CN101810533A - Walking aid exoskeleton rehabilitation robot - Google Patents
Walking aid exoskeleton rehabilitation robot Download PDFInfo
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- CN101810533A CN101810533A CN 201010119161 CN201010119161A CN101810533A CN 101810533 A CN101810533 A CN 101810533A CN 201010119161 CN201010119161 CN 201010119161 CN 201010119161 A CN201010119161 A CN 201010119161A CN 101810533 A CN101810533 A CN 101810533A
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- 210000004394 hip joint Anatomy 0.000 claims description 45
- 210000000629 knee joint Anatomy 0.000 claims description 40
- 239000000725 suspension Substances 0.000 claims description 20
- 210000001699 lower leg Anatomy 0.000 claims description 17
- 210000000689 upper leg Anatomy 0.000 claims description 9
- 210000003127 knee Anatomy 0.000 claims description 5
- 230000008520 organization Effects 0.000 claims 7
- 210000003414 extremity Anatomy 0.000 claims 5
- 210000002414 leg Anatomy 0.000 claims 3
- 230000003137 locomotive effect Effects 0.000 claims 3
- 238000012549 training Methods 0.000 abstract description 10
- 230000005021 gait Effects 0.000 abstract description 9
- 238000013461 design Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 21
- 238000010168 coupling process Methods 0.000 description 21
- 238000005859 coupling reaction Methods 0.000 description 21
- 210000001694 thigh bone Anatomy 0.000 description 16
- 244000309466 calf Species 0.000 description 11
- 210000003141 lower extremity Anatomy 0.000 description 8
- 210000002082 fibula Anatomy 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000016285 Movement disease Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
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Abstract
一种康复工程技术领域的助行外骨骼康复机器人,包括:移动式辅助机构、控制机构和外骨骼假肢机构,移动式辅助机构和外骨骼假肢机构相连,控制机构分别与移动式辅助机构和外骨骼假肢机构相连。本发明的外骨骼假肢机构设计结构紧凑、各关节转动范围大,能满足人体实际运动要求。采用伺服电机驱动,控制精度高,输出力矩大,移动式辅助机构由伺服电机驱动转动,可自主移动,具有较高的爬坡能力和移动速度,调整移动式辅助机构的高度,适合不同身高的人使用,在对患者进行步态康复训练时,可对人体重心进行主动调整,符合人体随着步态交替而上下波动的特征,移动式辅助机构还可以支撑人体躯体,防止人行走时摔倒,保证整体的稳定性。
A walking-assisting exoskeleton rehabilitation robot in the field of rehabilitation engineering technology, comprising: a mobile auxiliary mechanism, a control mechanism and an exoskeleton prosthesis mechanism, the mobile auxiliary mechanism is connected to the exoskeleton prosthesis mechanism, and the control mechanism is respectively connected to the mobile auxiliary mechanism and the exoskeleton Skeletal prosthetic bodies are connected. The exoskeleton prosthesis mechanism of the present invention has a compact design structure and a large rotation range of each joint, which can meet the actual movement requirements of the human body. It is driven by a servo motor, with high control precision and large output torque. The mobile auxiliary mechanism is driven by a servo motor and can move independently. It has high climbing ability and moving speed. Adjusting the height of the mobile auxiliary mechanism is suitable for people of different heights. For human use, when performing gait rehabilitation training for patients, it can actively adjust the center of gravity of the human body, which conforms to the characteristics of the human body fluctuating up and down with the alternation of gait. The mobile auxiliary mechanism can also support the human body to prevent people from falling when walking. , to ensure overall stability.
Description
技术领域technical field
本发明涉及的是一种康复工程技术领域的装置,尤其涉及的是一种助行外骨骼康复机器人。The invention relates to a device in the technical field of rehabilitation engineering, in particular to a walking-assisting exoskeleton rehabilitation robot.
