CN105167960B - Parallel type lower limb exoskeleton rehabilitation training device - Google Patents
Parallel type lower limb exoskeleton rehabilitation training device Download PDFInfo
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- CN105167960B CN105167960B CN201510658268.9A CN201510658268A CN105167960B CN 105167960 B CN105167960 B CN 105167960B CN 201510658268 A CN201510658268 A CN 201510658268A CN 105167960 B CN105167960 B CN 105167960B
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- electric cylinder
- hip joint
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- hip
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 31
- 210000004394 hip joint Anatomy 0.000 claims abstract description 124
- 210000000629 knee joint Anatomy 0.000 claims abstract description 50
- 210000001624 hip Anatomy 0.000 claims abstract description 28
- 238000005452 bending Methods 0.000 claims abstract description 20
- 210000000689 upper leg Anatomy 0.000 claims description 46
- 230000035876 healing Effects 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000001012 protector Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000005611 electricity Effects 0.000 description 6
- 241000282376 Panthera tigris Species 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 238000007596 consolidation process Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a parallel type lower limb exoskeleton rehabilitation training device which comprises a waist support frame, a hip-joint convolution annular rotation unit, a hip-joint inwards-folding outwards-unfolding unit, a hip-joint bending and stretching unit, and a knee joint bending and stretching unit, wherein the hip-joint convolution annular rotation unit can realize the actions of inward rotation, outward rotation and annular rotation of a hip-joint under the drive of a rotation motor; the hip-joint inwards-folding outwards-unfolding unit realizes the actions of inwards-folding and outwards-unfolding of the hip-joint through the control on the expansion amount of a push rod of a folding-unfolding electric cylinder; the hip-joint bending and stretching unit realizes the actions of bending and stretching of the hip-joint through the control on the expansion amount of a push rod of a bending and stretching electric cylinder; the knee joint bending and stretching unit realizes the actions of bending and stretching of a knee joint through the control on the expansion amount of a push rod of a knee joint bending and stretching electric cylinder. Through the adoption of the parallel type lower limb exoskeleton rehabilitation training device, the rehabilitation training for all the basic actions of lower limbs can be realized, that is, movements of the hip-joint around three basic axes, including basic movements of bending, stretching, inwards-folding, outwards-unfolding, inward rotation, outward rotation and annular rotation, as well as the bending and stretching of the knee joint can be realized.
Description
Technical field
The present invention relates to a kind of medical rehabilitation system, more particularly to a kind of parallel lower limb exoskeleton device for healing and training.
Background technology
The lower limb rehabilitation training of hemiplegia and paralytic has obtained the concern of domestic and international research worker at present, with such
Patient and motor dysfunction of lower limb patient's is increasing, and the viability and rehabilitation training for recovering this kind of crowd has become urgent
Being essential will.Therefore, design is a can carry out rehabilitation training and neurological functional recovery to each joint of disabled lower limb and a muscle group of planes
Robot system it is significant.
Patents are many both at home and abroad at present, and function is also similar.(China is specially for Wearable lower limb exoskeleton rehabilitation robot
Profit：The patent No. is 201310572075.2), it is proposed that a kind of to be based on electric-machine directly-driven jointed linkage, and the mechanism is only capable of realizing that hip is closed
Section bends and stretches, knee joint bends and stretches two kinds of simple actions；A kind of wearable lower limb exoskeleton assistant robot
(201310034245.1), it is proposed that a kind of lower limb exoskeleton mechanism of employing screw nut driven, mechanism's list lower limb adopts two
Individual motor screw pair, realizes that hip joint bends and stretches and knee joint is bent and stretched, and does not stretch and gyration function with hip joint；One
Exoskeleton-wearable lower limbs rehabilitation training robot device (201210168601.4) is planted, is proposed a kind of in parallel based on 3-RPS
The lower limb rehabilitation training device of mechanism, achievable hip joint bend and stretch, take down the exhibits, knee joint flexion and extension, but type of drive is for pneumatic,
Real-time control Telescopic-cylinder amount is unable to than relatively hazardous in training, and is not possessed and is had hip joint gyration, the adjustment mechanism is pacified
Fill and adjust more complicated.
The content of the invention
The invention aims to can realize that flexing, stretching, extension, interior receipts, abduction, inward turning, outward turning and ring turn, knee joint is bent
It is bent, stretch and a kind of parallel lower limb exoskeleton device for healing and training be provided.
