CN103735386A - Wearable lower limb exoskeleton rehabilitation robot - Google Patents
Wearable lower limb exoskeleton rehabilitation robot Download PDFInfo
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- CN103735386A CN103735386A CN201310572075.2A CN201310572075A CN103735386A CN 103735386 A CN103735386 A CN 103735386A CN 201310572075 A CN201310572075 A CN 201310572075A CN 103735386 A CN103735386 A CN 103735386A
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Abstract
The invention discloses an exoskeleton robot structural design and provides a wearable lower limb exoskeleton rehabilitation robot. The robot mainly comprises a waist structural component playing an auxiliary supporting role, hip joint components with driving capacity, length-adjustable thigh components, knee joint components with driving capacity, length-adjustable shank components and ankle joint structural components capable of being locked. The hip joint components and the knee joint components mainly comprise joint supporting pieces, speed reducers, motors, bearings, output shafts and coding discs. The waist structural component with an auxiliary supporting function mainly comprises an electric cabinet bracket, a width-adjustable waist connecting rod and structural components capable of automatically adjusting abduction/adduction of the hip joints. The length-adjustable thigh components and the length-adjustable shank components mainly comprise inner rods, outer rods, binding belt fixing devices, nuts and connecting screws. The ankle joint structural components capable of being locked mainly comprise end covers capable of being locked, ankle joint supporting pieces, bearings, connecting rods and supporting foot plates.
Description
One. technical field
The present invention relates to medical instruments field, be specifically related to a kind of wearable lower limb exoskeleton healing robot
Two. background technology
The present invention take recovery, to promote the locomotor activity of chronic joint disease patient, Patients of Spinal and brain injury patients be target.At present in lower limb disorder patient, most ofly by joint disease, caused, all the other are mainly caused by spinal cord injury and brain injury.
For most lower limb disorder patients, there is no at present effective clinical rehabilitation scheme.Although also there are relevant clinical rehabilitation means to propose, but there are not at present the good equipment of energy and scheme can realize these requirements, urgent need will be utilized new technique, new method and advanced means, study, realize a kind of can help these patient safeties, in time, rationally quantitatively, effectively, the intelligent rehabilitation exercise equipment that can carry out repetition training.Therefore the emerging intelligent rehabilitation exercise equipment that, wearable lower limb exoskeleton healing robot of the present invention can effectively address the above problem just.
Healing robot mainly contains two kinds at present: auxiliary type healing robot and recovery exercising robot.Complementary healing robot is mainly to help the inconvenient patient of limb motion to complete exercises, the organic device people of this series products wheelchair, bionic nurse, robot artificial limb, robot ectoskeleton etc.The major function of recovery exercising robot is to help patient to complete resuming training of various motor functions; By type of drive, divide, exoskeleton robot is generally divided into hydraulic-driven, air pressure drives and electric driving.These three kinds of type of drive respectively have pluses and minuses.
Three. summary of the invention
Wearable lower limb exoskeleton healing robot of the present invention adopts electric type of drive, adopts brshless DC motor in conjunction with the direct-coupled type of drive of decelerator and joint, and simple in structure, weight is less, easy operating.
A wearable lower limb exoskeleton healing robot, comprises successively the waist structure parts that play supplemental support effect that connect, has the hip joint parts of driving force, the shank parts of the thigh parts of adjustable length, the knee components that has driving force, adjustable length, lockable ankle joint structure parts.It is characterized in that: described waist structure parts and the hip joint parts that have driving force, transmit body weight to the thigh parts of described adjustable length, described thigh parts are connected with the described knee components that has driving force, transmit gravity to the shank parts of described adjustable length, finally be delivered to described ankle joint parts, contact with ground, realize the effect of auxiliary walking.
The described waist structure parts that play supplemental support effect, comprise electric cabinet bracket, adjustable-width waist connecting rod, automatically regulate the construction package of hip abduction/interior receipts.
The construction package of described automatic adjusting hip abduction/interior receipts, comprises revolute pair, scalable waist bar, piston rod, spring, piston/cylinder, piston cap.The second support member that it is characterized in that the described hip joint that has driving force is connected with scalable waist bar by revolute pair.Described in described piston rod is fixed on, have on second support member of hip joint of driving force, and insert described piston/cylinder, described piston/cylinder packs spring into, forms the abduction/adduction passive freedom degree of hip joint.
