CN109718053A - A kind of simple joint healing robot - Google Patents
A kind of simple joint healing robot Download PDFInfo
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- CN109718053A CN109718053A CN201910132733.3A CN201910132733A CN109718053A CN 109718053 A CN109718053 A CN 109718053A CN 201910132733 A CN201910132733 A CN 201910132733A CN 109718053 A CN109718053 A CN 109718053A
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- 210000003857 wrist joint Anatomy 0.000 claims description 55
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 42
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
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Abstract
本发明公开了一种单关节康复机器人，包括：扭矩检测部件，用于检测用户施加在运动配件上的扭矩；与扭矩检测部件连接的运动控制单元，用于根据获取的扭矩检测部件检测出的扭矩，确定出电机的输出扭矩，并发送至电机驱动器；与运动控制单元以及电机均连接的电机驱动器，用于控制电机的输出扭矩符合运动控制单元确定出的输出扭矩；电机；与电机以及运动配件均连接的传动部件，用于将电机的输出扭矩放大预设倍数后施加在运动配件上，以使传动部件施加在运动配件上的扭矩与用户施加在运动配件上的扭矩叠加后，使运动配件按照规划的运动轨迹进行运动。应用本申请的方案，可以有效地帮助单关节功能障碍的患者进行康复训练。
The invention discloses a single-joint rehabilitation robot, comprising: a torque detection component for detecting the torque applied by a user on a moving accessory; a motion control unit connected with the torque detection component for detecting the torque detected by the acquired torque detection component Torque, determine the output torque of the motor, and send it to the motor driver; the motor driver connected to the motion control unit and the motor is used to control the output torque of the motor to conform to the output torque determined by the motion control unit; motor; The transmission parts connected to the accessories are used to amplify the output torque of the motor by a preset multiple and apply it to the motion accessories, so that the torque applied by the transmission parts on the motion accessories and the torque applied by the user on the motion accessories are superimposed, so that the motion The accessories move according to the planned motion trajectory. The application of the solution of the present application can effectively help patients with single-joint dysfunction to perform rehabilitation training.
Description
Technical field
The present invention relates to joint recovering technical fields, more particularly to a kind of simple joint healing robot.
Background technique
Nervous system injury and skeletal musculature damage all can lead to the joint function disturbance of people, influence the function of people
Ability and daily life quality.According to statistics, 30% injury gained in sports occurs in ankle-joint, only just has more than every year in China
The patient of 2000000 fracture of ankle joint has 850,000 sprain of ankle patient assessments in the U.S. daily.Fracture of distal radius is common bone
Section's damage, accounts for the 10%-25% of all fracture, is easy to happen in the crowd of all age brackets.In addition, the whole nation has more than
12000000 patients with cerebral apoplexy are with different degrees of simple joint dyskinesia, cerebral apoplexy high incidence, high mortality, high cause
The characteristics of residual rate, is to financial burden caused by China.
For the patient of simple joint dysfunction caused by these nervous system injuries and skeletal muscle injury, the prior art
In, it is that the rehabilitation training for carrying out profession is provided by rehabilitation therapist for patient, this process consumes manpower very much.In the U.S. 10
Wan Renzhong has 5 therapists, only 0.4 therapist, rehabilitation therapist's scarcity of resources in Chinese 100,000 people.
In conclusion the patient of simple joint dysfunction how effectively to be helped to carry out rehabilitation training, human cost is reduced,
It is current those skilled in the art technical problem urgently to be solved.
Summary of the invention
The object of the present invention is to provide simple joint healing robot, with effectively help the patient of simple joint dysfunction into
Row rehabilitation training.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of simple joint healing robot, comprising:
Torque detection part, the torque being applied in motion accessories for detecting user；
The motion control unit being connect with the torque detection part, for being examined according to the torque detection part of acquisition
The torque measured, determines the output torque of motor, and is sent to motor driver；
The motor driver being all connected with the motion control unit and the motor, for controlling the motor
Output torque meet the output torque that the motion control unit is determined；
The motor；
The transmission parts being all connected with the motor and the motion accessories, it is pre- for amplifying the output torque of motor
If being applied to after multiple in the motion accessories, so that the transmission parts are applied to torque and user in the motion accessories
After being applied to the torque superposition in the motion accessories, move the motion accessories according to the motion profile of planning；
For carrying out the motion accessories that cooperation makes the joint complete rehabilitation exercise with the joint of user.
Preferably, the motion control unit is specifically used for:
When determining model selection is Passive Mode, using calculated first torque as the output torque of motor；Wherein,
When the output torque of the motor is first torque, the torque that the transmission parts are applied in the motion accessories is
The steering of first object torque, the first object torque is identical as the rotation direction of the motion accessories, and first mesh
The size for marking torque is equal to the size of preset target torque；
When determining model selection is assistant mode, using calculated second torque as the output torque of motor；Wherein,
When the output torque of the motor is second torque, the torque that the transmission parts are applied in the motion accessories is
The steering of second target torque, second target torque is identical as the rotation direction of the motion accessories, and second mesh
The superimposed size of torque vector that mark torque and user are applied in the motion accessories is equal to the size of the target torque；
When determining model selection is aggressive mode, judge that the size for the torque that user is applied in the motion accessories is
It is no to meet preset range, if meeting, it is determined that the output torque for going out motor is 0, if not meeting, by calculated third torque
Output torque as motor；Wherein, when the output torque of the motor is the third torque, the transmission parts apply
Torque in the motion accessories is third target torque, the steering of the third target torque and turning for the motion accessories
Dynamic direction is identical, and the superimposed size of torque vector that the third target torque and user are applied in the motion accessories
Equal to the size of the target torque；
When determining model selection is resistance mode, using calculated 4th torque as the output torque of motor, wherein
When the output torque of the motor is four torque, the torque that the transmission parts are applied in the motion accessories is
4th target torque, the steering of the 4th target torque and the rotation direction of the motion accessories are on the contrary, and the 4th mesh
The superimposed size of torque vector that mark torque and user are applied in the motion accessories is equal to the size of the target torque；
After the output torque for determining motor, the output torque for the motor determined is sent to motor driver.
