WO2022188605A1 - Multifunctional intelligent walking assistance robot for lower-limb rehabilitation - Google Patents

Multifunctional intelligent walking assistance robot for lower-limb rehabilitation Download PDF

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Publication number
WO2022188605A1
WO2022188605A1 PCT/CN2022/076586 CN2022076586W WO2022188605A1 WO 2022188605 A1 WO2022188605 A1 WO 2022188605A1 CN 2022076586 W CN2022076586 W CN 2022076586W WO 2022188605 A1 WO2022188605 A1 WO 2022188605A1
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Prior art keywords
joint
limb rehabilitation
motor
walking
knee
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PCT/CN2022/076586
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French (fr)
Chinese (zh)
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王继荣
李军
李梁京
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王继荣
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Publication of WO2022188605A1 publication Critical patent/WO2022188605A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
    • A—HUMAN NECESSITIES
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/021—Measuring pressure in heart or blood vessels
    • A—HUMAN NECESSITIES
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/021—Measuring pressure in heart or blood vessels
    • A61B5/02141—Details of apparatus construction, e.g. pump units or housings therefor, cuff pressurising systems, arrangements of fluid conduits or circuits
    • A—HUMAN NECESSITIES
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    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/024—Detecting, measuring or recording pulse rate or heart rate
    • A61B5/02438—Detecting, measuring or recording pulse rate or heart rate with portable devices, e.g. worn by the patient
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    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
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Definitions

  • the invention relates to the field of mechanical rehabilitation equipment, in particular to a multifunctional lower limb rehabilitation intelligent auxiliary walking robot
  • Switzerland was the first to develop a lower limb rehabilitation robot. Its main function is to train the patient's gait so that the affected limb can return to normal walking.
  • the system consists of a weight loss mechanism, a double lower limb robot and a sports tablet. It can control the motion of the three joints of the lower limbs of the human body, and record the patient's movement state and the force of each part during the training process in real time. It is also the most common application in the market.
  • the United States, Japan, the United Kingdom, etc. have also conducted research, and some domestic research institutes and enterprises have also achieved certain results.
  • the lower limb rehabilitation robot still has some shortcomings.
  • the main disadvantages are as follows: the degree of functional integration is not high, only one mode can be used to restore the joints, and the data of heart rate and blood pressure cannot be effectively and timely collected, resulting in poor recovery effect of rehabilitation training.
  • a multifunctional intelligent auxiliary walking robot for lower limb rehabilitation comprising a walking support, lower limb rehabilitation mechanisms are respectively set on both sides of the middle part of the walking support, handrails are set on the front part of the lower limb rehabilitation mechanism, and the handrails are arranged on the front part of the lower limb rehabilitation mechanism.
  • a heart rate sensor is fixedly arranged, a control cabinet is arranged on the lower horizontal tube at the front of the walking bracket, a battery cabinet is arranged on the lower horizontal tube at the rear of the walking bracket, and a display screen is also arranged on the upper horizontal tube at the front of the walking bracket.
  • the four corners of the walking support are provided with casters.
  • the lower limb rehabilitation mechanism includes a crotch joint, a knee joint, and an ankle joint
  • the span joint includes a span motor
  • a stride motor box is arranged outside the span motor, and two sides of the middle part of the walking support are provided.
  • the cross beam is fixedly connected with the stride motor box, and one end of the span motor box is provided with a thigh rotating connecting plate, and the thigh rotating connecting plate is connected with the striding motor through the span harmonic reducer and a pair of bevel gears.
  • the thigh rotating connecting plate is connected with the upper joint of the knee joint through the connecting column, the upper joint of the knee joint is rotatably connected with the lower joint, the upper joint is fixedly provided with a knee motor, and the knee motor passes through the knee harmonic reducer.
  • the ankle harmonic reducer provides power for the rotation of the ankle joint, the crotch joint, the knee joint and the ankle joint are also provided with torque sensors and locking mechanisms respectively, and the upper joint and the lower joint are provided with binding
  • the straps can be bound with the legs.
  • model of the heart rate sensor is Si1172.
  • the locking mechanism is a brake locking mechanism.
  • model of the crotch motor is ECMA-C20807SS
  • model of the crotch harmonic reducer is BHS-20-160-U-IV.
  • model of the motor at the knee joint is ECMA-C10602SS
  • model of the knee harmonic reducer is BHS-17-120-U-IV.
  • model of the ankle motor is ECMA-C10602SS
  • model of the ankle harmonic reducer is BHS-14-100-U-IV.
  • model of the torque sensor is TQ202-30Z.
  • a multi-functional lower extremity rehabilitation intelligent assisted walking robot an integrated model of the mechanical structure of active power, active passive power and passive power, realizes the diversity of functions; and integrates visual collection, heart rate collection, blood pressure use, etc.
  • the data acquisition system improves the safety, comfort and reliability of the prototype.
