CN104758142B - Outside is a booster skeleton robot - Google Patents

Outside is a booster skeleton robot Download PDF

Info

Publication number
CN104758142B
CN104758142B CN201510166388.7A CN201510166388A CN104758142B CN 104758142 B CN104758142 B CN 104758142B CN 201510166388 A CN201510166388 A CN 201510166388A CN 104758142 B CN104758142 B CN 104758142B
Authority
CN
China
Prior art keywords
plate
body
assembly
thigh
joint
Prior art date
Application number
CN201510166388.7A
Other languages
Chinese (zh)
Other versions
CN104758142A (en
Inventor
邱静
潘有缘
程洪
Original Assignee
电子科技大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 电子科技大学 filed Critical 电子科技大学
Priority to CN201510166388.7A priority Critical patent/CN104758142B/en
Publication of CN104758142A publication Critical patent/CN104758142A/en
Application granted granted Critical
Publication of CN104758142B publication Critical patent/CN104758142B/en

Links

Abstract

本发明涉及一种助力外骨骼机器人,它包括鞋体组件(1)、踝关节组件(2)、小腿(3)、膝关节(4)、大腿组件(5)、髋关节组件(6)和背部支架(7),所述的鞋体组件(1)包括橡胶鞋垫(8)、脚底前板(9)和脚底后板(10);所述的踝关节组件(2)包括连接块(12)、铰接板(13)、转动副(14)、和连接杆(15),所述的膝关节(4)为L形结构,小腿(3)的上端与膝关节(4)的L形结构转角处铰接相连;所述的大腿组件(5)包括大腿本体、油缸A(20)和油缸B(22);所述的髋关节组件(6)包括髋关节本体(24)和髋关节绑带(25)。 The present invention relates to an outer skeleton robot is a booster, comprising a shoe assembly (1), the ankle joint assembly (2), the leg (3), knee (4), thigh component (5), the hip joint assembly (6) and the back support (7), said shoe assembly (1) comprises a rubber insole (8), the front sole plate (9) and the rear foot plate (10); the ankle joint assembly (2) comprises a connection block (12 ), the hinge plates (13), the swivel joint (14), and a connecting rod (15), an L-shaped configuration of the knee joint (4) is L-shaped structure, the lower leg (3) and the upper end of the knee joint (4) hingedly connected to the corner; the thigh assembly (5) comprises a leg body, the cylinder a (20) and the cylinder B (22); said hip joint assembly (6) comprises a hip joint body (24) and the hip strap (25). 本发明的优点在于:结构简单、成本低、舒适度高和踝关节具有多自由度。 Advantage of the present invention is that: the structure is simple, low cost, high comfort and ankle having multiple degrees of freedom.

Description

一种助力外骨骼机器人 Outside is a booster skeleton robot

技术领域 FIELD

[0001]本发明涉及医疗康复器械技术领域,特别是一种助力外骨骼机器人。 [0001] The present invention relates to the technical field of medical rehabilitation equipment, in particular, is a booster outer skeleton robot.

背景技术 Background technique

[0002]外骨骼是一种能够提供对生物柔软内部器官进行构型,建筑和保护的坚硬的外部结构。 [0002] The exoskeleton is capable of providing a biological soft internal organs rigid external structural configuration, construction and protection. 尽管外骨骼的概念在美国科幻电影中出现已有数十年的历史,但鉴于基础技术的限制,它从来就不是一个实践性的概念。 Although the concept of exoskeleton appeared for decades in the history of American science fiction movie, but given the limitations in the underlying technology, it has never been a practical concept. 经过不懈研宄,国外科学家己研制出各种外骨骼,帮助有需要的人更有效地打理他们的日常生活和工作。 Through unremitting in a Subsidiary, foreign scientists has developed a variety of exoskeleton to help people in need to more effectively manage their daily life and work.

[°°03] 我国现在的外骨骼都基本处在研发阶段,大部分主要应用于病人康复或者帮助残疾人,帮助扩展人体能力的机器人相对来说较少。 [°° 03] China is now the exoskeleton are fundamental in the development stage, most are mainly used in the rehabilitation of patients or help people with disabilities to help expand the capacity of the robot body is relatively small. 现行的助力外骨骼机器人存在造价昂贵, 机械加工难度较强,加工精度难以满足和穿戴不舒适等缺点。 There is expensive, difficult machining strong, machining accuracy is difficult to meet and uncomfortable to wear and other shortcomings of existing robotic skeleton outside help.

