CN209916566U

CN209916566U - Rope-driven 4+2 type lower limb rehabilitation robot

Info

Publication number: CN209916566U
Application number: CN201920252902.2U
Authority: CN
Inventors: 陈欢; 陈禹名; 钱强强; 沈钦涛; 王健; 常珂; 邬江北; 王志恒
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2019-02-28
Filing date: 2019-02-28
Publication date: 2020-01-10
Anticipated expiration: 2029-02-28

Abstract

A '4 + 2' type lower limb rehabilitation robot based on rope driving comprises a rack, four outer foot mechanisms, two inner foot mechanisms and a motion monitoring device, wherein the four outer foot mechanisms, the two inner foot mechanisms and the motion monitoring device are arranged on the rack and used for supporting, the rack comprises a platform and a waist structure which is arranged in the middle of the platform and can be sleeved at the waist of a user, two outer foot mechanisms are arranged on the left side and the right side of the waist structure in a group, the two outer foot mechanisms are arranged in a bilateral symmetry mode, the outer foot mechanisms on the same side are arranged in a staggered mode from front to back, and the two inner foot mechanisms are arranged in a bilateral symmetry mode and are arranged between the two outer foot; each inner foot mechanism comprises a hip joint, a thigh mechanism, a knee joint and a shank mechanism. The utility model provides a based on rope driven "4 + 2" formula low limbs rehabilitation robot can satisfy the basic gait that low limbs rehabilitation patient walked on the level land, the coupling between the realization man-machine that can be better.

Description

Rope-driven 4+2 type lower limb rehabilitation robot

Technical Field

The utility model belongs to the technical field of the recovered robot technique and specifically relates to a "4 + 2" formula low limbs recovered robot based on rope drive is related to.

Background

The rehabilitation robot is a new type of robot appearing in recent years, and as an important branch of medical robots, the research of the rehabilitation robot goes through the fields of rehabilitation medicine, mechanics, materials, mathematical analysis, finite element simulation, robotics and the like, and becomes a hot point of the research of the international robot field. In recent years, due to rapid economic development, transportation facilities have rapidly increased, and the number of people whose limbs are damaged by traffic accidents has increased. Meanwhile, with the improvement of the living standard of people, China is getting into aging as many countries. According to statistics, the population of 60 years old or more in China is 2.22 hundred million, and accounts for 16.5 percent of the population in China. In the elderly, there are a large number of patients with cardiovascular and cerebrovascular diseases or nervous system diseases, and most of these patients are accompanied by hemiplegia. At present, the number of people with hemiplegia in middle-aged and elderly people suffering from cardiovascular and cerebrovascular diseases is continuously increased, and the age shows a trend of youthfulness. Medical theory and clinical medicine prove that correct and scientific rehabilitation training plays an important role in the recovery of limb movement functions of patients except for early surgical treatment and necessary drug treatment. The early rehabilitation training can not only maintain the joint mobility and prevent joint contracture, but also obviously improve the final recovery degree of the motion function of the patient.

At present, although the rehabilitation medical engineering is generally regarded in China, the research of the rehabilitation robot is still in the starting stage. In recent years, certain achievements are obtained in the rehabilitation engineering of China in various aspects, and the development of the rehabilitation engineering is rapid particularly in medium-grade products with low technical content such as rehabilitation instruments.

The electromechanical institute of Zhejiang university developed a wearable prosthesis, and the research was dedicated to developing a set of wearable lower limb prostheses for enhancing the walking ability of the human body, which introduced people as a main part of the whole control system, and which can relieve physical fatigue of people caused by excessive biped walking. Currently, a prototype testing system for lower limbs has been developed to verify some theoretical results and to perform the next stage of experimental research for the platform in turn.

The institute of electromechanical engineering and automation of Shanghai university also started to study a set of wearable power-assisted mechanical legs, and the single-side lower limbs have two degrees of freedom, namely the bending and stretching degrees of freedom of a hip joint and a knee joint respectively, and the two degrees of freedom are driven by electric cylinders respectively. The American Massachusetts institute of technology developed a famous PAMM system, including intelligent walking machine and intelligent stick device, this system utilizes the force sense sensor as main input interface, the action wheel of drive system bottom to realize the function that the user walked. In order to solve the problem of inconvenient wearing, Japan Honda company designs an intelligent lower limb assistance system, and the mechanical device worn on the figure nude can help the old with insufficient muscle strength to improve the walking speed, prolong the walking distance and improve the pace regularity.

By analysis of similar products already on the market we summarize the following:

1. the mass is too large, which causes the problems of too large volume and clumsy action. Because the degree of freedom that the recovered robot needs in the process of helping hand user's walking is too much, the motor quantity that most products added is too much, leads to a series of problems such as control difficulty, bulky, noise, comfort level from this.

2. The self-adaptive ability is not enough, and the learning ability is poor. In order to better achieve the purpose of rehabilitation training, the walking rule and habit of a user are learned, and meanwhile, the robot provides assistance in different sizes according to the conditions of the user in different stages.

3. The delay in signal transmission results in non-compliance with the intended action of the operator. At present, an sEMG sensor and a pressure sensor are mostly adopted, signals are transmitted to a central processing unit, then are analyzed, and operation instructions are transmitted out, so that the problem of signal lag is caused.

