WO2019037776A1

WO2019037776A1 - Knee joint rehabilitation robot and control method therefor

Info

Publication number: WO2019037776A1
Application number: PCT/CN2018/102197
Authority: WO
Inventors: 张剑韬; 朱岩; 胡昆; 沈林鹏; 杨嘉林; 熊麟霏; 励建安
Original assignee: 深圳市罗伯医疗科技有限公司
Priority date: 2017-08-24
Filing date: 2018-08-24
Publication date: 2019-02-28

Abstract

A knee joint rehabilitation robot, comprising a thigh casing (1), a calf casing (2), a hydraulic rod (3), a hydraulic cylinder (4), and a free piston (42) and an inner spring (43) arranged inside the hydraulic cylinder (4). An end portion of the hydraulic cylinder (4) is provided with a cylinder end cap (41), an end portion of the hydraulic rod (3) is fixedly provided with a first blocking piece (31), the hydraulic rod (3) is sleeved with an inner compression spring (39), a first cavity (45) used for accommodating a liquid is formed between the first blocking piece (31) and the cylinder end cap (41), a second cavity (46) used for accommodating a liquid is formed between the first blocking piece (31) and the free piston (42), the first blocking piece (31) is provided with at least one first through hole (311), and the hydraulic rod (3) is provided with a flow adjustment apparatus. The knee joint rehabilitation robot controls different damping forces according to different walking states. Also provided is a control method for the knee joint rehabilitation robot.

Description

Knee joint rehabilitation robot and control method thereof

Technical field

The present application belongs to the field of rehabilitation medical device technology, and more particularly to a knee joint rehabilitation robot and a control method thereof.

Background technique

The existing knee rehabilitation training device simply fixes the trainer to the thigh and the lower leg through the thigh bracket and the calf bracket, and provides a certain damping force by providing a spring or a hydraulic cylinder between the thigh bracket and the calf bracket, but In the process of use, the damping force cannot be controlled, the knee joint can not provide sufficient resistance during the straightening process, and there is a risk that the knee joint will cause mechanical damage during the rehabilitation training, resulting in poor rehabilitation training effect.

Summary of invention

technical problem

The purpose of the present application is to provide a knee joint rehabilitation robot, which aims to solve the problem that the damping force of the rehabilitation knee joint rehabilitation training device in the prior art cannot be controlled during use, and the knee joint cannot provide sufficient resistance during the straightening process. There is a risk that the knee joint will cause mechanical damage during rehabilitation training, resulting in poor rehabilitation training.

Problem solution

Technical solution

In order to solve the above technical problem, the present application provides a knee joint rehabilitation robot, and also provides a control method for a knee joint rehabilitation robot.

A knee rehabilitation robot includes a thigh housing for fixing to the thigh, a calf housing hinged to the thigh housing and fixed to the calf, a hydraulic rod hingedly disposed on the thigh housing, and a sliding sleeve on the hydraulic rod a hydraulic cylinder hinged to the outside of the calf housing, a free piston inside the hydraulic cylinder, and an inner spring respectively abutting the bottom of the free piston and the hydraulic cylinder, and the end of the hydraulic cylinder is provided with a cylinder end slidably connected to the hydraulic rod The cover, the hydraulic rod is fixed at the end of the hydraulic cylinder and is provided with a first blocking piece which is slidably engaged with the inner wall of the hydraulic cylinder, and the hydraulic rod is provided with an inner compression spring, and one end of the inner compression spring abuts against the cylinder end cover, The other end of the compression spring abuts against the first blocking piece, and the first blocking piece and the cylinder end cover form a first cavity for accommodating the liquid, and the first blocking piece and the free piston form a first portion for accommodating the liquid a second cavity, the first blocking piece is provided with at least one first through hole for communicating the first cavity and the second cavity, and the hydraulic rod is provided with a control for opening or closing the first through hole and flowing through the first pass Flow rate of pore liquid Adjustment device.

The knee joint rehabilitation robot control method comprises: the pressure sensor detects the pressure on the sole of the foot, the angle sensor detects the angle between the thigh shell and the calf shell; transmits the detected pressure signal and the angle signal to the controller; the controller receives the pressure The signal and the angle signal determine the current motion state of the knee joint; the controller controls the flow regulating device to adjust the flow of the liquid passing through the first through hole according to the current motion state of the knee joint to control the damping force between the hydraulic rod and the hydraulic cylinder.

Details of one or more embodiments of the present application are set forth in the accompanying drawings and description below. Other features, objects, and advantages of the invention will be apparent from the description and appended claims.

Advantageous effects of the invention

Brief description of the drawing

DRAWINGS

1 is a schematic structural view of a knee joint rehabilitation robot according to an embodiment of the present application;

2 is a cross-sectional view showing the assembly of a hydraulic rod and a hydraulic cylinder used in an embodiment of the present application;

3 is a schematic bottom view of a second flap used in an embodiment of the present application;

4 is a schematic top plan view of a second flap used in an embodiment of the present application;

FIG. 5 is a schematic top plan view of a first flap used in an embodiment of the present application; FIG.