The object of the present invention is achieved like this：The two ends of waist support bracket are symmetrically arranged with training agent structure, each
Training agent structure all includes that hip joint convolution also turns receipts abduction unit, hip joint in unit, hip joint and bends and stretches unit and knee joint pass
Section bends and stretches unit, and the hip joint convolution also turns unit to be included being arranged on the electricity of the revolution on waist support bracket by turning motor seat
Machine, the first belt wheel on turning motor output shaft, the Hooke's hinge upper bracket with shaft part, on Hooke's hinge shaft part
The second belt wheel and the belt being arranged between the first belt wheel and the second belt wheel；
Cross axle that abduction unit includes between Hooke's hinge upper bracket is received in the hip joint, ten are hingedly mounted on
Thigh framework, the electric cylinder lower end support of taking down the exhibits being fixedly mounted on the outside of thigh framework on word axle, it is hingedly mounted on electricity of taking down the exhibits
Hip joint on the support of dynamic cylinder lower end is taken down the exhibits electric cylinder and the push rod head bracket of taking down the exhibits on waist support bracket lower surface, institute
State hip joint take down the exhibits electric cylinder push rod cup by bearing pin of taking down the exhibits, take down the exhibits spherical bearing and be articulated and connected with push rod head bracket of taking down the exhibits；
The hip joint bends and stretches unit to be included being fixedly mounted on bending and stretching electric cylinder lower end support, being hinged on rear side of thigh framework
Electric cylinder and bending and stretching on waist support bracket lower surface are bent and stretched installed in the hip joint bent and stretched on the support of electric cylinder lower end
Push rod head bracket, the hip joint bend and stretch the push rod cup of electric cylinder by bending and stretching bearing pin, bending and stretching spherical bearing and bending and stretching push rod cup
Support is articulated and connected；
The knee joint bends and stretches unit to be included knee joint electric cylinder lower end support installed in thigh lower portion, is hinged peace
The knee joint being mounted on the support of knee joint electric cylinder lower end bends and stretches electric cylinder and the push rod cup that bends and stretches electric cylinder with knee joint is hinged
Shank, be additionally provided with axle on the shank, the two ends of axle are arranged in two bearing blocks by two pairs of bearings, two bearing blocks
Be symmetrically mounted on thigh framework, thigh protector is provided with the thigh framework, shank protective equipment is provided with shank.
Compared with prior art, the invention has the beneficial effects as follows：The present invention adopts parallel-connection structure, can be around two using Hooke's hinge
The rotation of axis realizes the motion of bending and stretching and take down the exhibits of hip joint, at the same using motor and Timing Belt realize Hooke's hinge around
The rotation of own axes, the present invention are cleverly connected using spherical bearing in junction, with reference to two rotary shaft of Hooke's hinge cross axle
Line causes hip joint to be capable of achieving convolution and circumduction；It is accurate and compact structure realizes powerful lower limb rehabilitation function.
I.e. the present invention is capable of achieving the rehabilitation training of all basic actss of lower limb using cleverly mechanical mechanism, specifically includes hip joint around three
The motion of individual basic axle, its basic exercise direction have：Flexing, stretching, extension, interior receipts, abduction, inward turning, outward turning and ring turn, and knee joint is bent
Bent, stretching, extension.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the hip joint and knee joint of the present invention while only flexor schematic diagram.
Fig. 3 is the hip joint and knee joint of the present invention while only flexor list lower limb schematic diagram.
Fig. 4 is that schematic diagram is received in the hip joint of the present invention.
Fig. 5 is the hip abduction schematic diagram of the present invention.
Fig. 6 is the front view that the hip joint of the present invention turns round schematic diagram.
Fig. 7 is the 3-D view that the hip joint of the present invention turns round schematic diagram.
Fig. 8 is the hip joint Hooke's hinge and push rod cup support axis section plan of the present invention.
Fig. 9 is the schematic diagram that the thigh framework of the present invention is connected with shank framework.