Disclosure of Invention

In order to overcome the defect that prior art exists, the utility model provides a based on rope driven "4 + 2" formula low limbs rehabilitation robot can satisfy the basic gait that low limbs rehabilitation patient walked on the level land, the coupling between the realization man-machine that can be better.

The utility model provides a technical scheme that its technical problem adopted is:

a '4 + 2' type lower limb rehabilitation robot based on rope driving comprises a rack, four outer foot mechanisms, two inner foot mechanisms and a motion monitoring device, wherein the four outer foot mechanisms, the two inner foot mechanisms and the motion monitoring device are arranged on the rack and used for supporting, the rack comprises a platform and a waist structure which is arranged in the middle of the platform and can be sleeved at the waist of a user, two outer foot mechanisms are arranged on the left side and the right side of the waist structure in a group, the two outer foot mechanisms are arranged in a bilateral symmetry mode, the outer foot mechanisms on the same side are arranged in a staggered mode from front to back, and the two inner foot mechanisms are arranged in a bilateral symmetry mode and are arranged between the two outer foot;

each inner foot mechanism comprises a hip joint, a thigh mechanism, a knee joint and a shank mechanism, each thigh mechanism comprises a shank rod and a thigh power assisting plate for fixing a thigh, each thigh power assisting plate is arranged on the inner side of the shank rod, each shank mechanism comprises a shank rod and a shank power assisting plate for fixing a shank, each shank power assisting plate is arranged on the inner side of the shank rod, each shank power assisting plate and each thigh power assisting plate are arc-shaped, the upper end of the shank rod is connected with the waist structure of the rack through the hip joint, and the lower end of the shank rod is connected with the upper end of the shank rod through the knee joint;

the knee joint comprises a thigh rotating wheel, a shank rotating wheel, two arc-shaped connecting blocks, two knee joint ropes and a knee joint driving motor, wherein the thigh rotating wheel and the shank rotating wheel are tangent all the time and are arranged between the two arc-shaped connecting blocks, the upper end and the lower end of each arc-shaped connecting block are connected through a rotating shaft respectively, the thigh rotating wheel is rotatably arranged on the rotating shaft positioned at the upper side through a thigh triangular support, the thigh triangular support is fixed at the lower end of a shank rod, the shank rotating wheel is rotatably arranged on the rotating shaft positioned at the lower side through a shank triangular support, the shank triangular support is fixed at the upper end of the shank rod, the front part of the thigh triangular support and the front part of the shank triangular support are respectively provided with two spring connecting columns, the two spring connecting columns are respectively and symmetrically arranged at the left side and the right side of the corresponding The position spring is connected;

the rear part of the thigh triangular support and the rear part of the shank triangular support are respectively provided with two wire wheels, and the two wire wheels are respectively symmetrically arranged on the left side and the right side of the corresponding rotating wheel; the left side and the right side of the lower end of each thigh rod are respectively symmetrically provided with a wire wheel, one end of each knee joint wire rope is wound on the wire wheel on the shank triangular bracket and fixed on the wire wheel, the other end of each knee joint wire rope is wound around the wire wheel on the shank triangular bracket on the same side and then wound back to the wire wheel on the shank triangular bracket, then the knee joint wire ropes extend upwards along the shank rods after passing through the wire wheels on the shank triangular bracket and the wire wheels on the shank rods, the two knee joint wire ropes extend upwards and then are synchronously linked with a knee joint driving motor, and the knee joint driving motor;

the motion monitoring device is including silica gel module and the central processing unit that is used for measuring the joint motion angle, the silica gel module sets up on the rear side of knee joint, including optical fiber sensor and flexible bottom plate, optical fiber sensor imbeds in the flexible bottom plate, and the upper and lower both ends of flexible bottom plate are connected with thigh triangular support, shank triangular support respectively, optical fiber sensor is connected with central processing unit, central processing unit is connected with knee joint driving motor.

Further, each outer foot mechanism comprises a connecting rod mechanism, an outer foot driving motor and a foot joint, the connecting rod mechanism comprises a thigh triangular connecting rod, a shank triangular connecting rod, a first triangular connecting rod, a second triangular connecting rod, a driving connecting rod and a driven connecting rod, the upper vertex of the thigh triangular connecting rod is hinged with the front vertex of the first triangular connecting rod, the first triangular connecting rod is fixedly arranged on the platform, the upper end of the driving connecting rod is hinged with the lower vertex of the first triangular connecting rod through a transmission shaft, the lower end of the driving connecting rod is hinged with the upper vertex of the rear side of the second triangular connecting rod, the front vertex of the second triangular connecting rod is hinged with the rear vertex of the thigh triangular connecting rod, the lower vertex of the rear side of the second triangular connecting rod is hinged with the upper end of the driven connecting rod, the lower end of the driven connecting rod is hinged with the rear vertex of the shank triangular connecting rod, and the upper vertex of the front side of the shank triangular connecting rod is, the lower vertex of the front side of the crus triangular connecting rod is arranged on a foot joint, the outer foot driving motor is arranged on the waist structure of the frame, and the output shaft of the outer foot driving motor is connected with the transmission shaft through a synchronous belt; the driving connecting rod, the first triangular connecting rod, the second triangular connecting rod and the thigh triangular connecting rod form a crank rocker mechanism, and meanwhile, the thigh triangular connecting rod, the shank triangular connecting rod, the driven connecting rod and the second triangular connecting rod form a double-rocker mechanism.

