CN106983630B - A kind of support of multiple degrees of freedom hip and detection device - Google Patents
A kind of support of multiple degrees of freedom hip and detection device Download PDFInfo
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- CN106983630B CN106983630B CN201610041621.3A CN201610041621A CN106983630B CN 106983630 B CN106983630 B CN 106983630B CN 201610041621 A CN201610041621 A CN 201610041621A CN 106983630 B CN106983630 B CN 106983630B
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- 238000001514 detection method Methods 0.000 title claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 238000006073 displacement reaction Methods 0.000 claims abstract description 46
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 23
- 238000009434 installation Methods 0.000 claims abstract description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 238000013016 damping Methods 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 17
- 125000006850 spacer group Chemical group 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000009514 concussion Effects 0.000 claims description 6
- 210000001624 hip Anatomy 0.000 abstract description 50
- 238000012549 training Methods 0.000 abstract description 23
- 210000003414 extremity Anatomy 0.000 abstract description 6
- 210000004394 hip joint Anatomy 0.000 abstract description 4
- 238000011897 real-time detection Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 206010019468 Hemiplegia Diseases 0.000 description 5
- 210000002414 leg Anatomy 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 210000001981 hip bone Anatomy 0.000 description 4
- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
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- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
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- 208000020442 loss of weight Diseases 0.000 description 1
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
- A61B5/1114—Tracking parts of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1116—Determining posture transitions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1118—Determining activity level
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6823—Trunk, e.g., chest, back, abdomen, hip
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- 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
- A61H2201/0157—Constructive details portable
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
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- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a kind of support of multiple degrees of freedom hip and detection devices, are applied in lower limb rehabilitation robot, comprising: installation pedestal, including top connection, middle part connecting plate and the bottom connecting plate being connected with robot body；X-direction mobile mechanism, middle part connecting plate can carry out X-direction movement by X-direction mobile mechanism；Y-direction mobile mechanism, it is mobile that top connecting plate can carry out Y-direction by Y-direction mobile mechanism；Z-direction rotating mechanism can carry out moving in rotation relative to top connecting plate, and have hip connection position on Z-direction rotating mechanism；Sensor detection module, the displacement of the lines detection unit for detecting X-direction and Y-direction mobile displacement respectively including two and a detection unit detect Z-direction rotational angle displacement angulation displacement detecting unit.Its technical solution has multiple freedom degrees, and it is constrained to relieve limbs of patient institute, improves the science and comfort level of rehabilitation training, and can real-time detection patient's hip joint motion state.
Description
Technical field
The present invention relates to medical rehabilitation instrument, robotic technology field more particularly to a kind of multiple degrees of freedom hip support and
Detection device.
Background technique
The existing patients with cerebral apoplexy in China is about ten thousand people more than 1000, and newly-increased patient is more than more than 250 ten thousand people every year.In these patients
In, have 70%~80% patient can there are different degrees of motor dysfunction of lower limb.Medical research is shown, this by neurotrosis
Caused dyskinesia can be treated by timely rehabilitation training.It is treated in traditional rehabilitation exercise training
In the process, patient usually requires to be assisted carrying out each individual event or the training of integrated project, great work intensity, efficiency by therapist
Lowly, and it is unable to monitor the therapeutic effect of patient, it is therefore desirable to develop lower limb rehabilitation robot to assist doctor to carry out rehabilitation instruction
Practice.Especially in the process of walking, hip plays important balanced action to human body, and equilibrium function is non-to the rehabilitation of hemiplegic patient
It is often important.According to neural facilitation technical principle, the control ability for strengthening hip can promote the motor function of lower limb, improves hemiplegia and suffers from
The rehabilitation efficiency of person.Therefore hip supporting mechanism, it is most important for lower limb rehabilitation robot.It can support patient to mitigate trouble
The stress of person's lower limb, and the freedom of motion of patient will not be constrained.However existing technological document is retrieved and is found, lower limb at present
Healing robot majority does not have hip supporting mechanism:
Refering to patent CN 101984946, a kind of sitting exoskeleton lower limb rehabilitation robot, including sitting posture auxiliary are disclosed
Mechanism, lower limb rehabilitation mechanism and ectoskeleton shield mechanism, sitting posture auxiliary body are connected with lower limb rehabilitation mechanism.When rehabilitation training,
Patient is sitting in sitting posture auxiliary body, and lower limb are bundled on ectoskeleton shield mechanism, the driving of motor in lower limb rehabilitation mechanism
Under, carry out leg training.And patent CN 101810533, disclose a kind of walking aid exoskeleton rehabilitation robot, including movement
Formula auxiliary body, control mechanism and exoskeleton artificial limb mechanism.Exoskeleton artificial limb mechanism is driven by servo motor, drives patient straight
On the spot carry out rehabilitation exercise.Mobile auxiliary body is connected using suspender belt mode with people's body, so that reaching support body prevents
The purpose fallen down.And patent CN103892987, disclose a kind of lower limbs rehabilitation training robot, including bedstead support, setting
Linear motion device that the bedstead that stands up on bedstead support, the bedstead that can make to stand up slide, driving stand up the push rod of bedstead rotation
Device, bionic leg and bed board.When in use, patient lies low and is bundled on bed board, and leg is placed on bionic leg, according to trouble
Person's physical efficiency adjusts the angle to stand up between bedstead and bedstead support, rehabilitation training is carried out under the drive of bionic leg.