  • the collection and analysis of rehabilitation data is realized through the intelligent auxiliary control monitoring system, and the rehabilitation effect is improved.
  • Fig. 1 is a three-dimensional schematic diagram of a multifunctional lower limb rehabilitation intelligent assisted walking robot
  • FIG. 2 is a schematic three-dimensional structural diagram of a lower limb rehabilitation mechanism of a multifunctional lower limb rehabilitation intelligent assisted walking robot.
  • a multifunctional intelligent auxiliary walking robot for lower extremity rehabilitation includes a walking support 1.
  • Lower limb rehabilitation mechanisms 13 are respectively set on both sides of the middle part of the walking support 1, and lower limb rehabilitation mechanisms 13 are arranged on the two sides of the middle part of the walking support 1.
  • An armrest 17 is arranged at the front of the mechanism 13 , and a heart rate sensor is fixed on the armrest 17 , and the model of the heart rate sensor is Si1172.
  • a control cabinet 12 is arranged on the lower horizontal tube of the front part of the walking bracket, a battery cabinet 14 is arranged on the lower horizontal tube of the rear part of the walking bracket, and a display screen 16 is also arranged on the upper horizontal tube of the front part of the walking bracket 1 .
  • the four corners of the walking support are provided with casters 15 .
  • the lower limb rehabilitation mechanism 13 includes crotch joints 131, 132, knee joints 133, 134, ankle joints 135, 136, the span joint includes a span motor, and a stride motor box 131 is provided outside the span motor,
  • the cross beams on both sides of the middle part of the walking support 1 are fixedly connected with the stepping motor box 131, and one end of the span motor box 131 is provided with a thigh rotating connecting plate 132, and the thigh rotating connecting plate 132 and the stepping motor pass through the span.
  • the harmonic reducer is connected with a pair of bevel gears to realize front and rear swing.
  • the thigh rotating connecting plate is connected with the upper joint 133 of the knee joint through the connecting column 1321, and the upper joint 133 of the knee joint is rotatably connected with the lower joint 134.
  • the knee motor 1331 is fixed to the joint.
  • the knee motor 1331 is connected with the lower joint 134 through the knee harmonic reducer and a pair of bevel gears 1332 to transmit the front and rear swing of the lower joint 134.
  • the lower joint 134 and the ankle joint are fixed shoes 136 is connected in rotation, an ankle motor is arranged inside the rotation connection of the fixed shoe 136, and the ankle motor provides power for the rotation of the ankle joint through the ankle harmonic reducer.
  • Each of the joints is also provided with a torque sensor and a locking mechanism respectively, and the locking mechanism is a brake locking mechanism.
  • the upper joint 133 and the lower joint 134 are provided with straps 1333 and 1341 to bind with the legs.
  • the model of the crotch motor is ECMA-C20807SS, and the model of the crotch harmonic reducer is BHS-20-160-U-IV.
  • the model of the motor at the knee joint is ECMA-C10602SS, and the model of the knee harmonic reducer is BHS-17-120-U-IV.
  • the model of the ankle motor is ECMA-C10602SS, and the model of the ankle harmonic reducer is BHS-14-100-U-IV.
  • the model of the torque sensor is TQ202-30Z.
  • the lower extremity rehabilitation mechanism 13 is mainly used to realize the lower extremity rehabilitative exercise mechanism, and mainly includes a crotch joint, a knee joint, and an ankle joint.
  • the crotch joint mainly realizes the rehabilitation movement of the cross-joint joint, and the front and rear motion range is (-30°, +30°), and there is a locking mechanism to realize the mechanical protection of the human body
  • the knee joint mainly realizes the rehabilitation movement of the knee joint , the front and rear motion range is (-90°, +10°), and there are locking mechanisms at the front and rear to achieve mechanical protection of the human body
  • the ankle joint mainly realizes the rehabilitation movement of the ankle.
  • the joint motion drive is realized by the motor and the harmonic reducer.
  • Each joint is equipped with a torque sensor to detect the joint motion torque, and the signal is transmitted to the motor control system and the intelligent auxiliary control detection system in the control cabinet to realize the joint motion control.
  • the walking bracket 1 mainly plays the role of supporting and protecting the human body and carrying and installing the equipment.
  • the main structure of the walking bracket is a round tube bending structure, and the internal wiring of the round tube can effectively save space.
  • the human body function detection includes functions such as blood pressure detection and heart rate detection.
  • the collected signals are transmitted to the control cabinet.
  • the blood pressure detection equipment is set on the strap of the upper joint 133, and blood pressure measurement is performed before and after rehabilitation training.
  • the visual assistance system includes a display screen and a camera. Its functions mainly include visual signal acquisition and data display.
  • the information collected by the camera is transmitted to the intelligent auxiliary control and monitoring system.
  • the camera is set on one side of the display screen to identify the objects ahead and determine the direction of travel.
