WO2018014558A1 - 扶持康复训练机器人及其操作方法 - Google Patents

扶持康复训练机器人及其操作方法 Download PDF

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Publication number
WO2018014558A1
WO2018014558A1 PCT/CN2017/075083 CN2017075083W WO2018014558A1 WO 2018014558 A1 WO2018014558 A1 WO 2018014558A1 CN 2017075083 W CN2017075083 W CN 2017075083W WO 2018014558 A1 WO2018014558 A1 WO 2018014558A1
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WIPO (PCT)
Prior art keywords
joint
shoulder
motor
lower limb
support plate
Prior art date
Application number
PCT/CN2017/075083
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English (en)
French (fr)
Inventor
王春宝
段丽红
刘铨权
Original Assignee
广东铭凯医疗机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority claimed from CN201610564473.3A external-priority patent/CN105997437B/zh
Priority claimed from CN201610564443.2A external-priority patent/CN106109183B/zh
Priority claimed from CN201610564255.XA external-priority patent/CN106074090B/zh
Application filed by 广东铭凯医疗机器人有限公司 filed Critical 广东铭凯医疗机器人有限公司
Priority to US16/074,199 priority Critical patent/US11160715B2/en
Priority to JP2018539912A priority patent/JP6555790B2/ja
Priority to EP17830206.3A priority patent/EP3398579B1/en
Publication of WO2018014558A1 publication Critical patent/WO2018014558A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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Definitions

  • the invention belongs to the technical field of medical instruments, and particularly relates to an auxiliary rehabilitation training robot and an operation method thereof.
  • the present invention provides a supportive rehabilitation training robot by analyzing the physiological structure of the hip and The method of operation provides an efficient training platform for patient training.
  • a supportive rehabilitation training robot includes a crawler walking machine 1, a base 2, a lifting screw mechanism, a robot part and a weight mechanism.
  • the lifting screw mechanism comprises a guiding rod 3, a lead screw 4, an arm lifting platform 8 and a lifting motor 24;
  • the robot part comprises an arm connecting tube 11, a shoulder joint motor 12, an internal gear set 13, a shoulder joint harmonic reducer 14, a rotary joint Motor 15, boom support plate 16, rotary joint harmonic reducer 17, elbow joint motor 18, elbow joint support plate 19, bevel gear set 20, wrist universal joint 21, forearm support plate 22, elbow joint harmonic deceleration
  • the weight mechanism includes a weight base plate 5, a weight 6 and a guide rod 7 and a wire rope 9.
  • the crawler walking machine 1 is fixed on the base 2; the lifting mechanism is also fixed on the base 2;
  • the arm is fixed to the arm lifting platform 8 through the arm connecting tube 11, and the rotation of the lead screw 4 is driven by the lifting motor 24 to drive the arm lifting platform 8 to move up and down along the guiding rod 3 to realize the mechanical support for the patient to pick up the rehabilitation training;
  • the wire rope 9 and the pulley block 10 are connected to the arm lifting platform 8.
  • the robot is fixed on the arm connecting tube 11, the shoulder joint motor 12 is located in the arm connecting tube 11, the internal gear set 13, the shoulder joint harmonic reducer 14 and the boom supporting plate 16 are connected, and the shoulder spring mounting block 25 is used as an auxiliary support.
  • the arm support plate 16 is fixed, the shoulder spring is connected to the shoulder spring mounting block 25 and the shoulder support plate, and the shoulder joint motor 12 drives the arm to realize the forward flexion and extension movement around the shoulder joint;
  • the rotary joint motor 15 is fixed on the boom support plate 16, and the elbow joint support plate 19 is driven by the rotary joint harmonic reducer 17 to realize the internal rotation of the elbow joint around the boom;
  • the elbow joint motor 18 is fixed to the elbow joint support plate 19, and the large belt axle is driven by the bevel gear set 20 and the elbow joint timing belt 27, and the elbow joint harmonic reducer 23 is fixed on the large pulley shaft and the elbow spring mounting block 26 and the forearm
  • the support plates 22 are connected, and the elbow springs are coupled to the elbow spring mounting block 26 and the elbow joint support plate 19 to effect an extended flexion motion of the forearm support plate 22 about the elbow joint.
