CN104758142B - A kind of assistance exoskeleton robot - Google Patents
A kind of assistance exoskeleton robot Download PDFInfo
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- 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
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Abstract
The present invention relates to a kind of assistance exoskeleton robot, it includes shoe body component（1）, ankle-joint component（2）, shank（3）, knee joint（4）, big leg assembly（5）, hip joint component（6）And back bracket（7）, described shoe body component（1）Including rubber insole（8）, sole foreboard（9）With sole back plate（10）；Described ankle-joint component（2）Including contiguous block（12）, articulated slab（13）, rotate secondary（14）And connecting rod（15）, described knee joint（4）It is L-shaped structure, shank（3）Upper end and knee joint（4）L-shaped structure corner be hinged and connected；Described big leg assembly（5）Including thigh body, oil cylinder A（20）With oil cylinder B（22）；Described hip joint component（6）Including hip joint body（24）With hip joint bandage（25）.The advantage of the invention is that：Simple structure, low cost, comfort level are high and ankle-joint has multiple degrees of freedom.
Description
Technical field
The present invention relates to technical field of medical rehabilitation machinery, particularly a kind of assistance exoskeleton robot.
Background technology
Ectoskeleton is that one kind can provide configuration is carried out to biological soft inside organ, the hard outside of building and protection
Structure.Although the concept of ectoskeleton goes out to there is now the history of many decades in U.S.'s science fiction movies, in view of the limit of basic technology
System, it is not at all times a concept for practicality.By unremitting research, external scientist has been developed that various ectoskeletons, side
People in need is helped more effectively to arrange their daily life and work.
The present ectoskeleton of China is all in development substantially, and major part is mainly used in patients ' recovery or helps residual
Disease people, the robot that help extends Human Body Capacity is comparatively less.Existing assistance exoskeleton robot presence involves great expense,
Mechanical processing difficulty is stronger, and machining accuracy is difficult to the shortcomings of meeting and dress uncomfortable.
The content of the invention
Shortcoming it is an object of the invention to overcome prior art, there is provided a kind of simple structure, low cost, comfort level it is high and
Ankle-joint has multivariant assistance exoskeleton robot.
The purpose of the present invention is achieved through the following technical solutions：A kind of assistance exoskeleton robot, it includes shoe body group
Part, ankle-joint component, shank, knee joint, big leg assembly, hip joint component and back bracket, described shoe body component include rubber
Rubber overshoes pad, sole foreboard and sole back plate, the upper surface that described sole foreboard is arranged at rubber insole are anterior, and sole back plate sets
The upper surface rear portion of rubber insole is placed in, sole foreboard and sole back plate are connected；Described ankle-joint component includes contiguous block, hinge
Fishplate bar, rotation pair and connecting rod, the lower end of contiguous block are perpendicularly fixed at the outer ledge of sole back plate, the upper end of contiguous block
Lower end with articulated slab is hinged and connected, and the top of articulated slab is arranged in and rotates secondary inside, and the top of articulated slab is provided with hole, described
Connecting rod lower end side be provided with horizontal direction extension rotary column, rotary column pass through articulated slab, and with rotate pair be connected；It is described
The upper end of connecting rod be connected with the lower end of shank, described knee joint is L-shaped structure, the upper end of shank and kneed L-shaped
Structure corner is hinged and connected；Described big leg assembly includes thigh body, oil cylinder A and oil cylinder B, under described thigh body
End and kneed vertical section top are hinged and connected, and are installed with mounting seat A on front side of thigh body, described oil cylinder A's
Afterbody is hingedly mounted on mounting seat A, and the output end of oil cylinder A is connected with the upper articulation of thigh body, described thigh body
Upper back is installed with mounting seat B, and the afterbody of oil cylinder B is hinged and is installed on mounting seat B, and the output end of oil cylinder B is hinged peace
Mounted in kneed horizontal segment end；Described hip joint component includes hip joint body and hip joint bandage, hip joint body
The top of thigh body is arranged at, hip joint bandage is arranged on hip joint body；The rear side of described hip joint bandage is also solid
Surely there are back bracket mounting blocks, described back bracket is fixed on back bracket mounting blocks.
Sensor is respectively arranged between described rubber insole and sole foreboard, between rubber insole and sole back plate.
Backing plate is also set with described rotary column, backing plate is located between articulated slab and connecting rod.
Described shoe body component also includes sole bandage, and sole bandage is arranged at the connection of sole foreboard and sole back plate
Place.
Described thigh body inner side is additionally provided with thigh bandage.
The present invention has advantages below：
1st, mechanical structure of the invention is simple, and requirement on machining accuracy is relatively low, easily realizes.