Preferably, further includes:
Emergency stop control switch, for making the output of motor pause torque when the triggering by user.
Preferably, further includes:
Air switch in the power supply line of simple joint healing robot is set.
Preferably, further includes:
The display device being connect with the motion control unit, for obtaining the motor by the motion control unit
Output torque and real-time display.
Preferably, further includes:
The recording device being connect with the motion control unit, for obtaining the motor by the motion control unit
Output torque and recorded.
Preferably, further includes:
The communication device being connect with the recording device, for the server by the data in the recording device to distal end
It is sent.
Preferably, the transmission parts include:
Input terminal is connect with the output end of the motor, for subtracting the output torque amplification presupposition multiple of the motor
Fast machine；
Synchronizing wheel device including driving wheel and the driven wheel engaged with the driving wheel, the driving wheel subtract with described
The output end of fast machine is coaxially connected, and the driven wheel and the first transmission hookup are coaxially connected；
The first transmission hookup；
The second transmission hookup being connect by the torque detection part with the first transmission hookup；
It is connect with the second transmission hookup and the motion accessories, so that the output torque of the motor is transferred to
The motion accessories make the motion accessories carry out the third transmission hookup of the rotation of single-degree-of-freedom.
Preferably, further includes:
For placing the first pedestal of the second pedestal and third pedestal；
It is fixed on first pedestal and has second pedestal there are two through-hole, the first of second pedestal is logical
Hole and the speed reducer are coaxial, and connect with the speed reducer；Second through-hole of second pedestal and first transmission join
It is coaxial to tie device, and is connect by first bearing with the first transmission hookup；
Be fixed on first pedestal and the third pedestal with a through-hole, the through-hole of the third pedestal with
The second transmission hookup is coaxial, and is connect by the second bearing on the through-hole with the second transmission hookup.
Preferably, further includes:
It is fixed on the third pedestal, for the rotational angle of the motion accessories to be limited angle within a preset range
Spend limiting device.
Preferably, further includes:
The cuboid bracket being made of 12 profiles, first pedestal are fixed on the top surface of the cuboid bracket.
Preferably, the motion accessories are detachably connected with the transmission parts.
Preferably, the motion accessories are the wrist joints sporting accessory for cooperating with the wrist joint of user, or to use
In the ankle motion accessory with the cooperation of the ankle-joint of user.
Preferably, the wrist joints sporting accessory are as follows: for cooperating with the wrist joint of user, the wrist joint is made to complete to bend
Stretch the first wrist joints sporting accessory of movement；Or are as follows: for cooperating with the wrist joint of user, so that the wrist joint is completed ruler inclined
The the second wrist joints sporting accessory moved partially with oar；Or are as follows: for cooperating with the wrist joint of user, make forearm and the institute of user
State the third wrist joints sporting accessory that wrist joint completes rotary motion.
Preferably, the first wrist joints sporting accessory includes:
First disk coaxially connected with the transmission parts is fixed on the predeterminated position of first disk periphery, and
Perpendicular to the connecting rod of first disk；
The second wrist joints sporting accessory includes:
Second disk coaxially connected with the transmission parts；
First end is connect with the first end of second disk, and second end is connect with the second end of second disk, and
Perpendicular to the C font connecting rod of second disk；
The third wrist joints sporting accessory includes:
The third disk coaxially connected with the transmission parts, the periphery along the third disk are provided with preset quantity
Aperture.
Preferably, the ankle motion accessory includes:
For placing the bottom plate of user's foot；
Be arranged in the side of the bottom plate and with the plane perpendicular, first end is fixedly connected with the bottom plate, second end
The connecting rod being connect with the transmission parts；
It is detachably connected with the bottom plate, for fixing user's foot, so that user's foot was bonded with the bottom plate
Foot bandage.
Using technical solution provided by the embodiment of the present invention, comprising: torque detection part is applied to for detecting user
Torque in motion accessories；The motion control unit being connect with torque detection part, for the torque detection part according to acquisition
The torque detected, determines the output torque of motor, and is sent to motor driver；It is equal with motion control unit and motor
The motor driver of connection, the output torque for controlling motor meet the output torque that motion control unit is determined；Motor；
The transmission parts being all connected with motor and motion accessories, for being applied to fortune after the output torque of motor is amplified presupposition multiple
On dynamic accessory, so that the torque that the torque that transmission parts are applied in motion accessories is applied in motion accessories with user is superimposed
Afterwards, motion accessories are moved according to the motion profile of planning.
In the scheme of the application, simple joint healing robot is used to provide rehabilitation training automatically for user.Specifically, torque
Detection part can detecte the torque that user is applied in motion accessories and be sent to motion control unit, and motion control unit connects
After receipts, the output torque of motor can be determined, and then motor driver can control the output torque of motor and meet movement
The output torque that control unit is determined；Transmission parts can match movement is applied to after the output torque of motor amplification presupposition multiple
On part.That is, torque detection part detects that user is applied to after the torque in motion accessories, transmission parts can be fortune
Dynamic accessory provides adaptable torque, so that the torque that transmission parts are applied in motion accessories is applied to movement with user and matches
After torque superposition on part, motion accessories can be made to be moved according to the motion profile of planning.Due to motion accessories and user
Joint match, can make user joint complete rehabilitation exercise.Therefore, the scheme of the application passes through simple joint rehabilitation machines
Device people makes the joint of user complete rehabilitation exercise, reduces human cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of simple joint healing robot in the present invention；
Fig. 2 is another structural schematic diagram of simple joint healing robot in the present invention；
Fig. 3 is the structural schematic diagram of the transmission parts in a kind of specific embodiment of the present invention；
Fig. 4 a is the structural schematic diagram of the first wrist joints sporting accessory in a kind of specific embodiment of the present invention；
Fig. 4 b is the structural schematic diagram of the second wrist joints sporting accessory in a kind of specific embodiment of the present invention；
Fig. 4 c is the structural schematic diagram of the third wrist joints sporting accessory in a kind of specific embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of simple joint healing robot canning in the present invention；
The schematic diagram of internal structure of the simple joint healing robot of belt bracket in a kind of specific embodiment of Fig. 6 present invention；
Fig. 7 is another structural schematic diagram of simple joint healing robot canning in the present invention.
