CN112999031B - Pelvis supporting walking aid based on force sensing parallel mechanism - Google Patents
Pelvis supporting walking aid based on force sensing parallel mechanism Download PDFInfo
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- CN112999031B CN112999031B CN202110263287.7A CN202110263287A CN112999031B CN 112999031 B CN112999031 B CN 112999031B CN 202110263287 A CN202110263287 A CN 202110263287A CN 112999031 B CN112999031 B CN 112999031B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 55
- 210000004197 pelvis Anatomy 0.000 title claims abstract description 39
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- 230000003068 static effect Effects 0.000 claims abstract description 15
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 7
- 206010017577 Gait disturbance Diseases 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 claims abstract description 4
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000001808 coupling effect Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 2
- 229910001200 Ferrotitanium Inorganic materials 0.000 claims 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims 1
- 229910052782 aluminium Inorganic materials 0.000 claims 1
- 239000010936 titanium Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 5
- 239000013585 weight reducing agent Substances 0.000 abstract description 2
- 230000035882 stress Effects 0.000 description 5
- 241001272996 Polyphylla fullo Species 0.000 description 3
- 230000001771 impaired effect Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 208000016261 weight loss Diseases 0.000 description 2
- 206010073713 Musculoskeletal injury Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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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
- 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
- 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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- Health & Medical Sciences (AREA)
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- 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)
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Abstract
The invention discloses a pelvis supporting walking aid based on a force sensing parallel mechanism. The invention adopts a six-freedom-degree parallel mechanism for sensing the force of a static platform and a dynamic platform connected by a plurality of branched chains, a connecting rod force sensor is arranged on a branched chain target connecting rod, senses the magnitude of stress and is used as feedback information for controlling a branched chain driving motor to control the transmission force of each branched chain, thereby realizing balance keeping and weight reduction and achieving the effect of assisting walking; the platform has a compact structure, is fixedly connected with the pelvis part of a patient to be trained through the pelvis fixing bandage during use, and can ensure that the six-degree-of-freedom motion of the pelvis of the patient to be trained is realized; the parallel mechanism is applied to pelvic support, the advantage of small inertia of the parallel mechanism can be played, and the flexibility between the parallel mechanism and a patient is enhanced; the standing weight-reducing support, the walking balance control and the lower limb abnormal gait intervention of the patient in the walking process can be trained through the intervention of the pelvis movement, and the walking rehabilitation training efficiency is improved.
Description
Technical Field
The invention relates to the field of walking assisting walkers, in particular to a pelvis supporting walker based on a force sensing parallel mechanism.
Background
Due to factors such as nerve injury, musculoskeletal injury, disability, and aging, a large proportion of patients have certain dysfunction in walking function. In order to restore the walking ability of the part of the patient and promote the rehabilitation of the motion function of the lower limb, a walking aid can be used for assisting the patient to walk.
The walking aids are more in types and form types, are classified by power drive and can be divided into two types, namely power type and unpowered type; from the classification of the support forms, four types of armrest support, suspension support, pelvic support, exoskeleton support, and the like can be classified. Among these, patients with less impaired walking ability may use armrests to support the walker, while patients with more impaired walking ability may require the assistance of suspension supports, pelvic supports, exoskeleton supports, and the like. For the patient with seriously impaired walking ability, compared with the suspension support type only connected with the upper trunk, the two types of walking aids such as the pelvis support and the exoskeleton support are directly connected with the pelvis/lower limbs, so that the walking aid and the functional intervention on the lower limbs of the patient are more advantageous.
The present invention is primarily directed to pelvic support type walkers. The principle of pelvic support type walkers is an intermediate connection system between the walker and the patient's pelvis, employing an active auxiliary mechanical system, assisting the patient in standing support and walking. Most of the active auxiliary mechanical systems (such as CN103315876A, CN108392782A, and CN110975227A) adopted in the current intermediate connection systems adopt a series connection structure, which can realize the main movement of the pelvis of the human body during walking, however, most of the mechanisms in the invention cannot realize all degrees of freedom movement of the three-dimensional space of the pelvis, and because the inertia of the series connection mechanism is large, the flexibility of the series connection mechanism is lacked when the series connection mechanism is finally applied to the pelvis of the human body. In addition, the existing walking aid mainly comprises a six-dimensional force sensor arranged between an intermediate connection system and a training patient to sense the movement intention of the training patient, the six-dimensional force sensor has the advantages that the force sense provided by the six-dimensional force sensor is sensitive, the defects are mainly embodied in that the six-dimensional force sensor is arranged between the intermediate connection system and the training patient, a certain space volume is additionally occupied, and the six-dimensional force sensor is arranged between the intermediate connection system and the training patient and needs to bear two functions of sensing interaction force and transferring auxiliary force.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a pelvis supporting walking aid based on a force sensing parallel mechanism and an implementation method thereof. Meanwhile, the connecting rod force sensor is designed and installed on the connecting rod inside the parallel mechanism, two functions of force transmission and force sensing along the direction of the connecting rod can be met, and the practicability and the compactness of the walking aid are further improved.