6 is a schematic structural view of an elastic plate used in an embodiment of the present application;

7 is a schematic structural view of an embodiment of a joint limiting mechanism of the present application;

Figure 8 is a front elevational view of the embodiment of Figure 7;

Figure 9 is a cross-sectional view taken along line A-A of Figure 8;

10 is a schematic structural view of an embodiment of a second connecting body in the joint limiting mechanism of the present application;

11 is a schematic structural view of an embodiment of a first connecting body in the joint limiting mechanism of the present application;

12 is a schematic view showing the second connecting body of the joint limiting mechanism of the present application in a first extreme position;

Figure 13 is a schematic view showing the rotation state of the second connecting body of the joint limiting mechanism of the present application;

Figure 14 is a schematic view showing the interference state of the joint limiting mechanism of the present application;

Fig. 15 is a graph showing the driving force of the knee joint swing period.

Invention embodiment

Embodiments of the invention

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.

Please refer to FIG. 1 to FIG. 5 together. The knee rehabilitation robot provided by the present application will now be described. a knee rehabilitation robot comprising a thigh housing 3 for fixing to the thigh, a calf housing 2 hinged to the thigh housing 1 and fixed to the calf, and a hydraulic rod 3 hingedly disposed on the thigh housing 1 a hydraulic cylinder 4 that is sleeved on the outer side of the hydraulic rod 3 and hinged with the lower leg housing 2, a free piston 42 disposed inside the hydraulic cylinder 4, and an inner spring 43 that is respectively provided with the free piston 42 and the hydraulic cylinder 4 The bottom of the hydraulic cylinder 4 is provided with a cylinder end cover 41 slidably coupled to the hydraulic rod 3, and the end of the hydraulic rod 3 located inside the hydraulic cylinder 4 is provided with a first gear that is slidably engaged with the inner wall of the hydraulic cylinder 4. The sheet 31 is provided with an inner compression spring 39, and one end of the inner compression spring 39 abuts against the cylinder end cover 41, and the other end of the inner compression spring 39 abuts against the first flap 31, the first flap A first cavity 45 for accommodating a liquid is formed between the first end piece 31 and the free piston 42 , and a second cavity 46 for accommodating the liquid is formed between the first baffle 31 and the free piston 42 . There is at least one first through hole 311 for connecting the first cavity 45 and the second cavity 46, and the hydraulic rod 3 is provided thereon. Flow control whether the first through hole 311 and the opening and closing of the flow rate of the liquid flowing through the first through hole 311 of the adjusting device.

When the length of the hydraulic rod 3 extending out of the hydraulic cylinder 4 is increased, the angle between the thigh housing 1 and the calf housing 2 is increased, that is, the angle of the knee joint is increased, and the knee joint is opened, at this time, the first The liquid within the cavity 45 gradually enters the second cavity 46, and the inner compression spring 39 is compressed to provide resistance to the increase in knee joint angle. When the hydraulic rod 3 is retracted into the hydraulic cylinder 4, the angle between the thigh housing 1 and the calf housing 2 is reduced, that is, the knee joint is bent, and at this time, the liquid in the second chamber 46 gradually enters the first chamber. Body 45, inner compression spring 39 is released and inner spring 43 is compressed to provide resistance to knee flexion.

The knee rehabilitation robot is fixed to the thigh through the thigh housing 1, and the calf housing 2 is fixed on the lower leg. The thigh housing 1 is hinged to the calf housing 2 and connected by the hydraulic rod 3 and the hydraulic cylinder 4, and the knee joint can be provided. The damping force for the rehabilitation training is provided by the first through hole 311 for communicating the first cavity 45 and the second cavity 46 on the first flap 31 on the hydraulic rod 3, and the first pass is controlled by the flow regulating device The opening and closing of the hole 311 and the flow of the liquid flowing through the first through hole 311 when the liquid is exchanged between the first cavity 45 and the second cavity 46 can control the damping force between the hydraulic rod 3 and the hydraulic cylinder 4, according to Different walking states control different damping forces, and at the same time, an inner spring 43 is arranged in the hydraulic cylinder 4 by fitting an inner compression spring 39 on the hydraulic rod 3 to provide cushioning resistance during the opening or bending of the knee joint. In addition, more accurate control of the frequency of gait greatly shortens the time of knee rehabilitation training, improves efficiency, and has better recovery effect.

Referring to FIG. 1 to FIG. 5 , the flow regulating device includes a second blocking piece 32 and a driving mechanism. The second blocking piece 32 is rotatably connected to the first blocking piece 31 , and the second blocking piece 32 is opened for the first through hole 311 . a communicating second through hole 321 , the driving mechanism is disposed on the hydraulic rod 3 , and is capable of driving the second blocking piece 32 to rotate and controlling whether the first through hole 311 and the second through hole 321 are connected and controlling the first through hole 311 and the first The degree of coincidence of the two through holes 321 . By opening the second through hole 321 in the second blocking piece 32, the driving mechanism can adjust the degree of coincidence of the first through hole and the second through hole 321 to change the liquid of the second cavity 46 into the first cavity 45. Speed, which in turn changes the damping force. The liquid located in the first cavity 45 and the second cavity 46 is hydraulic oil. Optionally, the number of the first through holes 311 is eight, the number of the second through holes 321 is eight, and is evenly arranged on the first flap 31 and the second flap 32, respectively, and the first through holes 311 It is equal in size to the diameter of the second through hole 321 .

