CN106166370A - Trailing type lower extremity movement rehabilitation omni-directional mobile robots - Google Patents

Abstract

The invention discloses an omnidirectional mobile robot for follow-up movement rehabilitation of lower limbs. The U-shaped mobile bottom frame is connected with the upper U-shaped protective frame through a telescopic support device, and the front end of the U-shaped frame of the omnidirectional mobile bottom U-shaped mobile bottom frame is bent. The bottom of the section is connected with an omnidirectional mobile chassis, and the rear end is connected with two universal wheel assemblies; the omnidirectional mobile chassis includes a chassis main frame and a continuous switching wheel assembly, and the chassis main frame is connected with a U-shaped frame; the continuous switching wheel assembly is three one, connected to the bottom surface of the main frame of the chassis, and distributed in a circular array triangular; the fall protection device is located below the upper U-shaped guard and is connected to the upper U-shaped guard. The user is in the middle of the U-shaped mobile chassis and the upper U-shaped protective frame, and is protected by the fall protection device. The walking intention of the user is judged by the walking intention detection device, and the robot is controlled to follow the user to move, protecting the user from accidentally falling and causing secondary accidents. Injuries, assist users in lower limb exercise rehabilitation training.

Description

Omni-directional mobile robot for follow-up lower extremity rehabilitation

technical field

The invention relates to the technical field of rehabilitation robots, in particular to an omnidirectional mobile robot for follow-up lower limb motion rehabilitation.

Background technique

In China, where the population is aging day by day, the number of elderly people with difficulty walking in the lower limbs is increasing. At the same time, the number of people with lower limb motor dysfunction caused by traffic accidents, sports sprains and other diseases is also increasing year by year. In addition to early surgical treatment and drug treatment, scientific, correct and reasonable limb rehabilitation training plays a very important role in the recovery of limb motor function. For this reason, a kind of mechanical device is needed to help patients carry out walking rehabilitation training, thereby gradually recovering the motor function of the lower limbs. Today's rehabilitation robots, such as a rehabilitation robot developed by Beijing Institute of Technology (patent application number 2009100881588), this rehabilitation robot can achieve the purpose of walking rehabilitation training, and its walking mobile unit adopts a four-wheel movement method with two active wheels and two passive wheels, each of the two active wheels is driven by a separate motor, this kind of mobile chassis cannot move in all directions, and the direction is not flexible; the rehabilitation robot uses a column that can slide up and down along the back plate to adjust the height of the robot , but the width of the balance-assisted manipulation handle is not adjustable and is only suitable for patients of a certain size; these limit the range of use of the robot. In addition, such as a rehabilitation walker robot developed by Huazhong University of Science and Technology (patent application number 2011104330357X), this rehabilitation walker robot can also achieve the purpose of walker rehabilitation training, in which three mecanum wheels are installed symmetrically in the center of the robot chassis, It is used to realize the all-round movement of the walking mechanism, but the mecanum wheel has a complicated structure and high manufacturing cost. If the continuous switching wheel is used, the effect of all-round movement can also be achieved, and the processing difficulty and cost are greatly reduced; the rehabilitation aid The control handle of the mobile robot is designed to be freely adjustable in height and pitch angle to meet the needs of users of different heights and shapes. However, the left and right width of the control handle cannot be adjusted, which will reduce the comfort of use and affect the effect of rehabilitation training.

Contents of the invention

In order to overcome the above-mentioned problems, the team of the inventors conducted further research to explore a follow-up omnidirectional mobile robot for lower limb movement rehabilitation. The present invention mainly proposes the mechanical system of the robot. The omnidirectional mobile robot for rehabilitation of the present invention can not only move It can follow the exercise rehabilitation trainers accurately, and the height and width of the robot are adjustable, which can be used by people of different sizes. By adjusting the reasonable and comfortable height and width, it will have a better rehabilitation training effect.

