An intelligent walking assistance and rehabilitation training robot

Abstract

The present invention discloses an intelligent walking-assisting rehabilitation training robot, which relates to the technical field of medical devices and includes a human-computer interaction unit, a pelvic auxiliary motion mechanism, a lifting mechanism, a control unit, and a chassis moving mechanism. The chassis moving mechanism can achieve omnidirectional movement. The pelvic auxiliary motion mechanism is installed on the lifting mechanism and is used for patients to perform lower limb rehabilitation training under the guidance of a doctor or accompanied by family members, realizing the horizontal rotation, horizontal swing, and lateral rotation of the human pelvis, and achieving the effect of exercising the patient's control of the pelvis to achieve lower limb balance. The intelligent walking-assisting rehabilitation training robot provided by the present invention can provide motion damping, auxiliary support, obstacle avoidance, and auxiliary walking, provide three training methods for patients, namely standing balance training, walking static training, and walking dynamic training, and can display the training effect in real time through the human-computer interaction unit, so as to select corresponding training methods for patients in different rehabilitation stages and improve the rehabilitation training efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an intelligent walking assistance and rehabilitation training robot. Background Art

[0002] With the deepening of the aging process in China, the lower limb health problems brought about by aging have become increasingly prominent. Due to the decline of physiological functions, the flexibility of the lower limbs of the elderly is constantly decreasing. In addition, the number of patients with limb motor disorders caused by various diseases such as spinal cord injury and stroke is also increasing significantly. Therefore, people pay more and more attention to the field of lower limb rehabilitation. The pelvis is the hub connecting the trunk and the lower limbs. Research shows that exercising the pelvic movement control of patients has an obvious effect on the recovery of the lower limb movement ability of patients. Improving the ability of patients to control pelvic movement through exercise has become the focus of research on lower limb rehabilitation robots.

[0003] In the prior art, most lower limb rehabilitation training robots are combined with the lower limbs of patients in the form of exoskeletons to achieve lower limb rehabilitation training. However, this structure has the following disadvantages: on the one hand, it is necessary to bind multiple mechanical structures to multiple parts of the lower limbs, and the installation and disassembly are inconvenient; on the other hand, the rehabilitation training method is single, the control requirements are high, so the cost is high, otherwise it is easy to cause secondary injuries to patients. At the same time, most lower limb rehabilitation training robots are not in the form of exoskeletons, but the cost is high, and the machine is relatively large and can only be applied to hospital places.

[0004] Therefore, how to provide an intelligent walking assistance and rehabilitation training robot with a simple structure, comprehensive functions, convenient use, low cost and high safety to assist patients in completing lower limb rehabilitation training is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent walking assistance and rehabilitation training robot to solve the problems existing in the above prior art. It has a simple structure, comprehensive functions, convenient use, low cost and high safety, can assist patients in completing lower limb rehabilitation training, helps to achieve rehabilitation training for patients in different rehabilitation stages, and improves the rehabilitation training efficiency.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides an intelligent walking assistance and rehabilitation training robot, which includes a human-machine interaction unit, a pelvic auxiliary motion mechanism, a lifting mechanism, a control unit, and a chassis moving mechanism. The human-machine interaction unit is arranged at the top of the lifting mechanism, the chassis moving mechanism is arranged at the bottom of the lifting mechanism, the pelvic auxiliary motion mechanism is arranged inside the lifting mechanism and is connected to a slide table arranged on the lifting mechanism, and the control unit is arranged at the head end of the chassis moving mechanism; the human-machine interaction unit is a tablet computer arranged at the top of the lifting mechanism, and the human-machine interaction unit is electrically connected to the control unit;

[0008] The pelvic auxiliary motion mechanism successively includes a motion intention recognition mechanism, a yaw mechanism, and a front four-bar mechanism from the tail end to the head end; the motion intention recognition mechanism is respectively connected to the left and right sides of the yaw mechanism to realize the functions of pelvic rotation, forward or backward freedom, pelvic width adjustment, and motion intention recognition; the front four-bar mechanism is connected to the yaw mechanism in a centered manner, and the head end of the front four-bar mechanism is connected to the slide table; the front four-bar mechanism realizes displacement in the horizontal degree of freedom and measures the lateral displacement value by measuring the angle of the rotating shaft; the yaw mechanism realizes the measurement of the roll degree of freedom and its rotation angle;

[0009] The lifting mechanism includes a lifting mechanism housing, a linear lifting module, and a fixing component. The linear lifting module is arranged inside the lifting mechanism housing, the slide table is arranged on the linear lifting module, and the fixing component is arranged at the bottom of the lifting mechanism housing and is fixedly connected to the chassis moving mechanism; the chassis moving mechanism includes a left frame, a right frame, and an intermediate cross plate connecting the head ends of the left frame and the right frame. Driving wheels and driving mechanisms for driving the driving wheels are arranged at the tail ends of the left frame and the right frame, universal wheels are arranged on both sides of the head end of the chassis moving mechanism, and the driving mechanism is electrically connected to the control unit.

[0010] Preferably, the motion intention recognition mechanism includes two cylinders. Inside the two cylinders, there are a first ball spline, a compression spring, a pressure sensor, two weighing sensors and two sleeves; the two cylinders are longitudinally arranged opposite to each other. One end of the ball spline shaft of the first ball spline extends out of the cylinder, and the other end extends into the cylinder and is connected to the bottom of the cylinder. The spline nut of the first ball spline is sleeved on the ball spline shaft. There are two pressure sensors, which are respectively arranged at both ends inside the cylinder. There are two compression springs. One compression spring is arranged between one end of the spline nut and one of the pressure sensors, and the other compression spring is arranged between the other end of the spline nut and the other pressure sensor. The two pressure sensors are electrically connected to the control unit; on the opposite inner sides of the two cylinders, there is also a seat belt connection buckle respectively. The two seat belt connection buckles are respectively connected to the spline nut inside the cylinder on their respective sides; the two sleeves are arranged horizontally, and the outer ends of the two sleeves are respectively connected to a weighing sensor. The weighing sensor is electrically connected to the human-machine interaction unit. The weighing sensor is connected to the ball spline shaft extending out of the cylinder on its side through a connecting plate. The inner ends of the two sleeves are connected to the yaw mechanism through a shaft connection block; there is also a second ball spline respectively arranged inside the two sleeves; the spline nut of the second ball spline is fixedly connected to the sleeve. The shaft of the second ball spline can move relative to the sleeve. There are gear adjustment holes arranged on the shaft of the second ball spline, and gear adjustment holes are also arranged on the outer walls of the opposite sleeves. The gear adjustment holes on the shaft of the second ball spline and the gear adjustment holes on the outer walls of the sleeves are limited by a threaded plunger.

