CN112754868A - Mobile accompanying type human lower limb rehabilitation training robot - Google Patents
Mobile accompanying type human lower limb rehabilitation training robot Download PDFInfo
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- CN112754868A CN112754868A CN202110083456.9A CN202110083456A CN112754868A CN 112754868 A CN112754868 A CN 112754868A CN 202110083456 A CN202110083456 A CN 202110083456A CN 112754868 A CN112754868 A CN 112754868A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
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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 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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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
- 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
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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
- A61H2003/046—Wheeled walking aids for disabled persons with braking means
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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
- A61H2201/0176—By stopping operation
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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
- A61H2201/0184—Means for preventing injuries by raising an alarm
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/20—Distances or displacements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
- A63B2225/096—Adjustable dimensions automatically adjusted according to anthropometric data of the user
Abstract
The invention relates to the technical field of medical instruments, in particular to a mobile accompanying type human lower limb rehabilitation training robot, which comprises a frame, a base shell, an ARM control board, a handrail ARM and the following components: the invention relates to a suspension balance safety protection mechanism, an infrared distance measurement sensing system and a perception drive control system, wherein displacement sensors are connected with weight reduction clothes, so that when a patient is in a robot middle position state, a standing interval of the patient in a robot is divided into 4 quadrant intervals, three groups of displacement sensors are used for detecting the motion displacement change of the limb of the patient, identifying the motion information of the patient and sending the information to an ARM control board, and the ARM control board controls a driven wheel to advance through a driver or steers through the speed difference of two wheels.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a mobile accompanying type robot for rehabilitation training of lower limbs of a human body.
Background
With the improvement of the living standard of people in China and the serious aging problem of people facing China, the disease proportion of stroke, namely the stroke, is obviously increased, and the age of patients presents the feature of youthfulness, so how to improve the postoperative rehabilitation training problem of stroke patients needs to be urgently solved. The rehabilitation robot is a combination product of a modern robot and a medical instrument, and aims to utilize the robot to assist a patient in remote rehabilitation training. As an important branch of the robot field, the rehabilitation robot integrates a plurality of fields such as robotics, mechanics, biomedicine, electronics, computer science, materials science, and the like, and has become a research hotspot in the international field. At present, the rehabilitation robot is widely applied to rehabilitation nursing, rehabilitation wheelchairs, rehabilitation manipulators, artificial limbs and the like, so that the development of rehabilitation medicine is promoted, and the development of new technology and new fields in related fields is also driven. Therefore, the mobile accompanying type human lower limb rehabilitation training robot is provided, assists doctors and rehabilitation doctors to enable patients to obtain effective rehabilitation training in a pleasant mood, and is very important for improving the quality and efficiency of the rehabilitation training.
Related lower limb rehabilitation robot products in the market at present are mainly fixed, generally have large volume and size, and are usually placed in fixed places such as hospitals and rehabilitation centers; in addition, the rehabilitation equipment has high specialization degree and needs professional operators to use; secondly, the rehabilitation robot is expensive, and general hospitals and rehabilitation centers have less purchase.
In the development process, the existing rehabilitation robot has the following disadvantages:
the device is used in large fixed places: the rehabilitation robot has the defects that the whole machine is large in size, needs a fixed place to use, is inconvenient to move and carry, limits the using groups of patients when being used in the fixed place, and is not suitable for the patients to go to and go to the fixed place to perform rehabilitation training.
The structure is complicated: many rehabilitation robots are very complicated with structural design in the design process, and spare parts are numerous, resulting in that the appearance is not pleasing to the eye and processing, equipment are inconvenient.
The use is difficult: a large number of rehabilitation robots adopt complex control algorithms to make the robots increasingly intelligent, so that robot operators can use the robots through professional training and guidelines, relevant data, graphs and charts can be analyzed only through learning, and great burden is caused to the operators;
expensive, small audience population: a large number of rehabilitation robots adopt complex structures and control algorithms, the design, research and development and production costs of the robots are greatly improved, the robots are difficult to accept by common hospitals or common families and are difficult to popularize, so that a large number of patients are difficult to enjoy rehabilitation therapy, the use population of the patients is reduced, and the patients are difficult to obtain the rehabilitation therapy.
Disclosure of Invention
In order to solve the problems, the invention provides a mobile accompanying type robot for rehabilitation training of lower limbs of a human body.
