CN110664586B - Waist rehabilitation robot - Google Patents
Waist rehabilitation robot Download PDFInfo
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- CN110664586B CN110664586B CN201910916866.XA CN201910916866A CN110664586B CN 110664586 B CN110664586 B CN 110664586B CN 201910916866 A CN201910916866 A CN 201910916866A CN 110664586 B CN110664586 B CN 110664586B
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- 230000007246 mechanism Effects 0.000 claims abstract description 97
- 238000004804 winding Methods 0.000 claims description 25
- 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
- 238000005259 measurement Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 239000013585 weight reducing agent Substances 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 210000003141 lower extremity Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005021 gait Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 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
- 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
- 238000011084 recovery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005728 strengthening 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
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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
- A61H2201/12—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
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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
- A61H2201/50—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 device comprises a walking bracket and a waist control mechanism which can be connected with the walking bracket in an up-down sliding way, wherein a plurality of casters are arranged below the walking bracket, 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 arrangement device through a rope, and the rope is also connected with a variable rigidity 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 tension with certain elasticity for the whole waist control mechanism and the force measuring handrail, so that the adjustment of the reduction and the great reduction of a patient is realized, the flexible driving mechanism can realize the adjustment of different elasticity of the sliding block by adjusting the position of the spring adjusting shaft pin relative to the waist-shaped hole, and the driving fixing plate is always positioned in the middle position of the bracket, namely, the waist rotates around the vertical shaft during training to provide different degrees of flexibility.
Description
Technical Field
The invention relates to the technical field of waist exercise and rehabilitation, in particular to a waist rehabilitation robot.
Background
The current design of the lower limb rehabilitation robot mostly completes gait training by correcting leg walking actions, the lower limbs are constrained and driven by forcing through an exoskeleton mode, the weight reduction of the human body training process basically adopts an upper suspension scheme, under the scheme, the upper body of the human body receives upward tension and the gravity of the lower body, so that a stiff state can be formed near the waist, the coordination of the upper body and the lower body of a patient trained on the premise of the method is greatly reduced in the control of the body and the coordination of the lower body in the training process, the standard gait is completed by only strengthening the machine, and the movement control and auxiliary 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 waist movement control and assistance of patients in the gait rehabilitation training process in the prior art.
In order to achieve the above object, the present invention adopts the following technical scheme:
a waist rehabilitation robot which is characterized in that: the device comprises a walking bracket and a waist control mechanism which can be connected with the walking bracket in an up-down sliding way, wherein a plurality of casters are arranged below the walking bracket, 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 arrangement device through a rope, and the rope is also connected with a variable-rigidity 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.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the force measuring handrail comprises a support plate and a U-shaped measuring frame connected to the support plate through a pressure sensor and a torsion seat, wherein the U-shaped measuring frame is further provided with a handle and a joint protection pad, and the support plate is connected to an adjusting support.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the adjusting support is a parallel six-bar mechanism, the parallel six-bar mechanism comprises a first upper connecting rod, an upper support beam, a second upper connecting rod, a third upper connecting rod, a lower support 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 ends of the first upper connecting rod, the second upper connecting rod and the third upper connecting rod are hinged to the upper support beam, the other ends of the first upper connecting rod, the second upper connecting rod and the third upper connecting rod are hinged to the third lower connecting rod, the second lower connecting rod and the first lower connecting rod respectively, the third lower connecting rod, the second connecting shaft and the third connecting shaft are hinged to the lower support beam in parallel, and are hinged to the hinge point of the third upper connecting rod and the first lower connecting rod, the hinge point of the second upper connecting rod and the second lower connecting rod respectively, and the hinge point of the first upper connecting rod and the third lower connecting rod are further provided with an adjusting device for adjusting the distance between the third connecting shaft and the first connecting shaft and the second connecting shaft and between the first connecting shaft and the third connecting shaft and between the first connecting shaft and the third connecting shaft.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the adjusting device comprises an adjusting screw rod and an adjusting nut connected to the third connecting shaft, the adjusting screw rod is rotatably connected to the first connecting shaft and the second connecting shaft, and the adjusting nut is connected to the adjusting screw rod through threads.
