Assistive Rehabilitation Training Robot

Abstract

The present invention discloses an auxiliary rehabilitation training robot, which includes an omnidirectional mobile platform, a sit-to-stand transfer mechanism, and a pelvic support mechanism. The sit-to-stand transfer mechanism is vertically installed on the omnidirectional mobile platform, and the pelvic support mechanism is vertically installed on the sit-to-stand transfer mechanism, and the pelvic support mechanism can move up and down relative to the sit-to-stand transfer mechanism; the sit-to-stand transfer mechanism is used to provide the force for the up and down movement of the pelvic support mechanism to assist the user in performing weight-bearing walking training and sit-to-stand transfer training. The whole machine of the present invention is small, flexible, low in cost, convenient for use in a home environment, meets the human movement needs, can help patients with motor function disorders to independently complete indoor movement, sit-to-stand transfer, daily life tasks and walking training, help them improve their quality of life, replace the caregiving family members, and relieve their family burden to a certain extent.

Description

Technical Field

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

[0002] In recent years, most stroke patients will have varying degrees of motor function disorders after surgery, and more than 40% of the elderly population have varying degrees of walking disorders, which not only seriously affect their normal life and require family members or medical staff to take care of them daily, bringing a heavy economic burden to the family. Research shows that more than 80% of brain injury patients have significant improvement in motor function after active and effective rehabilitation exercise training, and most elderly people can also maintain their motor function after walking training.

[0003] A number of rehabilitation training devices have been developed at home and abroad, but most of them have problems such as large volume, high price, and difficult operation, are not suitable for use in home and community environments, and are difficult to be used as auxiliary devices for 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 assisted rehabilitation training robot that can be applied to the home environment, aiming to reduce the volume and production cost, so as to help patients with motor function disorders complete indoor movement, sit-to-stand transfer, daily life tasks, and walking training independently, help them improve their quality of life, replace the caregiving family members, and relieve the family burden to a certain extent.

[0005] To achieve the above purpose, the present invention provides an assisted rehabilitation training robot, including an omnidirectional mobile platform, a sit-to-stand transfer mechanism, and a pelvis support mechanism. The sit-to-stand transfer mechanism is vertically installed on the omnidirectional mobile platform, and the pelvis support mechanism is vertically installed on the sit-to-stand transfer mechanism. The pelvis support mechanism can move up and down relative to the sit-to-stand transfer mechanism;

[0006] The sit-to-stand transfer mechanism is used to provide the force for the up and down movement of the pelvis support mechanism to assist the user in rehabilitation training.

[0007] A further technical solution of the present invention is that the pelvis support mechanism includes a first parallel link, a translation module, an arc-shaped rotating side rod, and a torque sensor for detecting the relative rotation torque between the first parallel link and the translation module;

[0008] One end of the first parallel link is connected to the sit-to-stand transfer mechanism, 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 translation module;

[0009] The middle part of the rotating side rod is connected to the other end of the translational module, and the opening of the rotating side rod is arranged facing outwards;

[0010] On both sides of the rotating side rod, a left pressure detection module and a right pressure detection module are symmetrically installed; both the left pressure detection module and the right pressure detection module include a first pressure sensor and a first compression spring pressing on the first pressure sensor;

[0011] A front-back pressure detection module is installed in the translational module. The front-back pressure detection module includes a second pressure sensor and a second compression spring pressing on the second pressure sensor, and the second pressure sensor is connected to the translational module.

[0012] A further technical solution of the present invention is that the pelvic support mechanism further includes a torsion spring. One end of the torsion spring is embedded in the translational module, and the other end is embedded in the rotating side rod, so that there is a certain restoring force for the rotation between the rotating side rod and the translational module.

[0013] A further technical solution of the present invention is that the sitting-standing transfer mechanism includes a support vertical plate, an arc-shaped armrest, a first servo motor, a first reducer, and a parallel link mechanism;

[0014] The support vertical plate is vertically installed on the omnidirectional mobile platform, the armrest is installed on the support vertical plate, and the armrest is arranged parallel to the omnidirectional mobile platform;

[0015] The first servo motor is connected to the first reducer. The first reducer is installed on the support vertical plate. The driving shaft of the parallel link mechanism is connected to the output shaft of the first reducer. The driven shaft of the parallel link mechanism is connected to one end of the first parallel link. The first servo motor is used to generate a torque to support the user according to the rotation torque, and provide a lifting force for the pelvic support mechanism through the parallel link mechanism.

