Training equipment for robot to get on luggage case based on actuator

Abstract

The invention discloses a training device for a robot to go on a trunk based on an actuator. The training device comprises a rigidity control module structure, a variable rigidity module structure and a connecting module structure. The parallel elastic actuator combines a variable stiffness module and a stiffness control module, which serve as passive and active inputs, respectively, and generate an output torque on the trunk through an output link. The input torque of the connecting module comes from the output connecting rod and is transmitted to the trunk through the four-rod connecting rod mechanism. Compared with other medical equipment, the robot trunk training equipment provided by the invention has the advantages that an output connecting rod is combined with a customized cam profile design, the rigidity of the variable rigidity module is changed through a stepping motor in the rigidity control module, and the supporting force can be actively controlled. For real human body application, a link can be connected to the rehabilitation robot through a connector and a wire harness structure, and the rehabilitation robot can be fixed to a movable platform such as a wheelchair or a fixed platform such as a treadmill according to needs.

Description

Technical Field

[0001] The invention belongs to the field of medical rehabilitation robots, and in particular relates to a robot luggage loading training device based on an actuator. Background Art

[0002] Rehabilitation robots are medical robots that guide rehabilitation medicine based on robotic technology and are often used in the rehabilitation treatment of patients with limb injuries. The overall purpose is to replace or help rehabilitation therapists treat limb injuries and simplify the one-to-one treatment process of conventional rehabilitation. With the advancement of science and technology and the increase in medical needs, rehabilitation robots are increasingly used in the field of rehabilitation medicine. At present, the development of mechanical systems for limb rehabilitation has been relatively mature, but rehabilitation equipment for patients with spinal and trunk injuries is relatively scarce. These patients need special support and assistance during the rehabilitation process to help them restore trunk stability and mobility.

[0003] In rehabilitation training, most current trunk rehabilitation devices do not deal well with problems such as joint misalignment, lack of force adaptive assistance, and rigid human-computer interaction. These devices focus on the movement of the waist joint. These devices use rigid actuators such as DC motors and widely used PID-based position controllers. Force adaptive assistance is usually not mentioned in the controllers of current trunk support devices. The reference position or force controller is usually predefined by the researchers regardless of the patient's recovery status and muscle strength status, that is, active support capabilities. As a result, over-guidance often occurs and reduces training results. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems and provide a new type of rehabilitation robot. By optimizing the structure and transmission device, an actuator-based robot upper trunk training device is designed. In this work, the robot is designed to assist in upper trunk rehabilitation training based on the waist joint.

[0005] To solve the above technical problems, the technical solution of the present invention is: a robot suitcase training device based on an actuator, characterized in that it includes a variable stiffness module, a stiffness control module, and a frame. The frame includes a base, a tower body, and a variable stiffness module fixing frame. The stiffness control module and the variable stiffness module are installed in a right-angle load-bearing length and a variable stiffness module fixing frame. The tower body and the variable stiffness module fixing frame are installed on the base and the tower body. First, a single-degree-of-freedom four-bar linkage mechanism is introduced to connect the patient's torso, and the movement of the human torso is indirectly transmitted to the rehabilitation robot. The human torso and the rehabilitation robot are indirectly connected to avoid the joint dislocation between the waist joint and the robot joint. In addition, the kinematic constraints of the linkage mechanism can be used to accurately estimate the position of the human joint. Secondly, through the variable stiffness module and the stiffness control module, the support level of the rehabilitation robot can be adjusted and feedback and force adaptive assistance can be provided, aiming to provide friendly human-robot interaction. The mechanism of the parallel elastic actuator in this work is formed by a planetary gear set system and integrates passive support from elastic components and rigid actuators. In order to reduce the requirements of the rigid actuator and improve the control efficiency, the support torque design of the passive element needs to be able to match the required torque. Finally, the human torso can be fixed in various postures within the workspace of the rehabilitation robot through a customizable cam-spring mechanism. The support level of the rehabilitation robot, as well as the stiffness level (torque-angle relationship) of the parallel elastic actuator, can be modulated in real time using the rigid actuator of the parallel elastic actuator. At the same time, if the adjustment is performed at the beginning of the training, the force adaptive assistance is a semi-active mode, in which the support force of the rehabilitation robot is mainly passively generated by the elastic component of the parallel elastic actuator and adjusted by the rigid actuator.

