WO2019037776A1 - 膝关节康复机器人及其控制方法 - Google Patents
膝关节康复机器人及其控制方法 Download PDFInfo
- Publication number
- WO2019037776A1 WO2019037776A1 PCT/CN2018/102197 CN2018102197W WO2019037776A1 WO 2019037776 A1 WO2019037776 A1 WO 2019037776A1 CN 2018102197 W CN2018102197 W CN 2018102197W WO 2019037776 A1 WO2019037776 A1 WO 2019037776A1
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- WIPO (PCT)
- Prior art keywords
- knee joint
- connecting body
- edge
- hole
- rehabilitation robot
- Prior art date
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 20
- 244000309466 calf Species 0.000 claims abstract description 50
- 210000000689 upper leg Anatomy 0.000 claims abstract description 45
- 239000007788 liquid Substances 0.000 claims abstract description 36
- 230000000903 blocking effect Effects 0.000 claims abstract description 23
- 230000006835 compression Effects 0.000 claims abstract description 17
- 238000007906 compression Methods 0.000 claims abstract description 17
- 238000013016 damping Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 29
- 210000003127 knee Anatomy 0.000 claims description 22
- 230000001105 regulatory effect Effects 0.000 claims description 21
- 210000004744 fore-foot Anatomy 0.000 claims description 11
- 210000002414 leg Anatomy 0.000 claims description 11
- 210000002683 foot Anatomy 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 7
- 230000008093 supporting effect Effects 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 4
- 238000012549 training Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
Definitions
- the present application belongs to the field of rehabilitation medical device technology, and more particularly to a knee joint rehabilitation robot and a control method thereof.
- the existing knee rehabilitation training device simply fixes the trainer to the thigh and the lower leg through the thigh bracket and the calf bracket, and provides a certain damping force by providing a spring or a hydraulic cylinder between the thigh bracket and the calf bracket, but In the process of use, the damping force cannot be controlled, the knee joint can not provide sufficient resistance during the straightening process, and there is a risk that the knee joint will cause mechanical damage during the rehabilitation training, resulting in poor rehabilitation training effect.
- the purpose of the present application is to provide a knee joint rehabilitation robot, which aims to solve the problem that the damping force of the rehabilitation knee joint rehabilitation training device in the prior art cannot be controlled during use, and the knee joint cannot provide sufficient resistance during the straightening process. There is a risk that the knee joint will cause mechanical damage during rehabilitation training, resulting in poor rehabilitation training.
- the present application provides a knee joint rehabilitation robot, and also provides a control method for a knee joint rehabilitation robot.
- a knee rehabilitation robot includes a thigh housing for fixing to the thigh, a calf housing hinged to the thigh housing and fixed to the calf, a hydraulic rod hingedly disposed on the thigh housing, and a sliding sleeve on the hydraulic rod a hydraulic cylinder hinged to the outside of the calf housing, a free piston inside the hydraulic cylinder, and an inner spring respectively abutting the bottom of the free piston and the hydraulic cylinder, and the end of the hydraulic cylinder is provided with a cylinder end slidably connected to the hydraulic rod
- the hydraulic rod is fixed at the end of the hydraulic cylinder and is provided with a first blocking piece which is slidably engaged with the inner wall of the hydraulic cylinder, and the hydraulic rod is provided with an inner compression spring, and one end of the inner compression spring abuts against the cylinder end cover, The other end of the compression spring abuts against the first blocking piece, and the first blocking piece and the cylinder end cover form a first cavity for accommodating the liquid, and
- the knee joint rehabilitation robot control method comprises: the pressure sensor detects the pressure on the sole of the foot, the angle sensor detects the angle between the thigh shell and the calf shell; transmits the detected pressure signal and the angle signal to the controller; the controller receives the pressure The signal and the angle signal determine the current motion state of the knee joint; the controller controls the flow regulating device to adjust the flow of the liquid passing through the first through hole according to the current motion state of the knee joint to control the damping force between the hydraulic rod and the hydraulic cylinder.
- FIG. 1 is a schematic structural view of a knee joint rehabilitation robot according to an embodiment of the present application.
- FIG. 2 is a cross-sectional view showing the assembly of a hydraulic rod and a hydraulic cylinder used in an embodiment of the present application;
- FIG. 3 is a schematic bottom view of a second flap used in an embodiment of the present application.
- FIG. 4 is a schematic top plan view of a second flap used in an embodiment of the present application.
- FIG. 5 is a schematic top plan view of a first flap used in an embodiment of the present application.
- FIG. 6 is a schematic structural view of an elastic plate used in an embodiment of the present application.
- FIG. 7 is a schematic structural view of an embodiment of a joint limiting mechanism of the present application.
- Figure 8 is a front elevational view of the embodiment of Figure 7;
- Figure 9 is a cross-sectional view taken along line A-A of Figure 8.
- FIG. 10 is a schematic structural view of an embodiment of a second connecting body in the joint limiting mechanism of the present application.
- FIG. 11 is a schematic structural view of an embodiment of a first connecting body in the joint limiting mechanism of the present application.
- FIG. 12 is a schematic view showing the second connecting body of the joint limiting mechanism of the present application in a first extreme position
- Figure 13 is a schematic view showing the rotation state of the second connecting body of the joint limiting mechanism of the present application.
- Figure 14 is a schematic view showing the interference state of the joint limiting mechanism of the present application.
- Fig. 15 is a graph showing the driving force of the knee joint swing period.
- a knee rehabilitation robot comprising a thigh housing 3 for fixing to the thigh, a calf housing 2 hinged to the thigh housing 1 and fixed to the calf, and a hydraulic rod 3 hingedly disposed on the thigh housing 1 a hydraulic cylinder 4 that is sleeved on the outer side of the hydraulic rod 3 and hinged with the lower leg housing 2, a free piston 42 disposed inside the hydraulic cylinder 4, and an inner spring 43 that is respectively provided with the free piston 42 and the hydraulic cylinder 4
- the bottom of the hydraulic cylinder 4 is provided with a cylinder end cover 41 slidably coupled to the hydraulic rod 3, and the end of the hydraulic rod 3 located inside the hydraulic cylinder 4 is provided with a first gear that is slidably engaged with the inner wall of the hydraulic cylinder 4.
- the sheet 31 is provided with an inner compression spring 39, and one end of the inner compression spring 39 abuts against the cylinder end cover 41, and the other end of the inner compression spring 39 abuts against the first flap 31, the first flap A first cavity 45 for accommodating a liquid is formed between the first end piece 31 and the free piston 42 , and a second cavity 46 for accommodating the liquid is formed between the first baffle 31 and the free piston 42 .
- the knee rehabilitation robot is fixed to the thigh through the thigh housing 1, and the calf housing 2 is fixed on the lower leg.
- the thigh housing 1 is hinged to the calf housing 2 and connected by the hydraulic rod 3 and the hydraulic cylinder 4, and the knee joint can be provided.
- the damping force for the rehabilitation training is provided by the first through hole 311 for communicating the first cavity 45 and the second cavity 46 on the first flap 31 on the hydraulic rod 3, and the first pass is controlled by the flow regulating device
- the opening and closing of the hole 311 and the flow of the liquid flowing through the first through hole 311 when the liquid is exchanged between the first cavity 45 and the second cavity 46 can control the damping force between the hydraulic rod 3 and the hydraulic cylinder 4, according to Different walking states control different damping forces, and at the same time, an inner spring 43 is arranged in the hydraulic cylinder 4 by fitting an inner compression spring 39 on the hydraulic rod 3 to provide cushioning resistance during the opening or bending of the knee joint.
- more accurate control of the frequency of gait greatly shortens the time of knee rehabilitation training, improves efficiency, and has better recovery effect.
- the flow regulating device includes a second blocking piece 32 and a driving mechanism.
- the second blocking piece 32 is rotatably connected to the first blocking piece 31 , and the second blocking piece 32 is opened for the first through hole 311 .