2nd, each modular construction is relatively easy, and requirement can be just reached using traditional processing method, and very new without taking
Processing instrument and process technology, this greatly reducing cost and process-cycle.
3rd, hip joint body is made up of the metal structure of the two anthropoid bones in left and right, and this design can allow and be primarily subjected to power
Hip joint structure can sustain weight gravity and also again can be tight with the laminating of human hip bone, it is to avoid walking process
The buttocks of middle hip joint structure and human body produces interference, greatly enhances the comfortableness of assistance exoskeleton robot.
4th, ankle-joint component has three degree of freedom, be able to allow ankle-joint to realize stretching/open up, medial rotation/rotation outward, turn up/
These three are moved varus, and the range of movement for moving all directions is limited with certain mechanical structure, in order to avoid motion
During human body is damaged more than human body range of movement in itself.
5th, back bracket is set at back, back bracket module is mainly used in dynamical element hydraulic pressure cylinder pump and fuel tank is placed,
And it is the main undertaker that bears a heavy burden, is user's Reduction of Students' Study Load.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the fractionation structural representation of shoe body component；
Fig. 3 is the assembly structure diagram of shoe body component；
Fig. 4 is the fractionation structural representation of ankle-joint component；
Fig. 5 is the side structure schematic diagram of ankle-joint；
Fig. 6 is the left view structural representation of Fig. 5；
Fig. 7 be shank respectively with connecting rod and kneed connection diagram；
Fig. 8 is the structural representation of hip joint component；
In figure：1- shoe body components, 2- ankle-joint components, 3- shanks, 4- knee joints, the big leg assemblies of 5-, 6- hip joint components,
7- back brackets, 8- rubber insoles, 9- sole foreboards, 10- sole back plates, 11- sensors, 12- contiguous blocks, 13- articulated slabs,
14- rotates secondary, 15- connecting rods, 16- rotary columns, 17- backing plates, 18- sole bandages, 19- mounting seats A, 20- oil cylinder A, 21- mounting seat
B, 22- oil cylinder B, 23- thigh bandage, 24- hip joint bodies, 25- hip joint bandages, 26- back bracket mounting blocks.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to following institute
State.
As shown in figure 1, a kind of assistance exoskeleton robot, it includes that shoe body component 1, ankle-joint component 2, shank 3, knee are closed
Section 4, big leg assembly 5, hip joint component 6 and back bracket 7, as shown in Figures 2 and 3, described shoe body component 1 includes rubber boots
Pad 8, sole foreboard 9 and sole back plate 10, rubber insole 8 have the effect for slowing down impact, and sole foreboard 9 and sole back plate 10 are
The metal material that weight can be born is made, and on the one hand is comfortable on the other hand and can bear to bear a heavy burden so that dressing, described
The upper surface that sole foreboard 9 is arranged at rubber insole 8 is anterior, and sole back plate 10 is arranged at the upper surface rear portion of rubber insole 8, pin
Bottom foreboard 9 and sole back plate 10 are connected；As shown in Figure 4, Figure 5 and Figure 6, described ankle-joint component 2 includes contiguous block 12, is hinged
Plate 13, rotation secondary 14 and connecting rod 15, the lower end of contiguous block 12 is perpendicularly fixed at the outer ledge of sole back plate 10, connects
The upper end of block 12 is hinged and connected with the lower end of articulated slab 13, and the top of articulated slab 13 is arranged in the inside for rotating secondary 14, articulated slab
13 top is provided with hole, and the lower end side of described connecting rod 15 is provided with the rotary column 16 of horizontal direction extension, and rotary column 16 is passed through
Articulated slab 13, and being connected with rotating secondary 14, ankle-joint component 2 has three degree of freedom, be able to allow ankle-joint realization stretch/
Exhibition, medial rotation/rotation is outer, turn up/varus these three motions, and with certain mechanical structure to the range of movement of motion all directions
Limited, in order to avoid human body is damaged more than human body range of movement in itself in motion process；As shown in fig. 7, described
The upper end of connecting rod 15 is connected with the lower end of shank 3, and the bottom of shank 3 is also provided with U-lag, on the one hand for loss of weight, reduces and turns
Dynamic inertia to reduce the inertia effects in control process, on the other hand can as the main implementation method of the length adjustment of shank 3,
Described knee joint 4 is L-shaped structure, knee joint 4 built with encoder, as one of the major parameter of control signal, shank 3
Upper end is hinged and connected with the L-shaped structure corner of knee joint 4；As shown in figure 1, described big leg assembly 5 includes thigh body, oil
Cylinder A20 and oil cylinder B22, the described lower end of thigh body is hinged and connected with the vertical section top of knee joint 4, before thigh body
Side is installed with mounting seat A19, and the afterbody of described oil cylinder A20 is hingedly mounted on mounting seat A19, the output of oil cylinder A20
End is connected with the upper articulation of thigh body, and described thigh body upper back is installed with mounting seat B22, oil cylinder B21
Afterbody be hinged and be installed on mounting seat B22, the output end of oil cylinder B21 is hingedly mounted on the horizontal segment end of knee joint 4；As schemed
Shown in 8, described hip joint component 6 includes hip joint body 24 and hip joint bandage 25, and hip joint body 24 is by left and right two
The metal structure composition of anthropoid bone, this design can allow the hip joint structure for being primarily subjected to power can to sustain the weight of weight
Power and again can be tight with the laminating of human hip bone, it is to avoid the buttocks of hip joint structure and human body produces dry in walking process
Relate to, strengthen comfortableness, hip joint body 24 is arranged at the top of thigh body, and hip joint bandage 25 is arranged at hip joint body 24
On；The rear side of described hip joint bandage 25 is further fixed on back bracket mounting blocks 26, and described back bracket 7 is fixed on back
On support mounting blocks 26, back bracket 7 is mainly used in dynamical element hydraulic pressure cylinder pump and fuel tank is placed, and is main holding of bearing a heavy burden
Load person.
