WO2021169352A1 - 一种用于下肢康复训练的可穿戴移动式机器人 - Google Patents

一种用于下肢康复训练的可穿戴移动式机器人 Download PDF

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Publication number
WO2021169352A1
WO2021169352A1 PCT/CN2020/124593 CN2020124593W WO2021169352A1 WO 2021169352 A1 WO2021169352 A1 WO 2021169352A1 CN 2020124593 W CN2020124593 W CN 2020124593W WO 2021169352 A1 WO2021169352 A1 WO 2021169352A1
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WO
WIPO (PCT)
Prior art keywords
flexion
joint
bowden wire
motor
knee joint
Prior art date
Application number
PCT/CN2020/124593
Other languages
English (en)
French (fr)
Inventor
谢龙汉
王智厚
黄国威
刘有为
刘彪
周子康
梁秉宏
Original Assignee
华南理工大学
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Publication date
Application filed by 华南理工大学 filed Critical 华南理工大学
Publication of WO2021169352A1 publication Critical patent/WO2021169352A1/zh

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Classifications

    • 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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor

Definitions

  • the invention relates to the field of rehabilitation medical equipment, in particular to a wearable mobile robot used for lower limb rehabilitation training.
  • the invention has a semi-enclosing frame structure, and each front and rear ends are provided with power transmission devices to connect the front and rear sides of the patient's lower limbs respectively. Control the rotation of the motor, coordinate with the stretching and tightening movement of the Bowden cable, drive the limb movement of the patient's lower limbs connected to it, and assist the patient's lower limbs to complete rehabilitation training.
  • a wearable mobile robot for lower limb rehabilitation training including a movable body, a lifting training space frame installed on the movable body, and a flexible wearable actuator worn on the lower limbs of the human body;
  • the movable body includes a body motion mechanism, a power supply and a sensing mechanism, a lifting mechanism, and a visual sensing mechanism;
  • the training space frame includes a front waist transmission mechanism, a rear waist transmission mechanism, a rear waist turning mechanism, a controller, and an operation panel , Safety acceleration and deceleration button;
  • the flexible wearable actuator includes a Bowden wire transmission mechanism, a tension sensor mechanism, and integrated flexible pants;
  • the body movement mechanism is installed on the bottom of the movable body to provide power for the movement of the movable body;
  • the power supply and sensing mechanism are installed on the bottom of the movable vehicle body to provide power supply power and sensing output;
  • the lifting mechanism is installed in the middle part where the movable body and the lifting training space frame are connected, and is used to meet the use requirements of patients of different heights, and automatically adjust the height of the lifting training frame according to the different heights of the users;
  • the visual sensor mechanism is used to record the movement of the user's lower limbs, extract the spatial position information of the user's lower limbs, and feedback to control the movement of the robot;
  • the front waist transmission mechanism is installed at the front of the lifting training space frame to provide power for the stretching exercises of the ankle, knee, and hip joints of the human limbs;
  • the rear waist transmission mechanism is installed at the rear of the lifting training space frame to provide power for the flexion movement of the ankle, knee, and hip joints of the human body;
  • the back waist turning mechanism is installed at the connection between the lifting training space frame and the back waist transmission mechanism, and the back waist transmission mechanism is turned up after the human body enters the lifting training space frame, which can facilitate the direction of the back waist transmission, It can also ensure the safety of the human body during the training process;
  • the controller and the operation panel are installed on the left side of the lifting training space frame, and the medical staff sends instructions to the controller to control the motor through the operation panel;
  • the safety acceleration and deceleration button is installed at the top armrest of the lifting training space frame. During the training process, the user presses the button to accelerate and decelerate the vehicle body and walking training speed according to his own needs. Stop button to ensure safety;
  • the Bowden wire transmission mechanism is wound and distributed along the integrated flexible trousers, and transmits the power of the lifting training space frame to the human limbs;
  • the tension sensor mechanism is installed at the end of the Bowden wire transmission mechanism as a control information feedback and tension safety monitoring;
  • the integrated flexible trousers are worn on the human body during the training process to provide the Bowden wire transmission mechanism with a force point for pulling the lower limbs to move.
  • the body motion mechanism is a double-sided structure, and one side accessories include a movable roller rear wheel, a body motion transmission motor, a body motion transmission motor reducer, a transmission output pulley shaft, a movable roller mounting plate, a front wheel transmission belt, Rear wheel drive belt, movable roller front wheel, body motion drive motor mounting plate;
  • the body movement transmission motor is installed on the body movement transmission motor mounting plate and is fixedly connected to the bottom of the movable body, the body movement transmission motor output shaft is fixedly connected to the input end of the body movement transmission motor reducer, and the body movement transmission motor decelerates
  • the output disk of the device is fixedly connected with the transmission output pulley shaft, and the torque increased by the body motion transmission motor after deceleration is transmitted to the movable roller rear wheel through the rear wheel transmission belt, and is transmitted to the movable roller front wheel through the front wheel transmission belt.
  • the movable roller The rear wheel and the movable roller front wheel are fixedly connected to the bottom rear cross beam of the movable body frame and the front cross beam of the movable body frame through the movable roller mounting plates installed at the front and rear of the bottom of the movable body;
  • the above-mentioned parts and position relationship of the body motion mechanism on one side and the parts and position relationship on the other side are in mirror symmetry with respect to the central axis of the movable body.
  • the power supply and sensing mechanism are double-sided mechanisms, and one side accessories include tension sensor amplifier, tension sensor amplifier mounting rail, tension sensor amplifier mounting rail mounting, power supply mounting rail, power supply mounting rail mounting, and motor power supply safety Power supply, sensor power supply safety power supply;
  • the above-mentioned power supply and sensing mechanism includes the accessories and position relationship on one side and the accessories and position relationship included on the other side in a mirror symmetry relationship with respect to the central axis of the movable vehicle body.
  • the lifting mechanism is a double-sided mechanism, and one side accessories include lifting motor mounting parts, lifting mechanism transmission motor, lifting mechanism transmission motor reducer, transmission screw lower mounting seat, thrust ball bearing, transmission screw, lifting column bearing seat , Guide rod guide sleeve, lifting guide rod, lifting guide rod mounting seat, lifting mechanism dust-proof cloth, lifting mechanism coupling, lifting lower bearing plate, lifting plate, lifting upper bearing plate, transmission nut.
  • the fittings and positional relationship included on one side of the above-mentioned lifting mechanism and the fittings and positional relationship included on the other side are in a mirror symmetry relationship with respect to the central axis surface of the movable vehicle body.
  • the vision sensing mechanism is a double-sided mechanism, and one side accessories include a lens, a camera, and a movable pan/tilt;
  • the positional relationship between the accessories on the side of the visual sensing mechanism is: the lens and the camera are mounted on a movable pan-tilt, the angle and position of the lens are adjusted as required; the movable movement is fixedly connected to the lifting mechanism of the lifting mechanism On the board.
  • the accessory and positional relationship included on one side of the visual sensing mechanism and the accessory and positional relationship included on the other side are mirror-symmetrical with respect to the central axis of the movable vehicle body.
  • the accessory and positional relationship included on one side of the front waist transmission mechanism and the accessory and positional relationship included on the other side are in a mirror symmetry relationship with respect to the central axis of the movable vehicle body.
  • the posterior waist transmission mechanism is a bilateral mechanism
  • one side accessories include posterior waist motor mounting plate, posterior waist motor driver mounting plate, flexion hip joint motor, flexion knee joint motor, flexion ankle joint motor, flexion hip joint motor Driver, flexion knee joint motor driver, flexion ankle joint motor driver, flexion hip joint core guide exit, flexion knee joint core guide exit, flexion ankle joint core guide exit, posterior waist guide wheel installation box, flexion hip joint guide wheel , Flexion knee joint guide wheel, flexion ankle joint guide wheel, flexion hip joint motor output shaft, flexion knee joint motor output shaft, flexion ankle joint motor output shaft, rear waist Bowden wire core guide wheel installation, rear waist Bowden Wire core guide wheel.
  • the accessory and positional relationship included on one side of the rear waist transmission mechanism and the accessory and positional relationship included on the other side are mirror-symmetrical with respect to the central axis of the movable vehicle body.
  • the rear waist turning mechanism is a double-sided mechanism, and one side accessories include a rear waist turning motor mounting plate, a rear waist turning motor, a rear waist turning motor reducer mounting seat, a rear waist turning motor reducer, and a rear waist turning coupling Axle, rear waist flip front axle mount, rear waist flip front axle, rear waist flip forearm, rear waist flip rear arm, rear waist flip shell, rear waist flip rear axle, rear waist flip rear axle bearing, rear waist flip rear axle Mounting seat, rear waist flip rear axle mounting seat mounting plate.
  • the accessory and positional relationship included on one side of the rear waist turnover mechanism and the accessory and positional relationship included on the other side are in mirror symmetry with respect to the central axis of the movable vehicle body.
  • the Bowden wire transmission mechanism is a bilateral mechanism, and one side of accessories includes a stretched hip joint Bowden wire shell, a knee joint Bowden wire shell, an ankle joint Bowden wire shell, and a hip joint stretched Bowden wire shell.
  • the fittings and positional relationship included on one side of the Bowden wire transmission mechanism and the fittings and positional relationship included on the other side are in a mirror symmetry relationship with respect to the central axis of the movable vehicle body.
  • the tensile force sensor mechanism is a double-sided mechanism, and one side accessory includes a tensile knee joint tensile force sensor, a tensile ankle joint tensile force sensor, a flexed knee joint tensile force sensor, a flexed ankle joint tensile force sensor, a tensile force sensor upper connector, and a tensile force.
  • the lower connector of the sensor includes a tensile knee joint tensile force sensor, a tensile ankle joint tensile force sensor, a flexed knee joint tensile force sensor, a flexed ankle joint tensile force sensor, a tensile force sensor upper connector, and a tensile force.
  • the accessories and positional relationship included on one side of the above-mentioned tension sensor mechanism and the accessories and positional relationship included on the other side are in a mirror symmetry relationship with respect to the central axis of the integrated flexible pants.
  • the integrated flexible trousers include flexible trousers, a Bowden wire shell fixed waist belt, a knee joint Bowden wire shell flexible belt, an ankle joint Bowden wire shell flexible belt, and a hip joint Bowden wire core flexible belt , Fixed knee joint Bowden wire core toughness belt, shoes.
  • the present invention has the following advantages:
  • the invention can replace the work of the rehabilitation therapist, assist the patient's lower limbs to perform natural gait health training through the rehabilitation robot, and reduce the work intensity of the rehabilitation therapist; the wearable flexible fabric integrated with Bowden thread is used as the actuator, which reduces The robot's interference with the subtle movements of the human body's lower limbs is conducive to the patient's natural gait; the use of a mobile body design increases the patient's pleasure and realism in the rehabilitation process, which is beneficial to improve the rehabilitation efficacy; the use of a semi-enclosed work space The design helps to protect the safety of patients during training; adjust the stiffness of the arms to adapt to users of different heights. At the same time, by tracking the position of the lower limbs through the visual sensor mechanism, the patient's ability to complete rehabilitation training tasks is improved.
  • Fig. 1 is a schematic structural diagram of a wearable mobile robot for lower limb rehabilitation training according to an embodiment of the present invention.
  • Fig. 2 is a schematic structural diagram of a movable vehicle body according to an embodiment of the present invention.
  • Fig. 3 is a schematic diagram of a flexible wearing structure in an embodiment of the present invention.
  • Fig. 4 is a schematic diagram of the structure of the back waist turnover mechanism in the embodiment of the present invention.