[0006] Preferably, the base includes an ultra-short base frame load-bearing beam, a short base frame load-bearing beam, a long base frame load-bearing beam, a base frame fixing piece, and a bottom plate. The ultra-short base frame load-bearing beam, the short base frame load-bearing beam, and the long base frame load-bearing beam are sequentially fixedly connected with the base frame fixing piece, and then the bottom plate is fixed thereon.

[0007] Preferably, the tower body comprises a right-angle load-bearing middle, a base frame fixing part 1, a right-angle load-bearing long, a right-angle load-bearing fixing part, a right-angle load-bearing short, a right-angle load-bearing super-short, a right-angle load-bearing spring, and a base frame fixing part 2. The right-angle load-bearing middle and the 4 right-angle load-bearing springs are fixed to the bottom plate by the base frame fixing part 1 and the base frame fixing part 2. The right-angle load-bearing long is fixed to the right-angle load-bearing middle by the right-angle load-bearing fixing part. The right-angle load-bearing short and the right-angle load-bearing super-short are fixed to the right-angle load-bearing spring by the right-angle load-bearing fixing part.

[0008] Preferably, the stiffness control module includes a spring-fixed lower base, a spring base, a spring, a spring-fixed, a spring-fixed upper base, a linear bearing, a roller, a roller, a potentiometer output, a pin, a potentiometer instrument, and a potentiometer. The spring is installed on the spring-fixed, and the spring base is installed on the spring-fixed, and then the whole is installed on the spring-fixed lower base and the spring-fixed upper base, and then the linear bearing is installed between the spring-fixed upper base and the spring-fixed as axial positioning. The roller and the roller are placed in the through hole above the spring-fixed, and the pin is passed through in sequence and fixed with a spring retaining ring. The potentiometer output is fixed on the potentiometer instrument, and the potentiometer instrument is installed in the hole of the potentiometer, and the potentiometer output is fixed to the spring-fixed with screws.

[0009] Preferably, the variable stiffness module fixing frame includes a spring side plate, a motor side fixing plate, an encoder baffle plate, and a human body side plate. The human body side plate, the spring side plate, the motor side fixing plate, and the encoder baffle plate are respectively matched one by one with the right-angle load-bearing through holes and fixedly connected with screws and nuts.

[0010] Preferably, the variable stiffness module comprises a worm gear structure and a gear transmission device, wherein the worm gear structure and the gear transmission device are mounted on a variable stiffness module fixed frame, and the worm gear structure cooperates with the gear transmission device to form a worm gear.

[0011] Preferably, the turbine worm structure includes an encoder, a motor, a worm support, a bearing 1, and a worm. The encoder is installed on the motor, and then the motor and the worm support are fixed to the motor side fixing plate, and the bearing 1 is installed on the worm support, and finally the worm is installed on the motor.

[0012] Preferably, the gear transmission structure includes bearing 2, cantilever beam, bearing 3, bearing 4, pinion fixing, gear ring, pinion, sun gear, turbine support, bearing 5, turbine connecting rod, turbine, cam, and the bearing 5 is fixed to the turbine. Then the turbine support is matched with the four threaded holes of the turbine one by one and connected with screws. Finally, the gear ring is matched with the four threaded holes of the turbine support one by one and connected with screws. The pinion and bearing 2 are fixed through the pinion, and the bearing 2 is fixed in the three through holes of the cantilever beam, and finally the bearing is installed in the central through hole of the cantilever beam. The cam, turbine, turbine support, sun gear, gear ring, and cantilever beam are installed to the turbine connecting rod in sequence, and the pinion is meshed with the sun gear and the gear ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure explosion of a robot luggage loading training device based on an actuator of the present invention;

[0014] Figure 2 It is a schematic diagram of the structural explosion of the stiffness control module of the present invention;

