CN110664586A - Waist rehabilitation robot - Google Patents
Waist rehabilitation robot Download PDFInfo
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- CN110664586A CN110664586A CN201910916866.XA CN201910916866A CN110664586A CN 110664586 A CN110664586 A CN 110664586A CN 201910916866 A CN201910916866 A CN 201910916866A CN 110664586 A CN110664586 A CN 110664586A
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- 230000007246 mechanism Effects 0.000 claims abstract description 93
- 238000004804 winding Methods 0.000 claims description 25
- 230000008859 change Effects 0.000 claims description 6
- 230000009193 crawling Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000013585 weight reducing agent Substances 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 7
- 210000003141 lower extremity Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005021 gait Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002356 single layer Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
-
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2201/1623—Back
- A61H2201/1626—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Neurology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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Abstract
The invention discloses a waist rehabilitation robot, which comprises: the waist control mechanism is connected with a force measuring handrail arranged above the waist control mechanism through an adjusting bracket, the waist control mechanism is also connected with a rope arranging device through a rope, and the rope is also connected with a variable-stiffness force measuring device; the waist control mechanism comprises a U-shaped bracket and a waist driving mechanism for driving the U-shaped bracket to move. The rope arranging device and the variable stiffness force measuring device can provide certain elastic tensile force for the whole waist control mechanism and the force measuring handrail, so that the adjustment of the weight reduction of a patient is realized, the flexible driving mechanism can adjust the position of a shaft pin relative to a waist-shaped hole through an adjusting spring, so that the different elasticity of a sliding block can be adjusted, and a driving fixing plate is always positioned in the middle of a support, namely, the flexibility of different degrees is provided for the rotation of the waist around a vertical shaft during training.
Description
Technical Field
The invention relates to the technical field of waist movement and rehabilitation, in particular to a waist rehabilitation robot.
Background
At present, most of the designs of lower limb rehabilitation robots finish gait training by correcting leg walking actions, part of the lower limbs are constrained and driven in an exoskeleton mode, and the weight reduction of a human body in the training process basically adopts an upper suspension scheme, the upper half body of the human body receives upward tension and the gravity of the lower half body under the scheme, so that a stiff state is formed near the waist, the control on the body and the coordination between the upper body and the lower body of a patient trained under the several premises are greatly reduced, the human body finishes standard gait only through the strength of the machine, and the motion control and the assistance loss of the waist of the patient in the training process are just different from the treatment principle of the rehabilitation training for inducing the active recovery of the body of the patient.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a waist rehabilitation robot, which solves the technical problems of control and assistance of the waist movement of a patient in the gait rehabilitation training process in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a waist rehabilitation robot is characterized in that: the waist control mechanism is connected with a force measuring handrail arranged above the waist control mechanism through an adjusting bracket, the waist control mechanism is further connected with a rope arranging device through a rope, and the rope is further connected with a variable-stiffness force measuring device;
the waist control mechanism comprises a U-shaped support and a waist driving mechanism for driving the U-shaped support to move.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the force-measuring armrest comprises a support plate and a U-shaped measuring frame connected to the support plate through a pressure sensor and a torsion seat, the U-shaped measuring frame is further provided with a hand grip and a joint protection pad, and the support plate is connected to the adjusting support.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the adjusting bracket is a parallel six-bar mechanism, the parallel six-bar mechanism comprises a first upper connecting rod, an upper bracket beam, a second upper connecting rod, a third upper connecting rod, a lower bracket beam, a first connecting shaft, a second connecting shaft, a first lower connecting rod, a second lower connecting rod, a third lower connecting rod and a third connecting shaft, one end of each of the first upper connecting rod, the second upper connecting rod and the third upper connecting rod is hinged to the upper bracket beam, the other end of each of the first upper connecting rod, the second upper connecting rod and the third upper connecting rod is hinged to the third lower connecting rod, the other end of each of the first upper connecting rod, the second lower connecting rod and the first lower connecting rod is hinged to the third lower connecting rod, the second lower connecting rod and the first lower connecting rod are arranged in parallel and are hinged to a hinge point of the third upper connecting rod and the first lower connecting rod, a hinge point of the second upper connecting rod and the second lower connecting rod and a hinge point of the first, And an adjusting device for adjusting the distance between the third connecting shaft and the first connecting shaft and the distance between the third connecting shaft and the second connecting shaft are also arranged between the second connecting shaft and the third connecting shaft.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: adjusting device is including adjusting the lead screw and connecting in the adjusting nut of third connecting axle, adjust lead screw rotatable coupling in first connecting axle, second connecting axle, adjusting nut passes through threaded connection in adjusting the lead screw.