CN110882133B - Balance assisting device and method for exoskeleton robot - Google Patents
Balance assisting device and method for exoskeleton robot Download PDFInfo
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- CN110882133B CN110882133B CN201910698004.4A CN201910698004A CN110882133B CN 110882133 B CN110882133 B CN 110882133B CN 201910698004 A CN201910698004 A CN 201910698004A CN 110882133 B CN110882133 B CN 110882133B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 137
- 230000003287 optical effect Effects 0.000 claims description 39
- 230000036316 preload Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 description 3
- 208000023803 Hip injury Diseases 0.000 description 2
- 208000029028 brain injury Diseases 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010016173 Fall Diseases 0.000 description 1
- 230000001684 chronic effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000002787 reinforcement Effects 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a balance auxiliary device and a method for an exoskeleton robot, wherein the balance auxiliary device comprises: the movable rack, two lifting mechanisms and two horizontal mechanisms; the two lifting mechanisms are oppositely arranged on the movable rack; the two horizontal mechanisms are correspondingly connected with the two lifting mechanisms, the exoskeleton robot is arranged between the two horizontal mechanisms, and the two horizontal mechanisms are used for being connected with the waist mechanism of the exoskeleton robot so as to fix the exoskeleton robot on the movable rack; the horizontal mechanism is driven to reciprocate in the vertical direction by adjusting the lifting mechanism to be adapted to the height position of the waist mechanism of the exoskeleton robot, and the horizontal mechanism is adjusted to be adapted to the width of the waist mechanism of the exoskeleton robot, so that the balance stability of a user wearing the exoskeleton robot during training is ensured.
Description
Technical Field
The present invention relates to a balance assisting device and method for an exoskeleton robot, and more particularly, to a balance assisting device and method for an exoskeleton rehabilitation training robot.
Background
The invention aims to recover and improve the walking ability of patients with chronic osteoarticular diseases, spine and hip injuries and brain injuries. At present, most of patients with lower limb dysfunction are caused by osteoarticular diseases, and the rest are mainly caused by spine, hip and brain injuries. Exoskeleton rehabilitation training robots suitable for these patients are also currently available in the market to facilitate rapid recovery of their lower limb mobility. However, the existing exoskeleton rehabilitation training robot cannot keep a balanced and stable state independently, and needs auxiliary instruments such as double crutches, parallel bars and the like. The auxiliary mode of the crutch has the risk of falling down, and can be well adapted to the patient only by training for a period of time, the auxiliary mode of the parallel bars is limited by the length and the width of the parallel bars, and the patient can not train freely and continuously. There is therefore an urgent need to develop a balance assistance apparatus and method for an exoskeleton robot that overcomes the above-mentioned drawbacks.
Disclosure of Invention
In order to solve the disadvantages of the prior art, the present invention provides a balance assisting device for an exoskeleton robot, comprising:
a movable stage;
the two lifting mechanisms are oppositely arranged on the movable rack;
two horizontal mechanisms respectively connected to the two lifting mechanisms, wherein the exoskeleton robot is arranged between the two horizontal mechanisms and the two horizontal mechanisms are used for being connected to a waist mechanism of the exoskeleton robot so as to fix the exoskeleton robot on the movable rack;
the horizontal mechanism is driven by adjusting the lifting mechanism to reciprocate in the vertical direction to be matched with the height position of the waist mechanism of the exoskeleton robot, and the horizontal mechanism is adjusted to be matched with the width of the waist mechanism of the exoskeleton robot, so that the balance stability of a user wearing the exoskeleton robot during training is ensured.
In the balance auxiliary device, the movable rack comprises two support frames and an armrest frame connected to the two support frames, and the lifting mechanism is correspondingly mounted on the support frames.
In the above balance assisting apparatus, each of the lifting mechanisms includes:
the two fixing rods are oppositely arranged on the supporting frame;
the two guide optical axes are arranged between the two fixing rods in parallel, and two ends of each guide optical axis are connected to the two fixing rods;
the screw rod is arranged between the two guide optical axes, one end of the screw rod is connected to one of the two fixing rods, and the other end of the screw rod penetrates through the other of the two fixing rods to be connected with the hand wheel;
and the lifting assembly is sleeved on the two guide optical axes and the screw rod and reciprocates along the directions of the two guide optical axes.