The invention relates to a pelvis supporting walking aid with a force sensing parallel mechanism, which comprises: the device comprises a left front wheel, a right front wheel, a rear wheel, a base, a height adjusting lower support frame, a height adjusting upper sliding frame, a force sensing six-degree-of-freedom parallel mechanism, a left armrest, a pelvis fixing bandage, a right armrest and a foldable cushion; the left side and the right side of the front end of the lower surface of the base are respectively provided with a left front wheel and a right front wheel which are in direct rolling contact with the ground, and the center of the rear end of the lower surface of the base is provided with one or more rear wheels which are in direct rolling contact with the ground; a height adjusting lower support frame is arranged above the center of the rear end of the base; the height adjusting upper sliding frame is arranged on the height adjusting lower supporting frame and can slide up and down along the height adjusting lower supporting frame to realize position adjustment and fixation so as to adapt to training patients with different heights; a force sensing six-degree-of-freedom parallel mechanism is arranged on the height adjusting upper sliding frame; a pelvis fixing bandage is arranged on the front surface of the force-sensing six-degree-of-freedom parallel mechanism and is fixedly connected with the pelvis part of a patient to be trained; the left side handrail and the right side handrail are respectively arranged on the left side and the right side of the front part of the upper surface of the base, so as to assist the training patient in controlling the posture of the upper trunk; a foldable cushion is fixed on the height-adjusting lower support frame, so that the patient can be conveniently trained to adopt a sitting posture to rest in the training and rest process;
the force sensing six-degree-of-freedom parallel mechanism comprises a static platform, a movable platform and a plurality of branched chains; the static platform is fixedly arranged at the front end of the sliding frame on the height adjustment, the movable platform is connected with the static platform through a plurality of branched chains which are uniformly distributed according to the circumference, and the front surface of the movable platform is fixedly connected with a pelvis fixing bandage; wherein, every branch chain is for rotating-ball pivot structure, includes: the system comprises a branched chain driving motor, a branched chain rotating joint, a first branched chain spherical hinge joint, a second branched chain spherical hinge joint, a first branched chain connecting rod, a second branched chain connecting rod, a third branched chain connecting rod and a connecting rod force sensor assembly, wherein the branched chain driving motor is fixedly arranged on a static platform, and the tail end of the first branched chain connecting rod is rotationally connected with the branched chain driving motor through the branched chain rotating joint; the tail end of the second branched chain connecting rod is rotatably connected with the front end of the first branched chain connecting rod in three degrees of freedom through a first branched chain spherical hinge joint; the front end of the third branched chain connecting rod is in three-degree-of-freedom rotation connection with the movable platform through a second branched chain spherical hinge joint, and the second branched chain spherical hinge joint is arranged on the rear surface of the movable platform; the movable platform can realize three-dimensional movement and three-dimensional rotation movement with six degrees of freedom in total under the drive of a plurality of branched chain drive motors;
the link force sensor assembly includes a link force sensor, first and second sensor link connectors; a second sensor connecting rod connector and a first sensor connecting rod connector are respectively and fixedly installed on the front surface and the rear surface of the connecting rod force sensor, the front end of a second branched chain connecting rod is fixedly installed in the first sensor connecting rod connector, and the tail end of a third branched chain connecting rod is fixedly installed in the second sensor connecting rod connector;
the link force sensor includes: the device comprises first to fourth beams, a support shaft, a support bearing, a strain gauge, a collector and a controller; the first beam, the second beam, the third beam, the fourth beam and the branched chain target connecting rod are distributed in a rectangular shape, the first beam and the fourth beam are parallel to the axis direction of the branched chain target connecting rod, the second beam and the third beam are perpendicular to the first beam and the fourth beam, the second end of the fourth beam is fixedly connected with the first end of the third beam, the second end of the third beam is fixedly connected with the first end of the first beam, and the second end of the first beam is fixedly connected with the first end of the second beam; a groove is formed in the second end of the second beam, supporting bearings are respectively mounted on the side walls of the two sides of the groove, the supporting shaft penetrates through the first end of the fourth beam, and the two ends of the supporting shaft are respectively connected with the supporting bearings, so that the first end of the fourth beam is rotatably connected with the second end of the second beam through the supporting shaft and the supporting bearings; a group of strain gauges are adhered to the surface, close to the first end, of the fourth beam, the strain gauges are electrically connected to a collector, the collector is electrically connected to a controller, and the controller is electrically connected to a branched chain driving motor; the rigidity of the first beam and the second beam is far greater than that of the third beam, and the rigidity of the third beam is greater than that of the fourth beam;
when the force of the branched chain target connecting rod is transmitted, the first beam and the second beam are slightly deformed due to the fact that the rigidity is the largest and the deformation is not generated, the third beam is smaller in rigidity and further drives the fourth beam to rotate around a supporting shaft and a supporting bearing which are connected with the second beam through a lever principle, large deformation is generated in an area near the connection position of the supporting shaft and the supporting bearing of the fourth beam due to the rigidity of the fourth beam is the smallest and the lever effect formed by the four beams, and a strain gauge pasted in the area can sense the force of the branched chain target connecting rod most sensitively; meanwhile, the fourth beam is used as a main force sensing part, and the force transmission of the branched chain target connecting rod is mainly transmitted along the third beam, the first beam and the second beam, so that the separation of force sensing and force transmission is achieved, and two functions of force transmission and force sensing can be considered; meanwhile, the force sensor of the connecting rod can be ensured to be sensitive to the force in the axial direction of the branched chain target connecting rod only, and the coupling effect caused by the stress in other directions of the branched chain target connecting rod is reduced; the force sensed by the strain gauge is collected by the collector and transmitted to the controller; the controller detects the stress on the target connecting rod of the branched chain to serve as feedback information for controlling the branched chain driving motor, and the branched chain driving motor is controlled to control the transmission force of each branched chain according to the force sensed by the connecting rod force sensor, so that the aims of helping a patient to actively finish standing weight-loss support, walking balance control and lower limb abnormal gait intervention are fulfilled.
