CN102846448A - Portable and wearable exoskeleton robot for lower limb rehabilitation and walk aid - Google Patents
Portable and wearable exoskeleton robot for lower limb rehabilitation and walk aid Download PDFInfo
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- CN102846448A CN102846448A CN2012103705414A CN201210370541A CN102846448A CN 102846448 A CN102846448 A CN 102846448A CN 2012103705414 A CN2012103705414 A CN 2012103705414A CN 201210370541 A CN201210370541 A CN 201210370541A CN 102846448 A CN102846448 A CN 102846448A
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Abstract
The invention relates to a portable and wearable exoskeleton robot for lower limb rehabilitation and walk aid. The portable and wearable exoskeleton robot comprises a hip joint member, a thigh supporting member, a knee joint member, a crus supporting member and an ankle joint foot member which are connected in sequence. The hip joint member comprises a hip joint supporting part, a first spiral pair assembly, a hip joint movement part, a leg movement member, a first connection rod and a first driving motor, wherein the first spiral pair assembly comprises a first spiral shaft and a first spiral sliding block which is in spiral connection with the first spiral shaft. One end of the first spiral shaft is installed in the hip joint supporting part, the other end of the spiral shaft is connected with an output shaft of the first driving motor, and the first spiral sliding block is rotatably connected with the first connection rod which is rotatably connected with the hip joint movement part. The hip joint supporting part, the hip joint movement part and the leg movement part are rotatably connected in sequence, and the leg supporting member is fixed on the leg movement part. A driving mechanism of the hip joint member is light, so that the exoskeleton robot is suitable for being worn and convenient to carry.
Description
Technical field
The present invention relates to medical instruments field, particularly relate to a kind of portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot.
Background technology
The at present rehabilitation for lower limb disorder mainly depends on the therapist one to one or many-to-one free-hand training, is difficult to realize high strength, targeted and repeated rehabilitation training requirement, and the cost of artificial training is very high.
The robot of at present relevant lower limb rehabilitation training mainly contains running type, the sitting and lying formula of hanging with regard to the rehabilitation training pattern.With regard to the drive pattern of joint motions, mainly contain the Mechanical Driven patterns such as chain drive formula, pneumatic type, hydraulic drive type.These training modes or drive pattern, common characteristics are that driving mechanism is bulky, are not suitable for dressing, and more do not have portable function, and need simultaneously the multidigit paraprofessional personnel to assist.For example, some robot adopts four-bar mechanism to link at hip joint parts place, utilize hydraulic cylinder to drive, and the driving mechanism of this hip joint parts is bulky, is not suitable for dressing.
Summary of the invention
Based on this, be necessary the bulky problem that is not suitable for dressing of driving mechanism for the hip joint parts of the robot of traditional lower limb rehabilitation training, provide a kind of driving mechanism of hip joint parts light and handy, be fit to dress, portable portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot.
A kind of portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot, comprise the hip joint parts that connect successively, the thigh support component, knee components, shank support component and ankle joint foot parts, wherein said hip joint parts comprise the branch to hip joint support member, the first screw pair assembly, the hip joint movement parts, leg exercise spare, first connecting rod and the first drive motors, described the first screw pair assembly comprises the first helical axis and the first spiral pieces that is connected with the first helical axis spiral, one end of described the first helical axis is installed in the branch to hip joint support member, the other end of described the first helical axis is connected with the output shaft of the first drive motors, described the first spiral pieces and first connecting rod are rotationally connected, described first connecting rod is rotationally connected with the hip joint movement parts simultaneously, and described branch to hip joint support member, hip joint movement parts and leg exercise spare are rotationally connected successively; Described thigh support component is fixed on the described leg exercise spare.
Among embodiment, also comprise the first guide rod that is slidingly connected with described the first spiral pieces therein, described the first guide rod is fixed on the described branch to hip joint support member.
Therein among embodiment, described hip joint movement parts and described branch to hip joint support member are rotationally connected and form the degree of freedom that allows thigh to swing forward, and described leg exercise spare is rotationally connected with described hip joint movement parts and forms the degree of freedom that allows the thigh sideshake.
Therein among embodiment, also comprise hip joint turning cylinder and leg exercise spare turning cylinder, the bottom of wherein said branch to hip joint support member is provided with first and articulates cavity, and the top of described hip joint movement parts is contained in the first pivot joint cavity and by described hip joint turning cylinder and described branch to hip joint support member and is rotationally connected; The bottom of described hip joint movement parts is provided with the first pivot connected slot, sidepiece offers the second pivot connected slot, described leg exercise spare is provided with the boss that is contained in the first pivot connected slot, and described leg exercise spare turning cylinder passes the second pivot connected slot the boss of described hip joint movement parts and described leg exercise spare is rotatably connected.
