CN102499859A - Lower limb exoskeleton walking rehabilitation robot - Google Patents
Lower limb exoskeleton walking rehabilitation robot Download PDFInfo
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- CN102499859A CN102499859A CN2011103508341A CN201110350834A CN102499859A CN 102499859 A CN102499859 A CN 102499859A CN 2011103508341 A CN2011103508341 A CN 2011103508341A CN 201110350834 A CN201110350834 A CN 201110350834A CN 102499859 A CN102499859 A CN 102499859A
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Abstract
The invention discloses a lower limb exoskeleton rehabilitation robot in the technical field of medical equipment. The lower limb exoskeleton rehabilitation robot comprises an ankle joint motion module, a knee joint motion module, a hip joint motion module, a hip and support module and a crutch module, wherein one end of the knee joint motion module is connected with the ankle joint motion module, and the other end of the knee joint motion module is connected with the hip joint motion module; the hip and support module is connected with the hip joint motion module; and the crutch module is independent of an exoskeleton body. The lower limb exoskeleton rehabilitation robot can help patients who suffer from paraplegia stand up and walk, and the bend and stretch motion of a knee joint and a hip joint is controlled by collecting contact information of a crutch and the ground so as to help the patients to stride; and an oppositely-pulled spring of the knee joint can help to reduce impact from the ground, so that patients can walk comfortably, and the efficiency of rehabilitation training is improved.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, relate in particular to a kind of lower limb exoskeleton walking healing robot.
Background technology
Spinal cord is sensation, motion, neuro pathway, so the cardinal symptom of spinal cord injury is the paralysis that the interruption because of pathway causes.Spinal cord injury is meant because various external force act on spinal compression or the fracture that spinal column causes; Serious spinal cord injury will cause paraplela inferior; Therefore, seek effective rehabilitation maneuver, make the patient can recover the function that loses to a certain extent; Not only help improving patient's quality of life itself, also can alleviate the overall burden of family and society.Lower limb exoskeleton walking healing robot is a kind of wearable, robot system ectoskeleton with artificial intelligence; In conjunction with people's intelligence and the mechanical energy of machinery; The patient can break away from wheelchair by this system, realizes standing and walking, and sets up the confidence to life.
Retrieval through to prior art finds that application number is 200910088396.9 Chinese invention patent, title: wearable lower limb exoskeleton device; This technology comprises: lumbar support frame and luggage carrier, can adjust hip mechanism, the adjustable knee-joint mechanism of connecting rod; Connecting rod is adjustable ankle joint mechanism, pressure detecting footwear, leg link; Constraint component and each connector, these ESD list lower limb have six-freedom degree, are respectively two of hip joints; One of knee joint and ankle joint three degree of freedom, this device can be used for strengthening the wearer walking and bear a heavy burden and long-time ability of walking, but this device does not relate to driving; So the function that invention is provided is limited, can not be used for rehabilitation, can not be used to help the patient to walk.Application number is 200410053695.6 Chinese invention patent; Title: wearable lower limb walking ectoskeleton; This technology comprises: lumbar support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and vola are supported; These ectoskeleton list lower limb have four degree of freedom, use four-bar mechanism can well accomplish bigger load, but this exoskeleton robot only is used for auxiliary or strengthens the walking movement ability of dressing; Can not be used to help the patient to realize walking, and not have mechanical position limitation in the structure.Application number is that 201010158178.0 the disclosed lower limbs rehabilitation training robot of Chinese invention patent application is the equipment that helps the patients with cerebral apoplexy training, can not be used to help the patient to walk.Application number is that 201110029533.9 the disclosed exoskeleton rehabilitation robot of Chinese invention patent application is used for rehabilitation training, and does not have hoisting mechanism, is difficult to realize helping apoplexy and paralytic patient to train.
Summary of the invention
The present invention is directed to the above-mentioned deficiency that prior art exists; A kind of lower limb exoskeleton walking healing robot is provided; Auxiliary patient breaks away from wheelchair and stands up and walk, and these contrive equipment list lower limb comprise three degree of freedom, the flexion and extension of hip joint; The motion that stoops of the sole of the foot of kneed flexion and extension and ankle joint, wherein preceding two degree of freedom have driving.
The present invention realizes through following technical scheme, the present invention includes: ectoskeleton body and crutch module; Wherein, Said ectoskeleton body comprises ankle motion module, motion of knee joint module, elastic driver module, hip joint motion module, waist and bracing frame module; Wherein: motion of knee joint module two ends link to each other with ankle motion module, hip joint motion module respectively; The hip joint motion module is connected with waist and bracing frame; Be independent of the ectoskeleton body on the crutch modular structure and be electrically connected with the ectoskeleton body, electric connecting mode is: the push button on and off switch through the crutch module and the closure of normally closed switch are controlled the motion of elastic driver module, control the motion of ectoskeleton body then.