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the second upper connecting rod is parallel to the third upper connecting rod, the first lower connecting rod is parallel to the second lower connecting rod, and a connecting shaft locking piece is further arranged between a hinge joint of the third upper connecting rod and the first lower connecting rod and a hinge joint of the second upper connecting rod and the second lower connecting rod.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the rope arranging device comprises a driving device, a rope guiding assembly and a rope winding drum connected to the power output end of the driving device, the rope guiding assembly comprises a reciprocating lead screw, a guide shaft, a guide block and a rope guiding wheel set, the guide block and the rope guiding wheel set can slide along the reciprocating lead screw and the guide shaft, the reciprocating lead screw is connected to the rope winding drum through a second speed change mechanism, a rope penetrates through the rope guiding wheel set and is connected to the rope winding drum, and the driving speed of the reciprocating lead screw to the rope guiding wheel set is equal to the crawling speed of the rope at the rope winding drum.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the variable stiffness force measuring device comprises a guide post and a spring sleeved on the guide post, the end part of the guide post is fixedly connected to the base, the guide post is further connected to a flexible support, the flexible support is slidably connected to the guide post, two ends of the spring are respectively connected to the base and the flexible support, the flexible support is further connected to a tension sensor, and the tension sensor and the base are both provided with pulleys for connecting ropes.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: waist control mechanism passes through crane sliding connection from top to bottom in the walking support, waist actuating mechanism includes that the output shaft sets up in the backup pad of crane top, the backup pad is equipped with arc slide rail group, arc slide rail group link is in arc slider, U type support passes arc slider, connects in the output shaft through universal joint, the output shaft passes through torque sensor and connects in driving motor's power take off end.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the driving motor, the torque sensor and the output shaft are all connected to a driving fixing plate, the driving fixing plate is slidably connected to the lifting frame, the driving fixing plate is further connected with a flexible driving mechanism, the flexible driving mechanism comprises two groups of elastic adjusting devices, each elastic adjusting device comprises a spring adjusting angle frame, two connecting rod mechanisms, a sliding block and an extension spring, each spring adjusting angle frame is provided with a kidney-shaped hole, one end of each extension spring is connected to the kidney-shaped hole through a spring adjusting shaft pin, the other end of each extension spring is connected to a middle hinge point of the two connecting rod mechanisms, and the spring adjusting shaft pins can be slidably connected to the kidney-;
two link mechanism's both ends articulate respectively in sliding block, L type fixed block, the sliding block can be on a parallel with the sliding of spring adjustment angle frame, and two sliding blocks are used for restricting the sliding position of fixed plate at the crane.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the flexible driving mechanism further comprises two L-shaped fixing blocks, a sliding shaft parallel to the spring adjusting angle frame and a guide shaft parallel to the spring adjusting angle frame, two ends of the spring adjusting angle frame, the sliding shaft and the guide shaft are respectively connected to the two L-shaped fixing blocks, and the sliding block is slidably connected to the sliding shaft and the guide shaft.
The invention achieves the following beneficial effects: the rope arranging device and the variable-stiffness force measuring device can provide tensile force with certain elasticity for the whole waist control mechanism and the force measuring handrail, so that on one hand, passive flexibility of a weight reduction system is provided, on the other hand, force closed-loop feedback is provided for active weight reduction training, and the real-time adjustment of the weight reduction force of a patient is realized, so that active/passive flexibility control of the system is realized. The overall height of the waist control mechanism and the force measuring armrests can be adjusted in a winding and unwinding mode through the rope arranging device, and the requirements of adjusting the height of the lower limbs of a patient and adjusting the vertical movement of the gravity center of the human body are mainly met; moreover, the relative height between the dynamometry handrail and the waist control mechanism can be adjusted through the adjusting bracket, and the use requirements of patients with different upper body lengths or different requirements on the height of the handrail can be met.
The flexible driving mechanism can adjust the position of the shaft pin relative to the waist-shaped hole through the adjusting spring to realize the adjustment of different elasticity of the sliding block, and the driving fixing plate is always positioned in the middle of the bracket, namely, the flexible driving mechanism provides different degrees of flexibility for the left and right swinging of the waist during training.
The invention supports, controls the movement and assists the training of the waist of the patient by hanging the training pants on the U-shaped bracket, provides the auxiliary support for the gait training of the patient by the waist control mechanism, and realizes the control of the twisting movement of the waist of the patient during walking by the passive rotation of the U-shaped bracket around the vertical shaft; the rotation of the U-shaped bracket around the sagittal axis is controlled by the driving motor, so that the active control of the rotation of the waist of the patient around the sagittal axis is realized, the reverse supporting can be realized for the patient when the patient falls down, and the patient is effectively prevented from falling down; meanwhile, the U-shaped bracket driving mechanism is transversely limited through the compliant driving mechanism, and the rigidity of the transverse limitation can be adjusted through the compliant driving mechanism.