- a communicating second through hole 321 the driving mechanism is disposed on the hydraulic rod 3 , and is capable of driving the second blocking piece 32 to rotate and controlling whether the first through hole 311 and the second through hole 321 are connected and controlling the first through hole 311 and the first The degree of coincidence of the two through holes 321 .
- the driving mechanism can adjust the degree of coincidence of the first through hole and the second through hole 321 to change the liquid of the second cavity 46 into the first cavity 45.
- Speed which in turn changes the damping force.
- the liquid located in the first cavity 45 and the second cavity 46 is hydraulic oil.
- the number of the first through holes 311 is eight
- the number of the second through holes 321 is eight
- the first through holes 311 It is equal in size to the diameter of the second through hole 321 .
- the driving mechanism includes a driving motor 33 and a driving shaft 35.
- the driving motor 33 is disposed at an end of the hydraulic rod 3 exposed to the hydraulic cylinder 4.
- the driving motor 33 has a motor shaft, and one end of the driving shaft 35 and the motor shaft The other end is connected to the second flap 32.
- the second flap 32 is located between the first flap 31 and the free piston 42.
- the drive shaft 35 extends through the hydraulic rod 3.
- the drive shaft 35 is fixedly coupled to the second flap 32.
- the second flap 32 is provided with a fixed drive.
- the mounting hole 322 of the shaft 35 is convenient for installation, convenient to use, and driven by the drive motor 33 for automatic control.
- the end of the hydraulic rod 3 is provided with a receiving groove for accommodating the driving motor 33, and the end of the driving motor 33 is provided with a rod end cover 34 for covering the receiving groove for facilitating the mounting of the driving motor 33, and It is convenient to position the drive motor 33 using the rod end cover 34 for maintenance and processing.
- the outer end of the rod end cover 34 is hinged to the thigh housing 1 for easy installation and disassembly, and is convenient for separate processing.
- the first flap 31 is integrally formed with the hydraulic rod 3, which is convenient for production, improves the production efficiency, and ensures the joint strength.
- a sliding bearing 38 is disposed between the second flap 32 and the inner wall of the hydraulic rod 3 to reduce the frictional force and facilitate the adjustment of the position of the second flap 32.
- the hydraulic rod 3 is screwed with an adjustment nut 36 , and the outer circumference of the hydraulic rod 3 is provided with an outer spring 37 , and the outer spring 37 One end abuts against the adjusting nut 36, and the other end of the outer spring 37 abuts against the cylinder end cover 41.
- the outer spring 37 is compressed to provide resistance to knee flexion, and when the knee joint is opened, the outer spring 37 is released.
- a hinge portion 44 hinged to the calf housing 2 is provided on the outer side surface of the bottom of the hydraulic cylinder 4. Specifically, the lower leg housing 2 is fixed with a mounting block 7 for articulating with the hinge portion 44.
- the knee rehabilitation robot further includes a controller and a foot rest 6 , and the leg rest 6 is connected with the calf housing 2 for placing the sole of the foot. The knee rehabilitation robot is worn and has a supporting effect.
- the leg rest 6 is provided with a plurality of pressure sensors, and the forefoot and the heel on the leg rest 6 are provided with pressure sensors, such as the forefoot pressure sensor 91 and the heel pressure sensor 92 shown in FIG.
- a pressure sensor is coupled to the controller to enable the detected pressure signal to be sent to the controller.
- the controller is mounted on the mounting block 7, and the controller is electrically connected to the flow regulating device to control the flow regulating device.
- the controller is electrically connected to the driving motor 33, and by controlling the magnitude of the current flowing through the driving motor 33 and controlling the forward and reverse rotation of the driving motor 33, whether the driving motor 33 opens and closes the first through hole 311 and flows through the first The flow rate of a through hole 311 liquid is controlled.
- the mounting block 7 is further provided with a control switch 8 electrically connected to the drive motor 33, and the energization or de-energization of the drive motor 33 can be controlled by pressing the control switch 8.
- the elastic plate 5 includes a first connecting plate 51 fixedly coupled to the lower leg housing 2, a second connecting plate 52 fixedly coupled to the footrest 6 and movably coupled to the first connecting plate 51, and the first connecting plate 51 and the first connecting plate 51 The top wire 53 of the two connecting plates 52 is locked.
- the thigh housing 1 and the calf housing 2 are connected by a joint limiting mechanism to limit the relative rotation angle between the thigh housing 1 and the calf housing 2 to prevent joint rotation.
- the angle is too large, and the limit function is realized to facilitate the recovery of the damaged joint.
- An angle sensor is mounted on the joint limiting mechanism, and the angle sensor is connected to the controller, and the angle sensor can detect the angle between the thigh housing 1 and the calf housing 2, and send the detected angle information to the controller, so that The controller determines the movement posture of the human body.
- the controller can accurately determine the movement posture of the human leg according to the foot pressure information fed back by the pressure sensor and the angle information between the thigh shell and the calf shell fed back by the angle sensor, and drive the motor 33 according to different motion postures. Take control.
- a joint limiting mechanism includes a first connecting body 100, a second connecting body 200 and a shaft body 300.
- the first connecting body 100 and the second connecting body 200 are hinged to each other and form a hinge point, and the angle sensor can be installed.
- the second connecting body 200 is provided with a hinge portion including a pair of hinged seats 212.
- the first connecting body 100 is disposed between the two hinged seats 212 and hinged by the shaft body 300.
- the first connecting body 100 and the second connecting body 200 are respectively provided with a first connecting structure 130 and a second connecting structure 240 for connecting with the external structure, and the first connecting structure 130 is disposed on the first connecting body 100.
- the fastening of the calf housing 2 can be made by using fasteners.
- the shaft body 300 includes a shaft 310 and a fixed end 320, and the first connecting body 100 and the The second connecting body 200 rotates around the shaft 310.
- One end of the shaft 310 is provided with a fixed end 320, which unilaterally limits the shaft 310 along its axial direction, and the other end of the shaft 310 is provided with a mounting structure.
- the structure is specifically a threaded hole 311.
- One end of the shaft 310 provided with a threaded hole is fitted with a fixing plate 330.
- the fixing plate 330 is provided with a first disk hole 331 for connecting with the shaft 310 and four for the hinge seat. 212 fixedly connected second disc hole 332, the fixing disc 330 is fixedly mounted with the shaft 310 by a fastener, for example, screwed into the threaded hole 311 of the shaft 310 for fastening installation, and screwed into the hinge seat by screws
- the corresponding threaded hole 213 on the 212 realizes the circumferential fastening limit, so that the other side of the shaft 310 along its axial direction is also limited, so that the first connecting body 100 and the second connecting body 200 are hinged reliably, preventing both Separate from each other.
- the first connecting body 100 and the second connecting body 200 are respectively provided with a first connecting structure 130 and a second connecting structure 240 for connecting with the external structure, and the first connecting structure 130 and the second connecting structure 240 are used by using the fasteners.
- the first connecting body 100 and the second connecting body 200 are respectively fastened to the thigh housing 1 and the calf housing 2, respectively.
- the first connecting body 100 has a plate shape with a certain thickness and has two mutually parallel plate faces 110.
- the first connecting body 100 is provided with a first hinge hole 120.
- the first connecting body 100 is provided with a first edge 101, a second edge 102 and a third edge 103 between the two plate faces 110, and the three are connected in sequence.
- the second connecting body 200 is movable along the first edge 101 and has a first extreme position and a second extreme position at both ends of the first edge 101, wherein the second connecting body 200 and the first embodiment are shown in FIG. The first extreme position at which the two edges 102 abut.
- the second connecting body 200 moves in the opposite direction along the first edge 101, there must be a stop of the movement of the second connecting body 200 along the first edge 101, that is, the second connecting body 200 must be away from the second edge 102 on the first edge 101.
- One end has a second extreme position.
- the first edge 101 is a circular arc surface that is concentric with the hinge hole 120
- the second edge 102 is a plane
- the third edge 103 is a circular arc surface
- the second edge 102 and the first edge 101 Tangent to the third edge 103.