Specific embodiment
Core of the invention is to provide a kind of simple joint healing robot, can effectively help simple joint dysfunction
Patient carries out rehabilitation training.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is a kind of structural schematic diagram of simple joint healing robot in the present invention, comprising:
Torque detection part 10, the torque being applied in motion accessories 60 for detecting user.
In general, the detection that user is applied to the torque in motion accessories 60 can be carried out based on torque sensor 11, such as
What is used in the embodiment of Fig. 2 is torque sensor 11.In Fig. 2, torque detection part 10 by torque sensor 11 and
The analog sensor unit 12 connecting with torque sensor 11 is constituted, and torque sensor 11 can turn the mechanical signal read
Analog electric signal is turned to, after being transmitted to analog sensor unit 12 by signal wire, analog sensor unit 12 will
Analog electric signal is converted into digital electric signal, and after being received by motion control unit 20, motion control unit 20 can be obtained
Take the torque that family is applied in motion accessories 60.It should be noted that transmission parts 50 and motion accessories 60 in Fig. 2 not
It shows.
The specific installation site of torque sensor 11 and analog sensor unit 12 can carry out according to actual needs
Setting and adjustment, in general, torque sensor 11 can be matched with transmission parts 50, such as in the embodiment of Fig. 3, torque sensing
Device 11 is just arranged between two transmission hookups.Certainly, in other embodiments, can be examined using the torque of other forms
Component 10 is surveyed to have no effect on of the invention as long as being able to carry out the acquisition for the torque that user is applied in motion accessories 60
Implement.
Since the torque that user is applied in motion accessories 60 can constantly change, torque detection part 10 would generally
Real-time detection torque, or detected according to shorter detection cycle.
The motion control unit 20 being connect with torque detection part 10, for the torque detection part 10 according to acquisition
The torque detected, determines the output torque of motor 40, and is sent to motor driver 30.
Motion control unit 20 is connect by signal wire with torque detection part 10, and specific communication protocol can be according to need
It is set and is adjusted, such as carried out by CAN (Controller Area Network, controller local area network) bus
Connection.
After motion control unit 20 obtains the torque that torque detection part 10 detects, motor 40 can be determined
Output torque.Specific calculation can be set according to actual needs, it can relatively simple calculation is chosen,
It can also be chosen for complicated mode.For example, after obtaining the torque that torque detection part 10 detects, it can be according to default
The table of comparisons, determine the size of the corresponding output torque of motor 40, and according to the current location of motion accessories 60, determine
The direction of the output torque of motor 40 namely the positive and negative rotation of motor 40.In general, detecting that the position of motion accessories 60 reaches pre-
When fixed reversal point, the steering of motor 40 can be changed.
For another example, in a specific embodiment, in order to enable the motion profile of motion accessories 60 is even more ideal, Ke Yigen
According to the torque that torque detection part 10 detects, and the parameters such as binding pattern selection carry out the determination of the output torque of motor 40.
For example, the output torque that the torque detected when torque detection part 10 in preset range, can control motor 40 is 0, and
When the torque that torque detection part 10 detects is lower than the lower limit of preset range, control motor 40 carries out the output of torque, and
So that transmission parts 50 are applied to the torque in motion accessories 60, the torque vector being applied in motion accessories 60 with user is superimposed
Size afterwards meets preset range.
Since different users has respectively different recovery situations, the scheme of the application is when implementing, it will usually tie
Preset model selection, preset target torque are closed, the parameters such as current location of motion accessories 60 determine the output of motor 40
Torque, and it is sent to motor driver 30.That is, the output torque for the motor 40 that motion control unit 20 is determined, meeting
By user apply torque, the influence of the factors such as model selection and preset target torque and change, pass through what is determined
The output torque of motor 40 enables to motion accessories 60 to be moved according to the motion profile of planning.
In order to make it easy to understand, being illustrated with a specific embodiment, in this kind of embodiment, it is provided with Passive Mode,
Assistant mode, aggressive mode and resistance mode.
When determining model selection is Passive Mode, using calculated first torque as the output torque of motor 40；Its
In, when the output torque of motor 40 is the first torque, it is the first mesh that transmission parts 50, which are applied to the torque in motion accessories 60,
Torque is marked, the steering of first object torque is identical as the rotation direction of motion accessories 60, and the size of first object torque is equal to
The size of preset target torque.
Passive Mode is particularly suitable for the myasthenia user to paralyse completely, and user will not usually apply motion accessories 60
Power, or the power applied are especially small.When determining model selection is Passive Mode, motion control unit 20 can be by calculated the
Output torque of one torque as motor 40, and transmission parts 50 apply after the output torque of motor 40 being amplified presupposition multiple
In motion accessories 60, it is first object torque that transmission parts 50, which are applied to the torque in motion accessories 60, i.e. the first torque is put
It is just first object torque after big presupposition multiple.
The steering of first object torque is identical as the rotation direction of motion accessories 60, and the size of first object torque is equal to pre-
If target torque size, i.e. first object torque provides power-assisted for the rotation of motion accessories 60.First object torque
Direction determines that the rotation direction of motion accessories 60, the rotation direction of motion accessories 60 need to meet the motion profile of planning, leads to
Often, the motion profile of planning is the reciprocating motion for the single-degree-of-freedom that motion accessories 60 carry out within the preset angle range.Movement
The rotational angle of accessory 60 with real-time detection and can be sent to motion control unit 20, when turning to preset reversal point, fortune
Dynamic control unit 20 just changes the steering of motor 40, so that the direction of the output torque of motor 40 changes, so that the first mesh
It marks the direction of the torque to change, to change the steering of motion accessories 60.