The movable platform can realize three movements in three-dimensional space, including vertical to the horizontal plane, horizontal to the sagittal plane, front and back to the coronal plane, and three rotations including torsion around the normal of the horizontal plane, roll around the normal of the coronal plane, and pitch around the normal of the sagittal plane, for six degrees of freedom.
The first sensor connecting rod connector and the second sensor connecting rod connector comprise a base and a mounting groove, the base is provided with the mounting groove which is connected into a whole, the base is fixedly mounted at the front end or the rear end of the connecting rod force sensor, and the tail end of the third branched chain connecting rod or the front end of the second branched chain connecting rod is fixedly mounted in the mounting groove.
The first beam, the second beam, the third beam, the fourth beam and the fourth beam of the connecting rod force sensor are made of aluminum alloy, titanium alloy or alloy steel. The rigidity of the first beam and the second beam satisfies: the value of the force stiffness Kx in the X-axis direction is 109N/m order of magnitude, and the value of the force rigidity Ky in the Y-axis direction is 109N/m order of magnitude, Z-axis force stiffness Kz is 109The numerical value of torque rigidity Ktx in the X-axis direction is 10 in the order of N/m6Nm/rad order of magnitude, Y-axis direction torque steelThe value of degree Kty is 106The value of the Nm/rad order of magnitude and the Z-axis torque stiffness Ktz is 106Nm/rad order of magnitude; the rigidity of the third beam satisfies: the value of the force stiffness Kx in the X-axis direction is 109N/m order of magnitude, and the value of the force rigidity Ky in the Y-axis direction is 109N/m order of magnitude, Z-axis force stiffness Kz is 107The numerical value of torque rigidity Ktx in the X-axis direction is 10 in the order of N/m4A value of Kty for a torque stiffness Kty in the Y-axis direction of the order of 10 Nm/rad6The value of the Nm/rad order of magnitude and the Z-axis torque stiffness Ktz is 106Nm/rad order of magnitude; the rigidity of the fourth beam satisfies that the value of the force rigidity Kx in the X-axis direction is 109N/m order of magnitude, and the value of the force rigidity Ky in the Y-axis direction is 106N/m order of magnitude, Z-axis force stiffness Kz is 109The numerical value of torque stiffness Ktx in the X-axis direction is 10 in the order of N/m3A value of Kty for a torque stiffness Kty in the Y-axis direction of the order of 10 Nm/rad6The value of the Nm/rad order of magnitude and the Z-axis torque stiffness Ktz is 106In the order of Nm/rad. The Z-axis direction is the axis direction of the branched chain target connecting rod, the Y-axis direction is from the first end of the third beam to the second end of the third beam, and the X-axis direction meets the right-hand spiral rule.
The number of the strain gauges is even.
A groove is formed in the second end of the second beam, second circular through holes are formed in the side walls of the two sides of the groove respectively, the first end of the fourth beam extends into the groove of the second end of the second beam, a first circular through hole is formed in the first end of the fourth beam, the first circular through hole and the two second circular through holes are concentric, supporting bearings are installed in the two second circular through holes respectively, and the outer rings of the supporting bearings are tightly matched and fixed with the inner walls of the second circular through holes; the back shaft is cylindricly, the first circular through-hole in back shaft and the fourth roof beam is concentric, the back shaft passes and both ends are stretched out from first circular through-hole respectively from first circular through-hole, the outer wall of back shaft is fixed with first circular through-hole tight fit, the both ends of back shaft are again concentric with support bearing's inner circle, and the tight fit is fixed, thereby realize that the first end of fourth roof beam rotates with the second end of second roof beam to be connected, realize low friction rotation through back shaft and support bearing and connect, realize the closed connection of fourth roof beam.