Furthermore, the hip joint comprises an upper flat plate, a lower flat plate, three curve connecting rods, three spherical hinges, three universal joints, four hip joint ropes and two hip joint driving motors, wherein the three universal joints are arranged on the bottom surface of the upper flat plate in an equal circumference mode, the three spherical hinges and the three universal joints are arranged in a vertically staggered mode, the three spherical hinges and the three universal joints are arranged on the top surface of the lower flat plate in an equal circumference mode, the three universal joints are respectively connected with the three spherical hinges through the three curve connecting rods, and the universal joint connected to the upper end of each curve connecting rod and the spherical hinge connected to the lower end of the curve connecting rod are mapped on the same plane and are arranged in; four wire wheels are respectively arranged on the peripheries of the upper flat plate and the lower flat plate, the wire wheels on the two flat plates positioned on the same side from top to bottom are connected through a hip joint wire rope, one end of the hip joint wire rope is fixed, the other end of the hip joint wire rope is synchronously linked with a motor shaft of a hip joint driving motor, the two hip joint wire ropes symmetrically arranged from left to right share one hip joint driving motor, the two hip joint wire ropes symmetrically arranged from front to back share the other hip joint driving motor, and the two hip joint driving motors are arranged on the waist structure of the frame and are connected with the central processing; the top surface of the upper side flat plate is arranged on the waist structure, and the bottom surface of the lower side flat plate is arranged at the upper end of the thigh rod.

Still further, the thigh rod is a rectangular rod, the thigh booster plate is provided with a rectangular pipe which is sleeved on the thigh rod, the shank rod is a rectangular rod, and the shank booster plate is provided with a rectangular pipe which is sleeved on the shank rod.

And furthermore, an arc-shaped bulge is arranged in the middle of the edge of the thigh rotating wheel, an arc-shaped groove is arranged in the middle of the edge of the shank rotating wheel, and the arc-shaped bulge is meshed with the arc-shaped groove.

Still further, be connected through the connector between platform and the waist structure, the connector includes inner circle and outer lane, connects through four damping spring between inner circle and the outer lane, and the inner circle is installed in the bottom of waist structure and coaxial setting with waist structure, and the platform is installed on the outer lane.

Furthermore, the foot joint comprises a vertical rod and a four-toe structure, the four-toe structure comprises four phalanges and a phalange platform, the four phalanges are arranged around the vertical rod, and the four phalanges are connected with the vertical rod through a second spring of the foot joint respectively; the phalanx platform is mounted at the lower end of a vertical rod in a vertically sliding manner, the lower vertex of the front side of a shank triangular connecting rod is mounted at the upper end of the vertical rod, a foot joint first spring is sleeved on the vertical rod, the upper end of the foot joint first spring is connected with the shank triangular connecting rod, and the lower end of the foot joint first spring is connected with the phalanx platform; rubber pads are respectively arranged at the bottom of the tail end of each phalanx and the bottom of the vertical rod.

The beneficial effects of the utility model are that:

(1) the utility model can be coordinated with the human gait, can meet the basic gait of the lower limb rehabilitation patient walking on the flat ground, and the two inner foot mechanisms can be consistent with the leg movement condition of the human, so as to better realize the coupling between the human and the machine;

(2) the utility model adopts flexible transmission on the design of the joints of the two inner foot mechanisms, and utilizes the characteristic of flexible transmission to concentrate the motor on the waist structure of the frame, thereby facilitating the optimized arrangement of the circuit;

(3) the utility model discloses hip joint department at two inner leg mechanisms adopts parallel mechanism, realizes three degree of freedom motions, has high rigidity, high bearing capacity, high dynamic performance's characteristic, has the little advantage of occupation space.

Drawings

Fig. 1 is a rear view of the present invention.

Fig. 2 is a side view of the present invention.

Fig. 3 is a three-dimensional view of the outer foot mechanism.

Fig. 4 is a front view of fig. 3.

Figure 5 is an enlarged view of the foot joint.

Fig. 6 is a three-dimensional view of the inner foot mechanism.

Fig. 7 is a rear view of fig. 5.

FIG. 8 is a three-dimensional view of a knee joint of the inner foot mechanism.

FIG. 9 is an assembly view of a knee joint of the inner foot mechanism.

Fig. 10 is an enlarged partial view of the knee joint.

Fig. 11 is a three-dimensional view of a hip joint gimbal mechanism.

Fig. 12 is a hip gimbal mechanism assembly view.

Fig. 13 is a view of the gimbal, ball hinge arrangement from above.

FIG. 14 is a diagram of the wire winding method of the wire reel at the hip joint.

Fig. 15 is a three-dimensional view of a thigh assist plate.

Fig. 16 is a side view of fig. 15.

Fig. 17 is a three-dimensional view of a connector of the inner and outer foot mechanisms.