  • the weight mechanism is connected to the arm lifting platform 8 through the wire rope 9 and the pulley block 10, and provides a pulling force through the weighting block 6, acting on the entire platform, effectively achieving the effect of weight reduction.
  • the utility model further includes a lower body supporting robot and a lower body supporting lifting platform 7.
  • the lower body supporting robot is fixed by the lower limb arm connecting pipe 30 and the lower body supporting lifting platform 7.
  • the lower body supporting robot comprises: a lower limb arm connecting pipe 30, a lower limb shoulder joint motor 31, Lower limb shoulder support plate 32, lower limb shoulder spring mounting block 33, lower limb rotary joint motor 34, lower limb shoulder joint harmonic reducer 35, lower limb internal gear set 36, lower limb rotary joint harmonic reducer 37, lower limb elbow joint motor 38, Lower limb elbow joint support plate 39, lower limb bevel gear set 40, lower limb forearm support plate 41, lower limb wrist universal joint 42, lower limb elbow spring mounting block 43, exoskeleton harmonic reducer 44, lower limb elbow joint harmonic reducer 45
  • the device can realize the rehabilitation training of the three linear degrees of freedom and the two degrees of freedom of the human hip in the gait training process, and highly simulate the physiological movement of the hip in the gait training, and effectively enhance the rehabilitation training effect.
  • An operation method for supporting a rehabilitation training robot includes the following steps:
  • the shoulder of the trainee is fixed on the wrist joint of the upper limb by the strap, and the hip is fixed on the wrist joint 42 of the lower limb; the outer bone synchronous cover 50 is fixed to the vertical direction of the thigh. ;
  • the motor works in the torque mode: the shoulder joint motor drives the boom through the internal gear set and the shoulder joint harmonic reducer to realize the flexion and extension movement around the shoulder joint.
  • the rotary joint motor drives the elbow joint support plate through the rotary joint harmonic reducer to realize the internal rotation of the elbow joint around the boom;
  • the elbow joint motor drives the forearm support plate through the bevel gear set and the elbow joint timing belt to realize the forearm winding
  • the exoskeleton motor 46 drives the exoskeleton motor mounting plate 47 through the exoskeleton timing belt 48 and the exoskeleton harmonic reducer 44 to realize the gait guiding movement of the exoskeleton timing belt cover 50.
  • the linear freedom and the rotational freedom combine to exercise, which is highly compatible with the physiological movement of the human body in gait training;
  • the device has a flexible degree of freedom, which can highly simulate the operation of the therapist during the gait training;
  • a spring mounting block is respectively designed at the shoulder joint and the elbow joint, and the tensile force of the tension spring is used to offset the weight of the part of the structure, and the design safety is high;
  • the integral weight reducing device reduces the patient and the motor. Load; fifth, the lower body supports the manipulator's exoskeleton to have a guiding effect; sixth, the manipulator acts on the upper and lower body at the same time, which is beneficial to maintain the body balance during training.
  • FIG. 1 is a schematic structural view of an embodiment of a supportive rehabilitation training robot according to the present invention.