[0011] Preferably, the yaw mechanism includes a yaw cylinder, a yaw rotating shaft, a spring module, a spring slider, a side rotation encoder, and a roll degree-of-freedom locking mechanism; the yaw cylinder is longitudinally arranged, the yaw rotating shaft is longitudinally arranged in the yaw cylinder, the front end of the yaw rotating shaft is rotatably connected to the front end plate of the yaw cylinder, the rear end of the yaw rotating shaft is connected to the shaft connection block, the spring slider is sleeved on the yaw rotating shaft, and a spring module is respectively arranged at the bottom of the pressure plates on both sides of the spring slider. The spring module is fixed on a spring module fixing seat located at the bottom of the yaw cylinder; the side rotation encoder is arranged in the yaw cylinder and is used for monitoring the rotation angle of the yaw rotating shaft. The side rotation encoder is electrically connected to the human-machine interaction unit; the roll degree-of-freedom locking mechanism includes a first limit pin, a threaded bushing, and a first swing limit block. A bearing sleeve is further arranged in the yaw cylinder. The bearing sleeve is rotatably connected to the yaw rotating shaft through a bearing, and the outer wall of the bearing sleeve is fixedly connected to the yaw cylinder. The first swing limit block is fixedly connected to the yaw cylinder. The threaded bushing is fixed on the shaft connection block. The threaded hole of the threaded bushing is opposite to the positioning hole arranged on the first swing limit block. The first limit pin is threadedly connected in the threaded bushing, and the bottom end of the first limit pin is arranged in cooperation with the positioning hole. By screwing the first limit pin, the bottom of the first limit pin can be embedded into the positioning hole.

[0012] Preferably, the spring module includes a spring guide seat, a compression spring, a spring guide shaft, and a spring moving seat. The spring guide seat covers the top of the spring moving seat and is slidably connected to the spring moving seat. The spring slider is arranged on the top of the spring guide seat. A plurality of spring guide shafts are longitudinally arranged inside the spring guide seat. The top end of the spring guide shaft is fixedly connected to the spring guide seat. The bottom end of the spring guide shaft is opposite to the guide hole arranged on the spring moving seat. The compression spring is sleeved on the spring guide shaft and is respectively connected to the spring guide seat and the spring moving seat at both ends; an adjustment screw is further arranged on the spring module fixing seat. The adjustment screw is opposite to the guide hole. The bottom of the adjustment screw is connected to the spring module fixing seat by a screw, and the top rod body of the adjustment screw extends into the guide hole.

[0013] Preferably, the front four-bar mechanism includes a parallel four-bar mechanism, a tension spring fixing mechanism, a horizontal displacement degree-of-freedom locking mechanism, and a horizontal rotary encoder; the parallel four-bar mechanism includes two connecting rods, a moving connection seat, and a fixed connection seat. The two connecting rods are arranged longitudinally in parallel. The tails of the two connecting rods are connected through the moving connection seat, and the heads of the two connecting rods are connected through the fixed connection seat. The tail end of the moving connection seat is connected to the head end of the yaw cylinder. The fixed connection seat is fixed on a support mechanism. The connecting rod is rotatably connected to the moving connection seat and the fixed connection seat through a rotating shaft. The horizontal rotary encoder is arranged at the shaft end of one of the rotating shafts, and the horizontal rotary encoder is electrically connected to the human-computer interaction unit. The tension spring fixing mechanism is arranged in the inner cavity formed by the two connecting rods, the moving connection seat, and the fixed connection. The tension spring fixing mechanism includes a tension spring, a first tension spring fixing seat, and a second tension spring fixing seat. The first tension spring fixing seat is arranged on the fixed connection seat. The second tension spring fixing seat is connected to the connecting rod and arranged at the tails of the two connecting rods. The tension spring is connected between the first tension spring fixing seat and the second tension spring fixing seat. The horizontal displacement degree-of-freedom locking mechanism includes a second limit pin, a pin sleeve, and a second swing limit block. The second swing limit block is arranged on one of the connecting rods. The pin sleeve is arranged on the fixed connection seat. The limit pin is threadedly connected to the pin sleeve. The threaded hole of the pin sleeve is opposite to the positioning hole arranged on the second swing limit block. The bottom end of the second limit pin is arranged in cooperation with the positioning hole. By screwing the second limit pin, the bottom of the second limit pin can be embedded into the positioning hole.

[0014] Preferably, the connecting rod includes two bushings and a connecting frame connected between the two bushings. The two bushings of the connecting rod are connected to the moving connection seat and the fixed connection seat through a rotating shaft passing through them. The rotating shaft includes a long shaft and a short shaft. The long shaft is in interference fit with the inner hole of the bushing. The top end of the long shaft is provided with a shaft shoulder, and the shaft shoulder is clamped at the top of the bushing. The long shaft at the top of the shaft shoulder is connected to the moving connection seat or the fixed connection seat through a bearing. The top of the bearing is provided with a bearing end cover. The short shaft is arranged at the bottom of the long shaft. The short shaft is connected to the long shaft through a screw. The short shaft is provided with a shaft shoulder, and the shaft shoulder of the short shaft is clamped at the bottom of the bushing. The short shaft at the bottom of the shaft shoulder of the short shaft is connected to the moving connection seat or the fixed connection seat through a bearing. The horizontal rotary encoder is arranged at the shaft end of the long shaft for measuring the rotation angle of the long shaft.