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 the hinge point of the third upper connecting rod and the first lower connecting rod and the hinge point of the second upper connecting rod and the hinge point of 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 screw rod, a guiding shaft, a guiding block capable of sliding along the reciprocating screw rod and the guiding shaft and a rope guiding wheel set, the reciprocating screw rod is connected to the rope winding drum through a second speed changing 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 screw rod to the rope guiding wheel set is equal to the crawling speed of the rope on the rope winding drum.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the rigidity-variable force measuring device comprises a guide post and a spring sleeved on the guide post, wherein the end part of the guide post is fixedly connected with a base, the guide post is further connected with a flexible support, the flexible support is slidably connected with the guide post, two ends of the spring are respectively connected with the base and the flexible support, the flexible support is further connected with a tension sensor, and pulleys for connecting ropes are arranged on the tension sensor and the base.
As a preferable aspect of the present invention, the waist rehabilitation robot is characterized in that: the waist control mechanism is connected to the walking support in an up-down sliding mode through the lifting frame, the waist driving mechanism comprises a supporting plate with an output shaft arranged above the lifting frame, the supporting plate is provided with an arc-shaped sliding rail set, the arc-shaped sliding rail set is connected to the arc-shaped sliding block, the U-shaped support penetrates through the arc-shaped sliding block and is connected to the output shaft through a universal coupling, and the output shaft is connected to the power output end of the driving motor through a torque sensor.
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 also 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 a tension spring, the spring adjusting angle frame is provided with a kidney-shaped hole, one end of the tension spring is connected to the kidney-shaped hole through a spring adjusting shaft pin, the other end of the tension spring is connected to a middle hinge point of the two connecting rod mechanisms, and the spring adjusting shaft pin is slidably connected to the kidney-shaped hole;
the two ends of the two connecting rod mechanisms are respectively hinged to the sliding blocks and the L-shaped fixed blocks, the sliding blocks can slide parallel to the spring adjusting angle frame, and the two sliding blocks are used for limiting the sliding position of the fixed plate on the lifting frame.
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 fixed blocks, a sliding shaft parallel to the spring adjusting angle frame and a guide shaft parallel to the spring adjusting angle frame, wherein two ends of the spring adjusting angle frame, the sliding shaft and the guide shaft are respectively connected with the two L-shaped fixed blocks, and the sliding blocks are slidably connected with the sliding shaft and the guide shaft.
The invention has the beneficial effects that: the rope arranging device and the variable stiffness force measuring device can provide a tensile force with certain elasticity for the whole waist control mechanism and the force measuring handrail, on one hand, the passive flexibility of the weight reduction system is provided, and on the other hand, the force closed loop feedback is provided for active weight reduction training, so that the real-time adjustment of the weight reduction force of a patient is realized, and the active/passive flexible control of the system is realized. The overall height of the waist control mechanism and the force measuring handrail can be adjusted in a winding and unwinding mode through the rope arrangement device, and the requirements of adjustment of the height of the lower limbs of a patient and adjustment of the up-and-down movement of the gravity center of a human body are mainly met; furthermore, the relative height of the force measuring handrail relative to the waist control mechanism can be adjusted through the adjusting bracket, so that the use requirements of different lengths of the upper body of a patient or different requirements on the height of the handrail can be met.
The flexible driving mechanism can realize the adjustment of different elasticity of the sliding block by adjusting the position of the spring adjusting shaft pin relative to the waist-shaped hole, and the driving fixing plate is always positioned at the middle position of the bracket, namely, the flexible driving mechanism provides different degrees of flexibility for the left-right swing of the waist during training.
The waist of the patient is supported, controlled in motion and trained in an auxiliary mode by the U-shaped support hanging training pants, auxiliary support is provided for gait training of the patient by the waist control mechanism, and the U-shaped support passively rotates around the vertical shaft to control torsion motion of the waist of the patient during walking; 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 patient can be reversely "supported" when the patient falls down, and the patient is effectively prevented from falling down; meanwhile, the U-shaped bracket driving mechanism is transversely limited by the flexible driving mechanism, and the rigidity of the transverse limitation can be adjusted by the flexible driving mechanism.