As shown in Fig. 2 dividing between described rubber insole 8 and sole foreboard 9, between rubber insole 8 and sole back plate 10
Be not provided with sensor 11, for gathered data as control program feedback.
As shown in figure 4, be also set with backing plate 17 on described rotary column 16, backing plate 17 be located at articulated slab 13 and connecting rod 15 it
Between.
As shown in figure 1, described shoe body component 1 also include sole bandage 18, sole bandage 18 be arranged at sole foreboard 9 with
The junction of sole back plate 10；As shown in figure 3, described thigh body inner side is additionally provided with thigh bandage 23, bondage is used as helping
Power exoskeleton robot and the connection between dressing, bondage can not tightly influence very much comfortableness, again can not be too loose so that outside power-assisted
The gait of the bone robot and gait of human body is misaligned cannot get good power-assisted effect, the present embodiment is made using flexible material
Be the material of bondage, and be adjustable length, different bondage length can be taken according to different wearing, bondage another
Effect is exactly that human body will cause assistance exoskeleton machine by transmitting a walking or the intention for stopping, control program to bondage
Device people is servo-actuated to help dress and completes the action that he wants to complete.
Claims (3)
1. a kind of assistance exoskeleton robot, it is characterised in that：It includes shoe body component（1）, ankle-joint component（2）, shank
（3）, knee joint（4）, big leg assembly（5）, hip joint component（6）And back bracket（7）, described shoe body component（1）Including rubber
Rubber overshoes pad（8）, sole foreboard（9）With sole back plate（10）, described sole foreboard（9）It is arranged at rubber insole（8）Upper table
Portion, sole back plate in front（10）It is arranged at rubber insole（8）Upper surface rear portion, sole foreboard（9）With sole back plate（10）Even
Connect, described rubber insole（8）With sole foreboard（9）Between, rubber insole（8）With sole back plate（10）Between be respectively arranged with
Sensor（11）；Described ankle-joint component（2）Including contiguous block（12）, articulated slab（13）, rotate secondary（14）And connecting rod
（15）, contiguous block（12）Lower end be perpendicularly fixed at sole back plate（10）Outer ledge at, contiguous block（12）Upper end with hinge
Fishplate bar（13）Lower end be hinged and connected, articulated slab（13）To be arranged in rotation secondary on top（14）Inside, articulated slab（13）It is upper
Portion is provided with hole, described connecting rod（15）Lower end side be provided with horizontal direction extension rotary column（16）, rotary column（16）Pass through
Articulated slab（13）, and it is secondary with rotating（14）It is connected；Shank（3）Bottom be also provided with U-lag, described connecting rod（15）Upper end
With shank（3）Lower end be connected, ankle-joint component（2）With three degree of freedom, it is able to allow ankle-joint to realize stretching/opening up, revolve
Interior/rotation is outer, turn up/three motions of varus, described knee joint（4）It is L-shaped structure, shank（3）Upper end and knee joint（4）'s
L-shaped structure corner is hinged and connected；Described big leg assembly（5）Including thigh body, oil cylinder A（20）With oil cylinder B（22）, it is described
Thigh body lower end and knee joint（4）Vertical section top be hinged and connected, installation is installed with front side of thigh body
Seat A（19）, described oil cylinder A（20）Afterbody be hingedly mounted on mounting seat A（19）On, oil cylinder A（20）Output end and thigh
The upper articulation of body is connected, and described thigh body upper back is installed with mounting seat B（22）, oil cylinder B（21）Tail
Portion is hinged and is installed on mounting seat B（22）On, oil cylinder B（21）Output end be hingedly mounted on knee joint（4）Horizontal segment end；Institute
The hip joint component stated（6）Including hip joint body（24）With hip joint bandage（25）, hip joint body（24）It is arranged at thigh
The top of body, hip joint bandage（25）It is arranged at hip joint body（24）On；Described hip joint bandage（25）Rear side also
It is fixed with back bracket mounting blocks（26）, described back bracket（7）It is fixed on back bracket mounting blocks（26）On, described turns
Post（16）On be also set with backing plate（17）, backing plate（17）Positioned at articulated slab（13）With connecting rod（15）Between.