FIG. 18 is a diagram of a human leg muscle model.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1 to 18, a rope-driven 4+2 type lower limb rehabilitation robot comprises a rack, four outer foot mechanisms, two inner foot mechanisms and a motion monitoring device, wherein the four outer foot mechanisms are arranged on the rack and used for supporting, the two inner foot mechanisms are driven by a rope, the rack comprises a platform and a waist structure which is arranged in the middle of the platform and can be sleeved on the waist of a user, two outer foot mechanisms are arranged on the left side and the right side of the waist structure in a group, the two outer foot mechanisms are arranged in a bilateral symmetry manner, one outer foot mechanism on the same side is arranged in a staggered and mirror-image manner, and the two inner foot mechanisms are arranged in a bilateral symmetry manner and are arranged between the two outer foot mechanisms;

the knee joint comprises a thigh runner 18, a shank runner 20, two arc-shaped connections 19, two knee joint cords and a knee joint driving motor, wherein the thigh runner 18 and the shank runner 20 are tangent all the time and are arranged between the two arc-shaped connection blocks 19, the upper end and the lower end of each of the two arc-shaped connection blocks 19 are connected through a rotating shaft respectively, the thigh runner 18 is rotatably arranged on a rotating shaft 16 positioned at the upper side through a thigh triangular support, the thigh triangular support is fixed at the lower end of a shank rod, the shank runner 20 is rotatably arranged on a rotating shaft 22 positioned at the lower side through a shank triangular support, the shank triangular support is fixed at the upper end of the shank rod, the front part of the thigh triangular support and the front part of the shank triangular support are respectively provided with two spring connection columns, and the two spring connection, each spring connecting post 17 on the thigh triangular support is connected with the spring connecting post 21 on the crus triangular support on the same side through a knee joint reset spring;

the rear part of the thigh triangular support and the rear part of the shank triangular support are respectively provided with two wire wheels, and the two wire wheels are respectively symmetrically arranged on the left side and the right side of the corresponding rotating wheel; the left side and the right side of the lower end of the thigh rod are respectively symmetrically provided with a wire wheel 15, one end of each knee joint wire rope is wound on the wire wheel 13 on the shank triangular support and fixed on the wire wheel 13, the other end of each knee joint wire rope is wound around the wire wheel 14 on the shank triangular support on the same side and then wound back to the wire wheel 13 on the shank triangular support, then the knee joint wire ropes extend upwards along the shank rod after passing through the wire wheels 14 on the shank triangular support and the wire wheels 15 on the shank rod, the two knee joint wire ropes extend upwards and then are synchronously linked with the knee joint driving motor, and the knee joint driving motor;

Further, each outer foot mechanism comprises a link mechanism, an outer foot driving motor and a foot joint, the link mechanism comprises a thigh triangular link 2, a shank triangular link 3, a first triangular link 1, a second triangular link 10, a driving link 11 and a driven link 9, an upper vertex of the thigh triangular link 2 is hinged with a front vertex of the first triangular link 1, the first triangular link 1 is fixedly installed on the platform, an upper end of the driving link 11 is hinged with a lower vertex of the first triangular link 1 through a transmission shaft 12, a lower end of the driving link 11 is hinged with a rear upper vertex of the second triangular link 10, a front vertex of the second triangular link 10 is hinged with a rear vertex of the thigh triangular link 2, a rear lower vertex of the second triangular link 10 is hinged with an upper end of the driven link 9, a lower end of the driven link 9 is hinged with a rear vertex of the shank triangular link 3, the upper vertex of the front side of the shank triangular connecting rod 3 is hinged with the lower vertex of the thigh triangular connecting rod 2, the lower vertex of the front side of the shank triangular connecting rod 3 is installed on a foot joint, the outer foot driving motor is arranged on the waist structure of the frame, and the output shaft of the outer foot driving motor is connected with the transmission shaft 12 through a synchronous belt; the driving connecting rod 11, the first triangular connecting rod 1, the second triangular connecting rod 10 and the thigh triangular connecting rod 2 form a crank rocker mechanism, and meanwhile, the thigh triangular connecting rod 2, the shank triangular connecting rod 3, the driven connecting rod 9 and the second triangular connecting rod 10 form a double-rocker mechanism.

Still further, the hip joint comprises an upper flat plate 23, a lower flat plate 23, three curve connecting rods 26, three ball hinges, three universal joints 24, four hip joint cords and two hip joint driving motors, wherein the three universal joints 24 are arranged on the bottom surface of the flat plate on the upper side in an equal circumference manner, the three ball hinges and the three universal joints are arranged in a vertically staggered manner and are arranged on the top surface of the flat plate on the lower side in an equal circumference manner, the three universal joints are respectively connected with the three ball hinges through the three curve connecting rods 26, and the universal joint connected with the upper end of each curve connecting rod and the ball hinge connected with the lower end of the curve connecting rod are mapped on the same plane and are arranged in a; four wire wheels are respectively arranged around the upper flat plate 23 and the lower flat plate 23, the wire wheels on the two flat plates positioned on the same side from top to bottom are connected through a hip joint wire rope, one end of the hip joint wire rope is fixed, the other end of the hip joint wire rope is synchronously linked with a motor shaft of a hip joint driving motor, the two hip joint wire ropes symmetrically arranged from left to right share one hip joint driving motor, the two hip joint wire ropes symmetrically arranged from front to back share the other hip joint driving motor, and the two hip joint driving motors are arranged on the waist structure of the frame and are connected with the central processing unit; the top surface of the upper side flat plate is arranged on the waist structure, and the bottom surface of the lower side flat plate is arranged at the upper end of the thigh rod. The silica gel module is used for detecting and transmitting signals to the central processing unit to control the movement of the knee joint and the hip joint.

Still further, the middle part of the edge of the thigh runner 18 is provided with an arc-shaped bulge, the middle part of the edge of the shank runner 20 is provided with an arc-shaped groove, and the arc-shaped bulge is meshed with the arc-shaped groove.

