting mechanism, which are in contact with the waist of the human body, and the movement of the user is assisted by matching with the omnidirectional wheel of the omnidirectional moving platform.
Specifically, referring to fig. 1 to 10, the robot for assisting rehabilitation training of the present invention includes an omnidirectional moving platform 10, a sitting station transferring mechanism 20 and a pelvis supporting mechanism 30, wherein the sitting station transferring mechanism 20 is vertically installed on the omnidirectional moving platform 10, the pelvis supporting mechanism 30 is vertically installed on the sitting station transferring mechanism 20, and the pelvis supporting mechanism 30 can move up and down relative to the sitting station transferring mechanism 20.
The sit-stand transfer mechanism 20 is used to provide the force of the lifting movement to the pelvis support mechanism 30 to assist the user in rehabilitation training.
As an embodiment, the pelvic support mechanism comprises a pelvic support mechanism housing 302, a lateral sponge 303, a first parallel link 301, a lateral rotating shaft 305, a lateral rotating shaft fixing seat 310, a lateral rotating shaft rotating seat 311, a torque sensor 304 for detecting relative rotating torque between the first parallel link 301 and the lateral rotating shaft fixing seat 310;
one end of the first parallel link 301 is connected to the sitting station transfer mechanism 20, the other end is connected to one end of the torque sensor 304, and the other end of the torque sensor 304 is connected to one end of the side rotating shaft fixing base 310;
the side rotating shaft 305 is connected with the side rotating shaft fixing seat 310 through an on-shaft flange and is connected with an inner hole of the side rotating shaft rotating seat 311 through two bearings, so that the side rotating shaft rotating seat 311 rotates relative to the side rotating shaft fixing seat 310 and the side rotating shaft 305.
As an embodiment, the pelvic support mechanism 30 further includes a double-helix torsion spring 306 for realizing the side rotation restoring force, the double-helix torsion spring 306 for realizing the side rotation restoring force is cooperatively connected with the profiling shaft on the side rotation shaft 305 through a central profiled hole, so as to ensure that the double-helix torsion spring 306 and the side rotation shaft 305 do not rotate relatively, and two movable ends of the double-helix torsion spring 306 are connected with the side rotation shaft rotating base 311 through screws, so that when the side rotation shaft rotating base 311 rotates relative to the side rotation shaft fixing base 310, the double-helix torsion spring 306 can provide the rotating restoring force.
As an embodiment, the pelvic support mechanism further includes a spline nut 307, a spline shaft 308, a spline nut mount 315, a pelvic support 309, a pelvic support spline end 314, an annular pressure sensor 313, a first pressure spring 312, a front-rear pressure detection module 316, and a damping ball joint 317;
the spline nut mounting base 315 is connected with the side rotating shaft rotating base 311 through a screw, the spline nut 307 is connected with the spline nut mounting base 315 through a flange, and the spline shaft 308 is mounted on the spline nut 307;
the first pressure spring 312 is sleeved on the spline shaft 308, one end of the first pressure spring is propped against the spline nut 307, the other end of the first pressure spring is propped against the annular pressure sensor 313 sleeved on the spline shaft 308, and the ends of the pelvis support spline 314 are fixed at the shaft ends at the two sides of the spline shaft 308 through screws, so that the first pressure spring 312 and the annular pressure sensor 313 are prevented from falling off.
The pelvis support 309 is connected to the spline ends 314 of the left and right pelvis supports by screws, and the damping ball joint 317 is connected to the pelvis by screws.
The front and rear pressure detection module 316 includes a pressure sensor and a second compression spring, and is connected to the pelvis support frame 309 through screws.
As an embodiment, the sitting station transferring mechanism 20 includes a supporting upright 201, an arc-shaped armrest 202, a first servo motor 204, a first speed reducer 205, and a parallel link mechanism 206.
The supporting vertical plate 201 is vertically installed on the omnidirectional moving platform 10, the handrail 202 is installed on the supporting vertical plate 201, and the handrail 202 is arranged in parallel with the omnidirectional moving platform 10.
The first servo motor 204 is connected with the first speed reducer 205, the first speed reducer 205 is installed on the supporting vertical plate 201, a driving shaft of the parallel link mechanism 206 is connected with an output shaft of the first speed reducer 205, a driven shaft of the parallel link mechanism 206 is connected with one end of the first parallel link 301, the first servo motor 204 is used for generating torque for supporting a user according to the rotation torque, and the force for lifting and lowering is provided for the pelvis supporting mechanism 30 through the parallel link mechanism 206.