[0015] Preferably, the tail ends of the left frame and the right frame are both provided with ultrasonic rangefinders for detecting obstacles behind, and the top head end of the middle horizontal board is provided with an ultrasonic rangefinder for detecting obstacles in front, and the ultrasonic rangefinder is electrically connected to the control unit; the inner side of the left frame or the right frame is provided with a photoelectric sensor for measuring gait parameters, and the photoelectric sensor is electrically connected to the human-computer interaction unit.

[0016] Preferably, the driving mechanism includes a driving motor and a reducer that are sequentially connected in transmission, for driving the driving wheel, and lithium batteries for providing power to the driving mechanism are also provided in the left frame and the right frame.

[0017] Preferably, the linear lifting module is connected to a lifting motor provided inside the lifting mechanism cover, the lifting motor is used to drive the slide on the linear lifting module to move vertically, and the lifting motor is electrically connected to the control unit.

[0018] Preferably, an armrest is provided on each side of the lifting mechanism cover, and the two armrests are symmetrically arranged. Emergency stop buttons are provided on both armrests, and the two emergency stop buttons are electrically connected to the control unit.

[0019] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0020] The intelligent walking-assistance rehabilitation training robot provided by this invention is designed for patients to perform autonomous lower limb rehabilitation training under the guidance of a physician or accompanied by family members. It enables horizontal rotation, horizontal swing, and lateral rotation of the human pelvis, effectively training patients to control the pelvis and achieve lower limb balance. The training process is safe and convenient. The robot can provide motion damping, auxiliary support, obstacle avoidance, and assisted walking, offering patients three training modes: standing balance training, static walking training, and dynamic walking training. The training results can be displayed in real time through a human-computer interaction unit, allowing patients to select the appropriate training method for different rehabilitation stages, thereby improving rehabilitation training efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 Schematic diagram of the three-dimensional structure of the intelligent walking-assistance rehabilitation training robot of the present invention;

[0023] Figure 2Rear view of the intelligent walking rehabilitation training robot in the present invention;

[0024] Figure 3 Right view of the intelligent walking rehabilitation training robot in the present invention;

[0025] Figure 4 Schematic three-dimensional structure diagram of the chassis moving mechanism in the present invention;

[0026] Figure 5 Partial sectional view of the chassis moving mechanism in the present invention;

[0027] Figure 6 Schematic structure diagram of the lifting mechanism in the present invention;

[0028] Figure 7 Partial sectional view of the lifting mechanism in the present invention;

[0029] Figure 8 Schematic three-dimensional structure diagram of the pelvic auxiliary motion mechanism in the present invention;

[0030] Figure 9 Schematic lateral structure diagram of the cylinder in the motion recognition mechanism of the present invention;

[0031] Figure 10 is Figure 9 Sectional view of the cylinder along line A-A in

[0032] Figure 11 Schematic front view of the sleeve in the motion recognition mechanism of the present invention;

[0033] Figure 12 is Figure 11 Sectional view of the sleeve along line B-B in

[0034] Figure 13 Schematic three-dimensional structure diagram of the yaw mechanism in the present invention;

[0035] Figure 14 Schematic top view of the yaw mechanism in the present invention;

[0036] Figure 15 is Figure 14 Sectional view of the yaw mechanism along line C-C in

[0037] Figure 16 is Figure 14 Sectional view of the yaw mechanism along line D-D in

[0038] Figure 17 Schematic front view of the spring module in the present invention;

[0039] Figure 18 Schematic top view of the spring module in the present invention;

[0040] Figure 19 is Figure 18 The sectional view of the spring module along the E-E line in

[0041] Figure 20 The three-dimensional structure schematic diagram of the front four-bar mechanism in the present invention;

[0042] Figure 21 The top view structure schematic diagram of the front four-bar mechanism in the present invention;

[0043] Figure 22 is Figure 21 The sectional view of the front four-bar mechanism along the F-F line in

[0044] Figure 23 is Figure 21 The sectional view of the front four-bar mechanism along the G-G line in

[0045] Figure 24 The three-dimensional structure schematic diagram of the connecting rod in the present invention;

[0046] In the figure: 1 - Human-computer interaction unit, 2 - Pelvic auxiliary motion mechanism, 3 - Armrest, 4 - Lifting mechanism, 5 - Control unit, 6 - Ultrasonic rangefinder, 7 - Chassis moving mechanism, 8 - Emergency stop button, 9 - Wheel housing, 10 - Left frame, 11 - Photoelectric sensor, 12 - Motor seal plate, 13 - Intermediate cross plate, 14 - Universal wheel, 15 - Adjusting gasket, 16 - Cable sealing plate, 17 - Right frame, 18 - Driving wheel, 19 - Pad, 20 - Battery case, 21 - Lithium battery, 22 - Driving motor, 23 - Reducer, 24 - Fixed component, 25 - Slide table, 26 - Lifting mechanism housing, 27 - Lifting motor, 28 - Coupling, 29 - Adapter shaft, 30 - Linear lifting module;

[0047] 201 - Motion intention recognition mechanism, 202 - Yaw mechanism, 203 - Front four-bar mechanism, 204 - Spherical plain bearing, 205 - Pressure sensor, 206 - Cylinder, 207 - Spline nut, 208 - Compression spring, 209 - Ball spline shaft, 210 - Seat belt connection buckle, 211 - Threaded plunger, 212 - Load cell, 213 - Second ball spline, 214 - Flange, 215 - Sleeve, 216 - Spring module, 217 - Spring module fixing seat, 218 - Spring guide seat, 219 - Compression spring, 220 - Spring guide shaft, 221 - Spring moving seat, 222 - Yaw cylinder, 223 - Spring slider, 224 - Yaw rotating shaft, 225 - First limit pin, 226 - Threaded bushing, 227 - First swing limit block, 228 - Bearing sleeve, 229 - Shaft connection block, 230 - Lateral rotation encoder, 231 - Adjusting screw, 232 - Second limit pin, 233 - Pin sleeve, 234 - Second swing limit block, 235 - Tension spring, 236 - First tension spring fixing seat, 237 - Second tension spring fixing seat, 238 - Protective cover, 239 - Horizontal rotation encoder, 240 - End cover, 241 - Long shaft, 242 - Connecting rod, 243 - Short shaft, 244 - Fixed connection seat, 245 - Movable connection seat, 246 - Bushing, 247 - Connecting frame. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0049] The purpose of the present invention is to provide an intelligent walking rehabilitation training robot to solve the problems existing in the prior art.