发明内容 SUMMARY

[0004] 本发明的目的在于克服现有技术的缺点,提供一种结构简单、成本低、舒适度高和踝关节具有多自由度的助力外骨骼机器人。 [0004] The object of the present invention is to overcome the drawbacks of the prior art, providing a simple, low cost, high comfort, and an outer ankle bones assisted multiple degrees of freedom of the robot.

[0005] 本发明的目的通过以下技术方案来实现:一种助力外骨骼机器人,它包括鞋体组件、踝关节组件、小腿、膝关节、大腿组件、髋关节组件和背部支架,所述的鞋体组件包括橡胶鞋垫、脚底前板和脚底后板,所述的脚底前板设置于橡胶鞋垫的上表面前部,脚底后板设置于橡胶鞋垫的上表面后部,脚底前板和脚底后板连接;所述的踝关节组件包括连接块、铰接板、转动副、和连接杆,连接块的下端垂直固定于脚底后板的外侧边缘处,连接块的上端与铰接板的下端较接相连,铰接板的上部穿设于转动副的内部,铰接板的上部开有孔,所述的连接杆的下端一侧设置有水平方向延伸的转柱,转柱穿过较接板,并与转动副相连;所述的连接杆的上端与小腿的下端相连,所述的膝关节为L形结构,小腿的上端与膝关节的L形结构转角处铰接相连;所述的大腿组件包括 [0005] The object of the present invention is achieved by the following technical solution: an outer skeleton robot is a booster, comprising a shoe assembly, assembly ankle, calf, knee, thigh assembly, the back support and the hip joint assembly, the shoe the insole assembly comprises a rubber, the front foot and foot plate rear plate, the rear surface of the front portion of said sole plate disposed in front of the rubber sole, the rear plate is provided on the upper surface of the rear rubber foot insoles, soles of the feet and soles of the feet of the front plate ; said ankle comprises a connection block assembly, hinge plates, rotating pair, and the connecting rod, the lower end of the connecting block is vertically fixed to the rear outer edge of the foot plate, an upper end connected to the lower end of the hinge plate than the contact block is connected, the upper hinge plate is rotatably disposed through the inside of the sub, and the upper hinge plate hole is opened, the lower end of the connecting rod side is provided with a transfer column extending in the horizontal direction, than through the column switch board, and the rotation of the sub connected; connected to the upper end of the lower leg of the connecting rod, the L-shaped structure of the knee joint, the hinge is connected to the upper end of L-shaped configuration with a corner of the lower leg of the knee; the thigh assembly comprising 大腿本体、油缸A和油缸B,所述的大腿本体的下端与膝关节的竖直段顶部铰接相连,大腿本体的前侧固定安装有安装座A,所述的油缸A的尾部铰接安装在安装座A上,油缸A的输出端与大腿本体的上部铰接相连,所述的大腿本体后侧上部固定安装有安装座B,油缸B的尾部铰接安装于安装座B上,油缸B的输出端铰接安装在膝关节的水平段末端;所述的髋关节组件包括髋关节本体和髋关节绑带,髋关节本体设置于大腿本体的顶部,髋关节绑带设置于髋关节本体上;所述的髋关节绑带的后侧还固定有背部支架安装块,所述的背部支架固定于背部支架安装块上。 The thigh of the body, and the cylinder A cylinder B, the top of the vertical section of the lower end of the thigh and knee joint articulation is connected to the body, the front side of the thigh of the body is attached to the mount A is fixed, said tail articulation cylinder A is mounted in the mounting a seat on the upper portion of the output terminal a of the cylinder body and thigh hinge connected to said upper thigh rear body fixedly attached to the mount tail B, B of the cylinder hingedly mounted on the mounting base B, the output terminal of the hinge cylinder B mounted on the end of the horizontal section of the knee; the hip joint assembly comprising a top body and the hip strap hip, hip body disposed in the main body of the thigh, hip strap is provided on the hip joint body; the hip the rear strap joint further mounting block fixed to the back support, the back support bracket is fixed to the back of the mounting block.

[0006] 所述的橡胶鞋垫与脚底前板之间、橡胶鞋垫与脚底后板之间分别设置有传感器。 [0006] between the front foot and the insole rubber plate, a rubber are disposed between the insole and the sole plate has a rear sensor.