  • the patient In the active mode, the patient needs to actively exercise according to the set line, and the multi-functional lower limb rehabilitation intelligent assisted walking robot moves with the patient as a whole, which plays the role of power assistance, human parameter detection and protection. for rehabilitative exercise.
  • the torque sensor collects the human body motion signal and transmits it to the control cabinet.
  • the intelligent auxiliary control monitoring system in the control cabinet analyzes the torque and feeds it back to the motor control system to give the human body movement power.
  • the casters 15 of the walking bracket are in the unlocked state, and the human body function detection equipment collects the human body function signal and transmits it to the intelligent auxiliary control monitoring system in the control cabinet. If it exceeds the normal value, the feedback signal is sent to the motor control system to control the movement to realize closed-loop control.
  • the visual aid system is used to collect the data information ahead and transmit it to the intelligent auxiliary control monitoring system. If the set instruction route is exceeded, a warning signal will be given to the patient on the display screen to prompt the patient to make corrections. At this time, the display screen will play information display and line warning. effect.
  • the patient sets the virtual route according to the display screen, and uses the lower limb rehabilitation mechanism to exercise.
  • the torque sensor collects the human body motion signal and transmits it to the intelligent auxiliary control monitoring system.
  • the intelligent auxiliary control monitoring system analyzes the torque and feeds it back to the motor control system to give the human body movement power.
  • the casters of the intelligent auxiliary walking mechanism are in a locked state, and the human body function detection equipment collects human body function signals and transmits them to the intelligent auxiliary control monitoring system. If it exceeds the normal value, the feedback signal is sent to the motor control system and the system moves to realize closed-loop control.
  • the visual aid system collects the patient's movement information and matches it with the set line. If the set command line is exceeded, it will give the patient a warning signal on the display screen to prompt the patient to make corrections.
  • passive mode the patient moves passively in situ.
  • the lower limb rehabilitation mechanism drives the patient's legs to move and transmits the torque signal to the intelligent auxiliary control monitoring system. If the torque is abnormal, it transmits the signal to the motor control system to stop the movement.
  • the control principle of the human body function detection equipment is the same as that of the active mode.
  • passive mode the visual aid system camera stops functioning, and the display only serves as an information display.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Surgery (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
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Abstract

A multifunctional intelligent walking assistance robot for lower-limb rehabilitation, the walking assistance robot comprising a walking support (1), wherein lower-limb rehabilitation mechanisms (13) are respectively arranged on two side pipes in the middle of the walking support (1); handrails (17) are arranged on the front portions of the lower-limb rehabilitation mechanisms (13) on the two side pipes in the middle of the walking support (1); heart rate sensors are fixedly arranged on the handrails (17); a control cabinet (14) is arranged on a lower side transverse pipe in the front of the walking support (1); a display screen (16) is further arranged on an upper side transverse pipe in the front of the walking support (1); a battery cabinet (12) is arranged on a lower side transverse pipe of the rear portion of the walking support (1); and castors (15) are arranged at four corners of the walking support (1). Each lower-limb rehabilitation mechanism (13) comprises crotch joints (131, 132), knee joints (133, 134) and ankle joints (135, 136), wherein a knee motor (1331) is connected to the lower joint (134) of the knee joints by means of a knee harmonic reducer and a pair of bevel gears (1332), so as to transmit the front-back swing of the lower joint (134). The multifunctional intelligent walking assistance robot for lower-limb rehabilitation has a high safety, comfort and reliability, and acquisition and analysis of rehabilitation data are achieved by means of an intelligent assistant control monitoring system, such that the rehabilitation effect is improved.

Description

多功能下肢康复智能辅助行走机器人Multifunctional lower limb rehabilitation intelligent assisted walking robot
技术领域technical field
本发明涉及机械康复设备领域，特别涉及一种多功能下肢康复智能辅助行走机器人The invention relates to the field of mechanical rehabilitation equipment, in particular to a multifunctional lower limb rehabilitation intelligent auxiliary walking robot
背景技术Background technique
瑞士最早研发了下肢康复机器人，它的主要功能是对患者进行步态训练从而使得患肢恢复正常步行。该系统由减重机构、双下肢机器人和运动平板组成，它能够对人体下肢三个关节进行运动控制，实时记录患者在训练过程中的运动状态和各部位受力情况。目前在市场上应用也最普遍。同时，美国、日本、英国等也都有研究，国内一些科研单位和企业也有一定的成果。但是下肢康复机器人还存在一些缺点。主要存在以下缺点：功能集成程度不高，只能进行一种模式，对关节进行恢复训练，不能有效及时的采集心率和血压的数据，造成康复训练恢复效果不佳。Switzerland was the first to develop a lower limb rehabilitation robot. Its main function is to train the patient's gait so that the affected limb can return to normal walking. The system consists of a weight loss mechanism, a double lower limb robot and a sports tablet. It can control the motion of the three joints of the lower limbs of the human body, and record the patient's movement state and the force of each part during the training process in real time. It is also the most common application in the market. At the same time, the United States, Japan, the United Kingdom, etc. have also conducted research, and some domestic research institutes and enterprises have also achieved certain results. However, the lower limb rehabilitation robot still has some shortcomings. The main disadvantages are as follows: the degree of functional integration is not high, only one mode can be used to restore the joints, and the data of heart rate and blood pressure cannot be effectively and timely collected, resulting in poor recovery effect of rehabilitation training.
