Auxiliary support and rehabilitation training system

Abstract

The utility model relates to an auxiliary support and a rehabilitation training system, and belongs to the technical field of medical instruments. The rehabilitation training system comprises an exoskeleton robot and an auxiliary support. The auxiliary support comprises a support body, a walking mechanism and a control mechanism. The walking mechanism comprises two direction control wheels arranged at the bottom end of the support body. The control mechanism comprises a steering controller and two brakes, the steering controller is arranged on a handrail of the support body, the brakes correspond to the direction control wheels in a one-to-one mode, and the steering controller can control any brake to lock the corresponding direction control wheel. Therefore, according to the auxiliary support and the rehabilitation training system provided by the utility model, the auxiliary support adopts a follow-up structure, can be freely pushed, does not influence the operation of a doctor, is well matched with a driving source of an exoskeleton robot and the like, controls the action of a brake through a steering controller, can lock a corresponding direction control wheel, and is convenient to use. The steering and turning radius of the auxiliary support is further controlled.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, in particular to an auxiliary training device for an exoskeleton, and specifically to an auxiliary bracket and a rehabilitation training system. Background Art

[0002] At present, the rehabilitation assistive supports on the market are mainly divided into two categories according to the power source, one is the non-driven follower type, and the other is electric drive. Many non-driven followers use electric push rods + connecting rod mechanisms to control the swing angle of the wheels, thereby controlling the direction, but the problems caused are: a. The angle of the universal wheel is completely determined by the push rod at any time, and people can only control it by controlling the joystick, but in many usage scenarios we need the angle of the wheel to be free to move; b. This structure is heavy and large in size. The form of electric drive is generally similar to Hocoma's Andago, which is obtained by the differential speed of the electric drive wheels on both sides, but because the exoskeleton itself has power, the two controls will conflict if they are not synchronized, and the technical difficulty and cost of achieving synchronization are too high. Utility Model Content

[0003] In view of this, the purpose of the utility model is to provide an auxiliary bracket and a rehabilitation training system. The auxiliary bracket adopts a follow-up structure, can be pushed freely, will not affect the doctor's operation, has good adaptability to the driving source of the exoskeleton robot, etc., and controls the brake action through the steering controller, which can lock the corresponding direction control wheel, so that the two direction control wheels move differently, thereby controlling the steering and turning radius of the auxiliary bracket.

[0004] The technical solution of the utility model is as follows:

[0005] The utility model provides an auxiliary bracket, comprising a bracket body, a walking mechanism and a control mechanism; the walking mechanism comprises two direction control wheels arranged at the bottom end of the bracket body; the control mechanism comprises a steering controller and two brakes, the steering controller is arranged on the armrest of the bracket body, the brakes correspond to the direction control wheels one by one, and the steering controller can control any one of the brakes to lock the corresponding direction control wheel.

[0006] As an optional solution, the direction control wheel includes a wheel frame and a caster that are rotatably connected, and the brake can lock the caster and the wheel frame.

[0007] As an optional solution, the brake is a hysteresis brake, which includes a stator and a rotor, wherein the stator is connected to the wheel frame, and the rotor is coaxially fixed to the caster.

[0008] As an optional solution, the brake includes a brake disc and a telescopic member, wherein the brake disc is coaxially fixed to the caster, and the telescopic member is telescopically arranged on the wheel frame so that the telescopic member can be separated from the brake disc to become inoperable or braked by friction with the brake disc.

[0009] As an optional solution, the direction control wheel further includes a cover shell, the cover shell is arranged on the wheel frame, and the brake is hidden in the cover shell.

[0010] As an alternative, the cover is detachably connected to the wheel carrier.

[0011] As an optional solution, the direction control wheel further includes a rotating shaft, the rotating shaft is coaxially fixed with the caster, and the rotating shaft is rotatably connected to the wheel frame via a bearing.

[0012] As an optional solution, the steering controller adopts a single-axis rocker or a multi-axis rocker, and the steering controller is used to output analog or digital signals; the control mechanism also includes a control system, which is used to receive the analog or digital signal output by the steering controller and control the locking time and locking frequency of the corresponding brake.

[0013] As an optional solution, the walking mechanism further includes two follower wheels, and the two direction control wheels and the two follower wheels are distributed in a rectangular shape.