Figure 10 is the connection diagram that the knee joint of the present invention bends and stretches electric cylinder and the electronic jar support of knee joint.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Present invention aim at provide a kind of parallel lower limb exoskeleton device for healing and training, it include waist support bracket,
Hip joint convolution ring turns receipts abduction unit, hip joint in unit, hip joint and bends and stretches unit, and knee joint bends and stretches unit.Hip joint is returned
Rotation ring turns unit and is mainly made up of shoulder turning motor, turning motor seat, belt wheel and belt, Hooke's hinge upper bracket, in turning motor
Driving under can realize hip joint medial rotation, rotation be outer and ring turns action；Receive abduction unit mainly to be received by hip joint in hip joint
Exhibition electric cylinder, spherical bearing, electric cylinder lower end support and push rod head bracket, hip joint Hooke's hinge are constituted, by controlling electricity of taking down the exhibits
Dynamic cylinder push rod stroke realizes the interior receipts and arms sideward lift of hip joint；Hip joint bends and stretches unit and mainly bends and stretches electronic including hip joint
Cylinder, spherical bearing, electric cylinder lower end support and push rod head bracket, hip joint Hooke's hinge are constituted, and are bent and stretched electric cylinder by control and are pushed away
Bar stroke realizes the flexing and stretching of hip joint；Knee joint is bent and stretched unit and mainly bends and stretches electric cylinder, zanjon by knee joint
Ball bearing, electric cylinder lower carriage and shank are constituted, by control knee joint bend and stretch electric cylinder push rod stroke realize it is kneed
Flexing and stretching.Feature is that a kind of lower limb exoskeleton rehabilitation based on 2-RPS parallel institutions proposed by the invention is instructed
Practice device, the rehabilitation training for being capable of achieving all basic actss of lower limb is：Motion of the hip joint around three basic axles, its basic exercise
Direction has：Flexing, stretching, extension, interior receipts, abduction, inward turning, outward turning and ring turn, knee sprung, stretching, extension.
With reference to Fig. 1～10, described hip joint convolution ring turns unit on waist support bracket 1, receives outer in hip joint
Exhibition unit takes down the exhibits 13 lower end support 16 of electric cylinder by hip joint and push rod head bracket 10 is separately mounted to thigh framework 22 and waist
On portion's bracing frame 1, hip joint bends and stretches that unit bends and stretches 12 lower end support 15 of electric cylinder by hip joint and push rod head bracket 6 is pacified respectively
It is mounted on thigh framework 22 and waist support bracket 1, knee joint is bent and stretched unit and bends and stretches 19 lower end support 28 of electric cylinder by knee joint
It is separately mounted on thigh framework 22 and shank 20 with shank 20.Thigh framework 22 passes through 9 He of Hooke's hinge upper bracket 8 and cross axle
Waist support bracket 1 is connected, and shank 20 is connected with axle 24 with thigh framework 22 by bearing block 23, is provided with big on thigh framework 22
Lower limb framework protector 18, is provided with shank protective equipment 25 on shank.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 8, described hip joint bend and stretch unit mainly including hip joint bend and stretch electric cylinder 12,
Spherical bearing, electric cylinder lower end support 15 and push rod head bracket 6,8 grade of hip joint Hooke's hinge upper bracket are constituted, and hip joint bends and stretches electricity
12 lower end of dynamic cylinder is connected by the spherical bearing and bearing pin 14, sleeve and electric cylinder lower end support 15 of THK companies, electric cylinder lower end
Support 15 is fixed on thigh framework 22 by soket head cap screw, and hip joint bends and stretches 12 push rod cup of electric cylinder by THK companies
Spherical bearing 37 and bearing pin 7, sleeve 35 are connected with push rod head bracket 6, and the spherical bearing 37 passes through hole back-up ring 36 and the shaft shoulder
It is fixedly arranged in push rod cup, push rod cup is fixed on by sleeve 35 for the center of push rod head bracket 6, the bearing pin 7 and spherical bearing
37 and sleeve 35 coordinate, and be fixedly arranged in push rod head bracket 6 by shaft block ring 38 and the shaft shoulder, push rod head bracket 6 passes through interior six
Angle screw is fixedly arranged on waist support bracket 1.When hip joint bends and stretches 12 push rod of electric cylinder and stretches out, thigh framework 22 around with hip joint tiger
Gram hinge upper bracket 8 be connected 9 axis of cross axle rotate, realize thigh framework stretch, when hip joint bend and stretch 12 push rod of electric cylinder receipts
During contracting, thigh framework 22 is rotated around 9 axis of cross axle being connected with hip joint Hooke's hinge upper bracket 8, realizes that thigh framework shrinks.