The invention has the advantages that:
the invention adopts a six-freedom-degree parallel mechanism for sensing the force of a static platform and a dynamic platform connected by a plurality of branched chains, a connecting rod force sensor is arranged on a branched chain target connecting rod, senses the magnitude of stress and is used as feedback information for controlling a branched chain driving motor to control the transmission force of each branched chain, thereby realizing balance keeping and weight reduction and achieving the effect of assisting walking; the platform has a compact structure, is fixedly connected with the pelvis part of a training patient through the pelvis fixing bandage during use, and can ensure that six degrees of freedom of motion of the pelvis of the training patient, such as up-down, left-right, front-back, torsion, side-tipping, pitching and the like, can be realized; the parallel mechanism is applied to pelvic support, the advantage of small inertia of the parallel mechanism can be played, and the flexibility between the parallel mechanism and a patient is enhanced; the standing weight-reducing support, the walking balance control and the lower limb abnormal gait intervention of a patient in the walking process can be trained through the intervention of the pelvis movement, and the walking rehabilitation training efficiency is improved; in addition, the design of a built-in connecting rod force sensor is adopted, the spatial layout of the walking aid can be optimized, two functions of force sensing and force transmission of a six-freedom-degree parallel mechanism in the auxiliary process are considered simultaneously, and the practicability and the compactness of the walking aid are improved.
Drawings
FIG. 1 is a schematic view of one embodiment of the present invention based on a pelvic support walker having a force sensing parallel mechanism;
FIG. 2 is a schematic view of a force sensing six degree of freedom parallel mechanism of one embodiment of the present invention based on a pelvic support walker having a force sensing parallel mechanism;
FIG. 3 is a schematic view of a link force sensor assembly of the present invention based on one embodiment of a pelvic support walker with a force sensing parallel mechanism;
FIG. 4 is a schematic view of a sensor link connector of the present invention based on one embodiment of a pelvic support walker with a force sensing parallel mechanism;
FIG. 5 is a front view of a link force sensor of the present invention based on one embodiment of a pelvic support walker with a force sensing parallel mechanism;
FIG. 6 is an overall view of a link force sensor of the present invention based on one embodiment of a pelvic support walker with a force sensing parallel mechanism;
FIG. 7 is a front view of a link force sensor assembly of the present invention based on one embodiment of a pelvic support walker with a force sensing parallel mechanism;
FIG. 8 is a schematic diagram of the force deformation of the linkage force sensor of one embodiment of the present invention based on a pelvic support walker with a force sensing parallel mechanism.
Detailed Description
The invention will be further elucidated by means of specific embodiments in the following with reference to the drawing.
As shown in FIG. 1, the present embodiment of a pelvic support walker based on a parallel mechanism with force sensing comprises: the device comprises a left front wheel 1, a right front wheel 2, a rear wheel 3, a base 4, a height adjusting lower support frame 5, a height adjusting upper sliding frame 6, a force sensing six-degree-of-freedom parallel mechanism 7, a left armrest 8, a pelvis fixing bandage 9, a right armrest 10 and a foldable cushion 11; wherein, the left and right sides of the front end of the lower surface of the base 4 are respectively provided with a left front wheel 1 and a right front wheel 2 which are in direct rolling contact with the ground, and the center of the rear end of the lower surface of the base 4 is provided with three centrosymmetric rear wheels 3 which are in direct rolling contact with the ground; a height adjusting lower support frame 5 is arranged above the center of the rear end of the base 4; the height adjusting upper sliding frame 6 is arranged on the height adjusting lower supporting frame 5, and the height adjusting upper sliding frame 6 can slide up and down along the height adjusting lower supporting frame 5 to realize position adjustment and fixation so as to adapt to training patients with different heights; a force sensing six-degree-of-freedom parallel mechanism 7 is arranged on the height adjusting sliding frame 6; a pelvis fixing bandage 9 is arranged on the front surface of the force sensing six-degree-of-freedom parallel mechanism 7, and the pelvis fixing bandage 9 is fixedly connected with the pelvis part of a training patient; the left side and the right side of the front part of the upper surface of the base 4 are respectively provided with a left armrest 8 and a right armrest 10 to assist the training patient in controlling the posture of the upper trunk; the foldable cushion 11 is fixed on the height-adjusting lower support frame 5, so that the patient can be conveniently trained to adopt a sitting posture to rest in the process of training and resting.
