CN109730905A - A kind of lower limb robot - Google Patents
A kind of lower limb robot Download PDFInfo
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- CN109730905A CN109730905A CN201910148794.9A CN201910148794A CN109730905A CN 109730905 A CN109730905 A CN 109730905A CN 201910148794 A CN201910148794 A CN 201910148794A CN 109730905 A CN109730905 A CN 109730905A
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- connecting element
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- thigh
- sole
- lower limb
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Abstract
A kind of lower limb robot, including mechanical module, control module, drive module and sensing module, the mechanical module includes left leg connecting element and right leg connecting element, the left leg connecting element and right leg connecting element all include thigh connecting element, shank connecting element, sole connecting element and bandage, the thigh connecting element is flexibly connected with shank connecting element, the shank connecting element is flexibly connected with sole connecting element, the junction of thigh connecting element and shank connecting element is equipped with several freedom degrees, the junction of shank connecting element and sole connecting element is equipped with several freedom degrees, the drive module includes servo motor, the servo motor is respectively arranged at thigh connecting element and shank connecting element, and servo motor individually controls thigh connecting element and shank connecting element, the sensing module Including pressure detecting element.
Description
Technical field
The present invention relates to bio-robot field more particularly to a kind of lower limb robots.
Background technique
Lower limb robot is a kind of auxiliary type for being used to help the sufferers such as handicapped spinal injury, lower limb, amputation, paralysis
Healing robot, its basic principle are on the basis of based on human motion consciousness of behavior information, by being mounted on leg joint
The servo motor at place drives joint motions, and by copying the rule of human motion, it is variable to provide multi-angle, velocity amplitude in each joint
Power assist the coordinated movement of various economic factors of human leg and power-assisted be provided, reduce the pressure in the case that people walks for a long time to leg,
People's rehabilitation that auxiliary lower limb are taken action constant, but from the prior art, the principle of lower limb robot is to pass through current sensor
The soft or hard degree of low current signal or muscle transmitted when detecting muscle activity judges the consciousness of behavior of people, this results in institute
The sensor needs of use are directly contacted with human skin, be will lead to user first in this way and are dressed inconvenience, and were using
In journey the stability of the sweat of human secretory, sensor and skin contact can all influence sensor acquisition electric current stability and
Accuracy, thus it is difficult to ensure that lower limb robot is to the accurate judgement of human body consciousness of behavior.
Summary of the invention
To solve the above-mentioned problems, stable operation and the leg of sufferer can be assisted to carry out the present invention provides a kind of
The lower limb robot of proper motion.
Technical solution of the present invention: a kind of lower limb robot, including for being fixed with human body lower limbs and assisting human body lower limbs
The mechanical module of movement, for control mechanical module movement control module, for providing power for the movement of mechanical module
Drive module and sensing module for perceiving human body lower limbs stress condition, the mechanical module includes left leg connecting element and the right side
Leg connecting element, the left leg connecting element and right leg connecting element all include thigh connecting element, shank connecting element, sole
Connecting element and bandage for being fixedly connected with human body lower limbs with thigh connecting element and shank connecting element, the thigh connect
It connects element to be flexibly connected with shank connecting element, the shank connecting element is flexibly connected with sole connecting element, thigh connection
The junction of element and shank connecting element is equipped with several freedom degrees, the junction of shank connecting element and sole connecting element
Equipped with several freedom degrees, the drive module includes servo motor, and the servo motor is respectively arranged at thigh connecting element
With shank connecting element, and servo motor individually controls thigh connecting element and shank connecting element, the sensing mould
Block includes pressure detecting element, and the pressure detecting element is located at the junction of thigh connecting element Yu shank connecting element
With the junction of shank connecting element and sole connecting element, the control module includes PLC controller, the PLC controller
It is electrically connected with servo motor, PLC controller, which can control servo motor, connects thigh connecting element, shank connecting element and sole
Connecing element copies human normal gait to move.