It may also be noted that preset target torque is that a size pre-establishing is constant in this kind of embodiment
Numerical value and in other embodiments when the current location difference of motion accessories 60, different size of target can be corresponded to and turned round
Square has no effect on implementation of the invention.It, can be in order to electricity using fixed numerical value as target torque in this kind of embodiment
The calculating of the output torque of machine 40.Certainly, the numerical value of the fixation can also be set and be adjusted according to actual needs, such as root
According to the difference for the joint recovering situation for not having to user, setting meets the target torque value of demand.
Preset model selection and preset target torque, usually can be that user formulate by doctor, and can be with
It is adjusted according to variation the case where user.In the specific implementation, the communication of host computer and motion control unit 20 can be passed through
Interface connection, the relevant parameters such as model selection are input in motion control unit 20.
When determining model selection is assistant mode, using calculated second torque as the output torque of motor 40；Its
In, when the output torque of motor 40 is the second torque, it is the second mesh that transmission parts 50, which are applied to the torque in motion accessories 60,
Torque is marked, the steering of the second target torque is identical as the rotation direction of motion accessories 60, and the second target torque and user apply
The superimposed size of torque vector in motion accessories 60 is equal to the size of target torque.
Assistant mode is commonly available to the user that part consciousness has been restored in joint, and user can apply one to motion accessories 60
Fixed power, but the power is moved insufficient for motion accessories 60 according to the motion profile of planning.Motion control unit 20 obtains
It, can be using calculated second torque as the output torque of motor 40 after the torque for having taken user to apply.It is defeated when motor 40
When torque is the second torque out, it is the second target torque that transmission parts 50, which are applied to the torque in motion accessories 60, and the second mesh
The steering for marking torque is identical as the rotation direction of motion accessories 60, i.e. the second target torque is also to mention for the rotation of motion accessories 60
For power-assisted.The superimposed size of torque vector that second target torque and user are applied in motion accessories 60 is equal to target torque
Size.Similar with first object torque, the torque that the position of motion accessories 60 is different, and user applies is different, and the second target is turned round
The size of square and direction can adaptably change, and move motion accessories 60 according to the motion profile of planning.
When determine model selection be aggressive mode when, judge the torque that user is applied in motion accessories 60 size whether
Meet preset range, if meeting, it is determined that the output torque for going out motor 40 is 0, if not meeting, by calculated third torque
Output torque as motor 40；Wherein, when the output torque of motor 40 is third torque, transmission parts 50 are applied to movement
Torque on accessory 60 is third target torque, and the steering of third target torque is identical as the rotation direction of motion accessories 60, and
The superimposed size of torque vector that third target torque and user are applied in motion accessories 60 is equal to the size of target torque.
In aggressive mode, user is applied to the size of the torque in motion accessories 60, usually can make motion accessories
60 rotate according to desired guiding trajectory, i.e., the size that usual user is applied to the torque in motion accessories 60 can within a preset range, this
When motor 40 output torque be 0, i.e. the simple joint healing robot of the application do not provide motion accessories 60 rotation power.And
When user's strength deficiency due to fatigue etc., motion control unit 20 can control the output torque of motor 40 as third torsion
Square, it is third target torque, the torque vector applied with user that transmission parts 50, which are applied to the torque in motion accessories 60, at this time
After superposition, size is equal to the size of preset target torque.
When determining model selection is resistance mode, using calculated 4th torque as the output torque of motor 40,
In, when the output torque of motor 40 is four torque, it is the 4th mesh that transmission parts 50, which are applied to the torque in motion accessories 60,
Mark torque, the steering of the 4th target torque and the rotation direction of motion accessories 60 on the contrary, and the 4th target torque and user apply
The superimposed size of torque vector in motion accessories 60 is equal to the size of target torque.
Resistance mode is suitable for the higher user of joint recovery extent, when resistance mode, the steering of the 4th target torque with
The rotation directions of motion accessories 60 is on the contrary, i.e. different from first three motor pattern, and when this kind of mode, the 4th target torque is to movement
The rotation of accessory 60 provides resistance, to fight to the torque that user applies.That is, user applies in motion accessories 60
The torque added will overcome the 4th target torque, so that the superimposed size of torque vector is equal to the size of target torque, to make
Motion accessories 60 are obtained to be rotated according to the motion profile of planning.
The motor driver 30 being all connected with motion control unit 20 and motor 40, the output for controlling motor 40 are turned round
Square meets the output torque that motion control unit 20 is determined.
Motor 40.
Motor driver 30 can also be connect by CAN bus with motion control unit 20, and motion control unit 20 is sent out
The relevant instruction information sent is converted to the control parameter of motor 40, and then to the control that motor 40 is rotated.
The transmission parts 50 being all connected with motor 40 and motion accessories 60, it is pre- for amplifying the output torque of motor 40
If being applied to after multiple in motion accessories 60, so that the torque that transmission parts 50 are applied in motion accessories 60 is applied to user
After torque superposition in motion accessories 60, move motion accessories 60 according to the motion profile of planning.
The specific device and specific connection structure that transmission parts 50 include, can according to need and set and adjusted,
Such as a kind of transmission parts 50 of C font shown in Fig. 3, by speed reducer 51, synchronizing wheel device 52, first is driven hookup 53,
Second transmission hookup 54 and third transmission hookup 55 are constituted.
Specifically, transmission parts 50 include:
Input terminal is connect with the output end of motor 40, for the output torque of motor 40 to be amplified to the speed reducer of presupposition multiple
51；
Synchronizing wheel device 52 including driving wheel and the driven wheel engaged with driving wheel, driving wheel are defeated with speed reducer 51
Outlet is coaxially connected, and driven wheel and the first transmission hookup 53 are coaxially connected；
First transmission hookup 53；
The second transmission hookup 54 being connect by torque detection part 10 with the first transmission hookup 53；
It connect with the second transmission hookup 54 and motion accessories 60, matches so that the output torque of motor 40 is transferred to movement
Part 60 makes motion accessories 60 carry out the third transmission hookup 55 of the rotation of single-degree-of-freedom.
