CN100558322C - Be applicable to paralytic's articulated type walking-aid exoskeleton artificial limb in parallel - Google Patents
Be applicable to paralytic's articulated type walking-aid exoskeleton artificial limb in parallel Download PDFInfo
- Publication number
- CN100558322C CN100558322C CNB2008100340008A CN200810034000A CN100558322C CN 100558322 C CN100558322 C CN 100558322C CN B2008100340008 A CNB2008100340008 A CN B2008100340008A CN 200810034000 A CN200810034000 A CN 200810034000A CN 100558322 C CN100558322 C CN 100558322C
- Authority
- CN
- China
- Prior art keywords
- supporting seat
- joint
- bearing
- servomotor
- ball nut
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The articulated type walking-aid exoskeleton artificial limb in parallel that is applicable to the paralytic in a kind of rehabilitation engineering field, comprise: hip joint, knee joint and ankle joint, hip joint, knee joint and ankle joint are connected successively, form human body lower limbs exoskeleton artificial limb structure, hip joint is made up of the single-degree-of-freedom rotating mechanism, comprise that harmonic speed reducer has bigger gear ratio, can export high moment of torsion; Knee joint adopts quadric chain, adopts worm and gear and gear mechanism transmission, utilizes the self-locking property of worm and gear, keeps the flexion of exoskeleton artificial limb, and worm and gear can transmit big moment of torsion simultaneously; Ankle joint adopts the 3-RPS parallel institution, and whole mechanism is made of upper mounting plate, three active branched chain guide rods, lower platform and vola support sections, has three degree of freedom, can realize ankle dorsal flexion, and the sole of the foot is bent, in turn over the motion of turning up.Artificial limb project organization compactness, each joint slewing area of invention are big, can satisfy human body actual motion requirement.
Description
Technical field
What the present invention relates to is the device in a kind of rehabilitative engineering technology field, specifically is a kind of paralytic's of being applicable to articulated type walking-aid exoskeleton artificial limb in parallel.
Background technology
In recent years, since the quantity of the extremity disabled persons that have an accident accident or the disease that takes a disease, aged tendency of population etc. cause increase year by year.People with disability's health problem has obtained the extensive concern of the whole society.At present the medical instrument that the lower extremity paralysis patient is carried out rehabilitation training has crutch, wheelchair and artificial limb, these three types of rehabilitation equipments that are passive type, patient uses inconvenience, also need other people to help simultaneously, at first need amputation and artificial limb is installed on one's body patient, many patients are difficult to receive psychologically, also are faced with restrictions such as human body adaptability and artificial limb service life after wearing artificial limb, need the problem of adaptive artificial limb again.Exoskeleton artificial limb has been broken through the thinking of traditional rehabilitation instrument, and robot active control technology and artificial limb " are helped away " the function combination, and the exoskeleton artificial limb reasonable by project organization, that the joint is dexterous is worn on extremity disabled persons and carries out the gait rehabilitation training on one's body.
The activity point of view in three joints of human body lower limbs, hip joint has three degree of freedom, wherein anteflexion 140 degree that reach, knee joint is an one degree of freedom, maximum angular 140 degree that bend the back, ankle joint has two degree of freedom, about 30 degree of the angle that dorsiflex, the sole of the foot are bent.In the design of exoskeleton artificial limb, answer the requirement of As soon as possible Promising Policy joint of the lower extremity degree of freedom and rotational angle on the one hand, should consider that on the other hand mechanism bears the ability of load, will there be bigger output torque in each joint, can support the patient and carry out normal gait training, also should take into full account mechanism stability and inflexible requirement simultaneously.But in the existing at home and abroad exoskeleton artificial limb, just simple joint is designed usually, the motion of mechanism scope is less, and it is fairly simple to drive control mode, has problems such as the not enough and load capacity of rigidity is less simultaneously.
Find by prior art documents, Chinese invention patent application number 200410053695.6, patent name is " a kind of wearable lower limb walking ectoskeleton ", this ectoskeleton is to be supported to contact successively by lumbar support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and vola to constitute, by Driven by Hydraulic Cylinder mechanism, each joint of this exoskeleton mechanism is single-degree-of-freedom, four-bar mechanism makes that the slewing area in joint is less, simultaneously owing to adopt Driven by Hydraulic Cylinder, need hydraulic power source, the mechanism controls precision is not high, the rigidity deficiency.
Summary of the invention
The objective of the invention is at above-mentioned prior art deficiency, a kind of paralytic's of being applicable to articulated type walking-aid exoskeleton artificial limb in parallel has been proposed, hip joint, knee joint and ankle joint have been designed respectively, and, can satisfy human body actual motion requirement with the synthetic walking-aid exoskeleton artificial limb of these three joint set.
