CN112641602A - Gravity balancing device for rehabilitation exoskeleton robot - Google Patents

Gravity balancing device for rehabilitation exoskeleton robot Download PDF

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Publication number
CN112641602A
CN112641602A CN201910959859.8A CN201910959859A CN112641602A CN 112641602 A CN112641602 A CN 112641602A CN 201910959859 A CN201910959859 A CN 201910959859A CN 112641602 A CN112641602 A CN 112641602A
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balance
touch switch
push rod
electric push
plate
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CN112641602B (en
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陈燕燕
梁乐
王跃
卓杰
朱军
董奇
刘彩云
朱桂明
朱香佳
武茂浦
牟家正
吴茂传
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CSIC Information Technology Co Ltd
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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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors

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  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • General Health & Medical Sciences (AREA)
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  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

本发明公开了一种用于康复外骨骼机器人的重力平衡装置，属于机器人领域，包括平衡板和底座，所述底座的顶部固定安装有支撑杆，所述平衡板通过其外壁上固定安装的侧板转动安装在支撑杆上安装的转轴上，所述支撑杆的外部固定安装有支撑侧架，所述支撑侧架一端通过转轴转动安装有滑板，所述平衡板的底面开设有安装槽，所述平衡板的顶部固定安装有平衡管，所述平衡板的内部固定安装有单片机、触碰开关a与触碰开关b；本发明通过安装有平衡管与平衡球，平衡管与平衡球可有效对该装置的重力平衡性进行检测，若出现重力不平衡的现象可进行及时调整，有效保障了患者在使用康复外骨骼机器人的平衡，大大提高了安全系数。

Figure 201910959859

The invention discloses a gravity balance device for a rehabilitation exoskeleton robot, belonging to the field of robots, comprising a balance board and a base, a support rod is fixedly installed on the top of the base, and the balance board is fixedly installed on its outer wall through a side surface. The plate is rotatably installed on the rotating shaft installed on the support rod, the support side frame is fixedly installed on the outside of the support rod, one end of the support side frame is rotatably installed with a sliding plate through the rotating shaft, and the bottom surface of the balance plate is provided with a mounting slot, so A balance tube is fixedly installed on the top of the balance plate, and a single-chip microcomputer, a touch switch a and a touch switch b are fixedly installed inside the balance plate; in the present invention, by installing the balance tube and the balance ball, the balance tube and the balance ball can effectively The gravity balance of the device is detected, and if there is a gravity imbalance, it can be adjusted in time, which effectively ensures the patient's balance when using the rehabilitation exoskeleton robot, and greatly improves the safety factor.