  • FIG. 2 is a schematic structural view of another embodiment of a supportive rehabilitation training robot according to the present invention; wherein, 1, a crawler type walking machine; 2, a base; 3, a screw guide rod; 4, a weight plate; 5, a lead screw ; 6, weights; 7, lower body support lifting platform; 8, upper limb elbow joint timing belt; 9, guide rod; 10, upper lifting platform motor; 11, wire rope; 12, upper body support lifting platform; 13, screw top plate ; 14, the pulley block; 15, the upper limb arm connecting tube; 16, the upper limb shoulder joint motor; 17, the upper limb shoulder support plate; 18, the upper limb internal gear set; 19, the upper limb shoulder joint harmonic reducer; 20, the upper limb rotary joint motor 21, upper limb shoulder spring mounting block; 22, upper limb big arm support plate; 23, upper limb rotary joint harmonic reducer; 24, upper limb elbow joint motor; 25, upper limb elbow joint support plate; 26, upper limb bevel gear set; , upper limb elbow joint harmonic reducer; 28, upper limb forearm support plate; 29, upper limb wrist universal
  • a supportive rehabilitation training robot includes a crawler walking machine 1, a base 2, a lifting screw mechanism, a robot part, and a weight mechanism.
  • the lifting screw mechanism comprises a guiding rod 3, a lead screw 4, an arm lifting platform 8 and a lifting motor 24;
  • the robot part comprises an arm connecting tube 11, a shoulder joint motor 12, an internal gear set 13, a shoulder joint harmonic reducer 14, a rotary joint Motor 15, boom support plate 16, rotary joint harmonic reducer 17, elbow joint motor 18, elbow joint support plate 19, bevel gear set 20, wrist universal joint 21, forearm support plate 22, elbow joint harmonic deceleration
  • the weight mechanism includes a weight base plate 5, a weight 6 and a guide rod 7 and a wire rope 9.
  • the crawler walking machine 1 is fixed on the base 2; the lifting mechanism is also fixed on the base 2; the robot is fixed to the arm lifting platform 8 through the arm connecting pipe 11, and the rotation of the screw 4 is driven by the lifting motor 24 to drive the arm lifting platform.
  • the up and down movement of the guide rod 3 enables the robot to support the patient to lift up the rehabilitation training; the weight mechanism is connected to the arm lifting platform 8 through the wire rope 9 and the pulley block 10.
  • the robot is fixed on the arm connecting tube 11, the shoulder joint motor 12 is located in the arm connecting tube 11, the internal gear set 13, the shoulder joint harmonic reducer 14 and the boom supporting plate 16 are connected, and the shoulder spring mounting block 25 is used as an auxiliary support.
  • the arm support plate 16 is fixed, the shoulder spring is connected to the shoulder spring mounting block 25 and the shoulder support plate, and the shoulder joint motor 12 drives the arm to realize the forward flexion and extension movement around the shoulder joint;
  • the rotary joint motor 15 is fixed on the boom support plate 16, and the elbow joint support plate 19 is driven by the rotary joint harmonic reducer 17 to realize the internal rotation of the elbow joint around the boom;
  • the elbow joint motor 18 is fixed to the elbow joint support plate 19, and the large belt axle is driven by the bevel gear set 20 and the elbow joint timing belt 27, and the elbow joint harmonic reducer 23 is fixed on the large pulley shaft and the elbow spring mounting block 26 and the forearm
  • the support plates 22 are connected, and the elbow springs are coupled to the elbow spring mounting block 26 and the elbow joint support plate 19 to effect an extended flexion motion of the forearm support plate 22 about the elbow joint.
  • the weight mechanism is connected to the arm lifting platform 8 through the wire rope 9 and the pulley block 10, and provides a pulling force through the weighting block 6, acting on the entire platform, effectively achieving the effect of weight reduction.
  • the utility model further includes a lower body supporting robot and a lower body supporting lifting platform 7.
  • the lower body supporting robot is fixed by the lower limb arm connecting pipe 30 and the lower body supporting lifting platform 7.
  • the lower body supporting robot comprises: a lower limb arm connecting pipe 30, a lower limb shoulder joint motor 31, Lower limb shoulder support plate 32, lower limb shoulder spring mounting block 33, lower limb rotary joint motor 34, lower limb shoulder joint harmonic reducer 35, lower limb internal gear set 36, lower limb rotary joint harmonic reducer 37, lower limb elbow joint motor 38, Lower limb elbow joint support plate 39, lower limb bevel gear set 40, lower limb forearm support plate 41, lower limb wrist universal joint 42, lower limb elbow spring mounting block 43, exoskeleton harmonic reducer 44, lower limb elbow joint harmonic reducer 45
  • the device can realize the rehabilitation training of the three linear degrees of freedom and the two degrees of freedom of the human hip in the gait training process, and highly simulate the physiological movement of the hip in the gait training, and effectively enhance the rehabilitation training effect.
