CN112641602B - A gravity balancing device for rehabilitation exoskeleton robots - Google Patents
A gravity balancing device for rehabilitation exoskeleton robotsInfo
- Publication number
- CN112641602B CN112641602B CN201910959859.8A CN201910959859A CN112641602B CN 112641602 B CN112641602 B CN 112641602B CN 201910959859 A CN201910959859 A CN 201910959859A CN 112641602 B CN112641602 B CN 112641602B
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- CN
- China
- Prior art keywords
- touch switch
- plate
- push rod
- electric push
- balancing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a gravity balancing device for a rehabilitation exoskeleton robot, which belongs to the field of robots and comprises a balancing plate and a base, wherein a supporting rod is fixedly arranged at the top of the base, the balancing plate is rotatably arranged on a rotating shaft arranged on the supporting rod through a side plate fixedly arranged on the outer wall of the balancing plate, a supporting side frame is fixedly arranged outside the supporting rod, one end of the supporting side frame is rotatably provided with a sliding plate through the rotating shaft, the bottom surface of the balancing plate is provided with a mounting groove, the top of the balancing plate is fixedly provided with a balancing pipe, and a singlechip, a touch switch a and a touch switch b are fixedly arranged in the balancing plate.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a gravity balancing device for a rehabilitation exoskeleton robot.
Background
Treatment and rehabilitation of hemiplegia after cerebral apoplexy have become research hot spots in modern rehabilitation medicine and rehabilitation engineering. Research shows that repeated exercise training is carried out on the affected side of a hemiplegic patient, which is helpful for recovering the control and the domination of central nerves on limb movements, enhancing the muscle strength of the patient, improving the coordination of the movements, effectively preventing the concurrent symptoms such as muscular atrophy, osteoporosis and the like, and requiring a rehabilitation robot when the patient carries out exoskeleton rehabilitation.
The traditional rehabilitation robot is not provided with a gravity balancing device, and only can assist a patient in rehabilitation training, but when the patient needs to walk independently, the robot cannot guarantee gravity balancing, so that the patient falls down, the safety is poor, and therefore the gravity balancing device for the rehabilitation exoskeleton robot is needed.
Disclosure of Invention
The invention aims to provide a gravity balancing device for a rehabilitation exoskeleton robot, which is used for solving the problems in the background art.
The gravity balancing device for the rehabilitation exoskeleton robot comprises a balancing plate and a base, wherein a supporting rod is fixedly arranged at the top of the base, the balancing plate is rotatably arranged on a rotating shaft arranged on the supporting rod through a side plate fixedly arranged on the outer wall of the supporting rod, a supporting side frame is fixedly arranged outside the supporting rod, a sliding plate is rotatably arranged at one end of the supporting side frame through the rotating shaft, a mounting groove is formed in the bottom surface of the balancing plate, a balancing pipe is fixedly arranged at the top of the balancing plate, a singlechip, a touch switch a and a touch switch b are fixedly arranged in the balancing plate, the supporting side frame consists of a telescopic frame and a shaping frame, and an electric push rod a, an electric push rod b and a storage battery are fixedly arranged in the shaping frame;
The output ends of the touch switch a and the touch switch b are respectively and 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 in bidirectional electrical connection with the single chip microcomputer, the output end of the single chip microcomputer is respectively and 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 electrically connected with the storage battery.
By adopting the scheme, the rehabilitation exoskeleton robot is arranged on the balance plate, when the rehabilitation exoskeleton robot is used, if the balance plate generates gravity unbalance, the balance plate can incline to drive the balance pipe to incline, so that the balance ball can be driven to incline and move, and when the balance ball moves in an inclined manner, the single-chip microcomputer can touch one of the touch switch a and the touch switch b, so that the singlechip starts the corresponding 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, adjusts the balance of the balance plate, greatly improves the safety factor, and also greatly improves the stability of the support frame through the design of installing the V-shaped support side frame, and effectively improves the stability of the used rehabilitation exoskeleton robot.
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 storage battery may be LC-P12100.
As 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, the sliding plate is driven to slide on the guide rail, and the friction force is reduced.
As a preferred embodiment, the balancing plate is provided with a matching groove.
By adopting the scheme, the rehabilitation exoskeleton robot has the installation position by providing the matching groove.
As a preferred embodiment, the balance ball is slidably mounted in the balance tube.
By adopting the scheme, when the balance plate generates gravity unbalance, the balance plate can incline and drive the balance pipe to incline, so that the balance ball can be driven to incline and move.
As a preferred embodiment, one ends of the touch switch a and the touch switch b are positioned 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 singlechip starts 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, and the balance of the balance plate is adjusted.
As a preferred embodiment, the support side frames are "V" -shaped.
By adopting the scheme, the stability of the support frame is also greatly improved through the V-shaped design, and the stability of the used rehabilitation exoskeleton robot is effectively improved.
As a preferred implementation mode, one end of the expansion bracket is positioned in the shaping bracket, and one end of the expansion bracket is fixedly connected with one ends of the movable shafts arranged 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 movable rod can effectively drive the telescopic frame to move and stretch, and the balance plate is adjusted.
