Assisted rehabilitation training robot

Abstract

The present invention discloses an auxiliary rehabilitation training robot, including an omnidirectional mobile platform, a sit-stand transfer mechanism and a pelvic support mechanism, wherein the sit-stand transfer mechanism is vertically mounted on the omnidirectional mobile platform, the pelvic support mechanism is vertically mounted on the sit-stand transfer mechanism, and the pelvic support mechanism can move up and down relative to the sit-stand transfer mechanism; the sit-stand transfer mechanism is used to provide the pelvic support mechanism with a force for lifting and lowering movement, so as to assist the user in weight loss walking training and sit-stand transfer training. The whole machine of the present invention is compact and handy, low in cost, convenient for use in a home environment, meets the needs of human movement, and can help patients with motor dysfunction to independently complete indoor movement, sit-stand transfer, daily life tasks and walking training, help them improve their quality of life, replace care family members, and reduce their family burden to a certain extent.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and in particular to an auxiliary rehabilitation training robot. Background Art

[0002] In recent years, stroke patients suffer from varying degrees of motor dysfunction after surgery, and more than 40% of the elderly have varying degrees of walking impairment, which not only seriously affects their normal life, but also requires daily care from family members or medical staff, bringing a heavy economic burden to the family. Studies have shown that more than 80% of brain injury patients have significantly improved motor function after active and effective rehabilitation exercise training, and most elderly people can maintain motor function after walking training.

[0003] A variety of rehabilitation training equipment have been developed at home and abroad, but most of them have problems such as being large in size, expensive and difficult to operate. They are not suitable for use in home and community environments, and it is difficult to use them as auxiliary equipment in daily life. They can only be used for short-term rehabilitation training in hospitals, and it is difficult to maintain the rehabilitation effect for a long time. Summary of the invention

[0004] The main purpose of the present invention is to propose an auxiliary rehabilitation training robot that can be suitable for home environments, aiming to reduce the size and reduce the production cost, so as to help patients with motor dysfunction independently complete indoor movement, sit-stand transfer, daily life tasks and walking training, help them improve their quality of life, replace care family members, and reduce their family burden to a certain extent.

[0005] To achieve the above-mentioned object, the present invention provides an auxiliary rehabilitation training robot, comprising an omnidirectional mobile platform, a sit-stand transfer mechanism and a pelvic support mechanism, wherein the sit-stand transfer mechanism is vertically mounted on the omnidirectional mobile platform, the pelvic support mechanism is vertically mounted on the sit-stand transfer mechanism, and the pelvic support mechanism can move up and down relative to the sit-stand transfer mechanism;

[0006] The sit-stand transfer mechanism is used to provide lifting and lowering force for the pelvic support mechanism to assist the user in rehabilitation training;

[0007] The pelvic support mechanism includes a first parallel link, a lateral rotation axis, a lateral rotation axis fixing seat, a lateral rotation axis rotating seat, and a torque sensor for detecting the relative rotation torque between the first parallel link and the lateral rotation axis fixing seat;

[0008] One end of the first parallel link is connected to the sit-stand transfer mechanism, and the other end is connected to one end of the torque sensor, and the other end of the torque sensor is connected to one end of the side rotation shaft fixing seat;

[0009] The side rotation shaft is connected to the side rotation shaft fixing seat via a flange on the shaft, and is connected to the inner hole of the side rotation shaft rotating seat via two bearings, so as to realize the rotation of the side rotation shaft rotating seat relative to the side rotation shaft fixing seat and the side rotation shaft.

[0010] A further technical solution of the present invention is that the pelvic support mechanism also includes a double-helical torsion spring for realizing the lateral rotation dynamic reset force, the double-helical torsion spring is connected with the contoured shaft on the lateral rotation shaft through a center hole, ensuring that the double-helical torsion spring and the lateral rotation shaft do not rotate relative to each other, and the two movable ends of the double-helical torsion spring are connected to the lateral rotation shaft rotation seat by screws, and when the lateral rotation shaft rotation seat rotates relative to the lateral rotation shaft fixed seat, the double-helical torsion spring provides a rotational reset force.