Referring to FIG. 1 to FIG. 4, the driving mechanism includes a driving motor 33 and a driving shaft 35. The driving motor 33 is disposed at an end of the hydraulic rod 3 exposed to the hydraulic cylinder 4. The driving motor 33 has a motor shaft, and one end of the driving shaft 35 and the motor shaft The other end is connected to the second flap 32. The second flap 32 is located between the first flap 31 and the free piston 42. The drive shaft 35 extends through the hydraulic rod 3. The drive shaft 35 is fixedly coupled to the second flap 32. The second flap 32 is provided with a fixed drive. The mounting hole 322 of the shaft 35 is convenient for installation, convenient to use, and driven by the drive motor 33 for automatic control.

Referring to FIG. 2, the end of the hydraulic rod 3 is provided with a receiving groove for accommodating the driving motor 33, and the end of the driving motor 33 is provided with a rod end cover 34 for covering the receiving groove for facilitating the mounting of the driving motor 33, and It is convenient to position the drive motor 33 using the rod end cover 34 for maintenance and processing.

Referring to FIG. 1 and FIG. 2, the outer end of the rod end cover 34 is hinged to the thigh housing 1 for easy installation and disassembly, and is convenient for separate processing. The first flap 31 is integrally formed with the hydraulic rod 3, which is convenient for production, improves the production efficiency, and ensures the joint strength. A sliding bearing 38 is disposed between the second flap 32 and the inner wall of the hydraulic rod 3 to reduce the frictional force and facilitate the adjustment of the position of the second flap 32. Referring to FIG. 1 and FIG. 2 , as a specific embodiment of the knee rehabilitation robot provided by the present application, the hydraulic rod 3 is screwed with an adjustment nut 36 , and the outer circumference of the hydraulic rod 3 is provided with an outer spring 37 , and the outer spring 37 One end abuts against the adjusting nut 36, and the other end of the outer spring 37 abuts against the cylinder end cover 41. When the knee joint is bent, the outer spring 37 is compressed to provide resistance to knee flexion, and when the knee joint is opened, the outer spring 37 is released.

Referring to FIG. 1, a hinge portion 44 hinged to the calf housing 2 is provided on the outer side surface of the bottom of the hydraulic cylinder 4. Specifically, the lower leg housing 2 is fixed with a mounting block 7 for articulating with the hinge portion 44. Referring to FIG. 1 , as a specific embodiment of the knee rehabilitation robot provided by the present application, the knee rehabilitation robot further includes a controller and a foot rest 6 , and the leg rest 6 is connected with the calf housing 2 for placing the sole of the foot. The knee rehabilitation robot is worn and has a supporting effect. The leg rest 6 is provided with a plurality of pressure sensors, and the forefoot and the heel on the leg rest 6 are provided with pressure sensors, such as the forefoot pressure sensor 91 and the heel pressure sensor 92 shown in FIG. A pressure sensor is coupled to the controller to enable the detected pressure signal to be sent to the controller.

In addition, the controller is mounted on the mounting block 7, and the controller is electrically connected to the flow regulating device to control the flow regulating device. Specifically, the controller is electrically connected to the driving motor 33, and by controlling the magnitude of the current flowing through the driving motor 33 and controlling the forward and reverse rotation of the driving motor 33, whether the driving motor 33 opens and closes the first through hole 311 and flows through the first The flow rate of a through hole 311 liquid is controlled. The mounting block 7 is further provided with a control switch 8 electrically connected to the drive motor 33, and the energization or de-energization of the drive motor 33 can be controlled by pressing the control switch 8.

Referring to Figures 1 and 6, the footrest 6 and the calf housing 2 are connected by an elastic plate 5. The elastic plate 5 includes a first connecting plate 51 fixedly coupled to the lower leg housing 2, a second connecting plate 52 fixedly coupled to the footrest 6 and movably coupled to the first connecting plate 51, and the first connecting plate 51 and the first connecting plate 51 The top wire 53 of the two connecting plates 52 is locked. By movably inserting the first connecting plate 51 and the second connecting plate 52, it is convenient to adjust the specificity between the leg rest 6 and the calf housing 2 to adapt to the different leg lengths of the patient, thereby ensuring that the knee joint rehabilitation robot can be accurate. Wear positioning to help improve recovery.

Referring to FIGS. 1 and 7, the thigh housing 1 and the calf housing 2 are connected by a joint limiting mechanism to limit the relative rotation angle between the thigh housing 1 and the calf housing 2 to prevent joint rotation. The angle is too large, and the limit function is realized to facilitate the recovery of the damaged joint. An angle sensor is mounted on the joint limiting mechanism, and the angle sensor is connected to the controller, and the angle sensor can detect the angle between the thigh housing 1 and the calf housing 2, and send the detected angle information to the controller, so that The controller determines the movement posture of the human body. The controller can accurately determine the movement posture of the human leg according to the foot pressure information fed back by the pressure sensor and the angle information between the thigh shell and the calf shell fed back by the angle sensor, and drive the motor 33 according to different motion postures. Take control.