Compared with the prior art, the invention has the beneficial effects that:
The gravity balancing device for the rehabilitation exoskeleton robot is provided with the V-shaped supporting side frame, so that the stability of the supporting frame is greatly improved due to the V-shaped design, and the stability of the used rehabilitation exoskeleton robot is effectively improved;
This a gravity balancing unit for recovered ectoskeleton robot is through installing balance pipe and balance ball, and balance pipe and balance ball can effectively detect the gravity balance of device, if the unbalanced phenomenon of gravity appears can carry out timely adjustment, have effectively ensured the patient and have used recovered ectoskeleton robot's balance, have improved factor of safety greatly.
Drawings
FIG. 1 is a schematic diagram of the structure 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 a support side frame according to the present invention;
FIG. 4 is a schematic view of the bottom surface structure of the balance plate of the present invention;
Fig. 5 is a schematic diagram of the working principle module structure of the present invention.
The device comprises a balancing plate, a sliding plate, a side plate, a supporting rod, a supporting side frame, a telescopic frame, a shaping frame, a fixing frame, an electric push rod a, a 54, an electric push rod b, a 55, a storage battery, a 6, a base, a 7, a touch switch a, 8, a matching groove, 9, a balancing pipe, 10, a balancing ball, 11, a touch switch b, 12, a guide rail, 13 and an installation groove.
Detailed Description
The invention is further described below with reference to examples.
The following examples are illustrative of the present invention but are not intended to limit the scope of the invention. The conditions in the examples can be further adjusted according to specific conditions, and simple modifications of the method of the invention under the premise of the conception of the invention are all within the scope of the invention as claimed.
The invention provides a gravity balancing device for a rehabilitation exoskeleton robot, referring to fig. 1-5, which comprises a balancing plate 1 and a base 6, wherein a supporting rod 4 is fixedly arranged at the top of the base 6, the balancing plate 1 is rotatably arranged on a rotating shaft arranged on the supporting rod 4 through a side plate 3 fixedly arranged on the outer wall of the balancing plate, a supporting side frame 5 is fixedly arranged outside the supporting rod 4, the supporting side frame 5 is in a V shape (see fig. 1 and 3), the stability of the supporting 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, the sliding plate 2 is slidably arranged on a guide rail 12 fixedly arranged in the installation groove 13 (see fig. 1 and 4), and when the electric push rod a53 and the electric push rod b54 are opened, the telescopic frame 51 is controlled to stretch and retract, and the sliding plate 2 is driven to slide on the guide rail 12, so that friction force is reduced.
The bottom surface of the balance plate 1 is provided with a mounting groove 13, the balance plate 1 is provided with a matching groove 8 (see figures 1 and 2), and the rehabilitation exoskeleton robot is provided with a mounting position by the matching groove 8.
The top of the balance plate 1 is fixedly provided with a balance pipe 9, the balance ball 10 (see figures 1 and 2) is slidably arranged in the balance pipe 9, when the balance plate 1 generates gravity unbalance, the balance plate 1 inclines to drive the balance pipe 9 to incline, and accordingly the balance ball 10 is driven to move in an inclined mode.
The balance plate 1 is internally and fixedly provided with a singlechip, a touch switch a7 and a touch switch b11, one ends of the touch switch a7 and the touch switch b11 are positioned in the balance tube 9 (see fig. 1 and 2), and when the balance ball 10 moves in an inclined mode, one of the touch switch a7 and the touch switch b11 is touched, so that the singlechip starts an electric push rod a53 and an electric push rod b54 according to touch information of the touch switch a7 and the touch switch b11, and balance of the balance plate 1 is adjusted.
The supporting side frame 5 consists of a telescopic frame 51 and a shaping frame 52, wherein an electric push rod a53, an electric push rod b54 and a storage battery 55 are fixedly arranged in the shaping frame 52, one end of the telescopic frame 51 is positioned in the shaping frame 52, and one ends of the telescopic frame 51 are fixedly connected with one ends of movable shafts arranged on the output ends of the electric push rod a53 and the electric push rod b54 (see figures 1 and 3);
the output ends of the touch switch a7 and the touch switch b11 are respectively and 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 manner, the output end of the single chip microcomputer is respectively and 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 balance plate 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 unbalanced due to gravity, the balance plate 1 is inclined to drive the balance pipe 9 to incline so as to drive the balance ball 10 to move in an inclined mode, when the balance ball 10 moves in an inclined mode, one of the touch switch a7 and the touch switch b11 can be touched, and accordingly the singlechip starts the corresponding electric push rod a53 and the corresponding electric push rod b54 according to the touch information of the touch switch a7 and the touch switch b11, balance of the balance plate 1 is adjusted, when the electric push rod a53 and the electric push rod b54 are started, the telescopic frame 51 is controlled to stretch, the driving slide plate 2 slides on the guide rail 12, and friction force is reduced.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The gravity balancing device for the rehabilitation exoskeleton robot comprises a balancing plate (1) and a base (6), and is characterized in that a supporting rod (4) is fixedly arranged at the top of the base (6), the balancing plate (1) is rotatably arranged on a rotating shaft arranged on the supporting rod (4) through a side plate (3) fixedly arranged on the outer wall of the balancing plate, a supporting side frame (5) is fixedly arranged outside the supporting rod (4), a sliding plate (2) is rotatably arranged at one end of the supporting side frame (5) through the rotating shaft, a mounting groove (13) is formed in the bottom surface of the balancing plate (1), a balancing pipe (9) is fixedly arranged at the top of the balancing plate (1), a singlechip, a touch switch a (7) and a touch switch b (11) are fixedly arranged in the balancing plate (1), the supporting side frame (5) consists of a telescopic bracket (51) and a shaping bracket (52), and an electric push rod a (53), an electric push rod b (54) and a storage battery (55) are fixedly arranged in the shaping bracket (52).
