CN113908020A

CN113908020A - Human-computer interaction waist connecting device

Info

Publication number: CN113908020A
Application number: CN202111333205.8A
Authority: CN
Inventors: 王志荣; 嵇建成; 陈伟; 龚涛; 王文斌; 张亮; 宋振东
Original assignee: Shenzhen Tahe Technology Co ltd
Current assignee: Shenzhen Tahe Technology Co ltd
Priority date: 2021-11-11
Filing date: 2021-11-11
Publication date: 2022-01-11

Abstract

The invention belongs to the technical field of rehabilitation instruments, and particularly discloses a human-computer interaction waist connecting device which comprises a torque sensor assembly, a transverse moving base assembly and an intention identification assembly, wherein the torque sensor assembly is used for detecting the interaction force of a human and a computer in the vertical direction; the transverse moving base component is used for detecting the relative displacement and force detection of the man-machine in the horizontal direction; the intention recognition assembly is used for detecting the relative displacement and force detection of the human machine in the front and back directions, the transverse moving base assembly is provided with a transverse moving adjusting module used for adjusting the distance between the two intention recognition assemblies, and the intention recognition assembly is provided with a pneumatic spring and a damper ball hinge assembly; with this structural design's human-computer interaction waist connecting device, compact structure can carry out real-time detection to human-computer interaction power and displacement, can also guarantee human-computer relative motion's flexibility simultaneously, then effectively promote the use experience when the patient trains.

Description

Human-computer interaction waist connecting device

Technical Field

The invention relates to the technical field of rehabilitation instruments, in particular to a man-machine interaction waist connecting device.

Background

In recent years, cerebral apoplexy patients suffer from different degrees of dyskinesia after operation, more than 40 percent of old people suffer from different degrees of dyskinesia, the normal life of the patients is seriously influenced, and the patients need to be cared by family members or medical care personnel in daily life, so that heavy economic burden is brought to families. Research shows that the motor function of more than 80 percent of patients with brain injury is remarkably improved after active and effective rehabilitation exercise training is carried out, and most of old people can also keep the motor function after walking training.

Many types of rehabilitation training apparatus have been researched and developed at home and abroad, but human-computer interaction waist connecting device in most rehabilitation training apparatus mostly all adopts rigid connection with the waist, lacks certain flexibility, and is not nimble enough, causes the damage of certain degree to the patient very easily, and can't carry out real-time detection to human-computer interaction power and displacement, has consequently brought a great deal of troubles and discomfort for the patient of rehabilitation training.

Disclosure of Invention

The invention aims to provide a human-computer interaction waist connecting device which can detect human-computer interaction force and displacement in real time, and meanwhile, the flexibility of relative motion of a human computer is ensured, so that the use experience of a patient is effectively improved.

In order to achieve the purpose, the invention adopts the following technical scheme:

a human-computer interaction lumbar connection device, comprising:

the torque sensor assembly is used for detecting the interaction force of the human-computer in the vertical direction and comprises a mounting seat connected with an external mechanism and a torque sensor with one end fastened with the mounting seat;

the transverse moving base assembly is used for detecting the relative displacement and force detection in the horizontal direction of a human-computer and comprises a transverse moving base connected with the torque sensor, a transverse moving spline assembly in elastic sliding fit with the transverse moving base, transverse moving pressure sensors arranged at two ends of the transverse moving spline assembly and transverse moving adjusting modules arranged at two ends of the transverse moving spline assembly and respectively abutted to the transverse moving pressure sensors;

the intention identification assembly is connected with the transverse moving adjusting module and used for detecting the relative displacement and force detection of the human-machine in the front and back directions, and comprises an intention spline seat, an intention spline assembly in elastic sliding connection with the intention spline seat, intention pressure sensors arranged at two ends of the intention spline assembly, pneumatic springs with two ends respectively connected with the intention pressure sensors and the intention spline seat, and a damper ball hinge assembly arranged on the intention spline seat.

The transverse spline assembly comprises a transverse spline nut arranged in the transverse base, a transverse spline shaft in sliding fit with the transverse spline nut, and transverse pressure springs sleeved at two ends of the transverse spline shaft.

