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CN-122005269-A - Rope-driven lower limb rehabilitation robot with knee joint wearing mechanism

CN122005269ACN 122005269 ACN122005269 ACN 122005269ACN-122005269-A

Abstract

The invention discloses a rope-driven lower limb rehabilitation robot with a knee joint wearing mechanism, and relates to the field of rehabilitation medical appliances. The robot comprises a driving module, a rope transmission module, a knee joint wearing mechanism and a control module, wherein the knee joint wearing mechanism adopts a multi-link hinge mechanism for connecting thighs and shank brackets, and the mechanical rotation center dynamically simulates the change of the instantaneous rotation center of the knee joint of a human body through precise kinematic design, so that the stability of a rigid structure is maintained, and meanwhile, the extremely high motion imitation is realized. The system can provide high-efficiency, natural and safe lower limb rehabilitation training by combining light and flexible rope drive and high-precision force control.

Inventors

  • WANG ZHIJUN
  • XU YANGHUAN
  • CHEN GUOQIANG
  • XU CHAOYANG

Assignees

  • 华北理工大学

Dates

Publication Date
20260512
Application Date
20260408

Claims (10)

  1. 1. A rope driven lower limb rehabilitation robot having a knee joint wearing mechanism, comprising: a drive module (1) comprising six independent drive units (11); The rope transmission module (2) comprises six flexible ropes (21), wherein each flexible rope (21) is independently controlled by one driving unit (11), one end of each flexible rope (21) is connected with the driving unit (11), and the other end of each flexible rope is connected with a connecting point on a thigh support (31) or a shank support (32) of the knee joint wearing mechanism (3); The knee joint wearing mechanism (3) comprises a thigh support (31), a shank support (32) and two groups of multi-link hinge mechanisms (33), wherein the multi-link hinge mechanisms (33) are designed to enable the instantaneous relative rotation center between the thigh support (31) and the shank support (32) connected with the multi-link hinge mechanisms to change along with the bending and stretching angle, and six connection points for guiding and connecting a flexible rope (21) are arranged on the thigh support (31) and the shank support (32); and the control module (4) is used for controlling the driving module (1).
  2. 2. The rope-driven lower limb rehabilitation robot according to claim 1, wherein the multi-link hinge mechanism (33) is a hinge six-bar mechanism, the hinge six-bar mechanism comprises a first link (331), a second link (332), a third link (333), a fourth link (334), a fifth link (335) and a sixth link (336) which are sequentially connected through a revolute pair, wherein the second link (332) and the fourth link (334) are triangle-shaped link assemblies, a first end of the first link (331) is connected with two fixed points on a thigh support (31), a first end of the sixth link (336) is connected with two fixed points on a shank support (32) through a hinge shaft, a first end of the second link (332) is hinged with a second end of the first link (331), a first end of the fourth link (334) is hinged with a third end of the third link (331), a second end of the second link (332) is hinged with a first end of the third link (333), and a third end of the third link (334) is hinged with a third end of the third link (335), and a third end of the third link (335) is hinged with a third end of the third link (335).
  3. 3. The rope-driven lower limb rehabilitation robot according to claim 2, wherein the length and the hinge point position of each connecting rod of the hinge six-rod mechanism are configured such that the relative rotation center track between the thigh support (31) and the shank support (32) coincides with the instantaneous rotation center average track when the knee joint of the human body naturally bends and stretches within a preset angle range.
  4. 4. Rope-driven lower limb rehabilitation robot according to claim 1, characterized in that four connection points are provided on the thigh support (31), a first connection point (311 a) at the proximal front side, a second connection point (311 b) at the proximal rear side, a third connection point (311 c) at the distal front side and a fourth connection point (311 d) at the distal rear side, respectively, at least four of the flexible ropes (21) acting independently on the first to fourth connection points (311 a, 311b, 311c, 311 d), respectively, to provide multidirectional suspension and control of the thigh; The shank bracket (32) is provided with two connecting points, namely a fifth connecting point (311 a) at the front side of the proximal end and a sixth connecting point (311 b) at the rear side of the proximal end, and at least two flexible ropes (21) act on the fifth connecting point (321 a) and the sixth connecting point (321 b) respectively so as to cooperatively generate knee bending moment or knee stretching moment.
  5. 5. The rope-driven lower limb rehabilitation robot according to claim 1, wherein each driving unit (11) comprises a servo motor (111), a ball screw mechanism (112) driven by the servo motor (111), a moving table (113) connected to the ball screw mechanism (112), a linear guide (114) guiding the moving table (113), and a tension sensor (115) provided on the moving table (113), and one end of the flexible rope (21) is fixed to the tension sensor (115).
  6. 6. Rope-driven lower limb rehabilitation robot according to claim 1, characterized in that the control module (4) is configured to receive IMU sensor signals from the knee joint wearing mechanism (3) and tension signals from the tension sensor (115) of the drive module (1) by a PLC (41) and motor servo (42) and to perform closed loop control of the drive module (1) based on the motion sensor signals and the tension signals.
  7. 7. Rope-driven lower limb rehabilitation robot according to claim 1, characterized in that the rope transmission module (2) further comprises a bowden cable sleeve (22), the flexible rope (21) being threaded into the bowden cable sleeve (22).
  8. 8. The rope-driven lower limb rehabilitation robot according to claim 1, further comprising an outer frame (5) comprising a bottom support frame, side uprights and a top cross beam, wherein the members are rigidly connected to the fasteners by corner pieces to form a stable cuboid cage.
  9. 9. The rope-driven lower limb rehabilitation robot according to claim 8, wherein the driving and control boxes are respectively arranged on two sides of the bottom of the outer frame (5) and used for accommodating the driving module (1) and the control module (4), and mounting positions are reserved on the side upright posts and the cross beams and used for fixing the guide parts of the rope transmission module (2) and the mounting seats of the weight reducing device (6) so as to provide mechanical support and mounting references for the whole machine.
  10. 10. The rope-driven lower limb rehabilitation robot according to claim 7, further comprising a weight-reducing device (6) mounted on the outer frame (5), the weight-reducing device (6) comprising a sling (61), the sling (61) being adapted to be worn at the torso of a patient.