As shown in fig. 2, the force sensing six-degree-of-freedom parallel mechanism 7 includes a static platform 71, a dynamic platform 73 and a plurality of branched chains 72; the static platform 71 is fixedly arranged at the front end of the sliding frame for adjusting the height, the movable platform 73 is connected with the static platform 71 through six branched chains 72 which are uniformly distributed according to the circumference, and the front surface of the movable platform 73 is fixedly connected with a pelvis fixing bandage; wherein, each branched chain 72 is a rotary-spherical hinge structure, including: the device comprises a branched chain driving motor 721, a branched chain rotating joint 722, a first branched chain spherical hinge joint 724, a second branched chain spherical hinge joint 728, a first branched chain connecting rod 723, a second branched chain connecting rod 725, a third branched chain connecting rod 727 and a connecting rod force sensor assembly 726, wherein the branched chain driving motor 721 is fixedly arranged on a static platform, and the tail end of the first branched chain connecting rod 723 is rotationally connected with the branched chain driving motor 721 through the branched chain rotating joint 722 in one degree of freedom; the tail end of the second branched chain connecting rod 725 is rotationally connected with the front end of the first branched chain connecting rod 723 through a first branched chain spherical hinge joint 724 in a three-degree-of-freedom mode; the second branched chain connecting rod 725 and the third branched chain connecting rod 727 are used as branched chain target connecting rods, the front end of the second branched chain connecting rod 725 and the tail end of the third branched chain connecting rod 727 are respectively and fixedly connected to two ends of a connecting rod force sensor assembly 726, the front end of the third branched chain connecting rod 727 is in three-degree-of-freedom rotation connection with the movable platform through a second branched chain spherical hinge joint 728, and the second branched chain spherical hinge joint 728 is installed on the rear surface of the movable platform; the movable platform can realize three-dimensional movement and three-dimensional rotation of six degrees of freedom in total under the drive of a plurality of branched chain drive motors 721.
As shown in fig. 3, the link force sensor assembly includes a link force sensor 7264, a first sensor link connector 7263, and a second sensor link connector 7267; a second sensor link connector 7267 and a first sensor link connector 7263 are fixedly installed at the front end and the rear end of the link force sensor by a first fixing screw 7262 and a second fixing screw 7268, respectively, the front end of the second branched link is fixedly installed in the first sensor link connector 7263 by a third fixing screw 7261, and the tail end of the third branched link is fixedly installed in the second sensor link connector 7267 by a fourth fixing screw 7269.
As shown in fig. 4, the first and second sensor link connectors include a base and a mounting groove, the base is provided with the mounting groove integrally connected, the base is fixedly mounted at the front end or the rear end of the link force sensor, and the tail end of the third branched link or the front end of the second branched link is fixedly mounted in the mounting groove.
As shown in fig. 5 and 6, the link force sensor includes: first to fourth beams L1 to L4, a support shaft 7266, a support bearing 7265, a strain gauge S1, a collector, and a controller; the first beam, the second beam, the third beam, the fourth beam, the third beam L1 and the fourth beam L3 are fixedly connected with the first end of the third beam L3, the second end of the third beam L3 is fixedly connected with the first end of the first beam L1, and the second end of the first beam L1 is fixedly connected with the first end of the second beam L2; a groove is formed in the second end of the second beam L2, second circular through holes K2 are formed in the side walls of the two sides of the groove respectively, the first end of the fourth beam L4 extends into the groove of the second end of the second beam L2, a first circular through hole K1 is formed in the first end of the fourth beam L4, the first circular through hole K1 and the two second circular through holes K2 are concentric, supporting bearings 7265 are mounted in the two second circular through holes respectively, and the outer ring of each supporting bearing 7265 is tightly matched and fixed with the inner wall of the second circular through hole; the supporting shaft 7266 is cylindrical, the supporting shaft 7266 is concentric with a first circular through hole K1 in the fourth beam L4, the supporting shaft 7266 penetrates through the first circular through hole, two ends of the supporting shaft 7266 respectively extend out of the first circular through hole, the outer wall of the supporting shaft 7266 is fixedly matched with the first circular through hole in a tight fit manner, two ends of the supporting shaft 7266 are concentric with the inner ring of the supporting bearing 7265 in a tight fit manner, and the first end of the fourth beam L4 is rotatably connected with the second end of the second beam L2; the first end of the fourth beam L4 is tightly fitted and fixed with the support shaft 7266; 2, 4 or 8 strain gauges S1 are adhered to the surface, close to the first end, of the fourth beam L4, the strain gauge S1 is electrically connected to a collector, the collector is electrically connected to a controller, and the controller is electrically connected to the branched chain driving motor; the stiffness of the first beam L1 and the second beam L2 is much greater than that of the third beam L3, and the stiffness of the third beam L3 is greater than that of the fourth beam L4; a mounting square pillar is provided at a rear surface of the third beam L3 so as to be fixedly connected to the first sensor link connector through the mounting square pillar.