The present invention is achieved through the following technical solutions, the present invention includes: hip joint, knee joint and ankle joint, and hip joint, knee joint and ankle joint are connected successively, form human body lower limbs exoskeleton artificial limb structure;
Described ankle joint, comprise: upper mounting plate, lower platform, vola gripper shoe, the first active branched chain guide rod, the second active branched chain guide rod, the 3rd active branched chain guide rod, apery lower limb overcoat, wherein: an end of the first active branched chain guide rod, the second active branched chain guide rod, the 3rd active branched chain guide rod all flexibly connects with upper mounting plate, the other end of the first active branched chain guide rod, the second active branched chain guide rod, the 3rd active branched chain guide rod all flexibly connects with lower platform, the vola gripper shoe is fixedlyed connected with lower platform by the baffle plate on its both sides, and apery lower limb overcoat is fixedlyed connected with upper mounting plate;
Described knee joint, comprise: first servomotor, quadric chain and drive mechanism, quadric chain comprises the thigh ectoskeleton, the shank ectoskeleton, back link, worm gear, drive mechanism comprises driving gear, driven gear and worm screw, the thigh ectoskeleton comprises two boards, first servomotor is fixedly in the middle of inside and outside two plates of thigh ectoskeleton, the output shaft of the driving gear and first servomotor is affixed, and and driven gear engagement, driven gear is installed in the axle head of worm screw, worm screw is fixed between the ectoskeletal two boards of thigh, worm and wheel is meshed, the other end of worm gear is connected by bearing with the shank ectoskeleton, and the center of rotation of worm gear is connected with the thigh ectoskeleton by back shaft, back link and thigh ectoskeleton, back shaft on the shank ectoskeleton connects;
Described hip joint, comprise: needle bearing, harmonic speed reducer, supporting seat, back shaft, be with transmission synchronously, second servomotor, cover plate, motor cabinet, wherein: second servomotor is fixed on the motor cabinet, motor cabinet is fixed on supporting seat, the second servomotor output torque passes to back shaft by synchronous band transmission, back shaft is connected with harmonic speed reducer by flat key, harmonic speed reducer is fixing on the cover board, back shaft is connected with kneed thigh ectoskeleton, harmonic speed reducer slows down and increases the rotation of moment drive thigh ectoskeleton, back shaft is installed in the needle bearing, and needle bearing is installed on the supporting seat;
The upper mounting plate of described ankle joint and kneed shank ectoskeleton are affixed, and kneed thigh ectoskeleton is connected by the back shaft of rolling bearing and hip joint.
The described first active branched chain guide rod comprises: the 3rd servomotor; first shaft joint; the first fore bearing supporting seat; first ball screw; first screw; first ball nut; the first rear bearing supporting seat; clutch shaft bearing; first travel switch; the one L type gripper shoe; first ball nut mount; first linear slide block; first line slideway; first angular contact bearing; first motor cabinet; wherein: the output shaft of the 3rd servomotor is connected with first ball screw, one end by first shaft joint; the 3rd servomotor is fixed on first motor cabinet; first motor cabinet and the first fore bearing supporting seat are affixed; be installed in the end face of the first fore bearing supporting seat; the first ball screw two ends are supported by the clutch shaft bearing and first angular contact bearing; the clutch shaft bearing and first angular contact bearing are installed in respectively on the first rear bearing supporting seat and the first fore bearing supporting seat; the first fore bearing supporting seat; the first rear bearing supporting seat all is fixed on the L type gripper shoe; first ball nut and first ball screw pass through threaded engagement; first ball nut and first ball nut mount are by the first screw Joint; the side of first ball nut mount is connected with first linear slide block; first line slideway is installed in the side of a L type gripper shoe; the one L type gripper shoe; first ball nut mount; first linear slide block is connected the back and forms rectangular space with first line slideway; first travel switch is installed on the side of a L type gripper shoe; be in the rectangular space; be used to detect the ball nut present position, protect whole device in case with the first fore bearing supporting seat; the first rear bearing supporting seat is collided.
The described second active branched chain guide rod, comprise: the 4th servomotor, second shaft joint, the second fore bearing supporting seat, second ball screw, second screw, second ball nut, the second rear bearing supporting seat, second bearing, second travel switch, the 2nd L type gripper shoe, second ball nut mount, second linear slide block, second line slideway, second angular contact bearing, second motor cabinet, above-mentioned parts are identical with the annexation of each parts of the first active branched chain guide rod.
Described the 3rd active branched chain guide rod; comprise: the 3rd ball nut mount; the 3rd fore bearing supporting seat; synchronous cog belt; first synchronous pulley; second synchronous pulley; the 5th servomotor; the 3rd motor cabinet; the 3rd ball screw; the 3rd ball nut; the 3rd rear bearing supporting seat; the 3rd bearing; the third trip switch; the 3rd L type gripper shoe; the trilinear slide block; the 3rd line slideway; the third angle contact bearing; wherein: the 5th servomotor is fixed on the 3rd motor cabinet; the 3rd motor cabinet is fixed on the end face of the 3rd fore bearing supporting seat; the 3rd ball screw two ends are supported by the 3rd bearing and third angle contact bearing; the 3rd bearing and third angle contact bearing are installed in respectively on the 3rd rear bearing supporting seat and the 3rd fore bearing supporting seat; the 3rd fore bearing supporting seat; the 3rd rear bearing supporting seat all is fixed on the 3rd L type gripper shoe; the 3rd ball nut and the 3rd ball screw pass through threaded engagement; constitute the screw pair; the 3rd ball nut and the 3rd ball nut mount Joint; the side of the 3rd ball nut mount is connected with the trilinear slide block; the 3rd ball joint bearing and the 3rd fore bearing supporting seat are affixed; be fixed on the outside of the 3rd fore bearing supporting seat; the 3rd line slideway is installed in the side of the 3rd L type gripper shoe; the 3rd L type gripper shoe; the 3rd ball nut mount; the trilinear slide block is connected the back and forms rectangular space with the 3rd line slideway; the 5th servomotor output shaft is connected with first synchronous pulley; second synchronous pulley is connected with the 3rd ball screw; synchronous cog belt connects first synchronous pulley and second synchronous pulley respectively; realize of the transmission of the 3rd active branched chain guide rod from the 5th servomotor to the three ball screws; the third trip switch is installed on the side of the 3rd L type gripper shoe; be in the rectangular space; be used to detect the 3rd ball nut present position, protect whole device in case with the 3rd fore bearing supporting seat; the 3rd rear bearing supporting seat is collided.