[0015] Figure 3 It is a schematic diagram of the explosion structure of the variable stiffness module of the present invention;

[0016] Figure 4 It is a schematic diagram of the explosion structure of the frame of the present invention;

[0017] Figure 5 is a schematic diagram of the stiffness control module of the present invention;

[0018] Figure 6 1 is a schematic diagram of the cam design of the present invention (a);

[0019] Figure 7 is the cam design principle diagram of the present invention (b);

[0020] Figure 8 is a schematic diagram of the cam profile of the present invention;

[0021] Explanation of reference numerals: spring-fixed lower base (1), spring base (2), spring (3), spring fixing (4), spring-fixed upper base (5), linear bearing (6), roller (7), roller (8), potentiometer output (9), pin (10), potentiometer instrument (11), potentiometer (12), encoder (13), motor (14), worm support (15), bearing 1 (16), turbine (17), bearing 2 (18), cantilever beam (19), bearing 3 (20), bearing 4 (21), pinion fixing (22), gear ring (23), pinion (24), sun gear (25), turbine support Support (26), bearing 5 (27), turbine connecting rod (28), turbine (29), cam (30), base frame load-bearing beam ultra-short (31), base frame load-bearing beam short (32), base frame load-bearing beam long (33), base frame fixing piece (34), right angle load-bearing middle (35), base frame fixing piece 1 (36), right angle load-bearing long (37), right angle load-bearing fixing piece (38), spring side plate (39), motor side fixing plate (40), encoder baffle (41), right angle load-bearing short (42), right angle load-bearing ultra-short (43), right angle load-bearing spring (44), human body side plate (45), base frame fixing piece 2 (46), bottom plate (47). DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0023] like Figures 1 to 8 As shown, the present invention provides a robot luggage loading training device based on an actuator:

[0024] Figure 1 This is the general assembly diagram of the present invention:

[0025] First, a single-degree-of-freedom four-bar linkage is introduced to connect the patient's torso, and the movement of the human torso is indirectly transmitted to the rehabilitation robot. The indirect connection between the human torso and the rehabilitation robot avoids the joint dislocation between the waist joint and the robot joint. In addition, the kinematic constraints of the linkage mechanism can be used to accurately estimate the position of the human joint.

[0026] Secondly, through parallel elastic actuators, the support level of the rehabilitation robot can be adjusted and feedback and force adaptive assistance can be provided, aiming to provide friendly human-robot interaction. The mechanism of the parallel elastic actuator in this work is formed by a planetary gear set system and integrates passive support from elastic components and rigid actuators. In order to reduce the rigid actuator requirements and improve the control efficiency, the support torque of the passive element needs to be designed to match the required torque.

[0027] Finally, the human torso can be fixed in various postures within the workspace of the rehabilitation robot through a customizable cam-spring mechanism. The support level of the rehabilitation robot, as well as the stiffness level (torque-angle relationship) of the parallel elastic actuator, can be modulated in real time using the rigid actuator of the parallel elastic actuator. At the same time, if the adjustment is performed at the beginning of the training, the force adaptive assistance is a semi-active mode, in which the support force of the rehabilitation robot is mainly passively generated by the elastic component of the parallel elastic actuator and adjusted by the rigid actuator.

[0028] Figure 2 This is a schematic diagram of the structural explosion of the stiffness control module of the present invention:

[0029] The stiffness control module comprises a spring-fixed lower base (1), a spring base (2), a spring (3), a spring fixation (4), a spring-fixed upper base (5), a linear bearing (6), a roller (7), a roller (8), a potentiometer output (9), a pin (10), a potentiometer instrument (11), and a potentiometer (12).

[0030] Install the spring (3) to the spring fixture (4), then install the spring base (2) to the spring fixture (4), and then install the whole to the spring fixture lower base (1) and the spring fixture upper base (5), and then install the linear bearing (6) between the spring fixture upper base (5) and the spring fixture (4) as an axial positioning. Place the roller (7) and the roller (8) in the through hole above the spring fixture (4), and pass the pin (10) through it in turn, and fix it with a spring retaining ring. Fix the potentiometer output (9) on the potentiometer instrument (11), and install the potentiometer instrument (11) into the hole of the potentiometer (12), and fix the potentiometer output (9) to the spring fixture (4) with screws.