With reference to Fig. 4, Fig. 5 and Fig. 8, abduction unit is received in the described hip joint and is mainly taken down the exhibits electric cylinder by hip joint
13rd, spherical bearing 33, electric cylinder lower end support 16 and push rod head bracket 10, hip joint Hooke's hinge upper bracket 8 are constituted；Hip joint is received
13 lower end of exhibition electric cylinder is connected 16 by the spherical bearing and bearing pin 17, sleeve of THK companies and is connected with electric cylinder lower end support, electricity
Dynamic cylinder lower end support 16 is fixed on thigh framework 22 by soket head cap screw, and hip joint 13 push rod cup of electric cylinder of taking down the exhibits passes through
The spherical bearing 33 and bearing pin 11 of THK companies, sleeve 32 are connected with push rod head bracket 10, and the spherical bearing 33 is kept off by hole
Circle 34 and the shaft shoulder are fixedly arranged in push rod cup, and push rod cup is fixed on the center of push rod head bracket 10, the bearing pin by sleeve 32
11 are coordinated with spherical bearing 33 and sleeve 32, and are fixedly arranged in push rod head bracket 10 by shaft block ring 31 and the shaft shoulder, push rod cup
Support 10 is fixedly arranged on waist support bracket 1 by soket head cap screw.Hip joint takes down the exhibits 13 push rod of electric cylinder when stretching out, thigh framework
22 are rotated around 9 axis of cross axle being connected with hip joint Hooke's hinge upper bracket 8, realize receiving in thigh framework, when hip joint bends and stretches
When 13 push rod of electric cylinder shrinks, thigh framework 22 is rotated around 9 axis of cross axle being connected with hip joint Hooke's hinge upper bracket 8, real
Existing thigh framework abduction.
With reference to Fig. 6, Fig. 7, described hip joint convolution ring turns unit mainly by turning motor 2, turning motor seat 5, first
Belt wheel 27, the second belt wheel 3 and belt 4, Hooke's hinge upper bracket 8 are constituted, and turning motor 2 is fixed on waist by turning motor seat 5
On bracing frame 1,27 belt wheel of the first belt wheel passes through general flat key and marks closely screw to fix on the output shaft of turning motor 2, by same
First belt wheel 27 is connected by step band with the second belt wheel 3, and Hooke's hinge upper bracket 8 passes through a pair of angular contact ball bearings and stop nut is solid
It is scheduled on waist support bracket 1, and is connected by general flat key and holding screw and the second belt wheel 3, the shape of Hooke's hinge upper bracket 8
Design squarely limits angle of revolution, and when angle of revolution exceedes certain value, push rod can be encountered in the side of Hooke's hinge upper bracket 8
Head bracket 10 or push rod head bracket 6 and stop the rotation.
With reference to reference to Fig. 1, Fig. 3, Fig. 9 and Figure 10, knee joint is bent and stretched unit and mainly bends and stretches electric cylinder 19, zanjon by knee joint
Ball bearing, electric cylinder lower end support 28 and shank 20 are constituted, and knee joint bends and stretches 19 lower end of electric cylinder by a pair of deep groove ball bearings
And bearing pin 29, sleeve 42 are connected with electric cylinder lower end support 28, the bearing pin 29 is coordinated with deep groove ball bearing and sleeve 42, is passed through
Axle collar and the shaft shoulder are fixed in support 28, and the deep groove ball bearing passes through the shaft shoulder and hole back-up ring 41 is fixed on push rod cup
In, and be fixed in electric cylinder lower end support 28 by 42 two ends of sleeve positioning, electric cylinder lower end support 28 is by interior hexagonal spiral shell
Nail is fixed on thigh framework 22, knee joint bend and stretch 19 upper end push rod cup of electric cylinder by two pairs of deep groove ball bearings and bearing pin 21 with
Shank 20 be connected, the axle 24 is fixed on shank by shaft block ring 39, and with two ends two bearing is fitted through the shaft shoulder and
Shaft block ring 40 is fixed on thigh framework 22, and two pairs of bearings are arranged in bearing block 23, and the bearing block passes through interior six
Angle screw is fixedly arranged on thigh framework.When knee joint is bent and stretched 19 push rod of electric cylinder and stretched out, shank 20 is around rotating with 24 axis of axle, real
Existing toe raise, when knee joint bends and stretches the contraction of 19 push rod of electric cylinder, shank 20 realizes shank flexing around rotating with 24 axis of axle.