The described first active branched chain guide rod, the second active branched chain guide rod, the 3rd active branched chain guide rod one end are connected with lower platform by three ball joint bearings respectively, and the other end is connected with upper mounting plate by three revolute pairs respectively.
Described back link is connected with back shaft on thigh ectoskeleton, the shank ectoskeleton by the opposite opened structure.
Described thigh ectoskeleton is provided with stop between its two boards, and this stop is used to judge the position of worm gear, thereby judges the shank ectoskeleton position that whether reaches capacity.
The described driving gear and first servomotor adopt the key type of attachment.
When the present invention works, but three joint self-movements, also can be according to the coordination exercise of human body actual walking pattern.Wherein, during hip joint work, second servomotor rotates and drives the rotation of active synchronization belt wheel, by synchronous band transmission, drive driven pulley and rotate, rotate thereby drive back shaft, back shaft drives the harmonic speed reducer motion, the final thigh ectoskeleton that links to each other with harmonic speed reducer that drives rotates, and the thigh ectoskeleton rotates relative to back shaft, realizes that hip joint rotates; During knee joint work, first servomotor rotates and drives the driving gear rotation, by gear drive, drive driven gear and rotate, rotate thereby drive worm screw, again through the transmission of the second level of worm and worm wheel, the drive worm gear rotates, thereby a bar that drives worm gear place in the knee joint four-bar mechanism rotates, and drives the shank ectoskeleton and rotates, knee joint is rotated, and back link also will rotate thereupon during work; During ankle joint work, for an active branched chain guide rod, driving ball screw by servomotor rotates, thereby ball nut is produced along ball screw to move forward and backward, distance between the two-end-point that is connected with the active branched chain guide rod is changed, the work process of three active branched chain guide rods is identical, by regulating the distance of the two-end-point that connects three active branched chain guide rods, realization is to the regulating and controlling of mechanism's upper mounting plate, lower platform relative position relation, realize ankle dorsal flexion, the sole of the foot is bent, in turn over the motion of turning up.
Compared with prior art, the present invention includes following beneficial effect: artificial limb project organization compactness of the present invention, each joint slewing area are big, can satisfy human body actual motion requirement; Adopt driven by servomotor, the control accuracy height, output torque is big; Parallel institution is induced one in the ankle joint design, can coincide degree of freedom and rotational angle requirement, mechanism's rigidity is big, good stability.
Description of drawings
Fig. 1 is Facad structure figure of the present invention;
Fig. 2 is a construction profile of the present invention;
Fig. 3 is the first active branched chain guide rod structure sketch map of the present invention;
Fig. 4 is the 3rd an active branched chain guide rod sketch map of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As depicted in figs. 1 and 2, present embodiment comprises: hip joint, knee joint and ankle joint, hip joint, knee joint and ankle joint are connected successively, form human body lower limbs exoskeleton artificial limb structure.
Described ankle joint, comprise: vola gripper shoe 1, lower platform 2, upper mounting plate 3, the first active branched chain guide rod 4, the second active branched chain guide rod 5, the 3rd active branched chain guide rod 6, apery lower limb overcoat 9, wherein: the first active branched chain guide rod 4, the second active branched chain guide rod 5, one end of the 3rd active branched chain guide rod 6 all flexibly connects with upper mounting plate 3, the first active branched chain guide rod 4, the second active branched chain guide rod 5, the other end of the 3rd active branched chain guide rod 6 all flexibly connects with lower platform 2, vola gripper shoe 1 is fixedlyed connected with lower platform 2 by the baffle plate on its both sides, and apery lower limb overcoat 9 is fixedly connected with upper mounting plate 3.
Described knee joint, comprise first servomotor 16, quadric chain and drive mechanism, quadric chain comprises thigh ectoskeleton 18, shank ectoskeleton 10, back link 12 and worm gear 13, drive mechanism comprises driving gear 17, driven gear 15 and worm screw 14, thigh ectoskeleton 18 comprises two boards, first servomotor 16 is fixedly in the middle of inside and outside two plates of thigh ectoskeleton 18, the output shaft of the driving gear 17 and first servomotor 16 is affixed, and and driven gear 15 engagement, driven gear 15 is installed in the axle head of worm screw 14, worm screw 14 is fixed between the two boards of thigh ectoskeleton 18, worm screw 14 is meshed with worm gear 13, the other end of worm gear 13 and shank ectoskeleton 10 are connected by bearing, the center of rotation of worm gear 13 is connected with thigh ectoskeleton 18 by back shaft, back link 12 and thigh ectoskeleton 18, back shaft on the shank ectoskeleton 10 has connected fixation.