It for above-mentioned patent, is sling often through by the safety belt being worn at patient's trunk, to reach loss of weight and guarantor
Protect the purpose of patient.But the balance training under free state is had ignored to the importance of hemiplegia patient, patient was training
By very big constraint in journey, cannot freely activity oneself body, affect rehabilitation process and rehabilitation efficacy；In addition, by
In ignoring monitoring and observation to patient's hip motion state, the true effect of rehabilitation training will be influenced by very big.
Summary of the invention
For the above-mentioned problems in the prior art, now provide a kind of purport be applied in lower limb rehabilitation robot mostly from
It is supported by degree hip and detection device, releases constraint suffered by limbs in the training of lower limb hemiplegia patient, improve Rehabilitation
Trained science and comfort level, to overcome above-mentioned technological deficiency.
Specific technical solution is as follows:
A kind of support of multiple degrees of freedom hip and detection device, are applied in lower limb rehabilitation robot, comprising:
Installation pedestal comprising from bottom to top successively separately positioned bottom connecting plate, middle part connecting plate and top connects
Fishplate bar, and the bottom connecting plate is connected with robot body；
X-direction mobile mechanism is installed between the bottom connecting plate and the middle part connecting plate, and the middle part connects
Plate can carry out the linear movement of the X-direction relative to the bottom connecting plate by the X-direction mobile mechanism；
Y-direction mobile mechanism is installed between the middle part connecting plate and the top connecting plate, and the top connects
Plate can carry out the linear movement of the Y-direction relative to the middle part connecting plate by the Y-direction mobile mechanism；
Z-direction rotating mechanism is installed in the top connecting plate, can carry out rotation shifting relative to the top connecting plate
It is dynamic, and there is the hip connection position of placement patient's hip on the Z-direction rotating mechanism；
Sensor detection module, including two displacement of the lines detection units and an Angular Displacement Detecting unit, two lines
Displacement detecting unit be respectively arranged between the bottom connecting plate and the middle part connecting plate and the middle part connecting plate and
Between the top connecting plate, to detect the straight-line displacement amount of X-direction and Y-direction movement, the Angular Displacement Detecting list respectively
Member is installed in the top connecting plate, and upper end is connected with the Z-direction rotating mechanism, to detect the angle of Z-direction rotation
Displacement；
Wherein, X-direction and Y-direction are to be parallel to the bottom mounting plate plane and orthogonal both direction, Z-direction
For the direction relative to Plane Rotation where X-direction and Y-direction.
The X-direction mobile mechanism includes:
First straight line guide rail is installed on the upper side of the bottom connecting plate in X direction；
First sliding block, is installed on the downside of the middle part connecting plate, and matches with the first straight line guide rail, can be along
The first straight line guide rail moves linearly；And
First spring damping module, connects the bottom connecting plate and the middle part connecting plate, to limit in X-direction
Range simultaneously reduces the concussion and impact generated when reaching extreme position.
The Y-direction mobile mechanism includes:
Second straight line guide rail is installed on the upper side of the middle part connecting plate along Y-direction；
Second sliding block, is installed on the downside of the top connecting plate, and matches with the second straight line guide rail, can be along
The second straight line guide rail moves linearly；And
Second spring damping module connects the middle part connecting plate and the top connecting plate, to limit in Y-direction
Range simultaneously reduces the concussion and impact generated when reaching extreme position.
The first spring damping module and the second spring damping module structure having the same include that spring is pacified
Fill seat, at least two guiding optical axises, at least four pressure springs, at least four adjustment axis, at least two limited blocks and resilient cushion
Piece, wherein
The guiding optical axis, and the both ends difference of the limited block are equipped in each limited block respectively
It is connected with the cushioning piece；
The both ends of each guiding optical axis being arranged in the limited block are arranged with the pressure spring respectively, and
The both ends of the guiding optical axis are separately mounted in the through-hole opened up on the spring mounting seat；
The adjustment axis is connected with the through hole whorl of the spring mounting seat, and each pressure spring passes through the guiding light
Axis is connected separately with the adjustment axis, can be adjusted by screw-in length of the adjustment axis in the spring mounting seat
The pretightning force of the pressure spring.