[0014] As an alternative, the brake can release the direction control wheel in a power-off state.

[0015] The utility model also provides a rehabilitation training system, comprising an exoskeleton robot and the above-mentioned auxiliary support, wherein the exoskeleton robot is supported on the support body.

[0016] The beneficial effects of the utility model are:

[0017] The utility model provides an auxiliary bracket and rehabilitation training system, wherein the bracket body is used to support the exoskeleton robot, the walking mechanism is used to drive the bracket body and the exoskeleton robot to move, the auxiliary bracket adopts a follow-up structure, can be pushed freely, will not affect the doctor's operation, and has good adaptability to the driving source of the exoskeleton robot, etc. When steering is required, the brake action is controlled by the steering controller, and the brake can lock the corresponding direction control wheel for a certain time and frequency, so that the two direction control wheels act differently, thereby controlling the steering and turning radius of the auxiliary bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. As shown in the drawings, the above and other purposes, features and advantages of the utility model will be clearer. The same reference numerals in all the drawings indicate the same parts. The drawings are not deliberately scaled according to the actual size, and the focus is on showing the main purpose of the utility model.

[0019] Figure 1 A schematic diagram of the structure of the auxiliary bracket provided in the first embodiment of the utility model;

[0020] Figure 2 A schematic diagram of the partial structure of the auxiliary bracket provided in the first embodiment of the utility model;

[0021] Figure 3 This is a schematic diagram of the control method of the auxiliary bracket provided in Example 1 of the utility model.

[0022] Icons: 11- auxiliary bracket; 110- bracket body; 111- handrail; 120- direction control wheel; 121- follower wheel; 122- wheel frame; 123- caster; 124- cover; 125- rotating shaft; 130- steering controller; 131- brake; 132- stator; 133- rotor; 140- control system; 141- power supply. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0026] Embodiment 1

[0027] Please refer to Figure 1 As shown, the first embodiment of the utility model provides an auxiliary bracket 11, which can be used in conjunction with an exoskeleton robot. The exoskeleton robot can be installed and supported on the auxiliary bracket 11, and the auxiliary bracket 11 can follow the exoskeleton robot forward or backward.

[0028] Please combine Figure 1 , Figure 2 As shown, the auxiliary support 11 is mainly composed of a support body 110, a walking mechanism and a control mechanism, and each component is discussed in detail below.

[0029] The structure of the support body 110 may refer to the prior art. Two armrests 111 may be provided on one side of the support body 110 . The armrests 111 are provided for the patient to hold on to, or are used to support the lower limb exoskeleton.

[0030] The walking mechanism is arranged at the bottom of the support body 110. The walking mechanism is mainly a follow-up mode. The structure of the walking mechanism is not limited. In this embodiment, the walking mechanism includes two direction control wheels 120 and two follower wheels 121. The two direction control wheels 120 and the two follower wheels 121 are distributed in a rectangular shape at the bottom of the support body 110. In this embodiment, legs are respectively arranged on both sides of the bottom of the support body 110, and the two legs are arranged side by side. The front end of each support frame is provided with a direction control wheel 120, and the rear end is provided with a follower wheel 121. In some other embodiments, the number of follower wheels 121 can also be one, three, etc., and the arrangement of the direction control wheel 120 and the follower wheel 121 can also be set as needed.

[0031] The direction control wheel 120 may be a universal wheel or a roller with a fixed direction. In this embodiment, the direction control wheel 120 includes a wheel frame 122 and a caster 123, the wheel frame 122 is fixed to the bracket body 110, the caster 123 is rotatably connected to the wheel frame 122 via a rotating shaft 125, the rotating shaft 125 is coaxially fixed with the caster 123, and the rotating shaft 125 and the wheel frame 122 may be connected via a bearing or may not be connected via a bearing.

[0032] The follower wheel 121 may be a universal wheel or a roller with a fixed direction. In the present embodiment, the follower wheel 121 is a universal wheel.

[0033] The control mechanism includes a steering controller 130 and two brakes 131. The steering controller 130 is arranged on the armrest 111 of the bracket body 110. The brakes 131 correspond to the direction control wheels 120 one by one. The steering controller 130 can control any one of the brakes 131 to lock the corresponding direction control wheel 120, that is, the brake 131 can lock the caster 123 and the wheel frame 122.