[0031] Figure 3 This is a schematic diagram of the explosion structure of the variable stiffness module of the present invention:

[0032] The variable stiffness module includes an encoder (13), a motor (14), a worm support (15), a bearing 1 (16), a turbine (17), a bearing 2 (18), a cantilever beam (19), a bearing 3 (20), a bearing 4 (21), a pinion fixing (22), a gear ring (23), a pinion (24), a sun gear (25), a turbine support (26), a bearing 5 (27), a turbine connecting rod (28), a turbine (29), and a cam (30).

[0033] Install the encoder (13) to the motor (14), then fix the motor (14) and the worm support (15) to the 40 and motor side fixing plates, and install the bearing 1 (16) to the worm support (15), and finally install the worm (17) to the motor (14). Fix the bearing 5 (27) to the turbine (29), then match the turbine support (26) with the four threaded holes of the turbine (29) one by one, and connect them with screws, and finally match the gear ring (23) with the four threaded holes of the turbine support (26) one by one, and connect them with screws. Pass the pinion (24) and the bearing 2 (18) through the pinion fixing (22), and fix the bearing 2 (18) in the three through holes of the cantilever beam (19), and finally install the bearing 4 (21) in the center through hole of the cantilever beam (19). The cam (30), turbine (29), turbine support (26), sun gear (25), gear ring (23), and cantilever beam (19) are sequentially mounted on the turbine connecting rod (28), and the pinion (24) is gear-engaged with the sun gear (25) and gear ring (23).

[0034] Figure 4 This is a schematic diagram of the explosion structure of the framework of the present invention:

[0035] The frame comprises a super short base frame load-bearing beam (31), a short base frame load-bearing beam (32), a long base frame load-bearing beam (33), a base frame fixing piece (34), a right angle load-bearing middle (35), a base frame fixing piece 1 (36), a right angle load-bearing long (37), a right angle load-bearing fixing piece (38), a spring side plate (39), a motor side fixing plate (40), an encoder baffle (41), a right angle load-bearing short (42), a right angle load-bearing super short (43), a right angle load-bearing spring (44), a human body side plate (45), a base frame fixing piece 2 (46), and a bottom plate (47).

[0036] The base frame load-bearing beam super short (31), the base frame load-bearing beam short (32), and the base frame load-bearing beam long (33) are sequentially connected by the base frame fixing member (34), and then the bottom plate (47) is fixed thereon. The right angle load-bearing middle (35) and the 4 right angle load-bearing springs (44) are fixed to the bottom plate (47) by the base frame fixing member 1 (36) and the base frame fixing member 2 (46). The right angle load-bearing long (37) is fixed to the right angle load-bearing middle (35) by the right angle load-bearing fixing member (38). The right angle load-bearing short (42) and the right angle load-bearing super short (43) are fixed to the right angle load-bearing spring (44) by the right angle load-bearing fixing member (38). The human body side plate (45), the spring side plate (39), the motor side fixing plate (40), and the encoder baffle plate (41) are sequentially matched with the through holes of the right angle load-bearing, and are then fixedly connected by screws and nuts.

[0037] Figures 6 to 8 Design schematic for cam size:

[0038] The variable stiffness module size design uses a special cam profile design, which is designed to match the reference torque and can maintain all postures of the human torso in its workspace. The developed cam profile is divided into four regions: zero support area, force matching area, motion restriction area and transition area. The coordinate system XoY is the reference system of the cam, where o coincides with the center of the cam shaft and the axes are parallel to the global reference system of XoY. The contour of the zero support area is the sector angle θ zs The arc has its center coinciding with o. Here, the spring of the variable stiffness module is not compressed and no output torque is generated. The sector angle is θ fm The contour of the force matching area is designed to provide support that can passively support the torso in all postures. mr The motion restriction zone produces greater resistance, causing the torso to stop moving. The transition zone is the motion constraint and zero support area.