Drawings
FIG. 1 is a first overall block diagram of the present invention;
FIG. 2 is a second overall block diagram of the present invention;
FIG. 3 is a perspective view of the walking bracket of the present invention;
FIG. 4 is a block diagram of the lumbar control system of the present invention;
FIG. 5 is a block diagram of an arcuate slide rail set of the present invention;
FIG. 6 is a block diagram of the lumbar control mechanism of the present invention;
FIG. 7 is a block diagram of a 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 block diagram of a force measuring handrail assembly 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 guide of the present invention.
Meaning of reference numerals: 1-a walking bracket; 2-a force measuring handrail; 3-a lumbar control mechanism; 4-a control box; 5-rope arrangement device; 6-a variable stiffness force measuring device; 7-adjusting the bracket; 8-a compliant drive mechanism; 9-rope; 10-a human-computer interaction display screen; 1-1-limiting block; 1-2-slide blocks; 1-3-slide rails; 1-5-universal wheels; 1-6-a first pulley; 1-8-second pulleys; 1-41-bottom rail; 1-44-upper cross bar; 1-431-front upright; 2-1 hand grip; 2-2-joint protection pad; 2-3-pressure sensor; 2-4-supporting plates; 2-5-twisting the base; 2-6-U type measuring rack; 3-1 of a lifting frame; 3-2-U-shaped bracket; 3-3-arc-shaped slide rail groups; 3-4-universal coupling; 3-5-third and fourth pulleys; 3-6-transverse slide rails; 3-7-a third belt drive set; 3-8-output shaft; 3-9-fourth belt drive set; 3-10-driving modules; 3-11 transverse sliding groups; 3-12-torque sensor; 3-31-supporting plates; 3-32-arc slide rails; 3-33-arc-shaped sliding blocks; 3-101-driving a fixed plate; 3-102-driving motor; 3-331-arc-shaped slide block fixing frames; 3-332-rolling wheels; 3-7-a third belt drive set; 3-71-a fifth pulley; 3-72-sixth pulley; 3-73-a third drive belt; 5-1-driving means; 5-2-a first gear change mechanism; 5-5-guiding shaft; 5-6-rope guiding wheel sets; 5-8-rope winding drums; 5-9-reciprocating screw rods; 5-11-motors; 5-103-a second gear change mechanism; 6-1-flexible stent; 6-2-springs; 6-3-base; 6-4-pulleys; 6-5-guide posts; 6-6-tension sensor; 6-7-adjusting screws; 7-1-a first upper link; 7-2-upper support beams; 7-3-second upper link; 7-4-third upper link; 7-5-lower support beams; 7-6-a first connecting shaft; 7-7-a second connecting shaft; 7-8-a first lower link; 7-9-a second lower link; 7-10-third lower connecting rod; 7-11-connecting shaft locking piece; 7-12-a third connecting shaft; 7-13-adjusting a screw rod; 7-14-adjusting nuts; 8-1-L type fixed blocks; 8-2-spring adjustment angle brackets; 8-3-spring adjustment shaft pin; 8-31-extension springs; 8-4-linkage mechanism; 8-5-sliding blocks; 8-6-sliding shafts; 8-7-guiding shafts; 8-41-rotation pins; 8-42-short connecting rod; 8-43-long connecting rod; 8-44-connecting rod hinge shaft.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1 to 3: the embodiment discloses a waist rehabilitation robot: the device comprises a walking bracket 1 and a waist control mechanism 3 which is connected with the walking bracket 1 in a vertical sliding way, wherein a plurality of casters are arranged below the walking bracket 1, 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 arrangement device 5 through a rope 9, and the rope is also connected with a variable rigidity 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 comprise at least two universal wheels 1-5.
The force measuring handrail 2 comprises a support plate 2-4, 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, wherein the U-shaped measuring frame 2-6 is also provided with a hand grip 2-1 and a joint protection pad 2-2 (used for protecting an elbow), and the support plate 2-4 is connected to an adjusting bracket 7.