[0007] 所述的转柱上还套装有垫板,垫板位于铰接板与连接杆之间。 Column switch according to [0007] further sleeved pad, pad positioned between the hinge plates and connecting rods.

[0008] 所述的鞋体组件还包括脚底绑带,脚底绑带设置于脚底前板与脚底后板的连接处。 [0008] The shoe sole assembly further comprises a strap, the strap is provided in the sole plate connected to the front foot and the rear foot plates.

[0009] 所述的大腿本体内侧还设置有大腿绑带。 [0009] The inside of the thigh of the body is further provided with thigh straps.

[0010] 本发明具有以下优点: [0010] The present invention has the following advantages:

[0011] 1、本发明的机械结构简单,加工精度要求较低,容易实现。 [0011] 1, the mechanical structure of the present invention is simple and low machining accuracy, easy to implement.

[0012] 2、各部件结构相对简单,使用传统的加工方法就可以达到要求,而不用采取很新的加工仪器和加工技术,这大大的减少了成本和加工周期。 [0012] 2, each member a relatively simple structure using conventional processing methods can meet the requirements without taking very new processing technology and processing equipment, which greatly reduces the cost and processing cycle.

[0013] 3、髋关节本体由左右两个类人体骨骼的金属结构组成,这个设计能让主要承受力的髋关节结构既能承受住重物的重力而且又能和人体髋关节骨头贴合紧密,避免行走过程中髋关节结构和人体的臀部产生干涉,大大的增强了助力外骨骼机器人的舒适性。 [0013] 3, the left and right hip of the body structure of the human skeleton metal composition, this design allows the main structure of the hip endurance to withstand both gravity and the weight of the human hip joint and bones can close fit , to avoid the hip during hip body structure and running interference, greatly enhances the comfort booster outer skeleton robot.

[0014] 4、踝关节组件具有三个自由度,分别能够让踝关节实现伸/展、旋内/旋外、外翻/ 内翻这三个运动,并运用一定的机械结构对运动各个方向的运动范围进行限制,以免运动过程中超过人体本身的运动范围对人体造成伤害。 [0014] 4, the ankle joint assembly has three degrees of freedom, respectively, to allow the ankle to achieve extension / abduction, external and internal rotation / rotation, valgus turn these three motion / within, and for each direction a certain use of the mechanical structure limit range of motion, so the range of motion during exercise than the body's own cause injury.

[0015] 5、在背部设置背部支架,背部支架模块主要用于动力元件液压缸泵和油箱放置, 并且是负重主要的承担者,为使用者减负。 [0015] 5, the back support is provided in the back, the back support module is used to pump the hydraulic cylinder and the oil tank are placed the power element, and is the major load bearer for the user burden.

附图说明 BRIEF DESCRIPTION

[0016] 图1为本发明的结构示意图; [0016] FIG. 1 is a schematic view of the structure of the present invention;

[0017] 图2为鞋体组件的拆分结构示意图; [0017] FIG. 2 is a schematic diagram of the split structure of the shoe assembly;

[0018] 图3为鞋体组件的组装结构示意图; [0018] FIG. 3 is a schematic view of the assembled structure of the shoe assembly;

[0019] 图4为踝关节组件的拆分结构示意图; [0019] FIG. 4 is a schematic diagram of the split structure of the ankle joint assembly;

[0020] 图5为踝关节的侧面结构示意图; [0020] FIG. 5 is a schematic side view of the structure of the ankle;

[0021] 图6为图5的左视结构示意图; [0021] FIG. 6 is a schematic structural view in FIG. 5, left;

[0022] 图7为小腿分别与连接杆和膝关节的连接示意图; [0022] FIG. 7 is connected to the lower leg and the knee connecting rod schematic;

[0023] 图8为髋关节组件的结构示意图; [0023] FIG. 8 is a schematic view of a hip joint assembly;

