Bionic auxiliary standing training robot

Abstract

The invention relates to a bionic auxiliary standing training robot, and relates to the technical field of movement mechanical equipment. The bionic auxiliary standing training robot comprises a rack, a supporting mechanism, a knee joint mechanism, a front wheel mechanism and a rear wheel mechanism. According to bionic data such as key degrees of freedom of hip joints, knee joints and ankle joints in gaits of a healthy human body, the bionic auxiliary standing training robot effectively supports the hip and feet of a user in a linkage mode through a mechanical structure, and it is guaranteed that the track of the saddle mechanism is consistent with the track of the hip walking process of the human body; only a single motor is matched with the transmission mechanism, so that the bionics motion trail can be simultaneously completed by the double-pedal mechanism and the saddle mechanism, and a user is assisted to carry out gait training according to bionics characteristics of a standard healthy human body. Due to light self weight and low processing cost, commercial production and family popularization are facilitated, and the blank in the field can be filled.

Description

Technical Field

[0001] The invention relates to the technical field of sports mechanical equipment, and in particular to a bionic auxiliary standing training robot. Background Art

[0002] Standing up is one of the most basic movements and the starting movement of walking. If you cannot stand up normally, you cannot perform other subsequent movements of the lower limbs. Clinical practice of rehabilitation medicine has proved that passive standing training for non-permanent paraplegic patients can effectively stimulate the vitality of their neuromuscular system and is expected to recover in a beneficial direction. For patients with lower limb standing dysfunction, they cannot perform completely autonomous standing training during the rehabilitation process, and passive standing training requires the assistance of effective power equipment. At present, most of the research on rehabilitation training robots at home and abroad focuses on the research of gait training robots, and there are almost no rehabilitation training robots for the standing process. The training equipment with relatively simple structure is commonly found in the field of power equipment for fitness, and it is difficult for patients to achieve the effect of bionic exercise training, while non-bionic gait exercise training will cause different degrees of deformed rehabilitation of the patient's muscles and bones. Therefore, based on the joint freedom of healthy users when standing up, according to the principles of bionics and ergonomics, the design of a bionic standing training robot with simple mechanical structure, low cost, easy use and lightweight is of great significance in the field of bionic rehabilitation equipment research and market demand. Summary of the invention

[0003] The present invention aims to solve the technical problems in the prior art and provides a mechatronic, bionic assisted standing training robot which can perform assisted standing training for patients with lower limb standing dysfunction.

[0004] In order to solve the above technical problems, the technical solutions of the present invention are as follows:

[0005] A bionic assisted standing training robot comprises: a frame, a supporting mechanism, a knee joint mechanism, a front wheel mechanism and a rear wheel mechanism;

[0006] The frame includes: a headrest, a backrest, a seat plate, an armrest and a bottom frame; the headrest is fixedly connected downward to the middle of the top of the backrest, the backrest is connected downward to the rear of the seat plate through a hinge and rotates around the seat plate; the seat plate is fixedly connected downward to the top of the bottom frame;

[0007] The supporting mechanism includes: four first connecting rods, two second connecting rods, a horizontal connecting rod, a horizontal cam, a connecting rod support, a cam pin, a cam connecting rod, a slider, a slide rail, a cam roller, a first motor seat and a first motor; the second connecting rod is fastened with the thread on the motor coupling, and its rotation is controlled by the motor; the second connecting rod is fixedly connected with the horizontal cam to realize common rotation; the cam roller is contacted and constrained with the horizontal cam, and the horizontal position of the cam connecting rod is controlled by the horizontal cam; the inner diameter of the cam connecting rod through hole and the horizontal connecting rod form a clearance fit through the cam pin to realize common horizontal movement; the horizontal connecting rod and the inner diameter of the connecting rod support through hole form a clearance fit through the cam pin to realize common horizontal movement; the connecting rod support is fixedly connected downwardly to the top of the slider; the slider is nested on the slide rail and slides along the slide rail; the slide rail is fixedly connected downwardly to the handrail to realize fixed constraint;