[0050] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0051] This embodiment provides an intelligent walking rehabilitation training robot, as Figures 1-8 shown, including a human-computer interaction unit 1, a pelvic auxiliary motion mechanism 2, a lifting mechanism 4, a control unit 5, and a chassis moving mechanism 7. The human-computer interaction unit 1 is arranged at the top of the lifting mechanism 4, the chassis moving mechanism 7 is arranged at the bottom of the lifting mechanism 4, the pelvic auxiliary motion mechanism 2 is arranged inside the lifting mechanism 4 and connected to a slide table 25 arranged on the lifting mechanism 4, and the control unit 5 is arranged at the head end of the chassis moving mechanism 7; the human-computer interaction unit 1 is a tablet computer arranged at the top of the lifting mechanism 4, and the human-computer interaction unit 1 is electrically connected to the control unit 5;

[0052] The pelvic auxiliary motion mechanism 2 includes, in sequence from the tail end to the head end, a motion intention recognition mechanism 201, a yaw mechanism 202, and a front four-bar mechanism 203; the motion intention recognition mechanism 201 is respectively connected to the left and right sides of the yaw mechanism 202 to achieve the functions of pelvic rotation, forward or backward freedom, pelvic width adjustment, and motion intention recognition; the front four-bar mechanism 203 is connected to the yaw mechanism 202 in a centered manner, and the front four-bar mechanism 203 realizes displacement in the horizontal degree of freedom and measures the lateral displacement value by measuring the angle of the rotating shaft; the yaw mechanism 202 realizes the measurement of the roll degree of freedom and its rotation angle.

[0053] The lifting mechanism 4 includes a lifting mechanism housing 26, a linear lifting module 30, and a fixing component 24. The linear lifting module 30 is arranged inside the lifting mechanism housing 26, a sliding table 25 is arranged on the linear lifting module 30, and the fixing component 24 is arranged at the bottom of the lifting mechanism housing 26 and is fixedly connected to the chassis moving mechanism 7; the chassis moving mechanism 7 includes a left frame 10, a right frame 17, and an intermediate cross plate 13 connecting the head ends of the left frame 10 and the right frame 17. Driving wheels 18 and a driving mechanism for driving the driving wheels 18 are arranged at the tail ends of the left frame 10 and the right frame 17. A wheel housing 9 is provided above the driving wheels 18. Universal wheels 14 are arranged on both sides of the bottom of the intermediate cross plate 13, and an adjusting gasket 15 is arranged between the universal wheels 14 and the intermediate cross plate 13 for adjusting the height of the universal wheels 14 from the ground. The driving mechanism is electrically connected to the control unit 5.

[0054] In this embodiment, in order to improve safety, ultrasonic rangefinders 6 for detecting rear obstacles are arranged at the tail ends of the left frame 10 and the right frame 17 of the chassis moving mechanism 7, and an ultrasonic rangefinder 6 for detecting front obstacles is arranged at the head end of the top of the intermediate cross plate 13. The ultrasonic rangefinders 6 are electrically connected to the control unit 5; when the chassis moving mechanism 7 moves towards an obstacle and the distance between the chassis moving mechanism 7 and the obstacle is less than the safety distance, the control unit 5 will immediately stop the action of the driving structure.

[0055] Photoelectric sensors 11 for measuring gait parameters are arranged inside the left frame 10 or the right frame 17. The photoelectric sensors 11 are electrically connected to the human-computer interaction unit 1, and the gait parameters can be displayed in real time on the human-computer interaction unit 1.

[0056] As Figure 4 、 Figure 5As shown, in this embodiment, the driving mechanism includes a driving motor 22 and a reducer 23 that are sequentially connected in transmission, which are used to drive the active wheel 18. A lithium battery 21 for providing power to the driving mechanism is also provided in the left frame 10 and the right frame 17. The lithium battery 21 is arranged in a battery shell 20, and a pad 19 is provided at the bottom of the battery shell 20; a detachable motor sealing plate 12 is provided on the inner side of the left frame 10 and the right frame 17, so that the driving motor 22 and other components can be installed in the inner cavity of the frame; a wire sealing plate 16 is also provided at the bottom of the middle horizontal plate 13, which is used to block the inner cavity of the middle horizontal plate 13 to prevent the protruding cables from being entangled with the universal wheel.

[0057] like Figure 7 As shown, in this embodiment, the linear lifting module 30 is connected to the lifting motor 27 provided inside the lifting mechanism cover 26. The lifting motor 27 is used to drive the slide 25 on the linear lifting module 30 to move vertically. The lifting motor 27 is electrically connected to the control unit 5; specifically, the linear lifting motor 27 is connected to the adapter shaft 29 through a coupling 28. A synchronous pulley is provided on the adapter shaft 29. The synchronous pulley is connected to the tank chain 31 for transmission. The movement of the slide 25 drives the movement of the tank chain 31.

[0058] In this embodiment, an armrest 3 is provided on both sides of the lifting mechanism cover 26, and the two armrests 3 are symmetrically arranged; in order to improve the safety of the equipment, emergency stop buttons 8 are provided on both armrests 3, and the two emergency stop buttons 8 are electrically connected to the control unit 5 to ensure rapid stopping in an emergency and ensure user safety.

