CN102846448B - 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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- CN102846448B CN102846448B CN201210370541.4A CN201210370541A CN102846448B CN 102846448 B CN102846448 B CN 102846448B CN 201210370541 A CN201210370541 A CN 201210370541A CN 102846448 B CN102846448 B CN 102846448B
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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
At present mainly depend on therapist one to one or many-to-one free-hand training for the rehabilitation of lower limb disorder, be difficult to realize high strength, targeted and repeated rehabilitation training requirement, the cost of artificial training is very high.
About the robot of lower limb rehabilitation training, mainly contain hanging running type, sitting and lying formula with regard to rehabilitation training pattern at present.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, a common feature is that driving mechanism is bulky, is not suitable for dressing, and does not more have portable function, and needs multidigit paraprofessional personnel to assist simultaneously.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 of dressing of being not suitable for 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 applicable to dressing, 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, thigh support component, knee components, shank support component and ankle joint foot section, wherein said hip joint parts comprise branch to hip joint support member, the first screw pair assembly, hip joint movement parts, leg exercise part, first connecting rod and the first drive motors, described the first screw pair assembly comprises the first helical axis and the first spiral pieces being connected with the first helical axis spiral, one end of described the first helical axis is arranged in 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 hip joint movement parts simultaneously, and described branch to hip joint support member, hip joint movement parts and leg exercise part are rotationally connected successively, described thigh support component is fixed on described leg exercise part.
In an embodiment, also comprise the first guide rod being slidably connected with described the first spiral pieces therein, described the first guide rod is fixed in described branch to hip joint support member.
In an embodiment, described hip joint movement parts and described branch to hip joint support member are rotationally connected thigh can be swung forward therein, and described leg exercise part and described hip joint movement parts are rotationally connected and make the thigh can sideshake.
Therein in an embodiment, also comprise hip joint turning cylinder and leg exercise part turning cylinder, the bottom of wherein said branch to hip joint support member is provided with the first pivot joint 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 part is provided with the boss being contained in the first pivot connected slot, and described leg exercise part turning cylinder is rotatably connected the boss of described hip joint movement parts and described leg exercise part through the second pivot connected slot.
Therein in an 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 arranged in the first motor cabinet, described the second bearing is arranged in described branch to hip joint support member, and the two ends of described the first helical axis are arranged on respectively in described clutch shaft bearing and described the second bearing.
In an embodiment, described the first motor cabinet is fixed in described branch to hip joint support member therein, and described the first spiral pieces and described first connecting rod are positioned at described branch to hip joint support member inside.
Therein in an embodiment, also comprise hands handle, buckle axle and spring, described leg exercise part has front, side and bottom surface, wherein said side and thigh direction correspondence forward, on described side, offer lateral grooves, on described front, offer the front slotted eye being communicated with described lateral grooves, on described bottom surface, offer bottom surface installing hole, wherein buckle axle is slidably mounted in the slotted eye of described front, one end of described spring is fixed in lateral grooves, the other end of described spring is buckled on described buckle axle, described handle is installed in rotation on described leg exercise part, described handle has and lays respectively at described lateral grooves inside and outside push-and-pull portion and operating portion, described push-and-pull portion and described spring connect, described thigh support component comprises that one end is inserted into the thigh support bar in the installing hole of described bottom surface, on described thigh support bar, offer the anticreep groove being clasped with described buckle axle, Compress Spring 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 in an embodiment, also comprise arm pivot post and spring shaft, on described front, also offer front fixing hole, described handle was installed in rotation on described leg exercise part by described arm pivot post and coordinating of described front fixing hole, described spring shaft is fixed in described lateral grooves, and the two ends of described spring fasten respectively described buckle axle and described spring shaft.
Therein in an embodiment, described push-and-pull portion is provided with fluting, and one end of described spring is through described fluting and be buckled on described buckle axle.
In an embodiment, described thigh support bar is also provided with the spline groove being clasped with the operating portion of described handle therein.
Above-mentioned portable wearable lower limb rehabilitation and walk-aiding exoskeleton robot, hip joint parts take motor to drive the mode of screw pair drivening rod, and then drive joint motions, and the driving mechanism volume of motor and screw pair composition is light and handy, is applicable to dressing and being easy to carry.