[0011] A further technical solution of the present invention is that the pelvic support mechanism further comprises a spline nut, a spline shaft, a spline nut mounting seat, a pelvic support, a spline end of the pelvic support, an annular pressure sensor, a first compression spring, a front and rear pressure detection module, and a damping ball joint hinge;

[0012] The spline nut mounting seat is connected to the side rotating shaft rotating seat by screws, the spline nut is connected to the spline nut mounting seat by its own flange, and the spline shaft is mounted on the spline nut;

[0013] The first compression spring is sleeved on the spline shaft, one end of which supports the spline nut, and the other end supports the annular pressure sensor sleeved on the spline shaft, and the spline end of the pelvic support is fixed to the two side shaft ends of the spline shaft by screws to prevent the first compression spring and the annular pressure sensor from falling out;

[0014] The pelvic support is connected to the spline ends of the pelvic supports on the left and right sides by screws, and the damping ball hinge is connected between the left and right sides and the pelvis by screws;

[0015] The front and rear pressure detection module includes a pressure sensor and a second compression spring, which is connected to the pelvic support via screws.

[0016] A further technical solution of the present invention is that the parallel linkage mechanism includes two second parallel linkages arranged parallel to each other in an upper and lower manner, and a plurality of parallel tension springs are arranged between the first parallel linkage and the corresponding second parallel linkage, one end of the tension spring is connected to the first parallel linkage through a tension spring support, and the other end of the tension spring is connected to the second parallel linkage through a tension spring support; the tension spring forms a certain angle with the first parallel linkage and the second parallel linkage, and when the pelvic support mechanism rises to the highest position, the tension spring is in a minimum displacement state, and when the pelvic support mechanism falls to the lowest position, the tension spring is in a maximum displacement state; the tension force of the tension spring multiplied by the lever arm obtains a torque for balancing the pelvic support mechanism, thereby reducing the output burden of the first servo motor.

[0017] A further technical solution of the present invention is that the parallel linkage mechanism also includes a column cover.

[0018] A further technical solution of the present invention is that the omnidirectional mobile platform includes a base plate, several groups of omnidirectional active wheel trains, an electrical module, and a platform cover, wherein the supporting vertical plate is vertically installed on the base plate, the omnidirectional active wheel train is installed at the bottom of the base plate, the electrical module is installed on the base plate, and the electrical module is connected to the omnidirectional active wheel train, and the platform cover is connected to the side of the base plate.

[0019] A further technical solution of the present invention is that the omnidirectional active wheel system includes a second servo motor, a second reducer, an omnidirectional wheel and a support frame, the signal line of the second servo motor is connected to the electrical module after passing through the wire hole on the base plate, the second servo motor is connected to the second reducer through a first end face flange, the second reducer is connected to the support frame through a second end face flange, the output shaft of the second reducer is connected to the axial hole of the omnidirectional wheel, and the support frame is installed on the base plate.

[0020] A further technical solution of the present invention is that the base plate and the platform cover are arc-shaped.

[0021] A further technical solution of the present invention is that the omnidirectional driving gear trains are in three groups, and the three groups of omnidirectional driving gear trains are arranged at the bottom of the base plate in the form of an isosceles triangle.

[0022] The beneficial effects of the auxiliary rehabilitation training robot of the present invention are: the whole machine of the present invention is small and flexible, low in cost, convenient for use in a home environment, meets the movement needs of the human body, and can help patients with motor dysfunction to independently complete indoor movement, sit-stand transfers, daily life tasks and walking training, help them improve their quality of life, replace care family members, and reduce their family burden to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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 or the description of the prior art 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 the structures shown in these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the overall structure of the auxiliary rehabilitation training robot of the present invention;

[0025] Figure 2 It is a schematic diagram of the overall structure of the pelvic support mechanism;

[0026] Figure 3 is a cross-sectional view of the pelvic support mechanism without the housing;

[0027] Figure 4 is a schematic diagram of the structure of the pelvic support mechanism without the housing;

[0028] Figure 5 It is a schematic diagram of the overall structure of the sit-stand transfer mechanism without a column cover;

[0029] Figure 6 It is a schematic diagram of the overall structure of the sit-stand transfer mechanism without a supporting upright plate;

[0030] Figure 7 It is a schematic diagram of the overall structure of the omnidirectional mobile platform;

[0031] Figure 8 is a bottom view of the omnidirectional mobile platform;

[0032] Fig. 9 is a side view of the omnidirectional mobile platform;

[0033] Fig.10 It is a schematic diagram of the overall structure of the omnidirectional active gear train.