The parallel link mechanism 206 comprises two second parallel links arranged in parallel up and down, a plurality of tension springs 207 arranged in parallel are arranged between the first parallel link 301 and the corresponding second parallel link, one end of each tension spring 207 is connected to the first parallel link 301 through a tension spring support, and the other end of each tension spring 207 is connected to the second parallel link through a tension spring support; the tension spring 207 is at an angle with the first parallel link 301 and the second parallel link, when the pelvic support mechanism 30 is raised to the highest position, the tension spring 207 is in the minimum displacement state, and when the pelvic support mechanism 30 is lowered to the lowest position, the tension spring 207 is in the maximum displacement state; the tension of the tension spring 207 is multiplied by the moment arm to obtain a moment for balancing the pelvis supporting mechanism 30, and the output load of the first servo motor is reduced.
In addition, the parallel link mechanism 206 further includes a column cover 203, and the column cover 203 is covered outside the supporting vertical plate 201.
As an embodiment, the omnidirectional mobile platform 10 includes a bottom plate 102, a plurality of sets of omnidirectional active wheel trains 101, an electrical module 103, and a platform cover 104, wherein the supporting vertical plate 201 is vertically installed on the bottom plate 102, the omnidirectional active wheel trains 101 are installed at the bottom of the bottom plate 102, the electrical module 103 is installed on the bottom plate 102, the electrical module 103 is connected with the omnidirectional active wheel trains 101, and the platform cover 104 is connected with the side of the bottom plate 102.
The omnidirectional driving gear train 101 comprises a second servo motor 105, a second speed reducer 106, an omnidirectional wheel 107 and a support frame 108, a signal line of the second servo motor 105 is connected with the electric appliance module 103 after passing through a line hole on the bottom plate 102, the second servo motor 105 is connected with the second speed reducer 106 through a first end face flange, the second speed reducer 106 is connected with the support frame 108 through a second end face flange, an output shaft of the second speed reducer is connected with a shaft hole of the omnidirectional wheel 107, and the support frame 108 is installed on the bottom plate 102.
The base plate 102 and the platform housing 104 are circular arc shaped. The omnidirectional active wheel trains 101 are three groups, and the three groups of omnidirectional active wheel trains 101 are arranged at the bottom of the bottom plate 102 in an isosceles triangle shape.
The structure and the working principle of the rehabilitation training assisting robot of the invention are further elaborated below.
The auxiliary rehabilitation training robot provided by the invention comprises an omnidirectional moving platform 10, a sitting station transfer mechanism 20 and a pelvis supporting mechanism 30; the omni-directional mobile platform 10 includes several sets of omni-directional active gear trains 101, a base plate 102, an appliance module 103, and a platform housing 104. The sitting station transfer mechanism 20 is connected with the omnidirectional moving platform 10 through screws, and the sitting station transfer mechanism 20 comprises an armrest 202, a column cover 203, a supporting vertical plate 201, a first servo motor 204, a first speed reducer 205, a parallel link mechanism 206 and a tension spring 207. The pelvic support mechanism 30 is connected to the driven rotating shaft 208 of the parallel link mechanism 206 of the sitting station transfer mechanism 20, and the pelvic support mechanism 30 includes a first parallel link 301, a torque sensor 304, a translation module 302, a rotating side rod 303, a torsion spring 308, a front-back pressure detection module 307, a left pressure detection module 305, and a right pressure detection module 306.
The omnidirectional moving platform 10 is characterized in that three sets of omnidirectional active gear trains 101 are connected through a bottom plate 102, the three sets of omnidirectional active gear trains 101 are arranged in an isosceles triangle shape, the set of omnidirectional active gear trains 101 are arranged in front of the moving platform, and the two sets of omnidirectional active gear trains 101 are arranged behind the moving platform, so that the omnidirectional moving of the omnidirectional moving platform 10 in the whole space is realized.
Each set of omnidirectional driving gear trains 101 includes a second servo motor 105, a second reducer 106, a support frame 108, and an omnidirectional wheel 107. The second servo motor 105 and the second reducer 106 are connected through a first end face flange, the second reducer 106 is connected with the support frame 108 through a second end face flange, and an output shaft of the second reducer 106 is connected with a shaft hole of the omni wheel 107 through a key. The electric appliance module 103 is arranged on the bottom plate 102 through screws, the whole electric appliance module 103 is wrapped by the platform cover 104, and the platform cover 104 is fixedly connected with the side surface of the bottom plate 102 through screws to prevent dust and sundries from entering. The control line of the second servo motor 105 is connected to the electrical module 103 through a wire hole reserved in the bottom plate 102. The omnidirectional movement of the whole rehabilitation training assisting robot is realized by three omnidirectional wheels 107 of the omnidirectional moving platform 10.