Described hip driving joint parts, mainly comprise that hip joint protection enclosing cover, hip joint the first support member, motor support enclosing cover, motor, decelerator, decelerator support enclosing cover, bearings plate, bearing, output shaft, coding disk, hip joint the second support member.Described motor is fixed in hip joint the first support member and motor support enclosing cover, and is connected with decelerator; The deceleration end of decelerator is connected and packs into decelerator and supports enclosing cover with output shaft; Bearing packs bearings plate into, decelerator supports between enclosing cover and output shaft, so that output shaft output rotation acting; Output shaft is connected with hip joint the second support member; Coding disk is connected to hip joint the second support member outside, detects joint position information; The complete hip joint parts that finally form.
The thigh parts of described adjustable length, comprise interior bar, outer bar, bandage fixture, connecting bolt.
The described knee components that has driving force, comprises that knee joint protection enclosing cover, motor first support enclosing cover, motor second supports enclosing cover, motor, decelerator, decelerator support enclosing cover, knee joint the first support member, bearing, output shaft, coding disk, knee joint the second support member.It is characterized in that, described motor is fixed on motor first and supports in enclosing cover and motor the second support enclosing cover, and is connected with decelerator; The deceleration end of decelerator is connected and packs into decelerator and supports enclosing cover with output shaft; Bearing packs knee joint the first support member into, decelerator supports between enclosing cover and output shaft, so that output shaft output rotation acting; Output shaft is connected with knee joint the second support member; Coding disk is connected to knee joint the second support member outside, detects joint position information; The complete knee components finally forming.
The shank parts of described adjustable length, comprise interior bar, outer bar, bandage fixture, connecting bolt.
Described lockable ankle joint structure parts, comprise exoskeleton robot foot, ankle support part, revolute, lockable end cap.It is characterized in that, according to the needs of auxiliary patient's walking and rehabilitation, can described lockable end cap be tightened with screw, ankle joint is by locked.
For realizing position closed loop, control, in one end of described hip joint and knee axis, rotary encoder is installed as position sensor.
The present invention has the following advantages and particularity effect: described brshless DC motor is in conjunction with the direct-coupled type of drive of decelerator and joint, make quality and the small volume of servo drive system, simple in structure, output torque is large, start braking relatively easy, be swift in response sensitive, dynamic response capability is good.The waist connecting rod of designed adjustable width, thigh assembly and the shank component of adjustable length, make exoskeleton robot adapt to the wearing of different crowd, and the height and the width that according to the fat or thin different people of height, regulate robot, dress comfortable.Designed hip joint and knee joint assembly limited location function, guarantee walking safety.Described ankle joint has lockable function, can unblank or locked to ankle joint according to the needs of auxiliary patient's walking and rehabilitation, improves Rehabilitation training effect.
Four. accompanying drawing explanation
Fig. 1 is the structural representation of wearable lower limb exoskeleton healing robot of the present invention;
Fig. 2 is the waist structure parts partitioned organization schematic diagram that plays supplemental support effect in the present invention;
Fig. 3 is the exploded view of described waist structure parts that play supplemental support effect.
Fig. 4 is the hip joint modular construction generalized section that has driving force in the present invention;
Fig. 5 is the described hip joint modular construction overall schematic that has driving force;
Fig. 6 is the thigh parts STRUCTURE DECOMPOSITION schematic diagram of adjustable length in the present invention;
Fig. 7 is the knee components structural profile schematic diagram that has driving force in the present invention;
Fig. 8 is the described knee components structural entity schematic diagram that has driving force;
Fig. 9 is the shank parts STRUCTURE DECOMPOSITION schematic diagram of adjustable length in the present invention;
Figure 10 is ankle joint structure modular construction decomposing schematic representation lockable in the present invention;
five. the specific embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as a limitation of the invention.
Referring to Fig. 1, a wearable lower limb exoskeleton healing robot, mainly comprised supplemental support effect waist structure parts 1, have the hip joint parts 2 of driving force, the thigh parts 3 of adjustable length, have the knee components 4 of driving force, the shank parts 5 of adjustable length, lockable ankle joint structure parts 6.
Referring to Fig. 2, Fig. 3, the waist structure parts 1 that play supplemental support effect comprise electric cabinet bracket 1.1, automatically regulate the construction package 1.2 of hip abduction/interior receipts, the waist connecting rod 1.3 of adjustable-width.Electric cabinet bracket 1.1 comprises electric cabinet 1.11 and supporting back board 1.12; Automatically regulate the construction package 1.2 of hip abduction/interior receipts to comprise piston cap 1.21, spring 1.22, piston/cylinder 1.23, piston rod 1.24, waist the first support member 1.25; The waist connecting rod 1.3 of adjustable-width comprises outer bar 1.31, supports floor 1.32, interior bar 1.33; Assembled relation between each element is described in detail in detail below.