The balance auxiliary device described above, wherein the lifting assembly includes:
the lifting sleeve is sleeved on the two guide optical shafts and the screw rod;
the first locking piece is arranged on the screw rod;
the two lifting shafts are connected with the lifting sleeve and the first locking piece;
when the height adjustment is performed once, after the first locking piece is loosened, the lifting sleeve is pushed to reciprocate on the two guide optical axes and the screw rod along the directions of the two guide optical axes, and the first locking piece is locked after the height adjustment is completed once.
The balance auxiliary device described above, wherein the lifting assembly further comprises:
the cover is located on the lead screw just the both ends of spring connect respectively in first retaining member reaches the lift cover, once the altitude mixture control accomplishes the back, through rotating hand wheel control the lead screw drives first retaining member removes, first retaining member pulling or promotion the spring is in order to drive the lift cover is followed the direction reciprocating motion of two lift axles to carry out secondary altitude mixture control.
The balance assisting device is characterized in that the spring outputs a preload force in the vertical direction when the height adjustment is performed twice, and the preload force assists small-amplitude fluctuation of the lumbar mechanism in the vertical direction during walking training of the exoskeleton robot.
The balance auxiliary device described above, wherein the lifting assembly further comprises: and the handle is arranged on the lifting sleeve, and the lifting sleeve is pushed to move through the handle after the first locking piece is loosened.
In the above balance assisting apparatus, each of the lifting mechanisms includes:
two adjusting pipes which are correspondingly sleeved in two sleeves formed on the supporting frame,
the limiting device is arranged on the adjusting pipe and is used for fixedly connecting the adjusting pipe with the sleeve;
the fixing plate is arranged at the top of the adjusting pipe; and
and the lifting assembly is fixed on the fixed plate and reciprocates in the vertical direction relative to the fixed plate.
The balance auxiliary device described above, wherein the lifting assembly includes:
two guide optical axes which are arranged in parallel are correspondingly sleeved in two openings formed in the fixed plate through linear bearings;
the adjusting plate is sleeved on the guide optical axis and is positioned above the fixing plate;
the buffer plate is arranged at the top end of the guide optical axis;
a wrench, one end of which is rotatably connected with the adjusting plate;
a connecting rod rotatably connected to the fixing plate and having the other end rotatably connected to an intermediate position of the wrench; and
and the spring is sleeved on the guide optical axis and is positioned between the adjusting plate and the buffer plate.
The balance auxiliary device described above, wherein the lifting assembly further comprises: and the reinforcing plate is arranged at the bottom ends of the two guide optical axes.
The balance auxiliary device described above, wherein the lifting assembly further comprises:
a magnetic base disposed at one end of the fixing plate;
the matching piece is arranged at the other end of the wrench, and the magnetic base attracts the matching piece.
In the balance auxiliary device, each horizontal mechanism is connected to the lifting sleeve.
In the balance auxiliary device, each of the horizontal mechanisms is connected to the buffer plate.
The balance auxiliary device described above, wherein the horizontal mechanism includes:
the fixed sleeve is used for connecting the lifting assembly, and a sliding rail is arranged on the fixed sleeve;
the sliding sleeve is arranged on the sliding rail;
one end of the connecting handle is connected with the sliding sleeve, and the other end of the connecting handle is connected with the waist mechanism;
the sliding sleeve moves along the direction of the sliding rail to drive the connecting handle to move back and forth along the horizontal direction.
In the balance auxiliary device, each of the horizontal mechanisms further includes: the second retaining member, the sliding sleeve passes through the second retaining member install in on the slide rail, loosen before the horizontal adjustment the second retaining member, locking behind the horizontal adjustment the second retaining member.
In the balance auxiliary device, each of the horizontal mechanisms further includes:
the connecting block is fixedly arranged on the sliding sleeve, a groove is formed in the connecting block, and one end of the connecting handle is inserted into and connected with the groove;
and the fixing cover is arranged on the connecting block and buckled on the groove so as to fix one end of the connecting handle in the groove.
In the balance auxiliary device, the connecting block is provided with the connecting seat and the fixing buckle, one end of the fixing cover is connected to the connecting seat through the pivot, and the other end of the fixing cover is buckled with the fixing buckle.