Furthermore, the foot joint comprises a vertical rod and a four-toe structure, the four-toe structure comprises four phalanges 5 and a phalange platform 8, the four phalanges 5 are arranged around the vertical rod, and the four phalanges 5 and the vertical rod are respectively connected through a second foot joint spring 7; the phalanx platform 8 is mounted at the lower end of a vertical rod in a vertically sliding manner, the lower vertex of the front side of the shank triangular connecting rod 3 is mounted at the upper end of the vertical rod, a foot joint first spring 4 is sleeved on the vertical rod, the upper end of the foot joint first spring 4 is connected with the shank triangular connecting rod 3, and the lower end of the foot joint first spring 4 is connected with the phalanx platform 8; the bottom of the tail end of each phalanx 5 and the bottom of the vertical rod are respectively provided with a rubber pad 6.

As shown in fig. 4, the driving link 11 is rotated by the outer foot driving motor. In the process that the driving connecting rod 11 rotates 360, the crank rocker mechanism is formed by four rods, namely the first triangular connecting rod 1, the driving connecting rod 11, the second triangular connecting rod 10 and the thigh triangular connecting rod 2. The first triangular connecting rod 1 is always combined with a platform of the upper frame to be kept immovable, so that the overall stability of the mechanism is ensured. The second triangular connecting rod 10 and the thigh triangular connecting rod 2 rotate correspondingly, the lower second triangular connecting rod 10, the driven connecting rod 9, the shank triangular connecting rod 3 and the thigh triangular connecting rod 2 form another double-rocker mechanism, wherein the shank triangular connecting rod 3 is connected with a foot joint, and the actions of lifting and resetting the leg are completed while the shank triangular connecting rod 3 moves. Therefore, the four outer foot mechanisms integrally form a linkage mechanism, and each outer foot mechanism only needs one motor, namely four motors, and is integrated at the waist position of the rack. The outer foot driving motor is placed on a waist structure of the frame, the power of the motor is transmitted to the transmission shaft 12 through the synchronous belt, and the transmission shaft 12 drives the driving connecting rod 11 to do circular motion; the rotation speed of the motor is converted into the motion of the connecting rod.

The four outer foot mechanisms are respectively arranged at the front, the back, the left and the right of the machine, and the stable posture of the machine in a standing state is realized through symmetrical arrangement. The four outer foot mechanisms have the same structure and size. A single outer foot mechanism will now be described. The single outer foot mechanism is mainly composed of two modules, namely a thigh module and a shank module. The thigh module adopts a four-bar mechanism, is connected with a driving source on one hand to realize the force transmission effect of driving, and is connected with the shank module on the other hand to provide power for the shank module to step forwards. The shank module adopts a four-bar mechanism, is connected with the thigh module on the one hand to further realize the stepping function, and is connected with the damping mechanism on the other hand to finish the landing of the machine.

The device is driven by a motor, and the step frequency of leg movement is adjusted by the rotating speed of the motor, so that the differential speed of two legs is realized, and further the turning action is realized.

As shown in figure 5, the springs on the foot joints are used for shock absorption and buffering, wherein the springs are provided with a large spring and four small springs, the first spring 4 of the foot joint is a large spring, the second spring 7 of the foot joint is a small spring, the phalanx platform 8 can move on a middle vertical rod, and the middle vertical rod and the shank triangular connecting rod 3 are integrally formed. Four little springs are connected respectively on four phalanges 5 and middle montant, and the upper end of phalange 5 can rotate, can make five rubber pads 6 contact with ground all the time through the flexible of little spring, strengthens the stability of mechanism.

The foot joints are in five-point contact with the ground, so that the falling posture of the shank triangular connecting rod 3 can be recovered as soon as possible, and the shock absorption under different falling conditions is realized through different contraction amounts and contraction directions of the foot joint second springs 7. And further ensure that the upper platform is always in a horizontal state in the running process of the machine.

As shown in fig. 6 and 7, the left and right inner foot mechanisms have three motors respectively, wherein there are two hip joints and one knee joint, so as to ensure the freedom degrees in different directions. In the walking process, the left foot or the right foot is firstly taken, the hip joint is swung forwards, the knee joint is swung backwards, the left leg is in a front bow state, the gravity center is positioned on the right leg, then the left leg is lifted while the knee joint front swing left leg is extended forwards, the gravity center begins to shift, the right leg begins to bend, the left leg and the right leg are in front and back, the gravity center shifts to the left leg, then the right leg steps forwards and falls to the ground to finish further walking. The utility model discloses the gait of walking of anthropomorphic dummy of maximize is after the sensor detects corresponding signal, feeds back the shank through central processing unit discernment processing back, by motor drive, has the adynamic user of a corresponding power help shank muscle to accomplish on the helping hand board and lifts the leg action.