Drawings
FIG. 1 is a first overall block diagram of the present invention;
FIG. 2 is a second overall structure of the present invention;
FIG. 3 is a three-dimensional structure of the walking frame of the present invention;
FIG. 4 is a diagram of the lumbar control system of the present invention;
FIG. 5 is a view of the arcuate track assembly of the present invention;
FIG. 6 is a lumbar control mechanism configuration of the present invention;
FIG. 7 is a schematic view of the compliant drive mechanism of the present invention;
FIG. 8 is a block diagram of an adjustment bracket of the present invention;
FIG. 9 is a structural view of the force measuring armrest apparatus of the present invention;
FIG. 10 is a block diagram of a variable stiffness force measuring device of the present invention;
fig. 11 is a structural view of the rope guiding device of the present invention.
The meaning of the reference numerals: 1-a walking bracket; 2-force measuring armrests; 3-a waist control mechanism; 4-a control box; 5-rope arranging device; 6-variable rigidity force measuring device; 7-adjusting the support; 8-a compliant drive mechanism; 9-a rope; 10-a human-computer interaction display screen; 1-1-a limiting block; 1-2-slide block; 1-3-sliding rail; 1-5-universal wheels; 1-6-a first pulley; 1-8-a second sheave; 1-41-bottom cross bar; 1-44-upper cross bar; 1-431-front pillar; 2-1 hand grip; 2-2-joint protection pad; 2-3-pressure sensor; 2-4-a support plate; 2-5-twist seat; 2-6-U-shaped measuring rack; 3-1-a lifting frame; 3-2-U-shaped bracket; 3-3-arc slide rail group; 3-4-universal coupling; 3-5-third and fourth pulleys; 3-6-transverse slide rail; 3-7-a third belt drive set; 3-8-output shaft; 3-9-fourth belt drive group; 3-10-a drive module; 3-11 transverse sliding groups; 3-12-torque sensor; 3-31-a support plate; 3-32-arc slide rail; 3-33-arc slide block; 3-101-driving the fixed plate; 3-102-drive motor; 3-331-arc slide block fixing frame; 3-332-rolling wheel; 3-7-a third belt drive set; 3-71-fifth pulley; 3-72-sixth pulley; 3-73-a third drive belt; 5-1-a drive device; 5-2-a first variator; 5-5-a guide shaft; 5-6-a guide rope wheel group; 5-8-rope-winding reel; 5-9-reciprocating screw; 5-11-motor; 5-103-a second variator; 6-1-flexible stent; 6-2-spring; 6-3-base; 6-4-pulley; 6-5-a guide post; 6-6-pull force sensor; 6-7-adjusting screws; 7-1-a first upper link; 7-2-upper bracket beam; 7-3-a second upper link; 7-4-a third upper link; 7-5-lower support beam; 7-6-first connecting shaft; 7-7-a second connecting shaft; 7-8-a first lower link; 7-9-a second lower link; 7-10-a third lower link; 7-11-connecting shaft lock catch; 7-12-a third connecting shaft; 7-13-adjusting the lead screw; 7-14-adjusting nut; 8-1-L-shaped fixed blocks; 8-2-spring adjusting angle bracket; 8-3-spring adjusting shaft pin; 8-31-extension spring; 8-4-linkage mechanism; 8-5-slider; 8-6-sliding shaft; 8-7-a guide shaft; 8-41-rotation pin; 8-42-short connecting rod; 8-43-long connecting rod; 8-44-link hinge axis.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 3: the embodiment discloses a waist rehabilitation robot: the waist control mechanism 3 is connected with a force measuring handrail 2 arranged above the waist control mechanism 3 through an adjusting bracket 7, the waist control mechanism 3 is also connected with a rope arranging device 5 through a rope 9, and the rope is also connected with a variable stiffness force measuring device 6; the waist control mechanism 3 comprises a U-shaped bracket 3-2 and a waist driving mechanism for driving the U-shaped bracket 3-2 to move. The casters at least comprise two universal wheels 1-5.
The force-measuring armrest 2 comprises a support plate 2-4 and a U-shaped measuring frame 2-6 connected to the support plate 2-4 through a pressure sensor 2-3 and a torsion seat 2-5, the U-shaped measuring frame 2-6 is further provided with a hand grip 2-1 and a joint protection pad 2-2 (used for elbow protection), and the support plate 2-4 is connected to an adjusting support 7.
The pressure sensor 2-3 can provide a fixed pivot for the U-shaped measuring frame 2-6 and can detect the force of the two arms of the human body acting on the U-shaped measuring frame 2-6 in real time, on one hand, the left and right support reaction force of the lower limb can be quickly judged by comparing periodicity and symmetry, further, the condition of the patient can be preliminarily diagnosed, and the system can quickly adjust each driving hardware to pertinently complete auxiliary training by analyzing the condition; on the other hand, the falling tendency of the human body can be monitored, for example, when the human body falls, the pressure acting on the U-shaped measuring frame 2-6 can be suddenly changed, the gravity center is suddenly shifted, so that the steering of the driving motors 3-102 is rapidly adjusted, the reverse 'supporting' is realized for the patient, and the patient is effectively prevented from falling.