[0016] A further technical solution of the present invention is that the parallel link mechanism includes two second parallel links arranged parallel to each other up and down. A number of mutually parallel tension springs are arranged between the first parallel link and the corresponding second parallel link. One end of the tension spring is connected to the first parallel link through a tension spring support column, and the other end of the tension spring is connected to the second parallel link through a tension spring support column; the tension spring forms a certain angle with the first parallel link and the second parallel link. When the pelvic support mechanism rises to the highest position, the tension spring is in the minimum displacement state. When the pelvic support mechanism drops to the lowest position, the tension spring is in the maximum displacement state; the torque obtained by multiplying the tension of the tension spring by the force arm is used to balance the torque of the pelvic support mechanism, reducing the output burden of the first servo motor.

[0017] A further technical solution of the present invention is that the parallel link mechanism further includes a column housing.

[0018] A further technical solution of the present invention is that the omnidirectional mobile platform includes a bottom plate, several groups of omnidirectional driving wheel systems, an electrical module, and a platform housing. Among them, the supporting vertical plate is vertically installed on the bottom plate, the omnidirectional driving wheel system is installed at the bottom of the bottom plate, the electrical module is installed on the bottom plate, and the electrical module is connected to the omnidirectional driving wheel system, and the platform housing is connected to the side surface of the bottom plate.

[0019] A further technical solution of the present invention is that the omnidirectional driving wheel system includes a second servo motor, a second speed 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 passing hole on the bottom plate. The second servo motor and the second speed reducer are connected by a first end face flange. The second speed reducer and the support frame are connected by a second end face flange. The output shaft of the second speed reducer is connected to the shaft hole of the omnidirectional wheel, and the support frame is installed on the bottom plate.

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

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

[0022] The beneficial effects of the auxiliary rehabilitation training robot of the present invention are as follows: The whole machine of the present invention is small, flexible, low in cost, convenient to use in a family environment, meets the human movement needs, can help patients with movement function disorders to independently complete indoor movement, sit-to-stand transfer, daily life tasks and walking training, helps them improve their quality of life, replaces the care family members, and alleviates their family burden to a certain extent. Brief Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[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 pelvis support mechanism;

[0026] Figure 3It is a top view of the pelvic support mechanism;

[0027] Figure 4 It is a side view of the pelvic support mechanism;

[0028] Figure 5 It is a schematic diagram of the overall structure of the sitting-to-standing transfer mechanism without the column housing;

[0029] Figure 6 It is a schematic diagram of the overall structure of the sitting-to-standing transfer mechanism without the support vertical plate;

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

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

[0032] Figure 9 It is a side view of the omnidirectional mobile platform;

[0033] Figure 10 It is a schematic diagram of the overall structure of the omnidirectional driving wheel system.

[0034] Explanation of the reference numerals in the attached drawings:

[0035] Label Name Label Name 10 Omnidirectional mobile platform 205 First reduction gear 101 Omnidirectional driving wheel train 206 Parallel link mechanism 102 Bottom plate 207 Tension spring 103 Electrical module 208 Passive rotating shaft 104 Platform housing 30 Pelvis support mechanism 105 Second servo motor 301 First parallel link 106 Second reduction gear 302 Translation module 107 Omnidirectional wheel 303 Arc-shaped rotating side rod 108 Support frame 304 Torque sensor 20 Sitting-standing transfer mechanism 305 Left pressure detection module 201 Support vertical plate 306 Right pressure detection module 202 Arc-shaped armrest 307 Front-back pressure detection module 203 Column housing 308 Torsion spring 204 First servo motor

[0036] The realization of the object, functional features and advantages of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0037] 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 of 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.

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

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, such descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or inability to implement, it should be considered 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 provides an assisted rehabilitation training robot, aiming to help patients with lower limb movement difficulties perform small-range position movement and walking assistance to help them achieve daily activity transfer and rehabilitation training of lower limb walking function. The assisted rehabilitation training robot includes an omnidirectional mobile platform, a sit-to-stand transfer mechanism, and a pelvic support mechanism. The assisted rehabilitation training robot aims at the insufficient lower limb support force of the user, and uses the high-torque output motor of the sit-to-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 performing a small-range transfer of spatial position; when the user needs to perform walking training, through 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 motion direction recognition algorithm, the motion direction of the user is detected, and in cooperation with the omnidirectional wheels of the omnidirectional mobile platform, the assistance for the user's movement is realized.