In this embodiment, a joint limiting mechanism includes a first connecting body 100, a second connecting body 200 and a shaft body 300. The first connecting body 100 and the second connecting body 200 are hinged to each other and form a hinge point, and the angle sensor can be installed. At the hinge point. Specifically, the second connecting body 200 is provided with a hinge portion including a pair of hinged seats 212. The first connecting body 100 is disposed between the two hinged seats 212 and hinged by the shaft body 300. The first connecting body 100 and the second connecting body 200 are respectively provided with a first connecting structure 130 and a second connecting structure 240 for connecting with the external structure, and the first connecting structure 130 is disposed on the first connecting body 100. Four through holes can be fastened to the thigh housing 1 by using fasteners, and the second connecting structure 240 is four counterbores provided on the inclined surface 250 of the second connecting body 200. The fastening of the calf housing 2 can be made by using fasteners.

8 is a front view of the embodiment shown in FIG. 7, and FIG. 9 is a cross-sectional view taken along line AA of FIG. 8. Referring to FIG. 8 and FIG. 9, the shaft body 300 includes a shaft 310 and a fixed end 320, and the first connecting body 100 and the The second connecting body 200 rotates around the shaft 310. One end of the shaft 310 is provided with a fixed end 320, which unilaterally limits the shaft 310 along its axial direction, and the other end of the shaft 310 is provided with a mounting structure. The structure is specifically a threaded hole 311. One end of the shaft 310 provided with a threaded hole is fitted with a fixing plate 330. The fixing plate 330 is provided with a first disk hole 331 for connecting with the shaft 310 and four for the hinge seat. 212 fixedly connected second disc hole 332, the fixing disc 330 is fixedly mounted with the shaft 310 by a fastener, for example, screwed into the threaded hole 311 of the shaft 310 for fastening installation, and screwed into the hinge seat by screws The corresponding threaded hole 213 on the 212 realizes the circumferential fastening limit, so that the other side of the shaft 310 along its axial direction is also limited, so that the first connecting body 100 and the second connecting body 200 are hinged reliably, preventing both Separate from each other. The first connecting body 100 and the second connecting body 200 are respectively provided with a first connecting structure 130 and a second connecting structure 240 for connecting with the external structure, and the first connecting structure 130 and the second connecting structure 240 are used by using the fasteners. The first connecting body 100 and the second connecting body 200 are respectively fastened to the thigh housing 1 and the calf housing 2, respectively.

Referring to FIG. 10, in the embodiment, the first connecting body 100 has a plate shape with a certain thickness and has two mutually parallel plate faces 110. The first connecting body 100 is provided with a first hinge hole 120. The first connecting body 100 is provided with a first edge 101, a second edge 102 and a third edge 103 between the two plate faces 110, and the three are connected in sequence. The second connecting body 200 is movable along the first edge 101 and has a first extreme position and a second extreme position at both ends of the first edge 101, wherein the second connecting body 200 and the first embodiment are shown in FIG. The first extreme position at which the two edges 102 abut. If the second connecting body 200 moves in the opposite direction along the first edge 101, there must be a stop of the movement of the second connecting body 200 along the first edge 101, that is, the second connecting body 200 must be away from the second edge 102 on the first edge 101. One end has a second extreme position.

In some embodiments, the first edge 101 is a circular arc surface that is concentric with the hinge hole 120, the second edge 102 is a plane, the third edge 103 is a circular arc surface, and the second edge 102 and the first edge 101 Tangent to the third edge 103. The intersection of the second edge 102 and the first edge 101 is projected on the plate surface 110 as a point B. The axis of the hinge hole 120 is projected on the plate surface as a point C, and the projection of the second edge 102 on the plate surface 110 is a line d, the line BC of the two projection points is perpendicular to the projection line d of the second edge 102 on the board surface 110, and the foot is a point B, and the angle of the arc of the first edge 101 is 90°. The radius of the third edge 103 is smaller than the radius of the first edge 101. In the first extreme position, the second connecting body 200 is in line contact with the first edge and is in surface contact with the second edge 102, and in the second extreme position, the second connecting body and the first edge There is a line contact between the ends of 101 away from the second edge 102.

In addition, the first connecting body 100 is provided with a first connecting structure 130 for connecting with an external structure, and the first connecting structure 130 is four through holes penetrating through the two plate faces 110 of the first connecting body 100, and can be used by using The fastener is fastened to the external structure. Specifically, the external structure is any one of the thigh housing 1 and the calf housing 2. 10 and FIG. 11, FIG. 10 is a schematic structural view of an embodiment of the first connecting body 100 in the joint limiting mechanism of the present application, and FIG. 11 is a structure of an embodiment of the second connecting body 200 in the joint limiting mechanism of the present application. The second connecting body 200 is provided with a hinge portion. The hinge portion includes a pair of hinged seats 212. A sliding surface 211 is formed between the two hinged seats 212. The first connecting body 100 is located at the pair of hinged seats 212. And hinged by a shaft body 300. After the hinge mounting, the sliding surface 211 is in contact with the second edge 102 of the first connecting body 100, the sliding surface 211 is rotated along the first edge 101, and the second edge 102 is used for The two connectors 200 are limited in relation to the rotation of the first connector 100.

