CN112870032A - 多功能下肢康复智能辅助行走机器人 - Google Patents

多功能下肢康复智能辅助行走机器人 Download PDF

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CN112870032A
CN112870032A CN202110258739.2A CN202110258739A CN112870032A CN 112870032 A CN112870032 A CN 112870032A CN 202110258739 A CN202110258739 A CN 202110258739A CN 112870032 A CN112870032 A CN 112870032A
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joint
motor
lower limb
knee
ankle
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王继荣
李军
李梁京
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Abstract

本发明公开了机械康复设备，特别涉及一种多功能下肢康复智能辅助行走机器人。包括行走支架，所述行走支架的中部两侧管分别设置下肢康复机构，行走支架中部两侧管设置下肢康复机构的前部设置扶手，所述扶手上固定设置心率传感器，所述行走支架前部的下侧横管设置控制柜，所述行走支架前部的上侧横管还设置显示屏，行走支架后部的下侧横管设置电池柜，所述行走支架的四角设置脚轮。所述下肢康复机够包括胯部关节、膝部关节、踝部关节。膝部马达通过膝部谐波减速器和一对锥齿轮与所述下关节连接传递下关节的前后摆动。本发明提高了样机的安全性、舒适性、可靠性。通过智能辅助控制监测系统实现了康复数据的采集分析，提高了康复效果。