  • Figure 5 is a side view of the structure of the lifting training frame in the embodiment of the present invention.
  • Fig. 6 is a top view of the structure of one side of the lifting training frame in the embodiment of the present invention.
  • a wearable mobile robot for lower limb rehabilitation training includes a movable body, a lifting training space frame mounted on the movable body, and a flexible wearable on the lower limbs of the human body Actuator;
  • the movable body includes a body movement mechanism, a power supply and a sensing mechanism, a lifting mechanism, and a visual sensing mechanism;
  • the training space frame includes a front waist transmission mechanism, a rear waist transmission mechanism, a rear waist turning mechanism, a controller, and an operation panel 2.
  • the flexible wearable actuator includes a Bowden wire transmission mechanism, a tension sensor mechanism, and integrated flexible pants;
  • the body movement mechanism is installed on the bottom of the movable body to provide power for the movement of the movable body;
  • the power supply and sensing mechanism are installed on the bottom of the movable vehicle body to provide power supply power and sensing output;
  • the lifting mechanism is installed in the middle part where the movable body and the lifting training space frame are connected, and is used to meet the use requirements of patients of different heights, and automatically adjust the height of the lifting training frame according to the different heights of users;
  • the visual sensor mechanism is used to record the movement of the user's lower limbs, extract the spatial position information of the user's lower limbs, and feedback to control the movement of the robot;
  • the front waist transmission mechanism is installed at the front of the lifting training space frame to provide power for the stretching exercises of the ankle, knee, and hip joints of the human limbs;
  • the rear waist transmission mechanism is installed at the rear of the lifting training space frame to provide power for the flexion movement of the ankle, knee, and hip joints of the human body;
  • the back waist turning mechanism is installed at the connection between the lifting training space frame and the back waist transmission mechanism, and the back waist transmission mechanism is turned up after the human body enters the lifting training space frame, which can facilitate the direction of the back waist transmission, It can also ensure the safety of the human body during the training process;
  • the controller and the operating panel 2 are installed on the left side of the lifting training space frame, and the medical staff sends instructions to the controller to control the motor through the operating panel;
  • the safety acceleration and deceleration button 1 is installed at the top armrest of the lifting training space frame. During the training process, the user presses the button to accelerate and decelerate the vehicle body and walking training speed according to his own needs, and press it when he feels unwell. Emergency stop button to ensure safety;
  • the Bowden wire transmission mechanism is wound and distributed along the integrated flexible trousers, and transmits the power of the lifting training space frame to the human limbs;
  • the tension sensor mechanism is installed at the end of the Bowden wire transmission mechanism as a control information feedback and tension safety monitoring;
  • the integrated flexible trousers are worn on the human body during the training process to provide the Bowden wire transmission mechanism with a force point for pulling the lower limbs to move.
  • the body motion mechanism is a double-sided mechanism, and one side of the accessories includes a movable roller rear wheel 25, a body motion transmission motor 24, a body motion transmission motor reducer 27, and a transmission output pulley shaft 29 , Movable roller mounting plate 20, front wheel transmission belt 30, rear wheel transmission belt 26, movable roller front wheel 32, body motion transmission motor mounting plate 28;
  • the positional relationship between the accessories on the side of the body motion mechanism is: the body motion transmission motor 24 is mounted on the body motion transmission motor mounting plate 28 and fixedly connected to the bottom of the movable body, and the body motion transmission motor output shaft 29 is connected to the body
  • the input end of the motion transmission motor reducer 27 is fixedly connected, and the output disc of the body motion transmission motor reducer 27 is fixedly connected to the transmission output pulley shaft 29, and the torque increased by the body motion transmission motor 24 after deceleration is transmitted through the rear wheel transmission belt 26
  • the movable roller rear wheel 25 is transmitted to the movable roller front wheel 32 through the front wheel transmission belt 30, and the movable roller rear wheel 25 and the movable roller front wheel 32 are installed on the movable roller mounting plate 20 at the front and rear of the movable vehicle body.
  • the above-mentioned parts and position relationship of the body motion mechanism on one side and the parts and position relationship on the other side are in mirror symmetry with respect to the central axis of the movable body.
  • the power supply and the sensing mechanism are double-sided mechanisms, and one side accessories include the tension sensor amplifier 14, the tension sensor amplifier mounting rail 15, the tension sensor amplifier mounting rail mounting piece 16, and the power supply mounting rail 22.
  • the positional relationship between the power supply and the accessories on the side of the sensing mechanism is: the motor-powered safety power supply 17 and the sensor-powered safety power supply 18 are installed on the power supply mounting rail 22, and the tension sensor amplifier 14 is installed on the tension sensor amplifier mounting rail 15.
  • the power supply mounting rail 22 is fixed to the power supply mounting rail mounting member 23 by screws
  • the tension sensor amplifier mounting rail 15 is fixed to the tension sensor amplifier mounting rail mounting member 16 by screws
  • the power supply mounting rail mounting member 23 and The frame short vertical beam 19 of the movable body is connected
  • the tension sensor amplifier mounting rail mounting member 16 is connected to the frame long vertical beam 40 of the movable body through a right-angle connector, and the frame of the movable body is long
  • the vertical beam 40 is a long steel structure
  • the motor power supply safety power supply 17 is a body motion transmission motor 24, a lifting mechanism transmission motor 13, a stretch hip joint motor 113, a stretch knee joint motor 114, and a stretch ankle joint motor 111
  • the sensor power supply safety power supply 18 is the stretch knee joint tension sensor 53, the stretch ankle joint tension sensor 57, and the flexion knee joint tension
  • the sensor 63 and the flexion ankle joint tension sensor 60 provide energy sources, and the tension sensor amplifier 14 collects the stretch knee joint tension sensor 53, the stretch ankle joint tension sensor 57, and the flexion knee joint tension sensor 63 in the tension sensor mechanism.
  • the information of the flexion ankle joint tension sensor 60 is transmitted to the controller and the operation panel 2 as the feedback input and safety monitoring of the controller;
  • the above-mentioned power supply and sensing mechanism includes the accessories and position relationship on one side and the accessories and position relationship included on the other side in a mirror symmetry relationship with respect to the central axis of the movable vehicle body.
  • the lifting mechanism is a double-sided mechanism, and one side accessories include a lifting motor mounting part 11, a lifting mechanism transmission motor 13, a lifting mechanism transmission motor reducer 12, and a lower mounting seat 34 for the transmission screw.
  • the positional relationship between the accessories on one side of the lifting mechanism is: the lifting mechanism drive motor 13 is mounted on the lower lifting bearing plate 33 through the lifting motor mounting part 11, the output end of the lifting mechanism drive motor 13 and the lifting mechanism drive motor reducer 12 The input end is fixedly connected, the output end of the drive motor reducer 12 of the lifting mechanism and the lower end of the drive screw 37 are connected through the lifting mechanism coupling 10, and the drive nut 36 installed on the lifting plate 8 is matched with the drive screw 37 through a thread pair; the drive screw 37 The lower end of the shaft shoulder is fitted to the shaft hole of the thrust ball bearing 35 in the lower mounting seat 34 of the drive screw mounted on the lower lifting bearing plate 33; the lifting mechanism is fixed on the movable body through the lower lifting bearing plate 33 The middle part of the frame long vertical beam 40 is fixed on the top of the frame long vertical beam 40 of the movable body through the upper lifting bearing plate 38; it is installed on the lifting upper bearing plate 38 through the lifting guide rod mounting seat 9 The lifting guide rod 6 between the lifting and lower receiving plate 33 slides up and down
  • the lifting column bearing seat 7 is installed on the four corners of the lifting plate 8, and passes through the
  • the training frame lifting column 110 in the training space frame is fixedly connected to bear the weight of the lifting training space frame;
  • the lifting mechanism dust-proof cloth 3 is installed on the top of the lifting mechanism to prevent dust from entering and enclosing the lifting space;
  • the lifting guide rod 6 plays a guiding role when the lifting mechanism moves up and down;
  • the fittings and positional relationship included on one side of the above-mentioned lifting mechanism and the fittings and positional relationship included on the other side are in a mirror symmetry relationship with respect to the central axis surface of the movable vehicle body.
  • the vision sensing mechanism is a double-sided mechanism, and one side accessories include a lens 4, a camera 41, and a movable pan/tilt 5;
  • the positional relationship between the accessories on the side of the visual sensing mechanism is: the lens 4 and the camera 41 are mounted on the movable pan/tilt 5, and the angle and position of the lens 4 are adjusted as required; the movable movement is fixedly connected to the On the lifting plate 8 of the lifting mechanism;
  • the above-mentioned visual sensor mechanism includes the accessories and positional relationship on one side and the other side includes a mirror-symmetrical relationship with respect to the central axis of the movable vehicle body.
  • the front waist transmission mechanism is a double-sided mechanism, and one side accessories include a front waist motor mounting plate 90, a front waist motor driver mounting plate 86, a stretching hip joint motor 113, Stretching Knee Joint Motor 114, Stretching Ankle Joint Motor 111, Stretching Hip Joint Motor Driver 87, Stretching Knee Joint Motor Driver 88, Stretching Ankle Joint Motor Driver 89, Stretching Hip Joint Core Guide Outlet 99, Stretching Knee joint core guide outlet 97, drawstring ankle core guide outlet 98, front waist guide wheel installation box 91, stretch hip joint guide wheel 92, stretch knee joint guide wheel 96, stretch ankle joint guide wheel 93, Stretching hip joint motor output shaft 115, stretching knee joint motor output shaft 116, stretching ankle joint motor output shaft 112, front waist Bowden wire core guide wheel mount 95, front waist Bowden wire core guide wheel 94 ;
  • the positional relationship among the accessories on one side of the front waist transmission mechanism is: the stretch hip joint motor driver 87, stretch knee joint motor driver 88, and stretch ankle joint motor driver 89 are mounted on the front waist motor driver mounting plate 86 ,
  • the stretched hip joint guide wheel 92, stretched knee joint guide wheel 96, and stretched ankle joint guide wheel 93 are mounted on the inner surface of the front waist guide wheel mounting box 91, and the front waist guide wheel mounting box 91 is mounted on the
  • the hip joint stretching motor 113, the knee joint stretching motor 114, and the ankle joint stretching motor 111 are fixedly connected to the front waist motor mounting plate 90.
  • the front waist motor mounting plate 90 is fixedly connected to the front waist frame of the liftable training space frame; the front waist Bowden wire core guide wheel 94 is installed in the front waist guide wheel installation box through the front waist Bowden wire core guide wheel mount 95 The inner surface of 91; the stretched hip joint cord guide outlet 99, stretched knee joint cord guide outlet 97, and stretched ankle joint cord guide outlet 98 are installed in the front waist guide wheel mounting box 91 near the inner side of the human body;
  • the stretched hip joint motor output shaft 115, stretched knee joint motor output shaft 116, and stretched ankle joint motor output shaft 112 respectively connect the stretched hip joint motor 113, stretched knee joint motor 114, and stretched ankle joint.
  • the power of the motor 111 is transmitted to the stretched hip joint guide wheel 92, stretched the knee joint guide wheel 96, and stretched the ankle joint guide wheel 93; after the stretched hip joint Bowden wire core 46 bypasses the stretched hip joint guide wheel 92 Then bypass the front waist Bowden wire core guide wheel 94 installed on the inner surface of the front waist guide wheel mounting box 91, and finally transmit the power of stretching the hip joint through the hip joint wire core guide outlet 99; and the hip joint Similarly, the stretched knee joint Bowden wire core 51 passes around the stretched knee joint guide wheel 96 and then goes around the front waist Bowden wire core guide wheel 94 installed on the inner surface of the front waist guide wheel mounting box 91.