Therein among embodiment, also comprise clutch shaft bearing, the first shaft coupling, the first motor cabinet and the second bearing, described clutch shaft bearing and described the first shaft coupling are installed in the first motor cabinet, described the second bearing is installed in the described branch to hip joint support member, and the two ends of described the first helical axis are installed in respectively in described clutch shaft bearing and described the second bearing.
Among embodiment, described the first motor cabinet is fixed on the described branch to hip joint support member therein, and it is inner that described the first spiral pieces and described first connecting rod are positioned at described branch to hip joint support member.
Therein among embodiment, also comprise handle, buckle axle and spring, described leg exercise spare has the front, side and bottom surface, wherein said side and thigh direction forward is corresponding, offer lateral grooves on the described side, offer the front slotted eye that is communicated with described lateral grooves on the described front, offer the bottom surface installing hole on the described bottom surface, wherein the buckle axle is slidably mounted in the slotted eye of described front, one end of described spring is fixed in the lateral grooves, the other end of described spring is buckled on the described buckle axle, described handle is installed in rotation on the described leg exercise spare, described handle has and lays respectively at described lateral grooves inside and outside push-and-pull section and operating portion, and described push-and-pull section and described spring connect; Described thigh support component comprises that an end is inserted into the thigh support bar in the installing hole of described bottom surface, offer the anticreep groove that is clasped with described buckle axle on the described thigh support bar, Compress Spring and drive described buckle axle and described anticreep groove is reached or removed and is clasped when described handle rotates, the other end of described thigh support bar is fixedly connected with described knee components.
Therein among embodiment, also comprise arm pivot post and spring shaft, also offer the front fixing hole on the described front, described handle was installed in rotation on the described leg exercise spare by described arm pivot post and cooperating of described front fixing hole, described spring shaft is fixed in the described lateral grooves, and the two ends of described spring fasten respectively described buckle axle and described spring shaft.
Therein among embodiment, described push-and-pull section is provided with fluting, and an end of described spring passes described fluting and is buckled on the described buckle axle.
Therein among embodiment, described thigh support bar also is provided with the spline groove that the operating portion with described handle is clasped.
Above-mentioned portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot, the hip joint parts are taked the mode of motor-driven screw pair drivening rod, and then drive joint motions, and the driving mechanism volume that motor and screw pair form is light and handy, is fit to dress and be easy to carry.
Description of drawings
Fig. 1 is the exploded view of present embodiment exoskeleton robot;
Fig. 2 to Fig. 3 is the structural representation of each element after the hip joint parts decompose;
Fig. 4 is the cutaway view of leg exercise spare and thigh support component connection status in the hip joint parts;
Fig. 5 is the cutaway view behind the hip joint unit construction;
Fig. 6 is the exploded view of thigh support component;
Fig. 7 is the partial enlarged drawing of thigh support bar;
Fig. 8 to Fig. 9 is the structural representation of each element after knee components is decomposed;
Figure 10 is the cutaway view after the knee components combination;
Figure 11 is the exploded view of shank support component;
Figure 12 is the exploded view of ankle joint foot parts;
Figure 13 to Figure 14 is the structural representation of each element after the lumbar support parts decompose;
Figure 15 is the assembly drawing of lumbar support parts;
Figure 16 is present embodiment exoskeleton robot stance schematic diagram;
Figure 17 is that the present embodiment exoskeleton robot is walked the appearance schematic diagram;
Figure 18 is present embodiment exoskeleton robot sitting posture schematic diagram.
The specific embodiment
Please refer to Fig. 1 and Figure 16 to Figure 18, the portable wearable lower limb rehabilitation of present embodiment and walk-aiding exoskeleton robot comprise hip joint parts 1, thigh support component 2, knee components 3, shank support component 4, the ankle joint foot parts 5 that connects successively and form the full-leg parts, and the lumbar support parts 6 that are fixedly connected with hip joint parts 1.
Please refer to Fig. 2 and Fig. 3, hip joint parts 1 comprise the first drive motors 1.1, the first shaft coupling 1.2, the first motor cabinet 1.3, clutch shaft bearing 1.4, the first helical axis 1.5, the first spiral pieces 1.6, first connecting rod axle 1.7, first connecting rod 1.8, the first guide rod 1.9, the second bearing 1.10, branch to hip joint support member 1.11, second connecting rod axle 1.12, hip joint turning cylinder 1.13, hip joint movement parts 1.14, leg exercise spare turning cylinder 1.15, leg exercise spare 1.16, arm pivot post 1.17, handle 1.18, spring shaft 1.19, spring 1.20 and buckle axle 1.21.The below describes the assembled relation between each element in detail.