The pressure sensor 2-3 can provide a fixed fulcrum for the U-shaped measuring frame 2-6, and can also detect the force of the human body double arms acting on the U-shaped measuring frame 2-6 in real time, on one hand, the left and right support counter force of the lower limb can be rapidly judged by comparing the periodicity and the symmetry, further the condition of a patient can be primarily diagnosed, and the system can rapidly adjust each driving hardware to pointedly complete auxiliary training by analyzing the condition; on the other hand, the falling trend of the human body can be monitored, for example, when the patient falls, the pressure acting on the U-shaped measuring frame 2-6 can suddenly change, and the gravity center suddenly deviates, so that the steering of the driving motor 3-102 is rapidly adjusted, the reverse support 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, which comprises a first upper connecting rod 7-1, an upper bracket beam 7-2, a second upper connecting rod 7-3, a third upper connecting rod 7-4, a lower bracket 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, wherein one ends of the first upper connecting rod 7-1, the second upper connecting rod 7-3 and the third upper connecting rod 7-4 are all hinged with the upper bracket beam 7-2, the other ends are respectively hinged with a third lower connecting rod 7-10, a second lower connecting rod 7-9 and the first lower connecting rod 7-8, the third lower connecting rod 7-10, the second lower connecting rod 7-9 and the first lower connecting rod 7-8 are also 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 the hinging point of the third upper connecting rod 7-4 and the first lower connecting rod 7-8, the hinging point of the second upper connecting rod 7-3 and the second lower connecting rod 7-9 and the hinging point of the first upper connecting rod 7-1 and the third lower connecting rod 7-10, and an adjusting device for adjusting the distance between the third connecting shaft 7-12 and the first connecting shaft 7-6 and the second connecting shaft 7-7 is further arranged among the first connecting shaft 7-6, the second connecting shaft 7-12. In actual use, the upper support beam 7-2 and the lower support 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 specifically comprises an adjusting screw rod 7-13 and an adjusting nut 7-14 connected to the third connecting shaft 7-12, wherein the adjusting screw rod 7-13 is rotatably connected to the first connecting shaft 7-6 and the second connecting shaft 7-7 (but cannot axially slide with the first connecting shaft 7-6 and the second connecting shaft 7-7), and the adjusting nut 7-14 is connected to the adjusting screw rod 7-13 through threads. When the adjusting screw rod 7-13 is rotated to perform the height adjusting operation, the distance between the two first connecting shafts 7-6 and the second connecting shaft 7-7 is not changed, and the distance between the first connecting shaft 7-6, the second connecting shaft 7-7 and the third connecting shaft 7-12 is changed.
The second upper connecting rod 7-3 of the embodiment 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 the hinge point of the third upper connecting rod 7-4 and the first lower connecting rod 7-8 and the hinge point of the second upper connecting rod 7-3 and the second lower connecting rod 7-9. The connecting shaft locking piece 7-11 forms a parallelogram with the second upper connecting rod 7-3, the third upper connecting rod 7-4 and the upper support beam 7-2, and also forms a parallelogram with the first lower connecting rod 7-8, the second lower connecting rod 7-9 and the lower support beam 7-5,
the whole adjusting bracket 7 has better strength, and simultaneously 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 arrangement device 5 comprises a driving device 5-1, a rope guiding component and a rope winding drum 5-8 connected to the power output end of the driving device 5-1, wherein 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 with the rope winding drum 5-8 through a first speed change mechanism 5-2. The rope guiding component comprises a reciprocating screw 5-9, a guide shaft 5-5 and a rope guiding wheel set 5-6 capable of sliding along the guide shaft 5-5, the reciprocating screw 5-9 is connected to a rope winding drum 5-8 through a second speed changing mechanism 5-103, the rope 9 passes through the rope guiding wheel set 5-6 and is connected to the rope winding drum 5-8, the driving speed of the reciprocating screw 5-9 to the rope guiding wheel set 5-6 is equal to the crawling speed of the rope 9 on the rope winding drum 5-8, and the crawling speed refers to the feeding speed of the produced axial direction (rope winding drum shaft) when the rope 9 is wound or unwound along the rope winding drum 5-8 in sequence in a single-layer arrangement mode. The moving speed (the moving direction is parallel to the axis of the rope winding drum) of the rope guiding wheel set 5-6 is equal to the crawling speed of the rope 9 on the rope winding drum 5-8, so that the rope 9 can be orderly and single-layer arranged in sequence without disorder when being wound or unwound on the rope winding drum 5-8. This has the advantage of reducing the influence of rope diameter and rope irregularities in the pile-up roping on the accuracy of the hoisting length of the rope, while at the same time improving the service life of the rope. In this embodiment, the driving speed of the reciprocating screw 5-9 to the rope guiding 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 screw 5-9 and the transmission ratio of the second speed changing mechanism 5-103, which are of course also related to the outer diameter of the rope 9, and the specific parameters are selected in the prior art.