  • the stretched knee joint is transmitted through the stretched hip joint wire core guide outlet 97; similar to the hip and knee joints, the stretched ankle joint Bowden wire core 55 goes around the stretched ankle joint guide wheel 93 and then goes around it. Pass the front waist Bowden wire core guide wheel 94, and finally transmit the power of stretching the hip joint through the hip joint wire core guide outlet 98;
  • the above-mentioned accessories and positional relationship included on one side of the front waist transmission mechanism and the accessories and positional relationship included on the other side are in mirror symmetry with respect to the central axis of the movable vehicle body.
  • the posterior waist transmission mechanism is a double-sided mechanism, and one side accessories include posterior waist motor mounting plate 109, posterior waist motor driver mounting plate 85, flexion hip joint motor 117, flexion Knee joint motor 118, flexion ankle joint motor 121, flexion hip joint motor driver 82, flexion knee joint motor driver 83, flexion ankle joint motor driver 84, flexion hip joint core guide outlet 100, flexion knee joint core guide outlet 102, Flexion ankle joint core guide outlet 101, posterior waist guide wheel mounting box 108, flexion hip joint guide wheel 103, flexion knee joint guide wheel 104, flexion ankle joint guide wheel 107, flexion hip joint motor output shaft 119, flexion knee joint motor Output shaft 120, flexion ankle joint motor output shaft 122, rear waist Bowden wire core guide wheel mounting member 106, rear waist Bowden wire core guide wheel 105;
  • the flexion hip joint motor driver 82, the flexion knee joint motor driver 83, and the flexion ankle joint motor driver 84 are mounted on the posterior waist motor driver mounting plate 85, the flexion hip joint guide wheel 103, the flexion knee joint guide wheel 104, and the flexion ankle joint
  • the guide wheel 107 is installed on the inner surface of the rear waist guide wheel mounting box 108, the rear waist guide wheel mounting box 108 is installed on the inner side of the rear waist of the lifting training space frame, the flexion hip joint motor 117 and the flexion knee joint motor 118 ,
  • the flexion ankle joint motor 121 is fixedly connected to the back waist motor mounting plate 109, and the back waist motor mounting plate 109 is fixedly connected to the back waist frame of the lifting training space frame; the back waist Bowden wire core
  • the guide wheel 105 is installed on the inner surface of the rear waist guide wheel mounting box 108 through the rear waist Bowden wire core guide wheel mounting member 106; the flexion hip joint core guide outlet 100, the flexion knee joint core guide outlet 102, The ankle
  • the flexion hip joint motor output shaft 119, the flexion knee joint motor output shaft 120, and the flexion ankle joint motor output shaft 122 respectively transmit the power of the flexion hip joint motor 117, the flexion knee joint motor 118, and the flexion ankle joint motor 121 to the flexion hip joint.
  • the above-mentioned accessories and position relationships included on one side of the rear waist transmission mechanism and the accessories and position relationships included on the other side have a mirror symmetry relationship with respect to the central axis surface of the movable vehicle body.
  • the rear waist turning mechanism is a double-sided mechanism, and one side accessories include a rear waist turning motor mounting plate 68, a rear waist turning motor 69, a rear waist turning motor reducer mounting seat 70, and a rear waist turning motor.
  • the positional relationship between the accessories on one side of the rear waist turnover mechanism is: the rear waist turnover motor 69 is fixedly connected to the rear waist turnover motor reducer 71, and the rear waist turnover motor reducer 71 is installed through the rear waist turnover motor reducer
  • the seat 70 is installed on the rear waist turnover motor mounting plate 68.
  • the output shaft of the rear waist turnover motor reducer 71 and the rear waist turnover front axle 74 are connected to transmit torque through the rear waist turnover coupling 72, and the rear waist turnover front axle 74 is connected to the front
  • the rear waist flip forearm 75 on the side is fixedly connected, and the rear waist flip rear axle 78 fixed to the rear waist flip rear arm 77 is matched with the rear waist flip rear axle bearing 79 mounted on the rear waist flip rear axle mounting seat 80.
  • the rear waist flip rear axle mounting seat 80 is fixedly connected to the rear waist flip rear axle mounting seat mounting plate 81; the rear waist flip mechanism is installed on the inner side of the training space frame close to the human body through the rear waist flip motor mounting plate 68.
  • the rear axle mounting seat mounting plate 81 is installed at the rear of the training space frame after the waist is turned over;
  • the above-mentioned accessories and position relationship included on one side of the rear waist turnover mechanism and the other side included are in a mirror symmetry relationship with respect to the central axis of the movable vehicle body.
  • the Bowden wire transmission mechanism is a double-sided mechanism, and one side of the accessories includes a stretched hip joint Bowden wire shell 42, a stretched knee joint Bowden wire shell 43, and Ankle extension Bowden wire shell 44, hip joint Bowden wire core 46, knee joint Bowden wire core 51, ankle joint Bowden wire core 55, flexed ankle Bowden wire core 61.
  • the positional relationship among the accessories on one side of the Bowden wire transmission mechanism is: the stretched hip joint Bowden wire core 46, the stretched knee joint Bowden wire core 51, and the stretched ankle joint Bowden wire core 55 , Flexion ankle joint Bowden wire core 61, flexed knee joint Bowden wire core 63, and flexed hip joint Bowden wire core 64 are respectively in the stretched hip joint Bowden wire shell 42 and stretched the knee joint Bowden wire
  • the shell 43, the stretched ankle joint Bowden wire shell 44, the flexed hip joint Bowden wire shell 67, the flexed knee joint Bowden wire shell 66, and the flexed ankle joint Bowden wire shell 65 slide in, and the above stretched hip joint abalone Cording shell 42, stretched knee joint Bowden cord shell 43, stretched ankle joint Bowden cord shell 44, flexed hip joint Bowden cord shell 67, flexed knee joint Bowden cord shell 66, flexed ankle joint Bowden cord
  • the upper end of the shell 65 is connected to the stretched hip joint cord guide outlet
  • the wire core guide outlet 102 and the flexed ankle joint wire core guide outlet 101 are connected, and the lower ends are respectively connected to the front side of the Bowden wire shell fixing waist belt 45 through the Bowden wire shell fixing member 50, and the front side of the knee joint Bowden wire shell toughness belt 49 Side, fixed ankle joint Bowden wire core flexible belt 54 front side, Bowden wire shell fixed waist belt 45 rear side, fixed knee joint Bowden wire shell flexible belt 49 rear side, fixed ankle joint Bowden wire core flexible belt 54 Back side; the above-mentioned stretched hip joint Bowden wire core 46, stretched knee joint Bowden wire core 51, stretched ankle joint Bowden wire core 55, flexed ankle joint Bowden wire core 61, flexion
  • the upper end of the knee joint Bowden wire core 63 and the flexed hip joint Bowden wire core 64 are respectively connected to the stretch hip joint guide wheel 92, stretch knee joint guide wheel 96, stretch ankle joint guide wheel 93, and flexion hip joint respectively.
  • the guide wheel 103, the flexion knee joint guide wheel 104, and the flexion ankle joint guide wheel 107 are connected, and the lower ends are respectively connected to the front side of the fixed hip joint Bowden wire core toughness belt 48 and the front side of the fixed knee joint Bowden wire core toughness belt 52 ,
  • the patient wears shoes 59 front side, fixed hip joint Bowden wire core flexible belt 48 rear side, fixed knee joint Bowden wire core flexible belt 52 rear side, patient wears shoes 59 rear side connected;
  • Bowden wire shell is connected to the abalone
  • the boarding core acts as a guide;
  • the fittings and positional relationship included on one side of the Bowden wire transmission mechanism described above and the fittings and positional relationship included on the other side are mirror-symmetrical with respect to the central axis of the movable vehicle body.
  • the tension sensor mechanism is a bilateral mechanism, and one side accessory includes a stretch knee joint tension sensor 53, a stretch ankle joint tension sensor 57, a flexion knee joint tension sensor 62, and a flexion ankle joint.
  • the positional relationship between the components on one side of the tension sensor mechanism is: the upper end of the tensile knee joint tension sensor 53 is connected to one end of the tensile knee joint Bowden wire core 51 through the upper end connecting piece 56 of the tension sensor, and the lower end is passed through the lower end of the tension sensor.
  • the connecting piece 58 is connected to the other end of the stretched knee joint Bowden cable core 51; the upper end of the stretched ankle joint tension sensor 57 is connected to one end of the stretched ankle joint Bowden cable core 55 through the upper end connecting piece 56 of the tension sensor, and the lower end
  • the lower end of the tension sensor is connected to the other end of the stretched ankle joint Bowden wire core 55;
  • the upper end of the flexed knee joint tension sensor 62 is connected to one end of the flexed knee joint Bowden wire core 63 through the upper end of the tension sensor 56 ,
  • the lower end is connected to the other end of the Bowden wire core 63 of the flexion knee joint through the lower end connector 58 of the tension sensor;
  • the upper end of the flexion ankle joint tension sensor 60 is connected to one end of the Bowden wire core 61 of the flexion ankle joint through the upper end connector 56 of the tension sensor
  • the lower end is connected to the other end of the Bowden wire core 61 of the flexion ankle joint through the lower end connecting piece 58 of the tension
  • the stretched knee joint tension sensor 53, the stretched ankle joint tension sensor 57, the flexed knee joint tension sensor 62, and the flexed ankle joint tension sensor 60 collect tension information during the patient's rehabilitation training, and transmit the information to the tension sensor amplifier 14 After the signal is amplified, it is transmitted to the controller and the operation panel 2 as a control quantity to ensure the safety and reliability of the rehabilitation process;
  • the accessories and positional relationship included on one side of the above-mentioned tension sensor mechanism and the accessories and positional relationship included on the other side are in a mirror symmetry relationship with respect to the central axis of the integrated flexible pants.
  • the one-piece flexible pants include flexible pants 47, a Bowden cord shell fixing waist belt 45, a knee joint Bowden cord shell flexible belt 49, and an ankle joint Bowden cord shell flexible belt 54 ⁇ Fixed hip joint Bowden wire core ductile belt 48, fixed knee joint Bowden wire core ductile belt 52, shoes 59;
  • the fixed belt 45 of the Bowden cable shell is connected to the upper end of the flexible pants 47, the flexible belt 48 of the fixed hip joint Bowden cable and the flexible belt 49 of the fixed knee Bowden cable shell are fixedly connected to the thighs of the flexible pants 47 Part, the flexible belt 54 of the ankle joint Bowden cable shell, and the flexible belt 52 of the fixed knee Bowden cable core are fixedly connected to the calf part of the flexible pants 47; the shoes 59 are worn on the user's feet, and the flexible pants 47 are worn on the human body On the lower limbs;
  • the Bowden wire shell fixing waist belt 45, the knee joint Bowden wire shell flexible belt 48, and the ankle joint Bowden wire shell flexible belt 54 are the stretched hip joint Bowden wire shell 42 in the Bowden wire transmission mechanism. Installation of the lower end of the stretched knee joint Bowden wire shell 43, stretched ankle joint Bowden wire shell 44, flexed ankle joint Bowden wire shell 65, flexed knee joint Bowden wire shell 66, and flexed hip joint Bowden wire shell 67 To provide a focus point, the fixed hip joint Bowden wire core flexible belt 48, the fixed knee joint Bowden wire flexible belt 52, and the shoes 59 are the stretched hip joint Bowden wire core 46, Stretching Knee Joint Bowden Wire Core 51, Stretching Ankle Joint Bowden Wire Core 55, Flexing Ankle Joint Bowden Wire Core 61, Flexing Knee Joint Bowden Wire Core 63, Flexing Hip Joint Bowden Wire Core The bottom end of 64 pulls the human limbs to provide a point of force.