Brief description of the 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 hip joint parts decompose;
Fig. 4 is leg exercise part in hip joint parts and the cutaway view of thigh support component connection status;
Fig. 5 is the cutaway view after 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 knee components combination;
Figure 11 is the exploded view of shank support component;
Figure 12 is the exploded view of ankle joint foot section;
Figure 13 to Figure 14 is the structural representation of each element after 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 present embodiment exoskeleton robot is walked appearance schematic diagram;
Figure 18 is present embodiment exoskeleton robot sitting posture schematic diagram.
Detailed description of the invention
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 the hip joint parts 1, thigh support component 2, knee components 3, shank support component 4, the ankle joint foot section 5 that connect successively and form 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 part turning cylinder 1.15, leg exercise part 1.16, arm pivot post 1.17, handle 1.18, spring shaft 1.19, spring 1.20 and buckle axle 1.21.Assembled relation between each element is described in detail in detail below.
The first drive motors 1.1 is arranged 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 is also arranged in the first motor cabinet 1.3.The second 1.10, bearing is arranged in the dead eye of branch to hip joint support member 1.11.
The first spiral pieces 1.6 spirals are arranged on the first helical axis 1.5, and the two forms 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 inserts in branch to hip joint support member 1.11 and is supported by the second bearing 1.10 from the top of branch to hip joint support member 1.11.The first drive motors 1.1 drives the first helical axis 1.5 to rotate, 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 in the first motor cabinet 1.3 and branch to hip joint support member 1.11, and it is through the first spiral pieces 1.6, and the two is reached and is slidably 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 are respectively equipped with a perforation 1.141, to coordinate 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 running through.The top of leg exercise part 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 part turning cylinder 1.15, through the through hole on the second pivot connected slot 1.143 and boss 1.161, makes leg exercise part 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 part 1.16 are rotationally connected successively.
In present embodiment, the first pivot joint cavity 1.111 of the bottom of branch to hip joint support member 1.11 allows hip joint movement parts 1.14 to swing forward and in the direction of motion backward at thigh, and the first pivot connected slot 1.142 allows leg exercise part 1.16 to swing in the direction of thigh lateral movement.In other words, hip joint movement parts 1.14 is rotationally connected and forms the degree of freedom that allows thigh swing with branch to hip joint support member 1.11, leg exercise part 1.16 is rotationally connected and forms the degree of freedom that allows thigh sideshake with hip joint movement parts 1.14, 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 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 communicates with the first pivot joint cavity 1.111 of its bottom, wherein the first spiral pieces 1.6 is arranged in cavity, first connecting rod Shang Xia 1.8 two parts systems lay respectively in cavity and the first pivot joint cavity 1.111, in other words, the first spiral pieces 1.6 and first connecting rod 1.8 are all positioned at branch to hip joint support member 1.11 inside, so make hip joint parts 1 compact overall structure, and outward appearance is clean and tidy.Certainly, also can not arrange like this, as the first spiral pieces 1.6 moves in branch to hip joint support member 1.11 outsides, 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.
As shown in Figures 3 to 5, leg exercise part 1.16 has front, side and bottom surface, and side is corresponding with thigh forward direction.On side, offer lateral grooves 1.162.On front, offer the front slotted eye 1.163 being communicated with lateral grooves 1.162, and front fixing hole 1.164.On bottom surface, offer the bottom surface installing hole 1.165 being communicated with lateral grooves 1.162.Buckle axle 1.21 is slidably mounted in front slotted eye 1.163 and extend in bottom surface installing hole 1.165, and spring shaft 1.19 is fixed in 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 to the side of leg exercise part 1.16.Handle 1.18 comprises and lays respectively at lateral grooves 1.162 inside and outside push-and-pull portion 1.181 and operating portion 1.182, push-and-pull portion 1.182 connects with spring 1.20, so, when rotating operation portion 1.182, push-and-pull portion 1.182 Compress Springs 1.20, and then drive buckle axle 1.21 to slide in front slotted eye 1.163.The effect of buckle axle 1.21 is that thigh support component 2 is fixed on leg exercise part 1.16, will further describe hereinafter.Push-and-pull portion 1.182 is provided with fluting, is buckled on buckle axle 1.21, with Compress Spring 1.20 easily for one end of spring 1.20 after passing.