2. a kind of assistance exoskeleton robot according to claim 1, it is characterised in that：Described shoe body component（1）Also
Including sole bandage（18）, sole bandage（18）It is arranged at sole foreboard（9）With sole back plate（10）Junction.
3. a kind of assistance exoskeleton robot according to claim 1, it is characterised in that：Described thigh body inner side is also
It is provided with thigh bandage（23）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510166388.7A CN104758142B (en) | 2015-04-10 | 2015-04-10 | A kind of assistance exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510166388.7A CN104758142B (en) | 2015-04-10 | 2015-04-10 | A kind of assistance exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
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| CN104758142A CN104758142A (en) | 2015-07-08 |
| CN104758142B true CN104758142B (en) | 2017-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510166388.7A Active CN104758142B (en) | 2015-04-10 | 2015-04-10 | A kind of assistance exoskeleton robot |
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| CN105055127B (en) * | 2015-07-24 | 2017-08-25 | 黄河科技学院 | Unpowered joint of lower extremity depressurizes exoskeleton device |
| 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 EXOSQUELET STRUCTURE |
| NO20160192A1 (en) * | 2016-02-04 | 2017-04-10 | Made For Movement Group As | A walker |
| CN105856190B (en) * | 2016-03-17 | 2017-10-17 | 西南交通大学 | A kind of wearable carrying power assisting device |
| CN105904440B (en) * | 2016-05-26 | 2018-06-19 | 成都润惠科技有限公司 | A kind of self-adapting flexible joint exoskeleton device |
| FR3054434B1 (en) * | 2016-07-28 | 2021-09-10 | Safran Electronics & Defense | EXOSKELETON STRUCTURE FOR USER STRAIN ASSISTANCE |
| CN106264989A (en) * | 2016-07-29 | 2017-01-04 | 瑞安市智造科技有限公司 | A kind of lower limb exoskeleton power-assisting 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 exercise system |
| CN106333829B (en) * | 2016-09-20 | 2021-01-08 | 合肥工业大学 | Exoskeleton type multi-degree-of-freedom lower limb rehabilitation assistance mechanism |
| US10959872B2 (en) * | 2017-08-02 | 2021-03-30 | Samsung Electronics Co., Ltd. | Motion assistance apparatus |
| CN109986535B (en) * | 2017-12-29 | 2021-08-10 | 沈阳新松机器人自动化股份有限公司 | Hip joint structure |
| CN108161903B (en) * | 2018-01-04 | 2020-02-18 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton ankle joint |
| CN110385692B (en) * | 2018-04-20 | 2020-09-08 | 北京铁甲钢拳科技有限公司 | Pneumatic waist assistance exoskeleton robot |
| CN108652916B8 (en) * | 2018-05-15 | 2020-04-21 | 暨南大学附属第一医院 | Knee joint exoskeleton |
| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
| CN109692065A (en) * | 2018-12-29 | 2019-04-30 | 赵鹏 | A kind of O-shaped leg rectifier |
| CN110039516B (en) * | 2019-02-28 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Ankle joint support member and exoskeleton robot |
| CN112758211B (en) * | 2021-01-28 | 2021-12-07 | 吉林大学 | Coupling bionic foot pad for improving ground contact stability of leg-foot type robot |
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Effective date of registration: 20170915 Address after: 610000 No. 888, south section of Tianfu Road, Tianfu New District, Sichuan, Chengdu Patentee after: BUFFALO ROBOT TECHNOLOGY (CHENGDU) Co.,Ltd. Address before: 610051 No. four, building two, section 239, Jianshe North Road, Chengdu, Sichuan Co-patentee before: Cheng Hong Patentee before: Chengdu electronics great assets management Co.,Ltd. Effective date of registration: 20170915 Address after: 610051 No. four, building two, section 239, Jianshe North Road, Chengdu, Sichuan Co-patentee after: Cheng Hong Patentee after: Chengdu electronics great assets management Co.,Ltd. Address before: 610041 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Patentee before: University of Electronic Science and Technology of China |
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