背景技术Background technique
近年来,一种针对老年人和下肢有运动障碍的病人进行康复训练的外骨骼机器人得到了应用和推广,它突破传统康复训练方法,将机器人主动控制技术和假肢“助走”功能结合,佩戴于肢体残疾人身上进行步态康复训练。In recent years, an exoskeleton robot for rehabilitation training for the elderly and patients with movement disorders in the lower limbs has been applied and promoted. Gait rehabilitation training for the physically disabled.
在下肢外骨骼机器人的设计中,一方面应考虑机构承受负载的能力,各关节要有较大的输出力矩,能支撑患者进行正常的步态训练;另一方面应充分考虑机构的稳定性;同时外骨骼机器人应该有较多的功能,能满足人体康复训练的多种需求。但是在国内外已有的下肢外骨骼假肢中,功能比较单一,外骨骼假肢本体结构的关节运动范围较小,同时存在刚性不足和负载能力较小等问题;特别是将外骨骼假肢佩戴在人的下肢后,人体运动的稳定性很难保证,系统稳定性已经成为外骨骼技术的一大难点。In the design of the lower extremity exoskeleton robot, on the one hand, the ability of the mechanism to bear the load should be considered, and each joint should have a large output torque, which can support the patient for normal gait training; on the other hand, the stability of the mechanism should be fully considered; At the same time, the exoskeleton robot should have more functions to meet the various needs of human rehabilitation training. However, in the existing lower extremity exoskeleton prostheses at home and abroad, the function is relatively single, the joint motion range of the exoskeleton prosthesis body structure is small, and there are problems such as insufficient rigidity and low load capacity; especially when the exoskeleton prosthesis is worn on the human body After exoskeleton lower limbs, it is difficult to guarantee the stability of human movement, and system stability has become a major difficulty in exoskeleton technology.
经对现有技术文献的检索发现,中国专利申请号:200410053695.6,名称:可穿戴式的下肢步行外骨骼,该技术自述:由腰部支撑、髋部四杆机构、膝盖四杆机构、脚踝四杆机构和足底支撑依次串连构成。由于采用液压缸驱动,需要有液压源,机构控制精度不高,刚性和稳定性不足。After searching the existing technical documents, it is found that Chinese patent application number: 200410053695.6, name: wearable lower limb walking exoskeleton, the technology self-report: by waist support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism The mechanism and the sole support are sequentially connected in series to form. Due to the use of hydraulic cylinders to drive, a hydraulic source is required, the mechanism control accuracy is not high, and the rigidity and stability are insufficient.
中国专利申请号:200610155048.5,名称:一种多体位外骨骼下肢康复训练机器人,该技术自述:机器人包括机座、护栏、悬吊系统、外骨骼训练装置和计算机控制系统。它利用外骨骼和跑步机来进行步态矫正训练,通过被动式弹性阻尼器来起缓冲和部分支撑身体的作用,但是它不可自主移动。Chinese patent application number: 200610155048.5, name: a multi-position exoskeleton lower limbs rehabilitation training robot, the technical statement: the robot includes a machine base, a guardrail, a suspension system, an exoskeleton training device and a computer control system. It uses exoskeletons and treadmills for gait correction training, and uses passive elastic dampers to cushion and partially support the body, but it cannot move autonomously.
发明内容Contents of the invention
本发明的目的在于克服现有技术不足,提供了一种助行外骨骼康复机器人,满足人体下肢实际步态运动要求,方便不同身高的患者使用。整个康复机器人系统的结构紧凑、工作稳定,可实现辅助行走、自主移动和下肢康复训练等功能。The purpose of the present invention is to overcome the deficiencies of the prior art and provide a walking aid exoskeleton rehabilitation robot that meets the actual gait movement requirements of human lower limbs and is convenient for use by patients of different heights. The entire rehabilitation robot system has a compact structure and stable operation, and can realize functions such as assisted walking, autonomous movement and lower limb rehabilitation training.