As shown in fig. 8 and 9, a fixed end constraint is formed between the thigh mechanism and the arc-shaped connecting block 19, and the relative position between the thigh mechanism and the arc-shaped connecting block 19 is not changed, i.e. the arc-shaped connecting block 19 does not rotate around the rotating shaft 16. The thigh runner 18 and the shank runner 20 are always in tangent state during the rotation process. The two arc-shaped connecting blocks 19 are convex forwards, each rotating shaft penetrates through the corresponding triangular bracket, each rotating wheel is fixed on the corresponding triangular bracket, and each triangular bracket is fixedly connected with the corresponding mechanism;

the knee joint movement control mode is as follows, the knee joint adopts flexible drive, namely the bending control of the joint is realized through a wire wheel and a wire rope, and the standing function of the joint is realized through the elastic deformation resetting function of a knee joint resetting spring. The wire winding arrangement of the wire wheel is as shown in fig. 9, the knee joint wire rope is firstly wound on the wire wheel 13 and fixedly connected with the wire wheel 13, then wound around the wire wheel 14, then wound back to the wire wheel 13 in a manner similar to the winding in a movable pulley, led out from the wire at the wire wheel 13 and wound around the wire wheel 14, and after passing through the wire wheel 15, the wire is changed in the vertical direction and extends to the waist of the frame to be connected with the knee joint driving motor by clinging to the thigh rod. The wire wheels at two positions of the knee joint are symmetrically arranged, as shown in fig. 10, and the winding mode is the same. The knee joint bending motion is realized by controlling the rotation of the knee joint driving motor to tension and relax a knee joint cord, and further realize the bending motion of the knee joint, and the specific control mode is that when the knee joint driving motor rotates forwards, the cord is tensioned, the distance between the reel 13 and the reel 14 is shortened, the shank mechanism rotates around the rotating shaft 22 to realize the bending motion of the knee joint, at the moment, the distance between the spring connecting columns is increased, and a knee joint reset spring connected with the spring connecting columns is in a stretching state; when the knee joint driving motor rotates reversely, the thread rope is in a loose state, under the action of the knee joint reset spring, the distance between the spring connecting columns 17 and 21 is shortened, the distance between the wire wheel 13 and the wire wheel 14 is increased, the lower leg mechanism rotates reversely around the rotating shaft 22 and returns to an upright state, and the reset action of the knee joint is realized. The motor shaft of the knee joint driving motor can be provided with two wire wheels which can move synchronously and are used for connecting two knee joint ropes, so that the motor can synchronously drive the two ropes to move.

As shown in fig. 10, the triangular bracket and the corresponding runner form a fan-shaped structure for controlling the angle when swinging in the front-back direction, so that two reels are symmetrically arranged at the end of the fan-shaped structure.

The middle two-inner-foot mechanism based on rope driving refers to a main body part of the lower limb rehabilitation training robot, namely, the middle two feet combined with two legs of a human. The model design of the inner two feet is based on the human leg model design, and mainly comprises four parts, namely a hip joint, a thigh mechanism, a knee joint and a shank mechanism. Through the combined action of the four parts, two feet in the robot can complete the motion consistent with the legs of a person, namely the bending and straightening motion generated by the combined action of the thigh mechanism, the shank mechanism and the knee joint, and the three-degree-of-freedom rotation of the frame, the hip joint and the hip joint matched with the thigh mechanism. The hip joint and the knee joint are driven by the ropes to realize corresponding functions, the number of driving motors is reduced, and all the driving motors are conveniently integrated.

The thigh mechanism and the shank mechanism are similar in structural appearance and function, the whole shape of the power assisting plate is three-quarter oval, and the power assisting plate is tightly combined with legs of a person through binding bands during working, so that the power assisting plate mainly plays two roles of fixing and wearing and power assisting pushing.

The knee joint can meet the degree of freedom in the front-back direction, and two rotating wheels which are equal in size and can be meshed with each other are respectively positioned at the lowermost end of the thigh mechanism and the uppermost end of the shank mechanism. The arc-shaped bulges on the thigh rotating wheels are meshed with the arc-shaped grooves on the shank rotating wheels, and the mechanism similar to a gear ensures that the shanks can follow the thighs at a determined angle without deviation in the leg lifting process of a person.

The knee joint is an important part for connecting the crus and the thighs, and is connected with the patellar surface of the femur, and the medial condyle and the lateral condyle of the femur are respectively opposite to the medial condyle and the lateral condyle of the tibia. The shank swings back and forth relative to the thigh by stretching the ligament, and the swinging angle of most rehabilitation trainers is 60 degrees as long as one degree of freedom is provided.

As shown in fig. 11 and 12, 25 is the reel on the upper flat plate, and 27 is the reel on the lower flat plate; the hip joint has one more lateral swing requirement relative to the knee joint, and the universal joint is adopted based on the requirement, so that the hip joint is flexible and changeable. The hip joint adopts a curve connecting rod and a ball hinge to connect an upper flat plate and a lower flat plate to form a parallel mechanism with three degrees of freedom. The upper and lower flat plates are respectively connected with the waist structure of the frame and the thigh rod of the inner foot mechanism. The spherical hinge and the curve connecting rod are fixed to realize two-degree-of-freedom motion. The wire wheels are fixed with the flat plates and are respectively arranged on four sides of the square flat plate, and the wire wheels between the upper flat plate and the lower flat plate realize transmission through a knee joint wire rope.

The hip joint is a part connecting thighs and a human body trunk, consists of a femoral head and an acetabulum, belongs to a ball-and-socket joint, and is a typical rod-and-socket joint. The thighs can swing back and forth and left and right relative to the body through ligament stretching, weak autorotation in the rehabilitation period is not considered, two degrees of freedom are considered, and the front-back swinging angle and the left-right swinging angle of most of rehabilitation trainers are respectively 50 degrees and 20 degrees.