Described ankle motion module comprises: foot, latch plate, ankle joint bearing, ankle joint fixing head, extension spring; Wherein: the ankle joint bearing is fixed in foot; The ankle joint fixing head is fixed on the ankle joint bearing through screw; The ankle joint fixing head links to each other with lower leg portion through bearing, and extension spring is connected between the latch plate.
Described motion of knee joint module comprises: shank, shank length adjustable plate, bolt, shank bandage plate, knee joint fixing head; Wherein: shank length adjustable plate inserts in the groove of shank, can be along the groove slip and with bolt locking, to regulate the length of shank counterpart; The knee joint fixing head links to each other with shank length adjustable plate through bolt; The other end passes through bearing and links to each other with leg portion, and shank bandage plate is fixed on the shank, and an end of shank connects through bearing and links to each other with foot.
Described hip joint motion module comprises: knee joint limited block, thigh, bolt, actuator support, thigh length adjustable plate, hip joint fixing head, pin, hip joint limited block, hip joint; Wherein: thigh length adjustable plate inserts in the groove of thigh; Can lock along the groove slip and with bolt; To regulate the length of thigh counterpart, actuator support is fixed on the thigh, and links to each other with elastic driver through bearing; Hip joint fixing head one end links to each other with thigh length adjustable plate through screw; The other end links to each other with hip joint through deep groove ball bearing, and pin is used for locating knee joint limited block and hip joint limited block position, thereby arrives different spacing strokes.
Described waist and bracing frame module comprise: lumbar support, bracket leg fagging, support riser, support base plate and bolt; Wherein: lumbar support inserts in the square groove of hip joint; Can be along the groove slip and with marking closely bolt locking; To regulate the lateral length size of waist, have square hole on the support riser, lumbar support can move left and right be adjusted to after the hip size that is fit to the patient locked with bolt; The support base plate is connected with the support riser through screw, and the bracket leg fagging is fixed on support base plate and the support riser to strengthen the rigidity and the intensity of bracing frame.
Described elastic driver module comprises: direct current generator, motor fixing plate, shaft coupling, leading screw, guide post, rear spring baffle plate, feed screw nut, front spring baffle plate, spring length adjustment plate, spring, leading screw fixing head, push rod, ejector pin retaining plate, oscillating bearing; Wherein: motor is fixed on the motor fixing plate, and shaft coupling connects motor and leading screw; Guide post one end is fixed on the motor fixing plate, and the other end is fixed on the leading screw fixing head, and guide post passes the hole on rear spring plate, feed screw nut and the front spring plate, and with the matched in clearance in these holes; Push rod one end is fixed on the rear spring plate, and the other end is fixed on the ejector pin retaining plate, and push rod passes the hole on feed screw nut, front spring baffle plate and the leading screw fixing head, and cooperates with these interporal lacunas; Four springs are placed on respectively between rear spring baffle plate and the feed screw nut; And between feed screw nut and the front spring baffle plate; And four springs pass two push rods, have confirmed after the pre compressed magnitude of spring, with screw spring length adjustment plate are fixed on rear spring baffle plate and the front spring baffle plate; Oscillating bearing is fixed on the ejector pin retaining plate.
Described crutch module comprises: push button on and off switch, crutch body, adapter sleeve, normal open switch, fairlead, switch top board, stage clip, crutch tip; Wherein: on and off switch is connected with the crutch body through screwed hole; Adapter sleeve connects crutch body and normal open switch; Fairlead is connected through screw thread a section with adapter sleeve, and the switch top board links to each other with the crutch tip that passes the fairlead endoporus, and stage clip is placed between adapter sleeve and the crutch tip.
When the present invention works: the size of measuring patient shank, thigh and hip at first, regulate ectoskeleton shank, thigh and hip then to suitable dimensions.Dress exoskeleton robot, link to each other with ectoskeletal thigh and calf through the thigh and calf of bandage with the patient, by belt patient and hip are linked together, patient's both hands are held crutch and are come the balance health and control ectoskeletal motion through crutch.