[0024] 图中:1 -鞋体组件,2-踝关节组件,3-小腿,4-膝关节,5-大腿组件,6-髋关节组件, 7-背部支架,8-橡胶鞋垫,9-脚底前板,10-脚底后板,11-传感器,12-连接块,13-铰接板, 14-转动副,15-连接杆,16-转柱,17-垫板,18-脚底绑带,19-安装座A,20-油缸A,21-安装座B,22-油缸B,23-大腿绑带,24-髋关节本体,25-髋关节绑带,26-背部支架安装块。 [0024] FIG: 1 - shoe assembly, ankle joint assembly 2-, 3- calf, knee 4-, 5- assembly thigh, hip joint assembly 6-, 7- back support, insole rubber 8-, 9- foot front, rear foot plate 10-, 11 sensor, 12 connecting block, 13 of the hinge plates, 14 sub-rotated, the connecting rod 15, 16 turn the column, 17- pads, foot straps 18, 19- mount A, 20- cylinder A, 21- mount B, 22- cylinder B, 23- thigh straps, the hip 24- body, hip strap 25, 26- back support mounting block.

具体实施方式 Detailed ways

[0025]下面结合附图对本发明做进一步的描述,但本发明的保护范围不局限于以下所述。 [0025] DRAWINGS further description of the invention, but the scope of the present invention is not limited to the below.

[0026] 如图1所示,一种助力外骨骼机器人,它包括鞋体组件1、踩关节组件2、小腿3、膝关节4、大腿组件5、髋关节组件6和背部支架7,如图2和图3所示,所述的鞋体组件1包括橡胶鞋垫8、脚底前板9和脚底后板10,橡胶鞋垫8具有减缓冲击的效果,脚底前板9和脚底后板10为可承受重量的金属材料制成,一方面使得穿戴着感觉舒适另一方面又能承受负重,所述的脚底前板9设置于橡胶鞋垫8的上表面前部,脚底后板10设置于橡胶鞋垫8的上表面后部,脚底前板9和脚底后板10连接;如图4、图5和图6所示,所述的踝关节组件2包括连接块12、铰接板13、转动副14、和连接杆15,连接块12的下端垂直固定于脚底后板10的外侧边缘处,连接块12的上端与铰接板13的下端铰接相连,铰接板13的上部穿设于转动副14的内部,铰接板13的上部开有孔,所述的连接杆15的下端一侧设置有水平方向 [0026] As shown, the outer skeleton robot 1 is a booster, comprising a shoe assembly 1, joint assembly step 2, leg 3, 4 of the knee, thigh assembly 5, the hip joint assembly 6 and back support 7, FIG. 2 and 3, comprising a rubber insole 8, the front foot and the foot plate 9 the rear plate 10, a rubber cushion the impact of the insole 8 having the effect of a shoe assembly, the front foot plate 9 and the rear foot plate 10 to be subjected to by weight of metallic material, on the one hand so that comfortable wearing feeling can bear weight on the other hand, the foot plate 9 is provided on the front surface of the front portion 8 of the rubber sole, the sole plate 10 is disposed a rubber insole 8 on the rear surface, the front foot plate 9 and the rear foot plate 10 is connected; 4, 5 and 6, the ankle block 12 includes a connector assembly 2, the hinge plates 13, the sub 14 is rotated, and the connecting lever 15, the connecting block outside edge of the plate 10 of the vertically fixed to the sole of the foot a lower end 12 connected to the lower end of the upper end of the hinge plate block 12 13 hingedly connected to an upper hinge plate 13 is disposed through the inner turning pair 14, the hinge plates an upper hole 13 is opened, the lower end of the connecting rod 15 side is provided with a horizontal 伸的转柱16,转柱16穿过铰接板13,并与转动副14相连,踝关节组件2具有三个自由度,分别能够让踝关节实现伸/ 展、旋内/旋外、外翻/内翻这三个运动,并运用一定的机械结构对运动各个方向的运动范围进行限制,以免运动过程中超过人体本身的运动范围对人体造成伤害;如图7所示,所述的连接杆15的上端与小腿3的下端相连,小腿3的下部还开有U形槽,一方面为了减重,减少转动惯量以减少控制过程中的惯性影响,另一方面可以作为小腿3长度调节的主要实现方法, 所述的膝关节4为L形结构,膝关节4内装有编码器,作为控制信号的主要参数之一,小腿3的上端与膝关节4的L形结构转角处铰接相连;如图1所示,所述的大腿组件5包括大腿本体、油缸A20和油缸B22,所述的大腿本体的下端与膝关节4的竖直段顶部铰接相连,大腿本体的前侧固定安装有安装座A19,所述 Turn extending column 16, column 16 through rotation of the hinge plates 13, and connected to the sub 14 is rotated, the ankle joint assembly 2 has three degrees of freedom, respectively, to allow the ankle to achieve extension / abduction, internal rotation / external rotation, valgus / varus these three motion, and a certain range of motion using a mechanical structure for each direction is limited, so as not to exceed the range of motion during movement of the body itself cause injury; 7, the connecting rod upper and lower legs 15 3 is connected to a lower portion of the leg 3 is further opened U-shaped groove, on the one hand in order to lose weight, to reduce the moment of inertia to reduce the influence of inertia in the control process, on the other hand can be used as the main leg length adjustment 3 implemented method of claim 4 is L-shaped configuration of the knee, the knee that has the encoder 4, one of the main parameters of the control signal, is connected to the upper end of the hinge knee leg 3 of L-shaped configuration of the corner 4; FIG. 1, the leg assembly includes a leg body 5, and cylinders cylinder A20 B22, the knee joint is connected to the lower end of the vertical leg body 4 of the top hinge segment, the front side of the thigh of the body mount is fixedly mounted A19 the 的油缸A20的尾部铰接安装在安装座A19上,油缸A20的输出端与大腿本体的上部铰接相连,所述的大腿本体后侧上部固定安装有安装座B22,油缸B21 的尾部铰接安装于安装座B22上,油缸似1的输出端铰接安装在膝关节4的水平段末端;如图8所示,所述的髋关节组件6包括髋关节本体24和髋关节绑带25,髋关节本体24由左右两个类人体骨骼的金属结构组成,这个设计能让主要承受力的髋关节结构既能承受住重物的重力而且又能和人体髋关节骨头贴合紧密,避免行走过程中髋关节结构和人体的臀部产生干涉,增强舒适性,髋关节本体24设置于大腿本体的顶部,髋关节绑带25设置于髋关节本体24 上;所述的髋关节绑带25的后侧还固定有背部支架安装块26,所述的背部支架7固定于背部支架安装块26上,背部支架7主要用于动力元件液压缸栗和油箱放置,并且是负重主要的承担者 A20 tail of cylinder hingedly mounted on the mount A19, A20 of the upper cylinder and an output terminal connected to the thigh of the body hinge, said upper thigh rear body mounting is fixedly mounted B22, B21 cylinder hingedly mounted on the tail of the mount seat on B22, like the output of the cylinder 1 is mounted on the hinge knee end of the horizontal section 4; As shown, the hip joint assembly 6 comprises a body 24 and the hip joint 8 of the hip strap 25, the body 24 by a hip two right and left metal structure composed of human bone, the hip joint structure of this design allows the major endurance to withstand both the weight and gravity live human hip joint and bones can close fit, avoiding the hip during walking and structure human buttocks interference, enhance comfort, the hip joint body 24 is provided at the top of the body thigh, hip strap 25 is provided on the hip joint body 24; the rear of the hip strap 25 is also fixed to the back support mounting block 26, the back support mounting bracket 7 is fixed to the back block 26, the back support 7 is mainly used for the power cylinder member and the oil placed Li, and is the major load bearer of