The present invention also provides a balance assistance method for an exoskeleton robot, applied to the balance assistance device of any one of the above, the balance assistance method comprising:
two lifting mechanisms are oppositely arranged on the movable rack;
correspondingly connecting two horizontal mechanisms to the two lifting mechanisms;
a waist mechanism coupled to the exoskeleton robot by two horizontal mechanisms to secure the exoskeleton robot to the movable gantry;
adjusting the lifting mechanism to drive the horizontal mechanism to reciprocate in the vertical direction to adapt to the height position of the waist mechanism of the exoskeleton robot, and adjusting the horizontal mechanism to adapt to the width of the waist mechanism of the exoskeleton robot.
Compared with the prior art, the exoskeleton rehabilitation training robot has the advantages that the exoskeleton rehabilitation training robot is connected with an exoskeleton rehabilitation training robot (hereinafter referred to as the exoskeleton robot for short), so that the balance stability and the flexible freedom of rehabilitation training of a user wearing the exoskeleton robot are realized, and meanwhile, the height position and the width which can be adapted to a waist mechanism are achieved by adjusting the lifting mechanism and the horizontal mechanism, so that the exoskeleton rehabilitation training robot can better meet the training requirements of the exoskeleton robot; meanwhile, the length of the training distance and the selection of the training field are more free through the design of the movable rack.
Drawings
FIG. 1 is a schematic view of a balance auxiliary device according to the present invention;
FIG. 2 is a schematic view of an assembly of the balance assist device and the exoskeleton robot;
FIG. 3 is a schematic view of one example of a lift mechanism;
FIG. 4 is a schematic view of another example of a lift mechanism;
FIG. 5 is a schematic view of a horizontal structure;
FIG. 6 is a flow chart of a balance assistance method of the present invention.
Detailed Description
The following detailed description is provided in conjunction with the accompanying drawings to better understand the aspects of the present disclosure, but the embodiments are not provided to limit the scope of the present disclosure.
Referring to fig. 1-5, fig. 1 is a schematic structural diagram of a balance assisting device according to the present invention; FIG. 2 is a schematic view of an assembly of the balance assist device and the exoskeleton robot; FIG. 3 is a schematic view of one example of a lift mechanism; fig. 4 is a schematic view of another example of the elevating mechanism, and fig. 5 is a schematic view of a horizontal structure. As shown in fig. 1 to 2, a balance assisting apparatus 1 for an exoskeleton robot of the present invention includes: a movable rack 11, two lifting mechanisms 12 and two horizontal mechanisms 13; the two lifting mechanisms 12 are oppositely arranged on the movable rack 11; two horizontal mechanisms 13 are correspondingly connected to the two lifting mechanisms 12, the exoskeleton robot 2 is arranged between the two horizontal mechanisms 13, and the two horizontal mechanisms 13 are used for being connected to the waist mechanism 21 of the exoskeleton robot 2 so as to fix the exoskeleton robot 2 on the movable platform 11; the lifting mechanism 12 is adjusted to drive the horizontal mechanism 13 to reciprocate in the vertical direction to adapt to the height position of the waist mechanism 21 of the exoskeleton robot 2 so as to match the height use requirement of the exoskeleton robot, and the horizontal mechanism 13 is adjusted to adapt to the width use requirement of the waist mechanism 21 of the exoskeleton robot 2, so that the balance assisting device has balance stability so as to ensure the balance stability of a user wearing the exoskeleton robot 2 during training.
The movable platform 11 includes two support frames 111 and an armrest frame 112 connected to the two support frames, the lifting mechanism 12 is correspondingly installed on the support frames 12, and a caster 113 is installed at the bottom of each support frame, so that the balance assisting device can well follow the training speed of the exoskeleton robot, and the balance stability of the exoskeleton robot is ensured.
Fig. 3 shows the lifting mechanisms 12 according to one embodiment, each of the lifting mechanisms 12 comprising: two fixing rods 121, two guide optical axes 122, a screw 123 and a lifting assembly 124; the two fixing rods 121 are oppositely arranged on the supporting frame 111; the two guiding optical axes 122 are arranged between the two fixing rods 121 in parallel, and two ends of each guiding optical axis 122 are connected to the two fixing rods 121; the screw 123 is disposed between the two guiding optical axes 122, one end of the screw 123 is connected to one of the two fixing rods 121, and the other end of the screw 123 passes through the other connecting handwheel 125 of the two fixing rods 122; the lifting assembly 124 is sleeved on the two guide optical axes 122 and the screw 123, and reciprocates along the directions of the two guide optical axes 122.