In order to prevent the structure from generating a large resistance, the second connecting body 200 is further provided with two limiting devices for second limiting the second connecting body 200, respectively being the first limiting device 220 and the second limiting device 230. . The first limiting device 220 is for limiting the limit position of the second connecting body 200 to rotate along the first edge 101, and the second limiting device 230 is for preventing the second connecting body 200 from moving along the second edge 102. The first limiting device 220 and the second limiting device 230 are contact type limiting switches, and combined with the structural design of the first connecting body 100, mechanically and electronically limit the second connecting body. In this embodiment, the first limiting device 220 is in contact with the first edge 101 of the first connecting body 100 when the second connecting body reaches the second extreme position, that is, the first limiting device 220 and the first connecting body 100 When the first edge 101 is in contact, the second connecting body 200 is located at the second extreme position. In the second extreme position, the control circuit is cut off, so that the second connecting body 200 stops moving to reach the limit function; the second limiting device 230 is When the second connecting body 200 reaches the first limit position, it contacts the third edge 103 of the first connecting body 100, thereby cutting off the control circuit, so that the second connecting body 200 stops rotating, and the second connecting body 200 and the first connecting body are avoided. There is an abnormal contact such as collision or squeezing between 100, causing a stagnation. The second limiting device 230 is in contact with the third edge 103 of the first connecting body 100, and the third edge 103 is disposed as a circular arc surface. In other embodiments of the solution, the third edge 103 may also be set to other Structure, such as a chamfer plane. In an embodiment, the first limiting device and the second limiting device may also be limit stops. When the second connecting body moves to the first limit position, the second limiting device abuts the third edge. Thereby, the second connecting body is limited; when the second connecting body moves to the second extreme position, the first limiting device abuts against the first edge of the first connecting body, thereby limiting the second connecting body.

In one embodiment, the first limiting device and the second limiting device may also be non-contact limiting switches, and when the second connecting body reaches the rotation threshold, the rotation is stopped by the limit switch signal, combined with the first connecting body. The structural design is to mechanically and electronically limit the second connecting body. When the second connecting body moves to the first limit position, the second limiting device approaches the third edge of the first connecting body, and when the distance between the two connecting devices reaches a certain range, the second limiting device sends out to the control unit The signal causes the second connecting body to stop moving to limit the second connecting body; when the second connecting body moves to the second extreme position, the first limiting device approaches the first edge of the first connecting body, and the distance is reached When the range is certain, the first limiting device will send a signal to the control unit to stop the movement of the second connecting body and limit the second connecting body.

12 and FIG. 13, the second connecting body 200 rotates, the sliding surface 211 moves along the first edge 101 and has two extreme positions, respectively a first extreme position and a second extreme position; the second connecting body 200 is along the first When the edge 101 moves clockwise to reach the first limit position, the second edge 102 abuts against the second connecting body 200, causing interference, that is, the state shown in FIG. 12, at this time, the sliding body is in line contact with the first edge 101, and In contact with the second edge 102, if the second connector 200 continues to rotate clockwise, it will be squeezed with the second edge to assume a state as shown in FIG. 14, so that the second connector 200 cannot continue to be hinged. Turn the clockwise to achieve the limit. When the second connecting body 200 reaches the first limit position, the second limit switch 230 contacts the third edge 103, thereby cutting off the control circuit, so that the second connecting body stops rotating in the clockwise direction, preventing the second connecting body Squeeze with the second edge, causing the movement to become stuck.

13 is a schematic view showing the rotation state of the second connecting body 200 in the joint limiting mechanism of the present application. Referring to FIG. 13 and referring to the orientation in the drawing, when the second connecting body 200 is rotated counterclockwise about the shaft 310, the second connecting body 200 The upper sliding surface 211 slides along the first edge 101 of the first connecting body 100, and the contact mode is line contact, the sliding is smooth and smooth, and the joint is flexibly moved; the first limiting device is disposed on both sides of the sliding surface 211 220 and the second limiting device 230. In this embodiment, the first limiting device 220 and the second limiting device 230 are both contact type limit switches, and the second connecting body 200 rotates counterclockwise to the second extreme position. The first limiting device 220 is in contact with the first connecting body 100, thereby cutting off the control circuit, so that the second connecting body 200 stops rotating in the counterclockwise direction, preventing the rotation angle thereof from being excessive with respect to the first connecting body 100 or The first connecting body 100 collides. At this time, the second limiting device 230 is separated from the second edge 102 and the third edge 103 of the first connecting member 100, and does not function as a limit.