[0027]如图2所示,所述的橡胶鞋垫8与脚底前板9之间、橡胶鞋垫8与脚底后板1〇之间分别设置有传感器11,用来采集数据作为控制方案的反馈。 [0027] 2, the rubber 9 between the insole, the insole 8 between the rubber sole plate 1〇 rear sensor 11 are respectively provided with a front plate 8 and the foot, used to collect the data as a feedback control scheme.

[0028] 如图4所示,所述的转柱16上还套装有垫板17,垫板17位于铰接板13与连接杆15之间。 [0028] As shown, the turn on column 16 with a shim plate 4 is also set 17, the hinge plate 17 is located between the plate 13 and the connecting rod 15.

[0029]如图1所示,所述的鞋体组件1还包括脚底绑带18,脚底绑带18设置于脚底前板9与脚底后板10的连接处;如图3所示,所述的大腿本体内侧还设置有大腿绑带23,绑缚作为助力外骨骼机器人和穿戴着之间的连接,绑缚不能太紧影响舒适性,又不能太松使得助力外骨骼机器人的步态和人体的步态不重合得不到很好的助力效果,本实施例采用柔性材料作为绑缚的材质,并且是长度可调,根据不同穿戴着可以采取不同的绑缚长度,绑缚的另一个作用就是人体通过对绑缚传递一个行走或者停止的意图,控制程序就会使得助力外骨骼机器人随动帮助穿戴着完成他想要完成的动作。 [0029] 1, the shoe sole assembly 1 further comprises a strap 18, the strap 18 is provided in the sole 9 is connected to the rear foot plates 10 at the foot of the front plate; shown in Figure 3, the thigh inside the body 23 is also provided with thigh straps, strapped as the connection between the robot and the external power skeleton dressed, not too tight bondage affect comfort, but not too loose gait and make human skeleton robot outside help does not coincide gait good boosting effect, the present embodiment employs the flexible material as the material of bondage, and is adjustable in length, according to another different wearing action can take different lengths of bondage, bondage human bondage is passing through a walk or intention to stop, so that the external control program will help the follower robot skeleton dressed in complete he wants to help complete the action.

Claims (3)

1.一种助力外骨豁机器人,其特征在于:它包括鞋体组件(1)、課关节组件(2)、小腿(3)、膝关节(4)、大腿组件(5)、髋关节组件(6)和背部支架(7),所述的鞋体组件(1)包括橡胶鞋垫(8)、脚底前板(9)和脚底后板(10),所述的脚底前板(9)设置于橡胶鞋垫(8)的上表面前部,脚底后板(10)设置于橡胶鞋垫(8)的上表面后部,脚底前板(9)和脚底后板(10)连接,所述的橡胶鞋垫(8)与脚底前板(9)之间、橡胶鞋塾(8)与脚底后板(10)之间分别设置有传感器(11);所述的踩关节组件(2)包括连接块(12)、铰接板(13)、转动副(14)、和连接杆(15),连接块(12)的下端垂直固定于脚底后板(10)的外侧边缘处,连接块(12)的上端与铰接板(13)的下端较接相连,铰接板(13)的上部穿设于转动副(14)的内部,铰接板(13)的上部开有孔,所述的连接杆(15)的下端一侧设置有水平方向延伸的转柱(1 An external power robot exclusion bone, characterized in that: it comprises a shoe assembly (1), Section joint assembly (2), the leg (3), knee (4), thigh component (5), the hip joint assembly ( 6) and back support (7), said shoe assembly (1) comprises a rubber insole (8), the front sole plate (9) and the rear foot plate (10), the front sole plate (9) is provided in on the rear surface of the rubber sole (8) of the front portion, rear foot plate (10) disposed in the rubber sole (8) of the upper surface, the front sole plate (9) and the rear foot plate (10), said rubber insole (8) and the front sole plate (9), rubber boots Sook (8) are provided with a sensor (11) between the foot and the rear plate (10); said ankle assembly (2) comprises a connection block (12 ), the hinge plates (13), the swivel joint (14), and a connecting rod (15), the lower end of the connection block (12) is vertically fixed to the outer edge of the foot rear plate (10) is connected to the upper end of the block (12) and the lower end of the connecting rod (15) of the lower end of the upper hinge plate (13) than the contact connected to the upper hinge plate (13) is disposed through turning pair (14) inside the