- the intersection of the second edge 102 and the first edge 101 is projected on the plate surface 110 as a point B.
- the axis of the hinge hole 120 is projected on the plate surface as a point C, and the projection of the second edge 102 on the plate surface 110 is a line d, the line BC of the two projection points is perpendicular to the projection line d of the second edge 102 on the board surface 110, and the foot is a point B, and the angle of the arc of the first edge 101 is 90°.
- the radius of the third edge 103 is smaller than the radius of the first edge 101.
- the first connecting body 100 is provided with a first connecting structure 130 for connecting with an external structure
- the first connecting structure 130 is four through holes penetrating through the two plate faces 110 of the first connecting body 100, and can be used by using The fastener is fastened to the external structure.
- the external structure is any one of the thigh housing 1 and the calf housing 2.
- FIG. 10 is a schematic structural view of an embodiment of the first connecting body 100 in the joint limiting mechanism of the present application
- FIG. 11 is a structure of an embodiment of the second connecting body 200 in the joint limiting mechanism of the present application.
- the second connecting body 200 is provided with a hinge portion.
- the hinge portion includes a pair of hinged seats 212.
- a sliding surface 211 is formed between the two hinged seats 212.
- the first connecting body 100 is located at the pair of hinged seats 212. And hinged by a shaft body 300. After the hinge mounting, the sliding surface 211 is in contact with the second edge 102 of the first connecting body 100, the sliding surface 211 is rotated along the first edge 101, and the second edge 102 is used for The two connectors 200 are limited in relation to the rotation of the first connector 100.
- the second connecting body 200 is further provided with two limiting devices for second limiting the second connecting body 200, respectively being the first limiting device 220 and the second limiting device 230.
- the first limiting device 220 is for limiting the limit position of the second connecting body 200 to rotate along the first edge 101
- the second limiting device 230 is for preventing the second connecting body 200 from moving along the second edge 102.
- the first limiting device 220 and the second limiting device 230 are contact type limiting switches, and combined with the structural design of the first connecting body 100, mechanically and electronically limit the second connecting body.
- the first limiting device 220 is in contact with the first edge 101 of the first connecting body 100 when the second connecting body reaches the second extreme position, that is, the first limiting device 220 and the first connecting body 100
- the second connecting body 200 is located at the second extreme position.
- the control circuit is cut off, so that the second connecting body 200 stops moving to reach the limit function
- the second limiting device 230 is When the second connecting body 200 reaches the first limit position, it contacts the third edge 103 of the first connecting body 100, thereby cutting off the control circuit, so that the second connecting body 200 stops rotating, and the second connecting body 200 and the first connecting body are avoided.
- the second limiting device 230 is in contact with the third edge 103 of the first connecting body 100, and the third edge 103 is disposed as a circular arc surface.
- the third edge 103 may also be set to other Structure, such as a chamfer plane.
- the first limiting device and the second limiting device may also be limit stops. When the second connecting body moves to the first limit position, the second limiting device abuts the third edge. Thereby, the second connecting body is limited; when the second connecting body moves to the second extreme position, the first limiting device abuts against the first edge of the first connecting body, thereby limiting the second connecting body.
- the first limiting device and the second limiting device may also be non-contact limiting switches, and when the second connecting body reaches the rotation threshold, the rotation is stopped by the limit switch signal, combined with the first connecting body.
- the structural design is to mechanically and electronically limit the second connecting body.
- the second limiting device When the second connecting body moves to the first limit position, the second limiting device approaches the third edge of the first connecting body, and when the distance between the two connecting devices reaches a certain range, the second limiting device sends out to the control unit
- the signal causes the second connecting body to stop moving to limit the second connecting body; when the second connecting body moves to the second extreme position, the first limiting device approaches the first edge of the first connecting body, and the distance is reached
- the first limiting device will send a signal to the control unit to stop the movement of the second connecting body and limit the second connecting body.
- the second connecting body 200 rotates, the sliding surface 211 moves along the first edge 101 and has two extreme positions, respectively a first extreme position and a second extreme position; the second connecting body 200 is along the first
- the edge 101 moves clockwise to reach the first limit position
- the second edge 102 abuts against the second connecting body 200, causing interference, that is, the state shown in FIG. 12, at this time, the sliding body is in line contact with the first edge 101, and In contact with the second edge 102, if the second connector 200 continues to rotate clockwise, it will be squeezed with the second edge to assume a state as shown in FIG. 14, so that the second connector 200 cannot continue to be hinged. Turn the clockwise to achieve the limit.
- the second limit switch 230 contacts the third edge 103, thereby cutting off the control circuit, so that the second connecting body stops rotating in the clockwise direction, preventing the second connecting body Squeeze with the second edge, causing the movement to become stuck.
- FIG. 13 is a schematic view showing the rotation state of the second connecting body 200 in the joint limiting mechanism of the present application.
- the second connecting body 200 when the second connecting body 200 is rotated counterclockwise about the shaft 310, the second connecting body 200
- the upper sliding surface 211 slides along the first edge 101 of the first connecting body 100, and the contact mode is line contact, the sliding is smooth and smooth, and the joint is flexibly moved;
- the first limiting device is disposed on both sides of the sliding surface 211 220 and the second limiting device 230.
- the first limiting device 220 and the second limiting device 230 are both contact type limit switches, and the second connecting body 200 rotates counterclockwise to the second extreme position.
- the first limiting device 220 is in contact with the first connecting body 100, thereby cutting off the control circuit, so that the second connecting body 200 stops rotating in the counterclockwise direction, preventing the rotation angle thereof from being excessive with respect to the first connecting body 100 or The first connecting body 100 collides.
- the second limiting device 230 is separated from the second edge 102 and the third edge 103 of the first connecting member 100, and does not function as a limit.
- FIG. 14 is a schematic view showing the interference state of the joint limiting mechanism of the present application.
- the sliding surface 211 on the second connecting body 200 has a direction.
- the third edge 103 on the first connecting body 100 has a tendency to slide, but since the sliding surface 211 abuts against the second edge 102 and is in planar contact with each other, the second edge 102 forms physical interference with the sliding surface, thereby forming a The limit on the angular movement of the joint.
- the second connecting body 200 is provided with a first limiting device 220 and a second limiting device 230, which can prevent the second connecting body 200 from rotating excessively with respect to the first connecting body 100 to cause collision between the two. Or wear.
- the second limiting device 230 is in contact with the third edge 103, so that the control circuit is disconnected, and the second connecting body 200 stops rotating toward the third edge 103 to prevent it from connecting with the first connection.
- the bodies 100 are squeezed against each other due to interference, causing sticking.
- the first limiting device 220 is separated from the first edge 101 on the first connecting member 100 and does not function as a limit.
- the application also provides a knee joint rehabilitation robot control method.
- the knee joint rehabilitation robot control method comprises the following steps: the pressure sensor detects the pressure on the sole of the foot, the angle sensor detects the angle between the thigh shell and the calf shell; transmits the detected pressure signal and the angle signal to the controller; the controller receives The pressure signal and the angle signal determine the current motion state of the knee joint; the controller controls the flow regulating device to adjust the flow of the liquid passing through the first through hole according to the current motion state of the knee joint to control the damping force between the hydraulic rod and the hydraulic cylinder .
- the knee joint rehabilitation robot control method provided by the present application controls the opening of the first through hole 311 by the flow regulating device, and controls the flow velocity of the first through hole 311, so that the swinging state of the knee joint rehabilitation robot can be freely oscillated close to the free state, which is greatly
- the time for knee rehabilitation training is shortened, the efficiency is improved, and the recovery effect is better.
- the current state of motion of the knee joint includes the support period and the swing period, and the support period includes the pre-support period and the support period. Since the pressure sensor is installed at the heel of the foot rest and the forefoot, the controller will receive the pressure signal feedback from the pressure sensor at different positions in the different motion states of the knee joint, and the angle sensor will also feed back to the controller differently. The angle changes the signal so that the controller accurately determines the motion state of the knee joint.