Described hip joint, comprise: needle bearing 20, harmonic speed reducer 21, supporting seat 23, back shaft 24, be with transmission 25 synchronously, second servomotor 26, cover plate 27, motor cabinet 28, wherein: second servomotor 26 is fixed on the motor cabinet 28, motor cabinet 28 is connected by bolt and supporting seat 23, second servomotor, 26 output torques pass to back shaft 24 by synchronous band transmission 25, back shaft 24 is connected with harmonic speed reducer 21 by flat key, harmonic speed reducer 21 is fixed on the cover plate 27, back shaft 24 is connected with kneed thigh ectoskeleton 18, harmonic speed reducer 21 slows down and increases 18 rotations of moment drive thigh ectoskeleton, back shaft 24 is installed in the needle bearing 20, and needle bearing 20 is installed on the supporting seat 23.
The upper mounting plate 3 and the kneed shank ectoskeleton 10 of described ankle joint are affixed, and kneed thigh ectoskeleton 18 is connected by the back shaft 24 of rolling bearing 22 and hip joint.
As shown in Figure 3; the described first active branched chain guide rod 4 comprises: the 3rd servomotor 29; first shaft joint 30; the first fore bearing supporting seat 31; first ball screw 32; first screw 33; first ball nut 34; the first rear bearing supporting seat 35; clutch shaft bearing 36; first travel switch 37; the one L type gripper shoe 38; first ball nut mount 39; first linear slide block 40; first line slideway 41; first angular contact bearing 42; first motor cabinet 43; wherein: the output shaft of the 3rd servomotor 29 is connected with first ball screw, 31 1 ends by first shaft joint 30; the 3rd servomotor 29 is fixed on first motor cabinet 43; first motor cabinet 43 and the first fore bearing supporting seat 31 are affixed; be installed in the end face of the first fore bearing supporting seat 31; first ball screw, 32 two ends are supported by the clutch shaft bearing 36 and first angular contact bearing 42; the clutch shaft bearing 36 and first angular contact bearing 42 are installed in respectively on the first rear bearing supporting seat 35 and the first fore bearing supporting seat 31; the first fore bearing supporting seat 31; the first rear bearing supporting seat 35 all is fixed on the L type gripper shoe 38; first ball nut 34 and first ball screw 32 pass through threaded engagement; first ball nut 34 and first ball nut mount 39 are by first screw, 33 Joints; the side of first ball nut mount 39 is connected with first linear slide block 40; first line slideway 41 is installed in the side of a L type gripper shoe 38; the one L type gripper shoe 38; first ball nut mount 39; first linear slide block 40 is connected the back and forms rectangular space with first line slideway 41; first travel switch 37 is installed on the side of a L type gripper shoe 38; be in the rectangular space; be used to detect first ball nut, 34 present positions, protect whole device in case with the first fore bearing supporting seat 31; the first rear bearing supporting seat 35 is collided.
The described second active branched chain guide rod 6, comprise: the 4th servomotor, second shaft joint, the second fore bearing supporting seat, second ball screw, second screw, second ball nut, the second rear bearing supporting seat, second bearing, second travel switch, the 2nd L type gripper shoe, second ball nut mount, second linear slide block, second line slideway, second angular contact bearing, second motor cabinet, above-mentioned parts are identical with the annexation of each parts of the first active branched chain guide rod 4.
As shown in Figure 4; described the 3rd active branched chain guide rod 6; comprise: the 3rd ball screw 44; the 3rd ball nut 45; the 3rd ball nut mount 46; trilinear slide block 47; the 3rd line slideway 48; the 3rd fore bearing supporting seat 49; third angle contact bearing 50; second synchronous pulley 51; synchronous cog belt 52; first synchronous pulley 53; the 4th motor cabinet 54; the 5th servomotor 55; the 3rd L type gripper shoe 56; third trip switch 57; the 3rd bearing 58; the 3rd rear bearing supporting seat 59; wherein: the 5th servomotor 55 is fixed on the 3rd motor cabinet 54; the 3rd motor cabinet 54 is fixed on the end face of the 3rd fore bearing supporting seat 49; the 3rd ball screw 44 two ends are supported by the 3rd bearing 58 and third angle contact bearing 50; the 3rd bearing 58 and third angle contact bearing 50 are installed in respectively on the 3rd rear bearing supporting seat 59 and the 3rd fore bearing supporting seat 49; the 3rd fore bearing supporting seat 49; the 3rd rear bearing supporting seat 59 all is fixed on the 3rd L type gripper shoe 56; the 3rd ball nut 45 and the 3rd ball screw 44 pass through threaded engagement; constitute the screw pair; the 3rd ball nut 45 and the 3rd ball nut mount 46 Joints; the side of the 3rd ball nut mount 46 is connected with trilinear slide block 47; the 3rd ball joint bearing 7 and the 3rd fore bearing supporting seat 49 are affixed; be fixed on the outside of the 3rd fore bearing supporting seat 49; the 3rd line slideway 48 is installed in the side of the 3rd L type gripper shoe 56; the 3rd L type gripper shoe 56; the 3rd ball nut mount 46; trilinear slide block 47 is connected the back and forms rectangular space with the 3rd line slideway 48; the 5th servomotor 55 output shafts are connected with first synchronous pulley 53; second synchronous pulley 51 is connected with the 3rd ball screw 44; synchronous cog belt 52 connects first synchronous pulley 53 and second synchronous pulley 51 respectively; realize of the transmission of the 3rd active branched chain guide rod 6 from the 5th servomotor 55 to the 3rd ball screws 44; third trip switch 57 is installed on the side of the 3rd L type gripper shoe 56; be in the rectangular space; be used to detect the 3rd ball nut 45 present positions, protect whole device in case with the 3rd fore bearing supporting seat 49; the 3rd rear bearing supporting seat 59 is collided.