As shown in fig. 8: the adjusting bracket 7 of the embodiment is a parallel six-bar mechanism, the parallel six-bar mechanism comprises a first upper connecting bar 7-1, an upper bracket beam 7-2, a second upper connecting bar 7-3, a third upper connecting bar 7-4, a lower bracket beam 7-5, a first connecting shaft 7-6, a second connecting shaft 7-7, a first lower connecting bar 7-8, a second lower connecting bar 7-9, a third lower connecting bar 7-10 and a third connecting shaft 7-12, one end of the first upper connecting bar 7-1, one end of the second upper connecting bar 7-3 and one end of the third upper connecting bar 7-4 are hinged to the upper bracket beam 7-2, and the other end thereof are hinged to the third lower connecting bar 7-10, the second lower connecting bar 7-9, the first lower connecting bar 7-8, the third lower connecting bar 7-10 and the second lower connecting bar 7-9, The first lower connecting rod 7-8 is further hinged to the lower support beam 7-5, the first connecting shaft 7-6, the second connecting shaft 7-7 and the third connecting shaft 7-12 are arranged in parallel and are respectively hinged to a hinge point of the third upper connecting rod 7-4 and the first lower connecting rod 7-8, a hinge point of the second upper connecting rod 7-3 and the second lower connecting rod 7-9 and a hinge point of the first upper connecting rod 7-1 and the third lower connecting rod 7-10, and adjusting devices for adjusting distances between the third connecting shaft 7-12 and the first connecting shaft 7-6 and between the first connecting shaft 7-6 and the second connecting shaft 7-7 are further arranged among the first connecting shaft 7-6, the second connecting shaft 7-7 and the third connecting shaft 7-12. In actual use, the upper bracket beam 7-2 and the lower bracket beam 7-5 are respectively used for connecting the force-measuring handrail 2 and the waist control mechanism 3, and the distance between the force-measuring handrail 2 and the waist control mechanism 3 is adjusted through the adjusting device.
The adjusting device comprises adjusting screw rods 7-13 and adjusting nuts 7-14 connected to third connecting shafts 7-12, the adjusting screw rods 7-13 are rotatably connected to the first connecting shafts 7-6 and the second connecting shafts 7-7 (but cannot axially slide with the first connecting shafts 7-6 and the second connecting shafts 7-7), and the adjusting nuts 7-14 are connected to the adjusting screw rods 7-13 through threads. When the adjusting screw 7-13 is rotated to perform height adjustment operation, the distance between the two first connecting shafts 7-6 and the second connecting shafts 7-7 is not changed, and the distance between the first connecting shafts 7-6, the second connecting shafts 7-7 and the third connecting shafts 7-12 is changed.
In the embodiment, the second upper connecting rod 7-3 is parallel to the third upper connecting rod 7-4, the first lower connecting rod 7-8 is parallel to the second lower connecting rod 7-9, and a connecting shaft locking piece 7-11 is arranged between a hinge point of the third upper connecting rod 7-4 and the first lower connecting rod 7-8 and a hinge point of the second upper connecting rod 7-3 and the second lower connecting rod 7-9. The connecting shaft lock catch 7-11 forms a parallelogram with the second upper connecting rod 7-3, the third upper connecting rod 7-4 and the upper bracket beam 7-2, and also can form a parallelogram with the first lower connecting rod 7-8, the second lower connecting rod 7-9 and the lower bracket beam 7-5,
the strength of the whole adjusting bracket 7 is better, and the first connecting shaft 7-6 and the second connecting shaft 7-7 can be always in a parallel state.
As shown in fig. 11: the rope arranging device 5 comprises a driving device 5-1, a rope guiding assembly and a rope winding drum 5-8 connected to the power output end of the driving device 5-1, the driving device 5-1 comprises a motor 5-11 and a speed reducer connected with the motor 5-11, and the speed reducer is connected to the rope winding drum 5-8 through a first speed change mechanism 5-2. The guide rope assembly comprises reciprocating lead screws 5-9, guide shafts 5-5 and guide rope wheel sets 5-6 capable of sliding along the guide shafts 5-5, the reciprocating lead screws 5-9 are connected to rope winding drums 5-8 through second speed change mechanisms 5-103, ropes 9 penetrate through the guide rope wheel sets 5-6 and are connected to the rope winding drums 5-8, the driving speed of the reciprocating lead screws 5-9 on the guide rope wheel sets 5-6 is equal to the crawling speed of the ropes 9 on the rope winding drums 5-8, and the crawling speed refers to the axial (rope winding drum shaft) feeding speed generated when the ropes 9 are wound or unwound along the rope winding drums 5-8 and arranged in sequence in a single layer mode. Because the moving speed (the moving direction is parallel to the axis of the rope winding drum) of the rope guide wheel sets 5-6 is equal to the crawling speed of the rope 9 on the rope winding drums 5-8, the rope 9 can be ensured to be orderly arranged in a single layer without disorder when being wound or unwound on the rope winding drums 5-8. The advantage of this is that the influence of rope diameter and irregular superposition of ropes on the accuracy of the hoisting length of the ropes in the stacked roping is reduced, and at the same time the service life of the ropes is increased. In the embodiment, the driving speed of the reciprocating lead screw 5-9 to the guide rope wheel set 5-6 is equal to the crawling speed of the rope 9 on the rope winding drum 5-8, and is determined by various factors, such as the diameter of the rope winding drum 5-8, the lead of the reciprocating lead screw 5-9 and the transmission ratio of the second speed change mechanism 5-103, of course, certain relation is also formed with the outer diameter of the rope 9, and the selection of specific parameters belongs to the prior art.
