Three-degree-of-freedom pelvis driving device
By designing a three-degree-of-freedom pelvic drive device, precise control of pelvic movement is achieved, and the problem of abnormal pelvic movement in the existing technology is solved, and more effective rehabilitation training effect is provided.
Patent Information
- Application Number
- CN202510077807.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-17
- Publication Date
- 2025-04-11
AI Technical Summary
The insufficient control of existing gait rehabilitation training robots in the pelvic area leads to abnormal pelvic movement during walking training, especially for patients with lower limb dysfunction caused by lumbar injury and spinal injury.
A three-degree-of-freedom pelvic drive device is designed, including a base, pelvic support element, a vertical moving system, a horizontal moving system and a rotational system. Through the individual or combined movement of these systems, pelvic movement in any direction is achieved.
Accurate motion control of the pelvis is achieved, the movement trajectory and parameters can be adjusted according to the specific needs of the patients, and more effective rehabilitation training is provided, which is suitable for patients at different stages of rehabilitation.
Smart Images
Figure CN119792016A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the fields of rehabilitation engineering and robotics technology, and in particular to a three-degree-of-freedom pelvic driving device. Background Art
[0002] In recent years, the aging trend of my country's population has intensified, the number of traffic accidents has increased, and the number of people with lower limb movement disorders caused by various diseases (especially stroke, infarction, spinal cord injury, etc.) has increased day by day, which has had a great impact on the daily life of patients. In addition to surgery and drug treatment, reasonable and effective rehabilitation training is also very important for patients to restore normal gait. The current gait rehabilitation training robots focus more on simulating normal walking movements of the lower limbs to achieve the effect of rehabilitation training. Some exoskeleton rehabilitation robots perform rehabilitation training by restraining and driving the lower limbs; some pedal-type rehabilitation training robots use upper suspension weight reduction solutions to achieve better rehabilitation training effects. However, both solutions lack control over the pelvic area, which can easily lead to abnormal pelvic movement during walking training, which is very unfavorable for patients with lower limb dysfunction caused by lumbar injuries and spinal injuries.
[0003] After searching existing patents, it was found that in the prior art, one pelvic mechanism adjusts the width by adjusting the reverse rotation mechanism between the middle beam and the support arm and enables the patient to move freely in multiple directions; another rehabilitation robot uses a set of gravity balance units and multiple traction ropes to coordinate actions to help patients reproduce the pelvic movement trajectory of normal people to achieve the effect of rehabilitation training. However, these pelvic auxiliary rehabilitation mechanisms do not fully constrain the pelvis during gait rehabilitation, and the movement of the pelvis is quite different from that during normal gait. Summary of the invention
[0004] In order to achieve the above object, the technical solution adopted by the present invention is: A three-degree-of-freedom pelvic driving device comprises a base, a pelvic supporting element, a vertical moving system, a horizontal moving system and a rotation system, wherein the vertical moving system, the rotation system and the horizontal moving system move individually or in combination, thereby realizing pelvic movement in any direction; The rotation system includes a rotation power device, a right connecting rod, a left connecting rod, a driving shaft, a driven shaft, a driving rod, a driven rod and a second slide. The rotation system and the horizontal moving system are connected through the groove and the horizontal guide rail in the second slide. The power is transmitted through the nut seat and the horizontal ball screw. The rotation power device is fixed at the bottom of the second slide. When the horizontal moving system and the vertical moving system remain relatively stationary, the rotation system drives the driving shaft to rotate through the rotation power device, and the active rod drives the driven rod to rotate through the left connecting rod and the right connecting rod, and drives the pelvic support unit to rotate.
[0005] Further optimization, the active shaft is connected to the active rod through a connecting piece, the active shaft drives the active rod to rotate, the left connecting rod and the active rod are hinged at hinge A, the right connecting rod and the active rod are hinged at hinge B, the driven shaft is connected to the driven rod through a connecting piece, the driven rod drives the driven shaft to rotate, the left connecting rod and the driven rod are hinged at the hinge, the right connecting rod and the driven rod are hinged at hinge D, and the active rod, the driven rod, the left connecting rod, and the right connecting rod form a first parallel four-bar mechanism through hinges A, B, C, and D.
[0006] Further optimization, the pelvic support unit includes a curved rod, a left telescopic rod, a right telescopic rod, a left support plate and a right support plate, the left end of the curved rod is hinged to the left connecting rod at hinge E, the right end of the curved rod is hinged to the right connecting rod at hinge F, the left telescopic rod is hinged to the left connecting rod at hinge E, the right telescopic rod is hinged to the right connecting rod at hinge F, and the active rod, pelvic support unit, left connecting rod and right connecting rod form a second parallel four-bar mechanism through hinges A, B, E, F.
