CN104887461A - Walking aid lower limb of exoskeleton robot - Google Patents
Walking aid lower limb of exoskeleton robot Download PDFInfo
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- CN104887461A CN104887461A CN201510311272.8A CN201510311272A CN104887461A CN 104887461 A CN104887461 A CN 104887461A CN 201510311272 A CN201510311272 A CN 201510311272A CN 104887461 A CN104887461 A CN 104887461A
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- lower limb
- executor
- shank
- exoskeleton robot
- side link
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Abstract
The invention discloses a walking aid lower limb of an exoskeleton robot. The walking aid lower limb comprises a first actuator fixing part (1.1), a thigh rod (1.2), a bionic knee-joint (1.3), a shank guard board (1.4), a shank guard board fixing part (1.5), a shank rod (1.6), a shank guard board connecting piece (1.7), a second actuator fixing part (1.8), and an actuator (1.9). The invention provides a walking aid lower limb of an exoskeleton robot, combined with a crossed four-bar linkage structure, a bionic mechanism which accords with physiological movement characteristics of human knee joints is designed. The walking aid lower limb can eliminate harmful applied forces generated by man-machine offset, and solves problems of radial deviation and tangential rotation offsets generated by man-machine system microscopic offset along a shank, so as to improve use security and wearing comfortableness of a rehabilitation exoskeleton.
Description
Technical field
The present invention relates to a kind of walk help lower limb of exoskeleton robot.
Background technology
Individual's walk-aiding exoskeleton robot, as a kind of wearable device, is typical man-machine hybrid system, and the present exoskeleton robot of China is also in development; For kneed design, substantially the hinge arrangement that single shaft exports all is adopted, functionally can meet the demand of individual walk-aiding exoskeleton robot, but human body knee joint has extremely complicated motion mode, not easy single axial movement, so in shank motor process, knee joint can produce motion dislocation.
This dislocation will produce the active force of and normal direction radial along shank in knee joint, worn for long periods uses, and will have a strong impact on the wearing comfort sense of wearable device; Due to the group of handicapped that rehabilitation ectoskeleton object-oriented is lower extremity motor function obstacle, these type of crowd's lower limb cannot move for a long time, very easily impaired, and life-time service more can cause the secondary injury of limbs to wearer.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of walk help lower limb of exoskeleton robot are provided, the bio-mechanism meeting human body knee joint physiological movement feature is devised in conjunction with intersection four-bar linkage structure, the harmful force that man-machine dislocation produces can be eliminated, solve the radial missing problem along shank and tangential rotating deviation problem that are produced by the dislocation of man-machine system's microcosmic, improve the comfortableness of rehabilitation ectoskeleton safety in utilization and wearing.
The object of the invention is to be achieved through the following technical solutions: a kind of walk help lower limb of exoskeleton robot, it comprises first executor's fixture, thigh bar, bionic knee joint, little leg guard, shank guard plate fixing, shank bar, little leg guard connector, the second executor's fixture and executor; Connected by bionic knee joint between described thigh bar and shank bar; One end of described executor is connected with thigh bar by first executor's fixture, and the other end is connected with shank bar by second executor's fixture; Described little leg guard is fixed on shank guard plate fixing, and shank guard plate fixing is connected with shank bar by little leg guard connector;
Described bionic knee joint, for intersecting four-bar linkage structure, comprises connecting rod, the first side link, frame and the second side link; Described connecting rod comprises connecting rod stiff end and link rotatable end; Described frame comprises frame stiff end and gantry rotation end; The first described side link, the second side link become angle to arrange, and the first side link and the second side link are arranged on the both sides of link rotatable end, gantry rotation end.
Described little leg guard is carbon fiber backplate.
Described executor comprises line handspike motor, is relatively rotated by flexible the drive between thigh and calf of push rod.
One end and first executor's fixture of described executor are fixed by pin, and the other end and second executor's fixture are fixed by pin, can carry out self adaptation rotary motion.
Described connecting rod stiff end is provided with the threaded sleeve of inner tool, and is connected with thigh bar by the screw thread of sleeve inner.
Described frame stiff end is provided with the threaded sleeve of inner tool, and is connected with shank bar by the screw thread of sleeve inner.
The first described side link is connected by screw with link rotatable end, gantry rotation end respectively.
The second described side link is connected by screw with link rotatable end, gantry rotation end respectively.