  • a wearable flexible fabric integrated with Bowden wire is used as an actuator, which reduces the robot’s interference to the subtle movements of the human body’s lower limbs, and is beneficial for the patient to restore a natural gait; the mobile body design increases the patient’s presence
  • the fun and realism in the rehabilitation process are beneficial to improve the rehabilitation efficacy; the design of a semi-enclosed work space is beneficial to protect the safety of patients during the training process; the rigidity of the arms is adjusted to adapt to users of different heights.
  • the patient's ability to complete rehabilitation training tasks is improved.

Abstract

一种用于下肢康复训练的可穿戴移动式机器人，包括可移动车身、可升降训练空间框架以及穿戴在人体下肢肢体上的一体式柔性穿戴执行器。通过康复机器人辅助病人下肢进行自然步态训练，降低康复治疗师的工作强度。采用集成了鲍登线在内的穿戴式柔性织物作为执行器，减少了机器人对人体下肢细微运动的干扰，有利于患者恢复自然的步态。采用移动式的车身设计增加了患者在康复过程中的乐趣和真实感，有利于提高康复疗效。采用半包围的工作空间的设计有利于保护患者在训练过程中的安全。通过调节双臂的高度来适应不同身高的使用者。同时，通过视觉传感机构对下肢位置的追踪，提高患者完成康复任务的能力。

Description

一种用于下肢康复训练的可穿戴移动式机器人 技术领域
本发明涉及康复医疗设备领域，具体涉及一种用于下肢康复训练的可穿戴式移动机器人。
 背景技术
对下肢进行康复训练，国内现行的主要方法是通过康复治疗师一对一地辅助患者进行训练，康复治疗师劳动强度大，患者康复效率低，而现有的大部分下肢康复设备，如locomat下肢康复机器人（Riener, R, Lunenburger, L, Jezernik, S. Patient-cooperative strategies for robot-aided treadmill training: first experimental results[J]. IEEE Transactions on Neural Systems & Rehabilitation Engineering, 13(3):380-394.），是在封闭的康复训练室让患者穿戴一套硬质的刚性外骨骼，在外骨骼和跑步机的辅助下进行康复训练，这种训练方式会限制住患者行走过程中的细微运动（Asbeck A T , Rossi S M M D , Holt K G , et al. A biologically inspired soft exosuit for walking assistance[J]. The International Journal of Robotics Research, 2015, 34(6):744-762.），另一方面封闭式的康复训练环境会降低患者的参与感和康复疗效（André Schiele, Helm F C T V D . Kinematic design to improve ergonomics in human machine interaction.[J]. IEEE Transactions on Neural Systems & Rehabilitation Engineering A Publication of the IEEE Engineering in Medicine & Biology Society, 2006, 14(4):456.）。因此，有必要设计一种新的康复设备，能代替康复训练师的工作，辅助病人进行踝关节、膝关节、髋关节的康复训练，同时能减少设备对病人运动的干扰，让患者进行自然的步态训练，提高患者康复训练的参与感和疗效。
 技术解决方案
为解决上述问题，提出了一种用于下肢康复训练的可穿戴移动式机器人，该发明具有半包围框架结构，每个前后两端设置有动力传递装置，分别连接患者下肢肢体的前后侧，通过控制电机旋转，协同鲍登线拉绳的拉伸收紧运动，带动与之相连的患者下肢的肢体运动，辅助患者下肢完成康复训练。
本发明的目的至少通过如下技术方案之一实现。
一种用于下肢康复训练的可穿戴移动式机器人，包括可移动车身、安装在可移动车身上的可升降训练空间框架以及穿戴在人体下肢肢体上的柔性穿戴执行器；
所述可移动车身包括车身运动机构、电源及传感机构、升降机构、视觉传感机构；所述训练空间框架包括前腰传动机构、后腰传动机构、后腰翻转机构、控制器及操作面板、安全加减速按钮；所述柔性穿戴执行器包括鲍登线传动机构、拉力传感器机构、一体式柔性裤；
所述车身运动机构安装在可移动车身底部，为可移动车身的运动提供动力；
所述电源及传感机构安装在可移动车身底部，提供电源动力和传感输出；
所述升降机构安装在可移动车身与可升降训练空间框架相连的中部，用于满足不同身高的病人的使用要求，根据使用者的不同身高自动调整可升降训练框架的高度；
所述视觉传感器机构用于记录使用者下肢的运动，提取使用者下肢空间位置信息，并反馈控制机器人的运动；
所述前腰传动机构安装在可升降训练空间框架的前部，为人体肢体踝、膝、髋关节的伸展运动提供动力；
所述后腰传动机构安装在可升降训练空间框架的后部，为人体肢体的踝、膝、髋关节的屈曲运动提供动力；
所述后腰翻转机构安装在所述可升降训练空间框架与后腰传动机构的连接处，在人体进入可升降训练空间框架后将后腰传动机构翻转上来，既能方便后腰传动的方向，也能保证人体在训练过程中的安全；
所述控制器及操作面板安装在所述可升降训练空间框架的左侧，医护人员通过操作面板发送指令给控制器对电机进行控制；
所述安全加减速按钮安装在所述可升降训练空间框架的顶部扶手处，使用者在训练过程根据自身需要按动按钮对车身和步行训练速度进行加减速，同时在感觉不适的时候按下急停按钮保证安全；
所述鲍登线传动机构沿所述一体式柔性裤缠绕分布，将所述可升降训练空间框架的动力传递到人体肢体；
所述拉力传感器机构安装在所述鲍登线传动机构的末端，作为控制信息反馈和拉力安全监视；
所述一体式柔性裤在训练过程中穿戴在人体上，为所述鲍登线传动机构提供拉动下肢肢体运动的着力点。
进一步地，所述车身运动机构为双侧结构，一侧配件包括可移动滚轮后轮、车身运动传动电机、车身运动传动电机减速器、传动输出带轮轴、可移动滚轮安装板、前轮传动带、后轮传动带、可移动滚轮前轮、车身运动传动电机安装板；
所述车身运动传动电机安装在车身运动传动电机安装板上与可移动车身底部固定连接，所述车身运动传动电机输出轴与车身运动传动电机减速器输入端固定连接，所述车身运动传动电机减速器输出盘与传动输出带轮轴固定连接，将车身运动传动电机经过减速增大后的扭矩通过后轮传动带传递给可移动滚轮后轮、通过前轮传动带传递给可移动滚轮前轮，可移动滚轮后轮以及可移动滚轮前轮通过安装在可移动车身底部前后的可移动滚轮安装板与可移动车身的车架底部后端横梁和可移动车身的车架底部前端横梁固连；
以上所述车身运动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
进一步地，所述电源及传感机构为双侧机构，一侧配件包括拉力传感器放大器、拉力传感器放大器安装导轨、拉力传感器放大器安装导轨安装件、电源安装导轨、电源安装导轨安装件、电机供电安全电源、传感器供电安全电源；
以上所述电源及传感机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
进一步地，所述升降机构为双侧机构，一侧配件包括升降电机安装件、升降机构传动电机、升降机构传动电机减速器、传动螺杆下安装座、推力球轴承、传动螺杆、升降立柱承接座、导杆导向套筒、升降导杆、升降导杆安装座、升降机构防尘布、升降机构联轴器、升降下承接板、升降板、升降上承接板、传动螺母。
以上所述升降机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
进一步地，所述视觉传感机构为双侧机构，一侧配件包括镜头、相机、可移动云台；
所述视觉传感机构一侧配件间的位置关系为：所述镜头及相机安装在可移动云台上，根据需要调整镜头角度和位置；所述可移动运动固定连接在所述升降机构的升降板上。
所述视觉传感机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
所述前腰传动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
进一步地，所述后腰传动机构为双侧机构，一侧配件包括后腰电机安装板、后腰电机驱动器安装板、屈曲髋关节电机、屈曲膝关节电机、屈曲踝关节电机、屈曲髋关节电机驱动器、屈曲膝关节电机驱动器、屈曲踝关节电机驱动器、屈曲髋关节线芯导向出口、屈曲膝关节线芯导向出口、屈曲踝关节线芯导向出口、后腰导轮安装盒、屈曲髋关节导轮、屈曲膝关节导轮、屈曲踝关节导轮、屈曲髋关节电机输出轴、屈曲膝关节电机输出轴、屈曲踝关节电机输出轴、后腰鲍登线线芯导向轮安装件、后腰鲍登线线芯导向轮。
所述后腰传动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
进一步地，所述后腰翻转机构为双侧机构，一侧配件包括后腰翻转电机安装板、后腰翻转电机、后腰翻转电机减速器安装座、后腰翻转电机减速器、后腰翻转联轴器、后腰翻转前轴安装座、后腰翻转前轴、后腰翻转前臂、后腰翻转后臂、后腰翻转外壳后腰翻转后轴、后腰翻转后轴轴承、后腰翻转后轴安装座、后腰翻转后轴安装座安装板。
所述后腰翻转机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
进一步地，所述鲍登线传动机构为双侧机构，一侧配件包括拉伸髋关节鲍登线外壳、拉伸膝关节鲍登线外壳、拉伸踝关节鲍登线外壳、拉伸髋关节鲍登线线芯、拉伸膝关节鲍登线线芯、拉伸踝关节鲍登线线芯、屈曲踝关节鲍登线线芯、屈曲膝关节鲍登线线芯、屈曲髋关节鲍登线线芯、屈曲踝关节鲍登线外壳、屈曲膝关节鲍登线外壳、屈曲髋关节鲍登线外壳、若干鲍登线外壳固定件。