hinge plates (13) a hole is opened, the provided with a side transfer column (1 horizontally extending 6),转柱(16)穿过铰接板(13),并与转动副(14)相连;小腿⑶的下部还开有U形槽,所述的连接杆(15)的上端与小腿(3)的下端相连,騍关节组件(2)具有三个自由度,分别能够让踝关节实现伸/展、旋内/旋外、外翻/内翻三个运动,所述的膝关节(4)为L形结构,小腿(3)的上端与膝关节(4)的L形结构转角处铰接相连;所述的大腿组件(5)包括大腿本体、油缸A (20)和油缸B (22),所述的大腿本体的下端与膝关节(4)的竖直段顶部铰接相连,大腿本体的前侧固定安装有安装座A (19),所述的油缸A (20)的尾部铰接安装在安装座A (19)上,油缸A (20)的输出端与大腿本体的上部铰接相连,所述的大腿本体后侧上部固定安装有安装座B (22),油缸B (21)的尾部铰接安装于安装座B (22)上,油缸B (21)的输出端铰接安装在膝关节(4)的水平段末端;所述的髋关节组件(6)包括髋关节本体(24)和髋关节绑 6), (16) passes through the hinge plates (13), and 14) connected to the swivel joint (rotation column; lower crus ⑶ further opened U-shaped groove, said connecting rod (15) and the upper leg (3 ) is connected to the lower end, Ke joint assembly (2) has three degrees of freedom, respectively, to allow the ankle to achieve extension / abduction, internal rotation / external rotation, three turning motion valgus / within the knee joint (4) an L-shaped structure, the lower leg (3) and the upper end of the knee joint (4) is L-shaped structure hingedly connected to the corner; the thigh assembly (5) comprises a leg body, the cylinder a (20) and the cylinder B (22), the top of the vertical segment and the lower end of the knee joint (4) of the thighs connected to the hinge body, front thigh body fixedly mounted mount a (19), said cylinder a (20) hingedly mounted in the mounting tail the base a (19), an upper cylinder a (20) and the output terminal coupled to the thigh of the body of the hinge, said upper thigh rear body mounting seat is fixedly mounted B (22), the cylinder B (21) is hingedly mounted tail an output terminal B hinged to the mounting base (22), B the cylinder (21 is) installed at the end of the horizontal section of the knee (4); said hip joint assembly (6) comprises a hip joint body (24) and a hip joint tie (25),髋关节本体(24)设置于大腿本体的顶部,髋关节绑带(25)设置于髋关节本体(24)上;所述的髋关节绑带(25)的后侧还固定有背部支架安装块(26),所述的背部支架(7)固定于背部支架安装块(26)上,所述的转柱(16)上还套装有垫板(17),垫板(17)位于铰接板(13)与连接杆(15)之间。 (25), the hip joint body (24) is provided on the top of the body thigh, hip strap (25) disposed on the hip of the body (24); a rear side of the hip strap (25) is further fixed back support mounting block (26), said back support (7) is fixed to the back support mounting block (26), further sleeved plate (17), plate (17) turn on the column (16) located in the hinge plates (13) with the connecting rod (15).
2. 根据权利要求1所述的一种助力外骨骼机器人,其特征在于:所述的鞋体组件(1)还包括脚底绑带(18),脚底绑带(18)设置于脚底前板(9)与脚底后板(10)的连接处。 The outer skeleton is a booster robot according to claim 1, wherein: said shoe assembly (1) further comprises a foot strap (18), foot strap (18) disposed at the front sole plate ( 9) connected at a rear foot plate (10).
3. 根据权利要求1所述的一种助力外骨骼机器人,其特征在于:所述的大腿本体内侧还设置有大腿绑带(23)。 3 is a booster according to claim outer bone of the robot 1, wherein: said inner body is also provided with a thigh thigh straps (23).
CN201510166388.7A 2015-04-10 2015-04-10 Outside is a booster skeleton robot CN104758142B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510166388.7A CN104758142B (en) 2015-04-10 2015-04-10 Outside is a booster skeleton robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510166388.7A CN104758142B (en) 2015-04-10 2015-04-10 Outside is a booster skeleton robot