Figure 201910959859

Description

Gravity balancing device for rehabilitation exoskeleton robot
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a gravity balance device for a rehabilitation exoskeleton robot.
Background
The treatment and rehabilitation of hemiplegia after stroke become research hotspots of modern rehabilitation medicine and rehabilitation engineering. Research shows that repetitive exercise training is carried out on the affected side of a hemiplegic patient, the repetitive exercise training is beneficial to recovering the domination and control of the central nerve on limb movement, the muscle strength of the patient is enhanced, the exercise coordination is improved, the complicated symptoms such as muscle atrophy, osteoporosis and the like can be effectively prevented, and a rehabilitation robot is required to be used when the patient carries out exoskeleton rehabilitation.
Traditional rehabilitation robot is last not to install gravity balance device, only can assist the patient to carry out the rehabilitation training, but when the patient need independently walk, then the robot can't guarantee gravity balance, leads to the patient to fall down, and the security is not good, consequently needs a gravity balance device who is used for recovered ectoskeleton robot.
Disclosure of Invention
The present invention aims to provide a gravity balance device for a rehabilitation exoskeleton robot to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a gravity balance device for a rehabilitation exoskeleton robot comprises a balance plate and a base, wherein a supporting rod is fixedly installed at the top of the base, the balance plate is rotatably installed on a rotating shaft installed on the supporting rod through a side plate fixedly installed on the outer wall of the balance plate, a supporting side frame is fixedly installed outside the supporting rod, a sliding plate is rotatably installed at one end of the supporting side frame through the rotating shaft, an installation groove is formed in the bottom surface of the balance plate, a balance pipe is fixedly installed at the top of the balance plate, a single chip microcomputer, a touch switch a and a touch switch b are fixedly installed inside the balance plate, the supporting side frame consists of an expansion bracket and a shaping frame, and an electric push rod a, an electric push rod b and a storage battery are fixedly installed inside the shaping frame;
the output ends of the touch switch a and the touch switch b are respectively electrically connected with the input end of the balance detection module, the output end of the balance detection module is electrically connected with the input end of the balance adjustment module, the balance adjustment module is electrically connected with the single chip microcomputer in a two-way mode, the output end of the single chip microcomputer is respectively electrically connected with the input ends of the electric push rod a and the electric push rod b, and the touch switch a, the touch switch b, the single chip microcomputer, the electric push rod a and the electric push rod b are all electrically connected with the storage battery.
Adopt above-mentioned scheme, install recovered ectoskeleton robot on the balance plate, when recovered ectoskeleton robot uses, if the balance plate can produce the slope when gravity unbalance, the balance plate slope can drive the balance pipe slope, thereby can drive balance ball slope removal, during balance ball slope removal, touch switch an and touch switch b one of them, thereby the singlechip opens corresponding electric putter an according to touch switch an and touch switch b's touching information, electric putter b, adjust the balance of balance plate, safety factor has been improved greatly, through installing "V" type support side bearer, "V" type's design has also improved the stability of this support frame greatly, the stability of recovered ectoskeleton robot who uses has effectively been improved.
In the above scheme, it should be noted that the model of the single chip microcomputer may be AT89S51, the models of the electric push rod a and the electric push rod b may be ALI4-CC, and the model of the battery may be LC-P12100.
In a preferred embodiment, the slide plate is slidably mounted on a guide rail fixedly mounted inside the mounting groove.
By adopting the scheme, when the electric push rod a and the electric push rod b are opened, the telescopic frame is controlled to stretch and retract, the sliding plate is driven to slide on the guide rail, and the friction force is reduced.
In a preferred embodiment, the balance plate is provided with a fitting groove.
By adopting the scheme, the rehabilitation exoskeleton robot has a mounting position by being provided with the matching groove.
In a preferred embodiment, a balance ball is slidably mounted inside the balance tube.
Adopt above-mentioned scheme, can produce the slope when the balance plate produces gravity unbalance, the balance plate slope can drive the balanced pipe slope to can drive the balanced ball slope and move.
In a preferred embodiment, one end of the touch switch a and one end of the touch switch b are located inside the balance tube.
By adopting the scheme, when the balance ball moves obliquely, one of the touch switch a and the touch switch b can be touched, so that the single chip microcomputer can start the electric push rod a and the electric push rod b according to the touch information of the touch switch a and the touch switch b to adjust the balance of the balance plate.
In a preferred embodiment, the support side frame is "V" shaped.
By adopting the scheme, the stability of the support frame is greatly improved through the V-shaped design, and the stability of the used rehabilitation exoskeleton robot is effectively improved.
As a preferred embodiment, one end of the telescopic frame is located inside the shaping frame, and one end of the telescopic frame is fixedly connected with one end of a movable rod mounted on the output ends of the electric push rod a and the electric push rod b.
By adopting the scheme, when the electric push rod a and the electric push rod b are opened, the telescopic frame can be effectively driven by the movable rod to move and stretch, and the balance plate can be adjusted.
Compared with the prior art, the invention has the beneficial effects that:
