CN112535618A

CN112535618A - Auxiliary rehabilitation robot system

Info

Publication number: CN112535618A
Application number: CN202011552197.1A
Authority: CN
Inventors: 王剑雄; 张驰; 胥方元; 郭声敏; 谢羽婕
Original assignee: Affiliated Hospital of Southwest Medical University
Current assignee: Affiliated Hospital of Southwest Medical University
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2021-03-23

Abstract

The invention discloses an auxiliary rehabilitation robot system which comprises a robot, wherein the robot is provided with a trunk, a head and a walking mechanism, supporting devices are fixedly arranged on two sides of the trunk, each supporting device comprises a screw-nut mechanism, a screw rod and a feed bar of the screw-nut mechanism are vertically arranged on the side surface of the trunk, nuts of the screw-nut mechanism are arranged on the screw rod and the feed bar, a supporting ring is arranged on the outer side of each nut, and each supporting ring comprises a front half ring and a rear half ring; the rear half ring is fixedly arranged on the nut, the front half ring is rotatably arranged on the nut through a hinge shaft, the screw rod is connected with a lifting motor, the lifting motor drives the nut to lift, the hinge shaft is connected with an opening and closing motor, and the opening and closing motor drives the front half ring to rotate; the lifting motor and the opening and closing motor are connected with a first control circuit. The robot is arranged in the rotary rehabilitation device. The invention provides a rehabilitation assisting robot system which can assist the arm of a patient to walk and is beneficial to rehabilitation exercise of the patient.

Description

Auxiliary rehabilitation robot system

Technical Field

The invention relates to the technical field of rehabilitation equipment, in particular to an auxiliary rehabilitation robot system.

Background

For patients with foot injuries or other diseases, the patients often cannot stand and walk normally or fall easily during walking to cause secondary injuries, and people need to support the patients to walk.

The walking is necessary for the rehabilitation of patients and the maintenance of physical health, and the frequent walking also helps the rehabilitation.

The prior art has the problems that the patient is assisted to walk by an accompanying person, but if the recovery time of the patient is long, a large amount of time is required for the accompanying person, the labor capacity of the accompanying person is large, and a specially-assigned person is required to attend. By adopting the crutch, the labor capacity is large and the crutch is not stable enough for patients, and by adopting the wheelchair, the wheelchair is more convenient for patients and can not achieve the purpose of exercise and recovery.

The defect of the prior art is that an auxiliary rehabilitation robot system is lacked, which can assist the arm of a patient to walk and is beneficial to rehabilitation exercise of the patient.

Disclosure of Invention

In view of at least one of the drawbacks of the prior art, it is an object of the present invention to provide a rehabilitation-assisted robot system capable of assisting a patient in walking by supporting the arm of the patient to facilitate rehabilitation exercises for the patient.

In order to achieve the purpose, the invention adopts the following technical scheme: a rehabilitation assisting robot system comprises a robot, wherein the robot is provided with a trunk, the top of the trunk is provided with a head, and the bottom of the trunk is provided with a walking mechanism; the rear half ring is fixedly arranged on the nut, the front half ring is rotatably arranged on the nut through a hinge shaft, the screw rod is connected with a lifting motor, the lifting motor drives the nut to lift, the hinge shaft is connected with an opening and closing motor, and the opening and closing motor drives the front half ring to rotate; the lifting motor and the opening and closing motor are connected with a first control circuit.

Through the structural arrangement, the robot can assist the patient to walk through the assisting device. The two sides of the robot are provided with supporting devices, so that the robot is suitable for patients with left and right injuries.

The lead screw and the feed rod of the lead screw nut mechanism are vertically arranged on the side surface of the trunk, and the nut is driven to lift through the lifting motor, so that the supporting device can be driven to lift, and the supporting position of the arms of patients with different heights can be reached. The first control circuit controls the lifting motor to rotate.

The opening and closing motor drives the front half ring to rotate; and the handrail ring is matched with the back half ring to form a closed or opened handrail ring, so that a patient can conveniently place a hand into the handrail ring. The first control circuit controls the opening and closing motor to rotate.

The inner walls of the front half ring and the rear half ring are provided with rubber pads.

In order to increase the comfort of the arm of the patient, the inner walls of the front half ring and the rear half ring are provided with rubber pads.

The rubber pad is formed by detachably stacking at least two rubber layers.