As shown in fig. 10: the variable stiffness force measuring device 6 of the embodiment comprises a guide post 6-5 and a spring 6-2 sleeved on the guide post 6-5, wherein the end part of the guide post 6-5 is fixedly connected with a base 6-3, the guide post 6-5 is further connected with a flexible support 6-1, the flexible support 6-1 is slidably connected with the guide post 6-5, two ends of the spring 6-2 are respectively connected with 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 post 6-5 and used for limiting the flexible bracket 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 a certain elastic force is generated on both ends of the rope 9 by the elasticity of the spring 6-2.
In connection with fig. 4 to 6: the waist control mechanism 3 is connected to the walking bracket 1 in an up-down sliding way through a lifting frame 3-1, the waist driving mechanism comprises a supporting plate 3-31 with an output shaft 3-8 arranged above the lifting frame 3-1, the supporting plate 3-31 is provided with an arc-shaped sliding rail set 3-3, the arc-shaped sliding rail set 3-3 is connected to an arc-shaped sliding block 3-33, the U-shaped bracket 3-2 penetrates through the arc-shaped sliding 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 set 3-7 through a fourth belt transmission set 3-9, and specifically, the third belt transmission set 3-7 comprises a fifth belt pulley 3-71, a sixth belt pulley 3-72 and a third belt pulley 3-73; the fourth belt transmission set 3-9 comprises a seventh belt pulley 3-91, an eighth belt pulley 3-92 and a fourth transmission belt 3-93, one end output shaft of the torque sensor 3-12 is fixed with the sixth belt pulley 3-72, the other end output shaft is fixed with the seventh belt pulley 3-91, the driving motor 3-102 drives the output shaft 3-8 to rotate through the third belt transmission set 3-7, the torque sensor 3-12 and the fourth belt transmission set 3-9, so that the U-shaped bracket 3-2 can rotate around the output shaft 3-8; preferably, the torque sensor 3-12 is a dynamic torque sensor, and the torque of the output shaft 3-8 can be measured in real time. Because the movement of the U-shaped bracket 3-2 is performed 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 may slide axially along the eighth pulley 3-92, and the specific structure may be any one of the prior arts, such as spline connection, or the section of the output shaft 3-8 may be 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, and the driving fixing plate 3-101 is slidably connected to the lifting frame 3-1, specifically: the lifting frame 3-1 is provided with a transverse sliding rail 3-6, the driving fixing plate 3-101 is slidably connected with the transverse sliding rail 3-6, and the driving fixing plate 3-101 is also connected with a flexible driving mechanism 8. Referring to fig. 4 and 7: the flexible driving mechanism 8 of the embodiment comprises two groups of elastic adjusting devices, wherein each elastic adjusting device comprises a spring adjusting angle frame 8-2, two connecting rod mechanisms 8-4, a sliding block 8-5 and a stretching spring 8-31, the spring adjusting angle frame 8-2 is provided with a kidney-shaped hole, one end of the stretching spring 8-31 is connected with the kidney-shaped hole through a spring adjusting shaft pin 8-3, the other end of the stretching spring is connected with a middle hinging point of the two connecting rod mechanisms 8-4, and the spring adjusting shaft pin 8-3 is slidably connected with the kidney-shaped hole; two ends of the two connecting rod mechanisms 8-4 are respectively hinged to the sliding blocks 8-5 and the spring adjusting angle frame 8-2, the sliding blocks 8-5 can slide parallel to the spring adjusting angle frame 8-2, and the two sliding blocks 8-5 are respectively arranged on two sides of the driving fixed plate 3-101 and used for limiting the sliding position of the fixed plate 3-101 on the lifting frame 3-1.