The Z-direction rotating mechanism includes crossed roller bearing, hollow connecting shaft, pivotal support arm, spacer pin, left limit
Block, right limit block and flexible bandage, wherein
Longitudinally through an opening is offered in the top connecting plate, the Angular Displacement Detecting unit is located at the opening
It is interior, and be connected respectively with the top connecting plate and the hollow connecting shaft；
The hollow connecting shaft is connected by being arranged the crossed roller bearing with the top connecting plate, to be formed
Structure relative to the rotatable movement of the top connecting plate；
One end of the pivotal support arm is connected with the hollow connecting shaft, and the other end is connected with the flexible bandage, uses
To form the hip connection position；
The left limit block and the right limit block are set to the upper surface of the top connecting plate, the spacer pin and institute
It states pivotal support arm to be connected, and left and right limited block and the spacer pin match, to by the rotation angle of the pivotal support arm
It is limited in default range.
The displacement of the lines detection unit includes linear potentiometers, linear potentiometers erection support and is installed on straight-line electric
L-type bent plate on the guide rod of position meter.
Preferably, the institute of the displacement of the lines detection unit between the bottom connecting plate and the middle part connecting plate
It states linear potentiometers and is connected by the linear potentiometers erection support with middle part connecting plate, the L-type bent plate connects the bottom
The guide rod of portion's connecting plate and the linear potentiometers, alternatively,
The linear potentiometers are connected by the linear potentiometers erection support with the bottom connecting plate, the L-type
Bent plate connects the guide rod of the middle part connecting plate Yu the linear potentiometers.
Preferably, the institute of the displacement of the lines detection unit between the middle part connecting plate and the top connecting plate
It states linear potentiometers and is connected by the linear potentiometers erection support with the middle part connecting plate, the L-type bent plate connects institute
The guide rod of top connecting plate Yu the linear potentiometers is stated, alternatively,
The linear potentiometers are connected by the linear potentiometers erection support with the top connecting plate, the L-type
Bent plate connects the guide rod of the middle part connecting plate Yu the linear potentiometers.
Preferably, the Angular Displacement Detecting unit include rotating potentiometer, rotating potentiometer erection support, L-type clamping plate,
Shaft coupling and spill connecting shaft, wherein
The rotating potentiometer erection support is installed in the top connecting plate, and the rotating potentiometer passes through the L
Type clamping plate is connected with the rotating potentiometer erection support, and the concave connecting shaft is connected with the hollow connecting shaft,
The shaft coupling connects the spill connecting shaft and the rotating potentiometer.
Preferably, the quantity of the guiding optical axis is two, the quantity of the pressure spring is four, the quantity of the adjustment axis
It is four, the quantity of the limited block is two, and the quantity of the cushioning piece is four.
The beneficial effect of above-mentioned technical proposal is:
(1) support and detection device have multiple freedom degrees, and comfortable wearing is come by the support to patient's hip
Mitigating weight bearing of its body to lower limb, auxiliary patient carries out rehabilitation training repeatedly, while any constraint will not be brought to patient,
Constraint suffered by limbs in the training of lower limb hemiplegia patient is relieved, the science and comfort level of Rehabilitation training are improved；
(2) device is equipped with multiple detection units, displacement of the lines detection unit and inspection including detection X, Y-direction linear movement amount
Survey the Angular Displacement Detecting unit of Z-direction amount of rotational movement, the motion state of real-time detection patient's hip joint, by dividing data
Analysis, to understand the rehabilitation situation of patient, provides data supporting for the rehabilitation programme in later period；
(3) in X, the work of Y-direction mobile mechanism, spring damping module is by the travel limit in X, Y-direction in certain model
Within enclosing, and can reducing mechanism reach the limit of the oscillation and impact generated when position；
(4) it when Z-direction rotating mechanism works, can be revolved by adjusting the installation direction of left and right limited block in conjunction with being connected to
Turn the spacer pin on support arm, reach locking pivotal support arm, and will rotation angle be limited in it is scheduled within the scope of.