[0008] The knee joint mechanism includes: a first cover plate, a second cover plate, a first connecting rod, a second connecting rod, a first gear set, a tension spring, a torsion spring, a first pin, a second pin, a third pin, a thigh piece, a calf piece, a fourth pin, a fifth pin, a sixth pin, a second gear set, a third connecting rod, a fourth connecting rod, a third cover plate and a fourth cover plate; the inner diameter of the through hole of the first gear set and the inner diameter of the through hole of the first connecting rod and the second connecting rod form a clearance fit through the first pin, the second pin and the third pin to realize gear meshing and relative rotation, and the three torsion springs form a clearance fit with the first pin, the second pin and the third pin to realize elastic constraint; the tension spring forms a clearance fit with the second pin and the third pin to realize elastic constraint; the inner diameter of the through hole of the thigh piece and the first gear set form a clearance fit through the second pin to realize relative rotation; the inner diameter of the through hole of the calf piece and the first gear set form a clearance fit through the third pin The first cover plate is fixed to the thigh piece to the left to realize the mechanism protection; the second cover plate is fixed to the calf piece to the left to realize the mechanism protection; the inner diameter of the through hole of the second gear set forms a clearance match with the fourth pin, the fifth pin and the sixth pin through the inner diameter of the through hole of the third connecting rod and the fourth connecting rod to realize the gear meshing and relative rotation; the three torsion springs form a clearance match with the fourth pin, the fifth pin and the sixth pin to realize the elastic constraint; the tension spring forms a clearance match with the fourth pin and the sixth pin to realize the elastic constraint; the inner diameter of the through hole of the thigh piece and the second gear set form a clearance match through the fourth pin to realize the relative rotation; the inner diameter of the through hole of the calf piece and the second gear set form a clearance match through the sixth pin to realize the relative rotation; the third cover plate is fixed to the thigh piece to the right to realize the mechanism protection; the fourth cover plate is fixed to the calf piece to the right to realize the mechanism protection;

[0009] The front wheel mechanism includes: a first connecting block, a gasket, a first spring, a first restraining rod, a wheel frame, a bearing cover, a first bearing, a front wheel and a seventh pin; the first connecting block is fixedly connected to the front lower part of the handrail to the right; the gasket is fixedly connected to the first connecting block upward; the first restraining rod is fixedly connected to the two gaskets upward and downward respectively; the first spring and the first restraining rod form a clearance fit to achieve elastic constraint; the gasket is fixedly connected to the wheel frame downward; the inner diameter of the front wheel through hole and the inner diameter of the first bearing through hole form an interference fit through the seventh pin to achieve relative rotation; the bearing cover is fixedly connected to the front wheel to the left to achieve structural protection; the seventh pin is fixedly connected to the wheel frame to make the front wheel rotate around the wheel frame;

[0010] The rear wheel mechanism includes: a second connecting block, a second constraint rod, a second spring, a rear wheel, an eighth pin, a second bearing, a bearing seat, a second motor and a second motor seat; the second connecting block is fixedly connected to the right at the rear lower part of the armrest; two second constraint rods are fixedly connected to the second connecting block; the second spring and the second constraint rod form a clearance fit to achieve elastic constraint; the inner diameter of the rear wheel through hole and the inner diameter of the second bearing through hole form an interference fit through the eighth pin to achieve relative rotation; the outer diameter of the second bearing and the inner diameter through hole of the bearing seat form an interference fit; the second motor seat is fixedly connected to the bearing seat to the right; the second motor is fixedly connected to the second motor seat to the left; the second motor and the eighth pin are fastened through the threaded connection on the coupling to achieve synchronous rotation;

[0011] The supporting mechanism is fixedly connected downward to the bottom end of the armrest through the slide rail and the first motor seat; the bottom frame is fitted on the first connecting rod through the second pin clearance; the inner diameters of the diagonal through holes of the four first connecting rods and the inner diameters of the through holes between the two second connecting rods form clearance fit through the second pin to achieve relative rotation; the seat plate and the bottom frame realize standing movement along with the supporting mechanism according to the standing movement curve of the human body;

[0012] The knee joint mechanism is fixedly connected to the lower end of the bottom plate upwards through the thigh piece, and the calf piece is interference-fitted to the bottom end of the armrest through a pin and rotates around the bottom end of the armrest;

[0013] The front wheel mechanism is fixedly connected to the front lower part of the armrest through a connecting block;

[0014] The rear wheel mechanism is fixedly connected to the rear lower part of the armrest through a connecting block.

[0015] In the above technical solution, the inner diameter of each through hole between the four first connecting rods forms a clearance fit with the second pin to achieve relative rotation.

[0016] In the above technical solution, the through holes at the connection of the two second connecting rods and the inner diameter of the through hole of the horizontal connecting rod form a clearance fit through the second pin to achieve relative rotation.

[0017] In the above technical solution, the user's thighs are fixed on the seat plate, and the back is fixed on the backrest, and the movement of the seat plate and the backrest assists the human body in standing up training.