Specifically, the compliant 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, wherein two ends of the spring adjusting angle frame 8-2, the sliding shaft 8-6 and the guide shaft 8-7 are respectively connected with the two L-shaped fixing blocks 8-1, that is to say, the spring adjusting angle frame 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 connecting rod mechanisms 8-4 can also be hinged to the L-shaped fixing blocks 8-1, and the sliding block 8-5 can be connected with the sliding shaft 8-6 and the guide shaft 8-7 in a sliding manner.
As can be seen from the above description of compliant drive mechanism 8: the two groups of elastic adjusting devices of the flexible driving mechanism 8 are symmetrically arranged on two sides of the supporting plate 3-31 by taking the supporting plate 3-31 as a center, wherein the sliding block 8-5 is used for flexibly limiting the sliding direction of the supporting plate 3-31, different elasticity of the sliding block 8-5 can be adjusted by adjusting the position of the spring adjusting shaft pin 8-3 relative to the waist-shaped hole, and the driving fixed plate 101 is always positioned in the middle position of the bracket 1, namely, the waist rotates around the vertical axis to provide different degrees of flexibility during training.
The rope 9 of the embodiment is wound to the second pulley 1-8 at the higher end of the walking bracket 1 through the rope arrangement device 5 and the variable stiffness force measuring device 6 in sequence, and then is connected to the higher end of the walking bracket 1 by bypassing the third pulley 3-5 and the fourth pulley 3-5 at the two ends of the lifting frame 3-1. The winding path of the rope 9 can show that the rope 9 can provide a tensile force with certain elasticity to the whole waist control mechanism 3 and the force measuring handrail 2 through the variable stiffness force measuring device 6, so that the adjustment of the weight reduction of a patient is realized, and the heights of the whole waist control mechanism 3 and the force measuring handrail 2 can be adjusted. The adjusting bracket 7 can adjust the height of the force measuring handrail 2 relative to the waist control mechanism 3, so as to meet the use requirements of patients with different heights.
When the training pants are used, the training pants are hung on the U-shaped support 3-2, a patient wears the training pants to perform rehabilitation motions, the waist control mechanism provides motion assistance and support for the patient during training, the torsion motion of the waist of the patient around the vertical shaft is controlled by the U-shaped support 3-2 in a sliding mode along the arc-shaped sliding rail 32, in the sliding process, the whole U-shaped support driving mechanism can also slide along the transverse sliding rail 3-6, the driving fixing plate 3-101 in the U-shaped support driving mechanism moves between the two sliding blocks 8-5, the left and right swinging of the waist of the patient is controlled, and the flexible driving mechanism 8 provides different elastic resistance to the U-shaped support driving mechanism.
When the relative height between the force measuring handrail 2 and the waist control mechanism 3 is required 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 rod 7-13 in the adjusting device, so that the effective height between the upper support beam 7-2 and the lower support beam 7-5 can be adjusted, and finally the relative height between the force measuring handrail 2 and the waist control mechanism 3 can be adjusted, so that the use requirements of different heights of patients (mainly different lengths of upper bodies or different actual distances between support points of upper limbs on the handrail 2 and the waist) can be met.
