A gravity balancing device for rehabilitation exoskeleton robots

Abstract

This invention discloses a gravity balancing device for a rehabilitation exoskeleton robot, belonging to the field of robotics. It includes a balance plate and a base. A support rod is fixedly mounted on the top of the base. The balance plate is rotatably mounted on a rotating shaft mounted on the support rod via a side plate fixedly mounted on its outer wall. A support side frame is fixedly mounted on the outside of the support rod. A sliding plate is rotatably mounted on one end of the support side frame via a rotating shaft. An installation groove is formed on the bottom surface of the balance plate. A balance tube is fixedly mounted on the top of the balance plate. A microcontroller, touch switch a, and touch switch b are fixedly mounted inside the balance plate. This invention, by installing a balance tube and a balance ball, can effectively detect the gravity balance of the device. If gravity imbalance occurs, it can be adjusted in time, effectively ensuring the balance of the patient when using the rehabilitation exoskeleton robot and greatly improving the safety factor.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a gravity balancing device for a rehabilitation exoskeleton robot. Background Technology

[0002] Treatment and rehabilitation of hemiplegia after stroke has become a research hotspot in modern rehabilitation medicine and rehabilitation engineering. Studies have shown that repetitive motor training on the affected side of hemiplegic patients helps restore the central nervous system's control over limb movement, enhances muscle strength, improves motor coordination, and effectively prevents complications such as muscle atrophy and osteoporosis. Rehabilitation robots are needed when patients undergo exoskeleton rehabilitation.

[0003] Traditional rehabilitation robots do not have a gravity balance device installed. They can only assist patients in rehabilitation training. However, when patients need to walk independently, the robot cannot guarantee gravity balance, which can cause patients to fall and is not safe. Therefore, a gravity balance device is needed for rehabilitation exoskeleton robots. Summary of the Invention

[0004] The purpose of this invention is to provide a gravity balancing device for a rehabilitation exoskeleton robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a gravity balancing device for a rehabilitation exoskeleton robot, comprising a balance plate and a base, wherein a support rod is fixedly installed on the top of the base, the balance plate is rotatably mounted on a rotating shaft mounted on the support rod via a side plate fixedly installed on its outer wall, a support side frame is fixedly installed on the outside of the support rod, a sliding plate is rotatably installed at one end of the support side frame via a rotating shaft, an installation groove is provided on the bottom surface of the balance plate, a balance tube is fixedly installed on the top of the balance plate, a microcontroller, a touch switch a and a touch switch b are fixedly installed inside the balance plate, the support side frame is composed of a telescopic frame and a shaping frame, and an electric push rod a, an electric push rod b and a storage battery are fixedly installed inside the shaping frame;

[0006] The output terminals of touch switches a and b are electrically connected to the input terminals of the balance detection module, the output terminal of the balance detection module is electrically connected to the input terminal of the balance adjustment module, the balance adjustment module is bidirectionally electrically connected to the microcontroller, the output terminal of the microcontroller is electrically connected to the input terminals of electric push rod a and electric push rod b, and touch switches a, b, the microcontroller, electric push rod a, and electric push rod b are all electrically connected to the battery.

[0007] Using the above scheme, the rehabilitation exoskeleton robot is mounted on a balance plate. When the rehabilitation exoskeleton robot is in use, if the balance plate becomes unbalanced due to gravity, it will tilt. The tilt of the balance plate will cause the balance tube to tilt, which in turn will cause the balance ball to tilt and move. When the balance ball tilts and moves, it will touch one of the touch switches a and b. The microcontroller will then activate the corresponding electric push rod a and electric push rod b according to the touch information of touch switch a and touch switch b, thereby adjusting the balance of the balance plate and greatly improving the safety factor. By installing a "V"-shaped support side frame, the "V"-shaped design also greatly improves the stability of the support frame, effectively improving the stability of the rehabilitation exoskeleton robot in use.

[0008] In the above scheme, it should be noted that the microcontroller model can be AT89S51, the electric actuators a and b can both be ALI4-CC, and the battery model can be LC-P12100.

[0009] In a preferred embodiment, the slide plate is slidably mounted on a guide rail fixedly installed inside the mounting groove.

[0010] Using the above scheme, when electric push rod a and electric push rod b are activated, the telescopic frame is controlled to extend and retract, driving the slide plate to slide on the guide rail, thereby reducing friction.

[0011] In a preferred embodiment, the balance plate is provided with a mating groove.

[0012] By adopting the above scheme, a matching groove is provided to provide an installation position for the rehabilitation exoskeleton robot.