The output ends of the touch switch a (7) and the touch switch b (11) are respectively and 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 in bidirectional electrical connection with the single chip microcomputer, the output end of the single chip microcomputer is respectively and electrically connected with the input ends of the electric push rod a (53) and the electric push rod b (54), 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 electrically connected with the storage battery (55);
a balance ball (10) is slidably arranged in the balance tube (9);
One ends of the touch switch a (7) and the touch switch b (11) are positioned in the balance tube (9).
2. A gravity balancing device for a rehabilitation exoskeleton robot according to claim 1, wherein the sliding plate (2) is slidably mounted on a guide rail (12) fixedly mounted inside the mounting groove (13).
3. The gravity balancing device for a rehabilitation exoskeleton robot according to claim 1, wherein the balancing plate (1) is provided with a matching groove (8).
4. A gravity balancing device for a rehabilitation exoskeleton robot according to claim 1, wherein the support side frame (5) is of a "V" shape.
5. The gravity balancing device for a rehabilitation exoskeleton robot according to claim 1, wherein one end of the telescopic frame (51) is located in the shaping frame (52), and one end of the telescopic frame (51) is fixedly connected with one ends of movable rods installed on output ends of the electric push rod a (53) and the electric push rod b (54).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910959859.8A CN112641602B (en) | 2019-10-10 | 2019-10-10 | A gravity balancing device for rehabilitation exoskeleton robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910959859.8A CN112641602B (en) | 2019-10-10 | 2019-10-10 | A gravity balancing device for rehabilitation exoskeleton robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112641602A CN112641602A (en) | 2021-04-13 |
| CN112641602B true CN112641602B (en) | 2025-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910959859.8A Active CN112641602B (en) | 2019-10-10 | 2019-10-10 | A gravity balancing device for rehabilitation exoskeleton robots |
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| CN (1) | CN112641602B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114131656A (en) * | 2021-12-25 | 2022-03-04 | 陀螺人工智能(山东)有限公司 | Robot arm gravity balancing device |
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| CN109483744A (en) * | 2018-11-22 | 2019-03-19 | 华北水利水电大学 | Crawler type small footage multi-angle rotating horizontal hole forming device |
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| KR101444901B1 (en) * | 2012-07-06 | 2014-09-26 | 김태호 | Balance board |
| CN204479242U (en) * | 2015-02-13 | 2015-07-15 | 镇江中船瓦锡兰螺旋桨有限公司 | A kind of adjustable propeller static balance testing device |
| CN204699314U (en) * | 2015-04-15 | 2015-10-14 | 衢州学院 | A kind of balance training rehabilitation appliances |
| CN106425234A (en) * | 2016-11-29 | 2017-02-22 | 上海船舶工艺研究所 | A digitally controlled shape-adjustable tire frame |
| KR102013496B1 (en) * | 2017-11-07 | 2019-08-22 | 사단법인 캠틱종합기술원 | A gait rehabilitation device with sling bar |
| KR102012348B1 (en) * | 2017-12-05 | 2019-08-27 | 대한민국 | Trunk Rehabilitation Apparatus using Parallel Robot |
| KR102014162B1 (en) * | 2017-12-29 | 2019-08-26 | (주)동아금속 | Monitoring system of walking balance for lower limb rehabilitation |
| CN108282053A (en) * | 2018-01-02 | 2018-07-13 | 美的集团股份有限公司 | Balanced component, electric machine assembly and broken wall cooking machine |
| CN109176463B (en) * | 2018-08-07 | 2023-06-02 | 长沙紫宸科技开发有限公司 | Multifunctional auxiliary arm self-balancing mechanical exoskeleton |
| CN109169348A (en) * | 2018-09-29 | 2019-01-11 | 五河县科旺种养殖农民专业合作社 | Automatic blanking device is used in a kind of pig raising |
| CN109466715A (en) * | 2018-11-21 | 2019-03-15 | 广西南宁胜祺安科技开发有限公司 | A kind of novel lifting ship balance system and its working method |
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| CN106344355A (en) * | 2016-10-28 | 2017-01-25 | 广州初曲科技有限公司 | Lower limb movement-assisting machine skeleton with barycenter self-adjustment balance function |
| CN109483744A (en) * | 2018-11-22 | 2019-03-19 | 华北水利水电大学 | Crawler type small footage multi-angle rotating horizontal hole forming device |
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| CN112641602A (en) | 2021-04-13 |
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