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 one end of thigh binder dish adapter 2.4.The first 2.2 of 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 two intermediate formation the holding part 2.41 of spatial accommodation, thigh support bar 2.5 is placed in spatial accommodation, by securing member, two holding parts 2.41 are combined, thereby thigh support bar 2.5 is fixed on thigh binder dish adapter 2.4.When use, thigh binder 2.6 is wrapped on thigh, and its two ends are fixed on thigh binder dish 2.3.
Incorporated by reference to reference to figure 4 to Fig. 7, thigh support bar 2.5 is fixedly connected with leg exercise part 1.16, its one end is inserted in bottom surface installing hole 1.165, the other end is fixedly connected with knee components 3.One end that thigh support bar 2.5 inserts bottom surface installing hole 1.165 offers the anticreep groove 2.51 being clasped with buckle axle 1.21 and the spline groove 2.52 being clasped with the operating portion 1.182 of handle 1.18.Thigh support bar 2.5 inserts after bottom surface installing hole 1.165, and buckle axle 1.21 is buckled in anticreep groove 2.51, prevents that thigh support bar 2.5 from coming off.Need to install, dismounting or while changing thigh support bar 2.5, turning handle 1.18, Compress Spring 1.20, drives buckle axle 1.21 to slide, and removes or reaches fixing to thigh support bar 2.5 of buckle axle 1.21, dismantles very convenient.Spline groove 2.52, for coordinating 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.Describe the group mode between each element below in detail.
The second drive motors 3.1 is arranged 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 is also arranged in the second motor cabinet 3.3.The 4th 3.10, bearing is arranged in the top of knee joint support member 3.13.
The second spiral pieces 3.6 spirals are arranged on the second helical axis 3.5, and the two forms 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 is arranged in 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 to rotate, 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 knee joint support member 3.13, and it is through the second spiral pieces 3.6, and the two is slidably 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 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 are all 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, as the second spiral pieces 3.6 moves in knee joint support member 3.13 outsides, 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, on the side of the bottom of knee joint support member 3.13, offer pivoted hole 3.131 and spacing hole 3.132, in the bottom of knee joint support member 3.13, be also provided with the second pivot joint 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 the second pivot joint cavity 3.133, motion of knee joint part turning cylinder 3.14 passes the through hole 3.152 on an articulated section 3.151 and coordinates 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 on the second helical axis 3.5, will drive motion of knee joint part 3.15 to swing.Between two articulated sections 3.151, form V-shaped groove, gag lever post 3.18 is positioned in 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 in a tubular form, is arranged on a side of knee joint support member 3.13.After inserting, thigh support bar 2.5 is fixed on 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 is identical with the each parts connected mode of thigh support component 2, repeats no more.In present embodiment, the bottom of motion of knee joint part 3.15 is provided with tubular portion, and insert in tubular portion one end of shank support bar 4.5, and the second larynx hoop 3.16 is fixed on shank support bar 4.5 on motion of knee joint part 3.15.
Please refer to Figure 12, ankle joint foot section 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.Describe the assembled relation of each element below in detail.
Instep binder seat 5.2, heel binder seat 5.3, ankle joint bandage seat 5.4 are all 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 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 spring fixed bar 5.5, and the other end is buckled in one end of spring lever 5.8.The other end of spring lever 5.8 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 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 are connected on the lower surface of spring base 5.10.The upper surface of spring base 5.10 is provided with the bellmouth running through, and the lower semisphere of ankle joint spherojoint 5.11 is bearing in bellmouth.So, ankle joint spherojoint 5.11 is connected on ankle joint seat 5.6, and can be up and down, and can under the effect of thigh support spring 5.9, reset.Thigh support spring 5.9 also plays the effect of the anti-brisance in buffering ground in the time that patient walks.One end of shank support set 5.13 is fixed to the episphere of ankle joint spherojoint 5.11 through ankle joint bulb cover plate 5.12, the other end of shank support set 5.13 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 shank support set 5.13, and shank support bar 4.5 inserts in shank support set 5.13 and by the 3rd larynx hoop 5.14 and fixes.
In above-mentioned ankle joint foot section 5, shank support set 5.13, moves with any direction that reaches human foot's ankle joint for universal spherical joint is flexibly connected with respect to ankle joint seat 5.6.
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, 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 for axle.Describe the assembled relation of each element below in detail.