the gravity balance device for the rehabilitation exoskeleton robot is provided with the V-shaped supporting side frame, and the stability of the supporting frame is greatly improved due to the V-shaped design, so that the stability of the rehabilitation exoskeleton robot is effectively improved;
this a gravity balance device for recovered ectoskeleton robot is through installing balance tube and balance ball, and balance tube and balance ball can effectively detect the device's gravity balance nature, if the phenomenon that the gravity is unbalanced appears can in time adjust, have effectively ensured the patient and using the balance of recovered ectoskeleton robot, have improved factor of safety greatly.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the balance plate of the present invention;
FIG. 3 is a schematic view of the internal structure of the support sideframe of the present invention;
FIG. 4 is a schematic bottom view of the balance plate of the present invention;
fig. 5 is a schematic structural diagram of the working principle module of the present invention.
In the figure: 1. a balance plate; 2. a slide plate; 3. a side plate; 4. a support bar; 5. a support sideframe; 51. a telescopic frame; 52. shaping frames; 53. an electric push rod a; 54. an electric push rod b; 55. a storage battery; 6. a base; 7. a touch switch a; 8. a mating groove; 9. a balance tube; 10. a balance ball; 11. a touch switch b; 12. a guide rail; 13. and (4) mounting the groove.
Detailed Description
The present invention will be further described with reference to the following examples.
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple modifications of the method of the present invention based on the concept of the present invention are within the scope of the claimed invention.
The invention provides a gravity balance device for a rehabilitation exoskeleton robot, which comprises a balance plate 1 and a base 6, wherein a support rod 4 is fixedly installed at the top of the base 6, the balance plate 1 is rotatably installed on a rotating shaft installed on the support rod 4 through a side plate 3 fixedly installed on the outer wall of the balance plate 1, a support side frame 5 is fixedly installed outside the support rod 4, and the support side frame 5 is V-shaped (see figures 1 and 3); the stability of the support frame is greatly improved through the V-shaped design, and the stability of the used rehabilitation exoskeleton robot is effectively improved.
One end of the supporting side frame 5 is rotatably provided with a sliding plate 2 through a rotating shaft, and the sliding plate 2 is slidably arranged on a guide rail 12 fixedly arranged in an installation groove 13 (see figures 1 and 4); when the electric push rod a53 and the electric push rod b54 are opened, the telescopic frame 51 is controlled to extend and contract, the sliding plate 2 is driven to slide on the guide rail 12, and the friction force is reduced.
The bottom surface of the balance plate 1 is provided with an installation groove 13, and the balance plate 1 is provided with a matching groove 8 (see figures 1 and 2); the rehabilitation exoskeleton robot has an installation position by being provided with the matching groove 8.
A balance tube 9 is fixedly arranged at the top of the balance plate 1, and a balance ball 10 is slidably arranged in the balance tube 9 (see fig. 1 and 2); when the balance plate 1 is unbalanced by gravity, it will incline, and the inclination of the balance plate 1 will drive the balance tube 9 to incline, and thus the balance ball 10 will be driven to incline.
A single chip microcomputer, a touch switch a7 and a touch switch b11 are fixedly installed inside the balance plate 1, and one ends of the touch switch a7 and the touch switch b11 are located inside the balance pipe 9 (see fig. 1 and 2); when the balance ball 10 tilts, one of the touch switch a7 and the touch switch b11 is touched, so that the single chip microcomputer turns on the electric push rod a53 and the electric push rod b54 according to the touch information of the touch switch a7 and the touch switch b11, and the balance of the balance board 1 is adjusted.
The supporting side frame 5 consists of an expansion frame 51 and a shaping frame 52, an electric push rod a53, an electric push rod b54 and a storage battery 55 are fixedly installed inside the shaping frame 52, one end of the expansion frame 51 is located inside the shaping frame 52, and one end of the expansion frame 51 is fixedly connected with one end of a movable rod installed at the output ends of the electric push rod a53 and the electric push rod b54 (see fig. 1 and 3); when the electric push rod a53 and the electric push rod b54 are opened, the telescopic frame 51 can be effectively driven by the movable rod to move and stretch, and the balance plate 1 is adjusted;
the output ends of the touch switch a7 and the touch switch b11 are electrically connected with the input end of the balance detection module, the output end of the balance detection module is electrically connected with the input end of the balance adjustment module, the balance adjustment module is electrically connected with the single chip microcomputer in a bidirectional mode, the output end of the single chip microcomputer is electrically connected with the input ends of the electric push rod a53 and the electric push rod b54, and the touch switch a7, the touch switch b11, the single chip microcomputer, the electric push rod a53 and the electric push rod b54 are electrically connected with the storage battery 55.
When the rehabilitation exoskeleton robot is used, the rehabilitation exoskeleton robot is installed on the balance plate 1, when the rehabilitation exoskeleton robot is used, if the balance plate 1 is inclined when gravity imbalance occurs, the balance plate 1 is inclined to drive the balance pipe 9 to incline, so that the balance ball 10 is driven to incline and move, when the balance ball 10 inclines and moves, one of the touch switch a7 and the touch switch b11 can be touched, so that the single chip microcomputer opens the corresponding electric push rod a53 and the electric push rod b54 according to the touch information of the touch switch a7 and the touch switch b11, the balance of the balance plate 1 is adjusted, when the electric push rod a53 and the electric push rod b54 are opened, the telescopic frame 51 is controlled to be telescopic, the sliding plate 2 is driven to slide on the guide rail 12, and friction force is reduced.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (7)