[0059] like Figures 9-12 As shown, the motion intention recognition mechanism 201 includes two cylinders 206, in which a first ball spline, a compression spring 208, and a pressure sensor 205 are arranged, and also includes two weighing sensors 212 and two sleeves 215; the two cylinders 206 are arranged longitudinally opposite to each other, one end of the ball spline shaft 209 of the first ball spline passes through the cylinder 206, and the other end extends into the cylinder 206 and is connected to the bottom of the cylinder 206, the spline nut 207 of the ball spline is sleeved on the ball spline shaft 209, and two pressure sensors 205 are provided, which are respectively arranged at Two compression springs 208 are provided at both ends of the interior of the cylinder 206. One compression spring 208 is provided between one end of the spline nut 207 and one of the pressure sensors 205, and the other compression spring 208 is provided between the other end of the spline nut 207 and the other pressure sensor 205. The two pressure sensors are electrically connected to the control unit 5; the pressure sensor 205 transmits the spring pressure it senses to the control unit 5, and the control unit 5 judges the patient's movement intention and controls the driving mechanism provided on the chassis moving mechanism 7 to complete the auxiliary action.

[0060] On the opposite inner sides of the two cylinders 206, a seat belt connection buckle 210 is respectively provided. The two seat belt connection buckles 210 are respectively connected to the spline nuts 207 in the cylinders 206 on their respective sides, and are connected to the spline nuts 207 through the front four-bar mechanism 204. The two sleeves 215 are horizontally arranged. The outer ends of the two sleeves 215 are respectively connected to a weighing sensor 212. The weighing sensor 212 is connected to the ball spline shaft 209 extending out of the cylinder 206 on its respective side through a connecting plate. The inner ends of the two sleeves 215 are provided with flanges 214 and are connected to the yaw mechanism 202 through a shaft connection block 229. The weighing sensor 212 can transmit the data of the sensed auxiliary supporting force (i.e., the pressure exerted by the patient on the device) to the human-computer interaction unit 1 for display by the human-computer interaction unit 1. After the patient reads the data, the position of the sliding table 25 is changed through the human-computer interaction unit 1. Alternatively, a control program can be stored in advance in the control unit 5. When the auxiliary supporting force sensed by the weighing sensor 212 reaches a certain set value, the sliding table 25 is automatically lifted.

[0061] A second ball spline 213 is also respectively provided in the two sleeves 215. The spline nut of the second ball spline 213 is fixedly connected to the sleeve 215. The shaft of the second ball spline 213 can move relative to the sleeve 215. A gear adjustment hole is provided on the shaft of the second ball spline 213, and a gear adjustment hole is also provided on the outer wall of the opposite sleeve 215. The gear adjustment hole on the shaft of the second ball spline 213 is limited by a threaded plunger 211 with the gear adjustment hole on the outer wall of the sleeve 215.

[0062] In the motion intention recognition mechanism 201 of this embodiment, when the patient has a tendency of forward, backward or rotational movement, the motion intention of the patient is judged through the signal combination and numerical value of the pressure sensor 205. The basic motion modes are: straight forward, backward, left turn and right turn. The front four-bar mechanism 204 on the seat belt connection buckle 210 cooperates with the spline nut 207 on the first ball spline to realize the degrees of freedom of pelvic rotation and forward or backward extension. The nut of the second ball spline 213 is fixedly connected to the sleeve 215, and the position of the shaft relative to the sleeve 215 can be changed relatively. There are three designed adjustment positions. The position is fixed through the threaded plunger 211 and the gear adjustment hole. After manually adjusting to the required position, the threaded plunger 211 is screwed into the positioning hole to lock the relative position, thereby realizing the adjustment of the width of the pelvic auxiliary motion mechanism. The torque measured by the weighing sensor 212 is divided by the force arm to obtain the force exerted by the person in the direction of gravity on the support mechanism, and then the intention of the pelvic up and down movement is judged through the force signal.

[0063] As Figures 13-19As shown in the figure, the yaw mechanism 202 includes a yaw cylinder 222, a yaw rotating shaft 224, a spring module 216, a spring slider 223, a lateral rotation encoder 230, and a roll degree-of-freedom locking mechanism; the yaw cylinder 222 is longitudinally arranged, the yaw rotating shaft 224 is longitudinally arranged inside the yaw cylinder 222, the front end of the yaw rotating shaft 224 is rotatably connected to the front end plate of the yaw cylinder 222, the rear end of the yaw rotating shaft 224 is connected to the shaft connection block 229, the spring slider 223 is sleeved on the yaw rotating shaft 224, and a spring module 216 is respectively arranged at the bottom of the pressing plates on both sides of the spring slider 223, and the spring module 216 is fixed on the spring module fixing seat 217 located at the bottom of the yaw cylinder 222; the lateral rotation encoder 230 is arranged inside the yaw cylinder 222 through the yaw rotating shaft 224 for monitoring the rotation angle of the yaw rotating shaft 224, and the lateral rotation encoder 230 is electrically connected to the human-machine interaction unit 1; the roll degree-of-freedom locking mechanism includes a first limit pin 225, a threaded bushing 226, and a first swing limit block 227. A bearing sleeve 228 is further arranged inside the yaw cylinder 222. The bearing sleeve 228 is rotatably connected to the yaw rotating shaft 224 through a bearing, the outer wall of the bearing sleeve 228 is fixedly connected to the yaw cylinder 222, the first swing limit block 227 is fixedly connected to the yaw cylinder 222, the threaded bushing 226 is fixed on the shaft connection block 229, the threaded hole of the threaded bushing 226 is opposite to the positioning hole arranged on the first swing limit block 227, the first limit pin 225 is threadedly connected inside the threaded bushing 226, and the bottom end of the first limit pin 225 is cooperatively arranged with the positioning hole. By screwing the first limit pin 225, the bottom of the first limit pin 225 can be embedded into the positioning hole; when it is necessary to lock the roll degree of freedom, screw the first limit pin 225 so that the bottom on the first limit pin 225 is cooperatively locked with the positioning hole on the first swing limit block 227.

