A lower limb rehabilitation robot and control system based on parallel mechanism

Abstract

The present invention discloses a lower limb rehabilitation robot and control system based on a parallel mechanism. The lower limb rehabilitation robot specifically includes: a column body; a parallel mechanism, which is arranged on the column body and can slide up and down along the column body; a six-axis sensor, which is arranged on the parallel mechanism and is used to collect the user's motion parameters. The lower limb rehabilitation robot can simulate the three degrees of freedom of the human hip joint to fit the hip motion state in real time. The three-degree-of-freedom characteristics and high stiffness characteristics of the parallel mechanism can better simulate the hip movement of a person during normal rehabilitation training. The torque control of the servo motor allows the patient's hip to obtain a more comfortable rehabilitation training environment. The parallel mechanism has a simple and compact structure and is applicable to many scenarios.

Description

Technical Field

[0001] The invention relates to a rehabilitation robot, and in particular to a lower limb rehabilitation robot and a control system based on a parallel mechanism. Background Art

[0002] In recent years, with the rapid development of my country's economy and the improvement of living standards, people pay more attention to physical health, and the demand for lower limb movement recovery of patients with lower limb joint injuries caused by diseases such as stroke and cerebral infarction has also increased sharply. Lower limb rehabilitation robots can help physical therapists support and move patients, maintain body balance, and free physical therapists from heavy training tasks, thereby saving a lot of manpower costs.

[0003] At present, the main functions of lower limb rehabilitation robots are lower limb weight loss and gait training, etc., with less adjustment of the hip mechanism, and the main function is hip width adjustment. In this case, the lower limb rehabilitation robot cannot fit the human body's hip freedom, resulting in patients being unable to perform rehabilitation training in a comfortable environment during rehabilitation training, and thus failing to achieve the expected rehabilitation effect. In view of this, overcoming the defects of the above-mentioned prior art is an urgent problem to be solved in this field. Summary of the invention

[0004] In order to overcome the technical problems in the prior art, the present invention provides a lower limb rehabilitation robot and a control system based on a parallel mechanism. The present invention discloses a lower limb rehabilitation robot based on a parallel mechanism, comprising:

[0005] Column body;

[0006] A parallel mechanism is provided on the column body and is capable of sliding up and down along the column body;

[0007] A six-axis sensor, disposed on the parallel mechanism, for collecting motion parameters of the user;

[0008] Wherein, the parallel mechanism includes:

[0009] A fixed platform, slidably connected to the column body;

[0010] A moving platform is arranged opposite to the fixed platform, and the moving platform can move relative to the fixed platform;

[0011] A rotating pair, fixedly arranged on a surface of the fixed platform opposite to the moving platform;

[0012] A ball joint is provided on a surface of the moving platform opposite to the fixed platform;

[0013] A support rod connects the revolute pair and the ball joint.

[0014] Furthermore, three of the revolving pairs are fixedly provided on the fixed platform, and the three revolving pairs are arranged in an equilateral triangle; three of the ball joints are fixedly provided on the movable platform, and the three ball joints are arranged in an equilateral triangle;

[0015] Furthermore, the area of ​​the equilateral triangle formed by the arrangement of the three revolute pairs is greater than the area of ​​the equilateral triangle formed by the arrangement of the three ball joints.

[0016] Furthermore, the support rod includes an upper support rod and a lower support rod, the upper support rod is connected to the ball joint, the lower support rod is connected to the revolving pair, and relative movement between the upper support rod and the lower support rod is achieved through a linear module or a servo motor.

[0017] Furthermore, the parallel mechanism also includes a hip support member, the hip support member is connected to the moving platform, and the six-axis sensor is arranged on the hip support member.

[0018] The present invention also provides a control system for a lower limb rehabilitation robot with a parallel mechanism, comprising: a main controller and a six-axis sensor, wherein the six-axis sensor is used to collect motion parameters of a user, and the main controller can obtain and process the motion parameter data through a CAN bus.

[0019] Furthermore, it also includes a servo driver, which can receive the data processed by the main controller and drive the servo motor to move.