As shown in fig. 10: the variable stiffness force measuring device 6 comprises a guide column 6-5 and a spring 6-2 sleeved on the guide column 6-5, the end part of the guide column 6-5 is fixedly connected to a base 6-3, the guide column 6-5 is further connected to a flexible support 6-1, the flexible support 6-1 is slidably connected to the guide column 6-5, two ends of the spring 6-2 are respectively connected to the base 6-3 and the flexible support 6-1, the flexible support 6-1 is further connected with a tension sensor 6-6, and the tension sensor 6-6 and the base 6-3 are respectively provided with a pulley 6-4 for connecting a rope 9. An adjusting screw 6-7 is arranged at the end part of the guide column 6-5 and used for limiting the flexible support 6-1. When the rope 9 passes through the pulley 6-4 connected to the tension sensor 6-6 and the base 6-3, the spring 6-2 can be compressed, and certain elastic force is generated on the two ends of the rope 9 through the elasticity of the spring 6-2.
With reference to fig. 4 to 6: the waist control mechanism 3 is connected to the walking support 1 in an up-and-down sliding mode through the lifting frame 3-1, the waist driving mechanism comprises an output shaft 3-8 and a support plate 3-31 arranged above the lifting frame 3-1, the support plate 3-31 is provided with an arc slide rail group 3-3, the arc slide rail group 3-3 is connected to an arc slide block 3-33, the U-shaped support 3-2 penetrates through the arc slide block 3-33 and is connected to the output shaft 3-8 through a universal coupling 3-4, the output shaft 3-8 is connected to a third belt transmission group 3-7 through a fourth belt transmission group 3-9, and specifically, the third belt transmission group 3-7 comprises a fifth belt wheel 3-71, a sixth belt wheel 3-72 and a third transmission belt 3-73; the fourth belt transmission group 3-9 comprises a seventh belt wheel 3-91, an eighth belt wheel 3-92 and a fourth transmission belt 3-93, one output shaft of the torque sensor 3-12 is fixed with the sixth belt wheel 3-72, the other output shaft of the torque sensor is fixed with the seventh belt wheel 3-91, and the driving motor 3-102 drives the output shaft 3-8 to rotate through the third belt transmission group 3-7, the torque sensor 3-12 and the fourth belt transmission group 3-9, so that the U-shaped support 3-2 can rotate around the output shaft 3-8; preferably, the torque sensors 3-12 are dynamic torque sensors, which can measure the torque of the output shafts 3-8 in real time. Because the U-shaped bracket 3-2 moves along the arc-shaped sliding rail set 3-3, in order to compensate for the distance change caused by the radian, the output shaft 3-8 of the embodiment can axially slide along the eighth belt pulley 3-92, and the specific structure can adopt any one of the prior art, such as spline connection, or the cross section of the output shaft 3-8 is directly designed into a rectangle.
The driving motor 3-102, the torque sensor 3-12 and the output shaft 3-8 are all connected to the driving fixing plate 3-101, the driving fixing plate 3-101 is connected to the lifting frame 3-1 in a sliding mode, and the concrete steps are as follows: the lifting frame 3-1 is provided with a transverse slide rail 3-6, the driving fixing plate 3-101 can be connected with the transverse slide rail 3-6 in a sliding way, and the driving fixing plate 3-101 is also connected with a flexible driving mechanism 8. With reference to fig. 4 and 7: the flexible driving mechanism 8 of the embodiment comprises two groups of elastic adjusting devices, each elastic adjusting device comprises a spring adjusting angle bracket 8-2, two link mechanisms 8-4, a sliding block 8-5 and an extension spring 8-31, the spring adjusting angle bracket 8-2 is provided with a waist-shaped hole, one end of the extension spring 8-31 is connected to the waist-shaped hole through a spring adjusting shaft pin 8-3, the other end of the extension spring is connected to a middle hinge point of the two link mechanisms 8-4, and the spring adjusting shaft pin 8-3 can be connected to the waist-shaped hole in a sliding manner; two ends of the two link mechanisms 8-4 are respectively hinged with the sliding blocks 8-5 and the spring adjusting angle brackets 8-2, the sliding blocks 8-5 can slide in parallel with the spring adjusting angle brackets 8-2, and the two sliding blocks 8-5 are respectively arranged on two sides of the driving fixing plates 3-101 and used for limiting the sliding positions of the fixing plates 3-101 on the lifting frames 3-1.