The first drive motors 1.1 is installed on the first motor cabinet 1.3.The first motor cabinet 1.3 is fixed on the top of branch to hip joint support member 1.11.The first shaft coupling 1.2 is positioned at the first motor cabinet 1.3 and is connected with the output shaft of the first drive motors 1.1.Clutch shaft bearing 1.4 also is installed in the first motor cabinet 1.3.1.10 on the second bearing is installed in the dead eye of branch to hip joint support member 1.11.
The first spiral pieces 1.6 spirals are installed on the first helical axis 1.5, and the two consists of the first screw pair assembly.One end of the first helical axis 1.5 is supported by clutch shaft bearing 1.4 and is connected with the output shaft of the first drive motors 1.1 by the first shaft coupling 1.2.The other end of the first helical axis 1.5 then inserts in the branch to hip joint support member 1.11 and by the second bearing 1.10 from the top of branch to hip joint support member 1.11 and supports.The first drive motors 1.1 drives the first helical axis 1.5 and rotates, and makes the first spiral pieces 1.6 rectilinear motion on the first helical axis 1.5.
The two ends of the first guide rod 1.9 are separately fixed on the first motor cabinet 1.3 and the branch to hip joint support member 1.11, and it passes the first spiral pieces 1.6, and the two is reached and is slidingly connected, with to the first spiral pieces 1.6 movement on the first helical axis 1.5 lead.
One end of first connecting rod 1.8 is rotationally connected by first connecting rod axle 1.7 and the first spiral pieces 1.6, and the other end is rotationally connected with hip joint movement parts 1.14 by second connecting rod axle 1.12.The top of hip joint movement parts 1.14 is rotationally connected with the bottom of branch to hip joint support member 1.11 by hip joint turning cylinder 1.13.Second connecting rod axle 1.12 and hip joint turning cylinder 1.13 lay respectively at the two ends on the top of hip joint movement parts 1.14, from Fig. 2 and Fig. 3, can see, the bottom of branch to hip joint support member 1.11 is provided with the first pivot joint cavity 1.111 that can hold hip joint movement parts 1.14, the two ends on hip joint movement parts 1.14 tops then are respectively equipped with a perforation 1.141, to cooperate with second connecting rod axle 1.12 and hip joint turning cylinder 1.13 respectively, hip joint movement parts 1.14 is rotationally connected respectively with first connecting rod 1.8 and branch to hip joint support member 1.11.
As shown in Figure 3, the bottom of hip joint movement parts 1.14 is provided with two the first pivot connected slots 1.142, and sidepiece offers the second pivot connected slot 1.143 that runs through.The top of leg exercise spare 1.16 is provided with two boss 1.161.Boss 1.161 is provided with through hole (not label).Two boss 1.161 are contained in respectively in two the first pivot connected slots 1.142.Leg exercise spare turning cylinder 1.15 passes the through hole on the second pivot connected slot 1.143 and the boss 1.161, makes leg exercise spare 1.16 be rotatably connected to the bottom of hip joint movement parts 1.14.Thus, branch to hip joint support member 1.11, hip joint movement parts 1.14 and leg exercise spare 1.16 are rotationally connected successively.
In the present embodiment, first of the bottom of branch to hip joint support member 1.11 articulates cavity 1.111 and allows hip joint movement parts 1.14 to swing in the direction that thigh reaches forward backward motion, and the first pivot connected slot 1.142 then allows leg exercise spare 1.16 to swing in the direction of thigh lateral movement.In other words, hip joint movement parts 1.14 is rotationally connected with branch to hip joint support member 1.11 and forms the degree of freedom that allows the thigh swing, leg exercise spare 1.16 is rotationally connected with hip joint movement parts 1.14 and forms the degree of freedom that allows the thigh sideshake, and hip joint parts 1 can adapt to the action request of thigh swing and the action request of thigh sideshake thus.
Please refer to Fig. 2 and Fig. 5, in the present embodiment, the first motor cabinet 1.3 is fixed on the top of branch to hip joint support member 1.11, branch to hip joint support member 1.11 tops are provided with cavity, and this cavity articulates cavity 1.111 with first of its bottom and communicates, wherein the first spiral pieces 1.6 is arranged in cavity, first connecting rod about in the of 1.8 two parts systems lay respectively at cavity and first and articulate in the cavity 1.111, in other words, the first spiral pieces 1.6 and first connecting rod 1.8 all are positioned at branch to hip joint support member 1.11 inside, so so that hip joint parts 1 compact overall structure, and outward appearance is clean and tidy.Certainly, also can not arrange like this, move in branch to hip joint support member 1.11 outsides such as the first spiral pieces 1.6, first connecting rod 1.8 is rotationally connected with the first spiral pieces 1.6 and hip joint movement parts 1.14 in the outside of branch to hip joint support member 1.11 simultaneously.