Through foretell structure setting, can adopt the rubber layer formation rubber pad of the different number of piles to reach the requirement of adjusting handrail intra-annular hole size, adapt to the arm of different thicknesses, increase the comfort.

The first control circuit comprises a first microprocessor, the first microprocessor is connected with the lifting motor and the opening and closing motor, the first microprocessor is connected with a remote control receiving circuit, the first control circuit further comprises a remote control board, a remote control sending circuit is arranged in the remote control board, and the remote control sending circuit is in wireless connection with the remote control receiving circuit.

The remote control board sends an instruction to the first microprocessor, and the lifting motor and the opening and closing motor can be controlled to rotate, so that the hand ring is controlled to lift and open and close.

The walking mechanism is provided with a power supply weight box, the power supply weight box is fixedly arranged at the bottom of the trunk, the bottom of the power supply weight box is provided with a front wheel and a rear wheel, the front wheel is connected with a steering motor, the rear wheel is connected with a driving motor, and the steering motor and the driving motor are connected with a first microprocessor.

And a power supply and a counterweight are arranged in the power supply counterweight box, the power supply supplies power to the robot, and the counterweight prevents the robot from overturning and increases the stability.

The first microprocessor controls the steering motor to rotate and controls the front wheels to steer, and the first microprocessor controls the driving motor to rotate and controls the rear wheels to rotate and controls the robot to walk.

The front of the trunk is also hinged with a seat plate which can be turned over.

After the patient is tired, the sitting plate is turned down, and the patient can sit on the sitting plate and walk carried by the robot. When not sitting, the seat plate can be turned upwards.

A rain shield is hinged to the back of the trunk.

When raining, the rain shielding plate can be turned over to shield the robot and the patient.

The rain shielding plate is L-shaped, the horizontal end of the rain shielding plate can be upwards overturned to shield the robot, and the horizontal end of the rain shielding plate is a telescopic plate.

The structure is simple to manufacture, the telescopic plate can be pulled to stretch by hands, and when the telescopic plate is not used, the telescopic plate is folded and stretched when the telescopic plate is used, so that the telescopic plate is convenient to use.

The rehabilitation assisting robot system has the remarkable effects that the rehabilitation assisting robot system can assist the arms of a patient to walk and is beneficial to rehabilitation exercise of the patient.

Drawings

Fig. 1 is a structural view of a rehabilitation robot;

FIG. 2 is a left side view of FIG. 1;

FIG. 3 is a structural view of the supporting device;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a circuit block diagram of a first control circuit;

FIG. 6 is a circuit block diagram of a voice assist device;

FIG. 7 is a circuit block diagram of a service function device;

FIG. 8 is a circuit block diagram of L298N;

FIG. 9 is a circuit diagram of a first microprocessor;

FIG. 10 is a circuit diagram of a second microprocessor;

FIG. 11 is a flow chart of a method of controlling a service function device;

FIG. 12 is a block diagram of the present invention;

fig. 13 is a left side view of fig. 12.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples.

As shown in fig. 1-13, an auxiliary rehabilitation robot system comprises a robot 1, the robot 1 is provided with a trunk 11, the top of the trunk 11 is provided with a head 12, the bottom of the trunk 11 is provided with a walking mechanism 13, and the key points are that supporting devices 2 are fixedly arranged on two sides of the trunk 11; the head 12 is further provided with a service function device 4, the service function device 4 is provided with at least one camera 41, a third microprocessor 42 and a loudspeaker 43, and the third microprocessor 42 is connected with the camera 41 and the loudspeaker 23; the camera 41 is used for capturing a face image and sending the face image to the third microprocessor 42, the third microprocessor 42 identifies the face image, and when the face image is found not to wear the mask or not to wear the mask correctly, the third microprocessor 42 sends out prompt information through the loudspeaker 43.

The head 12 is provided with a transparent housing, and the speaker 43 is embedded in the outer wall of the housing.

Two sides of the trunk 11 are fixedly provided with supporting devices 2, and the patient can be supported by the supporting devices 2 to walk.

The robot 1 is provided with a traveling mechanism 13 that can travel back and forth. Capturing a face image through the camera 41; when a person walks without wearing the mask or without wearing the mask correctly, the third microprocessor 42 identifies the face image, and the third microprocessor 42 sends out prompt information through the loudspeaker 43 to perform community service; is helpful for improving the anti-virus consciousness of people and reducing the spread of infectious diseases in the community.