本发明是通过以下技术方案实现的,本发明包括:移动式辅助机构、控制机构和外骨骼假肢机构,其中:移动式辅助机构和外骨骼假肢机构相连,控制机构分别与移动式辅助机构和外骨骼假肢机构相连。The present invention is achieved through the following technical proposals. The present invention includes: a mobile auxiliary mechanism, a control mechanism and an exoskeleton prosthesis mechanism, wherein: the mobile auxiliary mechanism is connected with the exoskeleton prosthesis mechanism, and the control mechanism is connected with the mobile auxiliary mechanism and the exoskeleton prosthesis respectively. Skeletal prosthetic bodies are connected.
所述的外骨骼假肢机构包括:髋关节和膝关节,其中:髋关节和膝关节相连,髋关节和移动式辅助机构相连,髋关节和膝关节分别与控制机构相连。The exoskeleton prosthesis mechanism includes: a hip joint and a knee joint, wherein: the hip joint is connected with the knee joint, the hip joint is connected with the mobile auxiliary mechanism, and the hip joint and the knee joint are respectively connected with the control mechanism.
所述的髋关节包括:后支撑板、第一伺服电机、第一滚珠丝杠、第一滑块、髋关节连杆、髋关节轴和仿大腿骨骼,其中:后支撑板和第一伺服电机相连,第一伺服电机和控制机构相连,第一伺服电机和第一滚珠丝杠相连,第一滚珠丝杠和第一滑块相连,第一滑块和后支撑板相连,髋关节连杆一端和第一滚珠丝杠相连,另一端和仿大腿骨骼相连,髋关节轴一端和仿大腿骨骼相连,另一端分别与第一滚珠丝杠和后支撑板相连。The hip joint includes: a rear support plate, a first servo motor, a first ball screw, a first slider, a hip joint connecting rod, a hip joint shaft and an imitation thigh bone, wherein: the rear support plate and the first servo motor Connected, the first servo motor is connected with the control mechanism, the first servo motor is connected with the first ball screw, the first ball screw is connected with the first slider, the first slider is connected with the rear support plate, one end of the hip joint link It is connected with the first ball screw, the other end is connected with the imitation thigh bone, one end of the hip joint shaft is connected with the imitation thigh bone, and the other end is respectively connected with the first ball screw and the rear support plate.
所述的膝关节包括:第二伺服电机、第二滚珠丝杠、第二滑块、膝关节连杆、膝关节轴、小腿法兰、小腿连杆和仿小腿骨骼,其中:第二伺服电机和仿大腿骨骼相连,第二伺服电机和控制机构相连,第二滚珠丝杠和第二伺服电机相连,第二滑块和第二滚珠丝杠相连,膝关节连杆的一端和第二滚珠丝杠相连,另一端和小腿法兰相连,小腿法兰和膝关节轴相连,膝关节轴和仿大腿骨骼相连,小腿法兰和小腿连杆相连,小腿连杆和仿小腿骨骼相连。The knee joint includes: a second servo motor, a second ball screw, a second slider, a knee joint connecting rod, a knee joint shaft, a calf flange, a calf connecting rod and an imitation calf bone, wherein: the second servo motor It is connected with the imitation thigh bone, the second servo motor is connected with the control mechanism, the second ball screw is connected with the second servo motor, the second slider is connected with the second ball screw, and one end of the knee joint link is connected with the second ball screw The bar is connected, the other end is connected with the shank flange, the shank flange is connected with the knee joint axis, the knee joint axis is connected with the imitation thigh bone, the shank flange is connected with the shank connecting rod, and the shank connecting rod is connected with the imitation shank bone.
所述的移动式辅助机构包括:移动车、悬挂支架和滑动平台,其中:移动车上设有滑动平台,滑动平台和悬挂支架相连,悬挂支架和外骨骼假肢机构相连。The mobile auxiliary mechanism includes: a mobile vehicle, a suspension bracket and a sliding platform, wherein: the mobile vehicle is provided with a sliding platform, the sliding platform is connected with the suspension bracket, and the suspension bracket is connected with the exoskeleton prosthetic mechanism.