By adopting the above technical scheme, auxiliary walking is carried out when the user of lower limb robot needs to wear lower limb robot
When, human body lower limbs are fixedly connected with thigh connecting element and shank connecting element by bandage, then start PLC controller,
PLC controller can drive servo motor to start running, if since the junction of thigh connecting element and shank connecting element is equipped with
The junction of dry freedom degree, shank connecting element and sole connecting element is equipped with several freedom degrees, therefore servo motor can
To drive thigh connecting element, shank connecting element and sole connecting element to copy human normal gait setting in motion, such phase
Conventionally, do not need by muscle activity reaction or muscle soft or hard degree come judge human body behavior meaning
Know, so that it may guarantee that the auxiliary user that lower limb robot can be stable copies the gait of normal person to walk.
The further setting of the present invention: it is corresponded in the thigh connecting element there are three being set at human lower limb hip joints freely
Degree, the thigh connecting element and shank connecting element junction are equipped with one degree of freedom, and shank connecting element is connect with sole
Element junction is equipped with one degree of freedom, and the sole connecting element includes forefoot connecting element and hind paw connecting element,
The forefoot connecting element and hind paw connecting element are connected by a hinge, and the forefoot connecting element is connect with hind paw
The junction of element is equipped with one degree of freedom.
By adopting the above technical scheme, three freedom are set by corresponding in thigh connecting element at human lower limb hip joints
Degree, in thigh connecting element and shank connecting element junction, shank connecting element and sole connecting element junction and front foot
One degree of freedom is respectively set in the junction of palm connecting element and hind paw connecting element, can achieve transport with human leg in this way
The dynamic design requirement mutually coordinated, do not generate movement interference mutually, guarantees that user can copy completely human body just in use
Normal gait walking.
The further setting of the present invention: the PLC controller includes information storage unit and execution unit, the information storage
For memory cell memory there are three types of walking mode, these three walking modes are fast walking modes, mode of being careful and mode standard respectively, when making
When user uses fast walking modes, the speed of service that PLC controller can control servo motor reaches the movement velocity of mechanical module
The speed of normal person's power-walking, when user, which uses, is careful mode, PLC controller can control the movement velocity of servo motor
The movement velocity of mechanical module is set to reach the speed that normal person slowly walks, when user uses mode standard, PLC controller
The speed that the movement velocity of servo motor makes the movement velocity of mechanical module reach the walking of normal person's standard can be controlled.
By adopting the above technical scheme, due to having the mode of hurrying up, mode of being careful, mode standard in information storage unit for making
User's selection, user can select the operational mode of lower limb robot according to the rehabilitation degree of oneself or using needing, together
When, it can also be known according to the pressure condition that each position in leg is subject in user's walking process that pressure detecting element detects
The recovery situation of road oneself leg, and then the walking mode for being suitble to the current rehabilitation stage is adjusted flexibly.
The further setting of the present invention: the sensing module further includes position detecting element, the position detecting element point
It Wei Yu not be in thigh connecting element and shank connecting element.
By adopting the above technical scheme, by the way that position detection member is respectively set in thigh connecting element and shank connecting element
Part, position detecting element can detecte the motion amplitude of thigh connecting element and shank connecting element, in this way can be more accurately
The case where detecting gait in user's use process can adjust in time if there is the abnormal situation of gait, can be more preferable
Protection and auxiliary user walking.
The further setting of the present invention: the control module further includes that the information for acquiring sensing module is fed back to
The information feedback element of PLC controller, the information feedback element are electrically connected with sensing module and PLC controller respectively.
By adopting the above technical scheme, since the surface conditions of user's walking may be different, the pressure that human body lower limbs are subject to
It may be affected with gait, the pressure that human body lower limbs in movement that sensing module is collected into can be subject to by information feedback element
For the information such as situation, gait situation feedback to PLC controller, PLC controller can adjust servo according to the information fed back in real time
The speed of service of motor and the motion amplitude of thigh connecting element and shank connecting element guarantee that the walking step state of user is kept
Normal gait plays the effect of the health of protection user.