The third microprocessor 42 is further connected with a behavior recognition camera, a behavior recognition module is arranged in the third microprocessor 42, the behavior recognition camera is arranged on two sides of the head of the robot 1, and when the recognition camera catches that the hand of the patient is close to the head or the chest of the patient for more than a set time, the third microprocessor 42 sends the image to the mobile phone of the family through the GSM module. The structure has the effect that when accidents such as headache and heart pain occur to a patient, the images are sent to the mobile phones of family members. Reminding the family to pay attention.

The head 12 is provided with a voice assisting apparatus 3, and the voice assisting apparatus 3 collects the voice of the patient and repeats the voice of the patient.

When a patient speaks, the voice auxiliary device 3 collects the voice of the patient and repeats the voice of the patient, and for most voices which are unclear in word telling, accompanying people and relatives and friends can understand the real meaning only by worrying and rubbing.

The voice auxiliary device 3 comprises a microphone 31, and the microphone 31 is connected with a second microprocessor 33 through a low-pass filter 32; the second microprocessor 33 is connected with a first power amplifier 35 through a first digital-to-analog converter 34, and the first power amplifier 35 is connected with a sound box 36; the microphone 31 and the sound box 36 are embedded in the outer wall of the head 12.

The microphone 31 collects the voice of the patient, the voice is filtered by the low-pass filter 32 and then sent to the second microprocessor 33, the second microprocessor 33 is converted into an analog signal by the first digital-to-analog converter 34 and sent to the first power amplifier 35, and the voice is repeatedly broadcasted by the sound box 36.

The microphone 31 is provided with a waterproof cover 311.

The waterproof cover 311 can prevent the microphone 31 from being damaged by rain.

The supporting device 2 is fixedly arranged on two sides of the trunk 11, the supporting device 2 comprises a screw-nut mechanism 21, a screw 211 and a light bar 212 of the screw-nut mechanism 21 are vertically arranged on the side surface of the trunk 12, a nut 213 of the screw-nut mechanism 21 is arranged on the screw 211 and the light bar 212, a supporting ring 22 is arranged on the outer side of the nut 213, and the supporting ring 22 comprises a front half ring 221 and a rear half ring 222; the rear half ring 222 is fixedly arranged on the nut 213, the front half ring 221 is rotatably arranged on the nut 213 through a hinge 223, the screw 211 is connected with the first motor 214, the first motor 214 drives the nut 213 to ascend and descend, the hinge 223 is connected with the second motor 224, and the second motor 224 drives the front half ring 221 to rotate; a first control circuit is connected to the first motor 214 and the second motor 224.

Through the structural arrangement, the robot 1 can assist the patient to walk through the assisting device 2. The two sides of the robot 1 are provided with supporting devices 2 which are suitable for patients with left and right injuries.

The lead screw 211 and the optical bar 212 of the lead screw nut mechanism 21 are vertically arranged on the side surface of the trunk 12, and the nut 213 is driven to ascend and descend by the first motor 214, so that the supporting device 2 can be driven to ascend and descend, and the arm supporting positions of patients with different heights can be achieved. The first control circuit controls the rotation of the first motor 214.

The second motor 224 drives the front half ring 221 to rotate; and cooperates with the rear half 222 to form a closed or open armrest ring 22 to facilitate the patient's hand placement into the armrest ring 22. The first control circuit controls the rotation of the second motor 224. The second motor 224 drives the front half ring 221 and the rear half ring 222 to open and close.

The inner walls of the front half ring 221 and the rear half ring 222 are both provided with rubber pads 225.

In order to increase the comfort of the arm of the patient, the inner walls of the front half ring 221 and the rear half ring 222 are provided with rubber pads 225.

The rubber pad 225 is formed by detachably stacking at least two rubber layers.

Through foretell structure setting, can adopt the rubber layer formation rubber pad 225 of the different number of piles to reach the requirement of adjusting hand ring 22 hole size, adapt to the arm of different thicknesses, increase the comfort.

The first control circuit comprises a first microprocessor, the first microprocessor is connected with the lifting motor 214 and the opening and closing motor 224, the first microprocessor is connected with a remote control receiving circuit, the first control circuit further comprises a remote control board 23, a remote control sending circuit is arranged in the remote control board 23, and the remote control sending circuit is in wireless connection with the remote control receiving circuit.

The first microprocessor is connected with the lifting motor 214 through a first motor driving module; the first microprocessor is connected with the opening and closing motor 224 through a second motor driving module; the first microprocessor is connected with a steering motor 134 through a third motor driving module; the first microprocessor is connected with a driving motor 135 through a fourth motor driving module; the motor driving modules are L298N motor driving modules.