[0041] Specifically, please refer to Figures 1 to 10 , the assisted rehabilitation training robot proposed by the present invention includes an omnidirectional mobile platform 10, a sit-to-stand transfer mechanism 20, and a pelvic support mechanism 30. The sit-to-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-to-stand transfer mechanism 20, and the pelvic support mechanism 30 can move up and down relative to the sit-to-stand transfer mechanism 20.

[0042] The sit-to-stand transfer mechanism 20 is used to provide the force for the up-and-down movement of the pelvic support mechanism 30 to assist the user in rehabilitation training.

[0043] As an implementation manner, the pelvic support mechanism 30 includes a first parallel link 301, a translation module 302, an arc-shaped rotating side bar 303, and a torque sensor 304 for detecting the relative rotation torque between the first parallel link 301 and the translation module 302.

[0044] One end of the first parallel link 301 is connected to the sit-to-stand transfer mechanism 20, and the other end is connected to one end of the torque sensor 304. The other end of the torque sensor 304 is connected to one end of the translational module 302.

[0045] The middle part of the rotating side rod 303 is connected to the other end of the translational module 302, and the opening of the rotating side rod 303 is arranged facing outwards.

[0046] The left pressure detection module 305 and the right pressure detection module 306 are symmetrically installed on both sides of the rotating side rod 303; both the left pressure detection module 305 and the right pressure detection module 306 include a first pressure sensor and a first compression spring pressing on the first pressure sensor.

[0047] The front and rear pressure detection module 307 is installed inside the translational module 302. The front and rear pressure detection module 307 includes a second pressure sensor and a second compression spring pressing on the second pressure sensor, and the second pressure sensor is connected to the translational module 302.

[0048] The pelvis support mechanism 30 further includes a torsion spring 308. One end of the torsion spring 308 is embedded inside the translational module 302, and the other end is embedded inside the rotating side rod 303, so that there is a certain restoring force for the rotation between the rotating side rod 303 and the translational module 302.

[0049] As an implementation manner, the sit-to-stand transfer mechanism 20 includes a support vertical plate 201, an arc-shaped armrest 202, a first servo motor 204, a first reducer 205, and a parallel link mechanism 206.

[0050] The support vertical plate 201 is vertically installed on the omnidirectional mobile platform 10, the armrest 202 is installed on the support vertical plate 201, and the armrest 202 is arranged parallel to the omnidirectional mobile platform 10.

[0051] The first servo motor 204 is connected to the first reducer 205. The first reducer 205 is installed on the support vertical plate 201. The driving shaft of the parallel link mechanism 206 is connected to the output shaft of the first reducer 205. The driven shaft of the parallel link mechanism 206 is connected to one end of the first parallel link 301. The first servo motor 204 is used to generate the torque for supporting the user according to the rotational torque, and provide the force for the lifting movement of the pelvis support mechanism 30 through the parallel link mechanism 206.

[0052] The parallel link mechanism 206 includes two second parallel links arranged parallel to each other vertically. A number of parallel tension springs 207 are provided between the first parallel link 301 and the corresponding second parallel link. One end of the tension spring 207 is connected to the first parallel link 301 through a tension spring support column, and the other end of the tension spring 207 is connected to the second parallel link through a tension spring support column; the tension spring 207 forms a certain angle with the first parallel link 301 and the second parallel link. When the pelvis support mechanism 30 rises to the highest position, the tension spring 207 is in the minimum displacement state, and when the pelvis support mechanism 30 drops to the lowest position, the tension spring 207 is in the maximum displacement state; the tension of the tension spring 207 multiplied by the force arm gives the torque for balancing the pelvis support mechanism 30, reducing the output burden of the first servo motor.

[0053] In addition, the parallel link mechanism 206 further includes a column housing 203, and the column housing 203 covers the outside of the support vertical plate 201.