The further setting of the present invention: the mechanical module further includes being connected to left leg connecting element and right leg connecting element
Between support component, the support component use tries to stop people from fighting each other elastic fabric.
By adopting the above technical scheme, due to being equipped with support component, support between left leg connecting element and right leg connecting element
Element can provide support force to human buttock, alleviate the situation of human buttock's anxiety, reduce the pressure of human body lower limbs, protect people
The health of body lower limb, auxiliary human body lower limbs preferably restore, since support component use is tried to stop people from fighting each other elastic fabric, elastic fabric of trying to stop people from fighting each other
Have the characteristics that elasticity is good, soft smooth, can play the role of preferably buffering human buttock's pressure.
The further setting of the present invention: it is set in the sole connecting element there are three pressure detecting element, described three are pressed
Power detecting element is located in sole connecting element corresponding to the first metatarsal bone root position of human body lower limbs, fifth metatarsal bone root
Position and rear heel position.
It by adopting the above technical scheme, when human normal is walked, is generated by first metatarsal bone, fifth metatarsal bone and rear heel
Arch support body, therefore the position of pressure detecting element is corresponded into these three positions can more accurately measure human body walking
When sole stress condition, user periodically can give these data to professional, then according to the recovery situation of human body
The control program of PLC controller is modified, guarantees that the moving situation of lower limb robot can meet always the use demand of user, more
Good auxiliary user leg rehabilitation or normal walking.
Detailed description of the invention
Attached drawing 1 is a kind of structural schematic diagram of lower limb robot of the specific embodiment of the invention.
Attached drawing 2 is a kind of structural schematic diagram of lower limb robot of the specific embodiment of the invention.
Attached drawing 3 is a kind of flow chart of lower limb robot of the present invention.
Specific embodiment
As shown in Figure 1-3, a kind of lower limb robot, including for fixing and assisting human body lower limbs to move with human body lower limbs
Mechanical module 1, for control mechanical module 1 movement control module 2, for providing the drive of power for the movement of mechanical module 1
Dynamic model block 3 and sensing module 4 for perceiving human body lower limbs stress condition, the mechanical module 1 include left 5 He of leg connecting element
Right leg connecting element 6, the left leg connecting element 5 and right leg connecting element 6 all include thigh connecting element 7, shank connection member
Part 8, sole connecting element 9 and the bandage for being fixedly connected with human body lower limbs with thigh connecting element 7 and shank connecting element 8
10, the thigh connecting element 7 is flexibly connected with shank connecting element 8, the shank connecting element 8 and sole connecting element 9
Be flexibly connected, the junction of thigh connecting element 7 and shank connecting element 8 is equipped with several freedom degrees, shank connecting element 8 with
The junction of sole connecting element 9 is equipped with several freedom degrees, and the drive module 3 includes servo motor 11, the servo electricity
Machine 11 is respectively arranged at thigh connecting element 7 and shank connecting element 8, and servo motor 11 individually controls thigh connection
Element 7 and shank connecting element 8, the sensing module 4 include pressure detecting element 12, and the pressure detecting element 12 distinguishes position
In thigh connecting element 7 and the junction of shank connecting element 8 and the junction of shank connecting element 8 and sole connecting element 9,
The control module 2 includes PLC controller 13, and the PLC controller 13 is electrically connected with servo motor 11, and PLC controller 13 can
Thigh connecting element 7, shank connecting element 8 and sole connecting element 9 is set to copy human normal gait to control servo motor 13
To move.