[0034] Description of Figure Numbers:

[0035] Label name Label name 10 Omnidirectional mobile platform 30 Pelvic support mechanism 101 Base Plate 301 First parallel link 102 Omnidirectional active gear train 302 Pelvic support mechanism housing 103 Electrical Module 303 Side sponge 104 Platform cover 304 Torque Sensors 105 Second servo motor 305 Side rotation axis 106 Second reducer 306 Double helical torsion spring 107 Omnidirectional wheel 307 Spline nut 108 Support frame 308 Spline shaft 20 Sit-Stand Transfer Mechanism 309 Pelvic support 201 Supporting board 310 Side rotation axis fixing seat 202 Curved handrail 311 Side rotating shaft swivel seat 203 Column cover 312 First compression spring 204 First servo motor 313 Ring Pressure Sensor 205 The first reducer 314 Pelvic support spline end 206 Parallel linkage 315 Spline nut mounting seat 207 Extension spring 316 Front and rear pressure detection module 208 Passive shaft 317 Damping ball joint

[0036] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] Please refer to Figures 1 to 10 The present invention proposes an auxiliary rehabilitation training robot, which is intended to help patients with lower limb movement difficulties to perform small-range position movement and walking assistance, so as to help them achieve daily activity transfer and rehabilitation training of lower limb walking function. The auxiliary rehabilitation training robot includes an omnidirectional mobile platform, a sit-stand transfer mechanism and a pelvic support mechanism. Aiming at the insufficient support force of the user's lower limbs, the auxiliary rehabilitation training robot uses the large torque output motor of the sit-stand transfer mechanism and the torque sensor of the pelvic support mechanism to detect the lifting force required to support the user and assist the user in a small-range transfer of spatial position; when the user needs to perform walking training, the pressure sensors in the front-back and left-right directions in contact with the human waist in the pelvic support mechanism, combined with the built-in movement direction recognition algorithm, detect the user's movement direction, and cooperate with the omnidirectional wheels of the omnidirectional mobile platform to achieve assistance for the user's movement.

[0041] For details, please refer to Figures 1 to 10The auxiliary rehabilitation training robot proposed in the present invention includes an omnidirectional mobile platform 10, a sit-stand transfer mechanism 20 and a pelvic support mechanism 30. The sit-stand transfer mechanism 20 is vertically installed on the omnidirectional mobile platform 10, and the pelvic support mechanism 30 is vertically installed on the sit-stand transfer mechanism 20, and the pelvic support mechanism 30 can be raised and lowered relative to the sit-stand transfer mechanism 20.

[0042] The sit-stand transfer mechanism 20 is used to provide lifting and lowering force to the pelvic support mechanism 30 to assist the user in rehabilitation training.

[0043] As an embodiment, the pelvic support mechanism includes a pelvic support mechanism housing 302, a side sponge 303, a first parallel link 301, a side rotation axis 305, a side rotation axis fixing seat 310, a side rotation axis rotating seat 311, and a torque sensor 304 for detecting the relative rotation torque between the first parallel link 301 and the side rotation axis fixing seat 310;

[0044] One end of the first parallel link 301 is connected to the sit-stand transfer mechanism 20, and the other end is connected to one end of the torque sensor 304, and the other end of the torque sensor 304 is connected to one end of the side rotation axis fixing seat 310;

[0045] The side rotation shaft 305 is connected to the side rotation shaft fixing seat 310 through the flange on the shaft, and is connected to the inner hole of the side rotation shaft rotating seat 311 through two bearings, so as to realize the rotation of the side rotation shaft rotating seat 311 relative to the side rotation shaft fixing seat 310 and the side rotation shaft 305.