To shown in Figure 5, leg exercise spare 1.16 has front, side and bottom surface such as Fig. 3, and the side is corresponding with the thigh forward direction.Offer lateral grooves 1.162 on the side.Offer the front slotted eye 1.163 that is communicated with lateral grooves 1.162 on the front, and front fixing hole 1.164.Offer the bottom surface installing hole 1.165 that is communicated with lateral grooves 1.162 on the bottom surface.Buckle axle 1.21 is slidingly mounted in the front slotted eye 1.163 and extend in the bottom surface installing hole 1.165, and spring shaft 1.19 is fixed in the lateral grooves 1.162, and the two ends of aforementioned spring 1.20 fasten respectively buckle axle 1.21 and spring shaft 1.19.Arm pivot post 1.17 passes front fixing hole 1.164 and handle 1.18 is installed in rotation on the side of leg exercise spare 1.16.Handle 1.18 comprises and lays respectively at lateral grooves 1.162 inside and outside push-and-pull section 1.181 and operating portion 1.182, push-and-pull section 1.182 connects with spring 1.20, so, during rotating operation section 1.182, push-and-pull section 1.182 Compress Springs 1.20, and then drive buckle axle 1.21 slip in front slotted eye 1.163.The effect of buckle axle 1.21 is that thigh support component 2 is fixed on the leg exercise spare 1.16, will further describe hereinafter.Push-and-pull section 1.182 is provided with fluting, is buckled on the buckle axle 1.21 after passing for an end of spring 1.20, with Compress Spring 1.20 easily.
Please refer to Fig. 6 and Fig. 7, thigh support component 2 comprises the first bulb bolt 2.1, the first bulb latching 2.2, thigh binder dish 2.3, thigh binder dish adapter 2.4, thigh support bar 2.5 and thigh binder 2.6.
The central part of thigh binder dish 2.3 offers through hole.Thigh support bar 2.5 and thigh binder dish adapter 2.4 are positioned at a side of thigh binder dish 2.3, and the first bulb bolt 2.1 and the first bulb latching 2.2 are positioned at the opposite side of thigh binder dish 2.3.The first bulb bolt 2.1 is movably hinged with an end of thigh binder dish adapter 2.4.2.2 of the first bulb latchings are inserted in the hole on the first bulb bolt 2.1, prevent that thigh binder dish adapter 2.4 from coming off from thigh binder dish 2.3.The other end of thigh binder dish adapter 2.4 has the holding part 2.41 that two intermediate formation have spatial accommodation, thigh support bar 2.5 places spatial accommodation, by securing member two holding parts 2.41 are combined, thereby thigh support bar 2.5 is fixed on the thigh binder dish adapter 2.4.During use, thigh binder 2.6 is wrapped on the thigh, and its two ends then are fixed on the thigh binder dish 2.3.
Please in conjunction with reference to figure 4 to Fig. 7, thigh support bar 2.5 is fixedly connected with leg exercise spare 1.16, the one end is inserted in the bottom surface installing hole 1.165, the other end is fixedly connected with knee components 3.The end that thigh support bar 2.5 inserts bottom surface installing hole 1.165 offers the spline groove 2.52 that the anticreep groove 2.51 that is clasped with buckle axle 1.21 reaches and the operating portion 1.182 of handle 1.18 is clasped.After thigh support bar 2.5 inserted bottom surface installing hole 1.165, buckle axle 1.21 was buckled in the anticreep groove 2.51, prevents that thigh support bar 2.5 from coming off.Need to install, dismounting or when changing thigh support bar 2.5, then turning handle 1.18, Compress Spring 1.20 drives buckle axle 1.21 and slides, and removes or reaches the fixing of 1.21 pairs of thigh support bars 2.5 of buckle axle, dismantles very convenient.Spline groove 2.52 is used for cooperating with the operating portion 1.182 of handle 1.18, prevents that thigh support bar 2.5 from rotating.
Please refer to Fig. 8 to Figure 10, knee components 3 comprises the second drive motors 3.1, the second shaft coupling 3.2, the second motor cabinet 3.3, the 3rd bearing 3.4, the second helical axis 3.5, the second spiral pieces 3.6, third connecting rod axle 3.7, second connecting rod 3.8, the second guide rod 3.9, the 4th bearing 3.10, the first larynx hoop 3.11, thigh connector 3.12, knee joint support member 3.13, motion of knee joint part turning cylinder 3.14, motion of knee joint part 3.15, the second larynx hoop 3.16, the 4th pitman shaft 3.17 and gag lever post 3.18.The below describes the group mode between each element in detail.