The present invention compares prior art and has the following advantages: the machinery list lower limb of exoskeleton robot have three degree of freedom among the present invention; Utilize less necessary degree of freedom to realize walking; Reduced the complexity of mechanism; Improved the efficient of device, the flexion and extension realization through knee joint and hip joint strides, and the motion that stoops of the sole of the foot of ankle joint can help the patient in the process of taking a step, to reduce the impact from ground; Knee joint and hip joint motion scope are at 95 °, and promptly the patient can realize walking and sitting down by this ectoskeleton.And each joint of robot freedom of motion has kept coaxial basically with the human synovial freedom of motion, and this Bionic Design has strengthened the comfortableness and the reliability of machine, more is of value to the auxiliary patient's walking of robot.
Below will combine accompanying drawing that the technique effect of design of the present invention, concrete structure and generation is described further, to understand the object of the invention, characteristic and effect fully.
Description of drawings
Fig. 1 is the overall structure sketch map of the lower limb exoskeleton device of a preferred embodiment of the present invention.
Fig. 2 is the partial schematic diagram of middle ankle motion module embodiment illustrated in fig. 1.
Fig. 3 is the partial schematic diagram of middle motion of knee joint knot module embodiment illustrated in fig. 1.
Fig. 4 is the partial schematic diagram of middle elasticity Drive Module embodiment illustrated in fig. 1.
Fig. 5 is the partial schematic diagram of middle hip joint motion module embodiment illustrated in fig. 1.
Fig. 6 is the partial schematic diagram of middle hip embodiment illustrated in fig. 1 and rack module.
Fig. 7 is the partial schematic diagram of middle crutch module embodiment illustrated in fig. 1.
Fig. 8 is the partial schematic diagram of the crutch module medial end portions of Fig. 7.
Fig. 9 is a control circuit block diagram embodiment illustrated in fig. 1.
The specific embodiment
As shown in Figure 1; Present embodiment comprises: ankle motion module 1, motion of knee joint module 2, elastic driver module 3, hip joint motion module 4, waist and bracing frame module 5, crutch module 6; Wherein: motion of knee joint module 2 two ends link to each other 4 with ankle motion module 1 with the hip joint motion module respectively; Elastic driver 3 links to each other with hip joint motion module 5, and hip joint motion module 5 is connected with waist and bracing frame 5, and crutch module 6 is independent of the ectoskeleton body.
As shown in Figure 2; Described ankle motion module 1 comprises: foot 10, latch plate 11, ankle joint bearing 12, ankle joint fixing head 13, extension spring 14; Wherein: ankle joint bearing 12 is fixed in foot 10; Ankle joint fixing head 13 is fixed on the ankle joint bearing 12 through screw, and ankle joint fixing head 13 links to each other with lower leg portion through bearing, and extension spring 14 is connected between the latch plate 11.
Described ankle motion module 1 realizes the motion that stoops of the sole of the foot of ankle joint: promptly foot rotates around the J1 axle.
As shown in Figure 3; Described motion of knee joint module 2 comprises: shank 20, shank length adjustable plate 21, bolt 22, shank bandage plate 23, knee joint fixing head 24; Wherein: shank length adjustable plate 21 inserts in the groove of shank 20, can be along the groove slip and with bolt locking, to regulate the length of shank counterpart; Knee joint fixing head 24 links to each other with shank length adjustable plate 21 through screw; The other end links to each other with leg portion through bearing, and shank bandage plate 23 is fixed on the shank 20, and an end of shank 20 connects through bearing and links to each other with foot.
Described motion of knee joint module 2 realizes the flexion and extension of ankle joint: promptly lower leg portion rotates around the J2 axle.
As shown in Figure 4; Described elastic driver module 3 comprises: direct current generator 30, motor fixing plate 31, shaft coupling 32, leading screw 33, guide post 34, rear spring baffle plate 35, feed screw nut 36, front spring baffle plate 37, spring length adjustment plate 38, spring 39, leading screw fixing head 310, push rod 311, ejector pin retaining plate 312, oscillating bearing 313; Wherein: motor 30 is fixed on the motor fixing plate 31, and shaft coupling 32 connects motor 30 and leading screw 33; Guide post 34 1 ends are fixed on the motor fixing plate 31, and the other end is fixed on the leading screw fixing head 310, and guide post 34 passes the hole on rear spring plate 35, feed screw nut 36 and the front spring plate 37, and with the matched in clearance in these holes; Push rod 311 1 ends are fixed on the rear spring plate 35, and the other end is fixed on the ejector pin retaining plate 312, and push rod 311 passes the hole on feed screw nut 36, front spring baffle plate 37 and the leading screw fixing head 310, and cooperate with these interporal lacunas; Four springs 39 are placed on respectively between rear spring baffle plate 35 and the feed screw nut 36; And between feed screw nut 36 and the front spring baffle plate; And four springs pass two push rods 311; Confirmed after the pre compressed magnitude of spring 39, spring length adjustment plate 38 has been fixed on rear spring baffle plate 35 and the front spring baffle plate 37 with screw; Oscillating bearing 313 is fixed on the ejector pin retaining plate 312.