[0046] As an embodiment, the pelvic support mechanism 30 also includes a double-helical torsion spring 306 for realizing the lateral rotation dynamic reset force. The double-helical torsion spring 306 for realizing the lateral rotation dynamic reset force is connected with the contoured shaft on the side rotation shaft 305 through the central special-shaped hole to ensure that the double-helical torsion spring 306 and the side rotation shaft 305 do not rotate relative to each other. The two movable ends of the double-helical torsion spring 306 are connected to the side rotation shaft rotating seat 311 by screws. Therefore, when the side rotation shaft rotating seat 311 is rotated relative to the side rotation shaft fixed seat 310, the double-helical torsion spring 306 can provide a rotation reset force.

[0047] As an implementation mode, the pelvic support mechanism further includes a spline nut 307, a spline shaft 308, a spline nut mounting seat 315, a pelvic support 309, a pelvic support spline end 314, an annular pressure sensor 313, a first compression spring 312, a front and rear pressure detection module 316, and a damping ball joint hinge 317;

[0048] The spline nut mounting seat 315 is connected to the side rotating shaft rotating seat 311 by screws, the spline nut 307 is connected to the spline nut mounting seat 315 by its own flange, and the spline shaft 308 is installed on the spline nut 307;

[0049] The first compression spring 312 is sleeved on the spline shaft 308, with one end supporting the spline nut 307 and the other end supporting the annular pressure sensor 313 sleeved on the spline shaft 308. The spline 314 end of the pelvic support is fixed to the shaft ends on both sides of the spline shaft 308 by screws to prevent the first compression spring 312 and the annular pressure sensor 313 from falling out.

[0050] The pelvic support 309 is connected to the spline ends 314 of the pelvic supports on the left and right sides by screws, and the damping ball hinge 317 is connected between the left and right sides and the pelvis by screws.

[0051] The front and rear pressure detection module 316 includes a pressure sensor and a second compression spring, and is connected to the pelvic support 309 via screws.

[0052] As an implementation manner, the sit-stand transfer mechanism 20 includes a support upright 201 , an arc-shaped armrest 202 , a first servo motor 204 , a first reducer 205 , and a parallel linkage mechanism 206 .

[0053] The support plate 201 is vertically mounted on the omnidirectional mobile platform 10 , and the armrest 202 is mounted on the support plate 201 . The armrest 202 is arranged parallel to the omnidirectional mobile platform 10 .

[0054] The first servo motor 204 is connected to the first reducer 205, and the first reducer 205 is installed on the supporting plate 201. The active shaft of the parallel linkage mechanism 206 is connected to the output shaft of the first reducer 205, and the passive shaft of the parallel linkage mechanism 206 is connected to one end of the first parallel linkage 301. The first servo motor 204 is used to generate a torque to support the user according to the rotational torque, and provide the pelvic support mechanism 30 with the force for lifting and lowering movement through the parallel linkage mechanism 206.

[0055] The parallel linkage mechanism 206 includes two second parallel linkages which are arranged parallel to each other in the upper and lower parts. A plurality of parallel tension springs 207 are arranged between the first parallel linkage 301 and the corresponding second parallel linkage. One end of the tension spring 207 is connected to the first parallel linkage 301 through a tension spring support, and the other end of the tension spring 207 is connected to the second parallel linkage through a tension spring support. The tension spring 207 forms a certain angle with the first parallel linkage 301 and the second parallel linkage. When the pelvic support mechanism 30 is raised to the highest position, the tension spring 207 is in a minimum displacement state. When the pelvic support mechanism 30 is lowered to the lowest position, the tension spring 207 is in a maximum displacement state. The tension of the tension spring 207 is multiplied by the lever arm to obtain a torque for balancing the pelvic support mechanism 30, thereby reducing the output burden of the first servo motor.

[0056] In addition, the parallel linkage mechanism 206 further includes a column cover 203 , and the column cover 203 is disposed outside the supporting plate 201 .