As shown in fig. 7 and 8, when the branched target connecting rod is subjected to force transmission, the first beam and the second beam are not deformed due to the maximum rigidity, and the third beam is slightly deformed due to the small rigidity, so that the fourth beam is driven to rotate around the supporting shaft and the supporting bearing at the joint with the second beam through the lever principle; meanwhile, the fourth beam is used as a main force sensing part, and the force transmission of the branched chain target connecting rod is mainly transmitted along the third beam, the first beam and the second beam, so that the separation of force sensing and force transmission is achieved, and two functions of force transmission and force sensing can be considered; meanwhile, the force sensor of the connecting rod can be ensured to be sensitive to the force in the axial direction of the branched chain target connecting rod only, and the coupling effect caused by the stress in other directions of the branched chain target connecting rod is reduced; the force sensed by the strain gauge is collected by the collector and transmitted to the controller; the controller detects the stress on the target connecting rod of the branched chain as feedback information for controlling the branched chain driving motor, and controls the branched chain driving motor to control the transmission force of each branched chain according to the force sensed by the connecting rod force sensor, thereby realizing the purpose of helping a patient to actively finish standing weight-reducing support, walking balance control and lower limb abnormal gait intervention.
In this embodiment, the patient is trained to be fixedly connected at the pelvic region by means of pelvic fixation bandages and a supporting walker based on a force sensing parallel mechanism. The six-degree-of-freedom parallel mechanism provided by the embodiment can realize six-degree-of-freedom motion in a three-dimensional space, can assist in training the six-degree-of-freedom motion of the pelvis of a patient, and achieves the functions of assisting in realizing standing weight-reducing support, walking balance control, lower limb abnormal gait intervention and the like for the pelvis. Meanwhile, the force sensing six-degree-of-freedom parallel mechanism has the advantage of small inertia relative to the series mechanism, and the branched chain driving motor is fixed on the static platform, so that the inertia of the force sensing six-degree-of-freedom parallel mechanism is further reduced, and the flexibility of interaction between the force sensing six-degree-of-freedom parallel mechanism and a patient can be enhanced. In addition, the design of the built-in connecting rod force sensor is adopted, the spatial layout of the walking aid can be optimized, two functions of force sensing and force transmission of the six-freedom-degree parallel mechanism in the auxiliary process are considered, and the practicability and the compactness of the walking aid are improved.
The first beam, the second beam, the third beam, the fourth beam and the fourth beam of the connecting rod force sensor are made of hard aluminum alloy; the rigidity of the first beam satisfies: the force stiffness Kx in the X-axis direction is 7.4X 109The force stiffness Ky in the N/m and Y-axis directions is 5.7X 109The force stiffness Kz in the N/m and Z-axis directions is 9.3 multiplied by 109The N/m and X-axis direction torque stiffness Ktx is 6.4X 106Nm/rad, Y-axis Torque stiffness Kty of 8.6X 106Nm/rad and Z-Direction Torque stiffness Ktz of 4.9 × 106Nm/rad; the rigidity of the second beam satisfies: the force stiffness Kx in the X-axis direction is 7.2X 109The force stiffness Ky in the N/m and Y-axis directions is 4.5X 109The force stiffness Kz in the N/m and Z-axis directions is 8.2 multiplied by 109The N/m and X-axis direction torque stiffness Ktx is 6.2X 106Nm/rad, Y-axis Torque stiffness Kty of 4.4X 106Nm/rad and Z-Direction Torque stiffness Ktz of 8.5 × 106Nm/rad; the rigidity of the third beam satisfies: force rigidity Kx in X-axis direction is 3.9X 109The force stiffness Ky in the N/m and Y-axis directions is 4.3X 109The force stiffness Kz in the N/m and Z-axis directions is 5.9 multiplied by 107The N/m and X-axis direction torque stiffness Ktx is 8.1 × 104Nm/rad, Y-axis Torque stiffness Kty of 2.2X 106Nm/rad and Z-axial Torque stiffness Ktz of 3.5X 106Nm/rad; the rigidity of the fourth beam satisfies that the force rigidity Kx in the X-axis direction is 2.7 multiplied by 109The force stiffness Ky in the N/m and Y-axis directions is 1.2X 106The force stiffness Kz in the N/m and Z-axis directions is 3.3 multiplied by 109The N/m, X-axis direction torque stiffness Ktx is 1.1X 103Nm/rad, Y-axis Torque stiffness Kty of 2.9X 106Nm/rad and Z-Direction Torque stiffness Ktz of 1.9 × 106Nm/rad. The Z-axis direction is the axis direction of the branched chain target connecting rod, the Y-axis direction is from the first end of the third beam to the second end of the third beam, and the X-axis direction meets the right-hand spiral rule.
The length of the first beam is 50mm, the width of the first beam is 10mm, and the thickness of the first beam is 20 mm; the length of the second beam is 50mm, the width of the second beam is 10mm, and the thickness of the second beam is 20 mm; the third beam has a length of 50mm, a width of 6mm and a thickness of 6 mm; the fourth beam has a length of 40mm, a width of 3mm and a thickness of 6 mm.