The remote control board 23 sends instructions to the first microprocessor, so that the lifting motor 214 and the opening and closing motor 224 can be controlled to rotate, and the lifting and the opening and closing of the handrail ring 22 can be controlled. The trunk 12 is also provided with keys corresponding to the remote control panel 23.

The walking mechanism 13 is provided with a power supply weight box 131, the power supply weight box 131 is fixedly arranged at the bottom of the trunk 11, the bottom of the power supply weight box 131 is provided with a front wheel 132 and a rear wheel 133, the front wheel 132 is connected with a steering motor 134, the rear wheel 133 is connected with a driving motor 135, and the steering motor 134 and the driving motor 135 are connected with a first microprocessor.

Be provided with power and counter weight in the power weight box 131, the power is the power supply of robot 1, and the counter weight prevents that robot 1 from overturning, increases stability.

The first microprocessor controls the steering motor 134 to rotate, the steering motor 134 controls the front wheels 132 to steer, the first microprocessor controls the driving motor 135 to rotate, the driving motor 135 controls the rear wheels 133 to rotate, and the robot 1 is controlled to walk, similar to a tricycle.

The front of the trunk 11 is hinged with a foldable seat board 111.

After the patient is tired of walking, the seat board 111 is turned down, and the patient can sit on the seat board 111 and walk with the robot 1. When not sitting, the seat plate 111 can be folded upwards.

A coil spring is sleeved on a hinge shaft of the seat plate 111 and is turned upwards through the coil spring, a stop block is arranged below the seat plate 111, and the seat plate 111 is stopped through the stop block to prevent continuous turning when turned to be horizontal.

A flashing 112 is also hinged to the rear of the torso 11.

When it rains, the flashing 112 may be turned up to cover the robot 1 and the patient.

The rain shielding plate 112 is in an L shape, the horizontal end of the rain shielding plate can be turned upwards to shield the robot 1, and the horizontal end of the rain shielding plate is a telescopic plate; the flashing 112 is foldable and the horizontal end can be folded towards the vertical end to reduce the space occupied.

The flashing 112 is provided with a locking mechanism which locks the flashing 112 when it is turned up.

A control method of a rehabilitation robot with a service function is characterized in that: the method comprises the following steps:

step A: the third microprocessor 42 acquires a face picture through the camera 41;

and B: the third microprocessor 42 performs binarization processing on the face picture;

and C: the third microprocessor 42 judges whether the face picture after the binarization processing has the characteristic matched with the shape of the mask; if yes, entering step D; if not, entering step E;

step D: the third microprocessor 42 determines if the facial image has nostril characteristics? If not, returning to the step A; if yes, a prompt sound is sent out through the loudspeaker 43 to please correctly wear the mask and shield the nostrils; returning to the step A;

step E: the third microprocessor 42 sends out a prompt sound for asking to purchase the mask and wearing the mask through the speaker 43; and returning to the step A.

Through the method, the robot can automatically identify the personnel who do not wear the mask or do not correctly wear the mask, and send out reminding information to carry out community health service.

A rehabilitation system comprising the auxiliary rehabilitation robot system is characterized in that: the robot 1 is arranged in a rotary rehabilitation device 5, the rotary rehabilitation device 5 comprises a support 51, a roller 52 is rotatably arranged on the support 51, a driving mechanism 53 is further arranged on the support 51, the driving mechanism 53 drives the roller 52 to rotate, and an isolation door 521 is arranged on the outer wall of the roller 52;

a pressure sensor 522 and an oxygen concentration sensor 523 are arranged in the roller 52, the pressure sensor 522 is connected with a pressure adjusting device 524, and the oxygen concentration sensor 523 is connected with an oxygen adjusting device 525; the outer wall of the drum 52 is provided with an air outlet hole 526.

Through the above structure arrangement, a patient enters the roller 52 through the isolation door 521, the driving mechanism 53 drives the roller 52 to rotate forward, the rehabilitation robot system is assisted to support the patient to walk reversely, the pressure adjusting device 524 is connected with the pressure sensor 522 to obtain the air pressure of the roller 52, the pressure adjusting device 524 is provided with an air exhaust pipe for exhausting outside air into the roller 52, the outer end of the air exhaust pipe extends out of the roller 52, the air in the roller 52 is exhausted through the air outlet 526, wherein the air exhaust amount of the pressure adjusting device 524 is greater than the air exhaust amount of the air outlet 526, so that the proper positive pressure is maintained in the roller 52, the oxygen adjusting device 525 obtains the oxygen content in the roller 52 through the oxygen concentration sensor 523, and oxygen is input into the roller 52, so that the oxygen content in the roller 52 is maintained at the proper oxygen value.