The transverse shifting spline shaft is sleeved with the transverse shifting pressure sensor, and two ends of the transverse shifting pressure spring are respectively abutted to the transverse shifting pressure sensor and the transverse shifting spline nut.

The transverse moving adjusting module comprises a spline connecting shaft, a guide rail, a sliding seat and a locking piece, wherein the spline connecting shaft is sleeved at the end part of the transverse moving spline shaft and is abutted to the transverse moving pressure sensor; one end of the intention identifying component is fastened with the slide.

The intention spline assembly comprises an intention spline nut arranged on the intention spline seat, an intention spline shaft in sliding fit with the intention spline nut, and the intention pressure spring sleeved at two ends of the intention spline shaft.

The intention pressure sensor is sleeved on the intention spline shaft, and two ends of the intention pressure spring are respectively abutted against the intention pressure sensor and the intention spline nut.

Wherein, the damper ball hinge assembly includes a damper ball hinge fastened with the intended spline seat and a snap mechanism connected with the damper ball hinge.

The quick clamping mechanism comprises a fixed seat connected with the damper ball hinge, a clamping hole formed in the middle of the fixed seat, an elastic buckle hinged to the periphery of the clamping hole, and a protective tool shaft inserted into the clamping hole and clamped with the elastic buckle; the end part of the guard shaft is provided with a clamping hook.

The opposite two sides of the fixing seat are respectively provided with a hinge groove, and the hinge grooves are communicated with the clamping holes.

The elastic buckle comprises a buckle which is pivoted on two opposite side walls of the hinge groove and a return spring of which two ends are respectively abutted against the buckle and the bottom surface of the hinge groove; the clamping hook is clamped with the clamping buckle.

The invention has the beneficial effects that: the invention discloses a human-computer interaction waist connecting device which comprises a torque sensor assembly, a transverse moving base assembly and an intention identification assembly, wherein the torque sensor assembly is used for detecting the interaction force of a human and a computer in the vertical direction; the transverse moving base component is used for detecting the relative displacement and force detection of the man-machine in the horizontal direction; the intention recognition assembly is used for detecting the relative displacement and force detection of the human machine in the front and back directions, the transverse moving base assembly is provided with a transverse moving adjusting module used for adjusting the distance between the two intention recognition assemblies, and the intention recognition assembly is provided with a pneumatic spring and a damper ball hinge assembly; with this structural design's human-computer interaction waist connecting device, compact structure can carry out real-time detection to human-computer interaction power and displacement, can also guarantee human-computer relative motion's flexibility simultaneously, then effectively promote the use experience when the patient trains.

Drawings

Fig. 1 is an isometric view of a human-computer interaction lumbar connection device in this embodiment.

FIG. 2 is an isometric view of the traversing base assembly of FIG. 1.

Fig. 3 is an isometric view of the locking member of fig. 2.

FIG. 4 is an isometric view of the intent identification assembly of FIG. 1.

Fig. 5 is a front view of the card snapping mechanism of fig. 4.

Fig. 6 is a sectional view of section a-a in fig. 5.

In the figure:

1. a torque sensor assembly; 11. a mounting seat; 12. a torque sensor; 2. traversing the base assembly; 21. transversely moving the base; 221. traversing the spline nut; 223. transversely moving the pressure spring; 23. a lateral movement pressure sensor; 24. a traversing adjusting module; 241. a spline connecting shaft; 242. a guide rail; 243. a slide base; 244. a locking member; 2441. a locking seat; 2442. an indicating cover; 2443. a handle; 3. an intent recognition component; 31. an intended spline housing; 321. a nut with a spline; 322. a contemplated spline shaft; 323. intentionally pressing the spring; 33. an intent pressure sensor; 34. a pneumatic spring; 35. a damper ball hinge assembly; 351. a damper ball hinge; 352. a quick card mechanism; 3521. a fixed seat; 3522. a guard shaft; 3523. a hook is clamped; 3524. buckling; 3525. a return spring.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The embodiment provides a human-computer interaction waist connecting device, which is mainly used for an omnidirectional movement lower limb rehabilitation training robot and aims to help a patient with lower limb movement difficulty to perform lower limb rehabilitation training and walking assistance so as to help the patient to realize lower limb walking function rehabilitation training.