The specific technical solution of the present invention is: a follow-up lower limb motion rehabilitation omnidirectional mobile robot, including a U-shaped mobile chassis, an upper U-shaped protective frame, a fall protection device and a telescopic support device. The U-shaped mobile chassis includes: a U-shaped frame; an omnidirectional mobile chassis, which is connected to the bottom of the curved section of the front end of the U-shaped frame, and the omnidirectional mobile chassis includes: a chassis main frame, the The main frame of the chassis is connected with the U-shaped frame; there are three continuous switching wheel assemblies, which are connected to the bottom surface of the main frame of the chassis, and are arranged in a circular array triangular distribution, and the continuous switching wheel assemblies It includes: a fixed frame, the fixed frame is connected with the main frame of the chassis; a continuous switching wheel assembly, the continuous switching wheel assembly is installed in the middle of the fixed frame and is pivotally connected with the fixed frame; a driving part, the driving part is connected with the continuous switching wheel assembly to drive the continuous switching wheel assembly to rotate; the universal wheel assembly, the universal wheel assembly is two, and the two universal wheel assemblies are respectively It is connected with the two ends of the U-shaped frame and supports the U-shaped frame; the fall protection device is located under the upper U-shaped frame and connected with the upper U-shaped frame; the telescopic There are three supporting devices, and one end of the three telescopic supporting devices is respectively connected to the curved section at the front end of the U-shaped frame and the two ends of the U-shaped frame, and the other end of the telescopic supporting device is respectively connected to the upper The curved section at the front end of the U-shaped guard is connected to the two ends of the upper U-shaped guard.

As a preference, in the following omnidirectional mobile robot for rehabilitation of lower limbs in the technical solution of the present invention, the fixed frame includes two side plates, and axle seats are arranged on the two side plates; the continuous switching wheel assembly includes The continuous switching wheel is connected to the axle, the axle is coaxially connected with the continuous switching wheel, the axle is installed in the axle seat of the two side plates of the fixed frame, and the axle seat is connected to the axle seat Bearings are arranged between the wheel shafts; the driving member includes a fixed body and a drive shaft, the fixed body is connected with the fixed frame, the drive shaft is connected with the wheel shaft and drives the wheel shaft to rotate; the driving member adopts DC geared motor.

As a preference, in the following omnidirectional mobile robot for rehabilitation of lower limbs in the technical solution of the present invention, the omnidirectional mobile chassis further includes a connecting flange, and the omnidirectional mobile chassis is connected to the U-shaped frame through the connecting flange. The curved sections at the front end are connected.

As a preference, in the following omni-directional mobile robot for rehabilitation of lower limbs in the technical solution of the present invention, the upper U-shaped protective frame includes: a U-shaped frame, and the U-shaped frame includes two side bars; side guard bars, the There are two side guard bars, and the two side guard bars are respectively connected to the two side bars of the U-shaped frame; the reinforcing beam is arranged between the two side guard bars and It is connected with the two side guard bars; the width-adjusting guard plate assembly, the width-adjusting guard plate assembly is two and respectively arranged on the two side guard bars, and the width-adjusting guard plate assembly also includes: There are two guard plates and they are respectively connected to the two side guard bars; the width-adjusting rails are two and are respectively arranged on both sides of the guard plates; the adjusting bolts are the There are two adjusting bolts and they are arranged at the front end of the side guard bar; the locking bolts are arranged at the rear end of the side guard bar; The guard plates are connected.

As a preference, in the following omnidirectional mobile robot for rehabilitation of lower limbs in the technical solution of the present invention, the upper U-shaped protective frame further includes: three downward extension links, all of which are connected to the U The three telescopic support devices are respectively connected with the U-shaped frame through the three downwardly extending connecting rods.

As a preference, in the following omnidirectional mobile robot for rehabilitation of lower limbs in the technical solution of the present invention, the telescopic support device includes: a fixed rod, which is connected to the U-shaped frame; a telescopic rod, which can It is telescopically connected with the downward extension link of the upper U-shaped guard.

As a preference, in the following omnidirectional mobile robot for rehabilitation of lower limbs in the technical solution of the present invention, the fall protection device includes: anti-fall protective pants, which are worn on the human body; connecting rigging, the connection There are multiple riggings, and one end of the connecting rigging is connected with the anti-fall pants, and the other end is connected with the upper U-shaped protective frame; meanwhile, the connecting rigging is provided with a tension sensor.

As a preference, in the following omnidirectional mobile robot for rehabilitation of lower limbs in the technical solution of the present invention, an instrument installation interface is provided in the middle of the reinforcing beam for installing display instruments; an electrical equipment installation interface is provided on the U-shaped mobile chassis The interface is used for installing electrical equipment, and the electrical equipment includes a control module and a power supply module.