  • An operation method for supporting a rehabilitation training robot includes the following steps:
  • the shoulder of the trainee is fixed on the wrist joint of the upper limb by the strap, and the hip is fixed on the wrist joint 42 of the lower limb; the outer bone synchronous cover 50 is fixed to the vertical direction of the thigh. ;
  • the motor works in the torque mode: the shoulder joint motor drives the boom through the internal gear set and the shoulder joint harmonic reducer to realize the flexion and extension movement around the shoulder joint.
  • the rotary joint motor drives the elbow joint support plate through the rotary joint harmonic reducer to realize the internal rotation of the elbow joint around the boom;
  • the elbow joint motor drives the forearm support plate through the bevel gear set and the elbow joint timing belt to realize the forearm winding
  • the exoskeleton motor 46 drives the exoskeleton motor mounting plate 47 through the exoskeleton timing belt 48 and the exoskeleton harmonic reducer 44 to realize the gait guiding movement of the exoskeleton timing belt cover 50.

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Abstract

一种扶持康复训练机器人及其操作方法，包括履带式步行机（1）、底座（2）、升降丝杠机构、机械手部分和配重机构。机械手部分包括肩关节、回转关节、肘关节和腕关节，每个关节都包含电机（12,15,18）、谐波减速器（14,17,23）、输出端。该扶持康复训练机器人及其操作方法可实现在步态训练过程中对人体髋部三个直线自由度和两个回转自由度的康复训练；可高度模拟髋部在步态训练中的生理运动，有效增强康复训练效果。

Description

扶持康复训练机器人及其操作方法 技术领域
本发明属于医疗器械技术领域，具体涉及一种扶持康复训练机器人及其操作方法。
背景技术
随着我国正逐步步入老龄化社会，老年人的健康越来越引起人们的重视，而对老年人健康造成重大威胁的病症中脑卒中占据了很大比率，因此针对脑卒中偏瘫后遗症的康复治疗尤为关键。而以偏瘫康复后期患者而言，平衡障碍和偏瘫步态是最大的困扰，因此对于步态的训练以及矫正须加以重视。