发明内容SUMMARY OF THE INVENTION
为解决背景技术中提到的现有的技术的有关缺陷，现展示了一种功能下肢康复智能辅助行走机器人。In order to solve the related defects of the prior art mentioned in the background art, a functional lower limb rehabilitation intelligent assisted walking robot is now presented.
一种多功能下肢康复智能辅助行走机器人，包括行走支架，所述行走支架的中部两侧管分别设置下肢康复机构，行走支架中部两侧管设置下肢康复机构的前部设置扶手，所述扶手上固定设置心率传感器，所述行走支架前部的下侧横管设置控制柜，行走支架后部的下侧横管设置电池柜，所述行走支架前部的上侧横管还设置显示屏，所述行走支架的四角设置脚轮。A multifunctional intelligent auxiliary walking robot for lower limb rehabilitation, comprising a walking support, lower limb rehabilitation mechanisms are respectively set on both sides of the middle part of the walking support, handrails are set on the front part of the lower limb rehabilitation mechanism, and the handrails are arranged on the front part of the lower limb rehabilitation mechanism. A heart rate sensor is fixedly arranged, a control cabinet is arranged on the lower horizontal tube at the front of the walking bracket, a battery cabinet is arranged on the lower horizontal tube at the rear of the walking bracket, and a display screen is also arranged on the upper horizontal tube at the front of the walking bracket. The four corners of the walking support are provided with casters.
进一步的，所述下肢康复机构包括胯部关节、膝部关节、踝部关节，所述跨部关节包括跨部马达，跨部马达外部设置跨步马达箱体，所述行走支架的中部两侧横梁与跨步马达箱体固定连接，跨部马达箱体的的一端设置大腿旋转连接板，所述大腿旋转连接板与跨步马达通过跨部谐波减速器和一对锥齿轮连接实现前后的摇摆，所述大腿旋转连接板通过连接柱与膝部关节的上关节连接，膝部关节的上关节与下关节旋转连接，上关节固定设置膝部马达，膝部马达通过膝部谐波减速器和一对锥齿轮与所述下关节连接传递下关节的前后摆动，下关节与踝部关节的固定鞋旋转连接，所述固定鞋的旋转连接处内部设置踝部马达，所述踝部马达通过踝部谐波减速器为踝关节的旋转提供动力，所述胯部关节、膝部关节、踝部关节还分别设置扭矩传感器并分别设置有锁止机构，所述上关节和下关节设置有绑带可以与腿部绑定。Further, the lower limb rehabilitation mechanism includes a crotch joint, a knee joint, and an ankle joint, the span joint includes a span motor, and a stride motor box is arranged outside the span motor, and two sides of the middle part of the walking support are provided. The cross beam is fixedly connected with the stride motor box, and one end of the span motor box is provided with a thigh rotating connecting plate, and the thigh rotating connecting plate is connected with the striding motor through the span harmonic reducer and a pair of bevel gears. Swing, the thigh rotating connecting plate is connected with the upper joint of the knee joint through the connecting column, the upper joint of the knee joint is rotatably connected with the lower joint, the upper joint is fixedly provided with a knee motor, and the knee motor passes through the knee harmonic reducer. and a pair of bevel gears are connected with the lower joint to transmit the front and back swing of the lower joint, the lower joint is connected with the fixed shoe of the ankle joint in rotation, and the rotating joint of the fixed shoe is internally provided with an ankle motor, and the ankle motor is connected by The ankle harmonic reducer provides power for the rotation of the ankle joint, the crotch joint, the knee joint and the ankle joint are also provided with torque sensors and locking mechanisms respectively, and the upper joint and the lower joint are provided with binding The straps can be bound with the legs.
进一步的，所述心率传感器的型号为Si1172。Further, the model of the heart rate sensor is Si1172.
进一步的，所述锁止机构为抱闸锁止机构。Further, the locking mechanism is a brake locking mechanism.
进一步的，所述胯部马达的型号为ECMA-C20807SS，胯部谐波减速器的型号为BHS-20-160-U-IV。Further, the model of the crotch motor is ECMA-C20807SS, and the model of the crotch harmonic reducer is BHS-20-160-U-IV.
进一步的，所述膝部关节处马达的型号为ECMA-C10602SS，膝部谐波减速器的型号为BHS-17-120-U-IV。Further, the model of the motor at the knee joint is ECMA-C10602SS, and the model of the knee harmonic reducer is BHS-17-120-U-IV.