所述的移动车包括:第一前万向轮、车架、第一后定向轮、第三伺服电机、第四伺服电机、第二后定向轮和第二前万向轮,其中:第一前万向轮和第二前万向轮分别与车架固定连接,第三伺服电机和第一后定向轮相连,第四伺服电机和第二后定向轮相连,第三伺服电机和第四伺服电机分别与车架相连,第三伺服电机和第四伺服电机分别与控制机构相连。The mobile vehicle includes: the first front universal wheel, vehicle frame, the first rear directional wheel, the third servo motor, the fourth servo motor, the second rear directional wheel and the second front universal wheel, wherein: the first The front universal wheel and the second front universal wheel are respectively fixedly connected with the vehicle frame, the third servo motor is connected with the first rear directional wheel, the fourth servo motor is connected with the second rear directional wheel, the third servo motor is connected with the fourth servo motor The motors are respectively connected with the vehicle frame, and the third servo motor and the fourth servo motor are respectively connected with the control mechanism.
所述的悬挂支架包括:支撑杆、右支架杆、右扶手杆、加强杆、左扶手杆和左支架杆,其中:支撑杆固定设置于左支架杆和右支架杆的顶端,左扶手杆和左支架杆固定连接,右扶手和右支架杆固定连接,加强杆固定设置于左支架杆和右支架杆中间,后支撑板分别与右扶手杆和左扶手杆活动连接。The suspension bracket includes: a support rod, a right support rod, a right handrail rod, a reinforcing rod, a left handrail rod and a left support rod, wherein: the support rod is fixedly arranged on the tops of the left support rod and the right support rod, the left handrail rod and the The left support bar is fixedly connected, the right armrest is fixedly connected with the right support bar, the reinforcing bar is fixedly arranged in the middle of the left support bar and the right support bar, and the rear support plate is movably connected with the right handrail bar and the left handrail bar respectively.
所述的支撑杆上固定设有吊带。A suspender is fixed on the support rod.
所述的滑动平台包括:第三滑块、固定台、第三滚珠丝杠、挂板和第五伺服电机,其中:第三滑块和固定台相连,挂板与第三滑块固定连接,第五伺服电机和第三滚珠丝杠相连,第三滚珠丝杠和第三滑块相连,挂板和悬挂支架相连,第五伺服电机和控制机构相连。The sliding platform includes: a third slider, a fixed platform, a third ball screw, a hanging plate and a fifth servo motor, wherein: the third slider is connected to the fixed platform, the hanging plate is fixedly connected to the third slider, The fifth servo motor is connected with the third ball screw, the third ball screw is connected with the third slider, the hanging plate is connected with the suspension bracket, and the fifth servo motor is connected with the control mechanism.
髋关节工作时:第一伺服电机转动带动第一滚珠丝杠转动,第一滚珠丝杠的转动使推动髋关节连杆运动,髋关节连杆推动仿大腿骨骼,使仿大腿骨骼围绕髋关节轴转动。When the hip joint is working: the rotation of the first servo motor drives the rotation of the first ball screw, the rotation of the first ball screw drives the movement of the hip joint link, and the hip joint link pushes the artificial thigh bone to make the artificial thigh bone revolve around the axis of the hip joint turn.
膝关节工作时:第二伺服电机转动带动第二滚珠丝杠转动,第二滚珠丝杠推动膝关节连杆运动,膝关节连杆推动小腿法兰,使小腿法兰围绕膝关节轴转动,从而带动整个仿小腿骨骼围绕膝关节轴转动。When the knee joint is working: the rotation of the second servo motor drives the rotation of the second ball screw, the second ball screw drives the movement of the knee joint link, and the knee joint link pushes the calf flange to make the calf flange rotate around the knee joint axis, thereby Drive the whole artificial calf bone to rotate around the axis of the knee joint.