- the controller receives the pressure signal sent by the pressure sensor located at the heel, and does not receive the pressure signal sent by the pressure sensor on the forefoot until the pressure sensor of the forefoot begins to have a pressure signal to the controller, and the angle The sensor detects that the angle between the thigh shell and the calf shell gradually increases until the knee joint is at an angle ⁇ 2 when it is in a straight state.
- the knee joint angle gradually becomes larger to ⁇ 2
- the length of the hydraulic rod 3 extending out of the hydraulic cylinder 4 is increased, and the flow regulating device adjusts the flow rate of the liquid passing through the first through hole to decrease until the first through hole is closed to make the liquid Unable to flow, due to the incompressibility of the liquid, the hydraulic rod can be gradually provided with a larger supporting force for the supporting leg, and the inner compression spring 39 fitted on the hydraulic rod is compressed to provide resistance for the knee joint to open.
- the controller receives the pressure signal sent by the pressure sensor at the forefoot, does not receive the pressure signal sent by the pressure sensor located at the heel, and the angle sensor detects the angle between the thigh shell and the calf shell from The angle ⁇ 2 gradually decreases.
- the knee joint angle is gradually reduced, the hydraulic rod 3 is gradually contracted into the hydraulic cylinder 4, the flow regulating device adjusts the opening of the first through hole, adjusts the flow of the liquid through the first through hole, the inner spring 43 and the outer spring 37 is compressed to provide resistance for the knee to bend gradually.
- the controller does not receive the pressure signal sent by the pressure sensor of the forefoot and the heel, and the angle sensor detects that the angle between the thigh shell and the calf shell first decreases to a minimum angle ⁇ 1, after which the thigh housing The angle between the shell and the calf shell is increased to achieve the extension of the calf. That is, at the beginning of the swing, the knee joint angle is gradually reduced to ⁇ 1, and then the knee joint angle is gradually increased as the calf is extended.
- the knee joint angle is reduced, the hydraulic rod 3 continues to contract to the inside of the hydraulic cylinder 4, the flow regulating device adjusts the flow rate of the liquid passing through the first through hole, and the inner spring 43 and the outer spring 37 are compressed.
- the knee is gradually bent to provide resistance.
- the flow regulating device adjusts the flow of the liquid passing through the first through hole, the inner compression spring 39 is compressed to provide resistance for the knee joint to open, and the hydraulic rod provides resistance for the swinging calf.
- the knee joint is in the middle of the support.
- the flow regulating device includes a second blocking piece and a driving mechanism.
- the second blocking piece is provided with a second through hole communicating with the first through hole, and the driving mechanism drives the second blocking piece to rotate to control the first pass. Whether the hole communicates with the second through hole and controls the degree of coincidence of the first through hole and the second through hole, thereby adjusting the flow rate of the liquid passing through the first through hole.
- the knee joint receives the positive driving force at the beginning of the swinging phase, and then receives the resistance, and is subjected to the resistance during the straightening process. Since the driving force comes from the free bending of the knee joint when the thigh is swung, Corresponding resistance needs to be provided in this process, and the resistance can be achieved by the inner spring 43, the outer spring 37 and the inner compression spring 39, respectively.