进一步的，所述踝部马达的型号为ECMA-C10602SS，踝部谐波减速器的型号为BHS-14-100-U-IV。Further, the model of the ankle motor is ECMA-C10602SS, and the model of the ankle harmonic reducer is BHS-14-100-U-IV.
进一步的，所述扭矩传感器的型号为TQ202-30Z。Further, the model of the torque sensor is TQ202-30Z.
本发明的有益效果：Beneficial effects of the present invention:
一种多功能下肢康复智能辅助行走机器人，主动助力、主被动助力和被动助力三种模式的机械结构的集成机型，实现了功能的多样性；并且融入了视觉采集、心率采集、血压采用等数据采集系统，提高了样机的安全性、舒适性、可靠性。通过智能辅助控制监测系统实现了康复数据的采集分析，提高了康复效果。A multi-functional lower extremity rehabilitation intelligent assisted walking robot, an integrated model of the mechanical structure of active power, active passive power and passive power, realizes the diversity of functions; and integrates visual collection, heart rate collection, blood pressure use, etc. The data acquisition system improves the safety, comfort and reliability of the prototype. The collection and analysis of rehabilitation data is realized through the intelligent auxiliary control monitoring system, and the rehabilitation effect is improved.
附图说明Description of drawings
图1为一种多功能下肢康复智能辅助行走机器人的立体结构示意图；Fig. 1 is a three-dimensional schematic diagram of a multifunctional lower limb rehabilitation intelligent assisted walking robot;
图2为一种多功能下肢康复智能辅助行走机器人的下肢康复机构的立体结构示意图。FIG. 2 is a schematic three-dimensional structural diagram of a lower limb rehabilitation mechanism of a multifunctional lower limb rehabilitation intelligent assisted walking robot.
具体实施方式Detailed ways
为使本领域技术人员更加清楚和明确本发明技术方案，下面结合附图对本发明技术方案进行详细描述，但本发明的实施方式不限于此。In order to make the technical solutions of the present invention clearer and clearer to those skilled in the art, the technical solutions of the present invention are described in detail below with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.
如图1-2，一种多功能下肢康复智能辅助行走机器人，包括行走支架1，所述行走支架1的中部两侧管分别设置下肢康复机构13，行走支架1中部两侧管上面设置下肢康复机构13的前部设置扶手17，所述扶手17上固定设置心率传感器，所述心率传感器的型号为Si1172。所述行走支架前部的下侧横管设置控制柜12，行走支架后部的下侧横管设置电池柜14，所述行走支架1前部的上侧横管还设置显示屏16，所述行走支架的四角设置脚轮15。As shown in Fig. 1-2, a multifunctional intelligent auxiliary walking robot for lower extremity rehabilitation includes a walking support 1. Lower limb rehabilitation mechanisms 13 are respectively set on both sides of the middle part of the walking support 1, and lower limb rehabilitation mechanisms 13 are arranged on the two sides of the middle part of the walking support 1. An armrest 17 is arranged at the front of the mechanism 13 , and a heart rate sensor is fixed on the armrest 17 , and the model of the heart rate sensor is Si1172. A control cabinet 12 is arranged on the lower horizontal tube of the front part of the walking bracket, a battery cabinet 14 is arranged on the lower horizontal tube of the rear part of the walking bracket, and a display screen 16 is also arranged on the upper horizontal tube of the front part of the walking bracket 1 . The four corners of the walking support are provided with casters 15 .