Electric cabinet 1.11 is fixed in supporting back board 1.12, and connects outer bar 1.31; Interior bar 1.33 inserts outer bar 1.31, by its length of screw scalable, supports floor 1.32 and is fixed on outer bar 1.31, and be connected with supporting back board 1.12; Spring 1.22 packs piston/cylinder 1.23 into, and piston cap 1.21 is fixed on piston/cylinder 1.23, and piston rod 1.24 inserts piston/cylinder 1.23 and is connected with waist the first support member 1.25, forms the abduction/adduction passive freedom degree of hip joint.Supporting back board 1.12 connects knapsack, and ties up at people's shoulder and waist, and carrying human body weight passes on the hip joint parts 2 of driving force by the waist connecting rod 1.3 of adjustable-width.
Referring to Fig. 4, Fig. 5; the described hip joint parts 2 that have driving force, mainly comprise hip joint protection enclosing cover 2.1, hip joint the first support member 2.2, support enclosing cover 2.3, motor 2.4,, decelerator 2.5, decelerator support enclosing cover 2.6, bearings plate 2.7, bearing 2.8, output shaft 2.9, coding disk 2.10, hip joint the second support member 2.11.Assembled relation between each element is described in detail in detail below.
Motor 2.4 is fixed on hip joint the first support member 2.2 and supports in enclosing cover 2.3; Motor 2.4 is connected with decelerator 2.5; The deceleration end of decelerator 2.5 is connected and packs into decelerator with output shaft 2.9 and supports enclosing cover 2.6; Bearing 2.8 packs bearings plate 2.7 into, decelerator supports between enclosing cover 2.6 and output shaft 2.9, so that output shaft 2.9 output rotation actings; Output shaft 2.9 is connected with hip joint the second support member 2.11; Coding disk 2.10 is connected to hip joint the second support member 2.11 outsides, detects joint position information; The complete hip joint parts that finally form are connected hip joint the first support member 2.2 simultaneously with waist the first support member 1.25 that plays the waist structure parts 1 of supplemental support effect; Hip joint the second support member 2.11 is connected with the outer bar 3.3 of thigh parts 3.
The advantage of the hip joint parts 2 that have driving force of the present embodiment is that motor 2.4 is connected with decelerator 2.5, driver output axle 2.9, make motor 2.4 can slow down more than 100 times, greatly improved output torque, motor and decelerator are on a central shaft simultaneously, reduced the width coordinating, robot driving joint volume is reduced greatly.
Be appreciated that hip joint parts 2 can be applied on the joint drive of exoskeleton robot of various ways, can not affect the performance of its function.
Referring to Fig. 6, the thigh parts 3 of described adjustable length, comprise attaching nut 3.1, interior bar 3.2, outer bar 3.3, thigh bandage fixture 3.4, attachment screw 3.5.It is characterized in that interior bar 3.2 inserts in outer bar 3.3, is fixed on fixture on outer bar 3.3 with attaching nut and attachment screw 3.5.The outer bar 3.3 of thigh parts 3 and second support member 2.12 of hip joint parts 2 of the adjustable length of assembling are connected.
The advantage of the thigh parts 3 of described adjustable length is that these parts form by dismountable interior bar, outer bar and screw, and disassembly and assembly are convenient, can regulate arbitrarily the length of thigh parts, make exoskeleton robot can adapt to various wearing crowds.
Referring to Fig. 7, Fig. 8; the described knee components that has driving force 4, mainly comprises that knee joint protection enclosing cover 4.1, motor first support enclosing cover 4.2, motor second supports enclosing cover 4.3, motor 4.4, decelerator 4.5, decelerator support enclosing cover 4.6, knee joint the first support member 4.7, bearing 4.8, output shaft 4.9, coding disk 4.10, knee joint the second support member 4.11.Assembled relation between each element is described in detail in detail below.
Motor 4.4 is fixed on motor first and supports in enclosing cover 4.2 and motor the second support enclosing cover 4.3; Motor 4.4 is connected with decelerator 4.5; The deceleration end of decelerator 4.5 is connected and packs into decelerator with output shaft 4.9 and supports enclosing cover 4.6; Bearing 4.8 packs knee joint the first support member 4.7 into, decelerator supports between enclosing cover 4.6 and output shaft 4.9, so that output shaft 4.9 output rotation actings; Output shaft 4.9 is connected with knee joint the second support member 4.11; Coding disk 4.10 is connected to knee joint the second support member 4.11 outsides, detects joint position information; The complete knee components finally forming is connected knee joint the first support member 4.7 simultaneously with the interior bar 3.2 of thigh parts 3.