Referring to fig. 1, the human-computer interaction waist connection device provided by the embodiment includes a torque sensor assembly 1, a traversing base assembly 2 and an intention recognition assembly 3, wherein the torque sensor assembly 1 is mainly used for detecting interaction force of a human-computer in a vertical direction; the transverse moving base component 2 is mainly used for detecting the relative displacement in the horizontal direction of a human-computer, detecting the force in the front-back direction and monitoring the rotating angle of the pelvis; the intention recognition component 3 is mainly used for detecting the relative displacement of a human and a machine in the front-back direction and detecting the force. Through the structural design, the human-computer interaction force and the displacement can be detected in real time, then the robot is matched to adjust the motion posture in time, and the use experience of a patient is better improved.

More specifically, as shown in fig. 1 to 2, the torque sensor assembly 1 in this embodiment includes a mounting base 11, and a torque sensor 12 having one end fastened to the mounting base 11, the mounting base 11 is used to connect the whole human-computer interaction waist connecting device with the robot, the acting point of the human body and human-computer interaction waist connecting device is a waist connecting plate disposed in the intention identifying assembly 3, the intention identifying assembly 3 is connected with the traverse base assembly 2 through a traverse adjusting module 24 in the traverse base assembly 2, when a vertical force acts on the waist connecting plate, a torque is generated through the intention identifying assembly 3 and the traverse base assembly 2 and the mounting base 11, and the magnitude of the human-computer interaction force in the vertical direction can be calculated according to the force arm and the relationship between the magnitude of the force and the torque.

More specifically, in the embodiment, the traverse base assembly 2 includes a traverse base 21 connected to the torque sensor 12, a traverse spline assembly elastically and slidably engaged with the traverse base 21, traverse pressure sensors 23 disposed at two ends of the traverse spline assembly, and traverse adjusting modules 24 disposed at two ends of the traverse spline assembly and respectively abutting against the traverse pressure sensors 23; preferably, the traverse spline assembly includes a traverse spline nut 221 coaxially disposed in the traverse base 21, a traverse spline shaft slidably engaged with the traverse spline nut 221, and a traverse pressure spring 223 fitted over both ends of the traverse spline shaft, wherein the traverse pressure sensor 23 is fitted over the traverse spline shaft, and both ends of the traverse pressure spring 223 are respectively abutted against the traverse pressure sensor 23 and the traverse spline nut 221.

Preferably, the two traverse pressure sensors 23 are symmetrically disposed on both sides of the traverse base 21, and when there is a displacement in the left-right direction, the traverse pressure spring 223 on one side is further compressed, the traverse pressure sensor 23 detects an increase in pressure value, the traverse pressure spring 223 on the other side is reset, the pressure value of the traverse pressure sensor 23 is reduced, and the two are equal in magnitude and opposite in direction.

Further specifically, the traverse adjusting module 24 in this embodiment includes a spline connecting shaft 241, a guide rail 242, a sliding seat 243 and a locking member 244, wherein the spline connecting shaft 241 is sleeved on an end portion of the traverse spline shaft and abuts against the traverse pressure sensor 23, the guide rail 242 is fixed at one end of the spline connecting shaft 241 along a length direction of the spline connecting shaft 241, the sliding seat 243 in sliding fit with the guide rail 242 is fastened with one end of the intention identifying component 3, and in addition, a sliding position of the sliding seat 243 can be limited by the locking member 244 in matching with the sliding seat 243, so as to facilitate adjustment of a distance between the two intention identifying components 3.

Preferably, the locking member 244 in this embodiment includes a locking seat 2441 slidably engaged with the guide rail 242, an indicating cover 2442 disposed on the top of the locking seat 2441, and a handle 2443 penetrating the indicating cover 2442 and the locking seat 2441, when the handle 2443 is rotated in the forward direction, the rotation shaft of the handle 2443 may interfere with the guide rail 242 to brake the sliding seat 243 connected with the locking seat 2441, so as to facilitate the positioning of the intention identifying component 3 connected with the sliding seat 243; preferably, in this embodiment, in order to indicate the moving direction of the sliding base 243, two indication arrows are further respectively disposed on the upper surface of the indication cover 2442, and the directions of the two indication arrows are opposite to each other.