[0057] As an embodiment, the omnidirectional mobile platform 10 includes a base plate 102, several groups of omnidirectional active wheel trains 101, an electrical module 103, and a platform cover 104, wherein the support vertical plate 201 is vertically installed on the base plate 102, the omnidirectional active wheel train 101 is installed at the bottom of the base plate 102, the electrical module 103 is installed on the base plate 102, and the electrical module 103 is connected to the omnidirectional active wheel train 101, and the platform cover 104 is connected to the side of the base plate 102.

[0058] The omnidirectional active wheel system 101 includes a second servo motor 105, a second reducer 106, an omnidirectional wheel 107 and a support frame 108. The signal line of the second servo motor 105 is connected to the electrical module 103 after passing through the wire hole on the base plate 102. The second servo motor 105 is connected to the second reducer 106 through a first end face flange, and the second reducer 106 is connected to the support frame 108 through a second end face flange. The output shaft of the second reducer is connected to the shaft hole of the omnidirectional wheel 107, and the support frame 108 is installed on the base plate 102.

[0059] The bottom plate 102 and the platform cover 104 are arc-shaped. The omnidirectional driving gear trains 101 are three groups, and the three groups of omnidirectional driving gear trains 101 are installed at the bottom of the bottom plate 102 in an isosceles triangle.

[0060] The structure and working principle of the auxiliary rehabilitation training robot of the present invention are further elaborated in detail below.

[0061] The auxiliary rehabilitation training robot proposed by the present invention includes an omnidirectional mobile platform 10, a sit-stand transfer mechanism 20 and a pelvic support mechanism 30; the omnidirectional mobile platform 10 includes a plurality of omnidirectional active gear trains 101, a base plate 102, an electrical module 103 and a platform cover 104. The sit-stand transfer mechanism 20 is connected to the omnidirectional mobile platform 10 by screws, and the sit-stand transfer mechanism 20 includes an armrest 202, a column cover 203, a support plate 201, a first servo motor 204, a first reducer 205, a parallel link mechanism 206 and a tension spring 207. The pelvic support mechanism 30 is connected to the passive rotating shaft 208 of the parallel link mechanism 206 of the sit-stand transfer mechanism 20, and the pelvic support mechanism 30 includes a first parallel link 301, a torque sensor 304, a translation module 302, a rotating side bar 303, a torsion spring 308, a front and rear pressure detection module 307, a left pressure detection module 305 and a right pressure detection module 306.

[0062] The omnidirectional mobile platform 10 connects three sets of omnidirectional active wheel trains 101 through a base plate 102. The three sets of omnidirectional active wheel trains 101 are arranged in an isosceles triangle, with one set of omnidirectional active wheel trains 101 arranged in the front of the movement and two sets of omnidirectional active wheel trains 101 arranged in the rear, so as to realize the omnidirectional movement of the omnidirectional mobile platform 10 in the entire space.

[0063] Each set of omnidirectional active wheel train 101 includes a second servo motor 105, a second reducer 106, a support frame 108 and an omnidirectional wheel 107. The second servo motor 105 and the second reducer 106 are connected by a first end face flange, the second reducer 106 and the support frame 108 are connected by a second end face flange, and the output shaft of the second reducer 106 is connected to the shaft hole of the omnidirectional wheel 107 by a key. The electrical module 103 is arranged on the base plate 102 by screws, and the platform cover 104 wraps the entire electrical module 103. The platform cover 104 is connected and fixed to the side of the base plate 102 by screws to prevent dust and debris from entering. The control line of the second servo motor 105 is connected to the electrical module 103 through the wire hole reserved in the base plate 102. The omnidirectional movement of the entire auxiliary rehabilitation training robot is achieved through the three omnidirectional wheels 107 of the omnidirectional mobile platform 10.