As shown in fig. 13, the circle represents a ball hinge, and the cross represents a universal joint; three ball hinges are uniformly distributed at the center point of the lower flat plate and on the circumference with a certain radius, three universal joints are uniformly distributed on the circumference with the same radius at the center point of the upper flat plate, so that when the table is observed from the right top, the center points of the upper table surface and the lower table surface are superposed, the corresponding universal joints and the ball hinges are symmetrical about the center points, and when the table is overlooked from the top, the universal joints and the ball hinges are arranged as shown in the following figure 13. The wire wheels are uniformly distributed around the upper flat plate and the lower flat plate.

The two degrees of freedom of the hip joint are realized by tensioning and loosening a hip joint wire rope by two hip joint driving motors, the wire wheel is arranged on the motor, the wire rope led out from the wire wheel extends to the hip joint through guide wheels at other joints, a smooth chamfer small hole is arranged at the upper flat plate of the hip joint, the wire rope is led into the hip joint from the hole, and the wire wheel winding mode at the hip joint is as shown in figure 14.

The hip joint steering principle is similar to the pulley block principle, for example: when the hip joint driving motor rotates forwards, the wire wheels on the hip joint driving motor rotate forwards, the wires at the wire wheels are tensioned, the distance between the upper wire wheel and the lower wire wheel on the hip joint driving motor is reduced under the action of tensioning force, the wire wheels at the flat plate at the lower side are close upwards, the wires at the wire wheels at the opposite side are loosened, the tensioning force is reduced, the distance between the upper wire wheel and the lower wire wheel at the opposite side is increased under the action of the tensioning force, and the wire wheels at the. The joint rotates in one direction under the action of two opposite surface wire wheels. In a similar way, the joint can realize the rotation towards the other direction under the action of the adjacent surface line wheels.

Two wire wheels can be arranged on a motor shaft of one hip joint driving motor and used for realizing synchronous motion of two hip joint wires, the two hip joint driving motors can be arranged up and down, and the motor shafts of the two hip joint driving motors are arranged in a cross manner; one end of each hip joint cord can be fixed on a cord wheel of the motor, and the other end of the cord passes through the small hole on the upper flat plate, passes through the cord wheel on the upper flat plate, bypasses the cord wheel on the lower flat plate, passes through the other side of the cord wheel on the upper flat plate, passes through the other small hole on the upper flat plate, and is fixed on one cord wheel on the motor shaft of the corresponding hip joint driving motor.

As shown in fig. 15 and 16, the entire booster plate is an oval shaped mechanism.

As shown in fig. 17, the connector of two inner leg mechanisms and four outer leg mechanisms includes inner and outer rings and a middle damper mechanism. Wherein the inner ring is connected with the inner two feet, and the outer ring is connected with the outer four feet, thereby playing a good transition role. The middle damping mechanism is a damping spring in four directions, namely front, back, left and right, and can slow down vibration from different directions.

The power transmission of the inner foot mechanism of the utility model is realized through the transmission of a cotton rope. The rope transmission has the advantages of simple structure, small volume, low noise, stable transmission and the like, and more importantly, the rope transmission can control the bending angle while transmitting. Specifically, a hollow rectangular tube is placed on the outside of the thigh and calf mechanism for wiring. And the cycle of one period is completed by controlling the number of positive and negative rotation turns of the motor.

Fig. 18 shows the monitoring principle of the forward and backward swinging motion of the knee joint. The knee joint is bent, so that the distance between the point A and the point B of the skin at the knee is changed, and the point C and the point B are the same part of the skin in the figure, wherein the length of the curve AC is the same as that of the curve AC', and BC is the distance change length. When the knee joint rotates from the extension position to the flexion position, the point B on the surface of the skin moves to the point C, and the distance between the point B and the point A is increased. Monitoring of the articulation angle is achieved indirectly by measuring the distance between the skin surface fixation points A, B.

The device for measuring the distance is a silica gel module which takes the optical fiber macrobending loss as a mechanism. The macro-bending loss of the optical fiber refers to the phenomenon that when the optical fiber is bent, light beams cannot meet the total reflection condition in the optical fiber and are refracted to a cladding and a protective layer of the optical fiber, so that light intensity loss is caused.

The two ends of the silica gel module are respectively fixed on the two triangular supports of the knee joint, and when the knee joint rotates, the distance between the two ends also changes, so that the intensity of light intensity loss is changed, and then the rotating angle is checked.

The optical fiber sensors are arranged in the tracks of the flexible substrate, and when the flexible substrate contracts and stretches, the optical fiber sensors also contract and stretch along the tracks.

Measuring the knee joint: the optical fiber sensor is embedded into the silica gel module and then attached to the knee joint, so that when the knee joint swings back and forth, the distance between the fixed points on two sides of the joint is converted into the extension of the silica gel module, the macrobending loss of the optical fiber is caused, and the change of light intensity is influenced. The joint motion angle is indirectly determined by measuring the light intensity.

In terms of the whole robot, the two inner foot mechanisms play a role of assisting, and simultaneously collect leg signals, so that the robot is a main place for integrating the sensors; for example, a gyroscope is used for detecting the inclination of the mechanism and feeding back in time, and a pressure sensor is used for detecting the pressure of the legs of the person on the joints of the thighs and the calves, providing a certain amount of assistance force and the like. The four-outer-foot mechanism plays a guiding role, and the mechanism does not incline when the center of gravity moves and realizes steering by using differential driving of the rotation of the motors on the two sides, including ensuring the whole stability of the machine body.

The utility model discloses mainly be applicable to by the old person who causes the shank muscle to be powerless and the inconvenient person of low limbs by the year can carry out the walking training in simple space, mainly including going straight, controlling and turning to two parts walking training content.