The second drive motors 3.1 is installed on the second motor cabinet 3.3.The second shaft coupling 3.2 is positioned at the second motor cabinet 3.3 and is connected with the output shaft of the second drive motors 3.1.The 3rd bearing 3.4 also is installed in the second motor cabinet 3.3.3.10 on the 4th bearing is installed in the top of knee joint support member 3.13.
The second spiral pieces 3.6 spirals are installed on the second helical axis 3.5, and the two consists of the second screw pair assembly.One end of the second helical axis 3.5 is supported by the 3rd bearing 3.4 and is connected with the output shaft of the second drive motors 3.1 by the second shaft coupling 3.2.The other end of the second helical axis 3.5 then is installed in the knee joint support member 3.13 and by the 4th bearing 3.10 and supports.The second drive motors 3.1 drives the second helical axis 3.5 and rotates, and makes the second spiral pieces 3.6 rectilinear motion on the second helical axis 3.5.
The two ends of the second guide rod 3.9 are separately fixed on the second motor cabinet 3.3 and the knee joint support member 3.13, and it passes the second spiral pieces 3.6, and the two is slidingly connected, with to the second spiral pieces 3.6 movement on the second helical axis 3.5 lead.
Please refer to Fig. 8 and Figure 10, in the present embodiment, the second motor cabinet 3.3 is fixed on the top of knee joint support member 3.13, and second connecting rod 3.8 and the second spiral pieces 3.6 all are positioned at knee joint support member 3.13 inside, so, knee joint support member 3.13 compact conformations, and outward appearance is clean and tidy.Certainly, also can not arrange like this, move in knee joint support member 3.13 outsides such as the second spiral pieces 3.6, second connecting rod 3.8 is positioned at a side of knee joint support member 3.13 and is rotationally connected with the second spiral pieces 3.6 and motion of knee joint part 3.15 simultaneously.
One end of second connecting rod 3.8 is rotationally connected by third connecting rod axle 3.7 and the second spiral pieces 3.6, and the other end is rotationally connected with motion of knee joint part 3.15 by the 4th pitman shaft 3.17.3.15 whiles of motion of knee joint part are rotationally connected with knee joint support member 3.13, please refer to Fig. 7 to Fig. 8 and Figure 10, offer pivoted hole 3.131 and spacing hole 3.132 on the side of the bottom of knee joint support member 3.13, also be provided with second in the bottom of knee joint support member 3.13 and articulate cavity 3.133.The top of motion of knee joint part 3.15 is provided with on two articulated sections 3.151 and two articulated sections 3.151 and all offers through hole 3.152.Two articulated sections 3.151 are contained in second and articulate in the cavity 3.133, motion of knee joint part turning cylinder 3.14 pass one on the articulated section 3.151 through hole 3.152 and cooperate with pivoted hole 3.131, making motion of knee joint part 3.15 be rotationally connected with 3.17 of knee joint support member 3.13, the four pitman shafts is rotationally connected another articulated section 3.151 with second connecting rod 3.8.So, when the second spiral pieces 3.6 moves at the second helical axis 3.5, will drive motion of knee joint part 3.15 and swing.Form V-shaped groove between two articulated sections 3.151, gag lever post 3.18 is positioned in the spacing hole 3.132 and is arranged in V-shaped groove, is limited with the extreme position that motion of knee joint part 3.15 is swung.
Thigh connector 3.12 is installed in a side of knee joint support member 3.13 in a tubular form.After inserting, thigh support bar 2.5 is fixed on the thigh connector 3.12 by the first larynx hoop 3.11.
Please refer to Figure 11, shank support component 4 comprises that the second bulb bolt 4.1, the second bulb latching 4.2, shank binder dish 4.3, shank binder dish adapter 4.4, shank support bar 4.5, shank binder 4.6 form.Each parts connected mode of shank support component 4 and thigh support component 2 each parts connected mode are identical, repeat no more.In the present embodiment, the bottom of motion of knee joint part 3.15 is provided with tubular portion, and an end of shank support bar 4.5 inserts in the tubular portion, and the second larynx hoop 3.16 is fixed on shank support bar 4.5 on the motion of knee joint part 3.15.