对于传统的步态康复训练，都是以治疗师为主导，手扶患者肩部或者髋部进行，在无法进行定量性的时间与强度的训练条件下，康复程度也因治疗师的个人经验与患者个人因素而异，不仅是对患者身心的考验，也是对治疗师身心的考验。现有的步态训练康复设备过于注重步行训练，而忽略了髋部的生理结构，不能综合的针对髋部的运动学分析设计，从而限制了步态训练的效果。
发明内容
为了解决现有技术存在的传统步态康复训练工作量大、效率低下和普通康复设备训练不全面、训练模式单一等问题，本发明通过分析髋部生理结构，提供一种扶持康复训练机器人及其操作方法，为患者训练提供一个高效的训练平台。
其技术方案为：
一种扶持康复训练机器人，包括履带式步行机1、底座2、升降丝杠机构、机械手部分和配重机构。
升降丝杠机构包括导杆3、丝杠4、手臂升降平台8和升降电机24；机械手部分包括手臂连接管11、肩关节电机12、内齿轮组13、肩关节谐波减速器14、回转关节电机15、大臂支撑板16、回转关节谐波减速器17、肘关节电机18、肘关节支撑板19、锥齿轮组20、腕部万向节21、前臂支撑板22、肘关节谐波减速器23、肩弹簧安装块25、肘弹簧安装块26和肘关节同步带27；配重机构包括配重底板5、配重块6和导向杆7和钢丝绳9。
进一步，履带式步行机1固定在底座2上；升降机构也固定在底座2上；机 械手通过手臂连接管11与手臂升降平台8固定，通过升降电机24驱动丝杠4的旋转，带动手臂升降平台8，沿着导杆3上下运动实现机械手扶持患者蹲起康复训练；配重机构通过钢丝绳9、滑轮组10与手臂升降平台8相连。
进一步，机械手固定在手臂连接管11上，肩关节电机12位于手臂连接管11内，内齿轮组13、肩关节谐波减速器14和大臂支撑板16相连，肩弹簧安装块25作为辅助支撑与大臂支撑板16固定，肩部弹簧连接着肩弹簧安装块25和肩部支撑板，由肩关节电机12带动大臂实现绕肩关节的前屈后伸运动；
回转关节电机15固定在大臂支撑板16上，通过回转关节谐波减速器17带动肘关节支撑板19，实现肘关节绕大臂的内旋外旋运动；
肘关节电机18固定肘关节支撑板19上，通过锥齿轮组20与肘关节同步带27带动大带轮轴，肘关节谐波减速器23固定在大带轮轴上且与肘弹簧安装块26、前臂支撑板22相连，肘部弹簧连接着肘弹簧安装块26与肘关节支撑板19，实现前臂支撑板22绕肘关节的伸展屈曲运动。
进一步，配重机构通过钢丝绳9和滑轮组10与手臂升降平台8相连，并通过配重块6提供拉力，作用于整个平台，有效的达到了减重的效果。
进一步，还包括下身扶持机械手和下身扶持升降平台7，下身扶持机械手通过下肢手臂连接管30与下身扶持升降平台7固定，所述下身扶持机械手包括：下肢手臂连接管30、下肢肩关节电机31、下肢肩部支撑板32、下肢肩弹簧安装块33、下肢回转关节电机34、下肢肩关节谐波减速器35、下肢内齿轮组36、下肢回转关节谐波减速器37、下肢肘关节电机38、下肢肘关节支撑板39、下肢锥齿轮组40、下肢前臂支撑板41、下肢腕部万向节42、下肢肘弹簧安装块43、外骨骼谐波减速器44、下肢肘关节谐波减速器45、外骨骼电机46、外骨骼电机安装板47、外骨骼同步带48、下肢肘关节同步带49和外骨骼同步带盖板50，配重机构通过钢丝绳11、滑轮组14分别与上身扶持升降平台12、下身扶持升降平台7相连。
进一步，该装置可实现在步态训练过程中对人体髋部三个直线自由度和两个回转自由度的康复训练，高度模拟髋部在步态训练中的生理运动，有效增强康复训练效果。
一种扶持康复训练机器人的操作方法，包括以下步骤：