[0018] The present invention has the following beneficial effects:

[0019] The bionic assisted standing training robot of the present invention fully considers the key degrees of freedom of the hip, knee and ankle joints in the process of standing up and the spatial posture of the human body, and designs the mechanical structure into a just constraint system according to the bionic principle. Through the effective linkage support of the user's hip position, it can assist users with standing dysfunction to perform simulation training according to the bionic standing state of the healthy human body. Through the cooperation of two servo motors, the seat cushion can complete the bionic standing trajectory and realize the predetermined motion function. The seat cushion support force is then detected in real time by the force sensor in the sensing weight loss mechanism. By implementing closed-loop control on the linear servo motor, the real-time quantitative weight loss training effect according to the patient's needs can be achieved. Furthermore, the dead weight of the equipment components can be reduced and the manufacturing cost can be saved through structural and dimensional optimization analysis.

[0020] The bionic assisted standing training robot of the present invention can achieve the use effect of standing training indoors, has a friendly use experience, bionic intelligent use functions, lightweight weight and low processing cost, fills the gap in the field, and is conducive to commercial production, popularization and promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] Figure 1 This is a schematic diagram of the trajectories on both sides of the hip joint during the human body's standing process, which is based on the bionic assisted standing training robot of the present invention.

[0023] Figure 2 It is a schematic diagram of the principle of the propping mechanism of the bionic assisted standing training robot of the present invention.

[0024] Figure 3 It is a schematic diagram of the cam profile of the propping mechanism of the bionic assisted standing training robot of the present invention.

[0025] Figure 4 It is a schematic diagram of the trajectory of knee joint height change of the present invention.

[0026] Figure 5 It is a schematic diagram of the overall structure of the bionic assisted standing training robot of the present invention.

[0027] Figure 6 It is a schematic exploded view of the overall structure of the bionic assisted standing training robot of the present invention.

[0028] Figure 7 This is a schematic diagram of the frame structure of the bionic assisted standing training robot of the present invention.

[0029] Figure 8It is a schematic diagram of the propping mechanism of the bionic assisted standing training robot of the present invention.

[0030] Fig. 9 This is a schematic diagram of the knee joint mechanism of the bionic assisted standing training robot of the present invention.

[0031] Fig.10 This is a schematic diagram of the front wheel mechanism of the bionic assisted standing training robot of the present invention.

[0032] Fig.11 This is a schematic diagram of the rear wheel mechanism of the bionic assisted standing training robot of the present invention.

[0033] The reference numerals in the figures indicate:

[0034] 1-frame, 2-support mechanism, 3-knee joint mechanism, 4-front wheel mechanism, 5-rear wheel mechanism;

[0035] 101-headrest, 102-backrest, 103-seat plate, 104-armrest, 105-base frame;

[0036] 201-first connecting rod, 202-second connecting rod, 203-horizontal connecting rod, 204-horizontal cam, 205-connecting rod support, 206-cam pin, 207-cam connecting rod, 208-slider, 209-slide rail, 210-cam roller, 211-first motor seat, 212-first motor;

[0037] 301-first cover plate, 302-second cover plate, 303-first connecting rod, 304-second connecting rod, 305-first gear set, 306-tension spring, 307-torsion spring, 308-first pin, 309-second pin, 310-third pin, 311-thigh plate, 312-calf plate, 313-fourth pin, 314-fifth pin, 315-sixth pin, 316-second gear set, 317-third connecting rod, 318-fourth connecting rod, 319-third cover plate, 320-fourth cover plate;

[0038] 401-first connecting block, 402-gasket, 403-first spring, 404-first restraining rod, 405-wheel frame, 406-bearing cover, 407-first bearing, 408-front wheel, 409-seventh pin;

[0039] 501-second connecting block, 502-second restraining rod, 503-second spring, 504-rear wheel, 505-eighth pin, 506-second bearing, 507-bearing seat, 508-second motor, 509-second motor seat; DETAILED DESCRIPTION

[0040] The inventive concept of the present invention is:

[0041] The bionic assisted standing training robot of the present invention is based on the principle of bionics, and provides a good human-computer interaction experience when the user performs standing training; the lightweight structure is processed, and a seat cushion and a belt are used to perform safe binding at the waist above the center of gravity of the human body, so as to provide a fall protection auxiliary force; the dynamic balance analysis and design of the mechanical structure is based on the ZMP criterion of human gait movement to prevent the user from falling during standing training; the movement trajectory of the seat cushion is designed based on the bionic data of the human body when standing up under big data statistics, so that the patient can perform bionic rehabilitation training according to the gait characteristics of a healthy human body.