14 is a schematic view showing the interference state of the joint limiting mechanism of the present application. Referring to FIG. 14, when the second connecting body 200 has a tendency to continue clockwise rotation around the shaft 310, the sliding surface 211 on the second connecting body 200 has a direction. The third edge 103 on the first connecting body 100 has a tendency to slide, but since the sliding surface 211 abuts against the second edge 102 and is in planar contact with each other, the second edge 102 forms physical interference with the sliding surface, thereby forming a The limit on the angular movement of the joint. If the second connecting body 200 forcibly rotates clockwise around the shaft 310, it may cause jamming or wear, and in severe cases, a crush deformation 400 may be generated between the first connecting body 100 and the second connecting body 200. In an embodiment of the present embodiment, the second connecting body 200 is provided with a first limiting device 220 and a second limiting device 230, which can prevent the second connecting body 200 from rotating excessively with respect to the first connecting body 100 to cause collision between the two. Or wear. When the second connecting body 200 is in the limit position, the second limiting device 230 is in contact with the third edge 103, so that the control circuit is disconnected, and the second connecting body 200 stops rotating toward the third edge 103 to prevent it from connecting with the first connection. The bodies 100 are squeezed against each other due to interference, causing sticking. The first limiting device 220 is separated from the first edge 101 on the first connecting member 100 and does not function as a limit.

The application also provides a knee joint rehabilitation robot control method. The knee joint rehabilitation robot control method comprises the following steps: the pressure sensor detects the pressure on the sole of the foot, the angle sensor detects the angle between the thigh shell and the calf shell; transmits the detected pressure signal and the angle signal to the controller; the controller receives The pressure signal and the angle signal determine the current motion state of the knee joint; the controller controls the flow regulating device to adjust the flow of the liquid passing through the first through hole according to the current motion state of the knee joint to control the damping force between the hydraulic rod and the hydraulic cylinder .

The knee joint rehabilitation robot control method provided by the present application controls the opening of the first through hole 311 by the flow regulating device, and controls the flow velocity of the first through hole 311, so that the swinging state of the knee joint rehabilitation robot can be freely oscillated close to the free state, which is greatly The time for knee rehabilitation training is shortened, the efficiency is improved, and the recovery effect is better.

The current state of motion of the knee joint includes the support period and the swing period, and the support period includes the pre-support period and the support period. Since the pressure sensor is installed at the heel of the foot rest and the forefoot, the controller will receive the pressure signal feedback from the pressure sensor at different positions in the different motion states of the knee joint, and the angle sensor will also feed back to the controller differently. The angle changes the signal so that the controller accurately determines the motion state of the knee joint.

In the middle of the support, the controller receives the pressure signal sent by the pressure sensor located at the heel, and does not receive the pressure signal sent by the pressure sensor on the forefoot until the pressure sensor of the forefoot begins to have a pressure signal to the controller, and the angle The sensor detects that the angle between the thigh shell and the calf shell gradually increases until the knee joint is at an angle θ2 when it is in a straight state. During this movement period, the knee joint angle gradually becomes larger to θ2, the length of the hydraulic rod 3 extending out of the hydraulic cylinder 4 is increased, and the flow regulating device adjusts the flow rate of the liquid passing through the first through hole to decrease until the first through hole is closed to make the liquid Unable to flow, due to the incompressibility of the liquid, the hydraulic rod can be gradually provided with a larger supporting force for the supporting leg, and the inner compression spring 39 fitted on the hydraulic rod is compressed to provide resistance for the knee joint to open.

At the end of the support, the controller receives the pressure signal sent by the pressure sensor at the forefoot, does not receive the pressure signal sent by the pressure sensor located at the heel, and the angle sensor detects the angle between the thigh shell and the calf shell from The angle θ2 gradually decreases. During this movement period, the knee joint angle is gradually reduced, the hydraulic rod 3 is gradually contracted into the hydraulic cylinder 4, the flow regulating device adjusts the opening of the first through hole, adjusts the flow of the liquid through the first through hole, the inner spring 43 and the outer spring 37 is compressed to provide resistance for the knee to bend gradually.

During the swing period, the controller does not receive the pressure signal sent by the pressure sensor of the forefoot and the heel, and the angle sensor detects that the angle between the thigh shell and the calf shell first decreases to a minimum angle θ1, after which the thigh housing The angle between the shell and the calf shell is increased to achieve the extension of the calf. That is, at the beginning of the swing, the knee joint angle is gradually reduced to θ1, and then the knee joint angle is gradually increased as the calf is extended.

When the knee joint is at the beginning of the swing, the knee joint angle is reduced, the hydraulic rod 3 continues to contract to the inside of the hydraulic cylinder 4, the flow regulating device adjusts the flow rate of the liquid passing through the first through hole, and the inner spring 43 and the outer spring 37 are compressed. The knee is gradually bent to provide resistance. When the calf is advanced, the knee joint angle is increased, the flow regulating device adjusts the flow of the liquid passing through the first through hole, the inner compression spring 39 is compressed to provide resistance for the knee joint to open, and the hydraulic rod provides resistance for the swinging calf. Until the heel is in contact with the ground, the knee joint is in the middle of the support.

In one embodiment, the flow regulating device includes a second blocking piece and a driving mechanism. The second blocking piece is provided with a second through hole communicating with the first through hole, and the driving mechanism drives the second blocking piece to rotate to control the first pass. Whether the hole communicates with the second through hole and controls the degree of coincidence of the first through hole and the second through hole, thereby adjusting the flow rate of the liquid passing through the first through hole.