When the user of lower limb robot, which needs to wear lower limb robot, carries out auxiliary walking, by bandage 10 by human body
Lower limb are fixedly connected with thigh connecting element 7 and shank connecting element 8, then start PLC controller 13,13 meeting of PLC controller
Driving servo motor 11 starts running, since the junction of thigh connecting element 7 and shank connecting element 8 is equipped with several freedom
The junction of degree, shank connecting element 8 and sole connecting element 9 is equipped with several freedom degrees, therefore servo motor 11 can drive
Dynamic thigh connecting element 7, shank connecting element 8 and sole connecting element 9 copy human normal gait setting in motion, opposite in this way
For the prior art, do not need to judge the consciousness of behavior of human body by the soft or hard degree of the activity reaction of muscle or muscle,
Ensure that the auxiliary user that lower limb robot can be stable copies the gait of normal person to walk.
It is corresponded in the thigh connecting element 7 and is equipped with three degree of freedom at human lower limb hip joints, the thigh connection member
Part 7 and 8 junction of shank connecting element are equipped with one degree of freedom, and shank connecting element 8 is equipped with 9 junction of sole connecting element
One degree of freedom, the sole connecting element 9 include forefoot connecting element 14 and hind paw connecting element 15, the forefoot
Connecting element 14 and hind paw connecting element 15 are connected by a hinge, the forefoot connecting element 14 and hind paw connecting element
15 junction is equipped with one degree of freedom.
Three degree of freedom is set by corresponding in thigh connecting element 7 at human lower limb hip joints, connects member in thigh
Part 7 and 8 junction of shank connecting element, shank connecting element 8 and 9 junction of sole connecting element and forefoot connecting element 14
One degree of freedom is respectively set with the junction of hind paw connecting element 15, can achieve mutually assisted with human leg's movement in this way
It adjusts, the mutual design requirement for not generating movement interference, guarantees that user can copy the normal gait of human body completely in use
Walking.
The PLC controller 13 includes information storage unit and execution unit, and there are three types of the information storage unit memories
Walking mode, these three walking modes are fast walking modes, mode of being careful and mode standard respectively, when user uses fast walking modes
When, the speed of service that PLC controller 13 can control servo motor 11 makes the movement velocity of mechanical module 1 reach the fast walking of normal person
The speed walked, when user, which uses, is careful mode, the movement velocity that PLC controller 13 can control servo motor 11 makes mechanical mould
The movement velocity of block 1 reaches the speed that normal person slowly walks, and when user uses mode standard, PLC controller 13 can be controlled
The movement velocity of servo motor 11 processed makes the movement velocity of mechanical module 1 reach the speed that normal person's standard is walked.
It is selected due to having the mode of hurrying up, mode of being careful, mode standard in information storage unit for user, user can
To select the operational mode of lower limb robot according to the rehabilitation degree of oneself or using needing, it is also possible to according to pressure
Each position in leg is subject in user's walking process that detecting element 12 detects pressure condition knows the extensive of oneself leg
Multiple situation, and then the walking mode for being suitble to the current rehabilitation stage is adjusted flexibly.
The sensing module 4 further includes position detecting element 16, and the position detecting element 16 is located at thigh connection
On element 7 and shank connecting element 8.
By the way that position detecting element 16, position detection member are respectively set in thigh connecting element 7 and shank connecting element 8
Part 16 can detecte the motion amplitude of thigh connecting element 7 and shank connecting element 8, can more accurately detect use in this way
In person's use process the case where gait, can be adjusted in time if there is the abnormal situation of gait, can preferably protect with it is auxiliary
User is helped to walk.
The control module 2 further include information for acquiring sensing module 4 feed back to PLC controller 13 information it is anti-
Element is presented, the information feedback element is electrically connected with sensing module 4 and PLC controller 13 respectively.
Since the surface conditions of user's walking may be different, the pressure and gait that human body lower limbs are subject to may be by shadows
It rings, pressure condition, the gait situation etc. that human body lower limbs in movement that sensing module is collected into can be subject to by information feedback element
For information feedback to PLC controller 13, PLC controller 13 can adjust the operation of servo motor 11 in real time according to the information fed back
The motion amplitude of speed and thigh connecting element 7 and shank connecting element 8 guarantees that the walking step state of user keeps normal step
State plays the effect of the health of protection user.