[0042] The bionic assisted standing training robot of the present invention uses the horizontal cam obtained by kinematic inverse solution and the first motor to control the seat plate trajectory to be the hip joint trajectory of a healthy human body during standing. The seat plate can be used to support the patient's weight reduction upward, share the load of the patient's upper body weight on the lower limbs, achieve a load reduction effect, provide a standing training plan for patients with lower limb standing dysfunction, and scientifically implement targeted standing rehabilitation training. The bionic assisted standing training robot of the present invention has a simple structure and is convenient for home use and promotion.

[0043] The details of the present invention and its specific implementation methods are further described below in conjunction with the accompanying drawings.

[0044] See also Figure 1 As shown, the bionic assisted standing training robot of the present invention adopts the method of supporting under the hip joint to assist the patient to stand up, and the main action points during the supported assisted standing up are the points on the left and right sides of the hip joint. Therefore, in combination with the actual design requirements, the motion trajectory of the points on the left and right sides of the hip joint during the standing up process is used here to concretely represent the standing up motion trajectory. Combined with the geometric relationship shown in the human limb segment standing up model, the expression of the horizontal and vertical coordinates of the points on the left and right sides of the hip joint can be obtained as follows:

[0045] x=l 1 sinθ 1 +l 2 sinθ 2 ;

[0046] y=l 1 ·cosθ 1 +l 2 ·cosθ 2 ;

[0047] See also Figure 2 As shown, the coordinate system is established with the ankle joint as the origin, the human body is facing the positive direction of the x-axis, the vertical upward is the positive direction of the y-axis, and the angle between the thigh and the y-axis is θ 1 , the length is l 1 , the angle between the lower leg and the y-axis is θ 2 , the length is l 2; The above angle is 0° when it coincides with the y-axis, and clockwise rotation is positive and counterclockwise rotation is negative.

[0048] In order to obtain the movement trajectory of the hip joint during standing up, it is necessary to measure the changes in the angles of the ankle and knee joints. An inertial sensor is needed. The inertial sensor is tied to the corresponding limb segment and connected to the mobile phone Bluetooth to collect the changes in angular acceleration of the experimental subject during standing up. The data of the three joint angles can be obtained through calculation. The average of the three joint angle data of multiple experimental subjects can be taken to obtain the corresponding angle change law during standing up. The movement trajectory of the points on the left and right sides of the hip joint during standing up can be obtained through calculation.

[0049] Based on the known bionic trajectory of human standing up, a bionic assisted standing training robot is designed.

[0050] A fixed rotation pair is provided at A, and a rotation pair is provided at E, which can slide horizontally on AG. AB =L AD =30cm, L BC =L CD =L DF =L FB =16cm, L EF =30cm

[0051] The trajectory of point C is the bionic trajectory of the hip joint when standing up. The coordinate system when standing up takes the vertical projection point O of the center of gravity of the human body as the origin of the coordinate, the direction of the human face as the positive direction of the x-axis, and the vertical upward as the positive direction of the y-axis. Let the trajectory of point C be (x, y), and the coordinates of point A be (-2.5, 51).

[0052] Then the distance between AC is:

[0053]

[0054] According to the law of cosines:

[0055]

[0056] If the triangle BCF is an isosceles triangle, then:

[0057] θ BCF =180-2×θ ACB

[0058] Then the distance between CF is:

[0059]

[0060] Then the coordinates of point F are:

[0061]

[0062] Point E has been sliding horizontally, the ordinate is known, and the length of LEF is known, so the coordinates of point E are

[0063]

[0064] See also Figure 3 As shown, the profile curve of the horizontal cam 204 can be designed based on this result;

[0065] Rod AB rotates around point A, then θ GAB for:

[0066]

[0067] The AB rod is controlled to rotate by the first motor 212 so that the trajectory of the bionic structure is the movement trajectory of the hip joint during standing up.

[0068] See also Figure 4 The figure shows the sliding trajectory of the human knee joint.

[0069] See also Figure 5 Shown is the overall appearance diagram of the invention.

[0070] See also Figure 6 As shown, the bionic assisted standing training robot of the present invention includes: a frame 1, a supporting mechanism 2, a knee joint mechanism 3, a front wheel mechanism 4, and a rear wheel mechanism 5; the supporting mechanism 2 is fixedly connected downward to the bottom end of the armrest 104 with the first motor seat 211 through the slide rail 209, the knee joint mechanism 3 is fixedly connected upward to the lower end of the base frame 105 through the thigh piece 311, the calf piece 312 is interference fit at the bottom end of the armrest 104 through a pin, and can rotate around the bottom end of the armrest 104, the front wheel mechanism 4 is fixedly connected to the front lower part of the armrest 104 through the first connecting block 401, and the rear wheel mechanism 5 is fixedly connected to the rear lower part of the armrest 104 through the second connecting block 501.