[0064] The sit-stand transfer mechanism 20 is connected to the omnidirectional mobile platform 10 through the support plate 201 by screws. The column cover 203 is connected to the top of the support plate 201 by screws, and the handrail 202 passes through the column cover 203 and is connected to the support plate 201 by screws, providing a handhold for the user to support during rehabilitation training; the first servo motor 204 is connected to the first reducer 205 by screws to form a torque reduction module, the first reducer 205 is connected to the support plate 201 by screws, the active shaft of the parallel link mechanism 206 is connected to the output shaft of the first reducer 205 by a key to achieve the transmission of the output torque, and the passive shaft 208 is connected to the first parallel link 301 of the pelvic support mechanism 30 to achieve the transmission of torque: from the parallel link to the pelvic support mechanism 30. The tension spring 207 is arranged between the two second parallel links of the parallel link mechanism 206 to provide a certain reset force and can be used to increase the lifting torque. When the user's lower limb support force is insufficient or spatial position transfer is required, the first servo motor 204 will increase the output torque to provide the pelvic support mechanism 30 with lifting and lowering force, lift the user through the parallel linkage mechanism 206 and the pelvic support mechanism 30, and then transfer the user as a whole through the omnidirectional mobile platform 10.

[0065] The torque sensor 304 in the pelvic support mechanism 30 is connected to the first parallel link 301 by a screw, and is used to measure the torque of the user acting on the pelvic support mechanism 30 in the vertical direction, that is, the torque required for the auxiliary rehabilitation training robot to lift the user to a normal height. It should be noted that the present invention can achieve auxiliary support for the user by converting the torque that the first servo motor 204 needs to provide to support the user.

[0066] In addition, it is worth mentioning that most of the current rehabilitation machines and patients use a rigid connection, that is, a direct connection between the driver and the patient, to achieve the target trajectory control. However, the latest research shows that the use of a rigid-flexible hybrid connection is more beneficial for achieving force control and avoiding rigid impact and motion relearning. Therefore, the present invention adopts a rigid-flexible hybrid system, driven by a series elastic driver, and a spring transition between the user and the auxiliary rehabilitation training robot, thereby avoiding the adverse effects of control errors on the user. In addition, modeling and control based on flexible body dynamics are the key to realizing the control of the present invention. The present invention uses flexible body dynamics formulas to optimize the rigid body mass and spring parameters, thereby performing auxiliary force control on patients.

[0067] The assisted rehabilitation training robot of the present invention can realize the sit-stand transfer of the user and perform assisted rehabilitation training in the following manner:

[0068] 1. Use the remote control to move the auxiliary rehabilitation training robot to the front of the user, and adjust the height of the pelvic support mechanism 30 so that the two ball hinges are located on both sides of the patient's pelvis;

[0069] 2. Use the quick-hang feature to connect the user to the assisted rehabilitation training robot, and place the remote control after confirming the connection;

[0070] 3. Use the joystick to lift the user from a sitting position, stop when the user reaches the designated position, and switch to sports mode.

[0071] The beneficial effects of the auxiliary rehabilitation training robot of the present invention are: the whole machine of the present invention is small and flexible, low in cost, convenient for use in a home environment, meets the movement needs of the human body, and can help patients with motor dysfunction to independently complete indoor movement, sit-stand transfers, daily life tasks and walking training, help them improve their quality of life, replace care family members, and reduce their family burden to a certain extent.