Can make the patient recover training under the condition of higher air pressure and higher oxygen concentration.

Finally, it is noted that: the above-mentioned embodiments are only examples of the present invention, and it is a matter of course that those skilled in the art can make modifications and variations to the present invention, and it is considered that the present invention is protected by the modifications and variations if they are within the scope of the claims of the present invention and their equivalents.

Claims

1. An auxiliary rehabilitation robot system, comprising a robot (1), the robot (1) is provided with a torso (11), the top of the torso (11) is provided with a head (12), and the bottom of the torso (11) is provided with a walking mechanism (13), characterized in that a supporting device (2) is fixedly arranged on both sides of the trunk (11), and the supporting device (2) comprises a lead screw nut mechanism (21), the The lead screw (211) and the light screw (212) are vertically arranged on the side surface of the trunk (12), and the nut (213) of the lead screw nut mechanism (21) is arranged on the lead screw (211) and the light screw (212), and the nut ( 213) is provided with a handrail ring (22) on the outside, the handrail ring (22) includes a front half ring (221) and a rear half ring (222); the rear half ring (222) is fixedly arranged on the nut (213), and the front half ring (222) (221) is rotated and arranged on the nut (213) through a hinge shaft (223), the lead screw (211) is connected with a lift motor (214), and the lift motor (214) drives the nut (213) to lift and lower, and the hinge shaft ( 223) an opening and closing motor (224) is connected, and the opening and closing motor (224) drives the front half ring (221) to rotate; the lifting motor (214) and the opening and closing motor (224) are connected with a first control circuit;

The robot (1) is arranged in a rotary rehabilitation device (5), the rotary rehabilitation device (5) includes a bracket (51), a roller (52) is rotatably mounted on the bracket (51), and the bracket (51) is also mounted on There is a driving mechanism (53), the driving mechanism (53) drives the drum (52) to rotate, and the outer wall of the drum (52) is provided with an isolation door (521);

The drum (52) is provided with a pressure sensor (522) and an oxygen concentration sensor (523), the pressure sensor (522) is connected with a pressure regulating device (524), and the oxygen concentration sensor (523) is connected with an oxygen regulating device (525) ; The outer wall of the drum (52) is provided with an air outlet (526).

2 . The assisted rehabilitation robot system according to claim 1 , wherein rubber pads ( 225 ) are provided on the inner walls of the front half ring ( 221 ) and the rear half ring ( 222 ). 3 .

3 . The assisted rehabilitation robot system according to claim 2 , wherein the rubber pad ( 225 ) is formed by detachably stacking at least two rubber layers. 4 .

The assisted rehabilitation robot system according to claim 1, characterized in that: the first control circuit comprises a first microprocessor, and the first microprocessor is connected to the lift motor (214) and the opening and closing motor (224) ), the first microprocessor is connected with a remote control receiving circuit, and also includes a remote control board (23), a remote control sending circuit is arranged in the remote control board (23), and the remote control sending circuit is wirelessly connected with the remote control receiving circuit.

5. The assisted rehabilitation robot system according to claim 1, characterized in that: the walking mechanism (13) is provided with a power counterweight box (131), and the power counterweight box (131) is fixedly arranged at the bottom of the torso (11), The bottom of the power counterweight box (131) is provided with a front wheel (132) and a rear wheel (133), the front wheel (132) is connected with a steering motor (134), the rear wheel (133) is connected with a drive motor (135), and the steering motor (134) and the drive motor (135) are connected to the first microprocessor.

6 . The assisted rehabilitation robot system according to claim 1 , wherein a folding seat plate ( 111 ) is hinged to the front of the torso ( 11 ). 7 .

7. The assisted rehabilitation robot system according to claim 2, characterized in that a rain shield (112) is hinged behind the trunk (11).

8 . The auxiliary rehabilitation robot system according to claim 7 , wherein the rain shield ( 112 ) is in an "L" shape, and its horizontal end can be turned upward to cover the robot ( 1 ), and its horizontal end is telescopic plate.