[0007] Further optimized, the left support plate and the right support plate are respectively installed at the front end of the left telescopic rod and the front end of the right telescopic rod to control the distance between the left support plate and the right support plate.
[0008] Further optimization, the vertical moving system includes two vertical guide rails, a vertical ball screw, a vertical moving platform and a vertical power device. The vertical moving platform is fixed to the bottom plate through a bottom support plate, and the vertical power device is fixed on the platform at the upper end of the vertical moving platform. The vertical power device is connected to the vertical ball screw through a coupling and drives the vertical ball screw to rotate. The vertical ball screw is installed in the groove of the vertical moving platform. The two vertical guide rails are arranged in parallel on both sides of the vertical ball screw and are fixed on the vertical moving platform.
[0009] Further optimization, the horizontal movement system includes a horizontal ball screw, two horizontal guide rails, a first slide and a horizontal power device. The horizontal power device is fixed on a platform on the left side of the first slide. The horizontal power device is connected to the horizontal ball screw through a coupling and drives the horizontal ball screw to rotate. The horizontal ball screw is installed in the groove of the first slide. The two horizontal guide rails are parallel and separated on both sides of the horizontal ball screw and are fixed on the first slide.
[0010] Further optimized, the horizontal moving system and the vertical moving system are connected through the groove in the first slide and the vertical guide rail, and the power is transmitted through the nut seat and the vertical ball screw.
[0011] The beneficial effects of the present invention are: In the present invention, the horizontal movement of the pelvis, the up and down movement of the pelvis, and the twisting of the pelvis around the vertical axis are all servo-driven, and the pelvic movement trajectory and the parameters can be adjusted arbitrarily according to the control command, so that a more accurate pelvic movement trajectory can be generated to meet the needs of different patients at various rehabilitation stages; the left and right support elements of the support unit can be adjusted left and right according to the actual situation of the human body, which can meet the use needs of a wider range of people; the present invention has a simple structure, can be used in conjunction with various types of walking rehabilitation robots, and can provide any pelvic rehabilitation trajectory for patients at different rehabilitation stages. Therefore, the present invention has a high promotion value. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 A schematic diagram of the structure of the pelvic rehabilitation device of the gait rehabilitation robot; Figure 2 It is a structural schematic diagram of a pelvic rehabilitation device of a gait rehabilitation robot; Figure 3 It is the structural schematic diagram of the rotation system; Figure numerals: 1, base, 2, rotating power device, 3, vertical moving system, 4, horizontal moving system, 5, rotating system, 6, bottom support plate, 7, right connecting rod, 8, second slide, 9, horizontal ball screw, 10, active shaft, 11, active rod, 12, vertical guide rail, 13, vertical ball screw, 14, vertical moving platform, 15, vertical power device, 16, horizontal guide rail, 17, first slide, 18, horizontal power device, 19, left connecting rod, 20, driven rod, 21, driven shaft, 22, curved rod, 23, left telescopic rod, 24, left support plate, 25, right telescopic rod, 26, right support plate; The meanings of the letters in the figure are: A, connecting hinge between the left connecting rod and the active rod, B, connecting hinge between the right connecting rod and the active shaft, C, connecting hinge between the left connecting rod and the driven shaft, D, connecting hinge between the right connecting rod and the driven shaft, E, connecting hinge between the left connecting rod and the pelvic support element, F, connecting hinge between the right connecting rod and the pelvic support element. DETAILED DESCRIPTION
[0013] In order to more clearly understand the above-mentioned purposes, features and advantages of the present invention, the present invention is described in detail below in conjunction with specific embodiments. The following embodiments are implemented based on the technical solutions of the present invention, and detailed implementation methods and specific operating procedures are given. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the following embodiments.
[0014] A pelvic twisting motion driving device for a walking rehabilitation robot comprises a base, a vertical moving system, a horizontal moving system, a rotating system, and a pelvic supporting element.
[0015] The vertical moving system includes a vertical power device 15, a vertical ball screw 13, a vertical guide rail 12, and a vertical moving platform 14. The vertical moving platform 14 is fixed to the base 1 through the bottom support plate 6 and is placed vertically relative to the base 1. The vertical power device 15 is fixed on the platform at the upper end of the vertical moving platform 14. The vertical power device 15 is connected to the vertical ball screw 13 through a coupling to drive the vertical ball screw 13 to rotate. The vertical ball screw 13 is installed in the groove of the vertical moving platform 14 in a manner of fixing both ends. Two parallel vertical guide rails 12 are evenly distributed on both sides of the vertical ball screw 13 and fixed on the vertical moving platform 14.