The sitting station transfer mechanism 20 is connected with the omnidirectional moving platform 10 through the supporting vertical plate 201 by screws. The upright post cover 203 is connected with the top of the supporting upright plate 201 through screws, and the handrail 202 passes through the upright post cover 203 and is connected with the supporting upright plate 201 through screws, so that a hand holding position is provided for a user to hold in the rehabilitation training; the first servo motor 204 is connected with the first speed reducer 205 through screws to form a torque reduction and increase speed reduction module, the first speed reducer 205 is connected with the supporting vertical plate 201 through screws, the driving rotating shaft of the parallel link mechanism 206 is connected with the output shaft of the first speed reducer 205 through a key, so that the transmission of output torque is realized, the driven rotating shaft 208 is connected with the first parallel link 301 of the pelvis supporting mechanism 30, so that the transmission of torque is realized: from the parallel links to the pelvic support mechanism 30. A tension spring 207 is disposed between the two second parallel links of the parallel link mechanism 206, provides a certain restoring force, and may be used to increase the lifting moment. When the supporting force of the lower limbs of the user is insufficient or the spatial position is required to be transferred, the first servo motor 204 increases the output torque to provide the lifting force for the pelvis supporting mechanism 30, the user is lifted through the parallel link mechanism 206 and the pelvis supporting mechanism 30, and then the whole transfer is performed through the omnidirectional moving platform 10.
The torque sensor 304 in the pelvic support mechanism 30 is connected to the first parallel link 301 by a screw for measuring the torque applied by the user to the pelvic support mechanism 30 in the vertical direction, i.e., the torque required to assist the rehabilitation training robot in lifting the user to the normal height. In addition, the present invention can calculate the torque of the user to be supported, which is required to be provided by the first servo motor 204, by conversion, so as to realize the auxiliary support for the user.
Furthermore, it is worth mentioning that the current rehabilitation machines mostly use a rigid connection with the patient, i.e. a direct connection between the drive and the patient, for achieving the target trajectory control. Recent studies have shown that the use of a rigid-flexible hybrid connection is more advantageous for achieving force control, avoiding rigid impacts and motion relearning. Therefore, the invention adopts a rigid-flexible mixing system, is driven by the series elastic driver, and uses the spring for transition between the user and the auxiliary rehabilitation training robot, thereby avoiding the adverse effect of control error on the user. In addition, modeling and control based on flexible body dynamics are the key points for realizing the control of the invention, and the invention optimizes rigid body mass and spring parameters by using a flexible body dynamics formula so as to control the auxiliary force of a patient.
The auxiliary rehabilitation training robot can realize the sitting-standing transfer of a user in the following way to carry out auxiliary rehabilitation training:
1. the auxiliary rehabilitation training robot is operated by a remote controller to move to the front of a user, and the height of the pelvis supporting mechanism 30 is adjusted to enable the two ball hinges to be positioned at the two sides of the pelvis of the patient;
2. the connection between a user and the auxiliary rehabilitation training robot is realized through quick hanging, and a remote controller is placed after the connection is confirmed;
3. the user is lifted up from the sitting posture by operating the rocker, and the user stops after reaching the designated position, and is switched to the motion mode.
The auxiliary rehabilitation training robot has the beneficial effects that: the invention has small and flexible whole machine and low cost, is convenient for use in family environment, meets the requirement of human body movement, can help patients with dyskinesia to independently complete indoor movement, sitting and standing transfer, daily life tasks and walking training, helps the patients to improve the quality of life, replaces careers and relieves the family burden to a certain extent.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. The robot for assisting rehabilitation training is characterized by comprising an omnidirectional moving platform, a sitting station transfer mechanism and a pelvis supporting mechanism, wherein the sitting station transfer mechanism is vertically installed on the omnidirectional moving platform, the pelvis supporting mechanism is vertically installed on the sitting station transfer mechanism, and the pelvis supporting mechanism can move up and down relative to the sitting station transfer mechanism;
the sitting station transfer mechanism is used for providing lifting movement force for the pelvis supporting mechanism so as to assist a user in rehabilitation training;
the pelvis supporting mechanism comprises a first parallel connecting rod, a side rotating shaft fixing seat, a side rotating shaft rotating seat and a torque sensor for detecting relative rotating torque between the first parallel connecting rod and the side rotating shaft fixing seat;
one end of the first parallel connecting rod is connected with the sitting station transfer mechanism, the other end of the first parallel connecting rod is connected with one end of the torque sensor, and the other end of the torque sensor is connected with one end of the side rotating shaft fixing seat;
the side rotating shaft is connected with the side rotating shaft fixing seat through an on-shaft flange and connected with an inner hole of the side rotating shaft rotating seat through two bearings, so that the side rotating shaft rotating seat can rotate relative to the side rotating shaft fixing seat and the side rotating shaft.