Preferably, in the follow-up omnidirectional mobile robot for lower extremity rehabilitation in the technical solution of the present invention, a walking intention detection device is further provided on the upper U-shaped protective frame.

As a preference, in the following omnidirectional mobile robot for rehabilitation of lower limbs in the technical solution of the present invention, the U-shaped frame of the U-shaped mobile chassis is made of bent metal pipes; the U-shaped frame of the upper The U-shaped frame is formed by bending a metal pipe.

Through the above technical solution, there are three continuously switching wheel assemblies and the three continuously switching wheel assemblies are driven by the three driving parts respectively. The difference can realize the omnidirectional movement of the omnidirectional mobile chassis on the plane. The display instrument is used to display the robot's motion state, training data, and switch between active and passive rehabilitation training modes, etc., to facilitate human-computer interaction. When patients with mobility problems of the lower limbs need rehabilitation training, set the display instrument to the active rehabilitation training mode. At this time, the robot will automatically sense the position of the human body under the action of the control system to follow the user's walking track; if the user cannot fully When standing independently or when the center of gravity is unstable, both hands can be placed on the guard plates of the two side guard bars, so that part of the weight of the body can be supported, and falls can be prevented to a certain extent; Fall protection device, the user wears the anti-fall protective pants. When the user's center of gravity is unstable and is about to fall, the anti-fall protective pants can prevent the user from falling to the ground to ensure the safety of the user; in addition to automatically following In addition to the user's walking trajectory, the user can also control the robot's walking trajectory by holding the joystick. This manual control method can meet the user's diverse needs for active control; when the user needs to perform rehabilitation training on a specific walking trajectory, the operation The display instrument is switched to a passive rehabilitation training mode, and the user follows the walking track preset by the robot to perform walking assistance rehabilitation training.

In addition, the telescopic rod is telescopically connected to the fixed rod; when the user is tall or short, the following type of lower limb motion rehabilitation omnidirectional mobile robot can be vertically adjusted by adjusting the telescopic rod up and down. Height adjustment; at the same time, by loosening the locking bolt and adjusting the guard plate left and right, the adjustment of the left and right width of the omnidirectional mobile robot for follow-up lower limb motion rehabilitation can be realized, which can not only improve the performance of the omnidirectional mobile robot for follow-up lower limb motion rehabilitation. It is comfortable to use and meets the needs of more people.

Adopting the technical solution of the present invention will be able to obtain the following beneficial effects: (1) using the omnidirectional mobile chassis, the omnidirectional movement of the lower limb motion rehabilitation robot can be realized, and the user can simulate the gait pattern and Get used to rehabilitation training; (2) use the telescopic support device and the width-adjustable guard plate assembly to realize the adjustment of the height and width of the omnidirectional mobile robot for follow-up lower limb motion rehabilitation, which can meet the needs of more people (3) The use of the fall protection device can prevent the user from accidentally falling and causing secondary injuries during the rehabilitation training process, thereby further improving the safety of the system.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of an omnidirectional mobile robot for follow-up lower limb motion rehabilitation according to an embodiment of the present invention;

Fig. 2 is another three-dimensional schematic diagram of the following omnidirectional mobile robot for lower extremity rehabilitation shown in Fig. 1;

Fig. 3 is a partial enlarged view of place I in Fig. 1;

Fig. 4 is a schematic cross-sectional view of the continuous switching wheel assembly of the following omnidirectional mobile robot for motion rehabilitation of lower limbs shown in Fig. 1;

Fig. 5 is a partial enlarged view of II in Fig. 1;

Fig. 6 is a partial enlarged view of III in Fig. 1;

Fig. 7 is a three-dimensional schematic diagram of the reduced height of the following omnidirectional mobile robot for lower limb motion rehabilitation shown in Fig. 1;

Fig. 8 is a three-dimensional schematic diagram of the lifting height of the omnidirectional mobile robot for follow-up lower limb motion rehabilitation shown in Fig. 1;

Fig. 9 is a three-dimensional schematic diagram of a reduced width of the omnidirectional mobile robot for follow-up lower limb motion rehabilitation shown in Fig. 1;

Fig. 10 is a three-dimensional schematic diagram of an enlarged width of the omnidirectional mobile robot for follow-up lower limb motion rehabilitation shown in Fig. 1;

Reference signs:

1000 follow-up omnidirectional mobile robots for lower extremity rehabilitation;

1U-shaped mobile chassis;