Detailed description of the invention
Fig. 1 is the elevational schematic view of multiple degrees of freedom hip of the present invention support and detection device；
Fig. 2 is the schematic diagram of the displacement of the lines detection unit of multiple degrees of freedom hip of the present invention support and detection device；
Fig. 3 is the schematic diagram of the Angular Displacement Detecting unit of multiple degrees of freedom hip of the present invention support and detection device；
Fig. 4 is the schematic diagram of the X-direction mobile mechanism of multiple degrees of freedom hip of the present invention support and detection device；
Fig. 5 is the schematic diagram of the spring damping module of multiple degrees of freedom hip of the present invention support and detection device；
Fig. 6 is the schematic diagram of the Y-direction mobile mechanism of multiple degrees of freedom hip of the present invention support and detection device；
Fig. 7 a is that multiple degrees of freedom hip of the present invention supports and the contour structures of the Z-direction rotating mechanism of detection device are illustrated
Figure；
Fig. 7 b is the half-sectional structural representation of the Z-direction rotating mechanism of multiple degrees of freedom hip of the present invention support and detection device
Figure；
Fig. 7 c is the half-sectional signal of vertical view of the Z-direction rotating mechanism of multiple degrees of freedom hip of the present invention support and detection device
Figure.
Specific embodiment
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.In embodiments, the part of same structure uses
Identical appended drawing reference and omit description.
It refering to fig. 1, is multiple degrees of freedom hip of the present invention support and the elevational schematic view of detection device；It is this hair in conjunction with Fig. 4
The schematic diagram of the X-direction mobile mechanism 1 of bright multiple degrees of freedom hip support and detection device；And Fig. 6, it is multiple degrees of freedom of the present invention
The schematic diagram of the Y-direction mobile mechanism 3 of hip support and detection device；And Fig. 7 a, it is supported for multiple degrees of freedom hip of the present invention
And the outline structural diagram of the Z-direction rotating mechanism 4 of detection device.As shown in the figure, multiple degrees of freedom hip support and
Detection device is applied in lower limb rehabilitation robot, comprising:
Installation pedestal comprising from bottom to top successively separately positioned bottom connecting plate 11, middle part connecting plate 12, Yi Jiding
Portion's connecting plate 31, and bottom connecting plate 11 is connected with robot body；
X-direction mobile mechanism 1 is installed between bottom connecting plate 11 and middle part connecting plate 12, and middle part connecting plate 12 can
The linear movement of the X-direction relative to bottom connecting plate 11 is carried out by X-direction mobile mechanism 1；
Y-direction mobile mechanism 3 is installed between middle part connecting plate 12 and top connecting plate 31, and top connecting plate 31 can
The linear movement of the Y-direction relative to middle part connecting plate 12 is carried out by Y-direction mobile mechanism 3；
Z-direction rotating mechanism 4 is installed in top connecting plate 31, can carry out moving in rotation relative to top connecting plate 31,
And there is the hip connection position of placement patient's hip on Z-direction rotating mechanism 4, to will whole multivariant support construction with
Patient's hip, which is connected, carries out reconditioning；
Sensor detection module 2, including two displacement of the lines detection units 21 and an Angular Displacement Detecting unit 22, two lines
Displacement detecting unit 21 is respectively arranged between bottom connecting plate 11 and middle part connecting plate 12 and middle part connecting plate 12 and top
Between connecting plate 31, to detect the straight-line displacement amount of X-direction and Y-direction movement respectively.Angular Displacement Detecting unit 22 is installed on
In top connecting plate 31, and upper end is connected with Z-direction rotating mechanism 4, to detect the angular displacement of Z-direction rotation, thus real
When detect patient's hip joint motion state, by the analysis to data, to understand the rehabilitation situation of patient, be the later period rehabilitation
Plan provides data and supports.
In the present embodiment, above-mentioned X, Y, Z-direction difference are as shown in fig. 1, and wherein X, Y-direction are to be parallel to bottom peace
Loading board plane and orthogonal both direction, Z-direction are the direction relative to Plane Rotation where X, Y, but be worth pointing out
It is that above-mentioned definition is only preferred embodiment of the invention, in practical application, there is also X, Y be not mutually completely vertical or not exclusively
It is in the same plane, plane where being parallel to X, Y there is also Z-direction Incomplete Revolve, but should not be of the invention as being different from
Reason.
In a preferred embodiment, specific as shown in Fig. 4, Fig. 5 and Fig. 6, the X-direction mobile mechanism 1 wraps
Include: first straight line guide rail 14 is installed on the upper side of bottom connecting plate 11 in X direction；First sliding block 13 is installed on middle part connection
The downside of plate 12, and match with first straight line guide rail 14, it can move linearly along first straight line guide rail 14；And first
Spring damping module 15 connects bottom connecting plate 11 and middle part connecting plate 12, to limit the range in X-direction and reduction
The concussion and impact generated when reaching the limit of position.