- the walking process is divided into a swing phase and a support phase.
- a large supporting force needs to be provided at this time.
- the first through hole 311 and the second block on the first blocking piece 31 on the hydraulic rod 3 need to be adjusted.
- the second through holes 321 in the sheet 32 are not overlapped, so that the liquid cannot flow, and a large supporting force can be provided due to the incompressibility of the liquid.
- the hydraulic rod 3 When the phase is oscillated, the hydraulic rod 3 is first subjected to pressure so that it moves into the hydraulic cylinder 4. At this time, the first through hole 311 on the first flap 31 can be adjusted by the driving motor 33 driving the second flap 32 to rotate. The degree of coincidence with the second through hole 321 on the second flap 32 can further adjust the speed at which the liquid enters the first cavity 45 from the second cavity 46, thereby damping. After the leg swings to the maximum position, the front swing is required. At this time, the leg is freely swung to the straight state by the inertia action, and the second through piece 32 is still rotated by the drive motor 33, so that the first through hole 311 and the second pass can be adjusted. The degree of coincidence between the holes 321 can control the speed of the flow rate, thereby controlling the frequency of the corresponding gait.
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- Rehabilitation Tools (AREA)
Abstract
一种膝关节康复机器人，包括大腿壳体（1）、小腿壳体（2）、液压杆（3）、液压缸（4）、设置于液压缸（4）内部的自由活塞（42）以及内弹簧（43），液压缸（4）的端部设有缸端盖（41），液压杆（3）的端部固定设有第一挡片（31），液压杆（3）上套装有内压缩弹簧（39），第一挡片（31）与缸端盖（41）之间构成用于容纳液体的第一腔体（45），第一挡片（31）与自由活塞（42）之间构成用于容纳液体的第二腔体（46），第一挡片（31）上设有至少一个第一通孔（311），液压杆（3）上设有流量调节装置。该膝关节康复机器人能根据不同的行走状态，控制不同的阻尼力。还提供了该膝关节康复机器人的控制方法。
Description
本申请属于康复医疗器械技术领域，更具体地说，是涉及一种膝关节康复机器人及其控制方法。
现有的膝关节康复训练器均是简单的通过大腿支架和小腿支架将训练器固定在大腿及小腿上，并且通过在大腿支架与小腿支架之间设置弹簧或液压缸提供一定的阻尼力，但是在使用过程中由于阻尼力无法控制，膝关节在伸直过程中不能提供足够的阻力，存在膝关节在康复训练时产生机械损伤的风险，造成康复训练效果差的问题。
发明概述
本申请的目的在于提供一种膝关节康复机器人，旨在解决现有技术中的康复膝关节康复训练器在使用过程中阻尼力无法控制，膝关节在在伸直过程中不能提供足够的阻力，存在膝关节在康复训练时产生机械损伤的风险，造成康复训练效果差的问题。
问题的解决方案
为解决上述技术问题，本申请提供一种膝关节康复机器人，还提供了一种膝关节康复机器人的控制方法。
膝关节康复机器人，包括用于固定在大腿上的大腿壳体、与大腿壳体铰接且用于固定在小腿上的小腿壳体、铰接设置在大腿壳体上的液压杆、滑动套装在液压杆的外侧且与小腿壳体铰接的液压缸、设置液压缸内部的自由活塞、分别与自由活塞和液压缸的底部抵接的内弹簧，液压缸的端部设有与液压杆滑动连接的缸端盖，液压杆位于液压缸内的端部固定设有与液压缸的内壁滑动配合的第一挡片，液压杆上套装有内压缩弹簧，内压缩弹簧的一端顶靠在缸端盖上，内 压缩弹簧的另一端顶靠在第一挡片上，第一挡片与缸端盖之间构成用于容纳液体的第一腔体，第一挡片与自由活塞之间构成用于容纳液体的第二腔体，第一挡片上设有至少一个用于连通第一腔体和第二腔体的第一通孔，液压杆上设有用于控制第一通孔是否开闭和流经第一通孔液体的流量的流量调节装置。
膝关节康复机器人控制方法，包括：压力传感器检测脚底所受压力，角度传感器检测大腿壳体与小腿壳体之间的角度；将检测到的压力信号及角度信号传送至控制器；控制器接收压力信号及角度信号，并判断膝关节当前的运动状态；控制器根据膝关节当前的运动状态控制流量调节装置调节第一通孔通过的液体流量，以控制液压杆与液压缸之间的阻尼力。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
发明的有益效果
对附图的简要说明
图1为本申请实施例提供的膝关节康复机器人的结构示意图；
图2为本申请实施例所采用的液压杆和液压缸的装配剖视图；
图3为本申请实施例所采用的第二挡片的仰视结构示意图；
图4为本申请实施例所采用的第二挡片的俯视结构示意图；
图5为本申请实施例所采用的第一挡片的俯视结构示意图；
图6为本申请实施例所采用的弹性板的结构示意图；
图7为本申请关节限位机构一个实施例的结构示意图；
图8为图7所示实施例的主视图；
图9为图8中的A-A剖视图；
图10为本申请关节限位机构中第二连接体一个实施例的结构示意图；
图11为本申请关节限位机构中第一连接体一个实施例的结构示意图；
图12为本申请关节限位机构第二连接体位于第一极限位置的示意图；
图13为本申请关节限位机构第二连接体转动状态的示意图；
图14为本申请关节限位机构产生干涉状态的示意图；
图15为膝关节摆动期驱动力曲线图。
发明实施例
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
请一并参阅图1至图5，现对本申请提供的膝关节康复机器人进行说明。膝关节康复机器人，包括用于固定在大腿上的大腿壳体1、与大腿壳体1铰接且用于固定在小腿上的小腿壳体2、铰接设置在大腿壳体1上的液压杆3、滑动套装在液压杆3的外侧且与小腿壳体2铰接的液压缸4、设置于液压缸4内部的自由活塞42以及内弹簧43，内弹簧43的两端分别与自由活塞42和液压缸4的底部抵接，液压缸4的端部设有与液压杆3滑动连接的缸端盖41，液压杆3位于液压缸4内的端部设有与液压缸4的内壁滑动配合的第一挡片31，液压杆3上套装有内压缩弹簧39，内压缩弹簧39的一端顶靠在缸端盖41上，内压缩弹簧39的另一端顶靠在第一挡片31上，第一挡片31与缸端盖41之间构成用于容纳液体的第一腔体45，第一挡片31与自由活塞42之间构成用于容纳液体的第二腔体46，第一挡片31上设有至少一个用于连通第一腔体45和第二腔体46的第一通孔311，液压杆3上设有用于控制第一通孔311是否开闭和流经第一通孔311液体的流量的流量调节装置。
在液压杆3伸出液压缸4的长度增大时，大腿壳体1与小腿壳体2之间的夹角增大，即膝关节的角度增大，膝关节张开，此时，第一腔体45内的液体逐渐进入第二腔体46，内压缩弹簧39被压缩以为膝关节角度增大提供阻力。在液压杆3收缩进液压缸4内时，大腿壳体1与小腿壳体2之间的夹角减小，即膝关节弯曲，此时，第二腔体46内的液体逐渐进入第一腔体45，内压缩弹簧39被释放，内弹簧43被压缩以为膝关节弯曲提供阻力。