The described first active branched chain guide rod 4, the second active branched chain guide rod 5, the 3rd active branched chain guide rod 6 one ends are connected with lower platform 2 by three ball joint bearings 7 respectively, and the other end is connected with upper mounting plate 3 by three revolute pairs 8 respectively.
Described back link 12 is connected with back shaft on thigh ectoskeleton 18, the shank ectoskeleton 10 by the opposite opened structure.
Described thigh ectoskeleton 18 is provided with stop between its two boards, and this stop is used to judge the position of worm gear 13, thereby judges shank ectoskeleton 10 position that whether reaches capacity.
The described driving gear 17 and first servomotor 16 adopt the key type of attachment.
Described driving gear 17 and driven gear 15 constitute first order decelerator.
Described worm screw 14 constitutes the second level with worm gear 13 and slows down.
During present embodiment work, but three joint self-movements, also can be according to the coordination exercise of human body actual walking pattern.Wherein, during hip joint work, second servomotor 26 rotates and drives band transmission 25 synchronously, thereby driving back shaft 24 rotates, back shaft 24 drives harmonic speed reducer 21 motions, the final thigh ectoskeleton 18 that links to each other with harmonic speed reducer 21 that drives rotates, and thigh ectoskeleton 18 rotates relative to back shaft 24, realizes that hip joint rotates; During knee joint work, first servomotor 16 rotates and drives driving gear 17 rotations, by gear drive, drive driven gear 15 and rotate, rotate thereby drive worm screw 14, again through the second level transmission of worm screw 14 and worm gear 13, drive worm gear 13 and rotate, thereby a bar that drives worm gear 13 places in the knee joint four-bar mechanism rotates, drive shank ectoskeleton 10 and rotate, knee joint is rotated, and back link 12 also will rotate thereupon during work; During ankle joint work, for an active branched chain guide rod, driving ball screw by servomotor rotates, thereby ball nut is produced along ball screw to move forward and backward, distance between the two-end-point that is connected with the active branched chain guide rod is changed, the work process of three active branched chain guide rods is identical, by regulating the distance of the two-end-point that connects three active branched chain guide rods, realization is to the regulating and controlling of mechanism's upper mounting plate 3, lower platform 2 relative position relations, realize ankle dorsal flexion, the sole of the foot is bent, in turn over the motion of turning up.
Hip joint in the present embodiment is made up of the single-degree-of-freedom rotating mechanism, energy-conservation whole ectoskeletal weight and the groups of people's body weight of bearing in this pass, and harmonic speed reducer 21 has bigger gear ratio, can export high moment of torsion.Knee joint adopts quadric chain, can make that the exoskeleton artificial limb knee joint rotation is instantaneous to be consistent with human body knee joint, in the mechanism body design, adopt worm and gear and gear mechanism transmission, utilize the self-locking property of worm and gear, keep the flexion of exoskeleton artificial limb.Worm and gear can transmit big moment of torsion simultaneously, satisfies the big requirement of human body knee joint load-bearing.Ankle joint adopts the 3-RPS parallel institution, and whole mechanism is made of upper mounting plate, three active branched chain guide rods, lower platform and vola support sections.Mechanism has three degree of freedom, can realize ankle dorsal flexion, and the sole of the foot is bent, in turn over, the motion of turning up, the while mechanism height is adjustable, can satisfy the wearer's of different heights demand.
Claims (8)
1, a kind of articulated type walking-aid exoskeleton artificial limb in parallel that is applicable to the paralytic comprises: hip joint, knee joint and ankle joint, and hip joint, knee joint and ankle joint are connected successively, form human body lower limbs exoskeleton artificial limb structure, it is characterized in that:
Described ankle joint, comprise: upper mounting plate, lower platform, vola gripper shoe, the first active branched chain guide rod, the second active branched chain guide rod, the 3rd active branched chain guide rod, apery lower limb overcoat, wherein: an end of the first active branched chain guide rod, the second active branched chain guide rod, the 3rd active branched chain guide rod all flexibly connects with upper mounting plate, the other end of the first active branched chain guide rod, the second active branched chain guide rod, the 3rd active branched chain guide rod all flexibly connects with lower platform, the vola gripper shoe is fixedlyed connected with lower platform by the baffle plate on its both sides, and apery lower limb overcoat is fixedlyed connected with upper mounting plate; Described knee joint, comprise: first servomotor, quadric chain and drive mechanism, quadric chain comprises the thigh ectoskeleton, the shank ectoskeleton, back link, worm gear, drive mechanism comprises driving gear, driven gear and worm screw, the thigh ectoskeleton comprises two boards, first servomotor is fixed in the middle of inside and outside two plates of thigh ectoskeleton, the output shaft of the driving gear and first servomotor is affixed, and and driven gear engagement, driven gear is installed in the axle head of worm screw, worm screw is fixed between the ectoskeletal two boards of thigh, worm and wheel is meshed, and the other end of worm gear is connected by bearing with the shank ectoskeleton, and the center of rotation of worm gear is connected with the thigh ectoskeleton by back shaft, back link one end is connected with the ectoskeletal back shaft of thigh, and the other end is connected with back shaft on the shank ectoskeleton;
Described hip joint, comprise: needle bearing, harmonic speed reducer, supporting seat, the hip joint back shaft, be with transmission synchronously, second servomotor, cover plate, motor cabinet, wherein: second servomotor is fixed on the motor cabinet, motor cabinet is fixed on supporting seat, the second servomotor output torque passes to the hip joint back shaft by synchronous band transmission, the hip joint back shaft is connected with harmonic speed reducer by flat key, harmonic speed reducer is fixing on the cover board, the hip joint back shaft is connected with kneed thigh ectoskeleton, the hip joint back shaft is installed in the needle bearing, and needle bearing is installed on the supporting seat;
The upper mounting plate of described ankle joint and kneed shank ectoskeleton are affixed, and kneed thigh ectoskeleton is connected by the back shaft of rolling bearing and hip joint.