[0054] As an implementation manner, the omnidirectional mobile platform 10 includes a bottom plate 102, several groups of omnidirectional driving wheel systems 101, an electrical module 103, and a platform housing 104. Among them, the support vertical plate 201 is vertically installed on the bottom plate 102, the omnidirectional driving wheel systems 101 are installed at the bottom of the bottom plate 102, the electrical module 103 is installed on the bottom plate 102, and the electrical module 103 is connected to the omnidirectional driving wheel systems 101, and the platform housing 104 is connected to the side surface of the bottom plate 102.

[0055] The omnidirectional driving wheel system 101 includes a second servo motor 105, a second speed 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 passing hole on the bottom plate 102. The second servo motor 105 and the second speed reducer 106 are connected through a first end face flange, the second speed reducer 106 and the support frame 108 are connected through a second end face flange, the output shaft of the second speed reducer is connected to the shaft hole of the omnidirectional wheel 107, and the support frame 108 is installed on the bottom plate 102.

[0056] The bottom plate 102 and the platform housing 104 are arc-shaped. There are three groups of omnidirectional driving wheel systems 101, and the three groups of omnidirectional driving wheel systems 101 are installed at the bottom of the bottom plate 102 in an isosceles triangle.

[0057] The structure and working principle of the auxiliary rehabilitation training robot of the present invention will be further elaborated in detail below.

[0058] The auxiliary rehabilitation training robot proposed by the present invention includes an omnidirectional mobile platform 10, a sit-to-stand transfer mechanism 20, and a pelvic support mechanism 30; the omnidirectional mobile platform 10 includes several groups of omnidirectional active wheel systems 101, a bottom plate 102, an electrical module 103, and a platform housing 104. The sit-to-stand transfer mechanism 20 is connected to the omnidirectional mobile platform 10 by screws. The sit-to-stand transfer mechanism 20 includes armrests 202, a column housing 203, a support vertical plate 201, a first servo motor 204, a first reduction gear 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-to-stand transfer mechanism 20. The pelvic support mechanism 30 includes a first parallel link 301, a torque sensor 304, a translational module 302, a rotating side bar 303, a torsion spring 308, a front-back pressure detection module 307, a left pressure detection module 305, and a right pressure detection module 306.

[0059] The omnidirectional mobile platform 10 connects the three groups of omnidirectional active wheel systems 101 through the bottom plate 102. The three groups of omnidirectional active wheel systems 101 are arranged in an isosceles triangle. One group of omnidirectional active wheel systems 101 is arranged in the front of the movement direction, and two groups of omnidirectional active wheel systems 101 are arranged at the back, realizing the omnidirectional movement of the omnidirectional mobile platform 10 in the whole space.

[0060] Each group of omnidirectional active wheel systems 101 includes a second servo motor 105, a second reduction gear 106, a support frame 108, and an omnidirectional wheel 107. The second servo motor 105 and the second reduction gear 106 are connected by a first end face flange. The second reduction gear 106 and the support frame 108 are connected by a second end face flange. The output shaft of the second reduction gear 106 is connected to the shaft hole of the omnidirectional wheel 107 by a key. The electrical module 103 is arranged on the bottom plate 102 by screws. The platform housing 104 wraps the whole electrical module 103. The platform housing 104 is fixedly connected to the side of the bottom plate 102 by screws to prevent dust and sundries from entering. The control line of the second servo motor 105 is connected to the electrical module 103 through the wire passing hole reserved on the bottom plate 102. The omnidirectional movement of the whole auxiliary rehabilitation training robot is realized by the three omnidirectional wheels 107 of the omnidirectional mobile platform 10.

[0061] The sit-to-stand transfer mechanism 20 is connected to the omnidirectional mobile platform 10 by screws through the support vertical plate 201. The column housing 203 is connected to the top of the support vertical plate 201 by screws. The handrail 202 passes through the column housing 203 and is connected to the support vertical plate 201 by screws, providing a hand-holding position for the user to hold during rehabilitation training. The first servo motor 204 and the first reduction gear 205 are connected by screws to form a torque-increasing and speed-reducing module. The first reduction gear 205 is connected to the support vertical plate 201 by screws. The driving rotating shaft of the parallel link mechanism 206 is connected to the output shaft of the first reduction gear 205 by a key to achieve the transmission of the output torque. The passive rotating 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, providing a certain restoring force and can be used to increase the lifting torque. When the user's lower limb support force is insufficient or a spatial position transfer is required, the first servo motor 204 will increase the output torque to provide the force for the lifting movement of the pelvic support mechanism 30. The user is lifted through the parallel link mechanism 206 and the pelvic support mechanism 30, and then the overall transfer is carried out through the omnidirectional mobile platform 10.