The invention has the beneficial effects as follows: (1) adopts intersection four-bar linkage structure to carry out the establishment of motion of knee joint track, can by the optimization to each parameter of intersection double leval jib, finally make cross point movement locus and the knee joint real motion track Approach and correspondence of intersection double leval jib, thus eliminate pass internode motion dislocation, realize bionical object; (2) the walk help lower limb of exoskeleton robot and human body joint motion match, truly achieve bionical object, solve the radial missing problem along shank and tangential rotating deviation problem that are produced by the dislocation of man-machine system's microcosmic, improve the safety of exoskeleton robot walk help lower limb use and the comfortableness of wearing.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of bionic knee joint;
In figure, 1.1-first executor fixture, 1.2-thigh bar, 1.3-bionic knee joint, the little leg guard of 1.4-, 1.5-shank guard plate fixing, 1.6-shank bar, the little leg guard connector of 1.7-, 1.8-second executor fixture, 1.9-executor, 2.1-connecting rod, 2.2-screw one, 2.3-first side link, 2.4-screw two, 2.5-frame, 2.6-second side link, 2.7-screw four, 2.8-screw three, 2.9-screw two, 3.0-screw five, 3.1-screw seven, 3.2-screw eight, 3.3-screw four, 3.4-screw three, 3.5-screw six, 3.6-screw one, 3.7-connecting rod stiff end, 3.8-link rotatable end, 3.9-frame stiff end, 4.0-gantry rotation end.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail, but protection scope of the present invention is not limited to the following stated.
As shown in Figure 1, walk help lower limb for exoskeleton robot, it comprises first executor's fixture 1.1, thigh bar 1.2, bionic knee joint 1.3, little leg guard 1.4, shank guard plate fixing 1.5, shank bar 1.6, little leg guard connector 1.7, second executor's fixture 1.8 and executor 1.9; Connected by bionic knee joint 1.3 between described thigh bar 1.2 and shank bar 1.6; One end of described executor 1.9 is connected with thigh bar 1.2 by first executor's fixture 1.1, and the other end is connected with shank bar 1.6 by second executor's fixture 1.8; Described little leg guard 1.4 is fixed on shank guard plate fixing 1.5, and shank guard plate fixing 1.5 is connected with shank bar 1.6 by little leg guard connector 1.7;
As shown in Figure 2, described bionic knee joint 1.3, for intersecting four-bar linkage structure, comprises connecting rod 2.1, first side link 2.3, frame 2.5 and the second side link 2.6; Described connecting rod 2.1 comprises connecting rod stiff end 3.7 and link rotatable end 3.8; Described frame 2.5 comprises frame stiff end 3.9 and gantry rotation end 4.0; The first described side link 2.3, second side link 2.6 one-tenth angles are arranged, and the first side link 2.3 and the second side link 2.6 are arranged on the both sides of link rotatable end 3.8, gantry rotation end 4.0.
Described little leg guard 1.4 is carbon fiber backplate.
Described executor 1.9 comprises line handspike motor, is relatively rotated by flexible the drive between thigh and calf of push rod.
One end and first executor's fixture 1.1 of described executor 1.9 are fixed by pin, and the other end and second executor's fixture 1.8 are fixed by pin, can carry out self adaptation rotary motion.
Described connecting rod stiff end 3.7 is provided with the threaded sleeve of inner tool, and is connected with thigh bar 1.2 by the screw thread of sleeve inner.
Described frame stiff end 3.9 is provided with the threaded sleeve of inner tool, and is connected with shank bar 1.6 by the screw thread of sleeve inner.
The first described side link 2.3 is connected by screw with link rotatable end 3.8, gantry rotation end 4.0 respectively.
The second described side link 2.6 is connected by screw with link rotatable end 3.8, gantry rotation end 4.0 respectively.
When wearer uses, aimed at bionic knee joint 1.3 by human body knee joint, shank is positioned in carbon fiber backplate 1.4, and carries out bondage by flexible tie, and thigh placement parallel with thigh bar 1.2, carries out bondage by flexible tie equally; When executor 1.9 starts, bionic knee joint 1.3 carries out flexion/extension motion; Because bionic knee joint 1.3 is for intersecting four-bar linkage structure, the bionical characteristic of intersection four-bar linkage structure, makes bionic knee joint 1.3 and human body knee joint to be synchronized with the movement; Human body thigh and calf and ectoskeleton thigh and calf bar is made to remain geo-stationary, thus thoroughly eliminate in motor process and to be misplaced the wearing sense of discomfort brought by joint motions, what elimination ectoskeleton produced human body involves and twisting resistance, finally improves the comfortable and safety of ectoskeleton walk help lower limb.