Description

多功能下肢康复智能辅助行走机器人
技术领域
本发明涉及机械康复设备领域，特别涉及一种多功能下肢康复智能辅助行走机器人
背景技术
瑞士最早研发了下肢康复机器人，它的主要功能是对患者进行步态训练从而使得患肢恢复正常步行。该系统由减重机构、双下肢机器人和运动平板组成，它能够对人体下肢三个关节进行运动控制，实时记录患者在训练过程中的运动状态和各部位受力情况。目前在市场上应用也最普遍。同时，美国、日本、英国等也都有研究，国内一些科研单位和企业也有一定的成果。但是下肢康复机器人还存在一些缺点。主要存在以下缺点：功能集成程度不高，只能进行一种模式，对关节进行恢复训练，不能有效及时的采集心率和血压的数据，造成康复训练恢复效果不佳。
发明内容
为解决背景技术中提到的现有的技术的有关缺陷，现展示了一种功能下肢康复智能辅助行走机器人。
一种多功能下肢康复智能辅助行走机器人，包括行走支架，所述行走支架的中部两侧管分别设置下肢康复机构，行走支架中部两侧管设置下肢康复机构的前部设置扶手，所述扶手上固定设置心率传感器，所述行走支架前部的下侧横管设置控制柜，行走支架后部的下侧横管设置电池柜，所述行走支架前部的上侧横管还设置显示屏，所述行走支架的四角设置脚轮。
进一步的，所述下肢康复机构包括胯部关节、膝部关节、踝部关节，所述跨部关节包括跨部马达，跨部马达外部设置跨步马达箱体，所述行走支架的中部两侧横梁与跨步马达箱体固定连接，跨部马达箱体的的一端设置大腿旋转连接板，所述大腿旋转连接板与跨步马达通过跨部谐波减速器和一对锥齿轮连接实现前后的摇摆，所述大腿旋转连接板通过连接柱与膝部关节的上关节连接，膝部关节的上关节与下关节旋转连接，上关节固定设置膝部马达，膝部马达通过膝部谐波减速器和一对锥齿轮与所述下关节连接传递下关节的前后摆动，下关节与踝部关节的固定鞋旋转连接，所述固定鞋的旋转连接处内部设置踝部马达，所述踝部马达通过踝部谐波减速器为踝关节的旋转提供动力，所述胯部关节、膝部关节、踝部关节还分别设置扭矩传感器并分别设置有锁止机构，所述上关节和下关节设置有绑带可以与腿部绑定。
进一步的，所述心率传感器的型号为Si1172。
进一步的，所述锁止机构为抱闸锁止机构。
进一步的，所述胯部马达的型号为ECMA-C20807SS，胯部谐波减速器的型号为BHS-20-160-U-IV。
进一步的，所述膝部关节处马达的型号为ECMA-C10602SS，膝部谐波减速器的型号为BHS-17-120-U-IV。
进一步的，所述踝部马达的型号为ECMA-C10602SS，踝部谐波减速器的型号为BHS-14-100-U-IV。
进一步的，所述扭矩传感器的型号为TQ202-30Z。
本发明的有益效果：
一种多功能下肢康复智能辅助行走机器人，主动助力、主被动助力和被动助力三种模式的机械结构的集成机型，实现了功能的多样性；并且融入了视觉采集、心率采集、血压采用等数据采集系统，提高了样机的安全性、舒适性、可靠性。通过智能辅助控制监测系统实现了康复数据的采集分析，提高了康复效果。
附图说明
图1为一种多功能下肢康复智能辅助行走机器人的立体结构示意图；
图2为一种多功能下肢康复智能辅助行走机器人的下肢康复机构的立体结构示意图。
具体实施方式
为使本领域技术人员更加清楚和明确本发明技术方案，下面结合附图对本发明技术方案进行详细描述，但本发明的实施方式不限于此。
如图1-2，一种多功能下肢康复智能辅助行走机器人，包括行走支架1，所述行走支架1的中部两侧管分别设置下肢康复机构13，行走支架1中部两侧管上面设置下肢康复机构13的前部设置扶手17，所述扶手17上固定设置心率传感器，所述心率传感器的型号为Si1172。所述行走支架前部的下侧横管设置控制柜12，行走支架后部的下侧横管设置电池柜14，所述行走支架1前部的上侧横管还设置显示屏16，所述行走支架的四角设置脚轮15。
所述下肢康复机构13包括胯部关节131、132、膝部关节133、134、踝部关节135、136，所述跨部关节包括跨部马达，跨部马达外部设置跨步马达箱体131，所述行走支架1的中部两侧横梁与跨步马达箱体131固定连接，跨部马达箱体131的的一端设置大腿旋转连接板132，所述大腿旋转连接板132与跨步马达通过跨部谐波减速器和一对锥齿轮连接实现前后的摇摆，所述大腿旋转连接板通过连接柱1321与膝部关节的上关节133连接，膝部关节的上关节133与下关节134旋转连接，上关节固定设置膝部马达1331，膝部马达1331通过膝部谐波减速器和一对锥齿轮1332与所述下关节134连接传递下关节134的前后摆动，下关节134与踝部关节的固定鞋136旋转连接，所述固定鞋136的旋转连接处内部设置踝部马达，所述踝部马达通过踝部谐波减速器为踝关节的旋转提供动力，所述胯部关节、膝部关节、踝部关节还分别设置扭矩传感器并分别设置有锁止机构，所述锁止机构为抱闸锁止机构。所述上关节133和下关节134设置有绑带1333、1341可以与腿部绑定。所述胯部马达的型号为ECMA-C20807SS，胯部谐波减速器的型号为BHS-20-160-U-IV。所述膝部关节处马达的型号为ECMA-C10602SS，膝部谐波减速器的型号为BHS-17-120-U-IV。所述踝部马达的型号ECMA-C10602SS，踝部谐波减速器的型号为BHS-14-100-U-IV。所述扭矩传感器的型号为TQ202-30Z。
下肢康复机构13主要为实现下肢康复性运动机构，主要包括胯部关节、膝部关节、踝部关节。其中胯部关节主要实现跨部关节的康复性运动，前后运动范围为(-30°，+30°)，设有锁止机构实现人体机械保护；膝部关节主要实现膝部关节的康复性运动，前后运动范围为(-90°，+10°)，前后设有锁止机构实现人体机械保护；踝部关节主要实现脚踝部位的康复性运动。
关节运动驱动通过电机与谐波减速器实现，各关节设有扭矩传感器以检测关节运动力矩，信号传递至电机控制系统及控制柜内的智能辅助控制检测系统，用以实现关节的运动控制。
其中行走支架1主要起支撑保护人体，设备承载安装的作用，设有蓄电池座、控制柜座、显示屏座、扶手、线卡座、摄像头安装座和脚轮。行走支架主要结构为圆管折弯结构，圆管内部走线，有效节省空间。
人体功能检测包含血压检测、心率检测等功能，采集信号传输至控制柜，血压检测设备设置在上关节133的绑带上，在进行康复训练前和康复训练后进行血压测量。
视觉辅助系统包含显示屏、摄像头，功能主要包括视觉信号采集、数据显示，摄像头采集信息传输至智能辅助控制监测系统，摄像头设置于显示屏的一侧，用于识别前方物体，判断前进方向。
工作方式为：
主动模式下，患者需按照设定线路主动进行运动，多功能下肢康复智能辅助行走机器人整体随同患者一起运动，起到助力、人体参数检测、保护的作用。以实现康复性运动。扭矩传感器采集人体运动信号并传输至控制柜，控制柜内的智能辅助控制监测系统分析扭矩大小并反馈给马达控制系统，给于人体运动动力。行走支架的脚轮15处于解锁状态，人体功能检测设备采集人体功能信号传输至控制柜内的智能辅助控制监测系统，如若超出正常数值，反馈信号至电机控制系统并控制运动，实现闭环控制。视觉辅助系统用以采集前方数据信息并传输至智能辅助控制监测系统，如若超出设定指令路线，于显示屏给于患者警示信号，提示患者予以纠正，此时显示屏起到信息显示和线路预警的作用。
主被动模式下，基于虚拟现实技术，患者按照显示屏设定虚拟线路，借助下肢康复机构进行运动，多功能下肢康复智能辅助行走机器人锁止机构整体原地锁止。扭矩传感器采集人体运动信号并传输至智能辅助控制监测系统，智能辅助控制监测系统分析扭矩大小并反馈给电机控制系统，给于人体运动动力。智能辅助行走机构脚轮处于锁止状态，人体功能检测设备采集人体功能信号传输至智能辅助控制监测系统，如若超出正常数值，反馈信号至电机控制系统并体制运动，实现闭环控制。视觉辅助系统采集患者运动信息并与设定线路匹配，如若超出设定指令路线，于显示屏给于患者警示信号，提示患者予以纠正。
被动模式下，患者原地被动运动，此时下肢康复机构带动患者腿部运动并传递扭矩信号至智能辅助控制监测系统，如扭矩异常则传递信号至电机控制系统，停止运动。人体功能检测设备控制原理同主动模式。在被动模式下，视觉辅助系统摄像头停止作用，显示屏仅起到信息显示的作用。
以上所述，仅是本发明的的最佳实施例而已，并非对本发明的任何形式的限制，任何熟悉本领域的技术人员，在不脱离本发明技术方案范围的情况下利用上述揭示的方法和内容对本发明做出的许多可能的变动和修饰，均属于权利要求书保护的范围。