11 U-shaped frame; 12 omnidirectional mobile chassis; 13 universal wheel assembly; 14 base;

121 chassis main frame; 122 continuous switching wheel assembly; 123 connecting flange;

1211 Electrical equipment installation interface;

1221 fixed frame; 1222 continuous switching wheel assembly; 1223 driving part; 1224 shaft seat;

12211 side panel;

12221 continuous switching wheel; 12222 axle;

12231 fixed body; 12232 drive shaft;

141 upper base; 142 lower bases;

131 universal wheel connector; 132 universal wheel;

2 upper U-shaped guard;

21 U-shaped frame; 22 Connecting sleeve; 23 Side guard bar; 24 Reinforced crossbeam; 25 Widening guard plate assembly;

211 side bar; 2111 ultrasonic sensor;

241 instrument installation interface; 242 display instrument;

251 guard plate; 252 widening track; 253 adjusting bolt; 254 locking bolt; 255 control handle;

3 fall protection device;

31 anti-fall protective pants; 32 connection rigging; 33 tension sensor;

4 telescopic support device;

41 fixed rods; 42 telescopic rods.

detailed description

Embodiments of the present invention will be described in detail below, and the embodiments described with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

The follow-up omnidirectional mobile robot for lower limb motion rehabilitation according to an embodiment of the present invention will be described in detail below with reference to FIGS. 1 to 10 .

As shown in Fig. 1, Fig. 2 and Fig. 3, the following omnidirectional mobile robot for lower limb motion rehabilitation includes: a U-shaped mobile chassis 1, an upper U-shaped protective frame 2, a fall protection device 3 and a telescopic support device 4. The U-shaped mobile chassis 1 includes: a U-shaped chassis 11 , an omnidirectional mobile chassis 12 , and a universal wheel assembly 13 . The omnidirectional mobile chassis 12 is connected to the lower part of the front end of the U-shaped frame 11. The omnidirectional mobile chassis 12 includes: the chassis main frame 121, which is connected to the U-shaped frame 11; the continuous switching wheel assembly 122, and the continuous switching wheel assembly 122 is three, connected to the bottom surface of the chassis main frame 121, and is triangularly distributed in a circular array, the continuous switching wheel assembly 122 includes: a fixed frame 1221, the fixed frame 1221 is connected with the chassis main frame 121; the continuous switching wheel assembly 1222, continuous The switch wheel assembly 1222 is installed in the middle of the fixed frame 1221 and is pivotally connected with the fixed frame 1221; the driver 1223, the driver 1223 is connected with the continuous switch wheel assembly 1222 to drive the continuous switch wheel assembly 1222 to rotate; the universal wheel There are two assemblies 13, two universal wheel assemblies 13 are respectively connected with the two ends of the U-shaped frame 11, and support the U-shaped frame 11; There are three telescopic support devices 4, and one end of the three telescopic support devices 4 is connected to the U-shaped frame 11 front end bending section and the two ends of the U-shaped frame 11 respectively, and the other ends of the telescopic support devices 4 are respectively It is connected with the front end bending section of the upper U-shaped guard 2 and the two ends of the upper U-shaped guard 2 .

Specifically, as shown in Fig. 1, Fig. 2, the embodiment shown in Fig. 3, U-shaped mobile underframe 1 also comprises base 14, and base 14 is three, and base 14 is split type, comprises upper base 141 and The lower base 142, the middle of the upper base 141 and the lower base 142 are respectively provided with semicircular grooves, the upper base 141 and the lower base 142 are buckled on the U-shaped frame 11, and the upper base 141 and the lower base 142 are threaded. The connecting piece is connected so that the base 14 and the U-shaped frame 11 are clamped. There are three bases 14, including a front base 1401 and two rear bases 1402, the front base 1401 is fixed on the front end curved section of the U-shaped frame 11, in order to connect the U-shaped frame 11 and the telescopic support device 4, and The U-shaped frame 11 and the omnidirectional mobile chassis 12 ; the rear base 1402 is fixed at the two straight sections at the rear end of the U-shaped frame 11 for connecting the U-shaped frame 11 and the telescopic support device 4 .

As shown in Figure 3, the omnidirectional mobile chassis 12 also includes: a connector 123, the omnidirectional mobile chassis 12 is connected with the U-shaped frame 11 through the connector 123, and the chassis main frame 121 also includes an electrical equipment installation interface 1211 for installing electrical equipment. The electrical equipment includes a control module and a power supply module.