It is finally noted that the disclosed embodiments are intended to aid in the further understanding of the invention, but that those skilled in the art will appreciate that: various substitutions and modifications are possible without departing from the spirit and scope of the invention and the appended claims. Therefore, the invention should not be limited to the embodiments disclosed, but the scope of the invention is defined by the appended claims.
Claims (6)
1. A pelvic support walker based on a mechanism with force sensing parallelism, comprising: the device comprises a left front wheel, a right front wheel, a rear wheel, a base, a height adjusting lower support frame, a height adjusting upper sliding frame, a left handrail, a pelvis fixing bandage, a right handrail and a foldable cushion; the left side and the right side of the front end of the lower surface of the base are respectively provided with a left front wheel and a right front wheel which are in direct rolling contact with the ground, and the center of the rear end of the lower surface of the base is provided with one or more rear wheels which are in direct rolling contact with the ground; a height adjusting lower support frame is arranged above the center of the rear end of the base; the height adjusting upper sliding frame is arranged on the height adjusting lower supporting frame and can slide up and down along the height adjusting lower supporting frame to realize position adjustment and fixation so as to adapt to training patients with different heights; the left side handrail and the right side handrail are respectively arranged on the left side and the right side of the front part of the upper surface of the base, so as to assist the training patient in controlling the posture of the upper trunk; a foldable cushion is fixed on the height-adjusting lower support frame, so that the patient can be conveniently trained to adopt a sitting posture to rest in the training and rest process; the pelvis supporting walking aid is characterized by further comprising a force sensing six-degree-of-freedom parallel mechanism, wherein the force sensing six-degree-of-freedom parallel mechanism is mounted on the height adjusting upper sliding frame, a pelvis fixing bandage is mounted on the front surface of the force sensing six-degree-of-freedom parallel mechanism, and the pelvis fixing bandage is fixedly connected with the pelvis part of a training patient;
the force sensing six-degree-of-freedom parallel mechanism comprises a static platform, a movable platform and a plurality of branched chains; the static platform is fixedly arranged at the front end of the sliding frame on the height adjustment, the movable platform is connected with the static platform through a plurality of branched chains which are uniformly distributed according to the circumference, and the front surface of the movable platform is fixedly connected with a pelvis fixing bandage; wherein, every branch chain is for rotating-ball pivot structure, includes: the device comprises a branched chain driving motor, a branched chain rotating joint, a first branched chain spherical hinge joint, a second branched chain spherical hinge joint, a first branched chain connecting rod, a second branched chain connecting rod, a third branched chain connecting rod and a connecting rod force sensor assembly, wherein the branched chain driving motor is fixedly arranged on a static platform, and the tail end of the first branched chain connecting rod is in one-degree-of-freedom rotating connection with the branched chain driving motor through the branched chain rotating joint; the tail end of the second branched chain connecting rod is rotationally connected with the front end of the first branched chain connecting rod in three degrees of freedom through a first branched chain spherical hinge joint; the front end of the third branched chain connecting rod is in three-degree-of-freedom rotation connection with the movable platform through a second branched chain spherical hinge joint, and the second branched chain spherical hinge joint is arranged on the rear surface of the movable platform; the movable platform can realize three-dimensional movement and three-dimensional rotation movement with six degrees of freedom in total under the drive of a plurality of branched chain drive motors;
the link force sensor assembly includes a link force sensor, first and second sensor link connectors; a second sensor connecting rod connector and a first sensor connecting rod connector are respectively and fixedly installed on the front surface and the rear surface of the connecting rod force sensor, the front end of a second branched chain connecting rod is fixedly installed in the first sensor connecting rod connector, and the tail end of a third branched chain connecting rod is fixedly installed in the second sensor connecting rod connector;
the link force sensor includes: the device comprises first to fourth beams, a support shaft, a support bearing, a strain gauge, a collector and a controller; the first beam, the second beam, the third beam, the fourth beam and the branched chain target connecting rod are distributed in a rectangular shape, the first beam and the fourth beam are parallel to the axis direction of the branched chain target connecting rod, the second beam and the third beam are perpendicular to the first beam and the fourth beam, the second end of the fourth beam is fixedly connected with the first end of the third beam, the second end of the third beam is fixedly connected with the first end of the first beam, and the second end of the first beam is fixedly connected with the first end of the second beam; a groove is formed in the second end of the second beam, supporting bearings are respectively mounted on the side walls of the two sides of the groove, the supporting shaft penetrates through the first end of the fourth beam, and the two ends of the supporting shaft are respectively connected with the supporting bearings, so that the first end of the fourth beam is rotatably connected with the second end of the second beam through the supporting shaft and the supporting bearings; a group of strain gauges are adhered to the surface, close to the first end, of the fourth beam, the strain gauges are electrically connected to a collector, the collector is electrically connected to a controller, and the controller is electrically connected to a branched chain driving motor; the rigidity of the first beam and the second beam is far greater than that of the third beam, and the rigidity of the third beam is greater than that of the fourth beam;
when the force of the branched chain target connecting rod is transmitted, the first beam and the second beam are slightly deformed due to the fact that the rigidity is the largest and the deformation is not generated, the third beam is smaller in rigidity and further drives the fourth beam to rotate around a supporting shaft and a supporting bearing which are connected with the second beam through a lever principle, large deformation is generated in an area near the connection position of the supporting shaft and the supporting bearing of the fourth beam due to the rigidity of the fourth beam is the smallest and the lever effect formed by the four beams, and a strain gauge pasted in the area can sense the force of the branched chain target connecting rod most sensitively; meanwhile, the fourth beam is used as a main force sensing part, and the force transmission of the branched chain target connecting rod is mainly transmitted along the third beam, the first beam and the second beam, so that the separation of force sensing and force transmission is achieved, and two functions of force transmission and force sensing can be considered; meanwhile, the force sensor of the connecting rod can be ensured to be sensitive to the force in the axial direction of the branched chain target connecting rod only, and the coupling effect caused by the stress in other directions of the branched chain target connecting rod is reduced; the force sensed by the strain gauge is collected by the collector and transmitted to the controller; the controller detects the stress on the target connecting rod of the branched chain as feedback information for controlling the branched chain driving motor, and controls the branched chain driving motor to control the transmission force of each branched chain according to the force sensed by the connecting rod force sensor, thereby realizing the purpose of helping a patient to actively finish standing weight-reducing support, walking balance control and lower limb abnormal gait intervention.