首先用绑带将被训者肩部固定于上肢腕部万向节29上，髋部固定于下肢腕部万向节42上；再把外骨骼同步带盖板50以与大腿竖直方向固定；
实施被训者步态训练时，配合履带式步行机1，电机工作在力矩模式下：肩关节电机通过内齿轮组和肩关节谐波减速器带动大臂实现绕肩关节的前屈后伸运动；回转关节电机通过回转关节谐波减速器带动肘关节支撑板，实现肘关节绕大臂的内旋外旋运动；肘关节电机通过锥齿轮组与肘关节同步带带动前臂支撑板，实现前臂绕肘关节的伸展屈曲运动；外骨骼电机46通过外骨骼同步带48、外骨骼谐波减速器44带动外骨骼电机安装板47，实现以外骨骼同步带盖板50为引导的步态引导运动。
与现有技术相比，本发明的有益效果：
其一，其一，直线自由度与回转自由度组合运动，高度契合人体在步态训练中的生理运动；其二，装置自由度灵活，可以高度模拟治疗师在步态训练过程中的操作；其三，在肩关节与肘关节处都分别设计有弹簧安装块，利用拉伸弹簧的拉力抵消掉部分结构自身重量，设计安全性高；其四，整体式减重装置，降低患者与电机的负载；其五，下身扶持机械手外骨骼具有迈步引导作用；其六，机械手同时作用于上下身，有利于训练时保持身体平衡。
附图说明
图1为本发明一种扶持康复训练机器人的一个实施例的结构示意图；
图2为本发明一种扶持康复训练机器人的另外一个实施例的结构示意图；其中，1、履带式步行机；2、底座；3、丝杠导杆；4、配重底板；5、丝杠；6、配重块；7、下身扶持升降平台；8、上肢肘关节同步带；9、导向杆；10、上升降平台电机；11、钢丝绳；12、上身扶持升降平台；13、丝杠顶板；14、滑轮组；15、上肢手臂连接管；16、上肢肩关节电机；17、上肢肩部支撑板；18、上肢内齿轮组；19、上肢肩关节谐波减速器；20、上肢回转关节电机；21、上肢肩弹簧安装块；22、上肢大臂支撑板；23、上肢回转关节谐波减速器；24、上肢肘关节电机；25、上肢肘关节支撑板；26、上肢锥齿轮组；27、上肢肘关节谐波减速器；28、上肢前臂支撑板；29、上肢腕部万向节；30、下肢手臂连接管；31、下肢肩关节电机；32、下肢肩部支撑板；33、下肢肩弹簧安装块；34、下肢回转关节电机；35、下肢肩关节谐波减速器；36、下肢内齿轮组；37、下肢回转关节谐波减 速器；38、下肢肘关节电机；39、下肢肘关节支撑板；40、下肢锥齿轮组；41、下肢前臂支撑板；42、下肢腕部万向节；43、下肢肘弹簧安装块；44、外骨骼谐波减速器；45、下肢肘关节谐波减速器；46、外骨骼电机；47、外骨骼电机安装板；48、外骨骼同步带；49、下肢肘关节同步带；50、外骨骼同步带盖板；51、上肢肘弹簧安装块；52、下升降平台电机。
具体实施方式
下面结合附图与具体实施方式对本发明作进一步详细地说明。
参照图1，本发明实施例的一种扶持康复训练机器人，包括履带式步行机1、底座2、升降丝杠机构、机械手部分和配重机构。
升降丝杠机构包括导杆3、丝杠4、手臂升降平台8和升降电机24；机械手部分包括手臂连接管11、肩关节电机12、内齿轮组13、肩关节谐波减速器14、回转关节电机15、大臂支撑板16、回转关节谐波减速器17、肘关节电机18、肘关节支撑板19、锥齿轮组20、腕部万向节21、前臂支撑板22、肘关节谐波减速器23、肩弹簧安装块25、肘弹簧安装块26和肘关节同步带27；配重机构包括配重底板5、配重块6和导向杆7和钢丝绳9。
进一步，履带式步行机1固定在底座2上；升降机构也固定在底座2上；机械手通过手臂连接管11与手臂升降平台8固定，通过升降电机24驱动丝杠4的旋转，带动手臂升降平台8，沿着导杆3上下运动实现机械手扶持患者蹲起康复训练；配重机构通过钢丝绳9、滑轮组10与手臂升降平台8相连。