When the height of the waist control mechanism 3 needs to be adjusted, the waist control mechanism 3 supports the force measuring handrail 2 through the adjusting bracket 7, so that the adjustment of the height of the waist control mechanism 3 is actually to adjust the overall height of the waist control mechanism 3 and the force measuring handrail 2. The waist control mechanism 3 of the embodiment is connected to the walking bracket 1 by a lifting frame 3-1 in a vertically sliding manner, and the height of the lifting frame 3-1 is realized by pulling ropes connected to the two ends of the lifting frame. The rope 9 sequentially passes through a plurality of pulleys and the variable-rigidity force measuring device 6 to be connected with the rope arranging device 5, and the rope 9 is pulled by winding and unwinding the rope winding drum 5-8 in the rope arranging device 5, so that the height of the lifting frame 3-1 is adjusted. Since both ends of the rope 9 are connected with the lifting frame 3-1 (realized by the fourth pulleys 3-5 arranged at both ends of the lifting frame 3-1), the supporting forces of the rope 9 to both ends of the lifting frame 3-1 are equal, which is beneficial to balancing the lifting frame 3-1 and avoiding twisting and clamping stagnation between the lifting frame and the walking bracket 1. The height of the waist control mechanism 3 is adjusted to meet the use requirements of patients with different heights (especially different lower limb lengths).
In this embodiment, the man-machine interaction display screen 10 is configured, the touch technology is adopted to operate the whole machine, and the rope arrangement device 5 is controlled by the man-machine interaction display screen 10 to realize the adjustment of reducing the weight. The pressure sensor 2-3, the torque sensor 3-12 and the tension sensor 6-6 detect the stress of the corresponding parts of the robot in real time, so that closed loop feedback is realized. For example, the signals of the pressure sensor 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 motor 5-11 in the rope arrangement device 5 to rotate forwards and backwards, so that the weight reduction force is controlled to be constant; 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 mode of controlling the torque of the driving motor 3-102.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (4)
1. A waist rehabilitation robot which is characterized in that: the device comprises a walking support (1) and a waist control mechanism (3) which can be connected to the walking support (1) in an up-down sliding way, wherein a plurality of casters are arranged below the walking support (1), the waist control mechanism (3) is connected with a force measurement handrail (2) arranged above the waist control mechanism (3) through an adjusting support (7), the waist control mechanism (3) is further connected to a rope arrangement device (5) through a rope (9), and the rope is further connected with a variable rigidity force measurement 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 force measuring handrail (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), wherein 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 to an adjusting bracket (7);
the adjusting bracket (7) is a parallel six-bar mechanism, the parallel six-bar mechanism comprises a first upper connecting rod (7-1), an upper bracket beam (7-2), a second upper connecting rod (7-3), a third upper connecting rod (7-4), a lower bracket 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 ends of the first upper connecting rod (7-1), the second upper connecting rod (7-3) and the third upper connecting rod (7-4) are all hinged to the upper bracket beam (7-2), the other ends of the first upper connecting rod, the second upper connecting rod (7-4) and the first lower connecting rod (7-8) are respectively hinged to the third lower connecting rod (7-10), the second lower connecting rod (7-9), the first lower connecting rod (7-8) are also hinged to the lower bracket beam (7-5), and the first lower connecting rod (7-6), the first connecting shaft (7-6) and the third connecting shaft (7-8) are respectively hinged to the third connecting rod (7-8), and the third connecting shaft (7-4) are respectively hinged to the upper connecting rod (7-8, and the first connecting shaft (7-8) are arranged in parallel to the hinge point, the hinge points of the second upper connecting rod (7-3) and the second lower connecting rod (7-9) and the hinge points of the first upper connecting rod (7-1) and the third lower connecting rod (7-10), and an adjusting device for adjusting the distance between the third connecting shaft (7-12) and the first connecting shaft (7-6) and between the third connecting shaft (7-12) and the second connecting shaft (7-7) are further arranged between the first connecting shaft (7-6), the second connecting shaft (7-7) and between the third connecting shaft (7-12);