In this kind of embodiment, motor 40 and the driving wheel of speed reducer 51 and synchronizing wheel device 52 are coaxial, synchronizing wheel dress
52 driven wheel and the first transmission hookup 53 are set, the second transmission hookup 54 and third transmission hookup 55 are coaxial.It is logical
Transmission parts 50 are crossed, the output torque of motor 40 is applied in motion accessories 60 after being amplified presupposition multiple.Certainly, in other realities
It applies in mode, transmission parts 50 can be other structures, such as can be in straight line, that is, it is not provided with synchronizing wheel device 52, and
It is directly to connect speed reducer 51 with the first transmission hookup 53, can be for another example set according to the actual situation with L-shaped etc.
Fixed and selection.Also, the specific device composition of transmission parts 50 can also be adjusted, such as in above-mentioned specific embodiment
Speed reducer 51 can be substituted by combining forms such as multiple synchronizing wheels, multiple gears, can be realized gear reduction, obtain needs
Torque and revolving speed.
For carrying out the motion accessories 60 that cooperation makes joint complete rehabilitation exercise with the joint of user.
The structure of motion accessories 60 depends on the motion mode restored needed for the position and joint in the joint to rehabilitation.
Certainly, for the identical motion mode in same joint, motion accessories 60 can also can cooperate user's there are many form
The rehabilitation exercise in joint progress joint.Such as in the embodiment of Fig. 3, just show for cooperating with the ankle-joint of user
Ankle motion accessory 60.
In a kind of specific embodiment of the invention, motion accessories 60 are detachably connected with transmission parts 50.
Rehabilitation or a joint is needed to need using multi-motion mode in view of certain customers have multiple joints
Restored, therefore be detachably connected motion accessories 60 and transmission parts 50 in this kind of embodiment, so that only needing to carry out
The replacement of motion accessories 60 can allow user to carry out the switching in rehabilitation joint, or carry out the motion mode in joint and cut
Change, improve the usage experience of user, avoid user need to buy multiple simple joint healing robots and bring it is excessively high at
This.
In view of ankle-joint and wrist joint are common impaired movement joints, therefore, the motion accessories 60 of the application can
Think for the wrist joints sporting accessory 60 with the cooperation of the wrist joint of user, or for for the ankle with the cooperation of the ankle-joint of user
Joint motions accessory 60.
Certainly, in other embodiments, the motion accessories for being directed to other joints can be set according to the needs of users
60, as long as after the motion accessories 60 are rotated by the output torque of transmission parts 50, can cooperate with the joint of user, association
The joint recovering for helping user has no effect on implementation of the invention.
In the specific implementation, it is contemplated that flexion and extension, ruler/oar moves partially and rotary motion is basic three kinds of wrist joint
Motion mode, therefore in this kind of embodiment, wrist joints sporting accessory 60 can be with are as follows: for the cooperation of the wrist joint of user, make
First wrist joints sporting accessory of wrist joint completion flexion and extension；Or are as follows: for cooperating with the wrist joint of user, make wrist joint
Complete ruler partially and the second wrist joints sporting accessory for moving partially of oar；Or are as follows: for cooperating with the wrist joint of user, make user's
Forearm and wrist joint complete the third wrist joints sporting accessory of rotary motion.
Further, the first wrist joints sporting accessory may include:
First disk 61 coaxially connected with transmission parts is fixed on the predeterminated position of 61 periphery of the first disk, and vertical
In the connecting rod 62 of the first disk 61；
Second wrist joints sporting accessory includes:
Second disk 63 coaxially connected with transmission parts；
First end is connect with the first end of the second disk 63, and second end is connect with the second end of the second disk 63, and vertical
In the C font connecting rod 64 of the second disk 63；
Third wrist joints sporting accessory includes:
The third disk 65 coaxially connected with transmission parts is provided with opening for preset quantity along the periphery of third disk 65
Hole.
The specific connection type of first disk 61 and transmission parts 50 can be set according to actual needs, in general, the
One disk 61 can be connect by a shaft with transmission parts 50, and the second disk 63 and third disk 65 are also such.Figure
4a is a kind of structural schematic diagram of the first wrist joints sporting accessory in specific embodiment, and when in use, user places palm
In the connecting rod 62 of the first wrist joints sporting accessory or under the back of the hand is placed on connecting rod 62, as the first wrist joint is transported
The reciprocating motion of dynamic accessory, completes carpal flexion and extension.
The first end of second disk 63 and the second end of the second disk 63 all can be default positions on the second disk 63
It sets.In this kind of embodiment, after C font connecting rod 64 is connect with the second disk 63, a port will form therebetween, user will
Hand protrudes into the port, can complete carpal ruler with the reciprocating motion of the second wrist joints sporting accessory and transport partially with oar partially
It is dynamic.Certainly, in practical application, C font connecting rod 64 and the second disk 63 can also be designed to an one integral piece.
And it is pointed out that the C font connecting rod 64 in this kind of embodiment is vertical with the second disk 63, at other
In embodiment, the plane where C font connecting rod 64 can have the folder of other angles with the plane where the second disk 63
Angle, i.e. generation port allow user to protrude into hand, move partially with oar partially to complete carpal ruler, such as the reality of Fig. 4 b
It applies in mode, the C font connecting rod 64 connecting with the second disk 63 just has certain radian.And the second disk 63 is simultaneously not required to
If the full circle of a rule, such as the second disk 63 in Fig. 4 b is not a full circle but semilune.
The aperture of preset quantity is provided with along the periphery of third disk 65, user protrudes into finger in each aperture,
To complete forearm and carpal rotary motion with the reciprocating motion of third wrist joints sporting accessory.
When motion accessories 60 are ankle motion accessory 60, specific structure can also be set according to the actual situation
And adjustment, it can cooperate with the ankle-joint of user, ankle-joint is made to complete rehabilitation exercise.Such as in the embodiment of Fig. 3, ankle
Joint motions accessory 60 includes: the bottom plate 66 for placing user's foot；The side of bottom plate 66 and vertical with bottom plate 66 is set,
First end is fixedly connected with bottom plate 66, the connecting rod 67 that second end is connect with transmission parts 50；It is detachably connected, uses with bottom plate 66
It is fixed in by user's foot, so that the foot bandage 68 that user's foot is bonded with bottom plate 66.