2. The pelvic support walker with force sensing parallel mechanism according to claim 1, wherein the first and second sensor link connectors comprise a base and a mounting slot, the base having an integral mounting slot, the base being fixedly mounted to the front or rear end of the link force sensor, and the distal end of the third branched link or the front end of the second branched link being fixedly mounted in the mounting slot.
3. The pelvic support walker with force sensing parallel mechanism according to claim 1, wherein the first through fourth beams of the link force sensor are aluminum, titanium, or alloy steel.
4. The pelvic support walker with force sensing parallel mechanism according to claim 1, wherein the stiffness of the first and second beams is such that: the value of the force stiffness Kx in the X-axis direction is 109N/m order of magnitude, and the value of the force rigidity Ky in the Y-axis direction is 109N/m order of magnitude, Z-axis force stiffness Kz is 109The numerical value of torque rigidity Ktx in the X-axis direction is 10 in the order of N/m6A value of Kty for a torque stiffness Kty in the Y-axis direction of the order of 10 Nm/rad6The value of the Nm/rad order of magnitude and the Z-axis torque stiffness Ktz is 106Nm/rad order of magnitude; the rigidity of the third beam satisfies: the value of the force stiffness Kx in the X-axis direction is 109N/m order of magnitude, and the value of the force rigidity Ky in the Y-axis direction is 109N/m order of magnitude, Z-axis force stiffness Kz is 107The numerical value of torque rigidity Ktx in the X-axis direction is 10 in the order of N/m4A value of Kty for a torque stiffness Kty in the Y-axis direction of the order of 10 Nm/rad6The value of the Nm/rad order of magnitude and the Z-axis torque stiffness Ktz is 106Nm/rad order of magnitude; the rigidity of the fourth beam satisfies that the value of the force rigidity Kx in the X-axis direction is 109N/m order of magnitude, and the value of the force rigidity Ky in the Y-axis direction is 106N/m order of magnitude, Z-axis force stiffness Kz is 109The numerical value of torque rigidity Ktx in the X-axis direction is 10 in the order of N/m3A value of Kty for a torque stiffness Kty in the Y-axis direction of the order of 10 Nm/rad6The value of the Nm/rad order of magnitude and the Z-axis torque stiffness Ktz is 106In the order of Nm/rad.
5. The pelvic support walker with force sensing parallel mechanism according to claim 1, wherein the number of strain gages is an even number.
6. The pelvis supporting walking aid with force sensing parallel mechanism according to claim 1, wherein a groove is arranged at the second end of the second beam, second circular through holes are respectively arranged on the side walls at the two sides of the groove, the first end of the fourth beam extends into the groove at the second end of the second beam, a first circular through hole is arranged at the first end of the fourth beam, the first circular through hole and the two second circular through holes are concentric, supporting bearings are respectively arranged in the two second circular through holes, and the outer ring of each supporting bearing is tightly matched and fixed with the inner wall of the second circular through hole; the back shaft is cylindricly, the first circular through-hole in back shaft and the fourth roof beam is concentric, the back shaft passes and both ends are stretched out from first circular through-hole respectively from first circular through-hole, the outer wall of back shaft is fixed with first circular through-hole tight fit, the both ends of back shaft are again concentric with support bearing's inner circle, and the tight fit is fixed, thereby realize that the first end of fourth roof beam rotates with the second end of second roof beam to be connected, realize low friction rotation through back shaft and support bearing and connect, realize the closed connection of fourth roof beam.
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