In some embodiments of the present invention, a walking intention detection device is also provided on the upper U-shaped protective frame 2, and the walking intention detection device includes an operating handle 255, a tension sensor 33 of the fall protection device 3, and two side bars 211 The ultrasonic sensor 2111 installed on it is shown in Fig. 5 and Fig. 6 .

Specifically, as shown in Figure 4, the schematic cross-sectional view of the continuous switching wheel assembly, the continuous switching wheel assembly 122 is connected with the chassis main frame 121 through the fixed frame 1221, and the fixed frame 1221 is connected with the chassis main frame 121 through a threaded connector, and the fixed frame 1221 includes two side plates 12211, on which two side plates 12211 are provided with shaft seats 1224, and the shaft seats 1224 are connected to the side plates 12211 through threaded joints; the continuous switching wheel assembly 1222 includes the continuous switching wheel 12221 and the wheel shaft 12222, and the wheel shaft 12222 It is coaxially connected with the continuous switching wheel 12221, and the two are connected by a key to realize synchronous rotation. The wheel shaft 12222 is installed in the shaft seat 1224 connected to the two side plates 12211 of the fixed frame 1221, and the space between the shaft seat 1224 and the wheel shaft 12222 Bearings are provided; the driving part 1223 includes a fixed body 12231 and a driving shaft 12232, the fixed body 12231 is connected with the fixed frame 1221, the driving shaft 12232 is connected with the wheel shaft 12222 and drives the wheel shaft 12222 to rotate; in this embodiment, the driving part 1223 adopts a DC geared motor , has the advantages of high driving efficiency and easy control.

Furthermore, the universal wheel assembly 13 includes universal wheel connectors 131 and universal wheels 132, the two universal wheel connectors 131 are connected to the ends of the two straight sections of the U-shaped frame 11, and the universal wheels 132 are connected by threads The piece is connected below the universal wheel connecting piece 131.

As shown in Figure 1 and Figure 2, through the technical solutions of the above-mentioned embodiments, the three continuous switching wheels 12221 can realize the omnidirectional movement of the omnidirectional mobile chassis 12 under the driving of the three driving parts 1223 in different directions and different speeds respectively , at the same time, the two universal wheel assemblies 13 play a role in assisting the movement, and together with the omnidirectional mobile chassis 12, realize the omnidirectional movement of the following omnidirectional mobile robot for motion rehabilitation of the lower limbs.

As shown in Fig. 1, Fig. 2, Fig. 5 and Fig. 6, the upper U-shaped guard frame 2 includes: U-shaped frame 21, connecting sleeve 22, side guard bar 23, reinforcing beam 24, width-adjusting guard plate assembly 25 And extend down connecting rod 26. Wherein, the U-shaped frame 21 also includes two side bars 211 , the reinforcing beam 24 is provided with an instrument installation interface 241 , and the display instrument 242 is installed on the instrument installation interface 241 . As shown in Fig. 1, Fig. 2 and Fig. 6, the connecting sleeve 22 has a transverse through hole, and the front end curved section of the U-shaped frame 21 is sleeved in the transverse hole of the connecting sleeve 22 and connected with the connecting sleeve 22 through a threaded connector, similar to Yes, the ends of the two side bars 211 of the U-shaped frame 21 are sleeved in the transverse holes of the two connecting sleeves 22 and connected with the connecting sleeves 22 through threaded joints; 23 is two, and the two side guard bars 23 are connected with the two side bars 211 in the vertical direction through threaded joints; The threaded connectors are connected, and the width-adjusting guard plate assembly 25 also includes: a guard plate 251 , a width-adjusting track 252 , an adjusting bolt 253 , a locking bolt 254 and an operating handle 255 . Wherein, the guard plate 251 and the side guard bar 23 are connected by bolts, and the width-adjusting rails 252 are arranged on both sides of the guard plate 251. Further, as shown in the partial enlarged view of FIG. 5, there are two adjusting bolts 253, and two Adjusting bolts 253 are all located at the front end of side guard bar 23. Adjusting bolts 253 are divided into optical axis section and threaded section. And there is a certain gap between the bolt head and the guard plate 251, so that the guard plate 251 can move along the adjustment bolt 253 better, and, as shown in the partial enlarged view of Figure 4, the locking bolt 254 is located at the side guard The rear end of bar 23, and is connected with the threaded hole of side guard bar 23 by thread pair, is used for loosening or locking the position of guard plate 251; There are two operating handles 255, and two operating handles 255 are connected with two guard plates respectively. The plates 251 are connected. During use, the user's elbows are placed on the two guard plates 251 respectively, and at the same time, both hands are held on the two control handles 255, and the walking track of the robot can be controlled manually by operating the control handles 255; Still further, the reinforcing beam 24 is arranged between the two side guard bars 23, and is connected to the two side guard bars 23 by bolts or welding, and the reinforcing beam 24 is provided with an instrument installation interface 241 in the middle; in addition, The display instrument 242 is connected to the instrument installation interface 241 by bolts, and the display instrument 242 is used for displaying an interactive interface and performing human-computer interaction.