The working method of elastic driver module 3: motor 30 rotating band movable wire thick sticks 33 rotate together; Rotatablely moving of leading screw 33 changes into the rectilinear motion of feed screw nut 36; The rectilinear motion of feed screw nut 36 will compress the spring 39 between feed screw nut and spring stop; The thrust of spring promotes spring stop 35,37 and does rectilinear motion, does rectilinear motion thereby drive push rod 311 with oscillating bearing 313, has promptly realized rotatablely moving of motor 30 changed into the driver rectilinear motion.
As shown in Figure 5; Described hip joint motion module 4 comprises: knee joint limited block 40, thigh 41, bolt 42, actuator support 43, thigh length adjustable plate 44, hip joint fixing head 45, pin 46, hip joint limited block 47, hip joint 48; Wherein: thigh length adjustable plate 44 inserts in the groove of thigh 41, can be along the groove slip and with bolt 42 lockings, to regulate the length of thigh counterpart; Actuator support 43 is fixed on the thigh 41; And link to each other with elastic driver 3 through bearing, hip joint fixing head 45 1 ends link to each other with thigh length adjustable plate 44 through screw, and the other end passes through deep groove ball bearing and links to each other with hip joint 48; Limited block 47 is through being connected on the hip joint 48; Limit the anglec of rotation of hip joint fixing head 45 around J3 through arc surface on the limited block 47 and inclined-plane, pin 46 is used for locating the position of knee joint limited block 40 and hip joint limited block 47, thereby realizes different spacing strokes.
Described hip joint motion module 4 realizes the flexion and extension of hip joint: promptly leg portion is rotated around the J3 axle.
As shown in Figure 6; Described hip and bracing frame module 5 comprise: lumbar support 50, bracket leg fagging 51, support riser 52, support base plate 53 and bolt 54; Wherein: lumbar support 50 inserts in the square groove of hip joint 48, can be along the groove slip and with marking closely bolt locking, to regulate the lateral length size of waist; Have square hole on the support riser 52; Lumbar support 50 can move left and right be adjusted to after the hip size that is fit to the patient locked with bolt 54, and support base plate 53 is connected with support riser 52 through screw, and bracket leg fagging 52 is fixed on support base plate 53 and the support riser 52 rigidity and the intensity with the reinforcement bracing frame.
Like Fig. 7, shown in Figure 8; Described crutch module 6 comprises: push button on and off switch 60, crutch body 61, adapter sleeve 62, normal open switch 63, fairlead 64, switch top board 65, stage clip 66, crutch tip 67; Wherein: on and off switch 60 is connected with crutch body 61 through screwed hole; Adapter sleeve 62 connects crutch body 61 and normal open switch 63; Fairlead 64 is connected through screw thread a section with adapter sleeve 62, and switch top board 65 links to each other with the crutch tip 67 that passes fairlead 64 endoporus, and stage clip 66 is placed between adapter sleeve 62 and the crutch tip 67.
In present embodiment when work: the patient is seated on the correct position of seat and dresses the ectoskeleton body; The size of the various piece of adjustment ectoskeleton body; The ankle joint, knee joint and the hip joint that make human body are dressed to adapt to patient body being positioned at the corresponding rotating shaft of robot.The patient stands up by crutch module 6 after having dressed the ectoskeleton body.Control principle is as shown in Figure 9, after the patient presses the button formula on and off switch 60, if the crutch on the right lands; Trigger normal open switch 63 closures on the crutch tip, ectoskeletal control system will drive the elastic driver module 3 of left lower limb and work, thereby realize that left lower limb takes a step; In like manner; The crutch on the left side lands and drives right lower limb and take a step, and so constantly back and forth, the patient is able to walk by exoskeleton robot.
More than describe preferred embodiment of the present invention in detail.The ordinary skill that should be appreciated that this area need not creative work and just can design according to the present invention make many modifications and variation.Therefore, all technical staff in the art all should be in the determined protection domain by claims under this invention's idea on the basis of existing technology through the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (7)
1. a lower limb exoskeleton walking healing robot is characterized in that, comprising: ectoskeleton body and crutch module; Wherein, Said ectoskeleton body comprises ankle motion module, motion of knee joint module, elastic driver module, hip joint motion module, waist and bracing frame module; Wherein: motion of knee joint module two ends link to each other with ankle motion module, hip joint motion module respectively; The hip joint motion module is connected with waist and bracing frame module; Be independent of the ectoskeleton body on the crutch modular structure and be electrically connected with the ectoskeleton body, electric connecting mode is: the push button on and off switch through the crutch module and the closure of normally closed switch are controlled the motion of elastic driver module, control the motion of ectoskeleton body then.