该膝关节康复机器人，通过大腿壳体1固定在大腿上，小腿壳体2固定在小腿上，大腿壳体1与小腿壳体2铰接并通过液压杆3及液压缸4连接，能够提供膝关节康复训练用的阻尼力，通过在液压杆3上的第一挡片31上设置用于连通第一腔体45和第二腔体46的第一通孔311，通过流量调节装置控制第一通孔311的开闭及 液体在第一腔体45与第二腔体46之间交换时流经第一通孔311的液体流量从而可以控制液压杆3与液压缸4之间的阻尼力，根据不同的行走状态，控制不同的阻尼力，同时，通过在液压杆3上套装内压缩弹簧39，在液压缸4内设置内弹簧43，以在膝关节张开或弯曲的过程中提供缓冲阻力，进而更准确的控制步态的频率，大大缩短了膝关节康复训练的时间，提高了效率，恢复效果更好。
请参阅图1至图5，流量调节装置包括第二挡片32及驱动机构，第二挡片32与第一挡片31转动连接，第二挡片32上开设有用于与第一通孔311连通的第二通孔321，驱动机构设置在液压杆3上，且能够驱动第二挡片32转动并控制第一通孔311和第二通孔321是否连通以及控制第一通孔311和第二通孔321的重合度。通过在第二挡片32上开设第二通孔321，驱动机构能够调整第一通孔和第二通孔321的重合度，改变第二腔体46的液体进入到第一腔体45中的速度，进而改变阻尼力。位于第一腔体45和第二腔体46中的液体为液压油。可选地，第一通孔311的数量为八个，第二通孔321的数量为八个，且分别在第一挡片31和第二挡片32上均匀布置，并且第一通孔311与第二通孔321的直径大小相等。
请参阅图1至图4，驱动机构包括驱动电机33及驱动轴35，驱动电机33设置在液压杆3外露于液压缸4的端部，驱动电机33具有电机轴，驱动轴35一端与电机轴连接，另一端与第二挡片32连接。第二档片32位于第一档片31和自由活塞42之间，驱动轴35贯穿液压杆3，驱动轴35与第二挡片32插接固定，第二挡片32上设有用于固定驱动轴35的安装孔322，便于安装，方便使用，而且采用驱动电机33驱动，便于实现自动化控制。
请参阅图2，液压杆3的端部设有用于容纳驱动电机33的容纳槽，驱动电机33的端部设有用于封盖容纳槽的杆端盖34，便于对驱动电机33进行安装，而且便于使用杆端盖34对驱动电机33进行定位，便于维护以及加工制作。
请参阅图1及图2，杆端盖34的外端与大腿壳体1铰接，便于安装和拆卸，而且方便分体加工制作。第一挡片31与液压杆3一体成型，便于制作，提高了制作效率，保证了连接强度。第二挡片32与液压杆3的内壁之间设有滑动轴承38，减小了摩擦力，便于调节第二挡片32的位置。请参阅图1及图2，作为本申请提供的膝关节康复机器人的一种具体实施方式，液压杆3上螺纹连接有调节螺母36，液 压杆3的外周套装有外弹簧37，外弹簧37的一端与调节螺母36抵接，外弹簧37的另一端与缸端盖41抵接。在膝关节弯曲时，外弹簧37被压缩以为膝关节弯曲提供阻力，而在膝关节张开时，外弹簧37被释放。
请参阅图1，液压缸4的底部的外侧面上设有与小腿壳体2铰接的铰接部44。具体地，小腿壳体2上固设有安装块7，安装块7用于和铰接部44铰接。请参阅图1，作为本申请提供的膝关节康复机器人的一种具体实施方式，膝关节康复机器人还包括控制器及脚托6，脚托6与小腿壳体2连接，用于放置脚掌，便于对膝关节康复机器人进行穿戴，而且具有支撑效果。脚托6上设有多个压力传感器，脚托6上的前脚掌及脚跟处均设有压力传感器，例如图1中所示前脚掌压力传感器91及脚跟压力传感器92。压力传感器与控制器连接，以能够将检测到的压力信号发送至控制器。
另外，控制器安装于安装块7上，控制器与流量调节装置电连接，以对流量调节装置进行控制。具体地，控制器与驱动电机33电连接，通过控制流经驱动电机33的电流大小及控制驱动电机33的正反转，来实现驱动电机33对第一通孔311是否开闭及流经第一通孔311液体的流速进行控制。安装块7上还设有与驱动电机33电连接的控制开关8，通过按压控制开关8可控制驱动电机33的通电或断电。
参阅图1与图6，脚托6与小腿壳体2之间通过弹性板5实现连接。弹性板5包括与小腿壳体2固定连接的第一连接板51、与脚托6固定连接且与第一连接板51活动插接的第二连接板52、能够将第一连接板51和第二连接板52锁定的顶丝53。通过使第一连接板51和第二连接板52活动插接，便于调节脚托6与小腿壳体2之间的具体，以适应不同的患者的小腿长度，保证了膝关节康复机器人能够准确的穿戴定位，利于提高康复效果。
请参阅图1及图7，大腿壳体1和小腿壳体2之间通过关节限位机构实现连接，以对大腿壳体1与小腿壳体2之间的相对旋转角度进行限制，防止关节转动角度过大，实现了限位功能，以有利于受损关节的恢复。关节限位机构上安装有角度传感器，角度传感器与控制器连接，角度传感器能够对大腿壳体1与小腿壳体2之间的角度进行检测，并将检测到的角度信息发送至控制器，使控制器判断人 体的运动姿态。控制器根据压力传感器反馈的足底压力信息及角度传感器反馈的大腿壳体与小腿壳体之间的夹角信息，可以准确的判断人体腿部的运动姿态，根据不同的运动姿态对驱动电机33进行控制。
本实施例一种关节限位机构包括第一连接体100、第二连接体200和轴体300，该第一连接体100和第二连接体200相互铰接并形成一个铰接点，角度传感器可安装于铰接点处。具体地，第二连接体200上设置有铰接部，该铰接部包括一对铰接座212，第一连接体100设置在两个铰接座212之间并通过轴体300进行铰接。第一连接体100和第二连接体200上分别设置有用于与外部结构进行连接的第一连接结构130和第二连接结构240，该第一连接结构130为设置在第一连接体100上的四个通孔，可通过使用紧固件穿设从而与大腿壳体1进行紧固连接，该第二连接结构240为设置在第二连接体200上的斜面250上的四个沉头孔，可通过使用紧固件穿设从而与小腿壳体2进行紧固连接。
图8为图7所示实施例的主视图，图9为图8中的A-A剖视图，同时参考图8和图9，轴体300包括轴杆310和固定端320，第一连接体100和第二连接体200绕该轴杆310转动，轴杆310的一端设置有固定端320，其对轴杆310沿其轴线方向进行单边限位，轴杆310的另一端设置有安装结构，该安装结构具体为螺纹孔311，轴杆310设置有螺纹孔的一端配合安装有固定盘330，固定盘330上设置有用于与轴杆310相连接的第一盘孔331和四个用于与铰接座212固定连接的第二盘孔332，该固定盘330通过紧固件与轴杆310固定安装，例如利用螺钉旋入轴杆310上的螺纹孔311实现紧固安装，并利用螺钉旋入铰接座212上相应的螺纹孔213实现周向紧固限位，使得轴杆310沿其轴线方向的另一边也被限位，从而使得第一连接体100和第二连接体200铰接可靠，防止二者相互脱离。第一连接体100和第二连接体200上分别设置有用于与外部结构进行连接的第一连接结构130和第二连接结构240，使用紧固件通过第一连接结构130和第二连接结构240，分别将第一连接体100和第二连接体200分别与大腿壳体1和小腿壳体2进行紧固连接。
参考图10，本实施例中，第一连接体100呈具有一定厚度的板状，且具有两个相互平行的板面110，第一连接体100上开设有第一铰接孔120。第一连接体100上在两个板面110之间设置有第一边沿101、第二边沿102和第三边沿103，三者 依次相连。第二连接体200可沿第一边沿101运动，并在第一边沿101的两端具有第一极限位置及第二极限位置，其中，图12中所示的即为第二连接体200与第二边沿102相抵持的第一极限位置。若第二连接体200反向沿第一边沿101运动，必然存在第二连接体200沿第一边沿101运动的终止处，即第二连接体200必然在第一边沿101上远离第二边沿102的一端具有第二极限位置。
在一些实施例中，第一边沿101为一个圆弧面，其与铰接孔120同心，第二边沿102为一平面，第三边沿103为一个圆弧面，第二边沿102与第一边沿101和第三边沿相切103。第二边沿102与第一边沿101相切的交线在板面110上投影为一点B，铰接孔120的轴线在板面上投影为一点C，第二边沿102在板面110上的投影为一直线d，该两个投影点的连线BC垂直于第二边沿102在板面110上的投影线d，并且垂足为B点，第一边沿101圆弧面的跨越角度为90°，第三边沿103的半径小于第一边沿101的半径。在第一极限位置时，第二连接体200与第一边沿之间为线接触，并与第二边沿102之间为面接触，而在第二极限位置时，第二连接体与第一边沿101上远离第二边沿102的末端之间为线接触。