Embodiment one, the 2.6 one-tenth angles of the first side link 2.3, second side link in bionic knee joint 1.3 are arranged, first side link 2.3 and the second side link 2.6 are arranged on the both sides of link rotatable end 3.8, gantry rotation end 4.0, and its concrete set-up mode can as shown in Figure 2:
The screw 1 of the first described side link 2.3 is connected by screw 1 with the screw 2 2.9 of link rotatable end 3.8; The screw 3 3.4 of the first described side link 2.3 is connected by screw 2 2.4 with the screw 4 3.3 of gantry rotation end 4.0; The screw 5 3.0 of described second connecting rod frame 2.6 is connected by screw 3 2.8 with the screw 6 3.5 of link rotatable end 3.8; The screw 7 3.1 of described second connecting rod frame 2.6 is connected by screw 4 2.7 with the screw 8 3.2 of gantry rotation end 4.0.
Wherein, screw 2 2.9 is near the bottom of link rotatable end 3.8, and screw 6 3.5 is near the top of link rotatable end 3.8, and screw 4 3.3 is near gantry rotation end 4.0 top; Screw 8 3.2 is near the bottom of gantry rotation end 4.0.
Claims (8)
1. walk help lower limb for exoskeleton robot, is characterized in that: it comprises first executor's fixture (1.1), thigh bar (1.2), bionic knee joint (1.3), little leg guard (1.4), shank guard plate fixing (1.5), shank bar (1.6), little leg guard connector (1.7), second executor's fixture (1.8) and executor (1.9); Connected by bionic knee joint (1.3) between described thigh bar (1.2) and shank bar (1.6); One end of described executor (1.9) is connected with thigh bar (1.2) by first executor's fixture (1.1), and the other end is connected with shank bar (1.6) by second executor's fixture (1.8); Described little leg guard (1.4) is fixed on shank guard plate fixing (1.5), and shank guard plate fixing (1.5) is connected with shank bar (1.6) by little leg guard connector (1.7);
Described bionic knee joint (1.3) comprises connecting rod (2.1), the first side link (2.3), frame (2.5) and the second side link (2.6); Described connecting rod (2.1) comprises connecting rod stiff end (3.7) and link rotatable end (3.8); Described frame (2.5) comprises frame stiff end (3.9) and gantry rotation end (4.0); Described the first side link (2.3), the second side link (2.6) become angle to arrange, and the first side link (2.3) and the second side link (2.6) are arranged on the both sides of link rotatable end (3.8), gantry rotation end (4.0).
2. the walk help lower limb of a kind of exoskeleton robot according to claim 1, is characterized in that: described little leg guard (1.4) is carbon fiber backplate.
3. the walk help lower limb of a kind of exoskeleton robot according to claim 1, is characterized in that: described executor (1.9) comprises line handspike motor, are relatively rotated by flexible the drive between thigh and calf of push rod.
4. the walk help lower limb of a kind of exoskeleton robot according to claim 1, it is characterized in that: one end and first executor's fixture (1.1) of described executor (1.9) are fixed by pin, the other end and second executor's fixture (1.8) are fixed by pin, can carry out self adaptation rotary motion.
5. the walk help lower limb of a kind of exoskeleton robot according to claim 1, is characterized in that: described connecting rod stiff end (3.7) is provided with the threaded sleeve of inner tool, and are connected with thigh bar (1.2) by the screw thread of sleeve inner.
6. the walk help lower limb of a kind of exoskeleton robot according to claim 1, is characterized in that: described frame stiff end (3.9) is provided with the threaded sleeve of inner tool, and are connected with shank bar (1.6) by the screw thread of sleeve inner.
7. the walk help lower limb of a kind of exoskeleton robot according to claim 1, is characterized in that: described the first side link (2.3) is connected by screw with link rotatable end (3.8), gantry rotation end (4.0) respectively.