[0016] The horizontal moving system includes a horizontal power device 18, a first slide 1, a horizontal ball screw 9, and a horizontal guide rail 16. The horizontal power device 18 is fixed on the platform on the left side of the first slide 17. The horizontal power device 18 is connected to the horizontal ball screw 9 through a coupling to drive the horizontal ball screw 9 to rotate. The horizontal ball screw 9 is installed in the groove of the first slide 17 in a way that both ends are fixed. Two parallel horizontal guide rails 16 are evenly distributed on both sides of the horizontal ball screw 9 and fixed on the first slide 17.
[0017] The rotation system includes a rotation power device 2, a driving shaft 10, a driven shaft 21, a second slide 8, a left connecting rod 19, a right connecting rod 7, an active rod 11, and a driven rod 21. The second slide 8 is connected to the horizontal movement system through a slider. The rotation power device is fixed at the bottom of the second slide 8, and the rotation power device 2 drives the driving shaft 10 to rotate. The driving shaft 10 is connected to the active rod 11 through a connecting piece, and the active rod 11 is driven to rotate by the driving shaft 10. The left connecting rod 19 is hinged to the active rod 11 at hinge A, and the right connecting rod 7 is hinged to the active rod 11 at hinge B. The driven shaft 21 is connected to the driven rod 21 through a connecting piece, and the driven shaft 21 is driven to rotate by the driven rod 21. The left connecting rod 19 is hinged to the driven rod 21 at hinge C, and the right connecting rod 7 is hinged to the driven rod 21 at hinge D. The active rod 11, the driven rod 21, the left connecting rod 19, and the right connecting rod 7 form a first parallel four-bar mechanism through hinges A, B, C, and D.
[0018] The pelvic support unit is composed of a left support plate 24, a right support plate 26, a curved rod 22, a left telescopic rod 23, and a right telescopic rod 25. The left telescopic rod 23 is hinged to the left connecting rod 19 at a hinge E, and the right telescopic rod 25 is hinged to the right connecting rod 7 at a hinge F. The active rod 11, the pelvic support unit 2, the left connecting rod 19, and the right connecting rod 7 form a second parallel four-bar mechanism through hinges A, B, E, and F. The two parallel four-bar mechanisms can limit the position of the rotation center of all the devices connected to the left and right connecting rods, so that the rotation centers of these devices are all located on the straight line determined by the center of the active shaft 10 and the center of the driven shaft 21. The left pelvic support plate 24 is installed at the front end of the left telescopic rod 23 and can move left and right under the drive of the left telescopic rod 23. The right pelvic support plate 26 is installed at the front end of the right telescopic rod 25 and can move left and right under the drive of the right telescopic rod 25, so as to control the spacing between the left and right support plates and realize the function of left and right adjustment according to the actual situation of the human body. Elastic strips can be installed in the holes reserved on the left and right support plates to achieve better fixation and protection of the pelvic support unit for the human body. The pelvic support unit 2 is fixed on the left connecting rod 19 and the right connecting rod 7, so the rotation center of the pelvic support unit 2 is also on the straight line determined by the center of the driving shaft 10 and the driven shaft 21, and the torsional movement of the pelvis around the vertical axis of the human body can be achieved.
[0019] When the horizontal moving system and the vertical moving system remain relatively stationary, the rotating system drives the active shaft 10 to rotate through the rotating power device, and the active shaft 10 transmits the power to the active rod 11. The active rod 11 can drive the driven rod 20 to rotate through the left and right connecting rods, and also drive the entire pelvic support unit 2 to rotate through the left and right connecting rods. The position of the rotation center of the pelvic support unit 2 is limited by two parallel four-bar mechanisms, thereby realizing the function of the pelvic support unit 2 to assist the human pelvis to twist left and right; when the vertical moving system remains relatively stationary, the horizontal moving system 4 can drive the rotating system 5 and the pelvic support unit 2 to move left and right, thereby realizing the left and right movement of the pelvis. The vertical moving system 3 can drive the horizontal moving system 9, the rotating system 5 and the pelvic support unit 2 to move up and down, thereby realizing the up and down movement of the pelvis. The vertical moving system 3, the horizontal moving system 9, and the rotating system 5 can move individually or in combination, thereby realizing pelvic movement in any direction.
[0020] The above shows and describes the main features, methods of use, basic principles and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements according to actual conditions, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.