[0071] See also Figure 7 As shown, the bionic assisted standing training robot of the present invention, the frame 1 includes: a headrest 101, a backrest 102, a seat plate 103, an armrest 104, and a base frame 105; the headrest 101 is fixedly connected downward to the middle of the upper part of the backrest 102, and the backrest 102 is connected downward to the rear of the seat plate 103 through a hinge, and can rotate around the seat plate 103; the seat plate 103 is fixedly connected downward to the upper part of the base frame 105; the base frame 105 is loosely fitted on the first connecting rod 201 through the second pin 309 in the supporting mechanism 2; the supporting mechanism 2 is fixedly connected downward to the bottom end of the armrest 104 through the slide rail 209 and the first motor seat 211; the seat plate 103 and the base frame 105 can realize standing movement according to the standing movement curve of the human body accompanied by the supporting mechanism 2; the user's thighs are fixed on the seat plate 103, and the back is fixed on the backrest 102, so that the movement of the seat plate 103 and the backrest 102 can assist the human body in standing training.

[0072] See also Figure 8 As shown, the bionic assisted standing training robot of the present invention, the propping mechanism 2 includes: a first connecting rod 201, a second connecting rod 202, a horizontal connecting rod 203, a horizontal cam 204, a connecting rod support 205, a cam pin 206, a cam connecting rod 207, a slider 208, a slide rail 209, a cam roller 210, a first motor seat 211, and a first motor 212; the inner diameters of the through holes of the four first connecting rods 201 form a clearance fit with the second pin 309 to achieve relative rotation, and further, the inner diameters of the diagonal through holes of the four first connecting rods 201 and the inner diameters of the through holes of the two second connecting rods 202 form a clearance fit through the second pin 309 to achieve relative rotation, and the through holes at the connection of the two second connecting rods 202 and the inner diameter of the through holes of the horizontal connecting rod 203 form a clearance fit through the second pin 309 to achieve relative rotation; the second The connecting rod 202 is fastened with the threads on the coupling of the first motor 212, and its rotation can be controlled by the first motor 212; the second connecting rod 202 is fixedly connected to the horizontal cam 204, and can realize common rotation; the cam roller 210 is in contact with the horizontal cam 204 and constrained, and the horizontal position of the cam connecting rod 207 can be controlled by the horizontal cam 204; the inner diameter of the through hole of the cam connecting rod 207 and the horizontal connecting rod 203 form a clearance fit through the cam pin 206, and can realize common horizontal movement; the horizontal connecting rod 203 and the inner diameter of the through hole of the connecting rod support 205 form a clearance fit through the cam pin 206, and can realize common horizontal movement, the connecting rod support 205 is fixedly connected downwardly to the top of the slider 208, and the slider 209 is nested on the slide rail 209 and can slide along the slide rail 209; the slide rail 209 is fixedly connected downwardly to the armrest 104 in the frame 1 to realize fixed constraint. By controlling the rotation of the second connecting rod 202 through the first motor 212 and controlling the rotation of the horizontal cam 204 at the same time, the trajectory of the bionic structure can be made to be the movement trajectory of the hip joint during standing up, achieving a preset effect and meeting the bionic effect requirements.