2, the articulated type walking-aid exoskeleton artificial limb in parallel that is applicable to the paralytic according to claim 1, it is characterized in that, the described first active branched chain guide rod comprises: the 3rd servomotor, first shaft joint, the first fore bearing supporting seat, first ball screw, first screw, first ball nut, the first rear bearing supporting seat, clutch shaft bearing, first travel switch, the one L type gripper shoe, first ball nut mount, first linear slide block, first line slideway, first angular contact bearing, first motor cabinet, wherein: the output shaft of the 3rd servomotor is connected with first ball screw, one end by first shaft joint, the 3rd servomotor is fixed on first motor cabinet, first motor cabinet and the first fore bearing supporting seat are affixed, be installed in the end face of the first fore bearing supporting seat, the first ball screw two ends are supported by the clutch shaft bearing and first angular contact bearing, the clutch shaft bearing and first angular contact bearing are installed in respectively on the first rear bearing supporting seat and the first fore bearing supporting seat, the first fore bearing supporting seat, the first rear bearing supporting seat all is fixed on the L type gripper shoe, first ball nut and first ball screw pass through threaded engagement, first ball nut and first ball nut mount are by the first screw Joint, the side of first ball nut mount is connected with first linear slide block, first line slideway is installed in the side of a L type gripper shoe, the one L type gripper shoe, first ball nut mount, first linear slide block is connected the back and forms rectangular space with first line slideway, first travel switch is installed on the side of a L type gripper shoe, is in the rectangular space.
3, the articulated type walking-aid exoskeleton artificial limb in parallel that is applicable to the paralytic according to claim 1, it is characterized in that, the described second active branched chain guide rod, comprise: the 4th servomotor, second shaft joint, the second fore bearing supporting seat, second ball screw, second screw, second ball nut, the second rear bearing supporting seat, second bearing, second travel switch, the 2nd L type gripper shoe, second ball nut mount, second linear slide block, second line slideway, second angular contact bearing, second motor cabinet, wherein: the output shaft of the 4th servomotor is connected with second ball screw, one end by second shaft joint, the 4th servomotor is fixed on second motor cabinet, second motor cabinet and the second fore bearing supporting seat are affixed, be installed in the end face of the second fore bearing supporting seat, the second ball screw two ends are supported by second bearing and second angular contact bearing, second bearing and second angular contact bearing are installed in respectively on the second rear bearing supporting seat and the second fore bearing supporting seat, the second fore bearing supporting seat, the second rear bearing supporting seat all is fixed on the 2nd L type gripper shoe, second ball nut and second ball screw pass through threaded engagement, second ball nut and second ball nut mount are by the second screw Joint, the side of second ball nut mount is connected with second linear slide block, second line slideway is installed in the side of the 2nd L type gripper shoe, the 2nd L type gripper shoe, second ball nut mount, second linear slide block is connected the back and forms rectangular space with second line slideway, second travel switch is installed on the side of the 2nd L type gripper shoe, is in the rectangular space.
4; the articulated type walking-aid exoskeleton artificial limb in parallel that is applicable to the paralytic according to claim 1; it is characterized in that; described the 3rd active branched chain guide rod; comprise: the 3rd ball nut mount; the 3rd fore bearing supporting seat; synchronous cog belt; first synchronous pulley; second synchronous pulley; the 5th servomotor; the 3rd motor cabinet; the 3rd ball screw; the 3rd ball nut; the 3rd rear bearing supporting seat; the 3rd bearing; the third trip switch; the 3rd L type gripper shoe; the trilinear slide block; the 3rd line slideway; the third angle contact bearing; wherein: the 5th servomotor is fixed on the 3rd motor cabinet; the 3rd motor cabinet is fixed on the end face of the 3rd fore bearing supporting seat; the 3rd ball screw two ends are supported by the 3rd bearing and third angle contact bearing; the 3rd bearing and third angle contact bearing are installed in respectively on the 3rd rear bearing supporting seat and the 3rd fore bearing supporting seat; the 3rd fore bearing supporting seat; the 3rd rear bearing supporting seat all is fixed on the 3rd L type gripper shoe; the 3rd ball nut and the 3rd ball screw pass through threaded engagement; constitute the screw pair; the 3rd ball nut and the 3rd ball nut mount Joint; the side of the 3rd ball nut mount is connected with the trilinear slide block; the 3rd ball joint bearing and the 3rd fore bearing supporting seat are affixed; be fixed on the outside of the 3rd fore bearing supporting seat; the 3rd line slideway is installed in the side of the 3rd L type gripper shoe; the 3rd L type gripper shoe; the 3rd ball nut mount; the trilinear slide block is connected the back and forms rectangular space with the 3rd line slideway; the 5th servomotor output shaft is connected with first synchronous pulley; second synchronous pulley is connected with the 3rd ball screw; synchronous cog belt connects first synchronous pulley and second synchronous pulley respectively; realize of the transmission of the 3rd active branched chain guide rod from the 5th servomotor to the three ball screws; the third trip switch is installed on the side of the 3rd L type gripper shoe; be in the rectangular space; be used to detect the 3rd ball nut present position, protect whole device in case with the 3rd fore bearing supporting seat; the 3rd rear bearing supporting seat is collided.