所述鲍登线传动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
进一步地，所述拉力传感器机构为双侧机构，一侧配件包括拉伸膝关节拉力传感器、拉伸踝关节拉力传感器、屈曲膝关节拉力传感器、屈曲踝关节拉力传感器、拉力传感器上端连接件、拉力传感器下端连接件。
以上所述拉力传感器机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于一体式柔性裤的中轴面呈镜像对称的关系。
进一步地，所述一体式柔性裤包括柔性裤、鲍登线外壳固定腰带、固定膝关节鲍登线外壳韧性带、固定踝关节鲍登线外壳韧性带、固定髋关节鲍登线线芯韧性带、固定膝关节鲍登线线芯韧性带、鞋子。
 有益效果
相对于现有技术，本发明具有以下优点：
本发明能代替康复治疗师的工作，通过康复机器人辅助病人下肢进行自然步态康训练，降低康复治疗师的工作强度；采用集成了鲍登线在内的穿戴式柔性织物作为执行器，减少了机器人对人体下肢细微运动的干扰，有利于患者恢复自然的步态；采用移动式的车身设计增加了患者在康复过程中的乐趣和真实感，有利于提高康复疗效；采用半包围的工作空间的设计有利于保护患者在训练过程中的安全；通过调节双臂的刚度来适应不同身高的使用者。同时，通过视觉传感机构对下肢位置的追踪，提高患者完成康复训练任务的能力。
 附图说明
图1是本发明实施例的一种用于下肢康复训练的可穿戴移动式机器人的结构示意图。
图2是本发明实施例的可移动车身的结构示意图。
图3是本发明实施例中柔性穿戴结构示意图。
图4是本发明实施例中后腰翻转机构结构示意图。
图5是本发明实施例中可升降训练框架一侧结构侧视图。
图6是本发明实施例中可升降训练框架一侧结构俯视图。
 本发明的实施方式
为使本发明的目的、技术方案和优点更加清楚明白，下面结合附图并举实施例，对本发明的具体实施进行详细说明，但不限于此。
实施例：
如图1至图6所示，一种用于下肢康复训练的可穿戴移动式机器人，包括可移动车身、安装在可移动车身上的可升降训练空间框架以及穿戴在人体下肢肢体上的柔性穿戴执行器；
所述可移动车身包括车身运动机构、电源及传感机构、升降机构、视觉传感机构；所述训练空间框架包括前腰传动机构、后腰传动机构、后腰翻转机构、控制器及操作面板2、安全加减速按钮1；所述柔性穿戴执行器包括鲍登线传动机构、拉力传感器机构、一体式柔性裤；
所述车身运动机构安装在可移动车身底部，为可移动车身的运动提供动力；
所述电源及传感机构安装在可移动车身底部，提供电源动力和传感输出；
所述升降机构安装在可移动车身与可升降训练空间框架相连的中部，用于满足不同身高的病人的使用要求，根据使用者的不同身高自动调整可升降训练框架的高度；
所述视觉传感器机构用于记录使用者下肢的运动，提取使用者下肢空间位置信息，并反馈控制机器人的运动；
所述前腰传动机构安装在可升降训练空间框架的前部，为人体肢体踝、膝、髋关节的伸展运动提供动力；
所述后腰传动机构安装在可升降训练空间框架的后部，为人体肢体的踝、膝、髋关节的屈曲运动提供动力；
所述后腰翻转机构安装在所述可升降训练空间框架与后腰传动机构的连接处，在人体进入可升降训练空间框架后将后腰传动机构翻转上来，既能方便后腰传动的方向，也能保证人体在训练过程中的安全；
所述控制器及操作面板2安装在所述可升降训练空间框架的左侧，医护人员通过操作面板发送指令给控制器对电机进行控制；
所述安全加减速按钮1安装在所述可升降训练空间框架的顶部扶手处，使用者在训练过程根据自身需要按动按钮对车身和步行训练速度进行加减速，同时在感觉不适的时候按下急停按钮保证安全；
所述鲍登线传动机构沿所述一体式柔性裤缠绕分布，将所述可升降训练空间框架的动力传递到人体肢体；
所述拉力传感器机构安装在所述鲍登线传动机构的末端，作为控制信息反馈和拉力安全监视；
所述一体式柔性裤在训练过程中穿戴在人体上，为所述鲍登线传动机构提供拉动下肢肢体运动的着力点。
具体而言，如图2所示，所述车身运动机构为双侧机构，一侧配件包括可移动滚轮后轮25、车身运动传动电机24、车身运动传动电机减速器27、传动输出带轮轴29、可移动滚轮安装板20、前轮传动带30、后轮传动带26、可移动滚轮前轮32、车身运动传动电机安装板28；
所述车身运动机构一侧配件间的位置关系为：所述车身运动传动电机24安装在车身运动传动电机安装板28上与可移动车身底部固定连接，所述车身运动传动电机输出轴29与车身运动传动电机减速器27输入端固定连接，所述车身运动传动电机减速器27输出盘与传动输出带轮轴29固定连接，将车身运动传动电机24经过减速增大后的扭矩通过后轮传动带26传递给可移动滚轮后轮25、通过前轮传动带30传递给可移动滚轮前轮32，可移动滚轮后轮25以及可移动滚轮前轮32通过安装在可移动车身底部前后的可移动滚轮安装板20与可移动车身的车架底部后端横梁21和可移动车身的车架底部前端横梁31固连，所述可移动车身的车架底部后端横梁21和可移动车身的车架底部前端横梁31均为长条钢结构；
以上所述车身运动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
具体而言，如图2所示，所述电源及传感机构为双侧机构，一侧配件包括拉力传感器放大器14、拉力传感器放大器安装导轨15、拉力传感器放大器安装导轨安装件16、电源安装导轨22、电源安装导轨安装件23、电机供电安全电源17、传感器供电安全电源18；
所述电源及传感机构一侧配件间的位置关系为：所述电机供电安全电源17、传感器供电安全电源18安装在电源安装导轨22上，拉力传感器放大器14安装在拉力传感器放大器安装导轨15上；所述电源安装导轨22通过螺钉固定在电源安装导轨安装件23上、所述拉力传感器放大器安装导轨15通过螺钉固定在拉力传感器放大器安装导轨安装件16上；所述电源安装导轨安装件23与可移动车身的车架短条竖梁19连接、所述拉力传感器放大器安装导轨安装件16通过直角连接件与可移动车身的车架长条竖梁40连接，所述可移动车身的车架长条竖梁40为长条钢结构，所述电机供电安全电源17为车身运动传动电机24、升降机构传动电机13、拉伸髋关节电机113、拉伸膝关节电机114、拉伸踝关节电机111、屈曲髋关节电机117、屈曲膝关节电机118、屈曲踝关节电机121提供能量来源，所述传感器供电安全电源18为拉伸膝关节拉力传感器53、拉伸踝关节拉力传感器57、屈曲膝关节拉力传感器63、屈曲踝关节拉力传感器60提供能量来源，所述拉力传感器放大器14收集所述拉力传感器机构中的拉伸膝关节拉力传感器53、拉伸踝关节拉力传感器57、屈曲膝关节拉力传感器63、屈曲踝关节拉力传感器60的信息将其传输到控制器及操作面板2，作为所述控制器反馈输入和安全监视；
以上所述电源及传感机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
具体而言，如图2所示，所述升降机构为双侧机构，一侧配件包括升降电机安装件11、升降机构传动电机13、升降机构传动电机减速器12、传动螺杆下安装座34、推力球轴承35、传动螺杆37、升降立柱承接座7、导杆导向套筒39、升降导杆6、升降导杆安装座9、升降机构防尘布3、升降机构联轴器10、升降下承接板33、升降板8、升降上承接板38、传动螺母36；
所述升降机构一侧配件间的位置关系为：所述升降机构传动电机13通过升降电机安装件11安装在升降下承接板33上，升降机构传动电机13输出端与升降机构传动电机减速器12输入端固定连接，升降机构传动电机减速器12输出端与传动螺杆37下末端通过升降机构联轴器10相连，安装在升降板8上的传动螺母36与传动螺杆37通过螺纹副配合；传动螺杆37下端轴肩与安装在升降下承接板33的传动螺杆下安装座34中的推力球轴承35轴孔配合连接；所述升降机构通过所述升降下承接板33固定在所述可移动车身的车架长条竖梁40的中部，通过所述升降上承接板38固定在所述可移动车身的车架长条竖梁40的顶部；通过升降导杆安装座9安装在升降上承接板38和升降下承接板33之间的升降导杆6在安装在升降板8的导杆导向套筒39中上下滑动，所述升降立柱承接座7安装在升降板8上的四角，通过与所述训练空间框架中的训练框架升降立柱110固定连接，承受所述可升降训练空间框架的重量；升降机构防尘布3安装在升降机构的顶部，防止灰尘进入和封闭升降空间；
所述升降机构传动电机13经过升降机构传动电机减速器12减速加大力矩之后，将扭矩通过升降机构联轴器10传递给传动螺杆37，所述传动螺杆37旋转带动传动螺母36上下移动从而带动升降板8上下移动，从而带动通过升降导杆安装座6安装在升降板8上的可升降训练空间框架上下移动；为了减少非轴向力对所述升降机构传动的不利影响、增加传动的精度，所述升降导杆6起到升降机构上下移动时的导向作用；
以上所述升降机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
具体而言，如图2所示，所述视觉传感机构为双侧机构，一侧配件包括镜头4、相机41、可移动云台5；
所述视觉传感机构一侧配件间的位置关系为：所述镜头4及相机41安装在可移动云台5上，根据需要调整镜头4角度和位置；所述可移动运动固定连接在所述升降机构的升降板8上；
以上所述视觉传感机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
具体而言，如图5、图6所示，所述前腰传动机构为双侧机构，一侧配件包括前腰电机安装板90、前腰电机驱动器安装板86、拉伸髋关节电机113、拉伸膝关节电机114、拉伸踝关节电机111、拉伸髋关节电机驱动器87、拉伸膝关节电机驱动器88、拉伸踝关节电机驱动器89、拉伸髋关节线芯导向出口99、拉伸膝关节线芯导向出口97、拉绳踝关节线芯导向出口98、前腰导轮安装盒91、拉伸髋关节导轮92、拉伸膝关节导轮96、拉伸踝关节导轮93、拉伸髋关节电机输出轴115、拉伸膝关节电机输出轴116、拉伸踝关节电机输出轴112、前腰鲍登线线芯导向轮安装件95、前腰鲍登线线芯导向轮94；
所述前腰传动机构一侧配件间的位置关系为：所述拉伸髋关节电机驱动器87、拉伸膝关节电机驱动器88、拉伸踝关节电机驱动器89安装在前腰电机驱动器安装板86上，拉伸髋关节导轮92、拉伸膝关节导轮96、拉伸踝关节导轮93安装在前腰导轮安装盒91内表面上，所述前腰导轮安装盒91安装在所述可升降训练空间框架的前腰内侧，所述拉伸髋关节电机113、拉伸膝关节电机114、拉伸踝关节电机111固定连接在前腰电机安装板90上，所述前腰电机安装板90固定连接在所述可升降训练空间框架的前腰框架内；所述前腰鲍登线线芯导向轮94通过前腰鲍登线线芯导向轮安装件95安装在前腰导轮安装盒91的内表面；所述拉伸髋关节线芯导向出口99、拉伸膝关节线芯导向出口97、拉伸踝关节线芯导向出口98安装在前腰导轮安装盒91靠近人体的内侧；