[0073] See also Fig. 9As shown, the bionic assisted standing training robot of the present invention, the knee joint mechanism 3 includes: a first cover plate 301, a second cover plate 302, a first connecting rod 303, a second connecting rod 304, a first gear set 305, a tension spring 306, a torsion spring 307, a first pin 308, a second pin 309, a third pin 310, a thigh piece 311, a calf piece 312, a fourth pin 313, a fifth pin 314, a sixth pin 315, a second gear set 316, a third connecting rod 317, a fourth connecting rod 318, a third cover plate 319, and a fourth cover plate 320; the inner diameter of the through hole of the first gear set 305 and the inner diameter of the through hole of the first connecting rod 303 and the second connecting rod 304 are connected by the first pin 3 08, the second pin 309 and the third pin 310 form a clearance fit to achieve gear meshing and relative rotation; the three torsion springs 307 form a clearance fit with the first pin 308, the second pin 309 and the third pin 310 to achieve elastic constraint; the tension spring 306 forms a clearance fit with the second pin 309 and the third pin 310 to achieve elastic constraint; the inner diameter of the through hole of the thigh piece 311 forms a clearance fit with the first gear set 305 through the second pin 309 to achieve relative rotation; the inner diameter of the through hole of the calf piece 312 forms a clearance fit with the first gear set 305 through the third pin 310 to achieve relative rotation; the first cover plate 301 is fixed to the thigh piece 31 to the left. 1, the mechanism protection can be realized; the second cover plate 302 is fixedly connected to the calf piece 312 to the left, which can realize the mechanism protection; the inner diameter of the through hole of the second gear set 316 and the inner diameter of the through hole of the third connecting rod 317 and the fourth connecting rod 318 form a clearance fit through the fourth pin 313, the fifth pin 314, and the sixth pin 315, which can realize the gear meshing and relative rotation; the three torsion springs 307 form a clearance fit with the fourth pin 313, the fifth pin 314, and the sixth pin 315 to realize elastic constraint; the tension spring 306 forms a clearance fit with the fourth pin 313 and the sixth pin 315 to realize elastic constraint; the inner diameter of the through hole of the thigh piece 311 and the second gear set 316 form a clearance fit with the fourth pin 313, the fifth pin 314, and the sixth pin 315 to realize elastic constraint; The pin 313 forms a clearance fit to achieve relative rotation; the inner diameter of the through hole of the calf piece 312 and the second gear set 316 form a clearance fit through the sixth pin 315 to achieve relative rotation; the third cover plate 319 is fixed to the thigh piece 311 to the right to achieve mechanism protection; the fourth cover plate 320 is fixed to the calf piece 312 to the right to achieve mechanism protection; through the meshing movement of the first gear set 305 and the second gear set 316, the change in the length of the anterior and posterior cruciate ligaments during the rotation of the knee joint is simulated, so that the sliding curve of the robot's knee joint can be consistent with the sliding curve of the healthy human knee joint, so that the human-computer interaction process is more comfortable, achieving the preset effect, and meeting the requirements of bionic effects.

[0074] The bionic assisted standing training robot of the present invention comprises a front wheel mechanism 4 including a first connecting block 401, a gasket 402, a first spring 403, a first restraining rod 404, a wheel frame 405, a bearing cover 406, a first bearing 407, a front wheel 408, and a seventh pin 409; the first connecting block 401 is fixedly connected to the front lower part of the handrail 104 to the right; the gasket 402 is fixedly connected to the first connecting block 401 upward; the first restraining rod 404 is fixedly connected to the two gaskets 402 upward and downward; the first spring 403 and the first restraining rod 404 are fixedly connected to the first gasket ... A clearance fit is formed to achieve elastic constraint; the gasket 402 is fixedly connected downwardly to the wheel frame 405; the inner diameter of the through hole of the front wheel 408 and the inner diameter of the through hole of the first bearing 407 form an interference fit through the seventh pin 409, which can achieve relative rotation; the bearing cover 406 is fixedly connected to the front wheel 408 to the left to achieve structural protection; the seventh pin 409 is fixedly connected to the wheel frame 405, and the front wheel 408 can rotate around the wheel frame 405; the design of the first spring 403 of the front wheel makes the whole have a shock-absorbing effect, achieving the preset effect and meeting the requirements of the bionic effect.

[0075] The bionic assisted standing training robot of the present invention, the rear wheel mechanism 5 includes: a second connecting block 501, a second constraint rod 502, a second spring 503, a rear wheel 504, an eighth pin 505, a second bearing 506, a bearing seat 507, a second motor 508, and a second motor seat 509; the second connecting block 501 is fixedly connected to the lower rear of the handrail 104 to the right; two of the second constraint rods 502 are fixedly connected to the second connecting block 501; the second spring 503 and the second constraint rod 502 form a clearance fit to achieve elastic constraint; the inner diameter of the through hole of the rear wheel 504 is equal to the through hole of the second bearing 506 The inner diameter forms an interference fit through the eighth pin 505, and relative rotation can be achieved; the outer diameter of the second bearing 506 forms an interference fit with the inner diameter through hole of the bearing seat 507; the second motor seat 509 is fixedly connected to the bearing seat 507 to the right; the second motor 508 is fixedly connected to the second motor seat 509 to the left; the second motor 508 and the eighth pin 505 are fastened by the threaded connection on the coupling; the overall forward and backward movement is controlled by the second motor 508, and the design of the second spring 503 of the rear wheel mechanism 5 makes the whole have a shock-absorbing effect, which can realize synchronous rotation to achieve the preset effect and meet the requirements of bionic effects.