Claims

1. The utility model provides a "4 + 2" formula low limbs rehabilitation robot based on rope drive which characterized in that: the device comprises a rack, four outer foot mechanisms which are arranged on the rack and used for supporting, two inner foot mechanisms which are driven by a rope and a motion monitoring device, wherein the rack comprises a platform and a waist structure which is arranged in the middle of the platform and can be sleeved at the waist of a user;

2. The rope-drive-based "4 + 2" lower limb rehabilitation robot of claim 1, wherein: each outer foot mechanism comprises a connecting rod mechanism, an outer foot driving motor and foot joints, the connecting rod mechanism comprises a thigh triangular connecting rod, a shank triangular connecting rod, a first triangular connecting rod, a second triangular connecting rod, a driving connecting rod and a driven connecting rod, the upper vertex of the thigh triangular connecting rod is hinged with the front vertex of the first triangular connecting rod, the first triangular connecting rod is fixedly arranged on the platform, the upper end of the driving connecting rod is hinged with the lower vertex of the first triangular connecting rod through a transmission shaft, the lower end of the driving connecting rod is hinged with the upper vertex of the rear side of the second triangular connecting rod, the front vertex of the second triangular connecting rod is hinged with the rear vertex of the thigh triangular connecting rod, the lower vertex of the rear side of the second triangular connecting rod is hinged with the upper end of the driven connecting rod, the lower end of the driven connecting rod is hinged with the rear vertex of the shank triangular connecting rod, and the upper vertex of the front side of the shank triangular connecting rod is, the lower vertex of the front side of the crus triangular connecting rod is arranged on a foot joint, the outer foot driving motor is arranged on the waist structure of the frame, and the output shaft of the outer foot driving motor is connected with the transmission shaft through a synchronous belt; the driving connecting rod, the first triangular connecting rod, the second triangular connecting rod and the thigh triangular connecting rod form a crank rocker mechanism, and meanwhile, the thigh triangular connecting rod, the shank triangular connecting rod, the driven connecting rod and the second triangular connecting rod form a double-rocker mechanism.

3. The rope-drive-based "4 + 2" lower limb rehabilitation robot according to claim 1 or 2, wherein: the hip joint comprises an upper flat plate, a lower flat plate, three curve connecting rods, three ball hinges, three universal joints, four hip joint ropes and two hip joint driving motors, wherein the three universal joints are arranged on the bottom surface of the flat plate on the upper side in an equal circumference mode, the three ball hinges and the three universal joints are arranged in a vertically staggered mode, the equal circumference mode is arranged on the top surface of the flat plate on the lower side, the three universal joints are respectively connected with the three ball hinges through the three curve connecting rods, and the universal joint connected to the upper end of each curve connecting rod and the ball hinge connected to the lower end of the curve connecting rod are mapped on the same plane and are arranged in a central; four wire wheels are respectively arranged on the peripheries of the upper flat plate and the lower flat plate, the wire wheels on the two flat plates positioned on the same side from top to bottom are connected through a hip joint wire rope, one end of the hip joint wire rope is fixed, the other end of the hip joint wire rope is synchronously linked with a motor shaft of a hip joint driving motor, the two hip joint wire ropes symmetrically arranged from left to right share one hip joint driving motor, the two hip joint wire ropes symmetrically arranged from front to back share the other hip joint driving motor, and the two hip joint driving motors are arranged on the waist structure of the frame and are connected with the central processing; the top surface of the upper side flat plate is arranged on the waist structure, and the bottom surface of the lower side flat plate is arranged at the upper end of the thigh rod.

4. The rope-drive-based "4 + 2" lower limb rehabilitation robot according to claim 1 or 2, wherein: the thigh rod is a rectangular rod, the thigh boosting plate is provided with a rectangular pipe which is sleeved on the thigh rod, the shank rod is a rectangular rod, and the shank boosting plate is provided with a rectangular pipe which is sleeved on the shank rod.

5. The rope-drive-based "4 + 2" lower limb rehabilitation robot according to claim 1 or 2, wherein: the thigh runner is provided with an arc-shaped bulge in the middle of the edge, the shank runner is provided with an arc-shaped groove in the middle of the edge, and the arc-shaped bulge is meshed with the arc-shaped groove.

6. The rope-drive-based "4 + 2" lower limb rehabilitation robot according to claim 1 or 2, wherein: the platform is connected with the waist structure through a connector, the connector comprises an inner ring and an outer ring, the inner ring and the outer ring are connected through four damping springs, the inner ring is installed at the bottom of the waist structure and is coaxially arranged with the waist structure, and the platform is installed on the outer ring.

7. The rope-driven "4 + 2" lower limb rehabilitation robot as claimed in claim 2, wherein: the four-toe structure comprises four phalanges and a phalange platform, the four phalanges are arranged around the vertical rod, and the four phalanges are connected with the vertical rod through a second foot joint spring; the phalanx platform is mounted at the lower end of a vertical rod in a vertically sliding manner, the lower vertex of the front side of a shank triangular connecting rod is mounted at the upper end of the vertical rod, a foot joint first spring is sleeved on the vertical rod, the upper end of the foot joint first spring is connected with the shank triangular connecting rod, and the lower end of the foot joint first spring is connected with the phalanx platform; rubber pads are respectively arranged at the bottom of the tail end of each phalanx and the bottom of the vertical rod.