The mechanical module 1 further includes the support component being connected between left leg connecting element 5 and right leg connecting element 6
17,17 use of support component is tried to stop people from fighting each other elastic fabric.
Due to being equipped with support component 17 between left leg connecting element 5 and right leg connecting element 6, support component 17 can give people
Body buttocks provides support force, alleviates the situation of human buttock's anxiety, reduces the pressure of human body lower limbs, protects the strong of human body lower limbs
Health, auxiliary human body lower limbs preferably restore, and since 17 use of support component is tried to stop people from fighting each other elastic fabric, elastic fabric of trying to stop people from fighting each other has elastic
The features such as good, soft smooth, it can play the role of preferably buffering human buttock's pressure.
It is set in the sole connecting element 9 there are three pressure detecting element 12, three pressure detecting elements 12 are distinguished
Correspond to first metatarsal bone root position, fifth metatarsal bone root position and the rear heel of human body lower limbs in sole connecting element 9
Position.
It is the arch support body generated by first metatarsal bone, fifth metatarsal bone and rear heel, therefore when human normal is walked
The stress feelings for the sole that the position of pressure detecting element 12 corresponded into these three positions when can more accurately measure human body walking
Condition, user periodically can give these data to professional, then modify PLC controller 13 according to the recovery situation of human body
Control program, guarantee that the moving situation of lower limb robot can meet always the use demand of user, preferably auxiliary uses
The rehabilitation of person leg or normal walking.
Claims (7)
1. a kind of lower limb robot, including for fixing and assisting human body lower limbs to move with human body lower limbs mechanical module, be used for
Control the control module of mechanical module movement, for providing the drive module of power and for perceiving people for the movement of mechanical module
The sensing module of body lower-limb load situation, it is characterised in that: the mechanical module includes that left leg connecting element with right leg connects member
Part, the left leg connecting element and right leg connecting element all include thigh connecting element, shank connecting element, sole connecting element
With the bandage for being fixedly connected with human body lower limbs with thigh connecting element and shank connecting element, the thigh connecting element with
Shank connecting element is flexibly connected, and the shank connecting element is flexibly connected with sole connecting element, thigh connecting element with it is small
The junction of leg connecting element is equipped with several freedom degrees, and the junction of shank connecting element and sole connecting element is equipped with several
A freedom degree, the drive module include servo motor, and the servo motor is respectively arranged at thigh connecting element and shank connects
Element is connect, and servo motor individually controls thigh connecting element and shank connecting element, the sensing module includes pressure
Power detecting element, the pressure detecting element is located at the junction of thigh connecting element and shank connecting element and shank connects
The junction of element Yu sole connecting element is connect, the control module includes PLC controller, the PLC controller and servo electricity
Mechatronics, PLC controller, which can control servo motor, keeps thigh connecting element, shank connecting element and sole connecting element imitative
It is moved according to human normal gait.
2. a kind of lower limb robot described in accordance with the claim 1, it is characterised in that: correspond to human body in the thigh connecting element
Three degree of freedom is equipped at lower limb hip joint, the thigh connecting element and shank connecting element junction are equipped with a freedom
Degree, shank connecting element and sole connecting element junction are equipped with one degree of freedom, and the sole connecting element includes forefoot
Connecting element and hind paw connecting element, the forefoot connecting element and hind paw connecting element are connected by a hinge, described
The junction of forefoot connecting element and hind paw connecting element is equipped with one degree of freedom.
3. a kind of lower limb robot described in accordance with the claim 1, it is characterised in that: the PLC controller includes information storage
Unit and execution unit, there are three types of walking modes for the information storage unit memory, these three walking modes are mould of hurrying up respectively
Formula, mode of being careful and mode standard, when user uses fast walking modes, PLC controller can control the operation speed of servo motor
Degree makes the movement velocity of mechanical module reach the speed of normal person's power-walking, and when user, which uses, is careful mode, PLC is controlled
The movement velocity that device can control servo motor makes the movement velocity of mechanical module reach the speed that normal person slowly walks, and works as use
When person uses mode standard, the movement velocity that PLC controller can control servo motor reaches the movement velocity of mechanical module just
The speed of ordinary person's standard walking.