[0062] The torque sensor 304 in the pelvic support mechanism 30 is connected to the first parallel link 301 by screws and is used to measure the torque exerted by the user on the pelvic support mechanism 30 in the vertical direction, that is, the torque required for the assisted rehabilitation training robot to lift the user to the normal height. It should be noted that the present invention can calculate the torque required for the first servo motor 204 to support the user to achieve the assisted support for the user.

[0063] The translational module 302 is connected to the first parallel link 301 to achieve the transmission of force.

[0064] The arc-shaped rotating side rod 303 can be used to wrap the user's pelvis, connect the user to the assisted rehabilitation training robot, and transmit the pelvic movement parameters of the user to the robot. One end of the torsion spring 308 is embedded in the translational module 302, and the other end is embedded in the rotating side rod 303, so that there is a certain restoring force for the rotation between the rotating side rod 303 and the translational module 302.

[0065] The front-back force detection module includes a second pressure sensor and a second compression spring, which are fixed on the translational module 302 and used to detect the user's movement intention in the front-back direction. During installation, the second compression spring has a certain pre-compression amount. One end of the second compression spring presses on the second pressure sensor, and the other end contacts the user's pelvis. When the user has a forward movement tendency, the second compression spring is compressed, the pressure value increases, and the second pressure sensor detects a positive value. When the user has a backward movement tendency, the second compression spring is stretched, the pressure value decreases, and the second pressure sensor detects a negative value. Therefore, when the value detected by the second pressure sensor is positive, it indicates that the user has a forward movement tendency, and the auxiliary rehabilitation training robot is driven to move forward; otherwise, the robot is driven to move backward, and the magnitude of the movement speed is determined by the magnitude of the pressure value.

[0066] The left pressure detection module 305 and the right pressure detection module 306 include a connecting plate, a first pressure sensor, and a first compression spring, which are symmetrically fixed on the rotating side rod 303 by screws and used to detect the user's movement intention in the left-right direction.

[0067] When the user has a rightward movement tendency, the right pressure sensor detects a positive value, and the auxiliary rehabilitation training robot is driven to move rightward; when the user has a leftward movement tendency, the left pressure sensor detects a positive value, and the auxiliary rehabilitation training robot is driven to move leftward, and the magnitude of the movement speed is determined by the magnitude of the value.

[0068] One end of the torsion spring 308 is embedded in the translational module 302, and the other end is embedded in the rotating side rod 303, which not only enables the rotation between the rotating side rod 303 and the translational module 302 to have a certain restoring force, but also enables the two rotating side rods 303 to better wrap the user's pelvis, so that the movement intention information can be more accurately transmitted to the pressure sensor.

[0069] In addition, it is worth mentioning that most current rehabilitation machines are rigidly connected to patients, that is, directly connected between the driver and the patient to achieve target trajectory control. However, the latest research shows that using a rigid-flexible hybrid connection is more beneficial for achieving force control, avoiding rigid impacts, and motor relearning. Therefore, the present invention adopts a rigid-flexible hybrid system, uses a series elastic actuator to drive, and uses a spring to transition between the user and the auxiliary rehabilitation training robot, 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 the patient.

[0070] The auxiliary rehabilitation training robot of the present invention can assist the user in sitting-standing transfer and perform auxiliary rehabilitation training in the following ways:

[0071] 1. Use the remote control to operate the assisted rehabilitation training robot to move in 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;

[0072] 2. Connect the user to the assisted rehabilitation training robot through a quick-release buckle. After confirming the connection, place the remote control;

[0073] 3. Operate the joystick to lift the user from a sitting position, stop when reaching the specified position, and switch to the exercise mode.

[0074] The beneficial effects of the assisted rehabilitation training robot of the present invention are as follows: The whole machine of the present invention is small, flexible, low-cost, and convenient for use in a home environment. It meets the human movement needs, can help patients with movement function disorders to independently complete indoor movement, sit-to-stand transfer, daily life tasks, and walking training, help improve their quality of life, replace the caregiving family members, and relieve their family burden to a certain extent.