进一步，机械手固定在手臂连接管11上，肩关节电机12位于手臂连接管11内，内齿轮组13、肩关节谐波减速器14和大臂支撑板16相连，肩弹簧安装块25作为辅助支撑与大臂支撑板16固定，肩部弹簧连接着肩弹簧安装块25和肩部支撑板，由肩关节电机12带动大臂实现绕肩关节的前屈后伸运动；
回转关节电机15固定在大臂支撑板16上，通过回转关节谐波减速器17带动肘关节支撑板19，实现肘关节绕大臂的内旋外旋运动；
肘关节电机18固定肘关节支撑板19上，通过锥齿轮组20与肘关节同步带27带动大带轮轴，肘关节谐波减速器23固定在大带轮轴上且与肘弹簧安装块26、前臂支撑板22相连，肘部弹簧连接着肘弹簧安装块26与肘关节支撑板19，实现前臂支撑板22绕肘关节的伸展屈曲运动。
进一步，配重机构通过钢丝绳9和滑轮组10与手臂升降平台8相连，并通过配重块6提供拉力，作用于整个平台，有效的达到了减重的效果。
进一步，还包括下身扶持机械手和下身扶持升降平台7，下身扶持机械手通过下肢手臂连接管30与下身扶持升降平台7固定，所述下身扶持机械手包括：下肢手臂连接管30、下肢肩关节电机31、下肢肩部支撑板32、下肢肩弹簧安装块33、下肢回转关节电机34、下肢肩关节谐波减速器35、下肢内齿轮组36、下肢回转关节谐波减速器37、下肢肘关节电机38、下肢肘关节支撑板39、下肢锥齿轮组40、下肢前臂支撑板41、下肢腕部万向节42、下肢肘弹簧安装块43、外骨骼谐波减速器44、下肢肘关节谐波减速器45、外骨骼电机46、外骨骼电机安装板47、外骨骼同步带48、下肢肘关节同步带49和外骨骼同步带盖板50，配重机构通过钢丝绳11、滑轮组14分别与上身扶持升降平台12、下身扶持升降平台7相连。
进一步，该装置可实现在步态训练过程中对人体髋部三个直线自由度和两个回转自由度的康复训练，高度模拟髋部在步态训练中的生理运动，有效增强康复训练效果。
一种扶持康复训练机器人的操作方法，包括以下步骤：
首先用绑带将被训者肩部固定于上肢腕部万向节29上，髋部固定于下肢腕部万向节42上；再把外骨骼同步带盖板50以与大腿竖直方向固定；
实施被训者步态训练时，配合履带式步行机1，电机工作在力矩模式下：肩关节电机通过内齿轮组和肩关节谐波减速器带动大臂实现绕肩关节的前屈后伸运动；回转关节电机通过回转关节谐波减速器带动肘关节支撑板，实现肘关节绕大臂的内旋外旋运动；肘关节电机通过锥齿轮组与肘关节同步带带动前臂支撑板，实现前臂绕肘关节的伸展屈曲运动；外骨骼电机46通过外骨骼同步带48、外骨骼谐波减速器44带动外骨骼电机安装板47，实现以外骨骼同步带盖板50为引导的步态引导运动。
以上所述，仅为本发明较佳的具体实施方式，本发明的保护范围不限于此，任何熟悉本技术领域的技术人员在本发明披露的技术范围内，可显而易见地得到的技术方案的简单变化或等效替换均落入本发明的保护范围内。

Claims (6)

  1. 一种扶持康复训练机器人，包括履带式步行机1、底座2、升降丝杠机构、机械手部分和配重机构；
    升降丝杠机构包括导杆(3)、丝杠(4)、手臂升降平台(8)和升降电机(24)；机械手部分包括手臂连接管(11)、肩关节电机(12)、内齿轮组(13)、肩关节谐波减速器(14)、回转关节电机(15)、大臂支撑板(16)、回转关节谐波减速器(17)、肘关节电机(18)、肘关节支撑板(19)、锥齿轮组(20)、腕部万向节(21)、前臂支撑板(22)、肘关节谐波减速器(23)、肩弹簧安装块(25)、肘弹簧安装块(26)和肘关节同步带(27)；配重机构包括配重底板(5)、配重块(6)和导向杆(7)和钢丝绳(9)。
