Passive energy feedback driving device for rehabilitation robot

Abstract

The invention relates to a passive energy feedback driving device for a rehabilitation robot. The passive energy feedback driving device comprises a right frame, a left frame, a bottom plate, a moving column, a partition plate, a one-way piece, a positioning shaft and a connecting line. Positioning holes are formed in the bottom plate, and the right frame, the left frame and the partition plate are connected and positioned with the bottom plate through matching of the shafts and the positioning holes to form a left channel, a right channel, an upper through opening and a lower through opening. A one-way piece hole is formed in one side of the partition plate, and the one-way piece is arranged in the one-way piece hole, so that the movable column can move in the left channel in a two-way mode and can only move in the right channel in a one-way mode. The one-way piece is composed of a connecting piece and a rotating piece, and a protruding part is arranged in the connecting piece to limit the rotating angle of the rotating piece. The moving column is connected with the connecting line, the connecting line can drive the moving column to move in the left channel and the right channel, and the moving column cannot pass through the upper through opening and the lower through opening. The device further comprises a bottom plate, a take-up bearing and a connecting wire. The take-up bearing is arranged on the bottom plate, the connecting wire is connected into the take-up bearing, the take-up bearing is provided with a built-in spring, and when the connecting wire is pulled out, the connecting wire can be automatically taken up. Through the passive energy feedback driving device, the problem that a passive driving exoskeleton is not fixed when the opportunities for collecting energy and feeding back energy are different can be solved, the energy consumption of a system is reduced, and the purposes of improving the movement efficiency of a human body and promoting the rehabilitation of motor nerves of the human body are achieved.

Description

Technical Field

[0001] The present invention relates to a passive energy feeding drive device, in particular to a passive energy feeding drive device for a rehabilitation robot. Background Art

[0002] Minimizing energy consumption during walking is a major decision-making goal of the central nervous system. In the process of competing with nature, humans have achieved energy optimization after millions of years of evolution. When energy is optimal, gait is optimal. Any disturbance to this state will increase energy consumption. Recent studies have shown that after changing the original stable state, the central nervous system will continue to make decisions to optimize energy consumption and adjust and change movement patterns to achieve a new energy stable state.

[0003] In the field of rehabilitation, gait instability caused by neurological damage will lead to additional energy consumption, but nerves are remodelable. Recent studies have demonstrated that under external interference, both patients and normal people will save energy by changing their gait patterns. Based on motor learning theory, energy can be optimized to approach the ideal gait, which may then lead to neurological rehabilitation.

[0004] In the process of optimizing human gait, exoskeleton devices are often used. Traditional exoskeletons are driven by a driver and usually also include sensors and control systems. Such exoskeletons are usually complex in structure and expensive, and are still not suitable for the daily rehabilitation of patients with some limb abnormalities and human daily life. Therefore, passive exoskeletons came into being, which are driven by the human body itself. In this process, redundant energy in human movement is collected and fed back into effective movement. By optimizing energy, gait is optimized to achieve rehabilitation effects. In this process, since the timing of energy collection and energy feedback is not fixed at the same time, and mechanical components also consume energy in this process, the market is in urgent need of a low-energy mechanical energy feedback drive device that can meet its movement laws. Summary of the Invention

[0005] In response to the above-mentioned defects of the prior art or market demand, the present invention provides a passive energy feeding drive device for a rehabilitation robot, which combines the collection and feedback timing characteristics of redundant energy, so that the redundant energy of the human body during movement can be accurately fed back into the useful work of human movement, effectively improving the energy utilization efficiency of human movement.

[0006] To achieve the above objectives, the present invention proposes a passive energy-feed drive device for a rehabilitation robot, comprising a right frame, a left frame, a base plate, a movable column, a partition, a one-way plate, a positioning shaft, and connecting wires. The base plate has positioning holes, and the right frame, left frame, and partition plate are connected and positioned to the base plate via the shaft and positioning holes, forming a left channel, a right channel, an upper opening, and a lower opening. A one-way plate hole is provided on one side of the partition plate, and the one-way plate is placed in the one-way plate hole, allowing the movable column to move bidirectionally in the left channel and only unidirectionally in the right channel.

[0007] As a further preferred embodiment, the one-way plate is composed of a connecting member and a rotating member, wherein the connecting member has a protruding portion to limit the rotation angle of the rotating member.

[0008] As a further preferred embodiment, the movable column is connected to a connecting line, and the connecting line can drive the movable column to move in the left channel and the right channel, and the movable column cannot pass through the upper opening and the lower opening.

[0009] To achieve the above objectives, the present invention proposes a passive energy-feed drive device for a rehabilitation robot, comprising a base plate, a wire take-up bearing, and a connecting wire. The wire take-up bearing is positioned on the base plate, and the connecting wire is connected to the wire take-up bearing. The wire take-up bearing is equipped with a built-in spring that automatically retracts the wire when it is pulled out. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is an overall schematic diagram.

[0011] Figure 2 This is a schematic diagram of the base plate.

[0012] Figure 3 Schematic diagram of the partition.

[0013] Figure 4 It is a schematic diagram of a one-way piece.

[0014] Figure 5 This is a schematic diagram of a passive energy-feeding drive device applied to ankle motion.

[0015] Figure 6 It is a schematic diagram of the function of the passive energy feedback drive device during human motion.

