CN211300953U - Movable lower limb exoskeleton rehabilitation robot and control system thereof - Google Patents
Movable lower limb exoskeleton rehabilitation robot and control system thereof Download PDFInfo
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- CN211300953U CN211300953U CN201920678813.4U CN201920678813U CN211300953U CN 211300953 U CN211300953 U CN 211300953U CN 201920678813 U CN201920678813 U CN 201920678813U CN 211300953 U CN211300953 U CN 211300953U
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Abstract
The utility model discloses a movable lower limb exoskeleton rehabilitation robot and a control system thereof, wherein the robot comprises a mobile robot, a lower limb exoskeleton robot and a weight reduction device, wherein two driving wheels and four driven wheels are arranged on a chassis of the mobile robot, the exoskeleton robot is arranged at the inner side of a portal frame of the mobile robot, and the exoskeleton robot is connected with the mobile robot through bolts; weight reduction devices are arranged on two sides of the upper end of the mobile robot; control system, including low limbs ectoskeleton robot control system, removal robot control system, data terminal, the utility model discloses accessible operation data terminal's display screen sets up corresponding motion mode and training parameter.
Description
Technical Field
The utility model relates to a recovered robot technical field, concretely relates to portable low limbs ectoskeleton recovered robot and control system thereof.
Background
The lower limb exoskeleton rehabilitation robot is a robot which is developed for patients with cerebral apoplexy and hemiplegia and assists the legs of people in walking, so that many paralyzed people stand up again to walk, and the confidence of the patients on life is increased. In addition, the exoskeleton robot is widely applied to the fields of military, industry and the like. At present stage low limbs ectoskeleton rehabilitation robot is generally fixed in on the treadmill, subtracts heavy device and sets up on the suspension device above the treadmill, and the service environment is too single, makes patient feel boring, easily produces the rejection mood to the recovery, is unfavorable for going on of rehabilitation treatment, and in addition, the sensor information acquisition of present ectoskeleton is less, and the patient wears uncomfortable, is unfavorable for lasting training.
SUMMERY OF THE UTILITY MODEL
Not enough to the above-mentioned prior art, the utility model aims at providing a portable low limbs ectoskeleton rehabilitation robot and control system thereof, it is through the problem that function guarantee rehabilitation patient free safe's motion and training data upload in the environment of removal such as path planning, map reconfiguration, autonomic barrier.
The utility model discloses the concrete technical scheme who takes is:
a movable lower limb exoskeleton rehabilitation robot comprises a mobile robot, a lower limb exoskeleton robot and a weight reduction device, wherein two driving wheels and four driven wheels are mounted on a mobile robot underframe; weight reducing devices are arranged on two sides of the upper end of the mobile robot.
Preferably, linear slide rails are fixedly mounted on the supports on the two sides of the upper end of the mobile robot, slide blocks are mounted on the linear slide rails, and weight reduction devices are fixedly connected to the outer sides of the slide blocks; the inner side of the linear slide rail is provided with a screw rod, one end of the linear slide rail is provided with a brushless motor, a rotating shaft of the brushless motor is connected with the screw rod, and the brushless motor drives the screw rod to rotate so as to drive the sliding block to move up and down along the linear slide rail.
Preferably, the driving wheel is provided with a hub motor.
Preferably, the exoskeleton robot is further provided with four motors which are respectively arranged on the hip joint and the knee joint of the exoskeleton.