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, composition waist movable part, is fixed to when use on hip joint parts 1.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, composition waist fixed part, is fixed on human body by belt, back connecting band etc. when use.So, when use, waist movable part can swing with respect to waist fixed part, thereby assists to drive the walking of shank parts.
In present embodiment, gear 6.4 is internal gear, in waist fixed part, belt buckle 6.15, back junction button 6.16 are arranged on 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 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 element such as belt easy to use, back connecting band is fixed to waist fixed part on human body.Be appreciated that opening or projection also can be set on waist backing plate 6.1, can substitute belt buckle 6.15, back junction button 6.16.
In 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, and driven wheel 6.10 is fixedly connected on the output shaft of the 3rd drive motors 6.13 and engages with gear 6.4.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 coordinates with the 5th bearing 6.3, thereby whole waist movable part is supported.Axle is arranged on 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 is through shank member supporting plate 6.7, active plate 6.9,6.11, pad are placed on shank parts Connection Block 6.6 successively, be fixedly connected on shank parts Connection Block 6.6 by locking nut 6.12, wherein between active plate 6.9 and shank member supporting plate 6.7, anti-attrition pad 6.8 is also installed, between pad 6.11 and active plate 6.9, anti-attrition pad 6.8 is also installed, to strengthen the anti-wear performance of active plate 6.9.Active plate 6.9 is fixedly connected with shank parts.In 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 in branch to hip joint support member 1.11.
The advantage of the lumbar support parts 6 of present embodiment is: 1) waist movable part is flexibly connected with the waist fixed part being fixed on human body, and while therefore use, waist movable part can adapt to the motion of human body waist; 2) when the 3rd drive motors 6.13 is worked, the driven wheel 6.10 being arranged on its output shaft engages with the gear 6.4 of waist fixed part, and waist fixed part system is fixed on human body by belt etc., therefore can realize the swing of waist movable part with respect to waist fixed part, and waist movable part is fixed on shank parts, therefore will assist human body upper body to divide the oscillating motion that realizes waist when waist movable part swings with respect to waist fixed part, and then assist the lower limb walking of lifting of human body to move.
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 to drive screw pair drivening rod, and then the mode of drive joint motions, the volume of driving mechanism is light and handy, applicable wearing is also easy to carry, and has better self-locking property compared with the harmonic speed reducer of conventional art; 2) between each parts of composition leg mechanism, take sleeve and loop bar or similar dismountable compound mode, convenient disassembly, therefore be easy to carry; 3) lumbar support parts 6 are provided with waist movable part, can assist and adapt to human body upper body part and realize waist oscillating motion.
It may be noted that, for exoskeleton robot, the driving mechanism of hip joint parts 1, knee components 3 not necessarily takes motor to drive 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 coordinate the modes such as harmonic speed reducer, four-bar mechanism to drive, as long as can drive joint motions.While only having a scheme of taking present embodiment, can improve equally the portable of exoskeleton robot and more be applicable to dressing.
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 the scope of the claims of the present invention.It 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 (9)
1. portable wearable lower limb rehabilitation and a walk-aiding exoskeleton robot, is characterized in that, comprises the hip joint parts, thigh support component, knee components, shank support component and the ankle joint foot section that connect successively, wherein
Described hip joint parts comprise branch to hip joint support member, the first screw pair assembly, hip joint movement parts, leg exercise part, first connecting rod and the first drive motors, described the first screw pair assembly comprises the first helical axis and the first spiral pieces being connected with the first helical axis spiral, one end of described the first helical axis is arranged in 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 hip joint movement parts simultaneously, and described branch to hip joint support member, hip joint movement parts and leg exercise part are rotationally connected successively, described thigh support component is fixed on described leg exercise part,
Also comprise hands handle, buckle axle and spring, described leg exercise part has front, side and bottom surface, wherein said side and thigh direction correspondence forward, on described side, offer lateral grooves, on described front, offer the front slotted eye being communicated with described lateral grooves, on described bottom surface, offer bottom surface installing hole, wherein buckle axle is slidably mounted in the slotted eye of described front, one end of described spring is fixed in lateral grooves, the other end of described spring is buckled on described buckle axle, described handle is installed in rotation on described leg exercise part, described handle has and lays respectively at described lateral grooves inside and outside push-and-pull portion and operating portion, described push-and-pull portion and described spring connect, described thigh support component comprises that one end is inserted into the thigh support bar in the installing hole of described bottom surface, on described thigh support bar, offer the anticreep groove being clasped with described buckle axle, Compress Spring 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.