所述下肢康复机构13包括胯部关节131、132 、膝部关节133、134 、踝部关节135、136，所述跨部关节包括跨部马达，跨部马达外部设置跨步马达箱体131，所述行走支架1的中部两侧横梁与跨步马达箱体131固定连接，跨部马达箱体131的的一端设置大腿旋转连接板132，所述大腿旋转连接板132与跨步马达通过跨部谐波减速器和一对锥齿轮连接实现前后的摇摆，所述大腿旋转连接板通过连接柱1321与膝部关节的上关节133连接，膝部关节的上关节133与下关节134旋转连接，上关节固定设置膝部马达1331，膝部马达1331通过膝部谐波减速器和一对锥齿轮1332与所述下关节134连接传递下关节134的前后摆动，下关节134与踝部关节的固定鞋136旋转连接，所述固定鞋136的旋转连接处内部设置踝部马达，所述踝部马达通过踝部谐波减速器为踝关节的旋转提供动力，所述胯部关节、膝部关节、踝部关节还分别设置扭矩传感器并分别设置有锁止机构，所述锁止机构为抱闸锁止机构。所述上关节133和下关节134设置有绑带1333、1341 可以与腿部绑定。所述胯部马达的型号为ECMA-C20807SS，胯部谐波减速器的型号为BHS-20-160-U-IV。所述膝部关节处马达的型号为ECMA-C10602SS，膝部谐波减速器的型号为BHS-17-120-U-IV。所述踝部马达的型号ECMA-C10602SS，踝部谐波减速器的型号为BHS-14-100-U-IV。所述扭矩传感器的型号为TQ202-30Z。The lower limb rehabilitation mechanism 13 includes crotch joints 131, 132, knee joints 133, 134, ankle joints 135, 136, the span joint includes a span motor, and a stride motor box 131 is provided outside the span motor, The cross beams on both sides of the middle part of the walking support 1 are fixedly connected with the stepping motor box 131, and one end of the span motor box 131 is provided with a thigh rotating connecting plate 132, and the thigh rotating connecting plate 132 and the stepping motor pass through the span. The harmonic reducer is connected with a pair of bevel gears to realize front and rear swing. The thigh rotating connecting plate is connected with the upper joint 133 of the knee joint through the connecting column 1321, and the upper joint 133 of the knee joint is rotatably connected with the lower joint 134. The knee motor 1331 is fixed to the joint. The knee motor 1331 is connected with the lower joint 134 through the knee harmonic reducer and a pair of bevel gears 1332 to transmit the front and rear swing of the lower joint 134. The lower joint 134 and the ankle joint are fixed shoes 136 is connected in rotation, an ankle motor is arranged inside the rotation connection of the fixed shoe 136, and the ankle motor provides power for the rotation of the ankle joint through the ankle harmonic reducer. Each of the joints is also provided with a torque sensor and a locking mechanism respectively, and the locking mechanism is a brake locking mechanism. The upper joint 133 and the lower joint 134 are provided with straps 1333 and 1341 to bind with the legs. The model of the crotch motor is ECMA-C20807SS, and the model of the crotch harmonic reducer is BHS-20-160-U-IV. The model of the motor at the knee joint is ECMA-C10602SS, and the model of the knee harmonic reducer is BHS-17-120-U-IV. The model of the ankle motor is ECMA-C10602SS, and the model of the ankle harmonic reducer is BHS-14-100-U-IV. The model of the torque sensor is TQ202-30Z.
下肢康复机构13主要为实现下肢康复性运动机构，主要包括胯部关节、膝部关节、踝部关节。其中胯部关节主要实现跨部关节的康复性运动，前后运动范围为（-30°，+30°），设有锁止机构实现人体机械保护；膝部关节主要实现膝部关节的康复性运动，前后运动范围为（-90°，+10°），前后设有锁止机构实现人体机械保护；踝部关节主要实现脚踝部位的康复性运动。The lower extremity rehabilitation mechanism 13 is mainly used to realize the lower extremity rehabilitative exercise mechanism, and mainly includes a crotch joint, a knee joint, and an ankle joint. Among them, the crotch joint mainly realizes the rehabilitation movement of the cross-joint joint, and the front and rear motion range is (-30°, +30°), and there is a locking mechanism to realize the mechanical protection of the human body; the knee joint mainly realizes the rehabilitation movement of the knee joint , the front and rear motion range is (-90°, +10°), and there are locking mechanisms at the front and rear to achieve mechanical protection of the human body; the ankle joint mainly realizes the rehabilitation movement of the ankle.
关节运动驱动通过电机与谐波减速器实现，各关节设有扭矩传感器以检测关节运动力矩，信号传递至电机控制系统及控制柜内的智能辅助控制检测系统，用以实现关节的运动控制。The joint motion drive is realized by the motor and the harmonic reducer. Each joint is equipped with a torque sensor to detect the joint motion torque, and the signal is transmitted to the motor control system and the intelligent auxiliary control detection system in the control cabinet to realize the joint motion control.
其中行走支架1主要起支撑保护人体，设备承载安装的作用，设有蓄电池座、控制柜座、显示屏座、扶手、线卡座、摄像头安装座和脚轮。行走支架主要结构为圆管折弯结构，圆管内部走线，有效节省空间。Among them, the walking bracket 1 mainly plays the role of supporting and protecting the human body and carrying and installing the equipment. The main structure of the walking bracket is a round tube bending structure, and the internal wiring of the round tube can effectively save space.
人体功能检测包含血压检测、心率检测等功能，采集信号传输至控制柜，血压检测设备设置在上关节133的绑带上，在进行康复训练前和康复训练后进行血压测量。The human body function detection includes functions such as blood pressure detection and heart rate detection. The collected signals are transmitted to the control cabinet. The blood pressure detection equipment is set on the strap of the upper joint 133, and blood pressure measurement is performed before and after rehabilitation training.
视觉辅助系统包含显示屏、摄像头，功能主要包括视觉信号采集、数据显示，摄像头采集信息传输至智能辅助控制监测系统，摄像头设置于显示屏的一侧，用于识别前方物体，判断前进方向。The visual assistance system includes a display screen and a camera. Its functions mainly include visual signal acquisition and data display. The information collected by the camera is transmitted to the intelligent auxiliary control and monitoring system. The camera is set on one side of the display screen to identify the objects ahead and determine the direction of travel.