移动车工作时:第三伺服电机转动带动第一后定向轮转动,第四伺服电机转动带动第二后定向轮转动,当两个定向轮同时转动时,移动车向前运动,当第一后定向轮转动,而第二后定向轮静止不动,则移动车向右转动,当第一后定向轮静止不动,而第二后定向轮转动时,移动车向左转动。When the mobile car is working: the rotation of the third servo motor drives the rotation of the first rear directional wheel, and the rotation of the fourth servo motor drives the rotation of the second rear directional wheel. When the two directional wheels rotate at the same time, the mobile car moves forward. When the first rear The directional wheel rotates, and the second rear directional wheel is stationary, then the mobile vehicle turns to the right, and when the first rear directional wheel is stationary, and the second rear directional wheel rotates, the mobile vehicle turns to the left.
滑动平台工作时:第五伺服电机转动带动第三滚珠丝杠转动,带动挂板和第三滑块上下移动,使固定设置于挂板上的悬挂支架上下移动,从而调整悬挂支架的高度,满足不同身高人的使用要求。When the sliding platform is working: the rotation of the fifth servo motor drives the rotation of the third ball screw, which drives the hanging plate and the third slider to move up and down, so that the hanging bracket fixed on the hanging plate moves up and down, thereby adjusting the height of the hanging bracket to meet Use requirements for people of different heights.
本发明相比现有技术具有以下优点:本发明的外骨骼假肢机构设计结构紧凑、各关节转动范围大,能满足人体实际运动要求。采用伺服电机驱动,控制精度高,输出力矩大,移动式辅助机构由伺服电机驱动转动,可自主移动,具有较高的爬坡能力和移动速度,调整移动式辅助机构的高度,适合不同身高的人使用,在对患者进行步态康复训练时,可对人体重心进行主动调整,符合人体随着步态交替而上下波动的特征,移动式辅助机构还可以支撑人体躯体,防止人行走时摔倒,保证整体的稳定性。Compared with the prior art, the present invention has the following advantages: the exoskeleton prosthetic mechanism of the present invention has a compact design structure, each joint has a large rotation range, and can meet the actual motion requirements of the human body. It is driven by a servo motor, with high control precision and large output torque. The mobile auxiliary mechanism is driven by a servo motor and can move independently. It has high climbing ability and moving speed. Adjusting the height of the mobile auxiliary mechanism is suitable for people of different heights. For human use, when performing gait rehabilitation training for patients, it can actively adjust the center of gravity of the human body, which conforms to the characteristics of the human body fluctuating up and down with the alternation of gait. The mobile auxiliary mechanism can also support the human body and prevent people from falling when walking. , to ensure overall stability.
附图说明Description of drawings
图1是本发明的结构示意图;Fig. 1 is a structural representation of the present invention;
图2是本发明的侧视图;Fig. 2 is a side view of the present invention;
图3是本发明的外骨骼假肢机构结构示意图;Fig. 3 is a structural schematic diagram of the exoskeleton prosthesis mechanism of the present invention;
图4是本发明的移动车结构示意图;Fig. 4 is the structural representation of mobile vehicle of the present invention;
图5是本发明的悬挂支架结构示意图;Fig. 5 is a schematic structural view of the suspension bracket of the present invention;
图6是本发明的移动平台结构示意图。Fig. 6 is a schematic structural diagram of the mobile platform of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明的实施例作详细说明:本实施例在以本发明技术方案为前提下进行实施,给出了详细的实施方式和具体的操作过程,但本发明的保护范围不限于下述的实施例。The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.