Still further, the lifting assembly 124 includes: a lifting sleeve 1241, a first locking member 1242 and two lifting shafts 1243; the lifting sleeve 1241 is sleeved on the two guiding optical axes 122 and the screw 123; the first locking member 1242 is mounted on the lead screw 123; two lifting shafts 1243 connect the lifting sleeve 1241 and the first locking member 1242; when the height adjustment is performed once, after the first locking member 1242 is loosened, the lifting sleeve 1241 is pushed onto the two guide optical axes 122 and the lead screw 123 and moves back and forth along the directions of the two guide optical axes 122, and the first locking member 1242 is locked after the height adjustment is performed once. The lifting assembly 124 further includes a handle 1244, the handle 1244 is mounted on the lifting sleeve 1241, and after the first locking member 1242 is released, the lifting sleeve 1241 is pushed to move by the handle 1244.
It should be noted that the first fastening member 1242 is a preferred embodiment of the tightenable nut in the present embodiment, but the invention is not limited thereto.
Still further, the lift assembly 124 also includes a spring 1245; the spring 1245 is sleeved on the screw rod 123, and two ends of the spring 1245 are respectively connected to the first locking member 1242 and the lifting sleeve 1241, after a primary adjustment is completed, the hand wheel 125 is rotated to control the screw rod 123 to drive the first locking member 1242 to move, the first locking member 1242 pulls or pushes the spring 1245 to drive the lifting sleeve 1241 to reciprocate along the two lifting shafts 1243, so as to perform a secondary height adjustment, wherein the spring 1245 also provides a vertical preloading force to the exoskeleton robot during the secondary height adjustment, the preloading force can assist the exoskeleton robot in realizing the lifting and falling of the waist mechanism during the walking training process, so as to better ensure the balance stability during the training process of the exoskeleton robot, and particularly, when a user wears the exoskeleton robot to train, the waist mechanism of the exoskeleton robot can have small amplitude fluctuation in the vertical direction, with the balance assist device of the present invention, the spring outputs a preload force to better assist small amplitude fluctuations of the lumbar mechanism.
Fig. 4 shows an upgrade mechanism 22 according to another implementation, each lift mechanism 22 comprising: two adjusting rods 221, a limiting member 222, a fixing plate 223 and a lifting assembly 224. The supporting frame 111 is formed with two sleeves 112, each adjusting rod 221 is sleeved in a corresponding sleeve 112, and the adjusting rods 221 can reciprocate in the sleeves 112 in the vertical direction. The stopper 222 is provided on the adjustment lever 221 for fixing a positional relationship of the adjustment lever 221 with respect to the sleeve 112. For example, in some embodiments, the limiting member 222 may be a structure of a clip and a buckle, and after the position of the adjusting lever 221 in the sleeve 112 is adjusted according to the height of the user, the clip of the limiting member 222 is wound around the boundary between the adjusting lever 221 and the sleeve 112, and the clip is tightened using the buckle, thereby fixing the adjusting lever 221 to the sleeve 112. Therefore, by adjusting the position of the adjustment rod 221 in the sleeve 112, the height of the lifting mechanism 22 including the lifting assembly 224 can be adjusted once. The fixing plate 223 is disposed at the top end of the adjustment lever 112. The elevating assembly 224 is disposed on the fixing plate 223, and the elevating assembly 224 can reciprocate in a vertical direction with respect to the fixing plate.
The lift assembly 224 is further described below. The lifting assembly 224 includes two guide shafts 2241, a regulation plate 2243, a buffer plate 2244, a wrench 2245, a link 2246, and a spring 2248. The two guide optical axes 2241 may be fitted in two openings formed with the fixed plate 223, for example, by linear bearings 2242, so that the two guide optical axes 2241 can reciprocate in the openings and in the vertical direction with respect to the fixed plate 223. The adjusting plate 2243 is fitted over the guide optical axis 2241 by, for example, a linear bearing, and the adjusting plate 2243 is disposed above the fixing plate 223. One end of wrench 2245 is rotatably connected to adjusting plate 2241, for example, by a pin, one end of connecting rod 2246 is rotatably connected to fixing plate 223, for example, by a pin, and the other end of connecting rod 2246 is rotatably connected to an intermediate position of the wrench, for example, by a pin. In some embodiments, wrench 2245 may be L-shaped, with the end of wrench 2245 on the short side rotatably connected to adjustment plate 2243, and one end of link 2246 rotatably connected to a corner of the L-shape of wrench 2245. By the cooperation of the wrench 2245 and the connecting rod 2246, when the wrench 2245 is pulled, the height of the adjusting plate 2243 with respect to the fixing plate 223 can be further adjusted, and thus, the height adjustment of the elevation assembly 224 can be performed twice. In some embodiments, a locking device (not shown) is provided at a coupling position of the wrench 2245 and the link 2246 (e.g., a corner of the L-shaped wrench 2245 shown in fig. 4) to lock the coupling position of the wrench 2245 and the link 2246, so that after the height of the adjusting plate 2243 with respect to the fixing plate 223 is adjusted by pulling the wrench 2245, the height of the adjusted adjusting plate 2243 is locked using the locking device. The buffer plate 2244 is arranged at the top end of the two guide optical axes 2241, and the spring 2247 is sleeved on the guide optical axis 2241 and is located between the adjusting plate 2243 and the buffer plate 2244. The horizontal mechanism 13 is connected to the buffer plate 2244.