5, the articulated type walking-aid exoskeleton artificial limb in parallel that is applicable to the paralytic according to claim 1, it is characterized in that, the described first active branched chain guide rod, the second active branched chain guide rod, the 3rd active branched chain guide rod one end are connected with lower platform by three ball joint bearings respectively, and the other end is connected with upper mounting plate by three revolute pairs respectively.
6, the articulated type walking-aid exoskeleton artificial limb in parallel that is applicable to the paralytic according to claim 1 is characterized in that, described back link is connected with back shaft on thigh ectoskeleton, the shank ectoskeleton by the opposite opened structure.
7, the articulated type walking-aid exoskeleton artificial limb in parallel that is applicable to the paralytic according to claim 1 is characterized in that described thigh ectoskeleton is provided with stop between its two boards.
8, the articulated type walking-aid exoskeleton artificial limb in parallel that is applicable to the paralytic according to claim 1 is characterized in that, the described driving gear and first servomotor adopt the key type of attachment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100340008A CN100558322C (en) | 2008-02-28 | 2008-02-28 | Be applicable to paralytic's articulated type walking-aid exoskeleton artificial limb in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100340008A CN100558322C (en) | 2008-02-28 | 2008-02-28 | Be applicable to paralytic's articulated type walking-aid exoskeleton artificial limb in parallel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101234043A CN101234043A (en) | 2008-08-06 |
| CN100558322C true CN100558322C (en) | 2009-11-11 |
Family
ID=39918120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100340008A Expired - Fee Related CN100558322C (en) | 2008-02-28 | 2008-02-28 | Be applicable to paralytic's articulated type walking-aid exoskeleton artificial limb in parallel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100558322C (en) |
Families Citing this family (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9554960B2 (en) * | 2010-11-24 | 2017-01-31 | Kawasaki Jukogyo Kabushiki Kaisha | Wearable motion supporting device |
| CN102078228A (en) * | 2010-12-30 | 2011-06-01 | 霍启英 | Intelligent mechanical leg |
| CN102670377A (en) * | 2012-05-28 | 2012-09-19 | 西华大学 | Exoskeleton wearable lower limb rehabilitation training robot device |
| CN102973337B (en) * | 2012-09-25 | 2015-05-06 | 电子科技大学 | Active knee joint structure with function of load-bearing and self-locking |
| CN102885682B (en) * | 2012-11-06 | 2014-05-28 | 中国科学院自动化研究所 | Thigh length adjusting device for rehabilitation robot |
| CN103006357B (en) * | 2012-12-19 | 2015-04-22 | 南京工程学院 | Active-passive combined low-power-consumption ankle joint prosthesis |
| CN103315834B (en) * | 2013-06-27 | 2015-04-22 | 北京交通大学 | Wearable lower-limb assistance exoskeleton |
| CN103767815B (en) * | 2014-01-14 | 2015-09-30 | 北京理工大学 | Forward type dynamic property ankle foot healing orthosis |
| CN103860357B (en) * | 2014-02-25 | 2017-09-08 | 北京航空航天大学 | A kind of foot device with ankle-joint parameter measurement suitable for ectoskeleton Auxiliary support robot |
| CN104434471A (en) * | 2014-12-24 | 2015-03-25 | 广西大学 | Leading load acting-saving exoskeleton foot device |
| CN107223044B (en) | 2015-02-09 | 2019-11-01 | 圣安娜高等学校 | Hip joint orthoses drive system |
| CN104758096B (en) * | 2015-03-30 | 2016-11-30 | 山东科技大学 | A kind of method that artificial limb object space positioning precision is corrected |
| FR3034660B1 (en) * | 2015-04-07 | 2022-06-10 | Wandercraft | EXOSKELETON COMPRISING A MECHANICAL ANKLE LINKAGE WITH TWO PIVOTING AXES |
| CN105012056B (en) * | 2015-06-01 | 2018-03-09 | 北京航空航天大学 | A kind of lower limb exoskeleton structure with bionic knee joint |
| EP3402444B1 (en) * | 2016-01-17 | 2022-04-06 | Human in Motion Robotics Inc. | System and device for guiding and detecting motions of 3-dof rotational target joint |
| CN105835041B (en) * | 2016-05-23 | 2018-07-13 | 深圳先进技术研究院 | A kind of exoskeleton robot hip joint, exoskeleton robot and its control method |
| CN106181969B (en) * | 2016-08-23 | 2018-07-03 | 哈尔滨工业大学 | A kind of passive equilibrium hip joint in lower limb assistance exoskeleton robot |
| CN106078702B (en) * | 2016-08-23 | 2018-03-30 | 哈尔滨工业大学 | The lower limb assistance exoskeleton robot that a kind of lightness master passively combines |
| CN106361541A (en) * | 2016-10-14 | 2017-02-01 | 福州大学 | Knee joint load-bearing power assisting exoskeleton device and working method thereof |
| CN107049713A (en) * | 2017-03-13 | 2017-08-18 | 东北大学 | Wearable lower limb rehabilitation walk help mechanical device |
| CN108186294B (en) * | 2018-01-16 | 2024-01-19 | 浙江大学 | Lower limb rehabilitation exoskeleton system and master-slave adjustable joint thereof |