如图1,图2所示,本实施例包括:移动式辅助机构1、控制机构2和外骨骼假肢机构3,其中:外骨骼假肢机构3和移动式辅助机构1相连,控制机构2分别与移动式辅助机构1和外骨骼假肢机构3相连。As shown in Fig. 1 and Fig. 2, the present embodiment includes: a mobile auxiliary mechanism 1, a control mechanism 2 and an
如图3所示,外骨骼假肢机构3包括:髋关节4和膝关节5,其中:髋关节4和膝关节5相连,髋关节4和移动式辅助机构1相连,髋关节4和膝关节5分别与控制机构2相连。As shown in Figure 3, the
髋关节4包括:后支撑板6、第一伺服电机7、第一电机座8、第一联轴器9、第一轴承座10、第一角接触轴承11、第一滚珠丝杠12、第一丝杠轴端轴承13、第一丝杠螺母14、第一丝杠螺母外套15、第一直线导轨16、第一滑块17、第一连杆支架18、第一连杆销轴19、髋关节连杆20、第二连杆销轴21、第二连杆支架22、髋关节轴承座23、髋关节轴24、髋关节轴承25、髋关节轴支撑26和仿大腿骨骼27,其中:第一电机座8和后支撑板6固定连接,第一伺服电机7固定于第一电机座8,第一伺服电机7通过第一联轴器9和第一滚珠丝杠12相连,第一伺服电机7和控制机构2相连,第一滚珠丝杠12一端和第一角接触轴承11相连,另一端和第一丝杠轴端轴承13活动连接,第一角接触轴承11设置在第一轴承座10上,第一丝杠轴端轴承13设置在髋关节轴承座23上,第一轴承座10和髋关节轴承座23固定设置于后支撑板6上,第一丝杠螺母14和第一滚珠丝杠12活动连接,第一丝杠螺母14和第一丝杠螺母外套15固定连接,第一丝杠螺母外套15与第一滑块17固定连接,第一直线导轨16固定设置于后支撑板6上,第一连杆支架18与第一丝杠螺母外套15固定连接,髋关节连杆20一端通过第一连杆销轴19和第一连杆支架18相连,另一端通过第二连杆销轴21和第二连杆支架22相连,第二连杆支架22固定设置于仿大腿骨骼27上,仿大腿骨骼27和髋关节轴支撑26固定连接,髋关节轴24一端和髋关节轴支撑26活动连接,另一端和髋关节轴承25活动连接,髋关节轴承25分别设置在髋关节轴承座23和后支撑板6上。The hip joint 4 includes: a rear support plate 6, a first servo motor 7, a
膝关节5包括:第二伺服电机28、第二电机座29、第二联轴器30、第二滚珠丝杠31、第二轴承座32、第二角接触轴承33、第二丝杠轴端轴承34、第二丝杠螺母35、第二丝杠螺母外套36、第二直线导轨37、第二滑块38、第三连杆支架39、第三连杆销轴40、膝关节连杆41、第四连杆销轴42、小腿法兰43、膝关节轴承座44、膝关节轴承45、膝关节轴46、第五连杆销轴47、小腿连杆48、第六连杆销轴49和仿小腿骨骼50,其中:第二电机座29固定设置于仿大腿骨骼27上,第二伺服电机28固定于第二电机座29,第二伺服电机28通过第二联轴器30和第二滚珠丝杠31相连,第二伺服电机28和控制机构2相连,第二滚珠丝杠31一端和第二角接触轴承33活动连接,另一端和第二丝杠轴端轴承34活动连接,第二角接触轴承33设置在第二轴承座32上,第二丝杠轴端轴承34设置在膝关节轴承座44上,膝关节轴承座44和仿大腿骨骼27固定连接,第二丝杠螺母35和第二滚珠丝杠31活动连接,第二丝杠螺母35和第二丝杠螺母外套36固定连接,第二丝杠螺母外套36固定设置于第二滑块38上,第二直线导轨37和仿大腿骨骼27固定连接,第三连杆支架39固定设置于第二丝杠螺母外套36上,膝关节连杆41一端通过第三连杆销轴40和第三连杆支架39相连,另一端通过第四连杆销轴42与小腿法兰43相连,小腿法兰43和膝关节轴46固定连接,膝关节轴46和膝关节轴承45活动连接,膝关节轴承45分别设置在膝关节轴承座44和仿大腿骨骼27上,小腿法兰43通过第五连杆销轴47和小腿连杆48相连,小腿连杆48通过第六连杆销轴49和仿小腿骨骼50相连。