Correspondingly, the utility model also provides a control system of the movable lower limb exoskeleton rehabilitation robot, which comprises a lower limb exoskeleton robot control system, a movable robot control system and a data terminal, wherein,
the control system of the lower limb exoskeleton robot comprises an FPGA control panel, a force sensor, a plantar pressure sensor, a left knee joint motor, a right knee joint motor, a left hip joint motor and a right hip joint motor, wherein the FPGA control panel is arranged on a top support of the mobile robot and is respectively connected with the motors through respective motor drivers, specifically, a can interface of the FPGA control panel is electrically connected with can interfaces of the motor drivers, and the motor drivers are connected with the motors through power lines, coding lines and signal lines; the force sensor is arranged in the middle of a thigh rod of the lower limb exoskeleton robot, and a serial port of the force sensor is electrically connected with a serial port of the FPGA control panel; the sole pressure sensor is arranged in the middle of a pedal of the lower limb exoskeleton robot and is connected with an sp i bus interface of the FPGA control board through an electric wire; the force sensor and the sole pressure sensor are respectively in communication connection with the data terminal;
the mobile robot control system comprises an ARM control board, a brushless motor, two hub motors, a tension sensor, a falling prevention sensor, an ultrasonic sensor and a laser radar sensor, wherein PB5, PB6 and PB7 interfaces of the ARM control board are respectively and electrically connected with sv and F/R, BRK interfaces of a motor driver of the brushless motor to respectively control signals, directions and emergency stops of the brushless motor, and the motor driver is connected with the brushless motor through a power line, an encoding line and a signal line; the ARM control board and eachThe hub motors are connected through respective motor drivers, specifically, a can interface of the ARM control board is electrically connected with a can interface of each motor driver, and each motor driver is connected with each hub motor through a power line, a coding line and a signal line; the laser radar sensor is arranged in the middle of a top bracket of the mobile robot and is connected with the ARM control board through I2C, communication connection; the anti-falling sensor is arranged on the underframe of the mobile robot and above the front driven wheel and is directly connected with the I/O of the ARM control panel through a shielding wire; the ultrasonic sensor is arranged on the underframe of the mobile robot and above the driven wheel and is in communication connection with the ARM control board through RS 485;
the FPGA control panel and the ARM control panel are connected through a serial port, and the FPGA control panel and the ARM control panel are respectively in communication connection with the data terminal.
Preferably, the force sensor and the sole pressure sensor are respectively in communication connection with the data terminal through Wi Fi or Bluetooth or a local area network.
Preferably, the FPGA control panel and the ARM control panel are respectively in communication connection with the data terminal through Wi Fi or Bluetooth or a local area network.
The utility model has the advantages that:
1. according to the invention, a corresponding motion mode and training parameters can be set through a display screen of the operation data terminal, information is sent to the ARM controller through the communication module, the ARM controller sends an instruction to the brushless motor, and then the weight loss weight is accurately controlled through information feedback of the tension sensor; the lower limb double-leg exoskeleton and the driving wheel of the mobile robot can also receive the instruction of the controller and start to coordinate to drive the human body to move; the ultrasonic and anti-falling sensor scans obstacles on a road in real time, transmits information to the controller and carries out dynamic obstacle avoidance; the laser radar sensor scans ground information and transmits the ground information to the controller, and the controller selects the optimal planned path to move.
2. According to the invention, the force sensor and the plantar pressure sensor are used for acquiring information such as human-computer interaction force, joint movement angle and speed of the training of the patient, the training information of the patient is uploaded to the data terminal through the communication module in real time, and through the data terminal, family members and doctors of the patient can know the training condition of the patient in real time.
3. The exoskeleton body is better adapted to the motion of the human body by the FPGA controller through controlling each joint motor, so that people feel more comfortable.
Drawings
Fig. 1 is a schematic structural view of the mobile lower limb exoskeleton rehabilitation robot of the present invention;
fig. 2 is a structural composition diagram of a control system of the mobile lower limb exoskeleton rehabilitation robot of the present invention.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Examples
A movable lower limb exoskeleton rehabilitation robot is shown in figure 1 and comprises a mobile robot 1, a lower limb exoskeleton robot 2 and a weight reduction device 3, wherein two driving wheels 11 and four driven wheels 12 are mounted on a chassis of the mobile robot 1, and a hub motor is arranged on each driving wheel 11; the exoskeleton robot 2 is arranged on the inner side of a portal frame of the mobile robot 1 and is connected with the mobile robot 1 through a bolt; the exoskeleton robot 2 is also provided with four motors which are respectively arranged on hip joints and knee joints of the exoskeleton; the two sides of the upper end of the mobile robot 1 are provided with weight reducing devices 3, wherein the brackets on the two sides of the upper end of the mobile robot 1 are fixedly provided with linear slide rails 13, the linear slide rails are provided with sliders 14, and the outer sides of the sliders 14 are fixedly connected with the weight reducing devices; the inner side of the linear slide rail 13 is provided with a screw rod, one end of the linear slide rail 13 is provided with a brushless motor, a rotating shaft of the brushless motor is connected with the screw rod, and the brushless motor drives the screw rod to rotate so as to drive the sliding block to move up and down along the linear slide rail 13.