1.一种用于康复外骨骼机器人的重力平衡装置，包括平衡板（1）和底座（6），其特征在于：所述底座（6）的顶部固定安装有支撑杆（4），所述平衡板（1）通过其外壁上固定安装的侧板（3）转动安装在支撑杆（4）上安装的转轴上，所述支撑杆（4）的外部固定安装有支撑侧架（5），所述支撑侧架（5）一端通过转轴转动安装有滑板（2），所述平衡板（1）的底面开设有安装槽（13），所述平衡板（1）的顶部固定安装有平衡管（9），所述平衡板（1）的内部固定安装有单片机、触碰开关a（7）与触碰开关b（11），所述支撑侧架（5）由伸缩架（51）与定型架（52）组成，所述定型架（52）的内部固定安装有电动推杆a（53）、电动推杆b（54）与蓄电池（55）；1. A gravity balance device for a rehabilitation exoskeleton robot, comprising a balance plate (1) and a base (6), characterized in that: a support rod (4) is fixedly installed on the top of the base (6), and the The balance plate (1) is rotatably mounted on the rotating shaft mounted on the support rod (4) through the side plate (3) fixedly mounted on the outer wall thereof, and the support side frame (5) is fixedly mounted on the outside of the support rod (4), One end of the supporting side frame (5) is rotatably installed with a sliding plate (2) through a rotating shaft, a mounting groove (13) is opened on the bottom surface of the balance plate (1), and a balance pipe is fixedly installed on the top of the balance plate (1). (9), a single chip microcomputer, a touch switch a (7) and a touch switch b (11) are fixedly installed inside the balance plate (1), and the supporting side frame (5) is formed by a telescopic frame (51) and a shaper. A frame (52) is formed, and an electric push rod a (53), an electric push rod b (54) and a battery (55) are fixedly installed inside the shaping frame (52); 所述触碰开关a（7）及触碰开关b（11）的输出端分别与平衡检测模块的输入端电性连接，所述平衡检测模块的输出端与平衡调节模块的输入端电性连接，所述平衡调节模块与单片机双向电性连接，所述单片机的输出端分别与电动推杆a（53）及电动推杆b（54）的输入端电性连接，所述触碰开关a（7）、触碰开关b（11）、单片机、电动推杆a（53）及电动推杆b（54）均与蓄电池（55）电性连接。The output terminals of the touch switch a (7) and the touch switch b (11) are respectively electrically connected to the input terminal of the balance detection module, and the output terminal of the balance detection module is electrically connected to the input terminal of the balance adjustment module. , the balance adjustment module is electrically connected to the single-chip microcomputer in both directions, the output end of the single-chip microcomputer is electrically connected to the input ends of the electric push rod a (53) and the electric push rod b (54) respectively, and the touch switch a ( 7) The touch switch b (11), the single-chip microcomputer, the electric push rod a (53) and the electric push rod b (54) are all electrically connected to the battery (55). 2.根据权利要求1所述的一种用于康复外骨骼机器人的重力平衡装置，其特征在于：所述滑板（2）滑动安装在所述安装槽（13）内部固定安装的导轨（12）上。2. A gravity balance device for a rehabilitation exoskeleton robot according to claim 1, characterized in that: the sliding plate (2) is slidably installed on a guide rail (12) fixedly installed inside the installation groove (13) superior. 3.根据权利要求1所述的一种用于康复外骨骼机器人的重力平衡装置，其特征在于：所述平衡板（1）上开设有配合槽（8）。3 . The gravity balance device for a rehabilitation exoskeleton robot according to claim 1 , wherein a matching groove ( 8 ) is formed on the balance plate ( 1 ). 4 . 4.根据权利要求1所述的一种用于康复外骨骼机器人的重力平衡装置，其特征在于：所述平衡管（9）的内部滑动安装有平衡球（10）。4. A gravity balance device for a rehabilitation exoskeleton robot according to claim 1, wherein a balance ball (10) is slidably installed inside the balance tube (9). 5.根据权利要求1所述的一种用于康复外骨骼机器人的重力平衡装置，其特征在于：所述触碰开关a（7）与触碰开关b（11）一端位于平衡管（9）的内部。5. A gravity balance device for a rehabilitation exoskeleton robot according to claim 1, characterized in that: one end of the touch switch a (7) and the touch switch b (11) is located in the balance tube (9) internal. 6.根据权利要求1所述的一种用于康复外骨骼机器人的重力平衡装置，其特征在于：所述支撑侧架（5）呈“V”型。6 . The gravity balance device for a rehabilitation exoskeleton robot according to claim 1 , wherein the supporting side frame ( 5 ) is in a “V” shape. 7 . 7.根据权利要求1所述的一种用于康复外骨骼机器人的重力平衡装置，其特征在于：所述伸缩架（51）一端位于定型架（52）的内部，且伸缩架（51）一端与电动推杆a（53）及电动推杆b（54）输出端上安装的活动干一端固定连接。7. A gravity balance device for a rehabilitation exoskeleton robot according to claim 1, characterized in that: one end of the telescopic frame (51) is located inside the setting frame (52), and one end of the telescopic frame (51) It is fixedly connected with one end of the movable stem installed on the output end of the electric push rod a (53) and the electric push rod b (54).
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