Using simple joint healing robot provided by the embodiment of the present invention, comprising: torque detection part is used for detecting
Family is applied to the torque in motion accessories；The motion control unit being connect with torque detection part, for the torque according to acquisition
The torque that detection part detects, determines the output torque of motor, and is sent to motor driver；With motion control unit with
And the motor driver that motor is all connected with, the output torque for controlling motor meet the output that motion control unit is determined and turn round
Square；Motor；The transmission parts being all connected with motor and motion accessories, after the output torque of motor is amplified presupposition multiple
It is applied in motion accessories, so that torque and user that transmission parts are applied in motion accessories are applied to the torsion in motion accessories
After square superposition, move motion accessories according to the motion profile of planning.
In the scheme of the application, simple joint healing robot is used to provide rehabilitation training automatically for user.Specifically, torque
Detection part can detecte the torque that user is applied in motion accessories and be sent to motion control unit, and motion control unit connects
After receipts, the output torque of motor can be determined, and then motor driver can control the output torque of motor and meet movement
The output torque that control unit is determined；Transmission parts can match movement is applied to after the output torque of motor amplification presupposition multiple
On part.That is, torque detection part detects that user is applied to after the torque in motion accessories, transmission parts can be fortune
Dynamic accessory provides adaptable torque, so that the torque that transmission parts are applied in motion accessories is applied to movement with user and matches
After torque superposition on part, motion accessories can be made to be moved according to the motion profile of planning.Due to motion accessories and user
Joint match, can make user joint complete rehabilitation exercise.Therefore, the scheme of the application passes through simple joint rehabilitation machines
Device people makes the joint of user complete rehabilitation exercise, reduces human cost.
In a kind of specific embodiment of the invention, further includes:
Emergency stop control switch, for making when the triggering by user motor 40 suspend the output of torque.
During carrying out rehabilitation using healing robot in view of user, in fact it could happen that pain, the emergency cases such as palpitaition,
Or user may wish to rest, and healing robot is needed to temporarily cease work.Therefore, emergency stop is provided in this kind of embodiment
Control switch.Emergency stop control switch can be generally arranged at the position for being easy to be triggered by user, such as in Fig. 5, emergency stop control
The cabinet top in healing robot can be set in switch, can be conveniently used convenient for user.Emergency stop control switch can be with
Motion control unit 20 connects, and when the triggering by user, can input emergent stop signal to motion control unit 20 makes motor
The output of 40 pause torques.Emergency stop control switch can also be connect with electric supply system, or directly as power supply power supply system
A part of system, when the triggering by user, by the input of alternating current or direct current in power supply system of cutting off the power, with
So that motor 40 suspends the output of torque.
Certainly, user can also terminate the triggering of emergency stop control switch, such as emergency stop control switch is the switch of push button,
Default conditions are non-toggle state, keep triggering state after being pressed, press, bounce again, revert to non-toggle state.
When emergency stop control switch is no longer triggering state, healing robot can work on, i.e. motion accessories 60 from stopping before
Position starts to continue to rotate.
In a kind of specific embodiment of the invention, further includes:
Air switch in the power supply line of simple joint healing robot is set.
A kind of electric supply system of the healing robot of the application is shown in Fig. 2.In this kind of embodiment, simple joint
Healing robot is powered by 220V AC power source, then carries out rectifier transformer to AC power source, obtains the direct current of 48V
Source.The DC power supply of 48V can be to motion control unit 20, analog sensor unit 12 in torque detection part 10, electricity
The components such as machine driver 30 are powered.Certainly, in other embodiments, there can be other power-supplying forms, such as exchange
Power supply is 110V, and DC power supply is 36V or 24V.For another example, it directlys adopt battery to be powered healing robot, not shadow
Ring implementation of the invention.
In the embodiment of Fig. 2, air switch is arranged in the power supply line of AC power source, when the electric current in circuit is excessive
Or when short circuit occurs, air switch automatic shutdown circuit can also reduce the risk to user to protect equipment.When
So, it usually can be also provided with power switch, by power switch, user can actively control opening for simple joint healing robot
It opens and closes.Further, it is also possible to working station indicator be arranged, intuitively to show the power supply of simple joint healing robot
State, i.e., when power switch is closed, working station indicator is lighted, and indicates that simple joint healing robot is powered successfully.
In a kind of specific embodiment of the invention, Fig. 6 is seen, further includes:
For placing the first pedestal 71 of the second pedestal 72 and third pedestal 73；
Be fixed on the first pedestal 71 and have the second pedestal 72 there are two through-hole, the first through hole of the second pedestal 72 with subtract
Fast machine 51 is coaxial, and connect with speed reducer 51；Second through-hole of the second pedestal 72 and the first transmission hookup 53 are coaxial, and pass through
First bearing is connect with the first transmission hookup 53；
It is fixed on the first pedestal 71 and the third pedestal 73 with a through-hole, the through-hole of third pedestal 73 and second passes
Dynamic hookup 54 is coaxial, and is connect by the second bearing on the through-hole with the second transmission hookup 54.
A first pedestal 71 typically plate, for placing the second pedestal 72 and third pedestal 73.Second pedestal
72 and third pedestal 73 play the role of sterically defined, that is, ensure that the concentricity of related device, improve the application's
The precision of the movement transmitting of healing robot.
Further, it is contemplated that motion accessories 60 need certain space, therefore, in one kind of the invention in rotation
It further include the cuboid bracket being made of 12 profiles in specific embodiment, the first pedestal 71 is fixed on cuboid bracket
Top surface.Specifically, 12 profiles can be vertically spliced by profile corner connector, of course, it is possible to be replaced with other materials
Die material, profile corner connector can also be substituted using welding, the modes such as gluing, and connecting method is also possible to except vertically splicing
Other modes do not influence implementation of the invention.Certainly, in other embodiments, there can also be other carrier structures.?