[0039] The working mode of the rehabilitation robot is related to the initial configuration of the cam roller follower mechanism. When the roller is initially placed at the junction of the zero support and force matching areas, that is, the starting configuration position, the rehabilitation robot works in full support mode, so that the trunk can be passively supported by the device without the need for active torque from the patient. When the roller is initially placed at a certain position in the zero support area, no output torque is generated before the roller enters the force matching area, and the rehabilitation robot works in partial support mode. In this mode, there is an area where the trunk is allowed to move freely, called the free movement area of ​​the trunk, which can increase the training challenge. When the roller starts from the junction of the zero support and transition areas, that is, the extreme configuration position, if the motor does not move, the rehabilitation robot does not generate output torque.

[0040] As the motor rotates, the roller can move to different areas of the cam profile to adjust the output torque of the variable stiffness module. The variable stiffness module cam has three operating areas: the zero support area, where the variable stiffness module outputs no torque; the force matching area, where the output torque-angle relationship is described above; and the motion limit area, where the variable stiffness module always outputs the maximum support torque. The variable stiffness module output torque in these areas can be

[0041]

[0042] where τ 可变刚度模块 (θ 凸轮 ) is the area given by the required output torque-angle relationship in the force matching region, θ zs and θ mr is the maximum value of the fan angle between the zero support area and the motion restriction area, max(τ 可变刚度模块 ) is to find τ 可变刚度模块 For the cam profile designed for this product, the fan shape of the zero support area and the motion restriction area is the same, that is, θ zs =θ mr =156.5°, the free range of motion of the patient’s torso can cover the entire working space of the torso (60.9°<θ<90°), which is 90° if the roller is initially placed on LMTCON.

[0043] When the motors are not moving, the rehabilitation robot has three working modes.

[0044] If the roller is at the initial position when the trunk is upright, that is, when the initial cam angle θ 凸轮 =0°, when the trunk angle θ=90°, the variable stiffness module only works in the force matching area of ​​the cam when the trunk moves in its workspace, and the rehabilitation robot provides all the required support torque, while the patient does not provide active support torque. It is fixed to the patient's torso, which is called the full support mode of the rehabilitation robot.

[0045] If the roller is at the initial cam angle θ 凸轮 =-θ zs =-156.5°, when the trunk angle θ=90°, there is no torque provided by the variable stiffness module in the entire working space of the trunk, which is called the zero support mode of the rehabilitation robot.

[0046] If the roller is in the supporting motion area of ​​the cam, the initial cam angle is θ 凸轮=-78°, when the trunk angle θ = 90°, the trunk experiences a free motion region (75.3°≤θ≤90°) where the roller is in the zero support region of the cam, followed by a partially supported motion region (60.9°<θ<75.3°) where the roller is in the force matching region. Since the support torque of the rehabilitation robot is always between the partial support modes of the trunk. When the motor moves, the support motion region and the support motion region are required in the entire working space of the trunk, and this mode is called the partial support mode.

[0047] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A robot luggage loading training device based on an actuator, characterized in that: The invention comprises a variable stiffness module, a stiffness control module and a frame. The frame comprises a base, a tower body and a variable stiffness module fixing frame. The stiffness control module and the variable stiffness module are installed in a right-angle load-bearing length (37) and the variable stiffness module fixing frame. The tower body and the variable stiffness module fixing frame are installed on the base and the tower body.

2. The robot luggage loading training device based on an actuator according to claim 1, characterized in that: The base comprises an ultra-short base frame load-bearing beam (31), a short base frame load-bearing beam (32), a long base frame load-bearing beam (33), a base frame fixing member (34), and a bottom plate (47). The ultra-short base frame load-bearing beam (31), the short base frame load-bearing beam (32), and the long base frame load-bearing beam (33) are sequentially fixedly connected by the base frame fixing member (34), and then the bottom plate (47) is fixed thereon.