工作方式为：The way it works is:
主动模式下，患者需按照设定线路主动进行运动，多功能下肢康复智能辅助行走机器人整体随同患者一起运动，起到助力、人体参数检测、保护的作用。以实现康复性运动。扭矩传感器采集人体运动信号并传输至控制柜，控制柜内的智能辅助控制监测系统分析扭矩大小并反馈给马达控制系统，给于人体运动动力。行走支架的脚轮15处于解锁状态，人体功能检测设备采集人体功能信号传输至控制柜内的智能辅助控制监测系统，如若超出正常数值，反馈信号至电机控制系统并控制运动，实现闭环控制。视觉辅助系统用以采集前方数据信息并传输至智能辅助控制监测系统，如若超出设定指令路线，于显示屏给于患者警示信号，提示患者予以纠正，此时显示屏起到信息显示和线路预警的作用。In the active mode, the patient needs to actively exercise according to the set line, and the multi-functional lower limb rehabilitation intelligent assisted walking robot moves with the patient as a whole, which plays the role of power assistance, human parameter detection and protection. for rehabilitative exercise. The torque sensor collects the human body motion signal and transmits it to the control cabinet. The intelligent auxiliary control monitoring system in the control cabinet analyzes the torque and feeds it back to the motor control system to give the human body movement power. The casters 15 of the walking bracket are in the unlocked state, and the human body function detection equipment collects the human body function signal and transmits it to the intelligent auxiliary control monitoring system in the control cabinet. If it exceeds the normal value, the feedback signal is sent to the motor control system to control the movement to realize closed-loop control. The visual aid system is used to collect the data information ahead and transmit it to the intelligent auxiliary control monitoring system. If the set instruction route is exceeded, a warning signal will be given to the patient on the display screen to prompt the patient to make corrections. At this time, the display screen will play information display and line warning. effect.
主被动模式下，基于虚拟现实技术，患者按照显示屏设定虚拟线路，借助下肢康复机构进行运动，多功能下肢康复智能辅助行走机器人锁止机构整体原地锁止。扭矩传感器采集人体运动信号并传输至智能辅助控制监测系统，智能辅助控制监测系统分析扭矩大小并反馈给电机控制系统，给于人体运动动力。智能辅助行走机构脚轮处于锁止状态，人体功能检测设备采集人体功能信号传输至智能辅助控制监测系统，如若超出正常数值，反馈信号至电机控制系统并体制运动，实现闭环控制。视觉辅助系统采集患者运动信息并与设定线路匹配，如若超出设定指令路线，于显示屏给于患者警示信号，提示患者予以纠正。In the active-passive mode, based on virtual reality technology, the patient sets the virtual route according to the display screen, and uses the lower limb rehabilitation mechanism to exercise. The torque sensor collects the human body motion signal and transmits it to the intelligent auxiliary control monitoring system. The intelligent auxiliary control monitoring system analyzes the torque and feeds it back to the motor control system to give the human body movement power. The casters of the intelligent auxiliary walking mechanism are in a locked state, and the human body function detection equipment collects human body function signals and transmits them to the intelligent auxiliary control monitoring system. If it exceeds the normal value, the feedback signal is sent to the motor control system and the system moves to realize closed-loop control. The visual aid system collects the patient's movement information and matches it with the set line. If the set command line is exceeded, it will give the patient a warning signal on the display screen to prompt the patient to make corrections.
被动模式下，患者原地被动运动，此时下肢康复机构带动患者腿部运动并传递扭矩信号至智能辅助控制监测系统，如扭矩异常则传递信号至电机控制系统，停止运动。人体功能检测设备控制原理同主动模式。在被动模式下，视觉辅助系统摄像头停止作用，显示屏仅起到信息显示的作用。In passive mode, the patient moves passively in situ. At this time, the lower limb rehabilitation mechanism drives the patient's legs to move and transmits the torque signal to the intelligent auxiliary control monitoring system. If the torque is abnormal, it transmits the signal to the motor control system to stop the movement. The control principle of the human body function detection equipment is the same as that of the active mode. In passive mode, the visual aid system camera stops functioning, and the display only serves as an information display.
以上所述，仅是本发明的的最佳实施例而已，并非对本发明的任何形式的限制，任何熟悉本领域的技术人员，在不脱离本发明技术方案范围的情况下利用上述揭示的方法和内容对本发明做出的许多可能的变动和修饰，均属于权利要求书保护的范围。The above is only the best embodiment of the present invention, and is not intended to limit the present invention in any form. Any person skilled in the art can utilize the above disclosed method and method without departing from the scope of the technical solution of the present invention. Many possible changes and modifications made to the present invention by the content fall within the protection scope of the claims.