[0064] Specifically, the spring module 216 of the yaw mechanism 202 includes a spring guide seat 218, a compression spring 219, a spring guide shaft 220, and a spring moving seat 221. The spring guide seat 218 covers the top of the spring moving seat 221 and is slidably connected to the spring moving seat 221. A spring slider 223 is disposed on the top of the spring guide seat 218. A plurality of spring guide shafts 220 are longitudinally arranged inside the spring guide seat 218. The top end of the spring guide shaft 220 is fixedly connected to the spring guide seat 218, and the bottom end of the spring guide shaft 220 is opposite to a guide hole provided on the spring moving seat 221. The compression spring 219 is sleeved on the spring guide shaft 220 and its two ends are respectively connected to the spring guide seat 218 and the spring moving seat 221. When a force acts on the spring guide seat 218, the spring 208 is compressed, generating a displacement relative to the spring guide moving seat, realizing the movement in the direction of the force and generating a certain restoring force through the compression spring 219. An adjustment screw 231 is further provided on the spring module fixing seat 217. The adjustment screw 231 is opposite to the guide hole. The bottom of the adjustment screw is connected to the spring module fixing seat 217 by a screw. The top rod body of the adjustment screw 231 extends into the guide hole. By rotating the adjustment screw 231 to adjust its height in the guide hole, the stroke of the spring guide shaft 220 can be limited.

[0065] As Figures 20-24As shown, the front four-bar mechanism 203 includes a parallel four-bar mechanism, a tension spring fixing mechanism, a horizontal displacement degree-of-freedom locking mechanism, and a horizontal rotary encoder 239; the parallel four-bar mechanism includes two connecting rods 242, a moving connection seat 245, and a fixed connection seat 244. The two connecting rods 242 are arranged longitudinally in parallel. The tails of the two connecting rods 242 are connected through the moving connection seat 245, and the heads of the two connecting rods 242 are connected through the fixed connection seat 244. The tail of the moving connection seat 245 is connected to the head of the yaw cylinder 222. The fixed connection seat 244 is fixed on a support mechanism. The connecting rod 242 is rotatably connected to the moving connection seat 245 and the fixed connection seat 244 through a rotating shaft; the horizontal rotary encoder 239 is arranged at the shaft end of one of the rotating shafts, and the horizontal rotary encoder 239 is electrically connected to the human-machine interaction unit 1; the tension spring 235 fixing mechanism is arranged in the inner cavity formed by the two connecting rods 242, the moving connection seat 245, and the fixed connection. The tension spring 235 fixing mechanism includes a tension spring 235, a first tension spring fixing seat 236, and a second tension spring fixing seat 237. The first tension spring fixing seat 236 is arranged on the fixed connection seat 244. The second tension spring fixing seat 237 is connected to the connecting rod 242 and is arranged at the tails of the two connecting rods 242. The tension spring 235 is connected between the first tension spring fixing seat 236 and the second tension spring fixing seat 237; the horizontal displacement degree-of-freedom locking mechanism includes a second limit pin 232, a pin sleeve 233, and a second swing limit block 234. The second swing limit block 234 is arranged on one of the connecting rods 242. The pin sleeve 233 is arranged on the fixed connection seat 244. The limit pin is threadedly connected to the pin sleeve 233. The threaded hole of the pin sleeve 233 is opposite to the positioning hole arranged on the second swing limit block 234. The bottom end of the second limit pin 232 is arranged in cooperation with the positioning hole. When the second limit pin 232 is turned, the bottom of the second limit pin 232 can be embedded into the positioning hole. When the patient needs to lock the translational degree of freedom in the transverse movement direction, the second limit pin 232 is turned, and the bottom end of the second limit pin 232 cooperates with the positioning hole on the second swing limit block 234 to lock the translational degree of freedom in the horizontal direction.

[0066] As Figure 24As shown in the figure, the connecting rod 242 in this embodiment includes two bushings 246 and a connecting frame 247 connected between the two bushings 246. The two bushings 246 of the connecting rod 242 are connected to the moving connection seat 245 and the fixed connection seat 244 through a rotating shaft passing through them. The rotating shaft includes a long shaft 241 and a short shaft 243. The long shaft 241 is connected to the inner hole of the bushing 246 by interference fit and will not rotate relatively. There is a shoulder at the top of the long shaft 241, and the shoulder is clamped at the top of the bushing 246. The long shaft 241 at the top of the shoulder is connected to the moving connection seat 245 or the fixed connection seat 244 through a bearing. There is a bearing end cover 240 at the top of the bearing. The short shaft 243 is arranged at the bottom of the long shaft 241. The short shaft 243 is connected to the long shaft 241 by screws. There is a shoulder on the short shaft 243, and the shoulder of the short shaft 243 is clamped at the bottom of the bushing. The short shaft 243 at the bottom of the shoulder of the short shaft 243 is connected to the moving connection seat 245 or the fixed connection seat 244 through a bearing; The horizontal rotary encoder 239 is arranged at the shaft end of the long shaft 241 and is used to measure the rotation angle of the long shaft 241. After conversion, the displacement of the patient in two horizontal directions (front-back and left-right) can be obtained.

[0067] In this embodiment, a protective cover 238 is also arranged at the top of the four-bar mechanism 203. The protective cover 238 covers the gap between the two to prevent the patient's fingers from getting into the mechanism gap.

[0068] When the patient performs rehabilitation training, the training mode can be selected through the human-computer interaction unit 11, including standing balance training, walking static training, and walking dynamic training. During the training process, the patient or the caregiver can view the gait parameters and movement trajectories of the patient during the training in real time through the human-computer interaction unit 11. After the training is over, the patient and the medical staff can carry out the next step of rehabilitation training based on the training effect displayed on the human-computer interaction unit 11.