3. The robot luggage loading training device based on an actuator according to claim 1, characterized in that: The tower body comprises a right-angle load-bearing center (35), a base frame fixing part 1 (36), a right-angle load-bearing length (37), a right-angle load-bearing fixing part (38), a right-angle load-bearing short part (42), a right-angle load-bearing super short part (43), a right-angle load-bearing spring (44), and a base frame fixing part 2 (46). The right-angle load-bearing center (35) and the four right-angle load-bearing springs (44) are fixed to a bottom plate (47) by the base frame fixing part 1 (36) and the base frame fixing part 2 (46). The right-angle load-bearing length (37) is fixed to the right-angle load-bearing center (35) by the right-angle load-bearing fixing part (38). The right-angle load-bearing short part (42) and the right-angle load-bearing super short part (43) are fixed to the right-angle load-bearing spring (44) by the right-angle load-bearing fixing part (38).

4. The robot luggage loading training device based on an actuator according to claim 1, characterized in that: The stiffness control module comprises a spring fixed lower base (1), a spring base (2), a spring (3), a spring fixed (4), a spring fixed upper base (5), a linear bearing (6), a roller (7), a roller (8), a potentiometer output (9), a pin (10), a potentiometer instrument (11), and a potentiometer (12). The spring (3) is installed on the spring fixed (4), and then the spring base (2) is installed on the spring fixed (4). Then the whole is installed on the spring fixed lower base (1) and the spring fixed upper base (5), and then the linear bearing (6) is installed between the spring fixed upper base (5) and the spring fixed (4) as axial positioning. The roller (7) and the roller (8) are placed in the through hole above the spring fixed (4), and the pin (10) is passed through in sequence and fixed with a spring retaining ring. The potentiometer output (9) is fixed on the potentiometer instrument (11), and the potentiometer instrument (11) is installed in the hole of the potentiometer (12), and the potentiometer output (9) is fixed to the spring fixed (4) with screws.

5. The robot luggage loading training device based on an actuator according to claim 1, characterized in that: The variable stiffness module fixing frame comprises a spring side plate (39), a motor side fixing plate (40), an encoder baffle plate (41), and a human body side plate (45). The human body side plate (45), the spring side plate (39), the motor side fixing plate (40), and the encoder baffle plate (41) are sequentially matched with right-angle load-bearing through holes one by one and fixedly connected by screws and nuts.

6. The robot luggage loading training device based on an actuator according to claim 1, characterized in that: The variable stiffness module comprises a worm gear structure and a gear transmission device, wherein the worm gear structure and the gear transmission device are mounted on a variable stiffness module fixed frame, and the worm gear structure cooperates with the gear transmission device to form a worm gear.

7. The robot luggage loading training device based on an actuator according to claim 6, characterized in that: The worm gear structure comprises an encoder (13), a motor (14), a worm gear support (15), a bearing 1 (16), and a worm gear (17). The encoder (13) is mounted on the motor (14), and then the motor (14) and the worm gear support (15) are fixed to a motor side fixing plate 40, and the bearing 1 (16) is mounted on the worm gear support (15), and finally the worm gear (17) is mounted on the motor (14).

8. The robot luggage loading training device based on an actuator according to claim 6, characterized in that: The gear transmission structure comprises a bearing 2 (18), a cantilever beam (19), a bearing 3 (20), a bearing 4 (21), a pinion fixing (22), a gear ring (23), a pinion (24), a sun gear (25), a turbine support (26), a bearing 5 (27), a turbine connecting rod (28), a turbine (29), and a cam (30). The bearing 5 (27) is fixed to the turbine (29), and then the turbine support (26) and the four threaded holes of the turbine (29) are matched one by one and connected by screws. Finally, the gear ring (23) and the four threaded holes of the turbine support (26) are matched one by one and connected by screws. The pinion (24) and the bearing 2 (18) are passed through the pinion fixing (22), and the bearing 2 (18) is fixed in the three through holes of the cantilever beam (19), and finally the bearing 4 (21) is installed in the central through hole of the cantilever beam (19). The cam (30), turbine (29), turbine support (26), sun gear (25), gear ring (23), and cantilever beam (19) are sequentially mounted on the turbine connecting rod (28), and the pinion (24) is gear-engaged with the sun gear (25) and gear ring (23).

Images