[0013] In a preferred embodiment, a balance ball is slidably mounted inside the balance tube.

[0014] Using the above scheme, when the balance plate becomes unbalanced due to gravity, it will tilt. The tilt of the balance plate will cause the balance tube to tilt, which in turn will cause the balance ball to tilt and move.

[0015] In a preferred embodiment, one end of the touch switch a and the touch switch b is located inside the balance tube.

[0016] Using the above scheme, when the balance ball tilts and moves, it will touch one of the touch switches a and b. The microcontroller will then activate the electric push rods a and b based on the touch information of the touch switches a and b, thereby adjusting the balance of the balance plate.

[0017] In one preferred embodiment, the support side frame is V-shaped.

[0018] The above solution, through the "V"-shaped design, greatly improves the stability of the support frame, effectively enhancing the stability of the rehabilitation exoskeleton robot in use.

[0019] In a preferred embodiment, one end of the telescopic frame is located inside the shaping frame, and one end of the telescopic frame is fixedly connected to one end of the movable stem installed on the output end of the electric push rod a and the electric push rod b.

[0020] Using the above scheme, when electric push rods a and b are activated, the telescopic frame can be effectively moved and extended through the movable rod to complete the adjustment of the balance plate.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] The gravity balancing device for the rehabilitation exoskeleton robot is equipped with a "V"-shaped support side frame. The "V"-shaped design greatly improves the stability of the support frame, effectively enhancing the stability of the rehabilitation exoskeleton robot in use.

[0023] The gravity balancing device for this rehabilitation exoskeleton robot is equipped with a balancing tube and a balancing ball. The balancing tube and balancing ball can effectively detect the gravity balance of the device. If gravity imbalance occurs, it can be adjusted in time, which effectively ensures the balance of the patient when using the rehabilitation exoskeleton robot and greatly improves the safety factor. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention;

[0025] Figure 2 This is a top view of the balance plate of the present invention;

[0026] Figure 3 This is a schematic diagram of the internal structure of the support side frame of the present invention;

[0027] Figure 4 This is a schematic diagram of the bottom structure of the balance plate of the present invention;

[0028] Figure 5 This is a schematic diagram of the working principle module structure of the present invention.

[0029] In the diagram: 1. Balance board; 2. Slide board; 3. Side plate; 4. Support rod; 5. Support side frame; 51. Telescopic frame; 52. Shaping frame; 53. Electric push rod a; 54. Electric push rod b; 55. Battery; 6. Base; 7. Touch switch a; 8. Mating groove; 9. Balance tube; 10. Balance ball; 11. Touch switch b; 12. Guide rail; 13. Mounting groove. Detailed Implementation

[0030] The present invention will be further described below with reference to embodiments.

[0031] The following embodiments are used to illustrate the present invention, but should not be used to limit the scope of protection of the present invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple improvements to the method of the present invention under the premise of the concept of the present invention are all within the scope of protection claimed by the present invention.

[0032] This invention provides a gravity balancing device for a rehabilitation exoskeleton robot. Please refer to [link / reference]. Figure 1-5 It includes a balance plate 1 and a base 6. A support rod 4 is fixedly installed on the top of the base 6. The balance plate 1 is rotatably mounted on a rotating shaft installed on the support rod 4 via a side plate 3 fixedly installed on its outer wall. A support side frame 5 is fixedly installed on the outside of the support rod 4. The support side frame 5 is "V" shaped (see...). Figure 1 and 3 The "V"-shaped design also greatly improves the stability of the support frame, effectively enhancing the stability of the rehabilitation exoskeleton robot in use.

[0033] One end of the support frame 5 is rotatably mounted with a slide plate 2 via a pivot. The slide plate 2 is slidably mounted on a guide rail 12 fixedly installed inside the mounting groove 13 (see...). Figure 1 and 4 When electric push rods a53 and b54 are activated, they control the telescopic frame 51 to extend and retract, driving the slide plate 2 to slide on the guide rail 12, thus reducing friction.

[0034] The bottom surface of the balance plate 1 has a mounting groove 13, and the balance plate 1 has a mating groove 8 (see...). Figure 1 and 2 The rehabilitation exoskeleton robot has an installation position by providing a matching groove 8.

[0035] A balance tube 9 is fixedly installed on the top of the balance plate 1, and a balance ball 10 is slidably installed inside the balance tube 9 (see...). Figure 1 and 2 When the balance plate 1 becomes unbalanced due to gravity, it will tilt. The tilt of the balance plate 1 will cause the balance tube 9 to tilt, which in turn will cause the balance ball 10 to tilt and move.