所述拉伸髋关节电机输出轴115、拉伸膝关节电机输出轴116、拉伸踝关节电机输出轴112分别将所述拉伸髋关节电机113、拉伸膝关节电机114、拉伸踝关节电机111的动力传递给拉伸髋关节导轮92、拉伸膝关节导轮96、拉伸踝关节导轮93；拉伸髋关节鲍登线线芯46绕过拉伸髋关节导轮92后再绕过安装在前腰导轮安装盒91内表面的前腰鲍登线线芯导向轮94，最后通过拉伸髋关节线芯导向出口99将拉伸髋关节的动力传递出去；与髋关节类似类似，拉伸膝关节关节鲍登线线芯51绕过拉伸膝关节导轮96后再绕过安装在前腰导轮安装盒91内表面的前腰鲍登线线芯导向轮94，最后通过拉伸髋关节线芯导向出口97将拉伸膝关节的动力传递出去；与髋、膝关节类似，拉伸踝关节鲍登线线芯55绕过拉伸踝关节导轮93后再绕过前腰鲍登线线芯导向轮94，最后通过拉伸髋关节线芯导向出口98将拉伸髋关节的动力传递出去；
以上所述前腰传动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
具体而言，如图5、图6所示，所述后腰传动机构为双侧机构，一侧配件包括后腰电机安装板109、后腰电机驱动器安装板85、屈曲髋关节电机117、屈曲膝关节电机118、屈曲踝关节电机121、屈曲髋关节电机驱动器82、屈曲膝关节电机驱动器83、屈曲踝关节电机驱动器84、屈曲髋关节线芯导向出口100、屈曲膝关节线芯导向出口102、屈曲踝关节线芯导向出口101、后腰导轮安装盒108、屈曲髋关节导轮103、屈曲膝关节导轮104、屈曲踝关节导轮107、屈曲髋关节电机输出轴119、屈曲膝关节电机输出轴120、屈曲踝关节电机输出轴122、后腰鲍登线线芯导向轮安装件106、后腰鲍登线线芯导向轮105；
所述屈曲髋关节电机驱动器82、屈曲膝关节电机驱动器83、屈曲踝关节电机驱动器84安装在后腰电机驱动器安装板85上，屈曲髋关节导轮103、屈曲膝关节导轮104、屈曲踝关节导轮107安装在后腰导轮安装盒108内表面上，所述后腰导轮安装盒108安装在可升降训练空间框架的后腰内侧，所述屈曲髋关节电机117、屈曲膝关节电机118、屈曲踝关节电机121固定连接在后腰电机安装板109上，所述后腰电机安装板109固定连接在所述可升降训练空间框架的后腰框架内；所述后腰鲍登线线芯导向轮105通过后腰鲍登线线芯导向轮安装件106安装在后腰导轮安装盒108的内表面；所述屈曲髋关节线芯导向出口100、屈曲膝关节线芯导向出口102、屈曲踝关节线芯导向出口101安装在后腰导轮安装盒108靠近人体的内侧；
所述屈曲髋关节电机输出轴119、屈曲膝关节电机输出轴120、屈曲踝关节电机输出轴122分别将屈曲髋关节电机117、屈曲膝关节电机118、屈曲踝关节电机121的动力传递给屈曲髋关节导轮103、屈曲膝关节导轮104、屈曲踝关节导轮 107；屈曲髋关节鲍登线线芯64绕过屈曲髋关节导轮103后再绕过安装在后腰导轮安装盒108内表面的后腰鲍登线线芯导向轮105，最后通过屈曲髋关节线芯导向出口100将屈曲髋关节的动力传递出去；与髋关节类似类似，屈曲膝关节关节鲍登线线芯63绕过屈曲膝关节导轮104后再绕过安装在后腰导轮安装盒108内表面的后腰鲍登线线芯导向轮105，最后通过屈曲膝关节线芯导向出口102将屈曲膝关节的动力传递出去；与髋、膝关节类似，屈曲踝关节鲍登线线芯61绕过屈曲踝关节导轮107后再绕过后腰鲍登线线芯导向轮105，最后通过屈曲踝关节线芯导向出口101将屈曲踝关节的动力传递出去；
以上所述后腰传动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
具体而言，如图4所示，所述后腰翻转机构为双侧机构，一侧配件包括后腰翻转电机安装板68、后腰翻转电机69、后腰翻转电机减速器安装座70、后腰翻转电机减速器71、后腰翻转联轴器72、后腰翻转前轴安装座73、后腰翻转前轴74、后腰翻转前臂75、后腰翻转后臂77、后腰翻转外壳76后腰翻转后轴78、后腰翻转后轴轴承79、后腰翻转后轴安装座80、后腰翻转后轴安装座安装板81；
所述后腰翻转机构一侧配件间的位置关系为：所述后腰翻转电机69与后腰翻转电机减速器71固定连接，所述后腰翻转电机减速器71通过后腰翻转电机减速器安装座70安装在后腰翻转电机安装板68上，后腰翻转电机减速器71的输出轴与后腰翻转前轴74通过后腰翻转联轴器72相连传递扭矩，后腰翻转前轴74与前侧的后腰翻转前臂75固连，与后腰翻转后臂77固连的后腰翻转后轴78与安装在后腰翻转后轴安装座80上的后腰翻转后轴轴承79轴孔配合，所述后腰翻转后轴安装座80固连在后腰翻转后轴安装座安装板81上；所述后腰翻转机构通过后腰翻转电机安装板68安装在训练空间框架靠近人体的内侧，通过后腰翻转后轴安装座安装板81安装在训练空间框架的尾部；
以上所述后腰翻转机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
具体而言，如图3、图5所示，所述鲍登线传动机构为双侧机构，一侧配件包括拉伸髋关节鲍登线外壳42、拉伸膝关节鲍登线外壳43、拉伸踝关节鲍登线外壳44、拉伸髋关节鲍登线线芯46、拉伸膝关节鲍登线线芯51、拉伸踝关节鲍登线线芯55、屈曲踝关节鲍登线线芯61、屈曲膝关节鲍登线线芯63、屈曲髋关节鲍登线线芯64、屈曲踝关节鲍登线外壳65、屈曲膝关节鲍登线外壳66、屈曲髋关节鲍登线外壳67、若干鲍登线外壳固定件50；
所述鲍登线传动机构一侧配件间的位置关系为：所述拉伸髋关节鲍登线线芯46、拉伸膝关节鲍登线线芯51、拉伸踝关节鲍登线线芯55、屈曲踝关节鲍登线线芯61、屈曲膝关节鲍登线线芯63、屈曲髋关节鲍登线线芯64分别在拉伸髋关节鲍登线外壳42、拉伸膝关节节鲍登线外壳43、拉伸踝关节鲍登线外壳44、屈曲髋关节鲍登线外壳67、屈曲膝关节鲍登线外壳66、屈曲踝关节鲍登线外壳65中滑动，以上所述拉伸髋关节鲍登线外壳42、拉伸膝关节节鲍登线外壳43、拉伸踝关节鲍登线外壳44、屈曲髋关节鲍登线外壳67、屈曲膝关节鲍登线外壳66、屈曲踝关节鲍登线外壳65上端末端与分别与拉伸髋关节线芯导向出口99、拉伸膝关节线芯导向出口97、拉伸踝关节线芯导向出口98、屈曲髋关节线芯导向出口100、屈曲膝关节线芯导向出口102、屈曲踝关节线芯导向出口101相连，下端末端均通过鲍登线外壳固定件50分别连接鲍登线外壳固定腰带45前侧、固定膝关节鲍登线外壳韧性带49前侧、固定踝关节鲍登线线芯韧性带54前侧、鲍登线外壳固定腰带45后侧、固定膝关节鲍登线外壳韧性带49后侧、固定踝关节鲍登线线芯韧性带54后侧；以上所述拉伸髋关节鲍登线线芯46、拉伸膝关节鲍登线线芯51、拉伸踝关节鲍登线线芯55、屈曲踝关节鲍登线线芯61、屈曲膝关节鲍登线线芯63、屈曲髋关节鲍登线线芯64上端末端分别与拉伸髋关节导轮92、拉伸膝关节导轮96、拉伸踝关节导轮93、屈曲髋关节导轮103、屈曲膝关节导轮104、屈曲踝关节导轮107相连，下端末端分别与固定髋关节鲍登线线芯韧性带48前侧、固定膝关节鲍登线线芯韧性带52前侧、患者穿戴鞋子59前侧、固定髋关节鲍登线线芯韧性带48后侧、固定膝关节鲍登线线芯韧性带52后侧、患者穿戴鞋子59后侧相连；鲍登线外壳给鲍登线线芯作导向的作用；
以上所述鲍登线传动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
具体而言，如图3所示，所述拉力传感器机构为双侧机构，一侧配件包括拉伸膝关节拉力传感器53、拉伸踝关节拉力传感器57、屈曲膝关节拉力传感器62、屈曲踝关节拉力传感器60、拉力传感器上端连接件56、拉力传感器下端连接件58；
所述拉力传感器机构一侧配件间的位置关系为：所述拉伸膝关节拉力传感器53上端通过拉力传感器上端连接件56与拉伸膝关节鲍登线线芯51一端相连，下端通过拉力传感器下端连接件58与拉伸膝关节鲍登线线芯51另一端相连；所述拉伸踝关节拉力传感器57上端通过拉力传感器上端连接件56与拉伸踝关节鲍登线线芯55一端相连，下端通过拉力传感器下端连接件58与拉伸踝关节鲍登线线芯55另一端相连；所述屈曲膝关节拉力传感器62上端通过拉力传感器上端连接件56与屈曲膝关节鲍登线线芯63一端相连，下端通过拉力传感器下端连接件58与屈曲膝关节鲍登线线芯63另一端相连；所述屈曲踝关节拉力传感器60上端通过拉力传感器上端连接件56与屈曲踝关节鲍登线线芯61一端相连，下端通过拉力传感器下端连接件58与屈曲踝关节鲍登线线芯61另一端相连；
所述拉伸膝关节拉力传感器53、拉伸踝关节拉力传感器57、屈曲膝关节拉力传感器62、屈曲踝关节拉力传感器60在患者康复训练过程中收集拉力的信息，将这些信息传输到拉力传感器放大器14进行信号放大后传输到控制器及操作面板2作为一个控制量，保证康复过程中的安全性和可靠性；
以上所述拉力传感器机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于一体式柔性裤的中轴面呈镜像对称的关系。
具体而言，如图3所示，所述一体式柔性裤包括柔性裤47、鲍登线外壳固定腰带45、固定膝关节鲍登线外壳韧性带49、固定踝关节鲍登线外壳韧性带54、固定髋关节鲍登线线芯韧性带48、固定膝关节鲍登线线芯韧性带52、鞋子59；
所述鲍登线外壳固定腰带45与柔性裤47的上部末端相连，所述固定髋关节鲍登线线芯韧性带48、固定膝关节鲍登线外壳韧性带49固定连接在柔性裤47的大腿部分，固定踝关节鲍登线外壳韧性带54、固定膝关节鲍登线线芯韧性带52固定连接在柔性裤47的小腿部分；鞋子59穿戴在使用者的脚上，柔性裤47穿戴在人体下肢肢体上；
所述鲍登线外壳固定腰带45、固定膝关节鲍登线外壳韧性带48、固定踝关节鲍登线外壳韧性带54为所述鲍登线传动机构中拉伸髋关节鲍登线外壳42、拉伸膝关节鲍登线外壳43、拉伸踝关节鲍登线外壳44、屈曲踝关节鲍登线外壳65、屈曲膝关节鲍登线外壳66、屈曲髋关节鲍登线外壳67下端末端的安装提供着力点，所述固定髋关节鲍登线线芯韧性带48、固定膝关节鲍登线韧性带52、鞋子59为所述鲍登线传动机构中拉伸髋关节鲍登线线芯46、拉伸膝关节鲍登线线芯51、拉伸踝关节鲍登线线芯55、屈曲踝关节鲍登线线芯61、屈曲膝关节鲍登线线芯63、屈曲髋关节鲍登线线芯64下端末端拉动人体肢体运动提供着力点。本实施例采用集成了鲍登线在内的穿戴式柔性织物作为执行器，减少了机器人对人体下肢细微运动的干扰，有利于患者恢复自然的步态；采用移动式的车身设计增加了患者在康复过程中的乐趣和真实感，有利于提高康复疗效；采用半包围的工作空间的设计有利于保护患者在训练过程中的安全；通过调节双臂的刚度来适应不同身高的使用者。同时，通过视觉传感机构对下肢位置的追踪，提高患者完成康复训练任务的能力。

Claims (10)

  1. 一种用于下肢康复训练的可穿戴移动式机器人，其特征在于：包括可移动车身、安装在可移动车身上的可升降训练空间框架以及穿戴在人体下肢肢体上的柔性穿戴执行器；