As shown in fig. 2, the control system of the mobile lower extremity exoskeleton rehabilitation robot comprises a lower extremity exoskeleton robot control system, a mobile robot control system and a data terminal, wherein,
the control system of the lower limb exoskeleton robot comprises an FPGA control panel, a force sensor, a plantar pressure sensor, a left knee joint motor, a right knee joint motor, a left hip joint motor and a right hip joint motor, wherein the FPGA control panel is arranged on a top support of the mobile robot and is respectively connected with the motors through respective motor drivers, specifically, a can interface of the FPGA control panel is electrically connected with can interfaces of the motor drivers, and the motor drivers are connected with the motors through power lines, coding lines and signal lines; the FPGA control panel sends out control command, reaches each motor drive through can interface, and each motor drive passes through the signal line and reaches the motor, and each motor rotates, and four control signals are sent down simultaneously for four motors to controller 101, and the motor rotates according to the instruction simultaneously, and different instructions lead to motor drive to export different electric currents to the different speeds of control motor, the bigger speed of driver output current is, the smaller the motor rotational speed is. The force sensor is arranged in the middle of a thigh rod of the lower limb exoskeleton robot, a serial port of the force sensor is electrically connected with a serial port of the FPGA control panel, and the force sensor transmits information to the FPGA control panel by detecting the change of extrusion force between a human body and the exoskeleton. The sole pressure sensor is arranged in the middle of a pedal of the lower limb exoskeleton robot and connected with an sp i bus interface of the FPGA control board through an electric wire, and the sole pressure sensor feeds the sole pressure back to the FPGA control board by detecting the extrusion force of the sole. Meanwhile, the force sensor and the sole pressure sensor are respectively in communication connection with the data terminal through Wi Fi or Bluetooth or a local area network; and uploading the data to the data terminal. The whole working mode of the lower limb exoskeleton robot part is that the FPGA control board sends instructions to each joint motor, the motors move, and the force sensors and the foot pressure sensors acquire the information of human body movement, feed the information back to the FPGA control board and upload the information to the data terminal.
The mobile robot control system comprises an ARM control board, a brushless motor, two hub motors, a tension sensor, a falling prevention sensor and an ultrasonic sensorThe system comprises an ARM control board, a laser radar sensor, a controller and a controller, wherein PB5, PB6 and PB7 interfaces of the ARM control board are respectively and electrically connected with sv and F/R, BRK interfaces of a motor driver of the brushless motor to respectively control signals, directions and sudden stop of the brushless motor, and the motor driver is connected with the brushless motor through a power line, a coding line and a signal line; the ARM control board controls the rotating speed of the brushless motor by changing the frequency of the PWM wave, and the larger the duty ratio of the PWM wave is, the faster the rotating speed of the brushless motor is; the ARM control board is connected with the hub motors through respective motor drivers, specifically, a can interface of the ARM control board is electrically connected with can interfaces of the motor drivers, and the motor drivers are connected with the hub motors through power lines, coding lines and signal lines; ARM control panel simultaneously sends the instruction to the motor drive of two in-wheel motors, and the instruction of two drivers corresponding controller simultaneously to reach two wheel synchronous motion, the straight line is gone, adopts differential control during two wheel turnings, and the ARM control panel sends different speed instruction promptly, different voltage promptly, gives two in-wheel motors, and two wheel differential rotate, begin the turning motion. The laser radar sensor for collecting the road information and constructing the map is arranged in the middle of the top bracket of the mobile robot and passes through I with the ARM control panel2C, communication connection; the anti-falling sensor is arranged on the underframe of the mobile robot and above the front driven wheel and is directly connected with the I/O of the ARM control panel through a shielding wire; the ultrasonic sensor is arranged on the underframe of the mobile robot and above the driven wheel and is in communication connection with the ARM control panel through RS 485. The whole working mode of the mobile robot is that after the ARM control board sends a weight reduction instruction, the brushless motor rotates, the information collected by the tension sensor reaches a preset value, the preset value is fed back to the ARM control board, the brushless motor is controlled to stop rotating, the wheel hub motor receives the instruction of the ARM control board, the drive robot advances, retreats, turns, brakes and the like, the ARM control board collects the anti-falling sensor, the ultrasonic sensor, the obstacle information and the ground information of the road surface collected by the laser radar sensor, and the autonomous obstacle avoidance and path planning of the mobile robot are realized.