Publications (2)

Publication Number Publication Date
CN104758142A CN104758142A (en) 2015-07-08
CN104758142B true CN104758142B (en) 2017-06-27

Family

ID=53640483

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510166388.7A CN104758142B (en) 2015-04-10 2015-04-10 Outside is a booster skeleton robot

Country Status (1)

Country Link
CN (1) CN104758142B (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105055127B (en) * 2015-07-24 2017-08-25 黄河科技学院 Unpowered pressure lower limb joint exoskeleton apparatus
CN106419939B (en) * 2015-08-07 2019-07-26 深圳市肯綮科技有限公司 A kind of plantar pressure detection device and the movement power assisting device for installing the device
FR3046053B1 (en) * 2015-12-24 2017-12-22 Sagem Defense Securite foot module for an exoskeletal structure
CN105856190B (en) * 2016-03-17 2017-10-17 西南交通大学 A wearable power transfer means
CN105904440B (en) * 2016-05-26 2018-06-19 成都润惠科技有限公司 Adaptive kinds outer flexible articulation means bones
CN106264989A (en) * 2016-07-29 2017-01-04 瑞安市智造科技有限公司 Lower limb exoskeleton power assistance robot
CN106236517B (en) * 2016-08-31 2018-09-07 中国科学院深圳先进技术研究院 Exoskeleton robot leg movement system
CN108652916A (en) * 2018-05-15 2018-10-16 刘方圆 Knee-joint exoskeleton