    所述可移动车身包括车身运动机构、电源及传感机构、升降机构、视觉传感机构；所述训练空间框架包括前腰传动机构、后腰传动机构、后腰翻转机构、控制器及操作面板、安全加减速按钮；所述柔性穿戴执行器包括鲍登线传动机构、拉力传感器机构、一体式柔性裤；
    所述车身运动机构安装在可移动车身底部，为可移动车身的运动提供动力；
    所述电源及传感机构安装在可移动车身底部，提供电源动力和传感输出；
    所述升降机构安装在可移动车身与可升降训练空间框架相连的中部，用于根据使用者的不同身高自动调整可升降训练框架的高度；
    所述视觉传感器机构用于记录使用者下肢的运动，提取使用者下肢空间位置信息，并反馈控制机器人的运动；
    所述前腰传动机构安装在可升降训练空间框架的前部，为人体肢体踝、膝、髋关节的伸展运动提供动力；
    所述后腰传动机构安装在可升降训练空间框架的后部，为人体肢体的踝、膝、髋关节的屈曲运动提供动力；
    所述后腰翻转机构安装在所述可升降训练空间框架与后腰传动机构的连接处，在人体进入可升降训练空间框架后将后腰传动机构翻转上来；
    所述控制器及操作面板安装在所述可升降训练空间框架的左侧，医护人员通过操作面板发送指令给控制器对电机进行控制；
    所述安全加减速按钮安装在所述可升降训练空间框架的顶部扶手处，使用者在训练过程通过按动按钮对车身和步行训练速度进行加减速，同时在感觉不适的时候按下急停按钮保证安全；
    所述鲍登线传动机构沿所述一体式柔性裤缠绕分布，将所述可升降训练空间框架的动力传递到人体肢体；
    所述拉力传感器机构安装在所述鲍登线传动机构的末端，作为控制信息反馈和拉力安全监视；
    所述一体式柔性裤在训练过程中穿戴在人体上，为所述鲍登线传动机构提供拉动下肢肢体运动的着力点。
  2. 根据权利要求1所述的用于下肢康复训练的可穿戴移动式机器人，其特征在于：所述车身运动机构为双侧结构，一侧配件包括可移动滚轮后轮（25）、车身运动传动电机（24）、车身运动传动电机减速器（27）、传动输出带轮轴（29）、可移动滚轮安装板（20）、前轮传动带（30）、后轮传动带（26）、可移动滚轮前轮（32）、车身运动传动电机安装板（28）；
    所述车身运动机构一侧配件间的位置关系为：所述车身运动传动电机（24）安装在车身运动传动电机安装板（28）上与可移动车身底部固定连接，所述车身运动传动电机输出轴（29）与车身运动传动电机减速器（27）输入端固定连接，所述车身运动传动电机减速器（27）输出盘与传动输出带轮轴（29）固定连接，将车身运动传动电机（24）经过减速增大后的扭矩通过后轮传动带（26）传递给可移动滚轮后轮（25）、通过前轮传动带（30）传递给可移动滚轮前轮（32），可移动滚轮后轮（25）以及可移动滚轮前轮（32）通过安装在可移动车身底部前后的可移动滚轮安装板（20）与车身车架底部后端横梁（21）和车身车架底部前端横梁（31）固连；
    所述车身运动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
  3. 根据权利要求1所述的用于下肢康复训练的可穿戴移动式机器人，其特征在于：所述电源及传感机构为双侧机构，一侧配件包括拉力传感器放大器（14）、拉力传感器放大器安装导轨（15）、拉力传感器放大器安装导轨安装件（16）、电源安装导轨（22）、电源安装导轨安装件（23）、电机供电安全电源（17）、传感器供电安全电源（18）；
    所述电源及传感机构一侧配件间的位置关系为：所述电机供电安全电源（17）、传感器供电安全电源（18）安装在电源安装导轨（22）上，拉力传感器放大器（14）安装在拉力传感器放大器安装导轨（15）上；所述电源安装导轨（22）通过螺钉固定在电源安装导轨安装件（23）上，所述拉力传感器放大器安装导轨（15）通过螺钉固定在拉力传感器放大器安装导轨安装件（16）上；所述电源安装导轨安装件（23）与可移动车身的车架短条竖梁（19）连接、所述拉力传感器放大器安装导轨安装件（16）通过直角连接件与可移动车身的车架长条竖梁（40）连接，所述电机供电安全电源（17）为车身运动传动电机（24）、升降机构传动电机（13）、拉伸髋关节电机（113）、拉伸膝关节电机（114）、拉伸踝关节电机（111）、屈曲髋关节电机（117）、屈曲膝关节电机（118）、屈曲踝关节电机（121）提供能量来源，所述传感器供电安全电源（18）为拉伸膝关节拉力传感器（53）、拉伸踝关节拉力传感器（57）、屈曲膝关节拉力传感器（63）、屈曲踝关节拉力传感器（60）提供能量来源，所述拉力传感器放大器（14）收集所述拉力传感器机构中的拉伸膝关节拉力传感器（53）、拉伸踝关节拉力传感器（57）、屈曲膝关节拉力传感器（63）、屈曲踝关节拉力传感器（60）的信息将其传输到控制器及操作面板（2），作为所述控制器反馈输入和安全监视；
    所述车身电源及传感机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
  4. 根据权利要求1所述的用于下肢康复训练的可穿戴移动式机器人，其特征在于：所述升降机构为双侧结构，一侧配件包括升降电机安装件（11）、升降机构传动电机（13）、升降机构传动电机减速器（12）、传动螺杆下安装座（34）、推力球轴承（35）、传动螺杆（37）、升降立柱承接座（7）、导杆导向套筒（39）、升降导杆（6）、升降导杆安装座（9）、升降机构防尘布（3）、升降机构联轴器（10）、升降下承接板（33）、升降板（8）、升降上承接板（38）、传动螺母（36）；
    所述升降机构一侧配件间的位置关系为：所述升降机构传动电机（13）通过升降电机安装件（11）安装在升降下承接板（33）上，升降机构传动电机（13）输出端与升降机构传动电机减速器（12）输入端固定连接，升降机构传动电机减速器（12）输出端与传动螺杆（37）下末端通过升降机构联轴器（10）相连，安装在升降板（8）上的传动螺母（36）与传动螺杆（37）通过螺纹副配合；传动螺杆（37）下端轴肩与安装在升降下承接板（33）的传动螺杆下安装座（34）中的推力球轴承（35）轴孔配合连接；所述升降机构通过所述升降下承接板（33）固定在所述可移动车身的车架长条竖梁（40）的中部，通过所述升降上承接板（38）固定在所述可移动车身的车架长条竖梁（40）的顶部；通过升降导杆安装座（9）安装在升降上承接板（38）和升降下承接板（33）之间的升降导杆（6）在安装在升降板（8）的导杆导向套筒（39）中上下滑动，所述升降立柱承接座（7）安装在升降板（8）上的四角，通过与所述训练空间框架中的训练框架升降立柱（110）固定连接，承受所述可升降训练空间框架的重量；升降机构防尘布（3）安装在升降机构与可移动车身的车架之间，防止灰尘进入封闭升降空间；
    所述升降机构传动电机（13）经过升降机构传动电机减速器（12）减速加大力矩之后，将扭矩通过升降机构联轴器（10）传递给传动螺杆（37），所述传动螺杆（37）旋转带动传动螺母（36）上下移动从而带动升降板（8）上下移动，从而带动通过升降导杆安装座（6）安装在升降板（8）上的可升降训练空间框架上下移动；为了减少非轴向力对所述升降机构传动的不利影响、增加传动的精度，所述升降导杆（6）起到升降机构上下移动时的导向作用；
    所述车身运升降机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
  5. 根据权利要求1所述的用于下肢康复训练的可穿戴移动式机器人，其特征在于：所述视觉传感机构一侧配件包括镜头（4）、相机（41）、可移动云台（5）； 所述视觉传感机构一侧配件间的位置关系为：所述镜头（4）及相机（41）安装在可移动云台（5）上，根据需要调整镜头（4）角度和位置；所述可移动运动固定连接在所述升降机构的升降板（8）上；
       所述视觉传感机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
  6. 根据权利要求1所述的用于下肢康复训练的可穿戴移动式机器人，其特征在于：所述前腰传动机构为双侧结构，一侧配件包括前腰电机安装板（90）、前腰电机驱动器安装板（86）、拉伸髋关节电机（113）、拉伸膝关节电机（114）、拉伸踝关节电机（111）、拉伸髋关节电机驱动器（87）、拉伸膝关节电机驱动器（88）、拉伸踝关节电机驱动器（89）、拉伸髋关节线芯导向出口（99）、拉伸膝关节线芯导向出口（97）、拉绳踝关节线芯导向出口（98）、前腰导轮安装盒（91）、拉伸髋关节导轮（92）、拉伸膝关节导轮（96）、拉伸踝关节导轮（93）、拉伸髋关节电机输出轴（115）、拉伸膝关节电机输出轴（116）、拉伸踝关节电机输出轴（112）、前腰鲍登线线芯导向轮安装件（95）、前腰鲍登线线芯导向轮（94）；
    所述前腰传动机构一侧配件间的位置关系为：所述拉伸髋关节电机驱动器（87）、拉伸膝关节电机驱动器（88）、拉伸踝关节电机驱动器（89）安装在前腰电机驱动器安装板（86）上，拉伸髋关节导轮（92）、拉伸膝关节导轮（96）、拉伸踝关节导轮（93）安装在前腰导轮安装盒（91）内表面上，所述前腰导轮安装盒（91）安装在所述可升降训练空间框架的前腰内侧，所述拉伸髋关节电机（113）、拉伸膝关节电机（114）、拉伸踝关节电机（111）固定连接在前腰电机安装板（90）上，所述前腰电机安装板（90）固定连接在所述可升降训练空间框架的前腰框架内；所述前腰鲍登线线芯导向轮（94）通过前腰鲍登线线芯导向轮安装件（95）安装在前腰导轮安装盒（91）的内表面；所述拉伸髋关节线芯导向出口（99）、拉伸膝关节线芯导向出口（97）、拉伸踝关节线芯导向出口（98）安装在前腰导轮安装盒（91）靠近人体的内侧；
    所述拉伸髋关节电机输出轴（115）、拉伸膝关节电机输出轴（116）、拉伸踝关节电机输出轴（112）分别将所述拉伸髋关节电机（113）、拉伸膝关节电机（114）、拉伸踝关节电机（111）的动力传递给拉伸髋关节导轮（92）、拉伸膝关节导轮（96）、拉伸踝关节导轮（93）；拉伸髋关节鲍登线线芯（46）绕过拉伸髋关节导轮（92）后再绕过安装在前腰导轮安装盒（91）内表面的前腰鲍登线线芯导向轮（94），最后通过拉伸髋关节线芯导向出口（99）将拉伸髋关节的动力传递出去；与髋关节类似，拉伸膝关节关节鲍登线线芯（51）绕过拉伸膝关节导轮（96）后再绕过安装在前腰导轮安装盒（91）内表面的前腰鲍登线线芯导向轮（94），最后通过拉伸髋关节线芯导向出口（97）将拉伸膝关节的动力传递出去；与髋、膝关节类似，拉伸踝关节鲍登线线芯（55）绕过拉伸踝关节导轮（93）后再绕过前腰鲍登线线芯导向轮（94），最后通过拉伸髋关节线芯导向出口（98）将拉伸髋关节的动力传递出去；