See Figure 15 for a comparison of measured and non-driven knee joint oscillations. As can be seen from Fig. 15, the knee joint receives the positive driving force at the beginning of the swinging phase, and then receives the resistance, and is subjected to the resistance during the straightening process. Since the driving force comes from the free bending of the knee joint when the thigh is swung, Corresponding resistance needs to be provided in this process, and the resistance can be achieved by the inner spring 43, the outer spring 37 and the inner compression spring 39, respectively.

The walking process is divided into a swing phase and a support phase. When the phase is supported, a large supporting force needs to be provided at this time. At this time, the first through hole 311 and the second block on the first blocking piece 31 on the hydraulic rod 3 need to be adjusted. The second through holes 321 in the sheet 32 are not overlapped, so that the liquid cannot flow, and a large supporting force can be provided due to the incompressibility of the liquid.

When the phase is oscillated, the hydraulic rod 3 is first subjected to pressure so that it moves into the hydraulic cylinder 4. At this time, the first through hole 311 on the first flap 31 can be adjusted by the driving motor 33 driving the second flap 32 to rotate. The degree of coincidence with the second through hole 321 on the second flap 32 can further adjust the speed at which the liquid enters the first cavity 45 from the second cavity 46, thereby damping. After the leg swings to the maximum position, the front swing is required. At this time, the leg is freely swung to the straight state by the inertia action, and the second through piece 32 is still rotated by the drive motor 33, so that the first through hole 311 and the second pass can be adjusted. The degree of coincidence between the holes 321 can control the speed of the flow rate, thereby controlling the frequency of the corresponding gait.