The utility model provides a remove human low limbs rehabilitation training robot of companion formula, includes the frame that is used for supporting manikin strength, sets up at the base shell of frame lower extreme, sets up ARM control panel, the ARM of holding up of setting on the frame on the base shell, still includes:
the suspension balance safety protection mechanism is used for protecting the safety of a patient in the training process while ensuring the body balance of the patient with the stroke;
the infrared distance measurement sensing system is used for sensing the distance of a target object, namely the human body model;
the tension sensor senses whether the patient possibly falls down or not by detecting the tension value;
the perception drive control system adopts a forerunner moving mode to enable the robot to move so as to adapt to narrow training space or avoid obstacles.
The suspension balance safety protection mechanism comprises a suspension safety arm arranged on the frame, a weight-reducing clothes hanging buckle arranged on the suspension safety arm, and a safety sling which is used for being connected with a weight-reducing clothes on the human body model through the weight-reducing clothes hanging buckle so that a patient can play a safety protection role when falling down.
The safety sling is worn on the waist and the legs of the patient.
The infrared distance measurement sensing system comprises an infrared distance meter and a displacement sensor, wherein the infrared distance meter is arranged at the lower end of the frame and senses the distance of a target object through detecting the laser phase difference, and the displacement sensor is arranged on the frame and matched with the weight reduction clothes to identify the motion information of a patient and transmit the information to the ARM control board.
The displacement sensor is characterized in that a standing interval of a patient in the robot is divided into 4 quadrant intervals, the patient moves to 2 quadrants, pull wires of the forward displacement sensor and the leftward displacement sensor contract, the displacement value is reduced, the displacement value of the rightward displacement sensor is increased, and the ARM control board controls the robot to turn leftward according to feedback information of the displacement sensors; the patient moves forward straight, the displacement of the forward displacement sensor is reduced, and the displacement of the left and right displacement sensors is increased.
The perception drive control system comprises a lithium battery arranged in a base shell and used for supplying power, a hub motor arranged on the base shell and matched with the lithium battery, a driven wheel connected with the hub motor, a driver arranged in the base shell and matched with the driven wheel, an emergency stop switch arranged on an armrest arm and matched with a tension sensor to timely cut off the system when a patient is abnormally trained or has a falling trend, and an alarm lamp arranged on a frame.
The driven wheel adopts a wheel with two functions of a direction lock and a brake lock, locks the direction lock of the driven wheel, and is used for realizing linear running of the robot in the running process and performing linear rehabilitation training on a patient in the mode; the direction lock is opened, the driven wheel has the same function as the universal wheel, and the robot can advance and turn.
The invention has the beneficial effects that: the lower limb rehabilitation robot product related to the market at present is mainly fixed, so that a patient is easy to have boring emotion in the training process, and the rehabilitation effect is limited.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a perspective view of the present invention in a use state;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a partial schematic view of the present invention;
FIG. 4 is a partial cross-sectional structural schematic of the present invention;
FIG. 5 is a schematic structural diagram of a displacement sensor according to the present invention in a use state;
reference numerals: 1. a frame; 2. a hub motor; 3. a driven wheel; 4. an ARM control panel; 5. a driver; 6. a suspension safety arm; 7. a human body model; 8. a displacement sensor; 9. a tension sensor; 10. an infrared range finder; 11. a safety harness; 12. supporting the arm; 13. an alarm lamp; 14. a lithium battery; 15. hanging weight-reducing clothes; 16. a scram switch; 17. a base housing.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 5, a mobile accompanying robot for rehabilitation training of lower limbs of human body comprises a frame 1 for supporting the strength of a human body model 7, a base shell 17 arranged at the lower end of the frame 1, an ARM control board 4 arranged on the base shell 17, and an armrest ARM 12 arranged on the frame 1, and further comprises:
the suspension balance safety protection mechanism is used for protecting the safety of a patient in the training process while ensuring the body balance of the patient with the stroke;
the infrared distance measurement sensing system is used for sensing the distance of a target object, namely the human body model 7;
the tension sensor 9 senses whether the patient possibly falls down or not by detecting the tension value;
the perception drive control system adopts a forerunner moving mode to enable the robot to move so as to adapt to narrow training space or avoid obstacles.
The related lower limb rehabilitation robot products in the market are mainly fixed at present, so that a patient is easy to have boring emotion in the training process, and the rehabilitation effect is limited.
The tension sensor 9 can sense whether the patient has the possibility of falling through the detection of the tension value; the tension sensor 9 has the characteristics of bidirectional bearing and safety, and has better signal output, high measurement precision and good stability.