Claims
1. A three-degree-of-freedom pelvic driving device, characterized in that: The device comprises a base (1), a pelvic support element, a vertical movement system (3), a horizontal movement system (4) and a rotation system (5), wherein the vertical movement system (3), the rotation system (5) and the horizontal movement system (4) move individually or in combination, thereby achieving pelvic movement in any direction; The rotation system (5) comprises a rotation power device (2), a right connecting rod (7), a left connecting rod (19), a driving shaft (10), a driven shaft (21), an active rod (11), a driven rod (20) and a second slide (8); the rotation system (5) and the horizontal movement system (4) are connected via a groove and a horizontal guide rail in the second slide (8), and are connected via a nut seat and a horizontal ball screw to transmit power; the rotation power device (2) is fixed to the bottom of the second slide (8); when the horizontal movement system (4) and the vertical movement system (3) remain relatively stationary, the rotation system (5) drives the driving shaft (10) to rotate via the rotation power device (2), and the active rod (11) drives the driven rod (20) to rotate via the left connecting rod (19) and the right connecting rod (7), and drives the pelvic support unit to rotate.
2. A three-degree-of-freedom pelvic driving device according to claim 1, characterized in that: The driving shaft (10) is connected to the driving rod (11) through a connecting piece, and the driving shaft (10) drives the driving rod (11) to rotate. The left connecting rod (19) and the driving rod (11) are hinged at a hinge A, and the right connecting rod (7) and the driving rod (11) are hinged at a hinge B. The driven shaft (21) is connected to the driven rod (21) through a connecting piece, and the driven rod (20) drives the driven shaft (21) to rotate. The left connecting rod (19) and the driven rod (21) are hinged at a hinge C, and the right connecting rod (7) and the driven rod (21) are hinged at a hinge D. The driving rod (11), the driven rod (21), the left connecting rod (19), and the right connecting rod (7) form a first parallel four-bar mechanism through hinges A, B, C, and D.
3. A three-degree-of-freedom pelvic driving device according to claim 1, characterized in that: The pelvic support unit comprises a curved rod (22), a left telescopic rod (23), a right telescopic rod (25), a left support plate (24) and a right support plate (26); the left end of the curved rod (22) is hinged to the left connecting rod (19) at a hinge E, the right end of the curved rod (22) is hinged to the right connecting rod (7) at a hinge F, the left telescopic rod (23) is hinged to the left connecting rod (19) at a hinge E, the right telescopic rod (25) is hinged to the right connecting rod (7) at a hinge F, and the active rod (11), the pelvic support unit, the left connecting rod (19) and the right connecting rod (7) form a second parallel four-bar mechanism through hinges A, B, E and F.
4. A three-degree-of-freedom pelvic driving device as claimed in claim 3, characterized in that: The left support plate (24) and the right support plate (26) are respectively mounted on the front end of the left telescopic rod (23) and the front end of the telescopic rod (25) to control the distance between the left support plate (24) and the right support plate (26).
5. A three-degree-of-freedom pelvic driving device according to claim 1, characterized in that: The vertical moving system (3) comprises two vertical guide rails (12), a vertical ball screw (13), a vertical moving platform (14) and a vertical power device (15); the vertical moving platform (14) is fixed to the bottom plate (1) via a bottom support plate (6); the vertical power device (15) is fixed to the platform at the upper end of the vertical moving platform (14); the vertical power device (15) is connected to the vertical ball screw (13) via a coupling and drives the vertical ball screw (13) to rotate; the vertical ball screw (13) is installed in a groove of the vertical moving platform (14); the two vertical guide rails (12) are arranged in parallel on both sides of the vertical ball screw (13) and are fixed to the vertical moving platform (14).
6. A three-degree-of-freedom pelvic driving device as claimed in claim 1, characterized in that: The horizontal moving system (4) comprises a horizontal ball screw (9), two horizontal guide rails (16), a first slide (17) and a horizontal power device (18). The horizontal power device (18) is fixed on a platform on the left side of the first slide (17). The horizontal power device (18) is connected to the horizontal ball screw (9) through a coupling and drives the horizontal ball screw (9) to rotate. The horizontal ball screw (9) is installed in a groove of the first slide (17). The two horizontal guide rails (16) are parallel and separated on both sides of the horizontal ball screw (9) and are fixed on the first slide (17).
7. A three-degree-of-freedom pelvic driving device as claimed in claim 6, characterized in that: The horizontal movement system (4) and the vertical movement system (3) are connected via the groove in the first slide (17) and the vertical guide rail (12), and are connected via the nut seat and the vertical ball screw (13) to transmit power.