As a further preference in embodiment, the Y-direction mobile mechanism 3 includes: second straight line guide rail 33, along Y
Direction is installed on the upper side of middle part connecting plate 12；Second sliding block 32, is installed on the downside of top connecting plate 31, and with second
Linear guide 33 matches, and can move linearly along second straight line guide rail 33；And second spring damping module 15, in connection
Portion's connecting plate 12 and top connecting plate 31, to limit the range in Y-direction and when reducing and reaching extreme position generates
Concussion and impact.
As a further preference in embodiment, it is specific as shown in Figure 5, the first above-mentioned spring damping module and the
Two spring damping module structures having the same include spring mounting seat 156, at least two guiding optical axises 155, at least four
Pressure spring 154, at least four adjustment axis 157, at least two limited blocks 152 and cushioning piece 151, wherein
A guiding optical axis 155 is equipped in each limited block 152 respectively, and the both ends of limited block 152 connect respectively
It is connected to a cushioning piece 151；The both ends for each guiding optical axis 155 being arranged in limited block 152 are arranged with one respectively
Pressure spring 154, and the both ends for being oriented to optical axis 155 are separately mounted in the through-hole opened up on spring mounting seat 156；Adjustment axis 157 with
The through hole whorl of spring mounting seat 156 is connected, and each pressure spring 154 passes through guiding optical axis 155 and is connected separately with an adjustment axis
157, and it is firm in order to connect pressure spring 154 with adjustment axis 157, the end face of pressure spring 154 is pressed into adjustment axis 157 in the present embodiment
In the slot of end face, then by the way of spot welding the two is connected, when use can be by adjustment axis 157 in spring mounting seat 156
Screw-in length, adjust pressure spring 154 pretightning force.
In the present embodiment, the quantity of the guiding optical axis 155 is two, and the quantity of pressure spring 154 is four, adjustment axis
157 quantity mutually should be four, and the quantity of limited block 152 is two, and the quantity of cushioning piece 151 is four, but is not limited to
In this.
In the present embodiment, second spring damping module is identical as the structure of the first spring damping module, does not do again
It repeats more.
In a preferred embodiment, specific as shown in Fig. 3,7a, 7b and 7c, the Z-direction rotating mechanism
4, including crossed roller bearing 41, hollow connecting shaft 47, pivotal support arm 42, spacer pin 45, left limit block 44, right limit block
46 and flexible bandage 43, wherein
An opening is longitudinally provided through in top connecting plate 31, Angular Displacement Detecting unit 22 is located in the opening, and
It is connected respectively with top connecting plate 31 and hollow connecting shaft 47；Hollow connecting shaft 47 is by being arranged crossed roller bearing 41 and top
Connecting plate 31 is connected, to form the structure relative to the rotatable movement of top connecting plate 31；42 one end of pivotal support arm with
Hollow connecting shaft 47 is connected, and the other end connects flexible bandage 43, to form the hip connection position；Left limit block 44 and the right side
Limited block 46 is set to the upper surface of top connecting plate 31, and spacer pin 45 is connected with pivotal support arm 42, and left and right limited block 46
Match with spacer pin 45, the rotation angle of pivotal support arm 42 to be limited in default range.
In a preferred embodiment, specific as shown in Figure 2, the displacement of the lines detection unit 21 includes straight line
Potentiometer 212, linear potentiometers erection support 213 and the L-type bent plate 211 being installed on the guide rod of linear potentiometers 212.
Displacement of the lines as a further preference in embodiment, between bottom connecting plate 11 and middle part connecting plate 12
The linear potentiometers 212 of detection unit 21 are connected by linear potentiometers erection support 213 with middle part connecting plate 12, L-type bent plate
The guide rod of 211 connection bottom connecting plates 11 and linear potentiometers 212, alternatively, linear potentiometers 212 are installed by linear potentiometers
Support 213 is connected with bottom connecting plate 11, and L-type bent plate 211 connects the guide rod of middle part connecting plate 12 and linear potentiometers 212.?
After hip is placed in hip placement position by patient, when the corresponding rehabilitation training of hipbone, X-direction mobile mechanism 1 follows human body hip
The promotion in portion accordingly relatively moves: the first sliding block 13 along first straight line guide rail 14 slide, while L-type bent plate 211 follow be connected
Bottom connecting plate 11 or middle part connecting plate 12 are mobile, and the guide rod of linear potentiometers 212 is driven to move linearly, linear potentiometers
The displacement of the lines amount of 212 detection guide rods generations is simultaneously uploaded to external equipment, with the motion state of real-time monitoring patient's hip.