After the height of the lifting mechanism 22 is adjusted by adjusting the position of the adjusting rod 221 in the sleeve 112, the lifting assembly 221 is at the lower limit position, and the lumbar mechanism 21 connected with the horizontal mechanism 13 is worn on the body of the patient. Wrench 2245 is then actuated to make a second height adjustment of lifting assembly 224 to lift the exoskeleton device and the patient, ensuring that the patient's foot can be grounded by the force of spring 2247, but at this point spring 2247 has not reached its maximum travel. Therefore, spring 2247 still has a compression stroke for allowing the up-and-down movement of the center of gravity of the human body during walking.
In some embodiments, the bottom ends of the two adjustment bars 2241 are connected by a reinforcement plate to enhance the stability of the lift assembly 224 in reciprocating movement. In some embodiments, the distal end of the fixing plate 223 is provided with the magnetic seat 2249, and the distal end of the wrench 2245 is provided with the fitting member 2249 ', when the wrench 2245 is pulled to the lowest position, the magnetic seat 2249 attracts the fitting member 2249' to the magnetic seat 2249, which can prevent the link 2246 from returning due to the up and down fluctuation during operation to cause a safety hazard.
Referring to fig. 5, further, each of the horizontal mechanisms 13 includes: a fixed sleeve 131, a sliding sleeve 132 and a connecting handle 133; the fixed sleeve 131 is connected with the lifting sleeve 1241, and a slide rail 134 is arranged on the fixed sleeve 131; the sliding sleeve 132 is arranged on the sliding rail 134; one end of the connecting handle 133 is connected to the sliding sleeve 132, and the other end of the connecting handle 133 is connected to the lumbar mechanism 21; the sliding sleeve 132 moves along the sliding rail 134 to drive the connecting handle 133 to move back and forth along the horizontal direction.
Still further, each of the horizontal mechanisms further comprises: a second locking member 135, a connecting block 136 and a fixing cover 137; the sliding sleeve 132 is arranged on the sliding rail 135 through the second locking member 135, the second locking member 135 is released before horizontal adjustment, the sliding sleeve 132 moves along the direction of the sliding rail 134, and the second locking member 135 is locked after horizontal adjustment; a connecting block 136 is fixedly arranged on the sliding sleeve 132, a groove (not shown) is formed on the connecting block 136, and one end of the connecting handle 133 is inserted into the groove 136; the fixing cover 137 is disposed on the connecting block 136 and buckled on the groove (not shown) to fix one end of the connecting handle 133 in the groove (not shown), and in this embodiment, the other end of the connecting handle 133 is connected to the waist mechanism 21 of the exoskeleton robot 2 through a cover plate 138 and a bolt (not shown), but the invention is not limited thereto.
The connecting block 136 is provided with a connecting seat 1362 and a fixing buckle 1363, one end of the fixing cover 137 is connected to the connecting seat 1362 through a pivot, the other end of the fixing cover 137 is buckled with the fixing buckle 1363, and the fixing cover 137 and the fixing buckle 1363 are designed to realize rapid disassembly of the exoskeleton robot.
It should be noted that, in the embodiment, the second locking member 135 is a preferred embodiment of a quick release handle, but the invention is not limited thereto.