另外，第一连接体100设置有用于与外部结构进行连接的第一连接结构130，该第一连接结构130为贯穿第一连接体100的两个板面110的四个通孔，可通过使用紧固件与外部结构进行紧固连接。具体地，外部结构为大腿壳体1及小腿壳体2中的任意一个。同时参考图10和图11，图10为本申请关节限位机构中第一连接体100一个实施例的结构示意图，图11为本申请关节限位机构中第二连接体200一个实施例的结构示意图，其中，第二连接体200上设置有铰接部，该铰接部包括一对铰接座212，两个铰接座212之间形成有滑动面211，第一连接体100位于该对铰接座212之间，并通过一轴体300进行铰接，铰接安装后，滑动面211与第一连接体100的第二边沿102相接触，滑动面211沿第一边沿101转动，第二边沿102用于对第二连接体200相对第一连接体100的转动进行限位。
为了防止结构产生较大阻力，第二连接体200上还固定设置了两个限位装置对第二连接体200进行二次限位，分别为第一限位装置220和第二限位装置230。第一限位装置220用于限制第二连接体200沿第一边沿101转动的极限位置，第二限位装置230用于防止第二连接体200沿第二边沿102运动。第一限位装置220和第 二限位装置230为接触式限位开关，结合第一连接体100的结构设计，对第二连接体进行机械和电子双重限位。本实施例中，第一限位装置220在第二连接体到达第二极限位置时与第一连接体100的第一边沿101接触，即，第一限位装置220与第一连接体100的第一边沿101接触时，第二连接体200位于第二极限位置，在第二极限位置时，控制电路切断，使得第二连接体200停止运动，达到限位作用；第二限位装置230在第二连接体200到达第一极限位置时与第一连接体100的第三边沿103相接触，从而切断控制电路，使得第二连接体200停止转动，避免第二连接体200与第一连接体100之间产生碰撞或挤压等异常接触而造成卡滞。第二限位装置230与上述第一连接体100上的第三边沿103相接触，第三边沿103设置为圆弧面，在本方案的其他实施例中，第三边沿103还可设置为其他结构，例如倒角平面等。在一个实施例中，第一限位装置和第二限位装置还可以为限位挡块，当第二连接体运动到第一极限位置时，第二限位装置与第三边沿相抵持，从而对第二连接体进行限位；当第二连接体运动到第二极限位置时，第一限位装置与第一连接体的第一边沿相抵持，从而对第二连接体进行限位。
在一个实施例中，第一限位装置和第二限位装置还可以是非接触式限位开关，当第二连接体到达旋转临界时通过限位开关信号使得旋转停止，结合第一连接体的结构设计，对第二连接体进行机械和电子双重限位。当第二连接体运动到第一极限位置时，第二限位装置向第一连接体的第三边沿靠近，二者之间的距离达到一定范围时，第二限位装置将向控制单元发出信号使得第二连接体停止运动，从而对第二连接体进行限位；当第二连接体运动到第二极限位置时，第一限位装置向第一连接体的第一边沿靠近，距离达到一定范围时，第一限位装置将向控制单元发出信号使得第二连接体停止运动，对第二连接体进行限位。
结合图12及图13，第二连接体200转动，滑动面211沿第一边沿101运动并存在两个极限位置，分别为第一极限位置和第二极限位置；第二连接体200沿第一边沿101顺时针运动到达第一极限位置时，第二边沿102与第二连接体200相抵持，产生干涉，即为图12所示状态，此时，滑动体与第一边沿101线接触，并与第二边沿102面接触，若第二连接体200继续顺时针转动，则其将与第二边沿发生挤压，呈现如图14中所示的状态，故第二连接体200不能继续绕铰接点顺时针转动 ，从而实现限位作用。在第二连接体200到达该第一极限位置时，第二限位开关230与第三边沿103接触，从而将控制电路切断，使得第二连接体停止向顺时针方向转动，防止第二连接体与第二边沿发生挤压，造成运动卡滞。
图13为本申请关节限位机构中第二连接体200转动状态的示意图，参考图13并参照图中的方位，当第二连接体200绕轴杆310逆时针转动时，第二连接体200上的滑动面211沿第一连接体100上的第一边沿101滑动，其接触方式为线接触，滑动平稳、顺畅，有助于关节灵活活动；滑动面211两侧设置有第一限位装置220和第二限位装置230，本实施例中，该第一限位装置220和第二限位装置230均为接触式限位开关，第二连接体200逆时针转动到第二极限位置时，第一限位装置220与第一连接体100相接触，从而将控制电路切断，使得第二连接体200停止向逆时针方向转动，防止其相对第一连接体100的转动角度过大或与第一连接体100发生碰撞。此时，第二限位装置230与第一连接件100上的第二边沿102和第三边沿103相离，不起限位作用。
图14为本申请关节限位机构产生干涉状态的示意图，参考图14，当第二连接体200绕轴杆310有继续顺时针转动的趋势时，第二连接体200上的滑动面211有向第一连接体100上的第三边沿103滑动的趋势，但由于滑动面211与第二边沿102相抵持，二者平面接触，所以该第二边沿102对滑动面形成了物理干涉，从而形成了对关节该角度运动的限位。若第二连接体200强行绕轴杆310继续顺时针转动，则会造成卡死或磨损，严重时，将使得第一连接体100和第二连接体200之间产生挤压变形400。本实施例的一个实施方案中，第二连接体200上设置有第一限位装置220和第二限位装置230，可防止第二连接体200相对第一连接体100转动过量造成二者碰撞或磨损。在第二连接体200处于极限位置时，第二限位装置230与第三边沿103相接触，使得控制电路断开，第二连接体200停止向第三边沿103转动，防止其与第一连接体100因发生干涉而相互挤压，造成卡滞。第一限位装置220与第一连接件100上的第一边沿101相离，不起限位作用。
本申请还提供一种膝关节康复机器人控制方法。膝关节康复机器人控制方法包括如下步骤：压力传感器检测脚底所受压力，角度传感器检测大腿壳体与小腿壳体之间的角度；将检测到的压力信号及角度信号传送至控制器；控制器接收 压力信号及角度信号，并判断膝关节当前的运动状态；控制器根据膝关节当前的运动状态控制流量调节装置调节第一通孔通过的液体流量，以控制液压杆与液压缸之间的阻尼力。
本申请提供的膝关节康复机器人控制方法，通过流量调节装置控制第一通孔311打开，并控制第一通孔311的流速，能够实现膝关节康复机器人的摆动情况贴近自由状态下自由摆动，大大缩短了膝关节康复训练的时间，提高了效率，恢复效果更好。
膝关节当前的运动状态包括支撑期和摆动期，支撑期又包括支撑前中期和支撑后期。由于在脚托的脚跟处及前脚掌处均安装有压力传感器，在膝关节不同的运动状态，控制器会接受到不同位置处压力传感器反馈的压力信号，角度传感器也会反馈给控制器不同的角度变化信号，以使控制器对膝关节的运动状态进行准确判断。
在支撑前中期，控制器接收到位于脚跟的压力传感器发送的压力信号，未接收到位于前脚掌的压力传感器发送的压力信号，直至前脚掌的压力传感器开始有压力信号反馈至控制器，且角度传感器检测到大腿壳体与小腿壳体之间的夹角逐渐增大，直至膝关节处于伸直状态时的角度θ2。在这一运动时期，膝关节角度逐渐变大到θ2，液压杆3伸出液压缸4的长度增大，流量调节装置调节第一通孔通过的液体流量减少直至封闭第一通孔，使液体无法流动，由于液体的不可压缩性，可以使液压杆为支撑腿部逐步提供较大的支撑力，套装在液压杆上的内压缩弹簧39被压缩以为膝关节张开提供阻力。
在支撑后期，控制器接收到位于前脚掌的压力传感器发送的压力信号，未接收到位于脚跟的压力传感器发送的压力信号，且角度传感器检测到大腿壳体与小腿壳体之间的夹角从角度θ2逐渐减小。在这一运动时期，膝关节角度逐渐减小，液压杆3逐渐收缩至液压缸4内，流量调节装置调节第一通孔开启，调节通过第一通孔的液体流量，内弹簧43及外弹簧37被压缩以为膝关节逐渐弯曲提供阻力。
在摆动期，控制器未接收到前脚掌及脚跟的压力传感器发送的压力信号，且角度传感器检测到大腿壳体与小腿壳体之间的夹角先减小至最小角度θ1，之后大 腿壳体与小腿壳体之间的夹角再增大，实现小腿前伸。即，在摆动开始阶段，膝关节角度逐渐减小至θ1，之后在小腿前伸时，膝关节角度又逐渐增大。
在膝关节处于摆动开始阶段时，膝关节角度减小，液压杆3继续收缩至液压缸4内部，流量调节装置调节通过第一通孔的液体流量增大，内弹簧43及外弹簧37被压缩以为膝关节逐渐弯曲提供阻力。在小腿前伸阶段时，膝关节角度增大，流量调节装置调节第一通孔通过的液体流量减少，内压缩弹簧39被压缩以为膝关节张开提供阻力，液压杆为摆动的小腿提供阻力，直至脚跟与地面接触使膝关节处于支撑前中期。
在一实施例中，流量调节装置包括第二挡片及驱动机构，第二挡片上开设有与第一通孔连通的第二通孔，驱动机构驱动第二挡片转动，以控制第一通孔与第二通孔是否连通以及控制第一通孔与第二通孔的重合度，以此来调节第一通孔通过的液体流量。
请参见图15为实测与无驱动膝关节摆动的对比曲线图。由图15可知，膝关节在摆动期开始阶段收到正向驱动力，之后受到阻力，在伸直过程中又受到阻力，由于整个过程中，驱动力来自大腿摆动时膝关节的自由弯曲，因此此过程中需要提供相应阻力，可以通过内弹簧43、外弹簧37和内压缩弹簧39分别来提供阻力实现。
行走过程分为摆动相和支撑相，在支撑相时，此时需要提供较大的支撑力，此时需要调节液压杆3上的第一挡片31上的第一通孔311和第二挡片32上的第二通孔321，使其不重合，则液体无法流动，由于液体的不可压缩性，可以提供较大的支撑力。