[0016] In the figure: 1. Right frame, 2. Left frame, 3. Bottom plate, 4. Moving column, 5. Partition, 6. One-way plate, 7. Take-up bearing, 8. Positioning shaft, 9. Positioning hole, 10. Left channel, 11. Right channel, 12. Upper opening, 13. Lower opening, 14. One-way plate hole, 15. Connector, 16. Raised part, 17. Rotating part, 18. Connecting wire DETAILED DESCRIPTION

[0017] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0018] like Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, an embodiment of the present invention provides a passive energy feeding drive device for a rehabilitation robot, which includes a right frame (1), a left frame (2), a base plate (3), a movable column (4), a partition (5), a one-way plate (6), a positioning shaft (8), and a connecting line (18). A positioning hole (9) is provided in the base plate (3), and the right frame (1), the left frame (2) and the partition (5) are connected and positioned with the base plate (3) through the shaft (8) and the positioning hole (9), forming a left channel (10), a right channel (11), an upper opening (12) and a lower opening (13). A one-way plate hole (14) is provided on one side of the partition (5), and the one-way plate (6) is placed in the one-way plate hole (14), so that the movable column (4) can move in both directions in the left channel (10) and can only move in one direction in the right channel (11). The one-way plate (6) is composed of a connecting member (15) and a rotating member (17), wherein the connecting member (15) has a raised portion (16) to limit the rotation angle of the rotating member (17). The moving column (4) is connected to the connecting line (18), and the connecting line (18) can drive the moving column (4) to move in the left channel (10) and the right channel (11), and the moving column (4) cannot pass through the upper opening (12) and the lower opening (13).

[0019] like Figure 1 As shown, an embodiment of the present invention provides a passive energy feeding drive device for a rehabilitation robot, which further includes a base plate (3), a wire take-up bearing (7), and a connecting wire (18). The wire take-up bearing (7) is placed on the base plate (3), the connecting wire (18) is connected to the wire take-up bearing (7), and the wire take-up bearing (7) is provided with a built-in spring. When the connecting wire (18) is pulled out, the connecting wire (18) can be automatically recovered.

[0020] The following uses the state of the ankle when a person is walking as an example, assuming that the energy collection and release device is a spring, to illustrate the working conditions of the passive energy feedback drive device: like Figure 6 As shown in the figure, when the human body is walking, a new system is formed by adding springs, passive energy feeding drive devices and pulleys, which makes the energy consumption of human body walking lower. Figure 5 , explaining the application and status of the present invention in human walking.

[0021] Phase 1: From heel contact to forefoot contact, the ankle muscles release energy. The moving column (4) in the passive energy feeding drive device is at the upper passage (12). The connecting line (18) can no longer guide the moving column (4) upward. At this time, the external spring can be extended and retracted, and begins to collect and release energy. Since the energy conversion rate of the system cannot be 100%, after the spring releases all its energy, it stops working. The moving column (4) in the passive energy feeding drive device moves downward, touches the partition (5), and slides to the right channel (11) that can only move in one direction.

[0022] The second stage: From the moment the forefoot touches the ground to the moment the forefoot is about to leave the ground, the ankle muscles release energy. The movable column (4) is in the right channel (11) and can only move in one direction. The movable column (4) cannot move upward. At this time, the external spring can be extended and retracted, and begins to collect and release energy. Since the energy conversion rate of the system cannot be 100%, after the spring has released all its energy, it stops working, and the movable column (4) in the passive energy feeding drive device moves downward until it reaches the lower opening (13), and cannot move downward any further.

[0023] The third stage: from the forefoot preparing to leave the ground to the heel preparing to touch the ground, the ankle is always in a suspended state during this process, the ankle muscles are in a free motion state, and the spring device does not work. The corresponding moving column (4) in the passive energy feedback drive device moves upward, touches the partition (5), and then slides to the left channel (10). Since the moving column (4) can move in both directions in the left channel (10), the spring is always in a free state during this stage. Until the moving column (4) reaches the upper passage (12), the first stage starts again.

Claims

1. A passive energy feeding drive device for a rehabilitation robot, comprising a right frame (1), a left frame (2), a base plate (3), a movable column (4), a partition (5), a one-way plate (6), a positioning shaft (8), and a connecting line (18).

2. The passive energy feeding drive device for a rehabilitation robot according to claim 1, characterized in that: There is a positioning hole (9) in the bottom plate (3), and the right frame (1), the left frame (2) and the partition (5) are connected and positioned with the bottom plate (3) through the shaft (8) and the positioning hole (9), forming a left channel (10), a right channel (11), an upper opening (12) and a lower opening (13).

3. A passive energy feeding drive device for a rehabilitation robot according to claim 1 or 2, characterized in that: A one-way sheet hole (14) is provided on one side of the partition (5), and the one-way sheet (6) is placed in the one-way sheet hole (14), so that the movable column (4) can move in both directions in the left channel (10) and can only move in one direction in the right channel (11).

4. A passive energy feeding drive device for a rehabilitation robot according to claim 1, 2 or 3, characterized in that: The one-way piece (6) is composed of a connecting piece (15) and a rotating piece (17), wherein the connecting piece (15) has a raised portion (16) to limit the rotation angle of the rotating piece (17).

5. A passive energy feeding drive device for a rehabilitation robot according to claim 1, 2, 3 or 4, characterized in that: The movable column (4) is connected to the connecting line (18), and the connecting line (18) can drive the movable column (4) to move in the left channel (10) and the right channel (11), and the movable column (4) cannot pass through the upper opening (12) and the lower opening (13).

6. A passive energy feeding drive device for a rehabilitation robot, comprising a base plate (3), a wire-receiving bearing (7), and a connecting wire (18).

7. The passive energy feeding drive device for a rehabilitation robot according to claim 6, characterized in that: The wire-reeling bearing (7) is placed on the bottom plate (3), the connecting wire (18) is connected to the wire-reeling bearing (7), and the wire-reeling bearing (7) is provided with a built-in spring. When the connecting wire (18) is pulled out, the connecting wire (18) can be automatically recovered.

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