[0076] The bionic assisted standing training robot of the present invention fully considers the key degrees of freedom of the hip, knee and ankle joints in the process of standing up and the spatial posture of the human body, and designs the mechanical structure into a just constraint system according to the bionic principle. Through the effective linkage support of the user's hip position, it can assist users with standing dysfunction to perform simulation training according to the bionic standing state of the healthy human body. Through the cooperation of two servo motors, the seat cushion can complete the bionic standing trajectory and realize the predetermined motion function. The seat cushion support force is then detected in real time by the force sensor in the sensing weight loss mechanism. By implementing closed-loop control on the linear servo motor, the real-time quantitative weight loss training effect according to the patient's needs can be achieved. Furthermore, the dead weight of the equipment components can be reduced and the manufacturing cost can be saved through structural and dimensional optimization analysis.

[0077] The bionic assisted standing training robot of the present invention can achieve the use effect of standing training indoors, has a friendly use experience, bionic intelligent use functions, lightweight weight and low processing cost, fills the gap in the field, and is conducive to commercial production, popularization and promotion.

[0078] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A bionic assisted standing training robot, characterized in that: include: A frame (1), a supporting mechanism (2), a knee joint mechanism (3), a front wheel mechanism (4) and a rear wheel mechanism (5); The frame (1) comprises: a headrest (101), a backrest (102), a seat plate (103), an armrest (104) and a bottom frame (105); the headrest (101) is fixedly connected downward to the middle of the top of the backrest (102); the backrest (102) is connected downward to the rear of the seat plate (103) through a hinge and rotates around the seat plate (103); the seat plate (103) is fixedly connected downward to the top of the bottom frame (105); The supporting mechanism (2) comprises: four first connecting rods (201), two second connecting rods (202), a horizontal connecting rod (203), a horizontal cam (204), a connecting rod support (205), a cam pin (206), a cam connecting rod (207), a slider (208), a slide rail (209), a cam roller (210), a first motor seat (211) and a first motor (212); the second connecting rod (202) and the first motor (212) are fastened by screw threads on the coupling, and the rotation of the second connecting rod (202) and the horizontal cam (204) is controlled by the first motor (212); the second connecting rod (202) and the horizontal cam (204) are fixedly connected to realize common rotation; the cam roller (210) and the horizontal The cam (204) is contact-constrained, and the horizontal position of the cam link (207) is controlled by the horizontal cam (204); the inner diameter of the through hole of the cam link (207) and the horizontal link (203) form a clearance fit through the cam pin (206) to achieve common horizontal movement; the horizontal link (203) and the inner diameter of the through hole of the link support (205) form a clearance fit through the cam pin (206) to achieve common horizontal movement; the link support (205) is fixedly connected downwardly to the top of the slider (208); the slider (208) is nested on the slide rail (209) and slides along the slide rail (209); the slide rail (209) is fixedly connected downwardly to the handrail (104) to achieve fixed constraint; The knee joint mechanism (3) comprises: a first cover plate (301), a second cover plate (302), a first connecting rod (303), a second connecting rod (304), a first gear set (305), a tension spring (306), a torsion spring (307), a first pin (308), a second pin (309), a third pin (310), a thigh piece (311), a calf piece (312), a fourth pin (313), a fifth pin (314), a sixth pin (315), a second gear set (316), a third connecting rod (317), a fourth connecting rod (318), a third cover plate (319) and a fourth cover plate (320); the inner diameter of the through hole of the first gear set (305) is The inner diameter of the through hole of the first connecting rod (303) and the second connecting rod (304) forms a clearance fit through the first pin (308), the second pin (309) and the third pin (310) to achieve gear meshing and relative rotation; the three torsion springs (307) form a clearance fit with the first pin (308), the second pin (309) and the third pin (310) to achieve elastic constraint; the tension spring (306) forms a clearance fit with the second pin (309) and the third pin (310) to achieve elastic constraint; the inner diameter of the through hole of the thigh piece (311) forms a clearance fit with the first gear set (305) through the second pin (309) to achieve relative rotation; the calf piece (31 2) The inner diameter of the through hole forms a clearance fit with the first gear group (305) through the third pin (310) to achieve relative rotation; the first cover plate (301) is fixedly connected to the thigh plate (311) to the left to achieve mechanism protection; the second cover plate (302) is fixedly connected to the calf plate (312) to the left to achieve mechanism protection; the inner diameter of the through hole of the second gear group (316) and the inner diameter of the through hole of the third connecting rod (317) and the fourth connecting rod (318) form a clearance fit through the fourth