The knee joint 5 includes: a second servo motor 28, a second motor base 29, a second shaft coupling 30, a second ball screw 31, a second bearing seat 32, a second angular contact bearing 33, and a second screw shaft end Bearing 34, second screw nut 35, second screw nut cover 36, second linear guide rail 37, second slider 38, third link bracket 39, third link pin 40, knee joint link 41 , the fourth link pin 42, the calf flange 43, the knee joint bearing seat 44, the knee joint bearing 45, the knee joint shaft 46, the fifth link pin 47, the calf link 48, the sixth link pin 49 And the imitation calf bone 50, wherein: the second motor base 29 is fixedly arranged on the imitation thigh bone 27, the second servo motor 28 is fixed on the second motor base 29, the second servo motor 28 passes through the second coupling 30 and the second The ball screw 31 is connected, the second servo motor 28 is connected with the control mechanism 2, one end of the second ball screw 31 is movably connected with the second angular contact bearing 33, and the other end is movably connected with the second screw shaft end bearing 34, and the second The angular contact bearing 33 is arranged on the second bearing seat 32, the second screw shaft end bearing 34 is arranged on the knee joint bearing seat 44, the knee joint bearing seat 44 is fixedly connected with the imitation thigh bone 27, the second leading screw nut 35 and The second ball screw 31 is flexibly connected, the second lead screw nut 35 is fixedly connected with the second lead screw nut cover 36, the second lead screw nut cover 36 is fixedly arranged on the second slider 38, the second linear guide rail 37 and the imitation The thigh bone 27 is fixedly connected, the third link bracket 39 is fixedly arranged on the second lead screw nut outer cover 36, one end of the knee joint link 41 is connected with the third link bracket 39 through the third link pin 40, and the other end is connected through the third link pin 40. The fourth connecting rod pin shaft 42 is connected to the
大腿保护套51和仿大腿骨骼27固定连接,用于保护患者大腿,并带动大腿运动。The
小腿保护套52和仿小腿骨骼50固定连接,用于保护患者小腿,并带动小腿运动。The calf
移动式辅助机构1包括:移动车53、悬挂支架54和滑动平台55,其中:移动车53上设有滑动平台55,滑动平台55和悬挂支架54相连,悬挂支架54和外骨骼假肢机构3相连。The mobile auxiliary mechanism 1 includes: a