A kind of parallel lower limb exoskeleton device for healing and training, it mainly turns single by waist support bracket, hip joint convolution ring
Abduction unit, hip joint are received in unit, hip joint and bends and stretches unit, knee joint bends and stretches the composition such as unit.
The object of the present invention is achieved like this：
1. described in, hip joint convolution ring turns unit mainly by turning motor, turning motor seat, belt wheel and belt, Hooke's hinge
Support is constituted, and turning motor is fixed on waist support bracket by motor cabinet, and small pulley is by general flat key and marks closely screw admittedly
Determine on the output shaft of turning motor, two belt wheels are connected by Timing Belt, Hooke's hinge upper bracket passes through a pair of angular contact ball axles
Hold and be fixed on waist support bracket with stop nut, and pass through general flat key and holding screw and small pulley connection.
2. abduction unit is received in hip joint described in mainly to be taken down the exhibits electric cylinder, spherical bearing, electric cylinder lower carriage by hip joint
And push rod head bracket, hip joint Hooke's hinge composition；Hip joint takes down the exhibits electric cylinder lower end by the spherical bearing of THK companies and pin
The connection of axle, sleeve and electric cylinder lower carriage, electric cylinder lower carriage are fixed on thigh framework by soket head cap screw, and hip joint is received
Exhibition electric cylinder upper end push rod cup is connected with push rod head bracket by the spherical bearing and bearing pin, sleeve of THK companies, push rod head bracket
It is fixed on lumbar support support by soket head cap screw, hip joint Hooke's hinge upper bracket is fixedly arranged on lumbar support support, tiger
Gram hinge upper bracket be connected with the support above thigh framework by cross axle.
3. hip joint described in bend and stretch unit mainly including hip joint bend and stretch electric cylinder, spherical bearing, electric cylinder lower carriage and
Push rod head bracket, hip joint Hooke's hinge are constituted, hip joint bend and stretch electric cylinder lower end by the spherical bearing of THK companies and bearing pin,
Sleeve is connected with electric cylinder lower carriage, and electric cylinder lower carriage is fixed on thigh framework by soket head cap screw, and hip joint is taken down the exhibits
Electric cylinder upper end push rod cup is connected with push rod head bracket by the spherical bearing and bearing pin, sleeve of THK companies, and push rod head bracket leads to
Cross soket head cap screw to be fixed on lumbar support support.
4. knee joint described in bend and stretch unit mainly by knee joint bend and stretch electric cylinder, deep groove ball bearing, electric cylinder lower carriage and
Shank is constituted, and knee joint bends and stretches electric cylinder lower end by a pair of deep groove ball bearings and the connection of bearing pin, sleeve and electric cylinder lower carriage,
Electric cylinder lower carriage is fixed on thigh framework by soket head cap screw, and knee joint bends and stretches electric cylinder upper end push rod cup by a pair
Deep groove ball bearing and bearing pin, sleeve are connected with shank, and knee joint electric cylinder saves the same of big quantity space in thigh lower portion
When improve kneed exercise performance.
5. hip joint described in takes down the exhibits electric cylinder push rod head bracket and hip joint bends and stretches electric cylinder push rod head bracket with hip joint
It is orthogonal centered on Hooke's hinge upper bracket to equidistantly distribute.
6. hip joint described in takes down the exhibits electric cylinder push rod head bracket and hip joint bends and stretches electric cylinder push rod head bracket, hip joint tiger
In same level, the hip joint takes down the exhibits electric cylinder lower end support to the axis hole centrage of gram hinge upper bracket and hip joint bends and stretches
The axis hole centrage of electric cylinder lower end support is in same level.