Description

Rope-driven lower limb rehabilitation robot with knee joint wearing mechanism Technical Field The invention relates to the technical field of rehabilitation medical equipment, in particular to a wearable rehabilitation robot for assisting or training a patient with lower limb dyskinesia, and particularly relates to a lower limb rehabilitation robot system driven by ropes and provided with a knee joint wearing mechanism. Background The lower limb rehabilitation robot is an important tool for helping patients with stroke, spinal cord injury and the like to recover walking functions. The lower limb rehabilitation robots in the prior art are mainly divided into two types, namely a large floor type exoskeleton robot which is usually driven by a rigid connecting rod structure and a rotary joint, has the problems of heavy weight, high cost, difficult precise alignment of a motion axis with a physiological axis of a human body and the like, and is not suitable for daily rehabilitation training or family scenes. The other type is a local joint auxiliary device, but the driving mode of the local joint auxiliary device often directly acts on the side of the limb, so that unnecessary lateral force can be generated, and the training naturalness and comfort level are affected. In order to pursue light weight and higher man-machine compatibility, rope-driven rehabilitation robots have been developed. The technology places heavy components such as a driving motor and the like on a fixed platform far away from the limb, and transmits the tensile force to the limb only through a light flexible rope. This significantly reduces the inertia of moving parts, improving system compliance and safety. However, the use of rope driven technology for landing presents a core challenge in designing an end effector, i.e., a wearable mechanism, to address the force transfer problem between the rope and the human joint. The existing scheme mainly adopts simple binding bands or simple hinges combined with rigid connecting rods, and the problems that the force transmission efficiency is low, namely, the direction of rope tension is fixed and cannot be dynamically adjusted along with knee joint flexion and extension, so that effective auxiliary component force is small, unnecessary skin shearing force is generated, the wearing stability is poor, namely, the binding bands are easy to slip in motion, the force arm is changed, the control precision is affected, the comfort is insufficient, namely, soft tissues and nerve vessels are easy to be pressed by rigid parts or concentrated stress points, and physiological motion cannot be adapted, namely, when the knee joint of a human body is bent and extended in the sagittal plane, the decoupling of the multi-degree-of-freedom motion cannot be realized by the simple single-shaft hinge or the pure soft binding bands, and natural motion is limited or motion interference is introduced. Therefore, although rope driving has advantages in principle, the special wearing mechanism for knee joints, which can simultaneously meet the requirements of high-efficiency transmission, dynamic motion adaptation and stable and comfortable wearing, is lacking, and the popularization and the application of the technology in clinical and household scenes are severely restricted. Disclosure of Invention In view of the above, the invention provides a rope-driven lower limb rehabilitation robot with a knee joint wearing mechanism, which has simple structure, comfortable wearing and flexible driving, and can more naturally assist the lower limb of a patient to perform flexion and extension rehabilitation training. For this purpose, the invention provides the following technical scheme: the invention provides a rope-driven lower limb rehabilitation robot with a knee joint wearing mechanism, which comprises the following components: The driving module comprises six independent driving units; the device comprises a knee joint wearing mechanism, a rope transmission module, a driving unit, a knee joint wearing mechanism and a control unit, wherein the rope transmission module comprises six flexible ropes, each flexible rope is independently controlled by the driving unit, one end of each flexible rope is connected with the driving unit, and the other end of each flexible rope is connected with a connecting point on a thigh support or a shank support of the knee joint wearing mechanism; the knee joint wearing mechanism comprises a thigh support, a shank support and two groups of multi-link hinge mechanisms, wherein the multi-link hinge mechanisms are designed to enable the instantaneous relative rotation center between the thigh support and the shank support which are connected with each other to change along with the bending and stretching angle; And the control module is used for controlling the driving module. The hinge six-bar mechanism comprises a first bar, a second bar, a third bar, a fourth bar, a fifth bar and a sixth bar whi