[0034] There is no limit to the control method of controlling the action of the brake 131 through the steering controller 130. For example, the steering controller 130 includes two control buttons. When one of the control buttons is pressed, the corresponding brake 131 is energized and locks the corresponding direction control wheel 120. When the control button is released, the corresponding brake 131 is reset and the corresponding direction control wheel 120 is released.

[0035] In some embodiments, the steering controller 130 can also adopt a single-axis joystick or a multi-axis joystick, etc. The steering controller 130 can generate analog output or digital signal output to form steering demand information. Figure 3 As shown, the control mechanism also includes a control system 140, which can be a single chip microcomputer or other structures. The control system 140 can be powered by a power supply 141. The control system 140 is used to receive the analog or digital signal output by the steering controller 130, and convert the steering demand information into control information according to a preset program, so as to control the locking time and locking frequency of the corresponding brake 131. By controlling the time ratio and switching frequency of the locking and moving of the direction control wheel 120, the displacement distances of the left and right direction control wheels 120 are different, so as to control the turning radius of the auxiliary bracket 11.

[0036] For example, assuming that the steering controller 130 adopts a single-axis joystick, the single-axis joystick can output -4.7V~+4.7V analog quantity; -4.7V~-1.5V corresponds to turning left, -4.7V corresponds to a turning radius of 0m for turning left, and -1.5V corresponds to a turning radius of 10m for turning left, which is a linear correspondence; +1.5V~+4.7V corresponds to turning right, +4.7V corresponds to a turning radius of 0m for turning left, and +1.5V corresponds to a turning radius of 10m for turning left, which is a linear correspondence; -1.5V~+1.5V corresponds to going straight. The control system 140 controls the action of the corresponding brake 131 according to the analog quantity. For example, if the left turning radius is 0m, the left steering control wheel 120 is locked, and the right steering control wheel 120 is not locked, the exoskeleton robot moves, and the auxiliary bracket 11 follows, so that the auxiliary bracket 11 turns left; if the right turning radius is 10m, the right steering control wheel 120 is locked and released alternately, and the locking time and the release time can be pre-set. The left steering control wheel 120 is not locked, the exoskeleton robot moves, and the auxiliary bracket 11 follows, so that the auxiliary bracket 11 turns right.

[0037] The structure of the brake 131 is not limited. For example, in this embodiment, please combine Figure 2 As shown, the brake 131 adopts a hysteresis brake, which can transmit torque. Specifically, the hysteresis brake includes a stator 132 and a rotor 133. The stator 132 is connected to the wheel frame 122, and the rotor 133 is coaxially fixed to the caster 123. The hysteresis brake uses the hysteresis principle to generate a certain torque by controlling the input excitation current, and the control current and the output torque have a good linear relationship.

[0038] The brake 131 can lock the corresponding direction control wheel 120 only when it is powered on and the control system 140 controls its action; when it is powered off, the brake 131 fails, the direction control wheel 120 is always in a released state, and can be pushed freely without affecting the doctor's operation. The auxiliary bracket 11 follows the movement and has good adaptability to the driving source of the exoskeleton robot, human, etc. The auxiliary bracket 11 has a small structure volume, light weight, and low manufacturing and use costs.

[0039] In some embodiments, the structure of the brake 131 can also adopt the following scheme: the brake 131 includes a brake disc and a telescopic member, the brake disc is coaxially fixed with the caster 123, the brake disc can rotate with the caster 123, the telescopic member is arranged on the wheel frame 122, and the structure of the telescopic member is not limited, for example, a telescopic cylinder, a telescopic hydraulic cylinder, etc. can be used, and the telescopic member can be telescoped to approach or move away from the brake disc. When the telescopic member is extended and close to the brake disc, the end of the telescopic member contacts the brake disc, and the two can brake by friction; when the telescopic member is shortened and away from the brake disc, the end of the telescopic member is separated from the brake disc and fails, and the direction control wheel 120 can move normally.

[0040] In addition, in this embodiment, the direction control wheel 120 may further include a cover 124, the cover 124 is disposed on the wheel frame 122, and the brake 131 is hidden in the cover 124. The cover 124 can shield the brake 131 from external influences. Of course, in other embodiments, the direction control wheel 120 may not include the cover 124.