The suspension balance safety protection mechanism comprises a suspension safety arm 6 arranged on the frame 1, a weight reduction clothes hanging buckle 15 arranged on the suspension safety arm 6, and a safety sling 11 which is used for being connected with a weight reduction clothes on the manikin 7 through the weight reduction clothes hanging buckle 15 so that a patient can play a safety protection role when falling down.
The safety sling 11 is worn on the waist and the legs of the patient.
The infrared distance measurement sensing system comprises an infrared distance meter 10 which is arranged at the lower end of the frame 1 and senses the distance of a target object through detecting the laser phase difference, and a displacement sensor 8 which is arranged on the frame 1 and matched with the weight reduction clothes to identify the motion information of a patient and transmit the information to the ARM control board 4.
Utilize infrared distance meter 10 can be through the detection to the laser phase difference, perception target object distance can reach the resolution ratio of millimeter level, and infrared distance meter 10 has that temperature adaptability is strong, and drift volume is less, high SNR makes the colour, the roughness of target object and material class to the very little advantage of testing result influence, and is small, facilitates the use, uses on the convenient embedding mainboard of mode through single file needle/hole.
As shown in fig. 5, wherein reference sign a is a forward direction, reference sign b is a right direction, reference sign c is a left direction, the displacement sensor 8 divides a standing interval of a patient in the robot into 4 quadrant intervals, specifically including a quadrant 1 located at the right front of the patient, a quadrant 2 located at the left front of the patient, a quadrant 3 located at the left back of the patient, and a quadrant 4 located at the right back of the patient, the patient moves to the quadrant 2, the wires of the forward and left displacement sensors 8 contract, the displacement value decreases, the displacement value of the right displacement sensor 8 increases, and the ARM control board 4 controls the robot to turn left according to feedback information of the displacement sensor 8; the patient moves straight forward, the displacement amount of the forward displacement sensor 8 decreases, and the displacement amount of the left-right displacement sensor 8 increases.
And three groups of displacement sensors 8 are arranged to complete the division of 4 quadrants.
The perception drive control system including set up lithium cell 14 that is used for the power supply in base shell 17, set up on base shell 17 with lithium cell 14 complex in-wheel motor 2, be connected with in-wheel motor 2 from driving wheel 3, set up in base shell 17 and with from driving wheel 3 complex driver 5, set up on holding up arm 12 with force transducer 9 cooperation in time the cut-off system when patient trains unusually or has the trend of tumbleing, furthest ensures that patient's safety carries out rehabilitation training's scram switch 16, the alarm lamp 13 of setting on frame 1.
The robot is provided with a limit switch on a mechanical structure, and a circuit breaker is connected into a circuit system to prevent overcurrent; in addition, the tension sensor 9 and the alarm lamp 13 of robot fuselage installation in time cut off the system when the patient trains unusually or have the trend of tumbleing, and the at utmost ensures that the patient safety carries out the rehabilitation training.
The driven wheel 3 adopts a wheel with two functions of a direction lock and a brake lock to lock the direction lock of the driven wheel 3, so that the robot can only run in a straight line and cannot turn in the running process, and the patient can be subjected to straight line rehabilitation training in the mode; the direction lock is opened, the driven wheel 3 has the same function as the universal wheel at the moment, the robot can advance and turn, and a patient can operate the robot to move in any form.
The driven wheel 3 and the hub motor 2 adopt a direct connection mode, and a speed reducer is arranged between the hub motor 2 and the driven wheel 3 to ensure reliable torque output.