Specifically, the flexible driving mechanism 8 further comprises two L-shaped fixing blocks 8-1, a sliding shaft 8-6 parallel to the spring adjusting angle bracket 8-2 and a guide shaft 8-7 parallel to the spring adjusting angle bracket 8-2, two ends of the spring adjusting angle bracket 8-2, the sliding shaft 8-6 and the guide shaft 8-7 are respectively connected to the two L-shaped fixing blocks 8-1, namely the spring adjusting angle bracket 8-2, the sliding shaft 8-6 and the guide shaft 8-7 are connected in parallel through the two L-shaped fixing blocks 8-1, the two link mechanisms 8-4 can also be hinged to the L-shaped fixing blocks 8-1, and the sliding blocks 8-5 can be connected to the sliding shaft 8-6 and the guide shaft 8-7 in a sliding manner.
As can be seen from the above description of the compliant drive mechanism 8: two groups of elastic adjusting devices of the compliance driving mechanism 8 are symmetrically arranged at two sides of the supporting plates 3-31 by taking the supporting plates 3-31 as centers, wherein the sliding blocks 8-5 are used for flexibly limiting the sliding directions of the supporting plates 3-31, the positions of the shaft pins 8-3 relative to the waist-shaped holes can be adjusted by adjusting springs to realize the adjustment of different elasticity of the sliding blocks 8-5, and the driving fixing plate 101 is always positioned at the middle position of the bracket 1, namely, the waist rotates around the vertical shaft to provide flexibility of different degrees during training.
The rope 9 of the embodiment is sequentially wound to the second pulley 1-8 at the higher end of the walking bracket 1 through the rope arranging device 5 and the variable stiffness force measuring device 6, and then is wound to the higher end of the walking bracket 1 through the third pulley 3-5 and the fourth pulley 3-5 at the two ends of the lifting frame 3-1. As can be seen from the winding path of the rope 9, the rope 9 can provide a tensile force having a certain elasticity to the entire lumbar control mechanism 3 and the force measuring arm rest 2 by the stiffness-variable force measuring device 6, thereby adjusting the weight reduction of the patient and adjusting the height of the entire lumbar control mechanism 3 and the force measuring arm rest 2. The height of the force measuring armrest 2 relative to the waist control mechanism 3 can be adjusted by the adjusting support 7, and the use requirements of patients with different heights can be met.
When the device is used, the training pants are hung on the U-shaped support 3-2, a patient wears the training pants to perform rehabilitation exercise, the waist control mechanism provides exercise assistance and support for the patient during training, the twisting motion of the waist of the patient around a vertical shaft is controlled by the U-shaped support 3-2 in a sliding mode along the arc-shaped sliding rail 32, the whole U-shaped support driving mechanism can also slide along the transverse sliding rail 3-6 in the sliding process, the driving fixing plate 3-101 in the U-shaped support driving mechanism moves between the two sliding blocks 8-5 to control the left and right swinging of the waist of the patient, and the flexible driving mechanism 8 provides different elastic resistance for the U-shaped support driving mechanism.
When the relative height between the force measuring armrest 2 and the waist control mechanism 3 needs to be adjusted, the distance between the first connecting shaft 7-6 and the second connecting shaft 7-7 can be adjusted by rotating the adjusting screw 7-13 in the adjusting device, so that the adjustment of the effective height between the upper bracket beam 7-2 and the lower bracket beam 7-5 is realized, and the adjustment of the relative height between the force measuring armrest 2 and the waist control mechanism 3 is finally realized, wherein the adjustment of the relative height between the two is to meet the use requirements of different heights of patients (mainly different lengths of the upper body or different actual distances between the upper limbs on the armrest 2 and the waist).