Please refer to Figure 12, ankle joint foot parts 5 comprises footwear shoe 5.1, instep binder seat 5.2, heel binder seat 5.3, ankle joint bandage seat 5.4, spring fixed bar 5.5, ankle joint seat 5.6, linking springs 5.7, spring lever 5.8, thigh support spring 5.9, spring base 5.10, ankle joint spherojoint 5.11, ankle joint bulb cover plate 5.12, shank support set 5.13 and the 3rd larynx hoop 5.14.The below describes the assembled relation of each element in detail.
Instep binder seat 5.2, heel binder seat 5.3, ankle joint bandage seat 5.4 all are fixed on footwear and carry out on 5.1.Ankle joint seat 5.6 is fixed on the side of ankle joint bandage seat 5.4, offers centre bore 5.61 on the ankle joint seat 5.6.Spring fixed bar 5.5 is fixed on the bottom surface of ankle joint seat 5.6 and is corresponding with centre bore 5.61.One end of linking springs 5.7 is arranged in centre bore 5.61 and is buckled on the spring fixed bar 5.5, and the other end is buckled in an end of spring lever 5.8.The other end of spring lever 5.8 then is fixed on the below of ankle joint spherojoint 5.11.Thigh support spring 5.9 and spring base 5.10 are arranged between ankle joint seat 5.6 and the ankle joint spherojoint 5.11, one end of thigh support spring 5.9 is connected to centre bore 5.61 inside of ankle joint seat 5.6, and thigh support spring 5.9 other ends then are connected on the lower surface of spring base 5.10.The upper surface of spring base 5.10 is provided with the bellmouth that runs through, and the lower semisphere of ankle joint spherojoint 5.11 is bearing in the bellmouth.So, ankle joint spherojoint 5.11 is connected on the ankle joint seat 5.6, and can be up and down, and can reset under the effect of thigh support spring 5.9.Thigh support spring 5.9 also plays the effect of the anti-brisance in buffering ground when the patient walks.One end of shank support set 5.13 then passes the episphere that ankle joint bulb cover plate 5.12 is fixed to ankle joint spherojoint 5.11, the other end of shank support set 5.13 then is fixed together with shank support bar 4.5 by the 3rd larynx hoop 5.14, wherein the 3rd larynx hoop 5.14 is fixed on the shank support set 5.13, and shank support bar 4.5 inserts in the shank support set 5.13 and by the 3rd larynx hoop 5.14 and fixes.
In the above-mentioned ankle joint foot parts 5, shank support set 5.13 is flexibly connected for universal spherical joint with respect to ankle joint seat 5.6, to reach any direction motion of human foot's ankle joint.
Please refer to Figure 13 to Figure 15, lumbar support parts 6 comprise waist backing plate 6.1, bearing cap 6.2, the 5th bearing 6.3, gear 6.4, axle jump ring 6.5, shank parts Connection Block 6.6, shank member supporting plate 6.7, anti-attrition pad 6.8, active plate 6.9, driven wheel 6.10, pad 6.11, locking nut 6.12, the 3rd drive motors 6.13, waist fixing member supports axle 6.14, belt buckle 6.15 and back junction button 6.16.The below describes the assembled relation of each element in detail.
Form the waist movable part after shank member supporting plate 6.7 is connected with shank parts Connection Block 6.6, anti-attrition pad 6.8, active plate 6.9, pad 6.11, locking nut 6.12, the 3rd drive motors 6.13, driven wheel 6.10, waist fixing member supports axle 6.14, be fixed to during use on the hip joint parts 1.Form the waist fixed part after waist backing plate 6.1 is connected with belt buckle 6.15, back junction button 6.16, gear 6.4, the 5th bearing 6.3, bearing cap 6.2, be fixed on the human body by belt, back connecting band etc. during use.So, the waist movable part can swing with respect to the waist fixed part during use, thereby assists to drive the walking of shank parts.
In the present embodiment, gear 6.4 is internal gear, in the waist fixed part, belt buckle 6.15, back junction button 6.16 are installed in respectively the both sides of waist backing plate 6.1, the 5th bearing 6.3 is fixed in the centre bore of gear 6.4, bearing cap 6.2 is fixedly connected with gear 6.4, and bearing cap 6.2 is fixedly connected with waist backing plate 6.1 simultaneously.Please refer to Figure 13, the middle part of waist backing plate 6.1 offers through hole (not label), and bearing cap 6.2 parts are contained in the through hole, so, can reduce the integral thickness of waist fixed part.The effect of belt buckle 6.15, back junction button 6.16 is that the elements such as belt easy to use, back connecting band are fixed to the waist fixed part on the human body.Be appreciated that also and can opening or projection be set at waist backing plate 6.1, can substitute belt buckle 6.15, back junction button 6.16.