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102922508A (en) * 2012-09-21 2013-02-13 西安交通大学 Exoskeleton robot system for reloading batteries of electric vehicle
CN202776923U (en) * 2012-10-11 2013-03-13 厦门大学 Wearable 7-degree-of-freedom human body power assisting device
CN103054692A (en) * 2013-01-29 2013-04-24 苏州大学 Wearable lower limb exoskeleton walking-assisted robot
CN103099691A (en) * 2012-12-24 2013-05-15 东南大学 Two-degree-of-freedom exoskeleton ankle joint mechanism
CN104398368A (en) * 2014-12-10 2015-03-11 电子科技大学 Walking assistance outer skeleton robot with transversely-arranged motors
CN104434470A (en) * 2014-12-04 2015-03-25 电子科技大学 Lower extremity exoskeleton robot for assisting in walking

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1734913A4 (en) * 2004-02-05 2012-08-08 Motorika Ltd Methods and apparatus for rehabilitation and training
US9198821B2 (en) * 2011-09-28 2015-12-01 Northeastern University Lower extremity exoskeleton for gait retraining
CN104869970B (en) * 2012-12-11 2017-09-29 埃克苏仿生公司 Reconfigurable exoskeleton

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102922508A (en) * 2012-09-21 2013-02-13 西安交通大学 Exoskeleton robot system for reloading batteries of electric vehicle
CN202776923U (en) * 2012-10-11 2013-03-13 厦门大学 Wearable 7-degree-of-freedom human body power assisting device
CN103099691A (en) * 2012-12-24 2013-05-15 东南大学 Two-degree-of-freedom exoskeleton ankle joint mechanism
CN103054692A (en) * 2013-01-29 2013-04-24 苏州大学 Wearable lower limb exoskeleton walking-assisted robot
CN104434470A (en) * 2014-12-04 2015-03-25 电子科技大学 Lower extremity exoskeleton robot for assisting in walking
CN104398368A (en) * 2014-12-10 2015-03-11 电子科技大学 Walking assistance outer skeleton robot with transversely-arranged motors

Also Published As

Publication number Publication date
CN104758142A (en) 2015-07-08

Similar Documents

Publication Publication Date Title
CN101810533B (en) Walking aid exoskeleton rehabilitation robot
US6010474A (en) Orthopedic brace for legs
CN101589983B (en) Wearable lower limb exoskeleton device
CN103054692B (en) Wearable lower limb exoskeleton walking-assisted robot
KR100612031B1 (en) Tendon-driven power assisting orthosis and control method its
JP2007097636A (en) Muscular strength assisting apparatus
CN1275578C (en) Lower limb walking external skeleton capable of being worn
CN102499859A (en) Lower limb exoskeleton walking rehabilitation robot
US8771210B2 (en) Multi-fit orthotic and mobility assistance apparatus
CN102711678B (en) Method for correcting pathological configurations of segments of the lower extremities and device for realizing same
CN2730338Y (en) Wearable lower limb dermoskeleton for walking use
CN103263339B (en) External skeleton elderly walker robot bionic gait and falling prevention control method
CN203724423U (en) Walking assisting device
JP5878583B2 (en) Walking assist device
CN104434470B (en) One kind of lower extremity bones robot walking aids for
CN2330349Y (en) Health-recovering machine for paraparesis
CN102440891A (en) Anti-destabilization framework type walking assisting legs
CN102961231B (en) Gait rehabilitation training robot
CN201510472U (en) Wearable lower limb exoskeleton device
Tanabe et al. Design of the Wearable Power-Assist Locomotor (WPAL) for paraplegic gait reconstruction
CN104490568A (en) Human lower extremity exoskeleton walking aid rehabilitation robot
CN203060231U (en) Wearable lower limb exoskeleton walking-assisting robot
CN104394806B (en) Technical assistance for the femoral amputee
CN202128671U (en) Phalanx knuckle rehabilitating mechanism of pedal type tread rehabilitation trainer
JP2005013534A (en) Knee-ankle-foot orthosis with power assist mechanism

Legal Events

Date Code Title Description
C06 Publication
EXSB Decision made by sipo to initiate substantive examination
GR01
TR01