Claims

a knee rehabilitation robot characterized by comprising a thigh housing for fixing on a thigh, a calf housing hinged to the thigh housing and fixed to the calf, and hingedly disposed on the thigh housing a hydraulic rod, a hydraulic cylinder slidingly disposed outside the hydraulic rod and hinged with the calf housing, a free piston disposed inside the hydraulic cylinder, respectively abutting the bottom of the free piston and the hydraulic cylinder An inner spring, an end of the hydraulic cylinder is provided with a cylinder end cover slidably connected to the hydraulic rod, and an end of the hydraulic rod located in the hydraulic cylinder is fixedly provided with a sliding fit with an inner wall of the hydraulic cylinder a first blocking piece, the hydraulic rod is provided with an inner compression spring, one end of the inner compression spring abuts against the cylinder end cover, and the other end of the inner compression spring abuts against the first blocking piece a first cavity for accommodating a liquid is formed between the first baffle and the cylinder end cover, and a second cavity for accommodating a liquid is formed between the first baffle and the free piston. At least one of the first flap is provided for Passing through the first through hole of the first cavity and the second cavity, the hydraulic rod is provided with a flow for controlling whether the first through hole is opened and closed and flows through the first through hole liquid Flow regulating device.
The knee rehabilitation robot according to claim 1, wherein said flow regulating device comprises a second flap and a driving mechanism, said second flap being rotatably coupled to said first flap, said second flap a second through hole for communicating with the first through hole, the driving mechanism being disposed on the hydraulic rod, and capable of driving the second flap to rotate to control the first through hole and the first Whether the two through holes are connected and controlling the degree of coincidence of the first through holes and the second through holes.
A knee rehabilitation robot according to claim 2, wherein said drive mechanism comprises a drive motor and a drive shaft, said drive motor being disposed at an outer end of said hydraulic rod, said drive shaft for connecting said Driving a motor shaft of the motor and the second flap, the second flap being located between the first flap and the free piston.
The knee joint rehabilitation robot according to claim 3, wherein an end of the hydraulic rod is provided with a receiving groove for accommodating the driving motor, and an end of the driving motor is provided with a cover for receiving the receiving groove. a rod end cover, the outer end of the rod end cover being hinged to the thigh housing, and the outer side of the bottom of the hydraulic cylinder is provided with a hinge portion hinged with the calf housing.
The knee rehabilitation robot according to claim 2, wherein a sliding bearing is provided between the second flap and an inner wall of the hydraulic rod.
The knee joint rehabilitation robot according to claim 1, wherein the hydraulic rod is screwed with an adjusting nut, and an outer circumference of the hydraulic rod is provided with an outer spring, and one end of the outer spring is opposite to the adjusting nut. Then, the other end of the outer spring abuts the cylinder end cover.
The knee rehabilitation robot according to claim 1, further comprising a controller and a footrest, wherein the footrest is coupled to the calf housing, and the footrest is provided with a plurality of pressure sensors. The pressure sensor is disposed on the forefoot and the heel on the footrest, and the pressure sensor can send the detected pressure signal to the controller, and the controller is connected to the flow regulating device.
The knee joint rehabilitation robot according to claim 7, wherein the leg rest and the calf shell are connected by the elastic plate, and the elastic plate includes a fixed connection with the calf shell. a connecting plate, a second connecting plate fixedly connected to the footrest and movably inserted with the first connecting plate, and a top wire capable of locking the first connecting plate and the second connecting plate.
The knee joint rehabilitation robot according to claim 7, further comprising a joint limiting mechanism and an angle sensor, wherein the thigh housing and the calf housing are connected by the joint limiting mechanism. a joint limiting mechanism for defining a relative rotation angle between the thigh housing and the calf housing, the angle sensor being mounted on the joint limiting mechanism, the angle sensor capable of measuring the measured position Angle information between the thigh housing and the calf housing is sent to the controller.
The knee joint rehabilitation robot according to claim 9, wherein the joint limiting mechanism includes a first connecting body and a second connecting body, the first connecting body being for connecting with the thigh housing, the first a second connecting body for connecting with the calf housing, the first connecting body and the second connecting body are hinged to each other and form a hinge point, and the first connecting body is provided with a first edge and a second edge The second connecting body is movable along the first edge and has a second extreme position on the first edge away from one end of the second edge, and a first resistance against the second edge Extreme position.
The knee joint rehabilitation robot according to claim 10, wherein the first edge is a circular arc surface, the hinge point is a center, and the second edge is a plane, and the first edge One side is tangent; in the first extreme position, the second connecting body is in line contact with the first edge and is in surface contact with the second edge, in the second extreme position The second connecting body is in line contact with the end of the first edge away from the second edge.
The knee joint rehabilitation robot according to claim 10 or 11, wherein the second connecting body is provided with a first limiting device, and the first limiting device is along the second connecting body When the first edge moves to the second extreme position, the first connecting body abuts and is limited.
The knee joint rehabilitation robot according to claim 12, wherein the second connecting body is further provided with a second limiting device, wherein the second limiting device moves to the second connecting body to the The first limit position is in abutment with the first connecting body and is limited.
The knee joint rehabilitation robot according to claim 13, wherein the first connecting body is further provided with a third edge connected to the second edge, and the second connecting body is at the first In the extreme position, the second limiting device is in contact with the third edge.
The knee rehabilitation robot according to claim 14, wherein said third edge is a circular arc surface, and said second edge is tangent to said third edge.
The knee rehabilitation robot according to claim 10, wherein said second connecting body is provided with a hinge portion, said hinge portion comprising a pair of hinged seats, said first connecting body being located at said two hinges Between the seats, and hinged through a shaft.
The knee joint rehabilitation robot control method is characterized in that the method comprises the following steps: the pressure sensor detects the pressure on the sole of the foot, the angle sensor detects the angle between the thigh shell and the calf shell; and transmits the detected pressure signal and the angle signal to the control The controller receives the pressure signal and the angle signal, and determines the current motion state of the knee joint; the controller controls the flow regulating device to adjust the flow of the liquid passing through the first through hole according to the current motion state of the knee joint to control the hydraulic rod and the hydraulic cylinder The damping force between them.
The knee joint rehabilitation robot control method according to claim 17, wherein the current state of motion of the knee joint comprises a support period and a swing period, and the support period includes a pre-support medium-term and a support period; and in the middle stage of the support, the controller receives The pressure signal sent by the pressure sensor located at the heel does not receive the pressure signal sent by the pressure sensor located at the forefoot, and the angle sensor detects that the angle between the thigh shell and the calf shell gradually increases; The controller receives the pressure signal sent by the pressure sensor located at the forefoot, does not receive the pressure signal sent by the pressure sensor located at the heel, and the angle sensor detects that the angle between the thigh shell and the calf shell gradually decreases; During the swing period, the calf is extended, the controller does not receive the pressure signal sent by the pressure sensor of the forefoot and the heel, and the angle sensor detects that the angle between the thigh shell and the calf shell gradually increases.
The knee joint rehabilitation robot control method according to claim 18, wherein when the knee joint is in the middle of the support, the knee joint angle is gradually increased, and the flow regulating device adjusts the flow rate of the liquid passing through the first through hole to be reduced until the first seal is closed. Through hole, the hydraulic rod gradually provides supporting force for the supporting leg, and the inner compression spring set on the hydraulic rod is compressed to provide resistance for the knee joint opening; when the knee joint is in the late stage of support, the knee joint angle is gradually reduced, and the flow regulating device Adjusting the opening of the first through hole, adjusting the flow rate of the liquid passing through the first through hole, the inner spring is compressed to provide resistance for the knee joint to gradually bend; when the knee joint is in the swinging period, the knee joint angle is reduced at the initial stage of the swing, and the flow regulating device is adjusted Through the liquid flow rate of the first through hole, the inner spring is compressed to provide resistance for the knee joint to gradually bend, after which the calf is extended and the knee joint angle is increased, and the flow regulating device adjusts the flow rate of the liquid passing through the first through hole to be reduced, and the hydraulic rod is The oscillating lower leg provides resistance until the heel is in contact with the ground so that the knee joint is in the middle of the support.
The knee joint rehabilitation robot control method according to claim 17, wherein the flow regulating device comprises a second blocking piece and a driving mechanism, and the second blocking piece is provided with a second through hole communicating with the first through hole, and the driving mechanism The second flap is driven to rotate to control whether the first through hole communicates with the second through hole and control the coincidence degree of the first through hole and the second through hole, thereby adjusting the flow rate of the liquid passing through the first through hole.