[0020] The lower limb rehabilitation robot based on the parallel mechanism provided by the present invention is a lower limb rehabilitation robot that fits the hip motion state in real time by simulating the three degrees of freedom of the human hip joint, namely, a left-right rotation degree of freedom facing the human, a vertical rotation degree of freedom and a forward-backward movement degree of freedom. Through the six-axis sensor installed at the end of the patient's hip, the control algorithm is used to obtain the position, speed, acceleration and other information required by the patient, and the obtained motion parameter information is sent to the main control through the CAN bus to control the output of the parallel mechanism. Compared with the prior art, the three-degree-of-freedom characteristics and high-rigidity characteristics of the parallel mechanism can better simulate the hip movement of a person during normal rehabilitation training, and the patient's hip can be provided with a more comfortable rehabilitation training environment by controlling the torque of the servo motor. The parallel mechanism has a simple and compact structure and is applicable to many scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are included in and constitute a part of this specification, illustrate embodiments of the apparatus and method consistent with the present invention and, together with the detailed description, are used to explain the advantages and principles of the present invention. In the drawings:

[0022] Figure 1 1 is a schematic diagram of the overall structure of a lower limb rehabilitation robot based on a parallel mechanism provided in Embodiment 1 of the present invention;

[0023] Figure 2 is a schematic diagram of the partial structure of a lower limb rehabilitation robot based on a parallel mechanism provided in Embodiment 1 of the present invention;

[0024] Figure 3 This is a structural block diagram of a lower limb rehabilitation robot control system based on a parallel mechanism provided in Embodiment 2 of the present invention.

[0025] Description of Reference Numerals

[0026] 1-Column body;

[0027] 2-Parallel mechanism;

[0028] 3- Six-axis sensor;

[0029] 4- Hip support;

[0030] 5-Moving platform;

[0031] 6-ball joint;

[0032] 7-Support rod;

[0033] 8-rotation pair;

[0034] 9-Determine the platform. DETAILED DESCRIPTION

[0035] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described below. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other, and the technical concept of the present invention can be implemented in combination with other known technologies or other technologies that are the same as those known technologies.

[0036] Embodiment 1

[0037] like Figure 1-Figure 2 As shown, this embodiment provides a lower limb rehabilitation robot based on a parallel mechanism, comprising:

[0038] A column body 1; a parallel mechanism 2, which is arranged on the column body 1 and can slide up and down along the column body 1; a six-axis sensor 3, which is arranged on the parallel mechanism 2 and is used to collect the user's motion parameters. The parallel mechanism 2 includes a fixed platform 9, which is slidably connected to the column body 1; a moving platform 5, which is arranged opposite to the fixed platform 9 and can move relative to the fixed platform 9; a revolving pair 8, which is fixedly arranged on the side of the fixed platform 9 opposite to the moving platform 5; a ball joint 6, which is arranged on the side of the moving platform 5 opposite to the fixed platform 9; and a support rod 7, which connects the revolving pair 8 and the ball joint 6.

[0039] Further, three revolute pairs 8 are fixedly provided on the fixed platform 9, and the three revolute pairs 8 are arranged in an equilateral triangle; three ball joints 6 are fixedly provided on the movable platform 5, and the three ball joints 6 are arranged in an equilateral triangle. In this embodiment, the area of ​​the equilateral triangle formed by the arrangement of the three revolute pairs 8 is greater than the area of ​​the equilateral triangle formed by the arrangement of the three ball joints 6. In another embodiment, the area of ​​the equilateral triangle formed by the arrangement of the three revolute pairs 8 may be smaller than the area of ​​the equilateral triangle formed by the arrangement of the three ball joints 6.

[0040] Furthermore, the support rod 7 includes an upper support rod and a lower support rod, the upper support rod is connected to the ball joint 6, the lower support rod is connected to the revolving pair 8, and relative movement between the upper support rod and the lower support rod is achieved through a linear module or a servo motor.

[0041] Furthermore, the parallel mechanism 2 further includes a hip support 4, the hip support 4 is connected to the moving platform 5, and the six-axis sensor 3 is disposed on the hip support 4. In this embodiment, two six-axis sensors 3 are included, which are disposed on both sides of the user's hips, and are respectively used to collect motion data of the user's left and right hips.