[0069] When the patient performs standing balance training, the driving structure in the chassis moving mechanism 7 does not work, and the universal wheels 14 are locked. The robot is stationary relative to the ground. The patient's waist is connected to the pelvic assistive movement mechanism 2 through a safety belt. The three movements of the patient's waist and pelvis control the corresponding movements of the balance arm. The impedance provided by the pelvic assistive movement mechanism 2 helps the patient find the balance position. The farther the patient deviates from the balance point, the greater the impedance provided, and the patient is more likely to change the standing posture to achieve standing balance. At the same time, the movement of the pelvic assistive movement mechanism 2 in the corresponding degrees of freedom can be restricted by the first limit pin 225 and the second limit pin 232, and the difficulty of training can be changed according to the patient's rehabilitation status. By controlling the linear lifting module 30, combined with the weighing sensor 212 and the control unit 5, the auxiliary lifting force provided by the machine for the patient to stand can be regulated. The more the lifting amount, the easier it is for the patient to stand, so as to gradually improve the patient's balance control ability.

[0070] After the patient has achieved certain rehabilitation effects, static walking training can be carried out. At this time, the pelvic auxiliary motion mechanism 2 is in a fixed state, the universal wheels 14 are movable, and the drive mechanism is in a working state to drive the robot to move forward. The patient can control the robot to walk by himself / herself. The patient's walking intention is transmitted to the control unit 5 through the pressure sensor, and the control signal will control the two drive mechanisms to drive the two driving wheels 18 to rotate synchronously or differentially, and the robot will move straight or turn accordingly. In addition, the movement of the robot can also be controlled by medical staff, and the robot is used to assist the patient in static walking training to gradually improve the patient's ability to walk freely.

[0071] When the patient is performing dynamic walking training, both the pelvic auxiliary motion mechanism 2 and the universal wheels 14 are in a movable state, and the drive structure is working. When the patient uses the machine, not only does the patient need to control the pelvic auxiliary motion mechanism 2 to find the balance point, but also the patient still needs to perform walking training on the lower limbs.