Claims (8)

1.一种多功能下肢康复智能辅助行走机器人，其特征在于：包括行走支架，所述行走支架的中部两侧管分别设置下肢康复机构，行走支架中部两侧管设置下肢康复机构的前部设置扶手，所述扶手上固定设置心率传感器，所述行走支架前部的下侧横管设置控制柜，所述行走支架前部的上侧横管还设置显示屏，行走支架后部的下侧横管设置电池柜，所述行走支架的四角设置脚轮。
2.根据权利要求1所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述下肢康复机够包括胯部关节、膝部关节、踝部关节，所述跨部关节包括跨部马达，跨部马达外部设置跨步马达箱体，所述行走支架的中部两侧横梁与跨步马达箱体固定连接，跨部马达箱体的的一端设置大腿旋转连接板，所述大腿旋转连接板与跨步马达通过跨部谐波减速器和一对锥齿轮连接实现前后的摇摆，所述大腿旋转连接板通过连接柱与膝部关节的上关节连接，膝部关节的上关节与下关节旋转连接，上关节固定设置膝部马达，膝部马达通过膝部谐波减速器和一对锥齿轮与所述下关节连接传递下关节的前后摆动，下关节与踝部关节的固定鞋旋转连接，所述固定鞋的旋转连接处内部设置踝部马达，所述踝部马达通过踝部谐波减速器为踝关节的旋转提供动力，所述胯部关节、膝部关节、踝部关节还分别设置扭矩传感器并分别设置有锁止机构，所述上关节和下关节设置有绑带可以与腿部绑定。。
3.根据权利要求1所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述心率传感器的型号为Si1172。
4.根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述锁止机构为抱闸锁止机构。
5.根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述胯部马达的型号为ECMA-C20807SS，胯部谐波减速器的型号为BHS-20-160-U-IV。
6.根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述膝部关节处马达的型号为ECMA-C10602SS，膝部谐波减速器的型号为BHS-17-120-U-IV。
7.根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述踝部马达的型号为ECMA-C10602SS，踝部谐波减速器的型号为BHS-14-100-U-IV。
8.根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述扭矩传感器的型号为TQ202-30Z。
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