Referring to fig. 6, fig. 6 is a flowchart illustrating a balance assisting method according to the present invention. As shown in fig. 6, the balance assisting method for an exoskeleton robot of the present invention includes:
step S1: two lifting mechanisms are oppositely arranged on the movable rack;
step S2: correspondingly connecting the two horizontal mechanisms to the two lifting mechanisms;
step S3: a waist mechanism connected to the exoskeleton robot through two horizontal mechanisms to fix the exoskeleton robot on the movable platform;
step S4: the horizontal mechanism is driven by the adjusting lifting mechanism to reciprocate in the vertical direction to be adapted to the height position of the waist mechanism of the exoskeleton robot, and the width of the waist mechanism of the exoskeleton robot is adapted by adjusting the horizontal mechanism.
In conclusion, the balance auxiliary device and the method for the exoskeleton robot are connected with the exoskeleton robot, so that the balance stability and the flexible freedom of the exoskeleton robot worn by a user for rehabilitation training are realized, and the height position and the left and right width which can be adapted to the waist mechanism are achieved by adjusting the lifting mechanism and the horizontal mechanism, so that the training requirements of the exoskeleton robot can be better met; meanwhile, the balance stability of the exoskeleton robot training is ensured through the design of the movable rack.
Although the present disclosure has been described with reference to exemplary embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the disclosure, and therefore, the scope of the disclosure should be determined by that of the appended claims.
Claims (17)
1. A balance assist device for an exoskeleton robot, comprising:
a movable stage;
two lifting mechanisms which are oppositely arranged on the movable rack;
two horizontal mechanisms correspondingly connected to the two lifting mechanisms, wherein the exoskeleton robot is arranged between the two horizontal mechanisms and the two horizontal mechanisms are used for being connected to a waist mechanism of the exoskeleton robot so as to fix the exoskeleton robot on the movable rack;
wherein the horizontal mechanism is driven by adjusting the lifting mechanisms to reciprocate in a vertical direction to adapt to a height position of the waist mechanism of the exoskeleton robot, and the horizontal mechanism is adjusted to adapt to a width of the waist mechanism of the exoskeleton robot so as to ensure balance stability of a user wearing the exoskeleton robot during training, wherein each lifting mechanism comprises:
two fixed rods oppositely arranged on the movable rack;
the two guide optical axes are arranged between the two fixing rods in parallel, and two ends of each guide optical axis are connected to the two fixing rods;
the screw rod is arranged between the two guide optical axes, one end of the screw rod is connected to one of the two fixing rods, and the other end of the screw rod penetrates through the other of the two fixing rods to be connected with the hand wheel;
the lifting unit, the cover is located two direction optical axes reach on the lead screw, and follow the direction reciprocating motion of two direction optical axes, lifting unit includes:
the lifting sleeve is sleeved on the two guide optical shafts and the screw rod;
the first locking piece is arranged on the screw rod;
the two lifting shafts are connected with the lifting sleeve and the first locking piece; and
and the spring is sleeved on the lead screw, and two ends of the spring are respectively connected to the first locking piece and the lifting sleeve.
2. The balance assist device of claim 1, wherein the first locking member is pushed to move back and forth along the two guide optical axes and the lead screw after the first locking member is released during a height adjustment, and the first locking member is locked after a height adjustment.
3. The balance assist device of claim 2, wherein after a height adjustment is completed, the first locking member is moved by rotating the hand wheel to control the lead screw, and the first locking member pulls or pushes the spring to move the lifting sleeve back and forth along the two lifting axes, thereby performing a height adjustment.
4. The balance assistance device of claim 3 wherein the spring outputs a vertical preload force during the second height adjustment, the preload force assisting the lumbar mechanism in small vertical undulations during walking training of the exoskeleton robot.
5. The balance assist of claim 2, wherein the lift assembly further comprises: and the handle is arranged on the lifting sleeve, and the lifting sleeve is pushed to move through the handle after the first locking piece is loosened.
6. The balance auxiliary device of claim 1, wherein the movable rack comprises two support frames and armrest frames connected to the two support frames, and the lifting mechanisms are correspondingly mounted on the support frames.