| CN108468779A (en) * | 2018-05-29 | 2018-08-31 | 北京华文永康科技有限公司 | A kind of lead screw numerical control deceleration device |
| CN109717990B (en) * | 2018-12-29 | 2020-08-28 | 攀枝花市午跃科技有限公司 | Titanium alloy geometric lock knee joint |
| CN109938970B (en) * | 2019-03-22 | 2020-02-18 | 西安交通大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN109938971B (en) * | 2019-04-15 | 2021-03-16 | 哈工大机器人（合肥）国际创新研究院 | Wearable lower limb hip joint and knee joint booster unit |
| CN110179631B (en) * | 2019-06-25 | 2021-12-10 | 北京石油化工学院 | Two-degree-of-freedom hip joint training mechanism |
-
2008
- 2008-02-28 CN CNB2008100340008A patent/CN100558322C/en not_active Expired - Fee Related
Non-Patent Citations (4)
| Title |
|---|
| Sprained Ankle Physiotherapy Based MechanismSynthesisand Stiffness Analysis of a Robotic. JIAN S.DAI AND TIESHI ZHAO.Autonomous Robots. 2004 |
| Sprained Ankle Physiotherapy Based MechanismSynthesisand Stiffness Analysis of a Robotic. JIAN S.DAI AND TIESHI ZHAO.Autonomous Robots. 2004 * |
| 交叉式连杆机构用于假肢膝关节的研究. 邹慧君，曹志奎，沈乃勋，马培荪.上海交通大学学报，第4卷. 1982 |
| 交叉式连杆机构用于假肢膝关节的研究. 邹慧君，曹志奎，沈乃勋，马培荪.上海交通大学学报，第4卷. 1982 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101234043A (en) | 2008-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100558322C (en) | Be applicable to paralytic's articulated type walking-aid exoskeleton artificial limb in parallel | |
| CN101810533B (en) | Walking aid exoskeleton rehabilitation robot | |
| US11642271B2 (en) | Modular and minimally constraining lower limb exoskeleton for enhanced mobility and balance augmentation | |
| US20200206063A1 (en) | Actuation system for hip orthosis | |
| CN101984946B (en) | Sitting exoskeleton lower limb rehabilitation robot | |
| CN100558323C (en) | Parallel type multi-freedom artificial limb exoskeleton ankle joint | |
| CN102247260B (en) | Line angle driving lower limb walking aid | |
| US20060069336A1 (en) | Ankle interface | |
| CN108392782B (en) | It is a kind of for assisting the pelvis attitude coutrol mechanism of walking rehabilitation training | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN110464601B (en) | Wearable bio-fusion lower limb rehabilitation robot | |
| CN110192964B (en) | Foot movement device of pedal type gait rehabilitation robot | |
| CN209237264U (en) | Removable ankle-joint exoskeleton rehabilitation image training robot | |
| CN112022618B (en) | Rigid-flexible coupling wearable walking assisting exoskeleton system | |
| CN112022631A (en) | Lower limb exoskeleton device for multi-body position rehabilitation training | |
| CN110613584B (en) | Flexible lower limb rehabilitation training mechanism | |
| CN100571660C (en) | Artificial limb exoskeleton knee joint | |
| CN115137618A (en) | Wearable lower limb exoskeleton rehabilitation and power-assisted robot | |
| CN111658445A (en) | Hip joint structure for lower limb rehabilitation training and passive gait coordination control method | |
| CN112057302B (en) | Leg rehabilitation training system | |
| CN109846675A (en) | A kind of mechanical structure and its rehabilitation walk help mechanism of sliceable combined lower limb invalid aids | |
| CN213526251U (en) | Lower limb exoskeleton device for multi-body position rehabilitation training | |
| CN107049701B (en) | Wearable power knee joint rehabilitation device | |
| Rodriguez et al. | Passive ankle joint stiffness compensation by a novel ankle-foot-orthosis | |
| CN109648546B (en) | Adjustable light and thin exoskeleton knee joint driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: JIANGSU XINZHIYUAN MEDICAL ROBOTS CO., LTD. Free format text: FORMER OWNER: SHANGHAI JIAOTONG UNIVERSITY Effective date: 20120518 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 200240 MINHANG, SHANGHAI TO: 225300 TAIZHOU, JIANGSU PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20120518 Address after: 225300 Jiangsu province Taizhou City Medical City Road No. 1 Building 1 layer H Patentee after: Jiangsu maslech medical robot Co Ltd Address before: 200240 Dongchuan Road, Shanghai, No. 800, No. Patentee before: Shanghai Jiao Tong University |
|
| ASS | Succession or assignment of patent right |
Owner name: JIANGSU MASLECH MDEICAL TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: JIANGSU XINZHIYUAN MEDICAL ROBOTS CO., LTD. Effective date: 20130401 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20130401 Address after: 407, room 707, room 8, block 225300, drug City Avenue, Taizhou, Jiangsu Patentee after: JIANGSU MASLECH MEDICAL TECHNOLOGY CO., LTD. Address before: 225300 Jiangsu province Taizhou City Medical City Road No. 1 Building 1 layer H Patentee before: Jiangsu maslech medical robot Co Ltd |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091111 Termination date: 20150228 |
|
| EXPY | Termination of patent right or utility model |