8. the walk help lower limb of a kind of exoskeleton robot according to claim 1, is characterized in that: described the second side link (2.6) is connected by screw with link rotatable end (3.8), gantry rotation end (4.0) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510311272.8A CN104887461A (en) | 2015-06-09 | 2015-06-09 | Walking aid lower limb of exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510311272.8A CN104887461A (en) | 2015-06-09 | 2015-06-09 | Walking aid lower limb of exoskeleton robot |
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| CN104887461A true CN104887461A (en) | 2015-09-09 |
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| CN201510311272.8A Pending CN104887461A (en) | 2015-06-09 | 2015-06-09 | Walking aid lower limb of exoskeleton robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105362045A (en) * | 2015-12-25 | 2016-03-02 | 天津正天医疗器械有限公司 | Four-bar assisted walking device |
| CN105856196A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Assisting device for exoskeleton of knee joint |
| CN105997428A (en) * | 2016-05-12 | 2016-10-12 | 南京理工大学 | Lower-limb rehabilitation robot |
| CN106691784A (en) * | 2016-12-02 | 2017-05-24 | 同济大学 | Wearable knee exoskeleton assist |
| CN107049714A (en) * | 2017-04-18 | 2017-08-18 | 佛山市神风航空科技有限公司 | A kind of walk-aid equipment |
| CN107813294A (en) * | 2017-10-31 | 2018-03-20 | 梅其珍 | A kind of nonmetal flexible anthropomorphic robot |
| CN109124997A (en) * | 2017-06-19 | 2019-01-04 | 马宗桥 | A kind of human body lower limbs power assisting device |
| CN109199799A (en) * | 2018-09-18 | 2019-01-15 | 内蒙古工业大学 | A kind of knee joint exoskeleton mechanism based on connecting rod driving |
| CN109363891A (en) * | 2018-11-23 | 2019-02-22 | 清华大学 | Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton |
| CN110103207A (en) * | 2019-06-25 | 2019-08-09 | 河北工业大学 | A kind of flexible lower limb exoskeleton of auxiliary walking |
| CN110666834A (en) * | 2019-09-24 | 2020-01-10 | 北京理工大学 | Bionic knee joint with variable robot transmission ratio |
| CN114888775A (en) * | 2022-04-24 | 2022-08-12 | 河北工业大学 | Be suitable for ectoskeleton of quick dismantlement |
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| CN104490568A (en) * | 2014-12-25 | 2015-04-08 | 北京航空航天大学 | Human lower extremity exoskeleton walking aid rehabilitation robot |
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| KR100848169B1 (en) * | 2007-02-06 | 2008-07-23 | 주식회사 피앤에스미캐닉스 | Walking zimmer |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105362045B (en) * | 2015-12-25 | 2018-08-14 | 天津正天医疗器械有限公司 | Double leval jib assisted walk device |
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| CN105997428A (en) * | 2016-05-12 | 2016-10-12 | 南京理工大学 | Lower-limb rehabilitation robot |
| CN105856196A (en) * | 2016-05-19 | 2016-08-17 | 成都润惠科技有限公司 | Assisting device for exoskeleton of knee joint |
| CN106691784A (en) * | 2016-12-02 | 2017-05-24 | 同济大学 | Wearable knee exoskeleton assist |
| CN107049714A (en) * | 2017-04-18 | 2017-08-18 | 佛山市神风航空科技有限公司 | A kind of walk-aid equipment |
| CN109124997A (en) * | 2017-06-19 | 2019-01-04 | 马宗桥 | A kind of human body lower limbs power assisting device |
| CN107813294A (en) * | 2017-10-31 | 2018-03-20 | 梅其珍 | A kind of nonmetal flexible anthropomorphic robot |
| CN107813294B (en) * | 2017-10-31 | 2019-01-01 | 梅其珍 | A kind of nonmetal flexible anthropomorphic robot |
| CN109199799A (en) * | 2018-09-18 | 2019-01-15 | 内蒙古工业大学 | A kind of knee joint exoskeleton mechanism based on connecting rod driving |
| CN109363891A (en) * | 2018-11-23 | 2019-02-22 | 清华大学 | Man-machine joint shaft offset compensation device and the man-machine interconnection equipment of lower limb exoskeleton |
| CN110103207A (en) * | 2019-06-25 | 2019-08-09 | 河北工业大学 | A kind of flexible lower limb exoskeleton of auxiliary walking |
| CN110666834A (en) * | 2019-09-24 | 2020-01-10 | 北京理工大学 | Bionic knee joint with variable robot transmission ratio |
| CN114888775A (en) * | 2022-04-24 | 2022-08-12 | 河北工业大学 | Be suitable for ectoskeleton of quick dismantlement |
| CN114888775B (en) * | 2022-04-24 | 2024-03-05 | 河北工业大学 | Exoskeleton suitable for quick disassembly |
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Application publication date: 20150909 |