[0041] The connection method between the cover 124 and the wheel frame 122 is not limited. For example, the cover 124 and the wheel frame 122 are fixedly connected or detachably connected.

[0042] Embodiment 2

[0043] The second embodiment of the present invention also provides a rehabilitation training system, which is mainly used for lower limb rehabilitation training.

[0044] The device includes an exoskeleton robot (not shown) and the auxiliary support 11 in the first embodiment. The exoskeleton robot is supported on the support body 110. In the present embodiment, the exoskeleton robot can be arranged on the armrest 111 of the support body 110, or can be arranged at other positions of the support body 110 in a liftable manner. The structure of the exoskeleton robot can refer to the prior art, and the exoskeleton robot can be a lower limb exoskeleton or a full body exoskeleton.

[0045] The working method of the rehabilitation training system provided in this embodiment is as follows:

[0046] The exoskeleton robot is mounted on the auxiliary support 11, and the patient stands on the exoskeleton robot;

[0047] The exoskeleton robot moves forward in different gaits according to the built-in program, and at this time, the auxiliary support 11 follows the movement, that is, the moving direction of the auxiliary support 11 is completely determined by the moving direction of the exoskeleton robot;

[0048] When steering is required, the patient controls the steering controller 130 to operate, and the steering controller 130 outputs an analog or digital signal, namely steering demand information, which includes steering direction information and steering radius information, etc. The control system 140 converts the steering demand information into control information through a built-in program, and controls the corresponding brake 131 to operate according to the control information, and the brake 131 locks the corresponding direction control wheel 120. The locking time and locking frequency of the direction controller are determined by the steering radius; the displacement distances of the direction control wheels 120 on the left and right sides are different, thereby controlling the steering and turning radius of the auxiliary bracket 11;

[0049] After the steering is completed, the steering controller 130 is reset and the brake 131 releases the direction control wheel 120 .

[0050] The above steps can be increased, decreased, modified, or the order can be adjusted as needed.

[0051] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An auxiliary bracket, characterized in that: It includes a support body, a walking mechanism and a control mechanism; the walking mechanism includes two direction control wheels arranged at the bottom end of the support body; the control mechanism includes a steering controller and two brakes, the steering controller is arranged on the armrest of the support body, the brakes correspond to the direction control wheels one by one, and the steering controller can control any one of the brakes to lock the corresponding direction control wheel.

2. The auxiliary bracket according to claim 1, characterized in that: The direction control wheel comprises a wheel frame and a caster wheel which are rotatably connected, and the brake can lock the caster wheel with the wheel frame.

3. The auxiliary bracket according to claim 2, characterized in that: The brake is a hysteresis brake, which includes a stator and a rotor. The stator is connected to the wheel frame, and the rotor is coaxially fixed to the caster.

4. The auxiliary bracket according to claim 2, characterized in that: The brake comprises a brake disc and a telescopic member, wherein the brake disc is coaxially fixed with the caster, and the telescopic member is telescopically arranged on the wheel frame so that the telescopic member can be separated from the brake disc to become ineffective or can be braked by friction with the brake disc.

5. The auxiliary bracket according to claim 2, characterized in that: The direction control wheel also includes a cover shell, which is arranged on the wheel frame, and the brake is hidden in the cover shell.

6. The auxiliary bracket according to claim 5, characterized in that: The cover shell is detachably connected to the wheel frame.

7. The auxiliary bracket according to claim 2, characterized in that: The direction control wheel also includes a rotating shaft, which is coaxially fixed with the caster, and the rotating shaft is rotatably connected to the wheel frame through a bearing.

8. The auxiliary bracket according to claim 1, characterized in that: The steering controller adopts a single-axis rocker or a multi-axis rocker, and the steering controller is used to output analog or digital signals; the control mechanism also includes a control system, and the control system is used to receive the analog or digital signal output by the steering controller and control the locking time and locking frequency of the corresponding brake.

9. The auxiliary bracket according to claim 1, characterized in that: The walking mechanism further comprises two follower wheels, and the two direction control wheels and the two follower wheels are distributed in a rectangular shape.

10. A rehabilitation training system, characterized in that: It comprises an exoskeleton robot and the auxiliary support as described in any one of claims 1 to 9, wherein the exoskeleton robot is supported on the support body.

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