    所述前腰传动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
  7. 根据权利要求1所述的用于下肢康复训练的可穿戴移动式机器人，其特征在于：所述后腰传动机构为双侧结构，一侧配件包括后腰电机安装板（109）、后腰电机驱动器安装板（85）、屈曲髋关节电机（117）、屈曲膝关节电机（118）、屈曲踝关节电机（121）、屈曲髋关节电机驱动器（82）、屈曲膝关节电机驱动器（83）、屈曲踝关节电机驱动器（84）、屈曲髋关节线芯导向出口（100）、屈曲膝关节线芯导向出口（102）、屈曲踝关节线芯导向出口（101）、后腰导轮安装盒（108）、屈曲髋关节导轮（103）、屈曲膝关节导轮（104）、屈曲踝关节导轮（107）、屈曲髋关节电机输出轴（119）、屈曲膝关节电机输出轴（120）、屈曲踝关节电机输出轴（122）、后腰鲍登线线芯导向轮安装件（106）、后腰鲍登线线芯导向轮（105）；
    所述后腰传动机构一侧配件间的位置关系为：所述屈曲髋关节电机驱动器（82）、屈曲膝关节电机驱动器（83）、屈曲踝关节电机驱动器（84）安装在后腰电机驱动器安装板（85）上，屈曲髋关节导轮（103）、屈曲膝关节导轮（104）、屈曲踝关节导轮（107）安装在后腰导轮安装盒（108）内表面上，所述后腰导轮安装盒（108）安装在所述可升降训练空间框架的后腰内侧，所述屈曲髋关节电机（117）、屈曲膝关节电机（118）、屈曲踝关节电机（121）固定连接在后腰电机安装板（109）上，所述后腰电机安装板（109）固定连接在所述可升降训练空间框架的后腰框架内；所述后腰鲍登线线芯导向轮（105）通过后腰鲍登线线芯导向轮安装件（106）安装在后腰导轮安装盒（108）的内表面；所述屈曲髋关节线芯导向出口（100）、屈曲膝关节线芯导向出口（102）、屈曲踝关节线芯导向出口（101）安装在后腰导轮安装盒（108）靠近人体的内侧；
    所述屈曲髋关节电机输出轴（119）、屈曲膝关节电机输出轴（120）、屈曲踝关节电机输出轴（122）分别将所述屈曲髋关节电机（117）、屈曲膝关节电机（118）、屈曲踝关节电机（121）的动力传递给屈曲髋关节导轮（103）、屈曲膝关节导轮（104）、屈曲踝关节导轮（ 107）；屈曲髋关节鲍登线线芯（64）绕过屈曲髋关节导轮（103）后再绕过安装在后腰导轮安装盒（108）内表面的后腰鲍登线线芯导向轮（105），最后通过屈曲髋关节线芯导向出口（100）将屈曲髋关节的动力传递出去；与髋关节类似，屈曲膝关节关节鲍登线线芯（63）绕过屈曲膝关节导轮（104）后再绕过安装在后腰导轮安装盒（108）内表面的后腰鲍登线线芯导向轮（105），最后通过屈曲膝关节线芯导向出口（102）将屈曲膝关节的动力传递出去；与髋、膝关节类似，屈曲踝关节鲍登线线芯（61）绕过屈曲踝关节导轮（107）后再绕过后腰鲍登线线芯导向轮（105），最后通过屈曲踝关节线芯导向出口（101）将屈曲踝关节的动力传递出去；
    所述后腰传动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
  8. 根据权利要求1所述的用于下肢康复训练的可穿戴移动式机器人，其特征在于：所述后腰翻转机构为双侧结构，一侧配件包括后腰翻转电机安装板（68）、后腰翻转电机（69）、后腰翻转电机减速器安装座（70）、后腰翻转电机减速器（71）、后腰翻转联轴器（72）、后腰翻转前轴安装座（73）、后腰翻转前轴（74）、后腰翻转前臂（75）、后腰翻转后臂（77）、后腰翻转外壳（76）后腰翻转后轴（78）、后腰翻转后轴轴承（79）、后腰翻转后轴安装座（80）、后腰翻转后轴安装座安装板（81）；
    所述后腰翻转机构一侧配件间的位置关系为：所述后腰翻转电机（69）与后腰翻转电机减速器（71）固定连接，所述后腰翻转电机减速器（71）通过后腰翻转电机减速器安装座（70）安装在后腰翻转电机安装板（68）上，后腰翻转电机减速器（71）的输出轴与后腰翻转前轴（74）通过后腰翻转联轴器（72）相连传递扭矩，后腰翻转前轴（74）与前侧的后腰翻转前臂（75）固连，与后腰翻转后臂（77）固连的后腰翻转后轴（78）与安装在后腰翻转后轴安装座（80）上的后腰翻转后轴轴承（79）轴孔配合，所述后腰翻转后轴安装座（80）固连在后腰翻转后轴安装座安装板（81）上；所述后腰翻转机构通过后腰翻转电机安装板（68）安装在训练空间框架靠近人体的内侧，通过后腰翻转后轴安装座安装板（81）安装在训练空间框架的尾部；
    所述后腰翻转机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
  9. 根据权利要求1所述的用于下肢康复训练的可穿戴移动式机器人，其特征在于：所述鲍登线传动机构为双侧机构，一侧配件包括拉伸髋关节鲍登线外壳（42）、拉伸膝关节鲍登线外壳（43）、拉伸踝关节鲍登线外壳（44）、拉伸髋关节鲍登线线芯（46）、拉伸膝关节鲍登线线芯（51）、拉伸踝关节鲍登线线芯（55）、屈曲踝关节鲍登线线芯（61）、屈曲膝关节鲍登线线芯（63）、屈曲髋关节鲍登线线芯（64）、屈曲踝关节鲍登线外壳（65）、屈曲膝关节鲍登线外壳（66）、屈曲髋关节鲍登线外壳（67）、若干鲍登线外壳固定件（50）；
    所述鲍登线传动机构一侧配件间的位置关系为：所述拉伸髋关节鲍登线线芯（46）、拉伸膝关节鲍登线线芯（51）、拉伸踝关节鲍登线线芯（55）、屈曲踝关节鲍登线线芯（61）、屈曲膝关节鲍登线线芯（63）、屈曲髋关节鲍登线线芯（64）分别在拉伸髋关节鲍登线外壳（42）、拉伸膝关节节鲍登线外壳（43）、拉伸踝关节鲍登线外壳（44）、屈曲髋关节鲍登线外壳（67）、屈曲膝关节鲍登线外壳（66）、屈曲踝关节鲍登线外壳（65）中滑动，以上所述拉伸髋关节鲍登线外壳（42）、拉伸膝关节节鲍登线外壳（43）、拉伸踝关节鲍登线外壳（44）、屈曲髋关节鲍登线外壳（67）、屈曲膝关节鲍登线外壳（66）、屈曲踝关节鲍登线外壳（65）的上端末端与分别与拉伸髋关节线芯导向出口（99）、拉伸膝关节线芯导向出口（97）、拉伸踝关节线芯导向出口（98）、屈曲髋关节线芯导向出口（100）、屈曲膝关节线芯导向出口（102）、屈曲踝关节线芯导向出口（101）相连，下端末端均通过鲍登线外壳固定件（50）分别连接鲍登线外壳固定腰带（45）前侧、固定膝关节鲍登线外壳韧性带（49）前侧、固定踝关节鲍登线线芯韧性带（54）前侧、鲍登线外壳固定腰带（45）后侧、固定膝关节鲍登线外壳韧性带（49）后侧、固定踝关节鲍登线线芯韧性带（54）后侧；以上所述拉伸髋关节鲍登线线芯（46）、拉伸膝关节鲍登线线芯（51）、拉伸踝关节鲍登线线芯（55）、屈曲踝关节鲍登线线芯（61）、屈曲膝关节鲍登线线芯（63）、屈曲髋关节鲍登线线芯（64）上端末端分别与拉伸髋关节导轮（92）、拉伸膝关节导轮（96）、拉伸踝关节导轮（93）、屈曲髋关节导轮（103）、屈曲膝关节导轮（104）、屈曲踝关节导轮（107）相连，下端末端分别与固定髋关节鲍登线线芯韧性带（48）前侧、固定膝关节鲍登线线芯韧性带（52）前侧、患者穿戴鞋子（59）前侧、固定髋关节鲍登线线芯韧性带（48）后侧、固定膝关节鲍登线线芯韧性带（52）后侧、患者穿戴鞋子（59）后侧相连，鲍登线外壳给鲍登线线芯作导向的作用；
    所述鲍登线传动机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于可移动车身的中轴面呈镜像对称的关系。
  10. 根据权利要求1~9任一项所述的用于下肢康复训练的可穿戴移动式机器人，其特征在于：所述拉力传感器机构一侧配件包括拉伸膝关节拉力传感器（53）、拉伸踝关节拉力传感器（57）、屈曲膝关节拉力传感器（62）、屈曲踝关节拉力传感器（60）、拉力传感器上端连接件（56）、拉力传感器下端连接件（58）；
    所述拉力传感器机构一侧配件间的位置关系为：所述拉伸膝关节拉力传感器（53）上端通过拉力传感器上端连接件（56）与拉伸膝关节鲍登线线芯（51）一端相连，下端通过拉力传感器下端连接件（58）与拉伸膝关节鲍登线线芯（51）另一端相连；所述拉伸踝关节拉力传感器（57）上端通过拉力传感器上端连接件（56）与拉伸踝关节鲍登线线芯（55）一端相连，下端通过拉力传感器下端连接件（58）与拉伸踝关节鲍登线线芯（55）另一端相连；所述屈曲膝关节拉力传感器（62）上端通过拉力传感器上端连接件（56）与屈曲膝关节鲍登线线芯（63）一端相连，下端通过拉力传感器下端连接件（58）与屈曲膝关节鲍登线线芯（63）另一端相连；所述屈曲踝关节拉力传感器（60）上端通过拉力传感器上端连接件（56）与屈曲踝关节鲍登线线芯（61）一端相连，下端通过拉力传感器下端连接件（58）与屈曲踝关节鲍登线线芯（61）另一端相连；
    所述拉伸膝关节拉力传感器（53）、拉伸踝关节拉力传感器（57）、屈曲膝关节拉力传感器（62）、屈曲踝关节拉力传感器（60）在患者康复训练过程中收集拉力的信息，将这些信息传输到拉力传感器放大器（14）进行信号放大后传输到控制器及操作面板（2）作为一个控制量，保证康复过程中的安全性和可靠性；
    所述拉力传感器机构一侧包含的配件和位置关系与另一侧包含的配件和位置关系关于一体式柔性裤的中轴面呈镜像对称的关系；
    所述一体式柔性裤包括柔性裤（47）、鲍登线外壳固定腰带（45）、固定膝关节鲍登线外壳韧性带（49）、固定踝关节鲍登线外壳韧性带（54）、固定髋关节鲍登线线芯韧性带（48）、固定膝关节鲍登线线芯韧性带（52）、鞋子（59）；
    所述鲍登线外壳固定腰带（45）与柔性裤（47）的上部末端相连，所述固定髋关节鲍登线线芯韧性带（48）、固定膝关节鲍登线外壳韧性带（49）固定连接在柔性裤（47）的大腿部分，固定踝关节鲍登线外壳韧性带（54）、固定膝关节鲍登线线芯韧性带（52）固定连接在柔性裤（47）的小腿部分；鞋子（59）穿戴在使用者的脚上，柔性裤（47）穿戴在人体下肢肢体上；
        所述鲍登线外壳固定腰带（45）、固定膝关节鲍登线外壳韧性带（48）、固定踝关节鲍登线外壳韧性带（54）为所述鲍登线传动机构中拉伸髋关节鲍登线外壳（42）、拉伸膝关节鲍登线外壳（43）、拉伸踝关节鲍登线外壳（44）、屈曲踝关节鲍登线外壳（65）、屈曲膝关节鲍登线外壳（66）、屈曲髋关节鲍登线外壳（67的下端末端的安装提供着力点，所述固定髋关节鲍登线线芯韧性带（48）、固定膝关节鲍登线韧性带（52）、鞋子（59）为所述鲍登线传动机构中拉伸髋关节鲍登线线芯（46）、拉伸膝关节鲍登线线芯（51）、拉伸踝关节鲍登线线芯（55）、屈曲踝关节鲍登线线芯（61）、屈曲膝关节鲍登线线芯（63）、屈曲髋关节鲍登线线芯（64）下端末端拉动人体肢体运动提供着力点。
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