2. lower limb exoskeleton walking healing robot according to claim 1; It is characterized in that; Described ankle motion module comprises: foot, latch plate, ankle joint bearing, ankle joint fixing head, extension spring, and wherein: the ankle joint bearing is fixed in foot, and the ankle joint fixing head is fixed on the ankle joint bearing through screw; The ankle joint fixing head links to each other with lower leg portion through bearing, and extension spring is connected between the latch plate.
3. lower limb exoskeleton walking healing robot according to claim 1; It is characterized in that described motion of knee joint module comprises: shank, shank length adjustable plate, bolt, shank bandage plate, knee joint fixing head, wherein: shank length adjustable plate inserts in the groove of shank; Can lock along the groove slip and with bolt; To regulate the length of shank counterpart, the knee joint fixing head links to each other with shank length adjustable plate through bolt, and the other end passes through bearing and links to each other with leg portion; Shank bandage plate is fixed on the shank, and an end of shank connects through bearing and links to each other with foot.
4. lower limb exoskeleton walking healing robot according to claim 1; It is characterized in that; Described elastic driver module comprises: direct current generator, shaft coupling, motor fixing plate, leading screw, guide post, rear spring baffle plate, feed screw nut, spring length adjustment plate, front spring baffle plate, spring, leading screw fixing head, push rod, ejector pin retaining plate, oscillating bearing; Wherein: direct current generator is fixed on the motor fixing plate, shaft coupling link direct current generator and leading screw; Guide post one end is fixed on the motor fixing plate, and the other end is fixed on the leading screw fixing head, and guide post passes the hole on rear spring plate, feed screw nut and the front spring plate, and with the matched in clearance in these holes; Push rod one end is fixed on the rear spring plate, and the other end is fixed on the ejector pin retaining plate, and push rod passes the hole on feed screw nut, front spring baffle plate and the leading screw fixing head, and cooperates with these interporal lacunas; Four springs are placed on respectively between rear spring baffle plate and the feed screw nut; And between feed screw nut and the front spring baffle plate; And four springs pass two push rods, have confirmed after the pre compressed magnitude of spring, with screw spring length adjustment plate are fixed on rear spring baffle plate and the front spring baffle plate; Oscillating bearing is fixed on the ejector pin retaining plate.
5. lower limb exoskeleton walking healing robot according to claim 1; It is characterized in that described hip joint motion module comprises: knee joint limited block, thigh, bolt, actuator support, thigh length adjustable plate, hip joint fixing head, pin, hip joint limited block, hip joint, wherein: thigh length adjustable plate inserts in the groove of thigh; Can lock along the groove slip and with bolt; To regulate the length of thigh counterpart, actuator support is fixed on the thigh, and links to each other with elastic driver through bearing; Hip joint fixing head one end links to each other with thigh length adjustable plate through screw; The other end links to each other with hip joint through deep groove ball bearing, and limited block is through being connected on the hip joint, limits the stay with one's parents in order to make them happy anglec of rotation of joint rotating shaft of hip joint fixing head through arc surface on the limited block and inclined-plane; Pin is used for locating the position of knee joint limited block and hip joint limited block, thereby realizes different spacing strokes.
6. lower limb exoskeleton walking healing robot according to claim 1; It is characterized in that described waist and bracing frame module comprise: lumbar support, bracket leg fagging, support riser, support base plate and bolt, wherein: lumbar support inserts in the square groove of hip joint; Can be along the groove slip and with marking closely bolt locking; To regulate the lateral length size of waist, have square hole on the support riser, lumbar support can move left and right be adjusted to after the hip size that is fit to the patient locked with bolt; The support base plate is connected with the support riser through screw, and the bracket leg fagging is fixed on support base plate and the support riser to strengthen the rigidity and the intensity of bracing frame.
7. lower limb exoskeleton walking healing robot according to claim 1; It is characterized in that; Described crutch module comprises: on and off switch, crutch body, adapter sleeve, normal open switch, fairlead, switch top board, stage clip, crutch tip; Wherein: on and off switch is connected with the crutch body through screwed hole, adapter sleeve connection crutch body and normal open switch, and fairlead is connected through screw thread a section with adapter sleeve; The switch top board links to each other with the crutch tip that passes the fairlead endoporus, and stage clip is placed between adapter sleeve and the crutch tip.
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