In the waist movable part, shank member supporting plate 6.7 is fixedly connected with shank parts Connection Block 6.6, the 3rd drive motors 6.13, waist fixing member supports axle 6.14.The 3rd drive motors 6.13 and shank parts Connection Block 6.6 are fixed on the same side of shank member supporting plate 6.7, wherein the 3rd drive motors 6.13 is fixed on the centre position of shank member supporting plate 6.7, and 6.6 of shank parts Connection Blocks are fixed on the end of shank member supporting plate 6.7.Shank member supporting plate 6.7 is provided with the hole corresponding with the output shaft of the 3rd drive motors 6.13, driven wheel 6.10 be fixedly connected on the output shaft of the 3rd drive motors 6.13 and with gear 6.4 engagements.Waist fixing member supports axle 6.14 passes shank member supporting plate 6.7 from a side of shank member supporting plate 6.7, then cooperates with the 5th bearing 6.3, thereby whole waist movable part is supported.Axle is installed on the waist fixing member supports axle 6.14 with 6.5 of jump rings, prevents that waist fixing member supports axle 6.14 from coming off from shank member supporting plate 6.7.
Shank parts Connection Block 6.6 passes shank member supporting plate 6.7, active plate 6.9,6.11 on pad are placed on the shank parts Connection Block 6.6 successively, be fixedly connected on the shank parts Connection Block 6.6 by locking nut 6.12, wherein between active plate 6.9 and the shank member supporting plate 6.7 anti-attrition pad 6.8 is installed also, between pad 6.11 and the active plate 6.9 anti-attrition pad 6.8 is installed also, to strengthen the anti-wear performance of active plate 6.9.Active plate 6.9 is fixedly connected with the shank parts.In the present embodiment, the two ends of shank member supporting plate 6.7 are equipped with an active plate 6.9, are connected respectively on two shank parts.In the exoskeleton robot of present embodiment, active plate 6.9 is fixed on the branch to hip joint support member 1.11.
The advantage of the lumbar support parts 6 of present embodiment is: 1) the waist movable part is flexibly connected with the waist fixed part that is fixed on the human body, and when therefore using, the waist movable part can adapt to the motion of human body waist; When 2) the 3rd drive motors 6.13 is worked, be installed in gear 6.4 engagements of driven wheel 6.10 and waist fixed part on its output shaft, and waist fixed part system is fixed on the human body by belt etc., therefore can realize that the waist movable part is with respect to the swing of waist fixed part, and the waist movable part is fixed on the shank parts, therefore will assist the human body upper body to divide the oscillating motion that realizes waist when the waist movable part swings with respect to the waist fixed part, and then the lower limb walking of lifting of assisting to finish human body is moved.
Be appreciated that the shank parts that lumbar support parts 6 can be applied to the exoskeleton robot of various ways get on, and can not affect the performance of its function.
The portable wearable lower limb rehabilitation of present embodiment and the advantage of walk-aiding exoskeleton robot are: 1) driving mechanism of hip joint parts 1, knee components 3 has all adopted motor-driven screw pair drivening rod, and then the mode of drive joint motions, the volume of driving mechanism is light and handy, suitable wearing also is easy to carry, and has better self-locking property than the harmonic speed reducer of conventional art; 2) take sleeve and loop bar or similar dismountable compound mode between each parts of composition leg mechanism, convenient disassembly is therefore be easy to carry; 3) lumbar support parts 6 are provided with the waist movable part, can assist and adapt to the human body upper body and partly realize the waist oscillating motion.
It may be noted that, for exoskeleton robot, the driving mechanism of hip joint parts 1, knee components 3 is not necessarily taked motor-driven screw pair drivening rod simultaneously, and then the mode of drive joint motions, can only have an employing, another adopts hydraulic-driven, the disc type electric machine of transmission to cooperate the modes such as harmonic speed reducer, four-bar mechanism to drive, as long as can drive joint motions.When only having a scheme of taking present embodiment, can improve equally the portable of exoskeleton robot and more be fit to and dress.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot is characterized in that, comprise the hip joint parts, thigh support component, knee components, shank support component and the ankle joint foot parts that connect successively, wherein
Described hip joint parts comprise the branch to hip joint support member, the first screw pair assembly, the hip joint movement parts, leg exercise spare, first connecting rod and the first drive motors, described the first screw pair assembly comprises the first helical axis and the first spiral pieces that is connected with the first helical axis spiral, one end of described the first helical axis is installed in the branch to hip joint support member, the other end of described the first helical axis is connected with the output shaft of the first drive motors, described the first spiral pieces and first connecting rod are rotationally connected, described first connecting rod is rotationally connected with the hip joint movement parts simultaneously, and described branch to hip joint support member, hip joint movement parts and leg exercise spare are rotationally connected successively; Described thigh support component is fixed on the described leg exercise spare.