When the height of the lumbar control mechanism 3 needs to be adjusted, since the lumbar control mechanism 3 supports the force-measuring armrest 2 through the adjusting bracket 7, the adjustment of the height of the lumbar control mechanism 3 is actually the adjustment of the overall height of the lumbar control mechanism 3 and the force-measuring armrest 2. The waist control mechanism 3 of the embodiment is connected with the walking bracket 1 by the lifting frame 3-1 in a vertical sliding way, and the height of the lifting frame 3-1 is realized by pulling the ropes connected at the two ends of the lifting frame. The rope 9 sequentially passes through the pulleys and the variable stiffness force measuring device 6 to be connected with the rope arranging device 5, the rope 9 is pulled by winding and unwinding the rope winding drums 5-8 in the rope arranging device 5, and then the height of the lifting frame 3-1 is adjusted. Because the two ends of the rope 9 are both connected with the lifting frame 3-1 (realized by the fourth pulleys 3-5 arranged at the two ends of the lifting frame 3-1), the supporting force of the rope 9 to the two ends of the lifting frame 3-1 is equal, which is beneficial to the balance of the lifting frame 3-1 and avoids the twisting and clamping stagnation between the rope and the walking bracket 1. The height of the lumbar control mechanism 3 is adjusted to meet the use requirements of patients with different heights (particularly different lengths of lower limbs).
In the embodiment, a human-computer interaction display screen 10 is also configured, a touch technology is adopted to operate the whole machine, and the rope guide device 5 is controlled by the human-computer interaction display screen 10 to realize the adjustment of the weight reduction size. And the pressure sensors 2-3, the torque sensors 3-12 and the tension sensors 6-6 detect the stress of the corresponding parts of the robot in real time to realize closed-loop feedback. For example, signals of the pressure sensors 2-3 are converted, amplified and processed and then fed back to the controller, and the controller can adjust the extension and contraction of the rope 9 by controlling the motors 5-11 in the rope arranging device 5 to rotate positively and negatively, so that the constant gravity reduction force is controlled; after the feedback signals of the torque sensors 3-12 are processed by the controller, reasonable output of the waist torque of the patient can be realized according to the way of controlling the torque of the driving motors 3-102.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A waist rehabilitation robot is characterized in that: the device comprises a walking support (1) and a waist control mechanism (3) which is connected to the walking support (1) in a vertical sliding manner, wherein a plurality of trundles are arranged below the walking support (1), the waist control mechanism (3) is connected with a force measuring handrail (2) arranged above the waist control mechanism (3) through an adjusting support (7), the waist control mechanism (3) is also connected to a rope arranging device (5) through a rope (9), and the rope is also connected with a variable-stiffness force measuring device (6);
the waist control mechanism (3) comprises a U-shaped bracket (3-2) and a waist driving mechanism for driving the U-shaped bracket (3-2) to move.
2. The waist rehabilitation robot according to claim 1, wherein: the force-measuring armrest (2) comprises a support plate (2-4) and a U-shaped measuring frame (2-6) connected with the support plate (2-4) through a pressure sensor (2-3) and a torsion seat (2-5), the U-shaped measuring frame (2-6) is further provided with a hand grip (2-1) and a joint protection pad (2-2), and the support plate (2-4) is connected with an adjusting support (7).
3. The waist rehabilitation robot according to claim 1 or 2, wherein: the adjusting support (7) is a parallel six-rod mechanism, the parallel six-rod mechanism comprises a first upper connecting rod (7-1), an upper support beam (7-2), a second upper connecting rod (7-3), a third upper connecting rod (7-4), a lower support beam (7-5), a first connecting shaft (7-6), a second connecting shaft (7-7), a first lower connecting rod (7-8), a second lower connecting rod (7-9), a third lower connecting rod (7-10) and a third connecting shaft (7-12), one end of each of the first upper connecting rod (7-1), the second upper connecting rod (7-3) and the third upper connecting rod (7-4) is hinged to the upper support beam (7-2), and the other end of each of the first upper connecting rod (7-1), the second upper connecting rod (7-3) and the third upper connecting rod (7-4) is hinged to the third lower connecting rod (7-10) and, The first lower connecting rods (7-8), the third lower connecting rods (7-10), the second lower connecting rods (7-9) and the first lower connecting rods (7-8) are further hinged to the lower support beams (7-5), the first connecting shafts (7-6), the second connecting shafts (7-7) and the third connecting shafts (7-12) are arranged in parallel and are respectively hinged to hinge points of the third upper connecting rods (7-4) and the first lower connecting rods (7-8), hinge points of the second upper connecting rods (7-3) and the second lower connecting rods (7-9) and hinge points of the first upper connecting rods (7-1) and the third lower connecting rods (7-10), and a hinge point for adjusting the third connecting shafts (7-12) and the first connecting shafts (7-6) is further arranged among the first connecting shafts (7-6), the second connecting shafts (7-7) and the third connecting shafts (7-12), And a distance adjusting device between the second connecting shafts (7-7).
4. The waist rehabilitation robot according to claim 3, wherein: the adjusting device comprises an adjusting lead screw (7-13) and an adjusting nut (7-14) connected to a third connecting shaft (7-12), the adjusting lead screw (7-13) is rotatably connected to the first connecting shaft (7-6) and the second connecting shaft (7-7), and the adjusting nut (7-14) is connected to the adjusting lead screw (7-13) through threads.