Displacement of the lines as a further preference in embodiment, between middle part connecting plate 12 and top connecting plate 31
The linear potentiometers 212 of detection unit 21 are connected by linear potentiometers erection support 213 with middle part connecting plate 12, L-type bent plate
The guide rod of 211 connection top connecting plates 31 and linear potentiometers 212, alternatively, linear potentiometers 212 are installed by linear potentiometers
Support 213 is connected with top connecting plate 31, and L-type bent plate 211 connects the guide rod of middle part connecting plate 12 and linear potentiometers 212.?
After hip is placed in hip placement position by patient, when the corresponding rehabilitation training of hipbone, Y-direction mobile mechanism 3 follows human body hip
The promotion in portion accordingly relatively moves: the second sliding block 32 along second straight line guide rail 33 slide, while L-type bent plate 211 follow be connected
Top connecting plate 13 or middle part connecting plate 12 are mobile, and the guide rod of linear potentiometers 212 is driven to move linearly, linear potentiometers
The displacement of the lines amount of 212 detection guide rods generations is simultaneously uploaded to external equipment, with the motion state of real-time monitoring patient's hip.
In a preferred embodiment, specific as shown in Fig. 3 and Fig. 7 b, the Angular Displacement Detecting unit 22 wraps
It includes: rotating potentiometer 221, rotating potentiometer erection support 223, L-type clamping plate 222, shaft coupling 224 and spill connecting shaft
225, wherein rotating potentiometer erection support 223 is installed in top connecting plate 31, and rotating potentiometer 221 passes through L-type clamping plate
222 are connected with rotating potentiometer erection support 223, and concave connecting shaft is connected with hollow connecting shaft 47, and shaft coupling 224 connects
Spill connecting shaft 225 and rotating potentiometer 221.After hip is placed in hip placement position by patient, the corresponding rehabilitation of hipbone
When training, Z-direction rotating mechanism 4 follows the corresponding relative rotation of the promotion of hipbone mobile: pivotal support arm 42 drives hollow
Connecting shaft 47 rotates, and the shaft coupling 224 of Angular Displacement Detecting unit 22 is as hollow connecting shaft 47 is relative to the rotation of rotating potentiometer 211
Transfer is dynamic, and rotating potentiometer 221 detects the relative angular displacement amount of generation and is uploaded in external equipment, with real-time monitoring patient
The motion state of hip.
It is worth noting that above-mentioned X-direction mobile mechanism 1 and Y-direction mobile mechanism 3 passes through straight line in moving process
Sliding realizes that relative movement is realized but it is also possible to be by the way that the modes such as linear bearing are arranged in the position between guide rail and sliding block.This
Outside, the crossed roller bearing in above-mentioned Z-direction rotating mechanism can also be replaced with other bearings, or be also possible to copper sheathing；It is examining
In terms of surveying straight-line displacement, above-mentioned linear potentiometers can also use a variety of displacement sensor replacements such as grating scale, rope sensor；?
In terms of detection angles, the replacement of the multiple angles sensor such as encoder is also can be used in above-mentioned rotating potentiometer；In damping module
In, elastic element can also use other things such as air bag, rubber, magnet to replace the spring in addition to using spring.Obviously,
On to address each application device shown in figure be only the preferred embodiment of the present invention, but should not be limited to thoses mentioned above, realizing approximate function
Can, Approximation Problem is solved, and use the scheme of above-mentioned similar technical characteristics, it is clear that should also be incorporated in protection scope of the present invention
It is interior.
Hereinafter, being illustrated with a kind of specific embodiment, it should be pointed out that described in following implementation it
Structure, technique, selection are only to illustrate the feasibility of embodiment, the intention of there is no restriction the scope of the present invention.
The support of multiple degrees of freedom hip and detection device application of the present invention are mounted on healing robot ontology, and with
The hip of patient is connected, and by the multivariant movement in setting tri- directions XYZ and rotating mechanism, can be improved Rehabilitation
The freedom degree of hip motion when training, and when X, Y-direction mobile mechanism 3 work, spring damping module 15 will be in X, Y-direction
Travel limit within limits, and can reducing mechanism reach the limit of the oscillation and impact generated when position.It is revolved in Z-direction
It, can be by adjusting the installation direction of left and right limited block 46, in conjunction with the limit being connected on pivotal support arm 42 when rotation mechanism 4 works
Position pin 45, reach locking pivotal support arm 42, and will rotation angle be limited in it is scheduled within the scope of.For lower limb rehabilitation machine
People provides a multiple degrees of freedom hip support and detection device, relieves pact suffered by limbs in the training of lower limb hemiplegia patient
Beam improves the science and comfort level of Rehabilitation training.It is capable of the movement of real-time monitoring patient's hip by sensor simultaneously
State provides accurate data supporting for Rehabilitation training, to accelerate the rehabilitation process of patient.