4. a kind of lower limb robot described in accordance with the claim 1, it is characterised in that: the sensing module further includes position detection
Element, the position detecting element are located in thigh connecting element and shank connecting element.
5. according to lower limb robot described in any one of claim 1-4, it is characterised in that: the control module further includes
Information for acquiring sensing module feeds back to the information feedback element of PLC controller, the information feedback element respectively with
Sensing module and PLC controller electrical connection.
6. a kind of lower limb robot described in accordance with the claim 1, it is characterised in that: the mechanical module further includes being connected to a left side
Support component between leg connecting element and right leg connecting element, the support component use are tried to stop people from fighting each other elastic fabric.
7. a kind of lower limb robot described in accordance with the claim 1, it is characterised in that: there are three being set in the sole connecting element
Pressure detecting element, three pressure detecting elements are located at the first plantar for corresponding to human body lower limbs in sole connecting element
Bone root position, fifth metatarsal bone root position and rear heel position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910148794.9A CN109730905A (en) | 2019-02-28 | 2019-02-28 | A kind of lower limb robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910148794.9A CN109730905A (en) | 2019-02-28 | 2019-02-28 | A kind of lower limb robot |
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| CN109730905A true CN109730905A (en) | 2019-05-10 |
Family
ID=66368755
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| CN201910148794.9A Pending CN109730905A (en) | 2019-02-28 | 2019-02-28 | A kind of lower limb robot |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936790A (en) * | 2010-07-19 | 2011-01-05 | 西安交通大学 | Plantar pressure measuring device |
| CN103040594A (en) * | 2013-01-24 | 2013-04-17 | 哈尔滨工业大学 | Pseudo passive power assisting device for ankle joint movement |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN203169539U (en) * | 2013-03-20 | 2013-09-04 | 上海联康假肢矫形器制造有限公司 | Paraplegic walking device |
| CN104082905A (en) * | 2014-06-18 | 2014-10-08 | 南京纳联信息科技有限公司 | Multifunctional intelligent insole and gait similarity detection method |
| CN108042138A (en) * | 2017-11-22 | 2018-05-18 | 东华大学 | Intelligent wireless plantar pressure monitors insole and its application method |
| CN207722304U (en) * | 2018-01-04 | 2018-08-14 | 浙江大学城市学院 | Auxiliary walking exoskeleton robot system based on Multi-sensor Fusion |
| KR20180110694A (en) * | 2017-03-29 | 2018-10-11 | 근로복지공단 | Power-driven walking supporting device |
| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
-
2019
- 2019-02-28 CN CN201910148794.9A patent/CN109730905A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936790A (en) * | 2010-07-19 | 2011-01-05 | 西安交通大学 | Plantar pressure measuring device |
| CN103040594A (en) * | 2013-01-24 | 2013-04-17 | 哈尔滨工业大学 | Pseudo passive power assisting device for ankle joint movement |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN203169539U (en) * | 2013-03-20 | 2013-09-04 | 上海联康假肢矫形器制造有限公司 | Paraplegic walking device |
| CN104082905A (en) * | 2014-06-18 | 2014-10-08 | 南京纳联信息科技有限公司 | Multifunctional intelligent insole and gait similarity detection method |
| KR20180110694A (en) * | 2017-03-29 | 2018-10-11 | 근로복지공단 | Power-driven walking supporting device |
| CN108042138A (en) * | 2017-11-22 | 2018-05-18 | 东华大学 | Intelligent wireless plantar pressure monitors insole and its application method |
| CN207722304U (en) * | 2018-01-04 | 2018-08-14 | 浙江大学城市学院 | Auxiliary walking exoskeleton robot system based on Multi-sensor Fusion |
| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
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