2. portable wearable lower limb rehabilitation according to claim 1 and walk-aiding exoskeleton robot, is characterized in that, also comprises the first guide rod being slidably connected with described the first spiral pieces, and described the first guide rod is fixed in 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 thigh can be swung forward, and described leg exercise part and described hip joint movement parts are rotationally connected and make the thigh can 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 part turning cylinder, the bottom of wherein said branch to hip joint support member is provided with the first pivot joint 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 part is provided with the boss being contained in the first pivot connected slot, and described leg exercise part turning cylinder is rotatably connected the boss of described hip joint movement parts and described leg exercise part through the second pivot connected slot.
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 arranged in the first motor cabinet, described the second bearing is arranged in described branch to hip joint support member, and the two ends of described the first helical axis are arranged on 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 in described branch to hip joint support member, and described the first spiral pieces and described first connecting rod are positioned at described branch to hip joint support member inside.
7. portable wearable lower limb rehabilitation according to claim 1 and walk-aiding exoskeleton robot, it is characterized in that, also comprise arm pivot post and spring shaft, on described front, also offer front fixing hole, described handle was installed in rotation on described leg exercise part by described arm pivot post and coordinating of described front fixing hole, described spring shaft is fixed in described lateral grooves, and the two ends of described spring fasten respectively described buckle axle and described spring shaft.
8. portable wearable lower limb rehabilitation according to claim 1 and walk-aiding exoskeleton robot, is characterized in that, described push-and-pull portion is provided with fluting, and one end of described spring is through described fluting and be buckled on described buckle axle.
9. portable wearable lower limb rehabilitation according to claim 1 and walk-aiding exoskeleton robot, is characterized in that, described thigh support bar is also provided with the spline groove being clasped with the operating portion of described handle.
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| CN201210370541.4A CN102846448B (en) | 2012-09-28 | 2012-09-28 | Portable and wearable exoskeleton robot for lower limb rehabilitation and walk aid |
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| EP3666242A3 (en) * | 2018-12-10 | 2020-09-16 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
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| CN103816027B (en) * | 2014-01-28 | 2015-08-05 | 浙江大学 | A kind of based on pneumatic muscles apery lower limb |
| WO2015174998A1 (en) | 2014-05-16 | 2015-11-19 | Massachusetts Institute Of Technology | Apparatus and method for supporting a human body using supernumerary artificial limbs |
| CN105342811B (en) * | 2015-09-29 | 2017-10-31 | 中国科学院深圳先进技术研究院 | Support member and the self-adapting seat device with the support member |
| CN106726339A (en) * | 2015-11-20 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of spring reverse motion and the leg training device using the spring reverse motion |
| CN106426097B (en) * | 2016-10-26 | 2018-06-15 | 北京航空航天大学 | A kind of lower limb exoskeleton servomechanism |
| US10253855B2 (en) | 2016-12-15 | 2019-04-09 | Boston Dynamics, Inc. | Screw actuator for a legged robot |
| CN107049701B (en) * | 2017-01-12 | 2020-02-28 | 北京大学 | Wearable power knee joint rehabilitation device |
| CN108095976B (en) * | 2018-02-06 | 2023-09-29 | 吉林大学 | Bionic knee joint rehabilitation training device with passive rebound function |
| 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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| CN1022798C (en) * | 1990-06-21 | 1993-11-24 | 清华大学 | Electric walking machine for high leg paraplegia patients |
| WO2007112117A2 (en) * | 2006-03-24 | 2007-10-04 | Sue Hitzmann | System and methods for promoting health |
| CA2937610C (en) * | 2007-12-26 | 2021-03-23 | Rex Bionics Limited | Self-contained powered exoskeleton walker for a disabled user |
| CN101810533B (en) * | 2010-03-08 | 2011-06-29 | 上海交通大学 | Walking aid exoskeleton rehabilitation robot |
| CN102499859B (en) * | 2011-11-08 | 2014-04-16 | 上海交通大学 | Lower limb exoskeleton walking rehabilitation robot |
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| EP3666242A3 (en) * | 2018-12-10 | 2020-09-16 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
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