[0072] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An auxiliary rehabilitation training robot, characterized in that: It comprises an omnidirectional mobile platform, a sit-stand transfer mechanism and a pelvic support mechanism, wherein the sit-stand transfer mechanism is vertically mounted on the omnidirectional mobile platform, the pelvic support mechanism is vertically mounted on the sit-stand transfer mechanism, and the pelvic support mechanism can move up and down relative to the sit-stand transfer mechanism; The sit-stand transfer mechanism is used to provide lifting and lowering force for the pelvic support mechanism to assist the user in rehabilitation training; The pelvic support mechanism includes a first parallel link, a lateral rotation axis, a lateral rotation axis fixing seat, a lateral rotation axis rotating seat, and a torque sensor for detecting the relative rotation torque between the first parallel link and the lateral rotation axis fixing seat; One end of the first parallel link is connected to the sit-stand transfer mechanism, and the other end is connected to one end of the torque sensor, and the other end of the torque sensor is connected to one end of the side rotation shaft fixing seat; The side rotating shaft is connected to the side rotating shaft fixing seat through the flange on the shaft, and is connected to the inner hole of the side rotating shaft rotating seat through two bearings, so as to realize the rotation of the side rotating shaft rotating seat relative to the side rotating shaft fixing seat and the side rotating shaft; The pelvic support mechanism also includes a spline nut, a spline shaft, a spline nut mounting seat, a pelvic support, a spline end of the pelvic support, an annular pressure sensor, a first compression spring, a front and rear pressure detection module, and a damping ball joint hinge; The spline nut mounting seat is connected to the side rotating shaft rotating seat by screws, the spline nut is connected to the spline nut mounting seat by its own flange, and the spline shaft is mounted on the spline nut; The first compression spring is sleeved on the spline shaft, one end of which supports the spline nut, and the other end supports the annular pressure sensor sleeved on the spline shaft, and the spline end of the pelvic support is fixed to the two side shaft ends of the spline shaft by screws to prevent the first compression spring and the annular pressure sensor from falling out; The pelvic support is connected to the spline ends of the pelvic supports on the left and right sides by screws, and the damping ball hinge is connected between the left and right sides and the pelvis by screws; The front and rear pressure detection module includes a pressure sensor and a second compression spring, which are connected to the pelvic support via screws; The sit-stand transfer mechanism includes a support upright, an arc-shaped armrest, a first servo motor, a first reducer, and a parallel linkage mechanism; The parallel linkage mechanism comprises two second parallel linkages arranged in parallel with each other up and down, a plurality of mutually parallel tension springs are arranged between the first parallel linkage and the corresponding second parallel linkage, one end of the tension spring is connected to the first parallel linkage through a tension spring support, and the other end of the tension spring is connected to the second parallel linkage through a tension spring support; the tension spring forms a certain angle with the first parallel linkage and the second parallel linkage, when the pelvic support mechanism is raised to the highest position, the tension spring is in a minimum displacement state, and when the pelvic support mechanism is lowered to the lowest position, the tension spring is in a maximum displacement state; the tension force of the tension spring multiplied by the lever arm obtains a torque for balancing the pelvic support mechanism, thereby reducing the output burden of the first servo motor; The parallel linkage mechanism also includes a column cover, which is arranged outside the supporting plate.

2. The auxiliary rehabilitation training robot according to claim 1, characterized in that: The pelvic support mechanism also includes a double-helical torsion spring for realizing the lateral rotation dynamic reset force. The double-helical torsion spring is connected to the contoured shaft on the lateral rotation shaft through a center hole to ensure that the double-helical torsion spring and the lateral rotation shaft do not rotate relative to each other. The two movable ends of the double-helical torsion spring are connected to the lateral rotation shaft rotation seat by screws. When the lateral rotation shaft rotation seat rotates relative to the lateral rotation shaft fixed seat, the double-helical torsion spring provides a rotation reset force.

3. The auxiliary rehabilitation training robot according to claim 1, characterized in that: The omnidirectional mobile platform includes a base plate, several groups of omnidirectional active wheel trains, an electrical module, and a platform cover, wherein the support vertical plate is vertically installed on the base plate, the omnidirectional active wheel train is installed at the bottom of the base plate, the electrical module is installed on the base plate, and the electrical module is connected to the omnidirectional active wheel train, and the platform cover is connected to the side of the base plate.

4. The auxiliary rehabilitation training robot according to claim 3, characterized in that: The omnidirectional active wheel system includes a second servo motor, a second reducer, an omnidirectional wheel and a support frame. The signal line of the second servo motor is connected to the electrical module after passing through the wire hole on the base plate. The second servo motor is connected to the second reducer through a first end face flange, the second reducer is connected to the support frame through a second end face flange, the output shaft of the second reducer is connected to the axial hole of the omnidirectional wheel, and the support frame is installed on the base plate.

5. The auxiliary rehabilitation training robot according to claim 4, characterized in that: The bottom plate and the platform cover are arc-shaped.

6. The auxiliary rehabilitation training robot according to claim 5, characterized in that: The omnidirectional active gear trains are in three groups, and the three groups of omnidirectional active gear trains are arranged at the bottom of the base plate in the form of an isosceles triangle.

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