  

Claims (8)

  1. 一种多功能下肢康复智能辅助行走机器人，其特征在于：包括行走支架，所述行走支架的中部两侧管分别设置下肢康复机构，行走支架中部两侧管设置下肢康复机构的前部设置扶手，所述扶手上固定设置心率传感器，所述行走支架前部的下侧横管设置控制柜，所述行走支架前部的上侧横管还设置显示屏，行走支架后部的下侧横管设置电池柜，所述行走支架的四角设置脚轮。A multifunctional intelligent auxiliary walking robot for lower limb rehabilitation, which is characterized by comprising a walking support, lower limb rehabilitation mechanisms are respectively set on both sides of the middle part of the walking support; A heart rate sensor is fixedly arranged on the armrest, a control cabinet is arranged on the lower horizontal tube at the front of the walking bracket, a display screen is also arranged on the upper horizontal tube at the front of the walking bracket, and a lower horizontal tube at the rear of the walking bracket is arranged For the battery cabinet, the four corners of the walking support are provided with casters.
  2. 根据权利要求1所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述下肢康复机够包括胯部关节、膝部关节、踝部关节，所述跨部关节包括跨部马达，跨部马达外部设置跨步马达箱体，所述行走支架的中部两侧横梁与跨步马达箱体固定连接，跨部马达箱体的的一端设置大腿旋转连接板，所述大腿旋转连接板与跨步马达通过跨部谐波减速器和一对锥齿轮连接实现前后的摇摆，所述大腿旋转连接板通过连接柱与膝部关节的上关节连接，膝部关节的上关节与下关节旋转连接，上关节固定设置膝部马达，膝部马达通过膝部谐波减速器和一对锥齿轮与所述下关节连接传递下关节的前后摆动，下关节与踝部关节的固定鞋旋转连接，所述固定鞋的旋转连接处内部设置踝部马达，所述踝部马达通过踝部谐波减速器为踝关节的旋转提供动力，所述胯部关节、膝部关节、踝部关节还分别设置扭矩传感器并分别设置有锁止机构，所述上关节和下关节设置有绑带可以与腿部绑定。The multifunctional lower limb rehabilitation intelligent assisted walking robot according to claim 1, wherein the lower limb rehabilitation machine comprises a crotch joint, a knee joint, and an ankle joint, and the cross joint comprises a cross motor, and the cross A stepping motor box is arranged outside the motor, the two side beams of the middle part of the walking bracket are fixedly connected with the stepping motor box, and one end of the span motor box is provided with a thigh rotating connecting plate, and the thigh rotating connecting plate is connected with the span. The stepping motor is connected to the front and rear through the harmonic reducer and a pair of bevel gears. The upper joint is fixedly provided with a knee motor, the knee motor is connected with the lower joint through the knee harmonic reducer and a pair of bevel gears to transmit the front and rear swing of the lower joint, and the lower joint is connected with the fixed shoe of the ankle joint in rotation. An ankle motor is arranged inside the rotating joint of the fixed shoe, and the ankle motor provides power for the rotation of the ankle joint through the ankle harmonic reducer. The crotch joint, knee joint and ankle joint are also provided with torque sensors respectively. A locking mechanism is respectively provided, and the upper joint and the lower joint are provided with straps which can be bound with the legs.
  3. 根据权利要求1所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述心率传感器的型号为Si1172。The multifunctional lower limb rehabilitation intelligent assisted walking robot according to claim 1, wherein the model of the heart rate sensor is Si1172.
  4. 根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述锁止机构为抱闸锁止机构。The multifunctional lower limb rehabilitation intelligent assisted walking robot according to claim 2, wherein the locking mechanism is a brake locking mechanism.
  5. 根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述胯部马达的型号为ECMA-C20807SS，胯部谐波减速器的型号为BHS-20-160-U-IV。The multifunctional lower limb rehabilitation intelligent assisted walking robot according to claim 2, wherein the model of the crotch motor is ECMA-C20807SS, and the model of the crotch harmonic reducer is BHS-20-160-U-IV .
  6. 根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述膝部关节处马达的型号为ECMA-C10602SS，膝部谐波减速器的型号为BHS-17-120-U-IV。The multifunctional lower limb rehabilitation intelligent assisted walking robot according to claim 2, wherein the model of the motor at the knee joint is ECMA-C10602SS, and the model of the knee harmonic reducer is BHS-17-120-U -IV.
  7. 根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述踝部马达的型号为ECMA-C10602SS，踝部谐波减速器的型号为BHS-14-100-U-IV。The multifunctional intelligent assisted walking robot for lower limb rehabilitation according to claim 2, wherein the model of the ankle motor is ECMA-C10602SS, and the model of the ankle harmonic reducer is BHS-14-100-U-IV .
  8. 根据权利要求2所述的多功能下肢康复智能辅助行走机器人，其特征在于：所述扭矩传感器的型号为TQ202-30Z。The multifunctional lower limb rehabilitation intelligent assisted walking robot according to claim 2, wherein the model of the torque sensor is TQ202-30Z.
      
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