Following type lower limb motion rehabilitation omnidirectional mobile robot

Abstract

The invention discloses a following type lower limb motion rehabilitation omnidirectional mobile robot. A U-shaped moving bottom frame and an upper U-shaped protective frame are connected through a telescoping support device, an omnidirectional mobile chassis is connected under the front end bending section of the U-shaped frame of the omnidirectional mobile bottom U-shaped mobile bottom frame, the rear end is connected with two universal wheel assemblies, the omnidirectional mobile chassis includes a chassis main frame and continuous switching wheel assemblies, the chassis main frame is connected with the U-shaped frame, the three continuous switching wheel assemblies are connected to the bottom surface of the chassis main frame and are in circumference array triangular distribution, and a fall-down protector is arranged under the upper U-shaped protective frame and is connected with the upper U-shaped protective frame. A user is between the U-shaped moving bottom frame and the upper U-shaped protective frame to be protected by the fall-down protector, the walking intention of the user can be determined by a walking intention detection device, the robot is controlled to follow the user to move, protects the user from secondary injury by accidentally falling down, and assists the user to perform lower limb motion rehabilitation training.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to an omnidirectional mobile robot for follow-up lower limb motion rehabilitation. Background technique [0002] In China, where the population is aging day by day, the number of elderly people with difficulty walking in the lower limbs is increasing. At the same time, the number of people with lower limb motor dysfunction caused by traffic accidents, sports sprains and other diseases is also increasing year by year. In addition to early surgical treatment and drug treatment, scientific, correct and reasonable limb rehabilitation training plays a very important role in the recovery of limb motor function. For this reason, a kind of mechanical device is needed to help patients carry out walking rehabilitation training, thereby gradually recovering the motor function of the lower limbs. Today's rehabilitation robots, such as a rehabilitation robot developed by Beijing I...

AI Technical Summary

Problems solved by technology

Today's rehabilitation robots, such as a rehabilitation robot developed by Beijing Institute of Technology (patent application number 2009100881588), this rehabilitation robot can achieve the purpose of walking rehabilitation training, and its walking mobile unit adopts a four-wheel movement method with two active wheels and two passive wheels, each of the two active wheels is driven by a separate motor, this kind of mobile chassis cannot move in all directions, and the direction is not flexible; the rehabilitation robot uses a column that can slide up and down along the back plate to adjust the height of the robot , but the width of the balance assist handle is not adjustable, and it is only suitable for patients of a certain size; these limit the range of use of the robot

In addition, such as a rehabilitation walker robot developed by Huazhong University of Science and Technology (patent application number 2011104330357X), this rehabilitation walker robot can also achieve the purpose of walker rehabilitation training, in which three mecanum wheels are installed symmetrically in the center of the robot chassis, It is used to realize the all-round movement of the walking mechanism, but the mecanum wheel has a complicated structure and high manufacturing cost. If the continuous switching wheel is used, the effect of all-round movement can also be achieved, and the processing difficulty and cost are greatly reduced; the rehabilitation aid The control handle of the mobile robot is designed to be freely adjustable in height and pitch angle to meet the needs of users of different heights and shapes, but the left and right width of the control handle cannot be adjusted, which will reduce the comfort of use and affect the effect of rehabilitation training

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