As a preferred embodiment, as shown in Fig. 1 and Fig. 2, the U-shaped frame 11 of the U-shaped mobile chassis 1 is bent from a metal pipe; The metal pipe is bent. In other embodiments, the U-shaped frame 11 and the U-shaped frame 21 can also be welded by metal pipes.

In addition, there are three telescopic support devices 4, as shown in Figure 1 and Figure 2, the telescopic support device 4 also includes a fixed rod 41 and a telescopic rod 42, and the three fixed rods 41 are respectively connected to the three upper bases 141 by threads pieces are connected. In this embodiment, the telescopic support device 4 is an electric push rod, and in other embodiments, it can also be some other schemes such as a lead screw, a rack and pinion transmission, and the like. The connection mode between the downlink 26 and the telescopic rod 42 will be described in detail below. There are three downlinks 26, and the lower end of the downlink 26 of the curved section at the front end of the U-shaped frame 21 and the telescopic rod 42 are connected through a threaded connection. Connected, the upper end is set in the connecting hole of the connecting sleeve 22 and connected by a threaded connector, the connection mode of the other two extending connecting rods 26 and the telescopic rod 42 and the connecting rod 26 and the telescopic connecting rod 26 of the front end bending section of the U-shaped frame 21 Rod 42 is connected in a similar manner.

In the embodiment shown in FIG. 1 , FIG. 2 , and FIG. 6 , the fall prevention device 3 further includes fall protection pants 31 , connecting rigging 32 and tension sensor 33 . Wherein, the anti-fall protection pants 31 are worn on the human body, as shown in Figures 1 and 2, there are multiple connecting slings 32, one end of each connection sling 32 is connected with the anti-fall protection pants 31, and the other end is connected with the upper U-shaped The side bars 211 of the guard frame 2 are connected together. Further, as shown in Fig. 1, Fig. 2, Fig. 5, and Fig. 6, the connection rigging 32 is also equipped with a tension sensor 33, and one end of the tension sensor 33 is set on the connection rigging 32 through a collar, and the other One end is connected with the anti-fall protective pants 31, and the force situation of the tension sensor 33 can be combined with the parameters of other detection devices to comprehensively judge the user's walking intention. When the measured value of the tension sensor 33 is greater than the set value, it means that the user has fallen and pulled the anti-fall protective pants 31. At this time, the anti-fall protective pants 31 can protect the user wearing it from secondary damage ; Simultaneously, the control system controls the driving part 1223 to be in the locked state, so that the continuous switching wheel assembly 1222 connected to the driving part 1223 is also in the locked state, so that the omnidirectional mobile robot for follow-up lower limb motion rehabilitation is in the shutdown and locked state, further ensuring the use The user is safe to use.

Further, as shown in the embodiment shown in Fig. 1 , Fig. 2 , Fig. 5 and Fig. 6, two ultrasonic sensors 2111 may be installed on the two side bars 211 respectively. The walking intention detection device includes a manipulation handle 255 , a tension sensor 33 of the fall prevention device 3 , and ultrasonic sensors 2111 installed on the two side bars 211 . The manipulation handle 255 can be controlled by the user to rotate in a certain cone-shaped area, and the tension sensor 33 of the fall protection device 3 can detect the force situation, and the ultrasonic sensor 2111 can detect the position of the user relative to the robot, and the above-mentioned information can be fed back to the control system. , to judge the user's walking intention, and associate with the omnidirectional mobile robot for follow-up lower limb motion rehabilitation of the present invention, so as to realize the follow-up movement of the robot. Specifically, the user can select the rehabilitation training mode through the display instrument 242. When the automatic mode of active training is selected, the four ultrasonic sensors 2111 and the tension sensor 33 jointly detect the relative position of the user and feed the data back to the control system. To interpret its walking intention, the control system changes the motion state of the omnidirectional mobile chassis 12 by controlling the rotation speed and steering of the three driving parts 1223; when the user chooses the manual mode of active training, the four ultrasonic sensors 2111 do not participate in the work, use The operator manually operates the operating handle 255, operates the operating handle 255 according to the road conditions or the user's intention, the control system acquires and processes the control signal, and then controls the respective rotational speeds and steering directions of the three driving parts 1223 to change the motion of the omnidirectional mobile chassis 12 status, to realize rehabilitation training under manual control mode.