在摆动相时，液压杆3首先受到压力，使得其向液压缸4内移动，此时，通过驱动电机33带动第二挡片32转动，可以调节第一挡片31上的第一通孔311和第二挡片32上的第二通孔321的重合度，进而可以调节液体由第二腔体46进入第一腔体45的速度，起到阻尼作用。在腿摆动到最大位置后，需要前摆，此时依靠惯性作用，腿部自由摆动到伸直状态，仍旧通过驱动电机33转动第二挡片32，可以调节第一通孔311和第二通孔321之间的重合度，可控制流速快慢，进而控制相应步态的频率。
Claims (20)
- 膝关节康复机器人，其特征在于，包括用于固定在大腿上的大腿壳体、与所述大腿壳体铰接且用于固定在小腿上的小腿壳体、铰接设置在所述大腿壳体上的液压杆、滑动套装在所述液压杆的外侧且与所述小腿壳体铰接的液压缸、设置所述液压缸内部的自由活塞、分别与所述自由活塞和所述液压缸的底部抵接的内弹簧，所述液压缸的端部设有与所述液压杆滑动连接的缸端盖，所述液压杆位于所述液压缸内的端部固定设有与所述液压缸的内壁滑动配合的第一挡片，所述液压杆上套装有内压缩弹簧，所述内压缩弹簧的一端顶靠在所述缸端盖上，所述内压缩弹簧的另一端顶靠在所述第一挡片上，所述第一挡片与所述缸端盖之间构成用于容纳液体的第一腔体，所述第一挡片与所述自由活塞之间构成用于容纳液体的第二腔体，所述第一挡片上设有至少一个用于连通所述第一腔体和所述第二腔体的第一通孔，所述液压杆上设有用于控制所述第一通孔是否开闭和流经所述第一通孔液体的流量的流量调节装置。
- 如权利要求1所述的膝关节康复机器人，其特征在于，所述流量调节装置包括第二挡片及驱动机构，所述第二挡片与第一挡片转动连接，所述第二挡片上开设有用于与第一通孔连通的第二通孔，所述驱动机构设置在所述液压杆上，且能够驱动所述第二挡片转动，以控制所述第一通孔和所述第二通孔是否连通以及控制所述第一通孔和所述第二通孔的重合度。
- 如权利要求2所述的膝关节康复机器人，其特征在于，所述驱动机构包括驱动电机及驱动轴，所述驱动电机设置在所述液压杆外端部，所述驱动轴用于连接所述驱动电机的电机轴及所述第二挡片，所述第二档片位于所述第一档片和所述自由活塞之间。
- 如权利要求3所述的膝关节康复机器人，其特征在于，所述液压杆的端部设有用于容纳所述驱动电机的容纳槽，所述驱动电机的端 部设有用于封盖容纳槽的杆端盖，所述杆端盖的外端与大腿壳体铰接，所述液压缸底部的外侧面上设有与所述小腿壳体铰接的铰接部。
- 如权利要求2所述的膝关节康复机器人，其特征在于，所述第二挡片与所述液压杆的内壁之间设有滑动轴承。
- 如权利要求1所述的膝关节康复机器人，其特征在于，所述液压杆上螺纹连接有调节螺母，所述液压杆的外周套装有外弹簧，所述外弹簧的一端与所述调节螺母抵接，所述外弹簧的另一端与所述缸端盖抵接。
- 如权利要求1所述的膝关节康复机器人，其特征在于，还包括控制器及脚托，所述脚托与所述小腿壳体连接，且所述脚托上设有多个压力传感器，所述脚托上的前脚掌及脚跟处均设有所述压力传感器，所述压力传感器能够将检测到的压力信号发送至所述控制器，所述控制器与所述流量调节装置连接。
- 如权利要求7所述的膝关节康复机器人，其特征在于，所述脚托与所述小腿壳体之间通过所述弹性板连接，所述弹性板包括与所述小腿壳体固定连接的第一连接板、与所述脚托固定连接且与所述第一连接板活动插接的第二连接板、能够将所述第一连接板和所述第二连接板锁定的顶丝。
- 如权利要求7所述的膝关节康复机器人，其特征在于，还包括关节限位机构及角度传感器，所述大腿壳体和所述小腿壳体之间通过所述关节限位机构实现连接，所述关节限位机构用于限定所述大腿壳体与所述小腿壳体之间的相对旋转角度，所述角度传感器安装于所述关节限位机构上，所述角度传感器能够将测量到的所述大腿壳体与所述小腿壳体之间的角度信息发送至所述控制器。
- 如权利要求9所述的膝关节康复机器人，其特征在于，所述关节限位机构包括第一连接体及第二连接体，所述第一连接体用于和大腿壳体连接，所述第二连接体用于和所述小腿壳体连接，所述第 一连接体和所述第二连接体相互铰接并形成一个铰接点，所述第一连接体上设置有第一边沿和第二边沿，所述第二连接体可沿所述第一边沿运动，并具有位于所述第一边沿上远离所述第二边沿一端的第二极限位置，以及与所述第二边沿抵持的第一极限位置。
- 如权利要求10所述的膝关节康复机器人，其特征在于，所述第一边沿为一圆弧面，其以所述铰接点为圆心，所述第二边沿为一平面，其与所述第一边沿相切；在所述第一极限位置时，所述第二连接体与第一边沿之间为线接触，并与所述第二边沿之间为面接触，在所述第二极限位置时，所述第二连接体与第一边沿上远离所述第二边沿的末端之间为线接触。
- 如权利要求10或11所述的膝关节康复机器人，其特征在于，所述第二连接体上设置有第一限位装置，所述第一限位装置在所述第二连接体沿所述第一边沿运动至所述第二极限位置时与所述第一连接体抵持而限位。
- 如权利要求12所述的膝关节康复机器人，其特征在于，所述第二连接体上还设置有第二限位装置，所述第二限位装置在所述第二连接体运动至所述第一极限位置时与所述第一连接体抵持而限位。
- 如权利要求13所述的膝关节康复机器人，其特征在于，所述第一连接体上还设置有第三边沿，其与所述第二边沿相连，所述第二连接体在所述第一极限位置时，所述第二限位装置与所述第三边沿相接触。
- 如权利要求14所述的膝关节康复机器人，其特征在于，所述第三边沿为一圆弧面，所述第二边沿与所述第三边沿相切。
- 如权利要求10所述的膝关节康复机器人，其特征在于，所述第二连接体上设置有铰接部，所述铰接部包括一对铰接座，所述第一连接体位于两个所述铰接座之间，并通过一轴体进行铰接。
- 膝关节康复机器人控制方法，其特征在于，包括以下步骤：压力传感器检测脚底所受压力，角度传感器检测大腿壳体与小腿壳体之间的角度；将检测到的压力信号及角度信号传送至控制器；控制器接收压力信号及角度信号，并判断膝关节当前的运动状态；控制器根据膝关节当前的运动状态控制流量调节装置调节第一通孔通过的液体流量，以控制液压杆与液压缸之间的阻尼力。
- 如权利要求17所述的膝关节康复机器人控制方法，其特征在于，膝关节当前的运动状态包括支撑期和摆动期，支撑期又包括支撑前中期和支撑后期；在支撑前中期，控制器接收到位于脚跟的压力传感器发送的压力信号，未接收到位于前脚掌的压力传感器发送的压力信号，且角度传感器检测到大腿壳体与小腿壳体之间的夹角逐渐增大；在支撑后期，控制器接收到位于前脚掌的压力传感器发送的压力信号，未接收到位于脚跟的压力传感器发送的压力信号，且角度传感器检测到大腿壳体与小腿壳体之间的夹角逐渐减小；在摆动期，小腿前伸，控制器未接收到前脚掌及脚跟的压力传感器发送的压力信号，且角度传感器检测到大腿壳体与小腿壳体之间的夹角逐渐增大。
- 如权利要求18所述的膝关节康复机器人控制方法，其特征在于，当膝关节处于支撑前中期，膝关节角度逐渐变大，流量调节装置调节第一通孔通过的液体流量减少直至封闭第一通孔，液压杆为支撑腿部逐步提供支撑力，套装在液压杆上的内压缩弹簧被压缩以为膝关节张开提供阻力；当膝关节处于支撑后期，膝关节角度逐渐减小，流量调节装置调节第一通孔开启，调节通过第一通孔的液体流量，内弹簧被压缩以为膝关节逐渐弯曲提供阻力；当膝关节处于摆动期，在摆动初期，膝关节角度减小，流量调节装置调节通过第一通孔的液体流量，内弹簧被压缩以为膝关节逐渐弯曲提供阻力，之后，小腿前伸，膝关节角度增大，流量调节装置调节第一通孔通过的液体流量减少，液压杆为摆动的小腿提供阻 力，直至脚跟与地面接触使膝关节处于支撑前中期。
- 如权利要求17所述的膝关节康复机器人控制方法，其特征在于，流量调节装置包括第二挡片及驱动机构，第二挡片上开设有与第一通孔连通的第二通孔，驱动机构驱动第二挡片转动，以控制第一通孔与第二通孔是否连通以及控制第一通孔与第二通孔的重合度，以此来调节第一通孔通过的液体流量。
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| CN201710735641.5 | 2017-08-24 | ||
| CN201710737744.5A CN107669447B (zh) | 2017-08-24 | 2017-08-24 | 一种膝关节康复机器人液压系统的控制方法 |
| CN201710737744.5 | 2017-08-24 | ||
| CN201721069267.1 | 2017-08-24 | ||
| CN201710735641.5A CN108066943A (zh) | 2017-08-24 | 2017-08-24 | 膝关节助行机器人及控制方法 |
| CN201721069267.1U CN208864605U (zh) | 2017-08-24 | 2017-08-24 | 一种关节限位机构及关节护具 |
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