1. a kind of parallel lower limb exoskeleton device for healing and training, is characterized in that：It mainly includes that waist support bracket, hip are closed
Section convolution ring turns receipts abduction unit, hip joint in unit, hip joint and bends and stretches unit, and knee joint bends and stretches unit.Wherein, hip joint is returned
Rotation ring turns unit and is mainly made up of turning motor, turning motor seat, belt wheel and belt, Hooke's hinge upper bracket, and turning motor passes through
Motor cabinet is fixed on waist support bracket, and small pulley passes through general flat key and mark closely screw to fix on the output shaft of turning motor,
Two belt wheels are connected by Timing Belt, Hooke's hinge upper bracket is fixed on waist by a pair of angular contact ball bearings and stop nut
On bracing frame, and pass through general flat key and holding screw and small pulley connection.Abduction unit is received in hip joint mainly by hip joint
Take down the exhibits electric cylinder, spherical bearing, electric cylinder lower end support and push rod head bracket, hip joint Hooke's hinge is constituted；Hip joint is taken down the exhibits electricity
Dynamic cylinder lower end passes through spherical bearing and the connection of bearing pin, sleeve and electric cylinder lower carriage, and electric cylinder lower end support is by interior hexagonal spiral shell
Nail is fixed on thigh framework, and hip joint takes down the exhibits electric cylinder upper end push rod cup by spherical bearing and bearing pin, sleeve and push rod cup
Support is connected, and push rod head bracket is fixed on lumbar support support by soket head cap screw, hip joint Hooke's hinge upper bracket consolidation
On lumbar support support, Hooke's hinge upper bracket is connected with the support above thigh framework by cross axle.Hip joint bends and stretches list
Electric cylinder, spherical bearing, electric cylinder lower end support and push rod head bracket, hip joint Hooke's hinge structure mainly bend and stretch including hip joint in unit
Into hip joint bends and stretches electric cylinder lower end by spherical bearing and the connection of bearing pin, sleeve and electric cylinder lower carriage, electric cylinder lower carriage
Be fixed on thigh framework by soket head cap screw, hip joint take down the exhibits electric cylinder upper end push rod cup by spherical bearing and bearing pin,
Sleeve is connected with push rod head bracket, and push rod head bracket is fixed on lumbar support support by soket head cap screw.Knee joint is bent and stretched
Unit is mainly bent and stretched electric cylinder, deep groove ball bearing, electric cylinder lower carriage and shank and is constituted by knee joint, and knee joint bends and stretches electric cylinder
Lower end passes through a pair of deep groove ball bearings and the connection of bearing pin, sleeve and electric cylinder lower carriage, and electric cylinder lower carriage is by interior hexagonal spiral shell
Nail is fixed on thigh framework, knee joint bend and stretch electric cylinder upper end push rod cup by a pair of deep groove ball bearings and bearing pin, sleeve with
Shank is connected, and knee joint electric cylinder is in while thigh lower portion saves big quantity space and improves kneed mobility
Energy.
2. a kind of parallel lower limb exoskeleton device for healing and training according to claim 1, it is characterised in that：It is described
Hip joint is taken down the exhibits, and electric cylinder push rod is flexible to be realized abduction exercise is received in hip joint with reference to hip joint Hooke's hinge and ball bearing together.
3. a kind of parallel lower limb exoskeleton device for healing and training according to claim 1, it is characterised in that：It is described
Turning motor passes through belt and band wheel drive hip joint Hooke's hinge is rotated around connecting shaft axis, in combination with ball bearing, hip joint
Interior receipts abduction unit, hip joint bend and stretch unit and realize hip joint convolution circumduction together.
4. a kind of parallel lower limb exoskeleton device for healing and training according to claim 1, it is characterised in that：Thigh
Framework and shank are connected with patient's lower limb by bandage stent and binder, and bandage stent can be on thigh framework and shank
Lower mobile adjustment, while can rotate around connecting shaft axis.