[0075] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An assisted rehabilitation training robot, characterized in that, it includes an omnidirectional mobile platform, a sitting-standing transfer mechanism and a pelvic support mechanism. The sitting-standing transfer mechanism is vertically installed on the omnidirectional mobile platform, the pelvic support mechanism is vertically installed on the sitting-standing transfer mechanism, and the pelvic support mechanism can move up and down relative to the sitting-standing transfer mechanism; The sitting-standing transfer mechanism is used to provide the force for the up and down movement of the pelvic support mechanism to assist the user in rehabilitation training; the pelvic support mechanism includes a first parallel link, a translation module, an arc-shaped rotating side rod, and a torque sensor for detecting the relative rotation torque between the first parallel link and the translation module; One end of the first parallel link is connected to the sitting-standing transfer mechanism, 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 translation module; The middle part of the rotating side rod is connected to the other end of the translation module, and the opening of the rotating side rod faces outward; The left and right pressure detection modules are symmetrically installed on both sides of the rotating side rod; both the left and right pressure detection modules include a first pressure sensor and a first compression spring pressed on the first pressure sensor; A front and rear pressure detection module is installed in the translation module. The front and rear pressure detection module includes a second pressure sensor and a second compression spring pressed on the second pressure sensor, and the second pressure sensor is connected to the translation module; The sitting-standing transfer mechanism includes a support vertical plate, an arc-shaped armrest, a first servo motor, a first reducer, and a parallel link mechanism; The support vertical plate is vertically installed on the omnidirectional mobile platform, the armrest is installed on the support vertical plate, and the armrest is arranged parallel to the omnidirectional mobile platform; The first servo motor is connected to the first reducer, the first reducer is installed on the support vertical plate, the driving shaft of the parallel link mechanism is connected to the output shaft of the first reducer, the driven shaft of the parallel link mechanism is connected to one end of the first parallel link, and the first servo motor is used to generate the torque to support the user according to the rotation torque, and provide the force for the up and down movement of the pelvic support mechanism through the parallel link mechanism; The parallel link mechanism includes two second parallel links arranged parallel to each other up and down. A number of mutually parallel tension springs are arranged between the first parallel link and the corresponding second parallel link. One end of the tension spring is connected to the first parallel link through a tension spring support column, and the other end of the tension spring is connected to the second parallel link through a tension spring support column; the tension spring forms a certain angle with the first parallel link and the second parallel link. When the pelvic support mechanism rises to the highest position, the tension spring is in the minimum displacement state, and when the pelvic support mechanism drops to the lowest position, the tension spring is in the maximum displacement state; the tension of the tension spring multiplied by the force arm obtains the torque for balancing the pelvic support mechanism, reducing the output burden of the first servo motor; The parallel link mechanism also includes a column housing, and the column housing covers the outside of the support vertical plate.

2. The auxiliary rehabilitation training robot according to claim 1, characterized in that, the pelvic support mechanism further includes a torsion spring, one end of the torsion spring is embedded in the translation module, and the other end is embedded in the rotating side rod, so that there is a certain restoring force for the rotation between the rotating side rod and the translation module.

3. The auxiliary rehabilitation training robot according to claim 1, characterized in that, the omnidirectional mobile platform includes a bottom plate, several groups of omnidirectional active wheel systems, an electrical module, and a platform housing. Among them, the support vertical plate is vertically installed on the bottom plate, the omnidirectional active wheel system is installed at the bottom of the bottom plate, the electrical module is installed on the bottom plate, and the electrical module is connected to the omnidirectional active wheel system, and the platform housing is connected to the side surface of the bottom 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 passing hole on the bottom plate. The second servo motor and the second reducer are connected by a first end face flange. The second reducer and the support frame are connected by a second end face flange. The output shaft of the second reducer is connected to the shaft hole of the omnidirectional wheel, and the support frame is installed on the bottom plate.

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

6. The auxiliary rehabilitation training robot according to claim 5, characterized in that, there are three groups of the omnidirectional active wheel systems, and the three groups of omnidirectional active wheel systems are arranged in an isosceles triangle at the bottom of the bottom plate.

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