如图4所示,移动车53包括:第一前万向轮56、车架57、第一后定向轮58、第一连接轴59、第三轴承60、第三轴承座61、第三联轴器62、第三电机座63、第三伺服电机64、第四伺服电机65、第四电机座66、第二连接轴67、第四轴承座68、第四联轴器69、第四轴承70、第二后定向轮71和第二前万向轮72,其中:第一前万向轮56和第二前万向轮72分别与车架57固定连接,第三伺服电机64固定于第三电机座63上,第三电机座63固定于车架57上,第三伺服电机64通过第三联轴器62与第一连接轴59相连,第一连接轴59和第一后定向轮58固定连接,第一连接轴59和第三轴承60活动连接,第三轴承60设置在第三轴承座61上,第三轴承座61固定设置于车架57上,第三伺服电机64通过第三联轴器62将输出力矩传递给第一后定向轮9。同样,第四伺服电机65通过第四电机座66与车架57固定连接,第二连接轴67和第四轴承70活动连接,第四轴承70设置在第四轴承座68上,第四轴承座68固定设置于车架57上,第四伺服电机65的输出轴与第四联轴器69相连,第四联轴器69通过第二连接轴67与第二后定向轮71相连,第四伺服电机65的输出力矩通过第二连接轴67传递给第二后定向轮71,第三伺服电机64和第四伺服电机65分别和控制机构2相连。As shown in Figure 4,
如图5所示,悬挂支架54包括:支撑杆73、右支架杆74、右扶手杆75、加强杆76、左扶手杆77和左支架杆78,其中:支撑杆73固定设置于右支架杆74和左支架杆78上,左扶手杆77和左支架杆78固定连接,右扶手杆75和右支架杆74固定连接,加强杆76固定设置于左支架杆78和右支架杆74中间,增加整个悬挂支架54的支撑性能,后支撑板6分别与右扶手杆75和左扶手杆77活动连接,并可以调整左外骨骼假肢和右外骨骼假肢之间的宽度。悬挂支架54的支撑杆73上固定设有吊带79,吊带79一端固定设置于支撑杆73上,另一端用于支撑患者的上身躯体。As shown in Figure 5, the
如图6所示,滑动平台55包括:固定台80、第五轴承座81、第五轴承82、第三滚珠丝杠83、第三丝杠螺母84、第三直线导轨85、第三滑块86、挂板87、第五伺服电机88、第五联轴器89和电机盖90,其中:第五轴承82和第五轴承座81分别固定设置于固定台80上,第三滚珠丝杠83一端和第五轴承82活动连接,另一端和第五轴承座81活动连接,第三丝杠螺母84和第三滚珠丝杆83通过螺旋配合相连,第三直线导轨85固定设置于固定台80上,第三滑块86和第三直线导轨85活动连接,挂板87和第三滑块86固定连接,挂板87和第三丝杠螺母84固定连接,挂板87分别与右支架杆74和左支架杆78相连,第五伺服电机88通过第五联轴器89和第三滚珠丝杠83相连,电机盖90在第五伺服电机88的外侧与固定台80固定连接,第五伺服电机88带动第三滚珠丝杠83转动,从而带动挂板87上下移动,第五伺服电机88和控制机构2相连。As shown in Figure 6, the sliding
外骨骼假肢机构3可独立运动,也可按照人体实际步态协调运动。髋关节4工作时:第一伺服电机7转动使第一联轴器9转动,从而带动第一滚珠丝杠12转动,第一滚珠丝杠12的转动使第一丝杠螺母14作直线运动,第一丝杠螺母14推动髋关节连杆20运动,髋关节连杆20推动仿大腿骨骼27,使仿大腿骨骼27围绕髋关节轴24转动。The
膝关节5工作时:第二伺服电机28转动带动第二联轴器30转动,使第二联轴器30带动第二滚珠丝杠31转动,第二滚珠丝杠31使第二丝杠螺母35作直线运动,第二丝杠螺母35推动膝关节连杆41运动,膝关节连杆41推动小腿法兰43,使小腿法兰43围绕膝关节轴46转动,从而带动整个仿小腿骨骼50围绕膝关节轴46转动。When the
本实施例的移动车53工作时:第三伺服电机64转动带动第三联轴器62转动,从而使第三联轴器62带动第一连接轴59转动,第一连接轴59带动第一后定向轮58转动,第四伺服电机65转动带动第四联轴器69转动,第四联轴器69带动第二连接轴67转动,使第二后定向轮71转动。当两个定向轮同时转动时,驱动移动车53向前运动,当第一后定向轮58转动,第二后定向轮71静止不动,则移动车53向右转动,相反,当第一后定向轮58静止不动,而第二后定向轮71转动时,移动车53向左转动。When the
滑动平台55工作时:第五伺服电机88转动带动第五联轴器89转动,从而使第三滚珠丝杠83转动,第三丝杠螺母84在第三滚珠丝杠83上移动,带动挂板87上下移动,使固定设置于挂板87上的悬挂支架54上下移动,从而调整悬挂支架54的高度,满足不同身高人的使用要求。When the sliding
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