The using method comprises the following steps: the infrared distance meter 10 converts received optical signals into electric signals and sends the electric signals to the ARM control board 4, the signals are converted through a programmed program algorithm to judge whether the lower limbs of a patient take a step or not, the displacement sensor 8 is connected with the weight reduction clothes, when the patient is in a robot middle position state, a standing interval of the patient in the robot is divided into 4 quadrant intervals, the patient moves to 2 quadrants, pull wires of the forward displacement sensor 8 and the leftward displacement sensor 8 contract, the displacement value is reduced, the displacement value of the rightward displacement sensor 8 is increased, and the ARM control board 4 controls the robot to turn leftward according to feedback information of the displacement sensor 8; the patient moves forwards and straightly, the displacement of the forward displacement sensor 8 is reduced, and the displacement of the left and right displacement sensors 8 is increased; according to the control law logic, the displacement sensor 8 recognizes the motion information of the patient by detecting the motion displacement change of the limb of the patient and sends the information to the ARM control board 4, and the ARM control board 4 controls the driven wheel 3 to advance through the driver 5 or steers through the speed difference of two wheels; the speed acquisition card arranged on the lower limb rehabilitation training robot of the human body can acquire speed information, meanwhile, the tension sensor 9 acquires gait information of a user through the data acquisition board and feeds the gait information back to the ARM control board 4, the ARM control board 4 processes the information and judges whether the user possibly falls down, if the user possibly falls down, the emergency stop switch 16 is started, and the brake and safety sling 11 can protect the user and prevent the user from falling down; the data acquired by the data acquisition board and the speed acquisition board are displayed on the display screen at the same time.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a remove human lower limbs rehabilitation training robot of companion formula, includes frame (1) that is used for supporting manikin (7) strength, sets up base shell (17) at frame (1) lower extreme, sets up ARM control panel (4) on base shell (17), sets up ARM (12) of holding up on frame (1), its characterized in that: further comprising:
the suspension balance safety protection mechanism is used for protecting the safety of a patient in the training process while ensuring the body balance of the patient with the stroke;
the infrared distance measurement sensing system is used for sensing the distance of a target object, namely a human body model (7);
the tension sensor (9) senses whether the patient possibly falls down or not by detecting the tension value;
the perception drive control system adopts a forerunner moving mode to enable the robot to move so as to adapt to narrow training space or avoid obstacles.
2. The mobile accompanying robot for rehabilitation training of lower limbs of human body according to claim 1, wherein: the suspension balance safety protection mechanism comprises a suspension safety arm (6) arranged on the frame (1), a weight reduction clothes hanging buckle (15) arranged on the suspension safety arm (6), and a safety sling (11) which is used for being connected with a weight reduction clothes on the manikin (7) through the weight reduction clothes hanging buckle (15) so that a patient can play a safety protection role when falling down.
3. The mobile accompanying robot for rehabilitation training of lower limbs of human body according to claim 2, wherein: the safety sling (11) is worn on the waist and the legs of the patient.
4. The mobile accompanying robot for rehabilitation training of lower limbs of human body according to claim 1, wherein: the infrared distance measurement sensing system comprises an infrared distance meter (10) arranged at the lower end of the frame (1) and used for sensing the distance of a target object through detection of laser phase difference, and a displacement sensor (8) arranged on the frame (1) and matched with the weight reduction clothes to identify the motion information of a patient and transmit the information to the ARM control board (4).
5. The mobile accompanying robot for rehabilitation training of lower limbs of human body according to claim 4, wherein: the displacement sensor (8) divides a standing interval of a patient in the robot into 4 quadrant intervals, the patient moves to 2 quadrants, stay wires of the forward displacement sensor (8) and the leftward displacement sensor (8) contract, the displacement value is reduced, the displacement value of the rightward displacement sensor (8) is increased, and the ARM control board (4) controls the robot to turn leftward according to feedback information of the displacement sensor (8); the patient moves forwards and straightly, the displacement of the forward displacement sensor (8) is reduced, and the displacement of the left and right displacement sensors (8) is increased.
6. The mobile accompanying robot for rehabilitation training of lower limbs of human body according to claim 1, wherein: the perception drive control system comprises a lithium battery (14) arranged in a base shell (17) and used for supplying power, a hub motor (2) arranged on the base shell (17) and matched with the lithium battery (14), a driven wheel (3) connected with the hub motor (2), a driver (5) arranged in the base shell (17) and matched with the driven wheel (3), an emergency stop switch (16) arranged on an armrest arm (12) and matched with a tension sensor (9) to timely cut off the system when a patient trains abnormally or has a falling trend, and an alarm lamp (13) arranged on a frame (1).
7. The mobile accompanying robot for rehabilitation training of lower limbs of human body according to claim 6, wherein: the driven wheel (3) adopts a wheel with two functions of a direction lock and a brake lock, locks the direction lock of the driven wheel (3) and is used for enabling the robot to realize linear running in the running process and carrying out linear rehabilitation training on a patient in the mode; the direction lock is unlocked, the driven wheel (3) has the same function as the universal wheel, and the robot can advance and turn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110083456.9A CN112754868A (en) | 2021-01-21 | 2021-01-21 | Mobile accompanying type human lower limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110083456.9A CN112754868A (en) | 2021-01-21 | 2021-01-21 | Mobile accompanying type human lower limb rehabilitation training robot |
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| Publication Number | Publication Date |
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| CN112754868A true CN112754868A (en) | 2021-05-07 |
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| CN202110083456.9A Pending CN112754868A (en) | 2021-01-21 | 2021-01-21 | Mobile accompanying type human lower limb rehabilitation training robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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