  2. 根据权利要求1所述的扶持康复训练机器人，其特征在于：履带式步行机(1)固定在底座(2)上；升降机构也固定在底座(2)上；机械手通过手臂连接管(11)与手臂升降平台(8)固定，通过升降电机(24)驱动丝杠(4)的旋转，带动手臂升降平台(8)，沿着导杆(3)上下运动实现机械手扶持患者蹲起康复训练；配重机构通过钢丝绳(9)、滑轮组(10)与手臂升降平台(8)相连。
  3. 根据权利要求1所述的扶持康复训练机器人，其特征在于：所述机械手固定在手臂连接管(11)上，肩关节电机(12)位于手臂连接管(11)内，内齿轮组(13)、肩关节谐波减速器(14)和大臂支撑板(16)相连，肩弹簧安装块(25)作为辅助支撑与大臂支撑板(16)固定，肩部弹簧连接着肩弹簧安装块(25)和肩部支撑板，由肩关节电机(12)带动大臂实现绕肩关节的前屈后伸运动；
    回转关节电机(15)固定在大臂支撑板(16)上，通过回转关节谐波减速器(17)带动肘关节支撑板(19)，实现肘关节绕大臂的内旋外旋运动；
    肘关节电机(18)固定肘关节支撑板(19)上，通过锥齿轮组(20)与肘关节同步带(27)带动大带轮轴，肘关节谐波减速器(23)固定在大带轮轴上且与肘弹簧安装块(26)、前臂支撑板(22)相连，肘部弹簧连接着肘弹簧安装块(26)与肘关节支撑板(19)，实现前臂支撑板(22)绕肘关节的伸展屈曲运动。
  4. 根据权利要求1所述的扶持康复训练机器人，其特征在于：还包括下身扶持升降平台(7)和下身扶持机械手包括：下肢手臂连接管(30)、下肢肩关节电机(31)、下肢肩部支撑板(32)、下肢肩弹簧安装块(33)、下肢回转关节电 机(34)、下肢肩关节谐波减速器(35)、下肢内齿轮组(36)、下肢回转关节谐波减速器(37)、下肢肘关节电机(38)、下肢肘关节支撑板(39)、下肢锥齿轮组(40)、下肢前臂支撑板(41)、下肢腕部万向节(42)、下肢肘弹簧安装块(43)、外骨骼谐波减速器(44)、下肢肘关节谐波减速器(45)、外骨骼电机(46)、外骨骼电机安装板(47)、外骨骼同步带(48)、下肢肘关节同步带(49)和外骨骼同步带盖板(50)；下身扶持机械手通过下肢手臂连接管(30)与下身扶持升降平台(7)固定，分别由上升降平台电机(10)和下升降平台电机(52)带动上身扶持升降平台(12)和下身扶持升降平台(7)，沿着丝杠导杆(3)上下运动实现机械手扶持患者蹲起康复训练；配重机构通过钢丝绳(11)、滑轮组(14)分别与上身扶持升降平台(12)、下身扶持升降平台(7)相连。
  5. 根据权利要求4所述的扶持康复训练机器人，其特征在于：所述配重机构通过钢丝绳(11)和滑轮组(14)分别与上身扶持升降平台(12)、下身扶持升降平台(7)相连，并通过配重块(6)提供拉力。
  6. 一种权利要求1所述的扶持康复训练机器人的操作方法，其特征在于，包括以下步骤：
    首先用绑带将被训者肩部固定于上肢腕部万向节(29)上，髋部固定于下肢腕部万向节(42)上；再把外骨骼同步带盖板(50)以与大腿竖直方向固定；
    实施被训者步态训练时，配合履带式步行机(1)，电机工作在力矩模式下：肩关节电机通过内齿轮组和肩关节谐波减速器带动大臂实现绕肩关节的前屈后伸运动；回转关节电机通过回转关节谐波减速器带动肘关节支撑板，实现肘关节绕大臂的内旋外旋运动；肘关节电机通过锥齿轮组与肘关节同步带带动前臂支撑板，实现前臂绕肘关节的伸展屈曲运动；外骨骼电机(46)通过外骨骼同步带(48)、外骨骼谐波减速器(44)带动外骨骼电机安装板(47)，实现以外骨骼同步带盖板(50)为引导的步态引导运动。
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