[0072] The present invention uses specific examples to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. An intelligent walking assistance and rehabilitation training robot, characterized in that: It includes a human-computer interaction unit, a pelvic auxiliary motion mechanism, a lifting mechanism, a control unit and a chassis moving mechanism. The human-computer interaction unit is arranged at the top of the lifting mechanism, the chassis moving mechanism is arranged at the bottom of the lifting mechanism, the pelvic auxiliary motion mechanism is arranged inside the lifting mechanism and connected to a sliding table arranged on the lifting mechanism, and the control unit is arranged at the head end of the chassis moving mechanism; the human-computer interaction unit is a tablet computer arranged at the top of the lifting mechanism, and the human-computer interaction unit is electrically connected to the control unit; The pelvic auxiliary motion mechanism sequentially includes a motion intention recognition mechanism, a yaw mechanism and a front four-bar mechanism from the tail end to the head end; the motion intention recognition mechanism is respectively connected to the left and right sides of the yaw mechanism to realize the functions of pelvic rotation, forward or backward freedom, pelvic width adjustment and motion intention recognition; the front four-bar mechanism is connected to the yaw mechanism in the middle, and the head end of the front four-bar mechanism is connected to the sliding table; the front four-bar mechanism realizes displacement in the horizontal degree of freedom and measures the lateral displacement value by measuring the angle of the rotating shaft; the yaw mechanism realizes the measurement of the roll degree of freedom and its rotation angle; The lifting mechanism includes a lifting mechanism housing, a linear lifting module and a fixing component. The linear lifting module is arranged inside the lifting mechanism housing, the sliding table is arranged on the linear lifting module, and the fixing component is arranged at the bottom of the lifting mechanism housing and fixedly connected to the chassis moving mechanism; the chassis moving mechanism includes a left frame, a right frame and an intermediate cross plate connecting the head ends of the left frame and the right frame. Driving wheels and driving mechanisms for driving the driving wheels are arranged at the tail ends of the left frame and the right frame, universal wheels are arranged on both sides of the head end of the chassis moving mechanism, and the driving mechanism is electrically connected to the control unit; the linear lifting module is connected to a lifting motor arranged inside the lifting mechanism housing, the lifting motor is used to drive the sliding table on the linear lifting module to move vertically, and the lifting motor is electrically connected to the control unit; The motion intention recognition mechanism includes two cylinders. Inside the two cylinders, there are a first ball spline, a compression spring, and a pressure sensor. There are also two load cells and two sleeves. The two cylinders are longitudinally arranged opposite to each other. One end of the ball spline shaft of the first ball spline extends out of the cylinder, and the other end extends into the cylinder and is connected to the bottom of the cylinder. The spline nut of the first ball spline is sleeved on the ball spline shaft. There are two pressure sensors, which are respectively arranged at both ends inside the cylinder. There are two compression springs. One compression spring is arranged between one end of the spline nut and one of the pressure sensors, and the other compression spring is arranged between the other end of the spline nut and the other pressure sensor. The two pressure sensors are electrically connected to the control unit. On the opposite inner sides of the two cylinders, there are also respectively a seat belt connection buckle, and the two seat belt connection buckles are respectively connected to the spline nut inside the cylinder on their respective sides. The two sleeves are arranged horizontally. The outer ends of the two sleeves are respectively connected to a load cell. The load cell is electrically connected to the human-machine interaction unit. The load cell is connected to the ball spline shaft extending out of the cylinder on its side through a connecting plate. The inner ends of the two sleeves are connected to the yaw mechanism through a shaft connecting block. There is also a second ball spline respectively arranged inside the two sleeves. The spline nut of the second ball spline is fixedly connected to the sleeve. The shaft of the second ball spline can move relative to the sleeve. There are gear adjustment holes on the shaft of the second ball spline, and there are also gear adjustment holes on the outer wall of the opposite sleeve. The gear adjustment holes on the shaft of the second ball spline and the gear adjustment holes on the outer wall of the sleeve are limited by a threaded plunger. The yaw mechanism includes a yaw cylinder, a yaw rotating shaft, a spring module, a spring dial block, a lateral rotation encoder, and a roll degree-of-freedom locking mechanism; the yaw cylinder is longitudinally arranged, the yaw rotating shaft is longitudinally arranged inside the yaw cylinder, the front end of the yaw rotating shaft is rotatably connected to the front end plate of the yaw cylinder, the rear end of the yaw rotating shaft is connected to the shaft connection block, the spring dial block is sleeved on the yaw rotating shaft, and a spring module is respectively arranged at the bottom of the pressure plates on both sides of the spring dial block. The spring module is fixed on a spring module fixing seat located at the bottom of the yaw cylinder; the lateral rotation encoder is arranged inside the yaw cylinder and is used to monitor the rotation angle of the yaw rotating shaft. The lateral rotation encoder is electrically connected to the human-machine interaction unit; the roll degree-of-freedom locking mechanism includes a first limit pin, a threaded bushing, and a first swing limit block. A bearing sleeve is further arranged inside the yaw cylinder. The bearing sleeve is rotatably connected to the yaw rotating shaft through a bearing. The outer wall of the bearing sleeve is fixedly connected to the yaw cylinder. The first swing limit block is fixedly connected to the yaw cylinder. The threaded bushing is fixed on the shaft connection block. The threaded hole of the threaded bushing is opposite to the positioning hole arranged on the first swing limit block. The first limit pin is threadedly connected inside the threaded bushing. The bottom end of the first limit pin is cooperatively arranged with the positioning hole. By screwing the first limit pin, the bottom of the first limit pin can be embedded into the positioning hole; The spring module includes a spring guide seat, a compression spring, a spring guide shaft, and a spring moving seat. The spring guide seat covers the top of the spring moving seat and is slidably connected to the spring moving seat. The spring dial block is arranged on the top of the spring guide seat. A plurality of spring guide shafts are longitudinally arranged inside the spring guide seat. The top end of the spring guide shaft is fixedly connected to the spring guide seat. The bottom end of the spring guide shaft is opposite to the guide hole arranged on the spring moving seat. The compression spring is sleeved on the spring guide shaft and is respectively connected to the spring guide seat and the spring moving seat at both ends; an adjustment screw is further arranged on the spring module fixing seat. The adjustment screw is opposite to the guide hole. The bottom of the adjustment screw is connected to the spring module fixing seat by a screw. The top rod body of the adjustment screw extends into the guide hole; The front four-bar mechanism includes a parallel four-bar mechanism, a tension spring fixing mechanism, a horizontal displacement degree-of-freedom locking mechanism, and a horizontal rotary encoder; the parallel four-bar mechanism includes two connecting rods, a moving connection seat, and a fixed connection seat. The two connecting rods are arranged longitudinally in parallel. The tails of the two connecting rods are connected through the moving connection seat, and the heads of the two connecting rods are connected through the fixed connection seat. The tail of the moving connection seat is connected to the head of the yaw cylinder. The fixed connection seat is fixed on a support mechanism. The connecting rods are rotatably connected to the moving connection seat and the fixed connection seat through rotating shafts respectively; the horizontal rotary encoder is arranged at the shaft end of one of the rotating shafts, and the horizontal rotary encoder is electrically connected to the human-computer interaction unit; the tension spring fixing mechanism is arranged in the inner cavity formed by the two connecting rods, the moving connection seat, and the fixed connection seat. The tension spring fixing mechanism includes a tension spring, a first tension spring fixing seat, and a second tension spring fixing seat. The first tension spring fixing seat is arranged on the fixed connection seat. The second tension spring fixing seat is connected to the connecting rod and is arranged at the tails of the two connecting rods. The tension spring is connected between the first tension spring fixing seat and the second tension spring fixing seat; the horizontal displacement degree-of-freedom locking mechanism includes a second limit pin, a pin sleeve, and a second swing limit block. The second swing limit block is arranged on one of the connecting rods. The pin sleeve is arranged on the fixed connection seat. The limit pin is threadedly connected to the pin sleeve. The threaded hole of the pin sleeve is opposite to the positioning hole arranged on the second swing limit block. The bottom end of the second limit pin is arranged in cooperation with the positioning hole. By screwing the second limit pin, the bottom of the second limit pin can be embedded into the positioning hole; the connecting rod includes two bushings and a connecting frame connected between the two bushings. The two bushings of the connecting rod are connected to the moving connection seat and the fixed connection seat through rotating shafts inserted therein. The rotating shaft includes a long shaft and a short shaft. The long shaft is in interference fit with the inner hole of the bushing. An axial shoulder is arranged at the top of the long shaft, and the axial shoulder is clamped at the top of the bushing. The long shaft at the top of the axial shoulder is connected to the moving connection seat or the fixed connection seat through a bearing. A bearing end cover is arranged at the top of the bearing. The short shaft is arranged at the bottom of the long shaft. The short shaft is connected to the long shaft through a screw. An axial shoulder is arranged on the short shaft, and the axial shoulder of the short shaft is clamped at the bottom of the bushing. The short shaft at the bottom of the axial shoulder of the short shaft is connected to the moving connection seat or the fixed connection seat through a bearing; the horizontal rotary encoder is arranged at the shaft end of the long shaft for measuring the rotation angle of the long shaft.

2. The intelligent walking-aid rehabilitation training robot according to claim 1, wherein: The tail ends of the left frame and the right frame are both provided with ultrasonic rangefinders for detecting obstacles behind, and the top head end of the middle horizontal board is provided with an ultrasonic rangefinder for detecting obstacles in front, and the ultrasonic rangefinder is electrically connected to the control unit; the inner side of the left frame or the right frame is provided with a photoelectric sensor for measuring gait parameters, and the photoelectric sensor is electrically connected to the human-computer interaction unit.

3. The intelligent walking assistance and rehabilitation training robot according to claim 1, wherein: The driving mechanism includes a driving motor and a reducer which are sequentially connected in transmission, and is used to drive the driving wheel. The left frame and the right frame are also provided with lithium batteries for providing power to the driving mechanism.

4. The intelligent walking assistance and rehabilitation training robot according to claim 1, wherein: An armrest is provided on each side of the lifting mechanism cover, and the two armrests are symmetrically arranged. An emergency stop button is provided on each of the two armrests, and the two emergency stop buttons are electrically connected to the control unit.

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