5. The waist rehabilitation robot according to claim 3, wherein: the second upper connecting rod (7-3) is parallel to the third upper connecting rod (7-4), the first lower connecting rod (7-8) is parallel to the second lower connecting rod (7-9), and a connecting shaft locking piece (7-11) is further arranged between a hinge point of the third upper connecting rod (7-4) and the first lower connecting rod (7-8) and a hinge point of the second upper connecting rod (7-3) and the second lower connecting rod (7-9).
6. The waist rehabilitation robot according to claim 1, wherein: the rope arranging device (5) comprises a driving device (5-1), a rope guiding component and a rope winding drum (5-8) connected with the power output end of the driving device (5-1), the guide rope assembly comprises a reciprocating screw rod (5-9), a guide shaft (5-5), a guide block (5-7) and a guide rope wheel set (5-6), wherein the guide block (5-7) and the guide rope wheel set can slide along the reciprocating screw rod (5-9) and the guide shaft (5-5), the reciprocating screw rod (5-9) is connected with the rope winding drum (5-8) through a second speed change mechanism (5-103), the rope (9) passes through the rope guide wheel set (5-6) and is connected with the rope winding drum (5-8), the driving speed of the reciprocating lead screw (5-9) to the rope guide wheel set (5-6) is equal to the crawling speed of the rope (9) on the rope winding drum (5-8).
7. The waist rehabilitation robot according to claim 1, wherein: the variable-stiffness force measuring device (6) comprises a guide column (6-5) and a spring (6-2) sleeved on the guide column (6-5), the end part of the guide column (6-5) is fixedly connected to a base (6-3), the guide column (6-5) is further connected to a flexible support (6-1), the flexible support (6-1) is connected to the guide column (6-5) in a sliding mode, the two ends of the spring (6-2) are respectively connected to the base (6-3) and the flexible support (6-1), the flexible support (6-1) is further connected to a tension sensor (6-6), and the tension sensor (6-6) and the base (6-3) are respectively provided with a pulley (6-4) used for connecting a rope (9).
8. The waist rehabilitation robot according to claim 1, wherein: the waist control mechanism (3) is connected to the walking support (1) in a vertical sliding mode through the lifting frame (3-1), the waist driving mechanism comprises an output shaft (3-8) and a supporting plate (3-31) arranged above the lifting frame (3-1), the supporting plate (3-31) is provided with an arc sliding rail set (3-3), the arc sliding rail set (3-3) is connected to an arc sliding block (3-33), the U-shaped support (3-2) penetrates through the arc sliding block (3-33) and is connected to the output shaft (3-8) through a universal coupling (3-4), and the output shaft (3-8) is connected to the power output end of the driving motor (3-102) through a torque sensor (3-12).
9. The waist rehabilitation robot according to claim 8, wherein: the driving motors (3-102), the torque sensors (3-12) and the output shafts (3-8) are all connected to driving fixing plates (3-101), the driving fixing plates (3-101) are slidably connected to the lifting frames (3-1), the driving fixing plates (3-101) are further connected with compliant driving mechanisms (8), each compliant driving mechanism (8) comprises two groups of elastic adjusting devices, each elastic adjusting device comprises a spring adjusting angle frame (8-2), two connecting rod mechanisms (8-4), a sliding block (8-5) and an extension spring (8-31), each spring adjusting angle frame (8-2) is provided with a waist-shaped hole, one end of each extension spring (8-31) is connected to the waist-shaped hole through a spring adjusting shaft pin (8-3), and the other end of each extension spring is connected to a middle hinge point of the two connecting rod mechanisms (8-4), the spring adjusting shaft pin (8-3) can be connected with the waist-shaped hole in a sliding manner;
two ends of the two link mechanisms (8-4) are respectively hinged to a sliding block (8-5) and an L-shaped fixed block (8-1), the sliding block (8-5) can slide in parallel to the spring adjusting angle bracket (8-2), and the two sliding blocks (8-5) are used for limiting the sliding position of the fixed plate (3-101) on the lifting frame (3-1).
10. The waist rehabilitation robot according to claim 9, wherein: the flexible driving mechanism (8) further comprises two L-shaped fixing blocks (8-1), a sliding shaft (8-6) parallel to the spring adjusting angle frame (8-2) and a guide shaft (8-7) parallel to the spring adjusting angle frame (8-2), two ends of the spring adjusting angle frame (8-2), the sliding shaft (8-6) and the guide shaft (8-7) are respectively connected to the two L-shaped fixing blocks (8-1), and the sliding block (8-5) can be slidably connected to the sliding shaft (8-6) and the guide shaft (8-7).
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| CN114949755A (en) * | 2022-05-06 | 2022-08-30 | 四川省八一康复中心（四川省康复医院） | Waist strength intelligence feedback trainer |
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