In Fig. 6, the spatial position of air switch and direct-current switch power supply is respectively positioned in the cuboid bracket.
In a kind of specific embodiment of invention, refering to Fig. 3, can also include:
It is fixed on third pedestal 73, is limited for the rotational angle of motion accessories 60 to be limited angle within a preset range
Position device 80.
When transmission parts 50 operate normally, since motion control unit 20 can control motion accessories 60 according to the rail of planning
Mark is moved, therefore transmission parts 50 and motion accessories 60 can be rotated in certain angular range.But it considers
Under the extreme cases such as failure, when the rotational angle of motion accessories 60 is excessive, the joint of user may be damaged, therefore, this kind of reality
It applies and is provided with second layer protection, that is, the angular stop means 80 being fixed on third pedestal 73 in mode.Angular stop means 80
Defined by the preset range, it will usually slightly larger than motion control unit 20 plan motion profile angular range.
In a kind of specific embodiment of invention, further includes:
For carrying out the canning of device protection, torque detection part 10, motion control unit 20；Motor 40 and biography
Dynamic component 50 is arranged inside canning.
Just a kind of structural schematic diagram of the canning in specific embodiment is shown in Fig. 7, wherein canning by
The baffle of upper casing made of insulating materials, bottom case, air switch door and line with a scale forms.It is detachable between upper casing and bottom case
Connection completely cuts off internal components and external environment, protects key components.Air switch door is mounted on the side of upper casing, Yong Huke
With this door of manual free-open-close, to restart or disconnect air switch.The baffle of line with a scale is mounted on the front of upper casing, accordingly
, it can be provided with pointer in motion accessories 60, to use with the baffle fit of line with a scale, indicate 60 current operation of motion accessories
Angle.In addition, ankle motion balance auxiliary is also shown in Fig. 7, when motion accessories 60 are ankle motion accessory 60,
It can be designed so that healing robot is more stable using ankle motion balance auxiliary.
In a kind of specific embodiment of the invention, further includes:
The display device being connect with motion control unit 20, for obtaining the output of motor 40 by motion control unit 20
Torque and real-time display.
Display device can be the display screen being arranged on simple joint healing robot, can also use external host computer
The function of display device, such as the computer of user are realized, to reduce cost.Display device and 20 communication link of motion control unit
It connects, can be wired connection, can be wirelessly connected.Display device can obtain motor 40 by motion control unit 20
Output torque and real-time display allow user straight it is, of course, also possible to show the torque that user is applied in motion accessories 60
See the recovery extent that itself joint is found out on ground.In addition, display device can also carry out the display of other information, such as user's letter
Breath, the time of this rehabilitation training, model selection, target torque, the motion profile etc. of motion accessories 60.
It is external as display device or display device for example, by using host computer when display device comes with input equipment
When input equipment, it can also be communicated using display device with motion control unit 20, to carry out the parameters such as target torque
Modification.Further, it is contemplated that the convenience of user's operation, can also be user configuration hand controller, and hand controller and movement are controlled
Unit 20 processed communicates to connect, and the modification of the parameters such as the target torque of simple joint healing robot can be carried out by hand controller, also
The operations such as the triggering of emergency stop control switch can be carried out by hand controller.
In a kind of specific embodiment of the invention, further includes:
The recording device being connect with motion control unit 20, for obtaining the output of motor 40 by motion control unit 20
Torque is simultaneously recorded.
In view of the joint recovering of user is a long-term process, and the recovery extent in joint can constantly change, therefore should
The output torque of motor 40 is carried out by exciting bank in kind embodiment and is recorded, user or doctor are looked into
Historical record is read, the rehabilitation process of patient is conducive to.Certainly, other than the output torque of motor 40, recording device may be used also
To record user information, the time of this rehabilitation training, model selection, target torque, the motion profile etc. of motion accessories 60
Data.
Further, can also include: the communication device being connect with recording device, for by the data in recording device to
The server of distal end is sent.In this kind of embodiment, by communication device by the data in recording device to the clothes of distal end
Business device is sent, so that doctor need not see user, can be got to direct convenience user by server and be used health
Related data when multiple robot, and then learn the joint recovering situation of user, facilitate the rehabilitation process of user.Such as doctor
New rehabilitation programme can be drafted according to the data in recording device, adjust the rehabilitation scheme of user to adapt to the reality of user
Situation.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand technical solution of the present invention and its core concept.It should be pointed out that for the common of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for technical staff, these
Improvement and modification are also fallen within the protection scope of the claims of the present invention.
Claims (16)
1. a kind of simple joint healing robot characterized by comprising
Torque detection part, the torque being applied in motion accessories for detecting user；
The motion control unit being connect with the torque detection part, for being detected according to the torque detection part of acquisition
Torque, determine the output torque of motor, and be sent to motor driver；
The motor driver being all connected with the motion control unit and the motor, for controlling the defeated of the motor
Torque meets the output torque that the motion control unit is determined out；
The motor；
The transmission parts being all connected with the motor and the motion accessories, for by default times of output torque amplification of motor
It is applied to after number in the motion accessories, so that torque and user that the transmission parts are applied in the motion accessories apply
After the torque superposition in the motion accessories, move the motion accessories according to the motion profile of planning；
For carrying out the motion accessories that cooperation makes the joint complete rehabilitation exercise with the joint of user.
