Double-motor dynamic suspension system of rehabilitation robot

Abstract

The invention provides a double-motor dynamic suspension system of a rehabilitation robot. The upper end of an upright post is fixedly connected with an upper support plate and a suspension plate. Anupper sliding block and a lower sliding block are connected to two vertical plain shafts in a sleeving mode and are connected with each other through two springs. The lower sliding block is driven bya power source to move axially along the plain shafts. The upper surface of the upper sliding block is provided with a movable pulley. One end of a rope is wound around a winch, and the other end passes through the movable pulley and then is connected to a patient after changing direction through a fixed pulley installed on the suspension plate. A damping block limits the up-and-down movement of the upper sliding block. A proximity sensor is installed on the lower surface of the suspension plate to monitor the distance between the patient and the suspension plate. A tension sensor is installedbetween the fixed pulley and the suspension plate. By the adoption of the system, accurate adjustment of the two parameters, height and force, can be achieved at the same time. The system is stable and does not shake.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical robots, in particular to a suspension system of a rehabilitation robot. Background technique [0002] With the aging population in my country and the large number of disabled people, the number of patients who need rehabilitation is increasing year by year. The use of exoskeleton robots for limb rehabilitation training can provide effective rehabilitation training for physically disabled patients. An exoskeleton robot is a typical power-assisted device, which has a suspension device that lifts people off the ground and provides weight reduction. The suspension device is connected to the patient through a rope, and the spatial position of the patient can be adjusted through the expansion and contraction of the rope. [0003] At present, the weight reduction system mainly has three methods: counterweight weight reduction, spring weight reduction, and motor force feedback weight redu...

AI Technical Summary

Problems solved by technology

If the motor is directly used for weight reduction, the motor control system needs to combine position feedback and force feedback, the control is complicated, and the system tends to be unstable, and the system is prone to vibration.

Images