The FPGA control panel and the ARM control panel are connected through serial ports, coordinated and matched movement of the exoskeleton and the mobile robot is achieved, the FPGA control panel and the ARM control panel are in communication connection with the data terminal through WiFi or Bluetooth or a local area network respectively, and patients can be trained according to movement modes and training parameters set by the data terminal.
The power supply system of the whole control system is a lithium battery pack formed by connecting two lithium batteries in series, the lithium battery pack is arranged on a support of the mobile robot, and the connection mode of each motor and the lithium battery pack is as follows: a positive and negative power supply interface from a lead of the lithium battery pack to a motor driver of each motor; two control panels and sole pressure sensor, force sensor, ultrasonic sensor, laser radar sensor, dropproof sensor, force sensor all adopt the 5V power supply, and the connected mode is: draw positive negative pole power cord to LM2596 step-down regulation module from lithium cell group, LM2596 turns into 5V voltage with 24V's voltage, and the 5V voltage interface pin connection of following the LM2596 module is to the power supply end interface of each sensor and control panel.
Although the foregoing embodiments have been described, once they learn of the basic inventive concepts, those skilled in the art can make further changes and modifications to these embodiments, so that the above description is only an example of the present invention, and not intended to limit the scope of the present invention, and all changes in equivalent structures or equivalent processes using the contents of the specification and drawings, or directly or indirectly using other related technical fields, are also included in the scope of the present invention.
Claims (8)
1. A movable lower limb exoskeleton rehabilitation robot is characterized by comprising a mobile robot, a lower limb exoskeleton robot and a weight reduction device, wherein two driving wheels and four driven wheels are mounted on a chassis of the mobile robot; weight reducing devices are arranged on two sides of the upper end of the mobile robot.
2. The mobile lower limb exoskeleton rehabilitation robot as claimed in claim 1, wherein linear slide rails are fixedly mounted on the brackets at two sides of the upper end of the mobile robot, slide blocks are mounted on the linear slide rails, and weight reduction devices are fixedly connected to the outer sides of the slide blocks; the inner side of the linear slide rail is provided with a screw rod, one end of the linear slide rail is provided with a brushless motor, a rotating shaft of the brushless motor is connected with the screw rod, and the brushless motor drives the screw rod to rotate so as to drive the sliding block to move up and down along the linear slide rail.
3. The mobile lower extremity exoskeleton rehabilitation robot of claim 1, wherein the driving wheel is provided with a hub motor.
4. The mobile lower extremity exoskeleton rehabilitation robot of claim 1, wherein said exoskeleton robot further comprises four motors respectively mounted to the hip joint and the knee joint of the exoskeleton.