pin (313), the fifth pin (314), and the sixth pin (315) to achieve gear meshing and relative rotation; the three torsion springs (307) and the fourth pin (313), the fifth pin (314), The sixth pin (315) forms a clearance fit to achieve elastic constraint; the tension spring (306) forms a clearance fit with the fourth pin (313) and the sixth pin (315) to achieve elastic constraint; the inner diameter of the through hole of the thigh piece (311) and the second gear set (316) form a clearance fit through the fourth pin (313) to achieve relative rotation; the inner diameter of the through hole of the calf piece (312) and the second gear set (316) form a clearance fit through the sixth pin (315) to achieve relative rotation; the third cover plate (319) is fixedly connected to the thigh piece (311) to the right to achieve mechanism protection; the fourth cover plate (320) is fixedly connected to the calf piece (312) to the right to achieve mechanism protection; The front wheel mechanism (4) comprises: a first connecting block (401), a gasket (402), a first spring (403), a first restraining rod (404), a wheel frame (405), a bearing cover (406), a first bearing (407), a front wheel (408) and a seventh pin (409); the first connecting block (401) is fixedly connected to the front lower part of the handrail (104) to the right; the gasket (402) is fixedly connected to the first connecting block (401) upward; the first restraining rod (404) is fixedly connected to the two gaskets (402) upward and downward respectively; The first spring (403) and the first constraint rod (404) form a clearance fit to achieve elastic constraint; the gasket (402) is fixedly connected downwardly to the wheel frame (405); the inner diameter of the through hole of the front wheel (408) and the inner diameter of the through hole of the first bearing (407) form an interference fit through the seventh pin (409) to achieve relative rotation; the bearing cover (406) is fixedly connected to the front wheel (408) to the left to achieve structural protection; the seventh pin (409) is fixedly connected to the wheel frame (405) to enable the front wheel (408) to rotate around the wheel frame (405); The rear wheel mechanism (5) comprises: a second connecting block (501), a second restraining rod (502), a second spring (503), a rear wheel (504), an eighth pin (505), a second bearing (506), a bearing seat (507), a second motor (508) and a second motor seat (509); the second connecting block (501) is fixedly connected to the lower rear portion of the handrail (104) to the right; two second restraining rods (502) are fixedly connected to the second connecting block (501); the second spring (503) and the second restraining rod (502) form a clearance fit , realizing elastic constraint; the inner diameter of the through hole of the rear wheel (504) and the inner diameter of the through hole of the second bearing (506) form an interference fit through the eighth pin (505) to realize relative rotation; the outer diameter of the second bearing (506) and the inner diameter through hole of the bearing seat (507) form an interference fit; the second motor seat (509) is fixedly connected to the bearing seat (507) to the right; the second motor (508) is fixedly connected to the second motor seat (509) to the left; the second motor (508) and the eighth pin (505) are fastened by the threaded connection on the coupling to realize synchronous rotation; The supporting mechanism (2) is fixedly connected downward to the bottom end of the armrest (104) through a slide rail (209) and a first motor seat (211); the base frame (105) is loosely fitted on the first connecting rod (201) through a second pin (309); the inner diameters of the diagonal through holes of the four first connecting rods (201) and the inner diameters of the through holes between the two second connecting rods (202) form a loose fit through the second pin (309) to achieve relative rotation; the seat plate (103) and the base frame (105) realize standing movement along with the supporting mechanism (2) according to the standing movement curve of the human body; The knee joint mechanism (3) is fixedly connected to the lower end of the bottom plate (105) upwardly through the thigh plate (311), and the calf plate (312) is interference-fitted with the bottom end of the armrest (104) through a pin and rotates around the bottom end of the armrest (104); The front wheel mechanism (4) is fixedly connected to the front lower part of the armrest (104) through a first connecting block (401); The rear wheel mechanism (5) is fixedly connected to the lower rear portion of the armrest (104) via a second connecting block (501).

2. The bionic assisted standing training robot according to claim 1, characterized in that: The inner diameter of each through hole between the four first connecting rods (201) forms a clearance fit with the second pin (309) to achieve relative rotation.

3. The bionic assisted standing training robot according to claim 1, characterized in that: The through holes at the connection of the two second connecting rods (202) and the inner diameter of the through hole of the horizontal connecting rod (203) form a clearance fit through the second pin (309) to achieve relative rotation.

4. The bionic assisted standing training robot according to claim 1, characterized in that: The user's thighs are fixed on the seat plate (103), and the back is fixed on the backrest (102), and the movement of the seat plate (103) and the backrest (102) assists the human body in standing up training.

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