2. simple joint healing robot according to claim 1, which is characterized in that the motion control unit is specifically used
In:
When determining model selection is Passive Mode, using calculated first torque as the output torque of motor；Wherein, work as institute
When the output torque for stating motor is first torque, it is first that the transmission parts, which are applied to the torque in the motion accessories,
The steering of target torque, the first object torque is identical as the rotation direction of the motion accessories, and the first object is turned round
The size of square is equal to the size of preset target torque；
When determining model selection is assistant mode, using calculated second torque as the output torque of motor；Wherein, work as institute
When the output torque for stating motor is second torque, it is second that the transmission parts, which are applied to the torque in the motion accessories,
The steering of target torque, second target torque is identical as the rotation direction of the motion accessories, and second target is turned round
The superimposed size of torque vector that square and user are applied in the motion accessories is equal to the size of the target torque；
When determining model selection is aggressive mode, judge whether the size for the torque that user is applied in the motion accessories accords with
Close preset range, if meeting, it is determined that go out motor output torque be 0, if not meeting, using calculated third torque as
The output torque of motor；Wherein, when the output torque of the motor is the third torque, the transmission parts are applied to institute
Stating the torque in motion accessories is third target torque, the steering of the third target torque and the rotation side of the motion accessories
To identical, and the superimposed size of torque vector that the third target torque is applied in the motion accessories with user is equal to
The size of the target torque；
When determining model selection is resistance mode, using calculated 4th torque as the output torque of motor, wherein work as institute
When the output torque for stating motor is four torque, it is the 4th that the transmission parts, which are applied to the torque in the motion accessories,
Target torque, the steering of the 4th target torque is with the rotation direction of the motion accessories on the contrary, and the 4th target torsion
The superimposed size of torque vector that square and user are applied in the motion accessories is equal to the size of the target torque；
After the output torque for determining motor, the output torque for the motor determined is sent to motor driver.
3. simple joint healing robot according to claim 1, which is characterized in that further include:
Emergency stop control switch, for making the output of motor pause torque when the triggering by user.
4. simple joint healing robot according to claim 3, which is characterized in that further include:
Air switch in the power supply line of simple joint healing robot is set.
5. simple joint healing robot according to claim 1, which is characterized in that further include:
The display device being connect with the motion control unit, for obtaining the defeated of the motor by the motion control unit
Torque and real-time display out.
6. simple joint healing robot according to claim 5, which is characterized in that further include:
The recording device being connect with the motion control unit, for obtaining the defeated of the motor by the motion control unit
It torque and is recorded out.
7. simple joint healing robot according to claim 6, which is characterized in that further include:
The communication device being connect with the recording device, for carrying out the data in the recording device to the server of distal end
It sends.
8. simple joint healing robot according to claim 1, which is characterized in that the transmission parts include:
Input terminal is connect with the output end of the motor, for the output torque of the motor to be amplified to the deceleration of presupposition multiple
Machine；
Synchronizing wheel device including driving wheel and the driven wheel engaged with the driving wheel, the driving wheel and the speed reducer
Output end it is coaxially connected, the driven wheel and first transmission hookup it is coaxially connected；
The first transmission hookup；
The second transmission hookup being connect by the torque detection part with the first transmission hookup；
Connect with the second transmission hookup and the motion accessories, so that described in the output torque of the motor is transferred to
Motion accessories make the motion accessories carry out the third transmission hookup of the rotation of single-degree-of-freedom.
9. simple joint healing robot according to claim 8, which is characterized in that further include:
For placing the first pedestal of the second pedestal and third pedestal；
Be fixed on first pedestal and have second pedestal there are two through-hole, the first through hole of second pedestal with
The speed reducer is coaxial, and connect with the speed reducer；Second through-hole of second pedestal and the first transmission hookup
Coaxially, and by first bearing with the first transmission hookup it connect；
Be fixed on first pedestal and the third pedestal with a through-hole, the through-hole of the third pedestal with it is described
Second transmission hookup is coaxial, and is connect by the second bearing on the through-hole with the second transmission hookup.
10. simple joint healing robot according to claim 9, which is characterized in that further include:
It is fixed on the third pedestal, is limited for the rotational angle of the motion accessories to be limited angle within a preset range
Position device.
11. simple joint healing robot according to claim 10, which is characterized in that further include:
The cuboid bracket being made of 12 profiles, first pedestal are fixed on the top surface of the cuboid bracket.
12. according to claim 1 to 11 described in any item simple joint healing robots, which is characterized in that the motion accessories
It is detachably connected with the transmission parts.
13. simple joint healing robot according to claim 12, which is characterized in that the motion accessories be for with
The wrist joints sporting accessory of the wrist joint cooperation at family, or for for the ankle motion accessory with the cooperation of the ankle-joint of user.
14. simple joint healing robot according to claim 13, which is characterized in that the wrist joints sporting accessory are as follows:
For cooperating with the wrist joint of user, the wrist joint is made to complete the first wrist joints sporting accessory of flexion and extension；Or are as follows: it uses
In with the cooperation of the wrist joint of user, so that the wrist joint is completed ruler partially and the second wrist joints sporting accessory for moving partially of oar；Or
Are as follows: for the cooperation of the wrist joint of user, the third wrist joint for making the forearm of user and the wrist joint complete rotary motion to be transported
Dynamic accessory.
15. simple joint healing robot according to claim 14, which is characterized in that the first wrist joints sporting accessory
Include:
First disk coaxially connected with the transmission parts is fixed on the predeterminated position of first disk periphery, and vertical
In the connecting rod of first disk；
The second wrist joints sporting accessory includes:
Second disk coaxially connected with the transmission parts；
First end is connect with the first end of second disk, and second end is connect with the second end of second disk, and vertical
In the C font connecting rod of second disk；
The third wrist joints sporting accessory includes:
The third disk coaxially connected with the transmission parts, the periphery along the third disk are provided with opening for preset quantity
Hole.
16. simple joint healing robot according to claim 13, which is characterized in that the ankle motion accessory packet
It includes:
For placing the bottom plate of user's foot；
Be arranged in the side of the bottom plate and with the plane perpendicular, first end is fixedly connected with the bottom plate, second end and institute
State the connecting rod of transmission parts connection；
It is detachably connected with the bottom plate, for fixing user's foot, so that the foot that user's foot is bonded with the bottom plate
Bandage.
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| KR20160082430A (en) * | 2014-12-30 | 2016-07-08 | 한국기술교육대학교 산학협력단 | Rehabilitation robot |
| CN104887457A (en) * | 2015-06-11 | 2015-09-09 | 尚廷东 | Rehabilitation training device and training bracket thereof |
| CN106214419A (en) * | 2016-07-14 | 2016-12-14 | 大连理工大学 | Self adaptation forearm muscle group convalescence device |
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