Through the above technical solution, when the user needs to perform lower limb rehabilitation training, he can put his elbows on the two guard plates 251, and at the same time select the active or passive training mode through the display instrument 242, and the omnidirectional mobile chassis 12 can change three The respective steering and rotation speeds of the driving parts 1223 achieve the omni-directional movement effect of the following omnidirectional mobile robot for lower limb exercise rehabilitation, thereby assisting the user in performing lower limb rehabilitation training.

Furthermore, the following omnidirectional mobile robot for lower limb motion rehabilitation of the present invention can adjust the height up and down to adapt to users of different heights. Specifically, as shown in FIG. 7 , when the omnidirectional mobile robot for follow-up lower limb motion rehabilitation needs to lower its height, the fixed rod 41 of the telescopic support device 4 is fixed, and when the telescopic rod 42 moves downward relative to the fixed rod 41, it drives The downward extension link 26 connected with the telescopic rod 42 moves downward, and the U-shaped frame 21 is connected with the downward extension link 26 at the same time, so that the U-shaped frame 21 moves downward simultaneously with the telescopic rod 42, thereby reducing the mechanical system of the rehabilitation robot. As shown in Figure 8, when the omnidirectional mobile robot for follow-up lower limb motion rehabilitation needs to be raised in height, the fixed rod 41 of the telescopic support device 4 is fixed, and the telescopic rod 42 moves upward relative to the fixed rod 41, driving and stretching The downward extension link 26 connected by the rod 42 moves upwards, and the U-shaped frame 21 is connected with the downward extension link 26 simultaneously, so that the U-shaped frame 21 moves upwards simultaneously with the telescopic rod 42, thereby improving the height of the rehabilitation robot.

In addition, the omni-directional mobile robot of the present invention can adjust the width according to the user's obesity degree and use comfort requirements. Specifically, as shown in Figure 9, when the following omnidirectional mobile robot for lower limb motion rehabilitation needs to reduce the width, loosen the locking bolt 254, slide the guard plate 251 left and right, when the left guard plate 251 slides to the right and The side guard plate 251 slides to the left, so that the width of the omnidirectional mobile robot for follow-up lower limb motion rehabilitation is reduced; on the contrary, as shown in FIG. , the width of the following omnidirectional mobile robot for rehabilitation of lower limbs increases, so that the width of the following omnidirectional mobile robot for rehabilitation of lower limbs can be changed by adjusting the guard plate 251, and then tighten the deadbolt 254 until the width is appropriate.

Other components of the robot are known in the art and are well known to those skilled in the art, so they will not be described in detail. Of course, for the sake of aesthetics, the omnidirectional mobile chassis 12 and other places can be beautifully decorated, which is also a common solution and will not be introduced.

While the embodiments of the present invention have been shown and described, various changes, modifications, substitutions and variations can be made to those embodiments by those skilled in the art, the scope of the present invention being defined by the claims and their equivalents.

Claims (10)