More specifically, the intention identifying assembly 3 in the present embodiment includes an intention spline housing 31, an intention spline assembly elastically and slidably coupled with the intention spline housing 31, intention pressure sensors 33 provided at both ends of the intention spline assembly, a pneumatic spring 34 having both ends coupled with the intention pressure sensor 33 and the intention spline housing, respectively, and a damper ball hinge assembly 35 provided at the intention spline housing.

Preferably, the intended spline assembly includes an intended spline nut 321 disposed on the intended spline seat 31, an intended spline shaft 322 slidably fitted with the intended spline nut 321, and an intended pressure spring 323 fitted over both ends of the intended spline shaft 322, wherein the intended pressure sensor 33 is fitted over the intended spline shaft 322, and both ends of the intended pressure spring 323 are respectively in contact with the intended pressure sensor 33 and the intended spline nut 321; when the patient's pelvis moves and drives the intention spline nut 321 to slide along the intention spline shaft 322, the return force of the intention pressure spring 323 and the pneumatic spring 34 needs to be overcome, and then the return force of the intention pressure spring 323, i.e., the man-machine interaction force in the front-rear direction, is detected by the intention pressure sensor 33.

More specifically, the damper ball hinge assembly 35 in the present embodiment includes a damper ball hinge 351 fastened to the intended spline nut 321, and a snap mechanism 352 connected to the damper ball hinge 351. The setting of attenuator ball hinge 351 can produce the flexonics through producing between quick card mechanism 352 and the pelvis, has avoided the adverse effect that produces the user because of the control error of robot, effectively promotes the patient then and uses experience.

In addition, the quick-locking mechanism 352 can realize quick connection with the pelvis protector, and preferably, the quick-locking mechanism 352 in this embodiment includes a fixing base 3521 connected with the damper ball hinge 351, a clamping hole formed in the middle of the fixing base 3521, an elastic buckle hinged to the periphery of the clamping hole, and a protector shaft 3522 inserted into the clamping hole and clamped with the elastic buckle; a hook 3523 is provided at an end of the guard shaft 3522.

Further preferably, hinge grooves are formed in two opposite sides of the fixing seat 3521, the hinge grooves are communicated with the clamping holes, and the elastic buckle comprises a buckle 3524 pivoted to two opposite side walls of the hinge groove and a return spring 3525 with two ends respectively abutted to the buckle 3524 and the bottom surface of the hinge groove.

With the quick clamping mechanism 352 designed by the structure, the assembled buckle 3524 is acted by the force of the reset spring 3525 in an initial state, one end clamped with the clamping hook 3523 is exposed in the clamping hole, when locking is needed, the protective tool shaft 3522 is inserted into the clamping hole of the fixed seat 3521, because the clamping hook 3523 is arranged at the end part of the protective tool shaft 3522, the protective tool shaft 3522 compresses the locking buckle and compresses the reset spring 3525, after the appointed position is reached, the reset spring 3525 resets, the locking buckle is clamped with the clamping hook 3523, and then the protective tool shaft 3522 is locked on the fixed seat 3521; conversely, when the guard shaft 3522 needs to be released, the user can pull the guard shaft 3522 out of the fixed seat 3521 by squeezing the locking buckle and then squeezing the return spring 3525. Therefore, the connection efficiency between the protective tool at the pelvis of the patient and the man-machine interaction waist connection device can be effectively improved, and the device is time-saving, labor-saving, convenient and fast.