In the above-mentioned technical solutions, the support and detection device have multiple freedom degrees, comfortable wearing, by patient's hip
The support in portion, to mitigate weight bearing of its body to lower limb, auxiliary patient carries out rehabilitation training repeatedly, at the same will not to patient with
Carry out any constraint；The device is equipped with multiple detection units, the motion state of real-time detection patient's hip joint, by dividing data
Analysis, to understand the rehabilitation situation of patient, provides data supporting for the rehabilitation programme in later period.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive
's.Those skilled in the art understand that in the spirit and scope defined by the claims in the present invention many changes can be carried out to it,
It modifies or even equivalent, but falls in protection scope of the present invention.
Claims (10)
1. a kind of multiple degrees of freedom hip support and detection device, are applied in lower limb rehabilitation robot characterized by comprising
Installation pedestal comprising from bottom to top successively separately positioned bottom connecting plate, middle part connecting plate and top connection
Plate, and the bottom connecting plate is connected with robot body；
X-direction mobile mechanism is installed between the bottom connecting plate and the middle part connecting plate, and the middle part connecting plate can
The linear movement of the X-direction relative to the bottom connecting plate is carried out by the X-direction mobile mechanism；
Y-direction mobile mechanism is installed between the middle part connecting plate and the top connecting plate, and the top connecting plate can
The linear movement of the Y-direction relative to the middle part connecting plate is carried out by the Y-direction mobile mechanism；
Z-direction rotating mechanism is installed in the top connecting plate, can carry out moving in rotation relative to the top connecting plate,
And there is the hip connection position of placement patient's hip on the Z-direction rotating mechanism；
Sensor detection module, including two displacement of the lines detection units and an Angular Displacement Detecting unit；
Two displacement of the lines detection units are respectively arranged between the bottom connecting plate and the middle part connecting plate, Yi Jisuo
It states between middle part connecting plate and the top connecting plate, to detect the straight-line displacement amount of X-direction and Y-direction movement respectively；
The Angular Displacement Detecting unit is installed in the top connecting plate, and upper end is connected with the Z-direction rotating mechanism, is used
To detect the angular displacement of Z-direction rotation.
2. multiple degrees of freedom hip support as described in claim 1 and detection device, which is characterized in that the X-direction moving machine
Structure includes:
First straight line guide rail is installed on the upper side of the bottom connecting plate in X direction；
First sliding block is installed on the downside of the middle part connecting plate, and matches with the first straight line guide rail, can be along described
First straight line guide rail moves linearly；And
First spring damping module, connects the bottom connecting plate and the middle part connecting plate, to limit the maximum in X-direction
Stroke simultaneously reduces the concussion and impact generated when reaching extreme position.
3. multiple degrees of freedom hip support as claimed in claim 2 and detection device, which is characterized in that the Y-direction moving machine
Structure includes:
Second straight line guide rail is installed on the upper side of the middle part connecting plate along Y-direction；
Second sliding block is installed on the downside of the top connecting plate, and matches with the second straight line guide rail, can be along described
Second straight line guide rail moves linearly；And
Second spring damping module connects the middle part connecting plate and the top connecting plate, to limit the maximum in Y-direction
Stroke simultaneously reduces the concussion and impact generated when reaching extreme position.
4. multiple degrees of freedom hip support as claimed in claim 3 and detection device, which is characterized in that
The first spring damping module and the second spring damping module structure having the same include that spring is installed
Seat, at least two guiding optical axises, at least four pressure springs, at least four adjustment axis, at least two limited blocks and resilient cushion
Piece, wherein
The guiding optical axis is equipped in each limited block respectively, and the both ends of the limited block are separately connected
There is the cushioning piece；
The both ends of each guiding optical axis being arranged in the limited block are arranged with the pressure spring respectively, and described
The both ends of guiding optical axis are separately mounted in the through-hole opened up on the spring mounting seat；
The adjustment axis is connected with the through hole whorl of the spring mounting seat, and each pressure spring is across the guiding optical axis point
It is not connected with the adjustment axis, it can be by screw-in length of the adjustment axis in the spring mounting seat, described in adjusting
The pretightning force of pressure spring.