[0042] The lower limb rehabilitation robot based on the parallel mechanism 2 provided in this embodiment adopts a three-degree-of-freedom parallel mechanism 2 to realize hip movement, and fits the hip movement state in real time by simulating the three degrees of freedom of the human hip joint, namely, a left-right rotation degree of freedom facing the person, a vertical rotation degree of freedom, and a forward and backward movement degree of freedom. The upper and lower platforms (fixed platform 9, movable platform 5) are two equilateral triangles of different lengths, which are connected by three retractable support rods 7. The retractable support rods 7 can be realized by linear guides, servo electric cylinders, etc. The upper part of the support rod 7 is connected to the movable platform 5 by three ball joints 6, and the lower part of the support rod 7 is connected to the fixed platform 9 by three rotating pairs 8.

[0043] Embodiment 2

[0044] This embodiment provides a control system for a lower limb rehabilitation robot based on a parallel mechanism, including: a main controller and a six-axis sensor, wherein the six-axis sensor is used to collect the user's motion parameters, and the main controller can obtain and process the motion parameter data through the CAN bus. Furthermore, the control system also includes a servo driver, which can receive the data processed by the main controller and drive the servo motor to move. Taking the lower limb rehabilitation robot provided in Example 1 as an example, Figure 3As shown, the control system collects the XYZ three-axis angle and angular acceleration information from the two sides of the patient's hip during rehabilitation training in real time through a six-axis sensor. The main controller sends the acquired motion parameter information to the servo driver through the CAN bus after processing, so as to control the servo motor in the retractable support rod in the parallel mechanism respectively.

[0045] Unless otherwise specified, qualifiers such as "first" and "second" appearing in this document do not refer to limitations on time sequence, quantity, or importance, but are merely used to distinguish one technical feature from another in the technical solution. Similarly, modifiers such as "approximately" and "approximately" that appear before a numeral in this document usually include the number itself, and their specific meanings should be understood in conjunction with the context. Similarly, unless it is a noun modified by a specific quantitative quantifier, it should be regarded as including both singular and plural forms in this document, and the technical solution may include both the singular and plural technical features.

[0046] In the description of the above specific embodiments, the use of directional terms such as "up", "down", "left", "right", "top", "bottom", "vertical", "horizontal" and "lateral" are merely for the purpose of convenience of description and should not be regarded as limiting.

[0047] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that these are only examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A lower limb rehabilitation robot based on a parallel mechanism, characterized in that: include: Column body; A parallel mechanism is provided on the column body and is capable of sliding up and down along the column body; A six-axis sensor, disposed on the parallel mechanism, for collecting motion parameters of the user; Wherein, the parallel mechanism includes: A fixed platform, slidably connected to the column body; A moving platform is arranged opposite to the fixed platform, and the moving platform can move relative to the fixed platform; A rotating pair, fixedly arranged on a surface of the fixed platform opposite to the moving platform; A ball joint is provided on a surface of the moving platform opposite to the fixed platform; A support rod connecting the revolute pair and the ball joint; Three rotating pairs are fixedly arranged on the fixed platform, and the three rotating pairs are arranged in an equilateral triangle; Three ball joints are fixedly arranged on the moving platform, and the three ball joints are arranged in an equilateral triangle; The parallel mechanism further includes a hip support component, the hip support component is connected to the moving platform, and the six-axis sensor is arranged on the hip support component.

2. A lower limb rehabilitation robot based on a parallel mechanism according to claim 1, characterized in that: The area of ​​the equilateral triangle formed by the arrangement of the three revolute pairs is greater than the area of ​​the equilateral triangle formed by the arrangement of the three ball joints.

3. A lower limb rehabilitation robot based on a parallel mechanism according to claim 1, characterized in that: The support rod comprises an upper support rod and a lower support rod, the upper support rod is connected to the ball joint, the lower support rod is connected to the revolving pair, and relative movement between the upper support rod and the lower support rod is achieved through a linear module or a servo motor.

4. A control system, characterized in that: The control system is used to control the lower limb rehabilitation robot of the parallel mechanism as described in any one of claims 1 to 3; The control system includes: a main controller and a six-axis sensor, wherein the six-axis sensor is used to collect the motion parameters of the user, and the main controller can obtain the motion parameter data through a CAN bus and process it.

5. The control system according to claim 4, characterized in that: It also includes a servo driver, which can receive the data processed by the main controller and drive the servo motor to move.

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