After the human-computer interaction waist connecting device adopting the structural design is connected with a lifting mechanism of the robot, and through the cooperation of the omnidirectional movement chassis component of the robot, a patient can be conveniently and flexibly helped to independently complete indoor movement, sitting and standing transfer, daily life tasks and walking training. In this embodiment, the specific structural configuration of the robot is already disclosed in the related art, and is not described in detail herein.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A human-computer interaction waist connecting device is characterized by comprising:

the torque sensor assembly (1) is used for detecting interaction force of a human-computer in the vertical direction, and the torque sensor assembly (1) comprises a mounting seat (11) connected with an external mechanism and a torque sensor (12) with one end fastened with the mounting seat (11);

the transverse moving base assembly (2) is used for detecting the relative displacement and force detection in the horizontal direction of a human-computer, and the transverse moving base assembly (2) comprises a transverse moving base (21) connected with the torque sensor (12), a transverse moving spline assembly in elastic sliding fit with the transverse moving base (21), transverse moving pressure sensors (23) arranged at two ends of the transverse moving spline assembly, and transverse moving adjusting modules (24) arranged at two ends of the transverse moving spline assembly and respectively abutted to the transverse moving pressure sensors (23);

the intention identification assembly (3) is connected with the transverse moving adjusting module (24) and is used for detecting the relative displacement and force detection of the human-machine in the front and back directions, and the intention identification assembly (3) comprises an intention spline seat (31), an intention spline assembly in elastic sliding connection with the intention spline seat (31), intention pressure sensors (33) arranged at two ends of the intention spline assembly, a pneumatic spring (34) with two ends respectively connected with the intention pressure sensor (33) and the intention spline seat (31), and a damper ball hinge assembly (35) arranged on the intention spline seat (31).

2. The human-computer interaction waist connection device as claimed in claim 1, wherein the traverse spline assembly comprises a traverse spline nut (221) arranged in the traverse base (21), a traverse spline shaft in sliding fit with the traverse spline nut (221), and a traverse compression spring (223) sleeved at two ends of the traverse spline shaft.

3. The human-computer interaction waist connecting device as claimed in claim 2, wherein the traverse pressure sensor (23) is sleeved on the traverse spline shaft, and two ends of the traverse pressure spring (223) are respectively abutted against the traverse pressure sensor (23) and the traverse spline nut (221).

4. The human-computer interaction waist connection device as recited in claim 2, wherein the traverse adjustment module (24) comprises a spline connection shaft (241) sleeved on the end of the traverse spline shaft and abutting against the traverse pressure sensor (23), a guide rail (242) arranged along the length direction of the spline connection shaft (241), a slide seat (243) in sliding fit with the guide rail (242), and a locking piece (244) in sliding fit with the guide rail (242) and used for locking the slide seat (243); one end of the intention recognition component (3) is fastened to the slide (243).

5. The human-computer interaction waist connecting device is characterized in that the intention spline assembly comprises an intention spline nut (321) arranged on the intention spline seat (31), an intention spline shaft (322) in sliding fit with the intention spline nut (321), and intention pressure springs (323) sleeved at two ends of the intention spline shaft (322).

6. The human-computer interaction waist connecting device as claimed in claim 5, wherein the intention pressure sensor (33) is sleeved on the intention spline shaft (322), and two ends of the intention pressure spring (323) are respectively abutted against the intention pressure sensor (33) and the intention spline nut (321).

7. A human-computer interaction lumbar connection device according to claim 5, characterized in that the damper ball hinge assembly (35) comprises a damper ball hinge (351) fastened with the intended spline housing (31), and a snap mechanism (352) connected with the damper ball hinge.

8. The human-computer interaction waist connecting device as claimed in claim 7, wherein the snap mechanism (352) comprises a fixing base (3521) connected with the damper ball hinge (351), a snap hole arranged in the middle of the fixing base (3521), an elastic buckle hinged to the periphery of the snap hole, and a guard shaft (3522) inserted in the snap hole and clamped with the elastic buckle; a clamping hook (3523) is arranged at the end part of the guard shaft (3522).

9. The human-computer interaction waist connecting device according to claim 8, wherein the fixing base (3521) has hinge grooves formed on opposite sides thereof, and the hinge grooves are disposed to penetrate the engaging holes.

10. A human-computer interaction lumbar connecting device as claimed in claim 9, wherein the elastic buckle comprises a buckle (3524) pivotally connected to two opposite side walls of the hinge slot, and a return spring (3525) having two ends respectively abutting against the buckle (3524) and the bottom surface of the hinge slot; the clamping hook (3523) is clamped with the clamping buckle (3524).