Referring to Fig. 9, thigh parts 3 similar of the shank parts 5 of described adjustable length and adjustable length, comprise attaching nut 5.1, interior bar 5.2, outer bar 5.3, shank bandage fixture 5.4, attachment screw 5.5.It is characterized in that interior bar 5.2 inserts in outer bar 5.3, is fixed on fixture on outer bar 5.3 with attaching nut and attachment screw 5.5.The outer bar 5.3 of thigh parts 5 and second support member 4.12 of knee components 4 of the adjustable length of assembling are connected.
Referring to Figure 10, described lockable ankle joint structure parts 6, comprise lockable end cap 6.1, ankle support part 6.2, bearing 6.3, connecting rod 6.4, support sole 6.5.It is characterized in that, connecting rod 6.4 packs bearing 6.3 into and is connected with support sole 6.5, pack assembly into ankle support part 6.2, can can described lockable end cap 6.1 be tightened on ankle support part 6.2 and connecting rod 6.4 with screw according to the needs of auxiliary patient's walking and rehabilitation, ankle joint is by locked, ankle support part 6.2 is fixed together with the interior bar 5.2 of the shank parts 5 of adjustable length simultaneously, plays the effect of support.
The advantage of the wearable lower limb exoskeleton healing robot of the present embodiment is: the waist structure parts 1 that 1) play supplemental support effect can pass through knapsack backboard support human body weight, the Degree of Structure Freedom that described waist structure comprises automatic adjusting hip abduction/interior receipts simultaneously, in the time of can or walking according to human body lower limbs when manned walking, produce and swing abduction or interior receipts, people is not walked and produces restriction, safe and reliable; 2) driving mechanism of hip joint parts 2, knee components 4 has all adopted motor to rotate by the direct driving joint of decelerator, hip joint parts 2 and knee components 4 have all increased the absolute angular position in coding disk measurement joint simultaneously, formation closed loop servo is controlled, control easy, accuracy is high; 3) between all parts of composition leg mechanism, adopt dismountable compound modes such as interior bar, outer bar, screw, installation, convenient disassembly, be easy to carry; 4) described ankle joint has lockable function, can unblank or locked to ankle joint according to the needs of auxiliary patient's walking and rehabilitation, improves Rehabilitation training effect.
This 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 (5)
1. a wearable lower limb exoskeleton healing robot, it is characterized in that, comprised supplemental support effect waist structure parts, have the hip joint parts of driving force, the shank parts of the thigh parts of adjustable length, the knee components that has driving force, adjustable length, lockable ankle joint structure parts.Wherein, the described hip joint parts that have driving force, mainly comprise that hip joint protection enclosing cover, hip joint the first support member, motor support enclosing cover, motor, decelerator, decelerator support enclosing cover, bearings plate, bearing, output shaft, coding disk, hip joint the second support member.The described knee components that has driving force has the similar with the described hip joint parts that have driving force.
2. wearable lower limb exoskeleton healing robot according to claim 1, it is characterized in that: described hip joint and knee components, motor is by described decelerator deceleration hip joint and knee joint, and connecting thigh, little leg connecting rod by described hip joint, knee joint support member, hip joint measured by described encoder and kneed angle pose changes.Described branch to hip joint support member is connected with the described waist structure parts that play supplemental support effect, grantee's body weight.
3. wearable lower limb exoskeleton healing robot according to claim 1, it is characterized in that: the described waist structure parts that play supplemental support effect, comprise electric cabinet bracket, adjustable-width waist connecting rod, automatically regulate the construction package of hip abduction/interior receipts.The construction package of described automatic adjusting hip abduction/interior receipts, comprises revolute pair, scalable waist bar, piston rod, spring, piston/cylinder, piston cap.Introduce special spring, form hip abduction/interior receipts passive freedom degree.
4. wearable lower limb exoskeleton healing robot according to claim 1, it is characterized in that: the Retractive leg parts of described adjustable length, comprise interior bar, outer bar, bandage fixture, nut, attachment screw, simple in structure, easy to operate, can the large leg connecting rod of free adjustment and the length of little leg connecting rod.
5. wearable lower limb exoskeleton healing robot according to claim 1, is characterized in that: described lockable ankle joint structure parts, comprise lockable end cap, ankle support part, bearing, connecting rod, support sole.According to the needs of auxiliary patient's walking and rehabilitation, can unblank or locked to ankle joint.
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Denomination of invention: Wearable lower limb exoskeleton rehabilitation robot Effective date of registration: 20220325 Granted publication date: 20151118 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: BEIJING AI-ROBOTICS TECHNOLOGY Co.,Ltd. Registration number: Y2022990000174 |