2. portable wearable lower limb rehabilitation according to claim 1 and walk-aiding exoskeleton robot is characterized in that, also comprise the first guide rod that is slidingly connected with described the first spiral pieces, and described the first guide rod is fixed on the described branch to hip joint support member.
3. portable wearable lower limb rehabilitation according to claim 1 and walk-aiding exoskeleton robot, it is characterized in that, described hip joint movement parts and described branch to hip joint support member are rotationally connected and form the degree of freedom that allows thigh to swing forward, and described leg exercise spare is rotationally connected with described hip joint movement parts and forms the degree of freedom that allows the thigh sideshake.
4. portable wearable lower limb rehabilitation according to claim 3 and walk-aiding exoskeleton robot, it is characterized in that, also comprise hip joint turning cylinder and leg exercise spare turning cylinder, the bottom of wherein said branch to hip joint support member is provided with first and articulates cavity, and the top of described hip joint movement parts is contained in the first pivot joint cavity and by described hip joint turning cylinder and described branch to hip joint support member and is rotationally connected; The bottom of described hip joint movement parts is provided with the first pivot connected slot, sidepiece offers the second pivot connected slot, described leg exercise spare is provided with the boss that is contained in the first pivot connected slot, and described leg exercise spare turning cylinder passes the second pivot connected slot the boss of described hip joint movement parts and described leg exercise spare is rotatably connected.
5. portable wearable lower limb rehabilitation according to claim 1 and walk-aiding exoskeleton robot, it is characterized in that, also comprise clutch shaft bearing, the first shaft coupling, the first motor cabinet and the second bearing, described clutch shaft bearing and described the first shaft coupling are installed in the first motor cabinet, described the second bearing is installed in the described branch to hip joint support member, and the two ends of described the first helical axis are installed in respectively in described clutch shaft bearing and described the second bearing.
6. portable wearable lower limb rehabilitation according to claim 5 and walk-aiding exoskeleton robot, it is characterized in that, described the first motor cabinet is fixed on the described branch to hip joint support member, and it is inner that described the first spiral pieces and described first connecting rod are positioned at described branch to hip joint support member.
7. the according to claim 1 described portable wearable lower limb rehabilitation of arbitrary claim and walk-aiding exoskeleton robot in 6, it is characterized in that, also comprise handle, buckle axle and spring, described leg exercise spare has the front, side and bottom surface, wherein said side and thigh direction forward is corresponding, offer lateral grooves on the described side, offer the front slotted eye that is communicated with described lateral grooves on the described front, offer the bottom surface installing hole on the described bottom surface, wherein the buckle axle is slidably mounted in the slotted eye of described front, one end of described spring is fixed in the lateral grooves, the other end of described spring is buckled on the described buckle axle, described handle is installed in rotation on the described leg exercise spare, described handle has and lays respectively at described lateral grooves inside and outside push-and-pull section and operating portion, and described push-and-pull section and described spring connect; Described thigh support component comprises that an end is inserted into the thigh support bar in the installing hole of described bottom surface, offer the anticreep groove that is clasped with described buckle axle on the described thigh support bar, Compress Spring and drive described buckle axle and described anticreep groove is reached or removed and is clasped when described handle rotates, the other end of described thigh support bar is fixedly connected with described knee components.
8. portable wearable lower limb rehabilitation according to claim 7 and walk-aiding exoskeleton robot, it is characterized in that, also comprise arm pivot post and spring shaft, also offer the front fixing hole on the described front, described handle was installed in rotation on the described leg exercise spare by described arm pivot post and cooperating of described front fixing hole, described spring shaft is fixed in the described lateral grooves, and the two ends of described spring fasten respectively described buckle axle and described spring shaft.
9. portable wearable lower limb rehabilitation according to claim 7 and walk-aiding exoskeleton robot is characterized in that, described push-and-pull section is provided with fluting, and an end of described spring passes described fluting and is buckled on the described buckle axle.
10. portable wearable lower limb rehabilitation according to claim 7 and walk-aiding exoskeleton robot is characterized in that, described thigh support bar also is provided with the spline groove that the operating portion with described handle is clasped.
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| CN107049701B (en) * | 2017-01-12 | 2020-02-28 | 北京大学 | Wearable power knee joint rehabilitation device |
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| CN111591371A (en) * | 2020-05-27 | 2020-08-28 | 贵州航天天马机电科技有限公司 | Single-leg mechanism of four-footed bionic robot |
| CN114209541A (en) * | 2021-10-28 | 2022-03-22 | 中国科学院深圳先进技术研究院 | Walking assisting exoskeleton device |
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