1. The omnidirectional mobile robot for rehabilitation of lower limbs, characterized in that it includes: U-shaped mobile chassis, the U-shaped mobile chassis includes: U-shaped frame; An omnidirectional mobile chassis, the omnidirectional mobile chassis is connected to the lower part of the front end of the U-shaped frame, and the omnidirectional mobile chassis includes: chassis main frame, the chassis main frame is connected with the U-shaped frame; There are three continuous switching wheel assemblies, which are connected to the bottom surface of the main frame of the chassis and are distributed in a circular array in a triangular manner. The continuous switching wheel assemblies include: a fixed frame, the fixed frame is connected to the chassis main frame; A continuous switching wheel assembly, the continuous switching wheel assembly is installed in the middle of the fixed frame and pivotally connected with the fixed frame; a driving part, the driving part is connected with the continuous switching wheel assembly to drive the continuous switching wheel assembly to rotate; There are two universal wheel assemblies, and the two universal wheel assemblies are respectively connected to the two ends of the U-shaped frame and support the U-shaped frame; Upper U-shaped guard; A fall protection device, the fall protection device is located below the upper U-shaped guard and is connected to the upper U-shaped guard; There are three telescopic support devices, and one end of the three telescopic support devices is respectively connected to the curved section at the front end of the U-shaped frame and the two ends of the U-shaped frame. The other end is respectively connected with the front end bending section of the upper U-shaped guard and the two ends of the upper U-shaped guard. 2. The omnidirectional mobile robot for follow-up lower limb motion rehabilitation according to claim 1, characterized in that: The fixed frame includes two side plates, and shaft seats are arranged on the two side plates; The continuous switching wheel assembly includes a continuous switching wheel and a wheel shaft, the wheel shaft is coaxially connected with the continuous switching wheel, and the wheel shaft is installed in the axle seats of the two side plates of the fixed frame , and a bearing is provided between the shaft seat and the wheel shaft; The driving part includes a fixed body and a driving shaft, the fixed body is connected with the fixed frame, the driving shaft is connected with the wheel shaft and drives the wheel shaft to rotate; the driving part adopts a DC geared motor. 3. The following omnidirectional mobile robot for lower limb motion rehabilitation according to claim 1, characterized in that, the omnidirectional mobile chassis also includes a connecting flange, and the omnidirectional mobile chassis is connected to the The curved sections at the front ends of the U-shaped frame are connected. 4. The following omnidirectional mobile robot for rehabilitation of lower limbs according to claim 1, wherein the upper U-shaped protective frame comprises: a U-shaped frame comprising two side bars; There are two side guard bars, and the two side guard bars are respectively connected to the two side bars of the U-shaped frame; A reinforcing beam, the reinforcing beam is arranged between and connected to the two side guard bars; There are two width-adjusting guard plate assemblies, which are respectively arranged on the two side guard bars, and the width-adjusting guard plate components also include: There are two guard plates, which are respectively connected to the two side guard bars; There are two width-adjusting tracks, which are respectively arranged on both sides of the guard plate; There are two adjusting bolts and they are arranged at the front end of the side guard bar; a deadbolt, the deadbolt is arranged at the rear end of the side guard bar; There are two manipulation handles, which are respectively connected to the two guard plates. 5. The omnidirectional mobile robot for follow-up lower limb motion rehabilitation according to claim 1, wherein the upper U-shaped protective frame further comprises: down-extending connecting rods, and there are three down-extending connecting rods that are all connected to The U-shaped frames are connected, and the three telescopic support devices are respectively connected with the U-shaped frames through the three downwardly extending connecting rods. 6. The following omnidirectional mobile robot for rehabilitation of lower limbs according to claim 1, wherein the telescopic support device comprises: a fixed rod, the fixed rod is connected with the U-shaped frame; A telescopic rod, the telescopic rod is telescopically connected with the downward extension link of the upper U-shaped protective frame. 7. The following omnidirectional mobile robot for lower limb motion rehabilitation according to claim 1, wherein the fall protection device comprises: Anti-fall pants, the anti-fall pants are worn on the human body; There are multiple connecting slings, and one end of the connecting sling is connected to the fall protection pants, and the other end is connected to the upper U-shaped protective frame; at the same time, the connecting sling is provided with Pull sensor. 8. The following omnidirectional mobile robot for rehabilitation of lower limbs according to claim 4, characterized in that: an instrument installation interface is provided in the middle of the reinforcing beam for installing display instruments; the U-shaped mobile chassis is provided with The electrical equipment installation interface is used for installing electrical equipment, and the electrical equipment includes a control module and a power supply module. 9. The following-type omnidirectional mobile robot for rehabilitation of lower limbs according to any one of claims 1-8, characterized in that a walking intention detection device is also provided on the upper U-shaped protective frame. 10. The omnidirectional mobile rehabilitation robot mechanical system according to claim 1, wherein the U-shaped frame of the U-shaped mobile chassis is bent from a metal pipe; The U-shaped frame is formed by bending metal pipes.