5. The control system of the mobile lower extremity exoskeleton rehabilitation robot of any one of claims 1 to 4, comprising a lower extremity exoskeleton robot control system, a mobile robot control system and a data terminal, wherein:
the control system of the lower limb exoskeleton robot comprises an FPGA control panel, a force sensor, a plantar pressure sensor, a left knee joint motor, a right knee joint motor, a left hip joint motor and a right hip joint motor, wherein the FPGA control panel is arranged on a top support of the mobile robot and is respectively connected with the motors through respective motor drivers, specifically, a can interface of the FPGA control panel is electrically connected with can interfaces of the motor drivers, and the motor drivers are connected with the motors through power lines, coding lines and signal lines; the force sensor is arranged in the middle of a thigh rod of the lower limb exoskeleton robot, and a serial port of the force sensor is electrically connected with a serial port of the FPGA control panel; the sole pressure sensor is arranged in the middle of a pedal of the lower limb exoskeleton robot and is connected with a spi bus interface of the FPGA control panel through a wire; the force sensor and the sole pressure sensor are respectively in communication connection with the data terminal;
the mobile robot control system comprises an ARM control panelThe system comprises a brushless motor, two hub motors, a tension sensor, a falling prevention sensor, an ultrasonic sensor and a laser radar sensor, wherein PB5, PB6 and PB7 interfaces of an ARM control board are respectively and electrically connected with sv and F/R, BRK interfaces of a motor driver of the brushless motor to respectively control signals, directions and emergency stop of the brushless motor, and the motor driver is connected with the brushless motor through a power line, a coding line and a signal line; the ARM control board is connected with the hub motors through respective motor drivers, specifically, a can interface of the ARM control board is electrically connected with can interfaces of the motor drivers, and the motor drivers are connected with the hub motors through power lines, coding lines and signal lines; the laser radar sensor is arranged in the middle of a top bracket of the mobile robot and is connected with the ARM control board through I2C, communication connection; the anti-falling sensor is arranged on the underframe of the mobile robot and above the front driven wheel and is directly connected with the I/O of the ARM control panel through a shielding wire; the ultrasonic sensor is arranged on the underframe of the mobile robot and above the driven wheel and is in communication connection with the ARM control board through RS 485;
the FPGA control panel and the ARM control panel are connected through a serial port, and the FPGA control panel and the ARM control panel are respectively in communication connection with the data terminal.
6. The control system of the mobile lower extremity exoskeleton rehabilitation robot of claim 5, wherein the force sensor and the plantar pressure sensor are respectively connected with a data terminal through WiFi or Bluetooth or a local area network in a communication way.
7. The control system of the mobile lower extremity exoskeleton rehabilitation robot of claim 5, wherein the FPGA control board and the ARM control board are respectively connected with a data terminal through WiFi or Bluetooth or a local area network in a communication way.
8. The control system of the mobile lower extremity exoskeleton rehabilitation robot as claimed in any one of claims 5 to 7, wherein the power supply system of the whole control system is a lithium battery pack formed by two lithium batteries connected in series, the lithium battery pack is mounted on the support of the mobile robot, and the connection mode of each motor and the lithium battery pack is as follows: a positive and negative power supply interface from a lead of the lithium battery pack to a motor driver of each motor; two control panels and sole pressure sensor, force sensor, ultrasonic sensor, laser radar sensor, dropproof sensor, force sensor all adopt the 5V power supply, and the connected mode is: draw positive negative pole power cord to LM2596 step-down regulation module from lithium cell group, LM2596 turns into 5V voltage with 24V's voltage, and the 5V voltage interface pin connection of following the LM2596 module is to the power supply end interface of each sensor and control panel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920678813.4U CN211300953U (en) | 2019-05-13 | 2019-05-13 | Movable lower limb exoskeleton rehabilitation robot and control system thereof |
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| CN201920678813.4U CN211300953U (en) | 2019-05-13 | 2019-05-13 | Movable lower limb exoskeleton rehabilitation robot and control system thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236875A (en) * | 2019-05-13 | 2019-09-17 | 广西科技大学 | A kind of movable lower limb exoskeleton rehabilitation robot and its control system |
| CN112545846A (en) * | 2020-12-29 | 2021-03-26 | 西北工业大学 | Power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition |
-
2019
- 2019-05-13 CN CN201920678813.4U patent/CN211300953U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236875A (en) * | 2019-05-13 | 2019-09-17 | 广西科技大学 | A kind of movable lower limb exoskeleton rehabilitation robot and its control system |
| CN112545846A (en) * | 2020-12-29 | 2021-03-26 | 西北工业大学 | Power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition |
| CN112545846B (en) * | 2020-12-29 | 2023-11-21 | 西北工业大学 | Power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition |
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Granted publication date: 20200821 |