2. The assisted rehabilitation training robot according to claim 1, wherein the pelvis supporting mechanism further comprises a double-helix torsion spring for realizing side rotation reset force, the double-helix torsion spring is in fit connection with a profiling shaft on the side rotating shaft through a center hole, so that the double-helix torsion spring and the side rotating shaft are ensured not to rotate relatively, two movable ends of the double-helix torsion spring are connected with the side rotating shaft rotating seat through screws, and when the side rotating shaft rotating seat rotates relative to the side rotating shaft fixing seat, the double-helix torsion spring provides rotating reset force.
3. The assisted rehabilitation training robot of claim 1, wherein the pelvic support mechanism further comprises a spline nut, a spline shaft, a spline nut mount, a pelvic support spline end, an annular pressure sensor, a first pressure spring, a front-rear force detection module, and a damping ball joint hinge;
the spline nut mounting seat is connected with the side rotating shaft rotating seat through a screw, the spline nut is connected with the spline nut mounting seat through a flange of the spline nut, and the spline shaft is mounted on the spline nut;
first pressure spring cover is established on the integral key shaft, one end withstands spline nut, and the cover is established to other end withstands the integral key epaxial annular pressure sensor, pelvis support spline end passes through the fix with screw the both sides axle head of integral key shaft prevents first pressure spring with annular pressure sensor deviates from.
The pelvis supports are connected with spline ends of the pelvis supports on the left side and the right side through screws, and the damping ball head hinges are connected between the pelvis supports on the left side and the right side through screws;
the front and rear pressure detection modules comprise pressure sensors and second pressure springs and are connected with the pelvis support frame through screws.
4. The robot of claim 3, wherein the parallel linkage mechanism comprises two second parallel links arranged in parallel with each other from top to bottom, a plurality of tension springs arranged in parallel with each other are arranged between the first parallel link and the corresponding second parallel link, one end of each tension spring is connected to the first parallel link through a tension spring strut, and the other end of each tension spring is connected to the second parallel link through a tension spring strut; the tension spring, the first parallel connecting rod and the second parallel connecting rod form a certain angle, when the pelvis supporting mechanism is lifted to the highest position, the tension spring is in the minimum displacement state, and when the pelvis supporting mechanism is lowered to the lowest position, the tension spring is in the maximum displacement state; the tension of the tension spring is multiplied by the moment arm to obtain the moment for balancing the pelvis supporting mechanism, and the output burden of the first servo motor is reduced.
5. The assisted rehabilitation training robot of claim 4, wherein the parallel linkage mechanism further comprises a post housing.
6. The assisted rehabilitation training robot of claim 5, wherein the omnidirectional mobile platform comprises a bottom plate, a plurality of sets of omnidirectional active wheel trains, an electrical module and a platform housing, wherein the supporting vertical plate is vertically installed on the bottom plate, the omnidirectional active wheel trains are installed at the bottom of the bottom plate, the electrical module is installed on the bottom plate, the electrical module is connected with the omnidirectional active wheel trains, and the platform housing is connected with the side of the bottom plate.
7. The robot of claim 6, wherein the omnidirectional active wheel system comprises a second servo motor, a second speed reducer, an omnidirectional wheel and a support frame, a signal line of the second servo motor passes through the line passing hole on the bottom plate and then is connected with the electrical module, the second servo motor is connected with the second speed reducer through a first end face flange, the second speed reducer is connected with the support frame through a second end face flange, an output shaft of the second speed reducer is connected with a shaft hole of the omnidirectional wheel, and the support frame is mounted on the bottom plate.
8. The assisted rehabilitation training robot of claim 7, wherein the base plate and platform housing are arc-shaped.
9. The assisted rehabilitation training robot of claim 8, wherein the three omnidirectional driving wheel trains are arranged in three groups, and the three omnidirectional driving wheel trains are arranged at the bottom of the bottom plate in an isosceles triangle shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010500611.8A CN111658380A (en) | 2020-06-04 | 2020-06-04 | Auxiliary rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010500611.8A CN111658380A (en) | 2020-06-04 | 2020-06-04 | Auxiliary rehabilitation training robot |
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| CN111658380A true CN111658380A (en) | 2020-09-15 |
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| CN202010500611.8A Pending CN111658380A (en) | 2020-06-04 | 2020-06-04 | Auxiliary rehabilitation training robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112826697A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Lower limb rehabilitation training robot |
| CN112842811A (en) * | 2020-12-24 | 2021-05-28 | 阁步(上海)医疗科技有限公司 | Pelvis supporting mechanism for lower limb rehabilitation training device |
-
2020
- 2020-06-04 CN CN202010500611.8A patent/CN111658380A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112826697A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Lower limb rehabilitation training robot |
| CN112842811A (en) * | 2020-12-24 | 2021-05-28 | 阁步(上海)医疗科技有限公司 | Pelvis supporting mechanism for lower limb rehabilitation training device |
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