5. multiple degrees of freedom hip support as claimed in claim 1 or 3 and detection device, which is characterized in that the Z-direction rotation
Mechanism includes crossed roller bearing, hollow connecting shaft, pivotal support arm, spacer pin, left limit block, right limit block and flexibility
Bandage, wherein
Longitudinally through an opening is offered in the top connecting plate, the Angular Displacement Detecting unit is located in the opening, and
It is connected respectively with the top connecting plate and the hollow connecting shaft；
The hollow connecting shaft is connected by being arranged the crossed roller bearing with the top connecting plate, opposite to be formed
In the structure of the rotatable movement of the top connecting plate；
One end of the pivotal support arm is connected with the hollow connecting shaft, and the other end is connected with the flexible bandage, to shape
At the hip connection position；
The left limit block and the right limit block are set to the upper surface of the top connecting plate, the spacer pin and the rotation
Turn support arm to be connected, and left and right limited block and the spacer pin match, to limit the rotation angle of the pivotal support arm
In default range.
6. multiple degrees of freedom hip support as described in claim 1 or 4 and detection device, which is characterized in that each line position
Moving detection unit includes linear potentiometers, linear potentiometers erection support and the L being installed on the guide rod of linear potentiometers
Type bent plate.
7. multiple degrees of freedom hip support as claimed in claim 6 and detection device, which is characterized in that be located at the bottom and connect
The linear potentiometers of the displacement of the lines detection unit between plate and the middle part connecting plate pass through the linear potentiometers
Erection support is connected with middle part connecting plate, and the L-type bent plate connects the guide rod of the bottom connecting plate Yu the linear potentiometers,
Alternatively,
The linear potentiometers are connected by the linear potentiometers erection support with the bottom connecting plate, the L-type bent plate
Connect the guide rod of the middle part connecting plate Yu the linear potentiometers.
8. multiple degrees of freedom hip support as claimed in claim 7 and detection device, which is characterized in that
The straight line current potential of the displacement of the lines detection unit between the middle part connecting plate and the top connecting plate
Meter is connected by the linear potentiometers erection support with the middle part connecting plate, and the L-type bent plate connects the top connection
The guide rod of plate and the linear potentiometers, alternatively,
The linear potentiometers are connected by the linear potentiometers erection support with the top connecting plate, the L-type bent plate
Connect the guide rod of the middle part connecting plate Yu the linear potentiometers.
9. multiple degrees of freedom hip support as claimed in claim 5 and detection device, which is characterized in that the Angular Displacement Detecting list
Member includes rotating potentiometer, rotating potentiometer erection support, L-type clamping plate, shaft coupling and spill connecting shaft, wherein
The rotating potentiometer erection support is installed in the top connecting plate, and the rotating potentiometer is pressed from both sides by the L-type
Tight plate is connected with the rotating potentiometer erection support, and the spill connecting shaft is connected with the hollow connecting shaft, described
Shaft coupling connects the spill connecting shaft and the rotating potentiometer.
10. multiple degrees of freedom hip support as claimed in claim 4 and detection device, which is characterized in that
The quantity of the guiding optical axis is two, and the quantity of the pressure spring is four, and the quantity of the adjustment axis is four, described
The quantity of limited block is two, and the quantity of the cushioning piece is four.
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| CN201610041621.3A CN106983630B (en) | 2016-01-21 | 2016-01-21 | A kind of support of multiple degrees of freedom hip and detection device |
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| CN106983630B true CN106983630B (en) | 2019-06-28 |
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| CN111449899B (en) * | 2020-03-26 | 2022-05-31 | 浙江大学 | Pelvis correction rehabilitation training robot for rehabilitation training |
| CN113143689B (en) * | 2021-04-22 | 2023-04-14 | 上海电气集团股份有限公司 | Angle adjusting and locking mechanism for hip weight reduction device of rehabilitation robot |
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| CN104825306A (en) * | 2015-04-29 | 2015-08-12 | 东南大学 | Hip joint assisting rehabilitation device based on sleeve rope transmission |
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| JP4443896B2 (en) * | 2003-11-12 | 2010-03-31 | 功 池田 | Sciatic support prosthesis |
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|---|---|---|---|---|
| CN101466343A (en) * | 2006-06-12 | 2009-06-24 | 本田技研工业株式会社 | Control device for walking assistance device |
| CN201022835Y (en) * | 2006-11-02 | 2008-02-20 | 山东康泰实业有限公司 | Weight reducing seat device |
| CN101570219A (en) * | 2009-06-08 | 2009-11-04 | 南京航空航天大学 | Bionic leg with three-dimensional force perception and spatial surface self-adaptive ability |
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