[0036] A microcontroller, touch switch a7, and touch switch b11 are fixedly installed inside the balance plate 1. One end of touch switch a7 and touch switch b11 is located inside the balance tube 9 (see...). Figure 1 and 2 When the balance ball 10 tilts and moves, it will touch one of the touch switches a7 and b11. The microcontroller will then activate the electric push rods a53 and b54 based on the touch information from the touch switches a7 and b11 to adjust the balance of the balance plate 1.

[0037] The supporting side frame 5 consists of a telescopic frame 51 and a shaping frame 52. The shaping frame 52 has an electric push rod a53, an electric push rod b54, and a battery 55 fixedly installed inside. One end of the telescopic frame 51 is located inside the shaping frame 52, and one end of the telescopic frame 51 is fixedly connected to one end of the movable rod installed on the output end of the electric push rod a53 and the electric push rod b54 (see...). Figure 1 and 3 When electric push rods a53 and b54 are activated, they can effectively drive the telescopic frame 51 to move and extend through the movable rod, thereby adjusting the balance plate 1.

[0038] The output terminals of touch switches A7 and B11 are electrically connected to the input terminals of the balance detection module, respectively. The output terminal of the balance detection module is electrically connected to the input terminal of the balance adjustment module. The balance adjustment module is bidirectionally electrically connected to the microcontroller. The output terminal of the microcontroller is electrically connected to the input terminals of electric push rods A53 and B54, respectively. Touch switches A7, B11, the microcontroller, electric push rods A53 and B54 are all electrically connected to the battery 55.

[0039] When in use, the rehabilitation exoskeleton robot is mounted on the balance plate 1. If the balance plate 1 becomes unbalanced due to gravity during use, it will tilt. The tilt of the balance plate 1 will cause the balance tube 9 to tilt, which will cause the balance ball 10 to tilt and move. When the balance ball 10 tilts and moves, it will touch one of the touch switches a7 and b11. The microcontroller will then activate the corresponding electric push rods a53 and b54 based on the touch information of touch switches a7 and b11 to adjust the balance of the balance plate 1. When electric push rods a53 and b54 are activated, the telescopic frame 51 is controlled to extend and retract, driving the slide plate 2 to slide on the guide rail 12 to reduce friction.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gravity balancing device for a rehabilitation exoskeleton robot, comprising a balancing plate (1) and a base (6), characterized in that: The base (6) is fixedly mounted with a support rod (4) on its top. The balance plate (1) is rotatably mounted on the shaft mounted on the support rod (4) via a side plate (3) fixedly mounted on its outer wall. The support rod (4) is fixedly mounted with a support side frame (5). One end of the support side frame (5) is rotatably mounted with a slide plate (2) via a shaft. The bottom surface of the balance plate (1) is provided with an installation groove (13). The top of the balance plate (1) is fixedly mounted with a balance tube (9). The balance plate (1) is fixedly mounted with a microcontroller, a touch switch a (7) and a touch switch b (11). The support side frame (5) is composed of a telescopic frame (51) and a shaping frame (52). The shaping frame (52) is fixedly mounted with an electric push rod a (53), an electric push rod b (54) and a battery (55). The output terminals of the touch switch a (7) and touch switch b (11) are electrically connected to the input terminal of the balance detection module, the output terminal of the balance detection module is electrically connected to the input terminal of the balance adjustment module, the balance adjustment module is bidirectionally electrically connected to the microcontroller, the output terminal of the microcontroller is electrically connected to the input terminals of the electric push rod a (53) and electric push rod b (54), and the touch switch a (7), touch switch b (11), microcontroller, electric push rod a (53) and electric push rod b (54) are all electrically connected to the battery (55). A balance ball (10) is slidably installed inside the balance tube (9). The touch switch a (7) and touch switch b (11) are located inside the balance tube (9).

2. The gravity balancing device for a rehabilitation exoskeleton robot according to claim 1, characterized in that: The slide plate (2) is slidably mounted on the guide rail (12) fixedly installed inside the mounting groove (13).

3. The gravity balancing device for a rehabilitation exoskeleton robot according to claim 1, characterized in that: The balance plate (1) is provided with a mating groove (8).

4. The gravity balancing device for a rehabilitation exoskeleton robot according to claim 1, characterized in that: The supporting side frame (5) is V-shaped.

5. A gravity balancing device for a rehabilitation exoskeleton robot according to claim 1, characterized in that: One end of the telescopic frame (51) is located inside the fixed frame (52), and one end of the telescopic frame (51) is fixedly connected to one end of the movable rod installed on the output end of the electric push rod a (53) and the electric push rod b (54).

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