7. The balance assist device of claim 1 wherein each of said horizontal mechanisms is connected to said lifting sleeve.
8. A balance assist device for an exoskeleton robot, comprising:
a movable stage;
the two lifting mechanisms are oppositely arranged on the movable rack;
two horizontal mechanisms correspondingly connected to the two lifting mechanisms, wherein the exoskeleton robot is arranged between the two horizontal mechanisms and the two horizontal mechanisms are used for being connected to a waist mechanism of the exoskeleton robot so as to fix the exoskeleton robot on the movable rack;
wherein the lifting mechanisms are adjusted to drive the horizontal mechanism to reciprocate in the vertical direction to adapt to the height position of the waist mechanism of the exoskeleton robot, and the horizontal mechanism is adjusted to adapt to the width of the waist mechanism of the exoskeleton robot, so as to ensure the balance stability of a user wearing the exoskeleton robot during training, wherein each lifting mechanism comprises:
two adjusting pipes which are correspondingly sleeved in two sleeves formed on the movable rack,
the limiting device is arranged on the adjusting pipe and is used for fixedly connecting the adjusting pipe with the sleeve;
the fixing plate is arranged at the top of the adjusting pipe; and
a lifting assembly fixed to the fixing plate, the lifting assembly reciprocating in a vertical direction with respect to the fixing plate, the lifting assembly comprising:
two guide optical axes which are arranged in parallel are correspondingly sleeved in two openings formed in the fixed plate through linear bearings;
the adjusting plate is sleeved on the guide optical axis and is positioned above the fixing plate;
the buffer plate is arranged at the top end of the guide optical axis;
a wrench, one end of which is rotatably connected with the adjusting plate;
a connecting rod, wherein the connecting rod is rotatably connected to the fixing plate, and the other end of the connecting rod is rotatably connected to the middle position of the wrench; and
and the spring is sleeved on the guide optical axis and is positioned between the adjusting plate and the buffer plate.
9. The balance assist of claim 8, wherein the lift assembly further comprises: and the reinforcing plate is arranged at the bottom ends of the two guide optical axes.
10. The balance assist of claim 8, wherein the lift assembly further comprises:
a magnetic base disposed at one end of the fixing plate;
the matching piece is arranged at the other end of the wrench, and the magnetic base attracts the matching piece.
11. The balance assist device of claim 8 wherein each of said horizontal mechanisms is connected to said bumper plate.
12. The balance auxiliary device of claim 8, wherein the movable rack comprises two support frames and armrest frames connected to the two support frames, and the lifting mechanisms are correspondingly mounted on the support frames.
13. A scale assistance apparatus as claimed in claim 1 or 8 wherein said horizontal mechanism comprises:
the fixed sleeve is used for connecting the lifting assembly, and a sliding rail is arranged on the fixed sleeve;
the sliding sleeve is arranged on the sliding rail;
one end of the connecting handle is connected with the sliding sleeve, and the other end of the connecting handle is connected with the waist mechanism;
the sliding sleeve moves along the direction of the sliding rail to drive the connecting handle to move back and forth along the horizontal direction.
14. The balance assist device of claim 13 wherein each of said level mechanisms further comprises: the second retaining member, the sliding sleeve passes through the second retaining member install in on the slide rail, loosen before the horizontal adjustment the second retaining member, locking behind the horizontal adjustment the second retaining member.
15. The balance assist device of claim 13 wherein each of said horizontal mechanisms further comprises:
the connecting block is fixedly arranged on the sliding sleeve, a groove is formed in the connecting block, and one end of the connecting handle is inserted into the groove;
and the fixing cover is arranged on the connecting block and buckled on the groove so as to fix one end of the connecting handle in the groove.
16. The balance aid of claim 15, wherein the connecting block is provided with a connecting base and a fixing buckle, one end of the fixing cover is connected to the connecting base through a pivot, and the other end of the fixing cover is fastened to the fixing buckle.
17. A balance assistance method for an exoskeleton robot, applied to the balance assistance apparatus of any one of claims 1 to 16, the balance assistance method comprising:
two lifting mechanisms are oppositely arranged on the movable rack;
correspondingly connecting two horizontal mechanisms to the two lifting mechanisms;
a waist mechanism coupled to the exoskeleton robot by two horizontal mechanisms to secure the exoskeleton robot to the movable gantry;
adjusting the lifting mechanism to drive the horizontal mechanism to reciprocate in the vertical direction to adapt to the height position of the waist mechanism of the exoskeleton robot, and adjusting the horizontal mechanism to adapt to the width of the waist mechanism of the exoskeleton robot.
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| CN2018110427406 | 2018-09-07 |
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| CN113230096A (en) * | 2021-05-11 | 2021-08-10 | 刘延鹏 | Exoskeleton rehabilitation robot |
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