the adjusting device comprises an adjusting screw rod (7-13) and an adjusting nut (7-14) connected with the third connecting shaft (7-12), the adjusting screw rod (7-13) is rotatably connected with the first connecting shaft (7-6) and the second connecting shaft (7-7), and the adjusting nut (7-14) is connected with the adjusting screw rod (7-13) through threads;
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 the hinge point of the third upper connecting rod (7-4) and the first lower connecting rod (7-8) and between the hinge point of the second upper connecting rod (7-3) and the hinge point of the second lower connecting rod (7-9);
the waist control mechanism (3) is connected to the walking bracket (1) in an up-down sliding mode through the lifting frame (3-1), the waist driving mechanism comprises an output shaft (3-8) which is arranged on a supporting plate (3-31) above the lifting frame (3-1), the supporting plate (3-31) is provided with an arc-shaped sliding rail set (3-3), the arc-shaped sliding rail set (3-3) is connected to an arc-shaped sliding block (3-33), the U-shaped bracket (3-2) penetrates through the arc-shaped 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 a power output end of a driving motor (3-102) through a torque sensor (3-12);
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 slidably connected to the lifting frame (3-1), the driving fixing plate (3-101) is also connected with the flexible driving mechanism (8), the flexible 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), the spring adjusting angle frame (8-2) is provided with a kidney-shaped hole, one end of the extension spring (8-31) is connected to the kidney-shaped hole through a spring adjusting shaft pin (8-3), the other end of the extension spring is connected to a middle hinging point of the two connecting rod mechanisms (8-4), and the spring adjusting shaft pin (8-3) is slidably connected to the kidney-shaped hole;
two ends of the two connecting rod mechanisms (8-4) are respectively hinged to the sliding blocks (8-5) and the L-shaped fixed block (8-1), the sliding blocks (8-5) can slide parallel to the spring adjusting angle frame (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).
2. The lumbar 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 to the power output end of the driving device (5-1), the rope guiding component comprises a reciprocating screw (5-9), a guiding shaft (5-5), a guiding block (5-7) and a rope guiding wheel set (5-6), the guiding block (5-6) can slide along the reciprocating screw (5-9) and the guiding shaft (5-5), the reciprocating screw (5-9) is connected to the rope winding drum (5-8) through a second speed changing mechanism (5-103), the rope (9) penetrates through the rope guiding wheel set (5-6) to be connected to the rope winding drum (5-8), and the driving speed of the reciprocating screw (5-9) to the rope guiding wheel set (5-6) is equal to the crawling speed of the rope (9) on the rope winding drum (5-8).
3. The lumbar rehabilitation robot according to claim 1, wherein: the rigidity-variable force measuring device (6) comprises a guide post (6-5) and a spring (6-2) sleeved on the guide post (6-5), wherein the end part of the guide post (6-5) is fixedly connected with a base (6-3), the guide post (6-5) is further connected with a flexible support (6-1), the flexible support (6-1) is slidably connected with the guide post (6-5), two ends of the spring (6-2) are respectively connected with 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 both provided with pulleys (6-4) for connecting ropes (9).
4. The lumbar rehabilitation robot according to claim 1, wherein: the flexible driving mechanism (8) further comprises two L-shaped fixed 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), the 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 fixed blocks (8-1), and the sliding blocks (8-5) are slidably connected to the sliding shaft (8-6) and the guide shaft (8-7).
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| CN112999031B (en) * | 2021-03-11 | 2022-07-01 | 国家康复辅具研究中心 | Pelvis supporting walking aid based on force sensing parallel mechanism |
| CN113143695B (en) * | 2021-04-15 | 2022-11-01 | 北航歌尔(潍坊)智能机器人有限公司 | Weight reduction device for rehabilitation training and limb rehabilitation system |
| 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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| KR101121929B1 (en) * | 2011-03-31 | 2012-02-29 | 김정배 | A lumbar raise device |
| CN106420267A (en) * | 2016-12-02 | 2017-02-22 | 江苏大学 | Wearable intelligent lower limb rehabilitation device and control method |
| CN106562869A (en) * | 2015-10-12 | 2017-04-19 | 现代自动车株式会社 | Wearable muscular strength assisting apparatus |
| CN107126344A (en) * | 2017-07-05 | 2017-09-05 | 天津科技大学 | Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method |
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| KR101121929B1 (en) * | 2011-03-31 | 2012-02-29 | 김정배 | A lumbar raise device |
| CN106562869A (en) * | 2015-10-12 | 2017-04-19 | 现代自动车株式会社 | Wearable muscular strength assisting apparatus |
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