Claims (1)
1. a kind of parallel lower limb exoskeleton device for healing and training, it is characterised in that：The two ends of waist support bracket are symmetrically arranged with
Training agent structure, each training agent structure include that hip joint convolution ring turns interior abduction unit, the hip received of unit, hip joint and closes
Section bends and stretches unit and knee joint bends and stretches unit, and the hip joint convolution ring turns unit to be included being arranged on waist by turning motor seat
Turning motor on bracing frame, the first belt wheel on turning motor output shaft, the Hooke's hinge upper bracket with shaft part, peace
The second belt wheel being mounted on Hooke's hinge shaft part and the belt being arranged between the first belt wheel and the second belt wheel；
Cross axle that abduction unit includes between Hooke's hinge upper bracket is received in the hip joint, cross axle is hingedly mounted on
On thigh framework, the electric cylinder lower end support of taking down the exhibits being fixedly mounted on the outside of thigh framework, be hingedly mounted on electric cylinder of taking down the exhibits
Hip joint on the support of lower end is taken down the exhibits electric cylinder and the push rod head bracket of taking down the exhibits on waist support bracket lower surface, the hip
Joint take down the exhibits electric cylinder push rod cup by bearing pin of taking down the exhibits, take down the exhibits spherical bearing and be articulated and connected with push rod head bracket of taking down the exhibits；
The hip joint bends and stretches unit to be included being fixedly mounted on bending and stretching electric cylinder lower end support, being hinged installation on rear side of thigh framework
Bend and stretch electric cylinder and bend and stretch push rod on waist support bracket lower surface the hip joint on the support of electric cylinder lower end is bent and stretched
Head bracket, the hip joint bend and stretch the push rod cup of electric cylinder by bending and stretching bearing pin, bending and stretching spherical bearing and bending and stretching push rod head bracket
It is articulated and connected；
The knee joint bends and stretches unit to be included knee joint electric cylinder lower end support installed in thigh lower portion, is hingedly mounted on
It is little that knee joint on the support of knee joint electric cylinder lower end bends and stretches electric cylinder and the push rod cup that bends and stretches electric cylinder with knee joint is hinged
Lower limb, is additionally provided with axle on the shank, the two ends of axle are arranged in two bearing blocks by two pairs of bearings, and two bearing blocks are symmetrical
On thigh framework, thigh protector is provided with the thigh framework, shank protective equipment is provided with shank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510658268.9A CN105167960B (en) | 2015-10-12 | 2015-10-12 | Parallel type lower limb exoskeleton rehabilitation training device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510658268.9A CN105167960B (en) | 2015-10-12 | 2015-10-12 | Parallel type lower limb exoskeleton rehabilitation training device |
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| CN105167960A CN105167960A (en) | 2015-12-23 |
| CN105167960B true CN105167960B (en) | 2017-04-12 |
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| CN201510658268.9A Expired - Fee Related CN105167960B (en) | 2015-10-12 | 2015-10-12 | Parallel type lower limb exoskeleton rehabilitation training device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105596181B (en) * | 2016-01-30 | 2019-04-16 | 合肥慧加医疗科技有限公司 | A kind of hip joint brace system and control method |
| CN105769510B (en) * | 2016-03-26 | 2017-11-14 | 北京工业大学 | A kind of hip joint servomechanism based on parallel architecture |
| CN106943276A (en) * | 2017-03-15 | 2017-07-14 | 深圳市奇诺动力科技有限公司 | Power exoskeleton |
| CN107411929B (en) * | 2017-08-17 | 2023-10-31 | 威海威高骨科手术机器人有限公司 | Lower limb fracture reduction device |
| CN110353949B (en) * | 2019-08-08 | 2020-12-01 | 北京交通大学 | Active knee and ankle joint artificial limb mechanism based on metamorphic parallel mechanism |
| CN110547947A (en) * | 2019-09-10 | 2019-12-10 | 苏州合宏元智能科技有限公司 | Lower limb rehabilitation training robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101121424B (en) * | 2007-09-07 | 2011-02-23 | 哈尔滨工程大学 | Double-foot robot lower limb mechanism with multiple freedom degree |
| EP2231096B1 (en) * | 2007-12-26 | 2013-04-03 | Rex Bionics Limited | Mobility aid |
| CN102256580B (en) * | 2008-12-18 | 2014-01-29 | 伯克利仿生技术公司 | Wearable material handling system |
| CN102670377A (en) * | 2012-05-28 | 2012-09-19 | 西华大学 | Exoskeleton wearable lower limb rehabilitation training robot device |
| CN203060231U (en) * | 2013-01-29 | 2013-07-17 | 苏州大学 | Wearable lower limb exoskeleton walking-assisting robot |
| PL224669B1 (en) * | 2014-02-11 | 2017-01-31 | Prodromus Spółka Z Ograniczoną Odpowiedzialnością | Device supporting functional ability of lower limbs |
| CN103892943B (en) * | 2014-03-19 | 2015-08-19 | 中国人民解放军理工大学 | Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type |
| CN204562790U (en) * | 2015-01-29 | 2015-08-19 | 哈尔滨理工大学 | The upper limb rehabilitation robot that pneumatic muscles drives |
| CN205073244U (en) * | 2015-10-12 | 2016-03-09 | 哈尔滨工程大学 | Parallel low limbs ectoskeleton rehabilitation training device |
-
2015
- 2015-10-12 CN CN201510658268.9A patent/CN105167960B/en not_active Expired - Fee Related
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| CN105167960A (en) | 2015-12-23 |
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