CN106420270B - A kind of wearable lower limb servomechanism - Google Patents

A kind of wearable lower limb servomechanism Download PDF

Info

Publication number
CN106420270B
CN106420270B CN201610676548.7A CN201610676548A CN106420270B CN 106420270 B CN106420270 B CN 106420270B CN 201610676548 A CN201610676548 A CN 201610676548A CN 106420270 B CN106420270 B CN 106420270B
Authority
CN
China
Prior art keywords
bracket
end
link
hole
shank
Prior art date
Application number
CN201610676548.7A
Other languages
Chinese (zh)
Other versions
CN106420270A (en
Inventor
王霄
陈树洋
王富良
刘会霞
高坤
张国策
Original Assignee
江苏大学
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 江苏大学 filed Critical 江苏大学
Priority to CN201610676548.7A priority Critical patent/CN106420270B/en
Publication of CN106420270A publication Critical patent/CN106420270A/en
Application granted granted Critical
Publication of CN106420270B publication Critical patent/CN106420270B/en

Links

Abstract

The present invention provides a kind of wearable lower limb servomechanism, left side lumbar bracket is identical with left lumbar supporting structure and is L-shaped structure, one end is fixedly connected on waist adjustment mechanism two sides by connecting flange, side is fastenedly connected two blocks of back bracket plates by screw, and two back bracket plates are vertical with waist bracket, upper and lower two parallel connecting rod of support are threaded on back bracket plate, control cabinet is suspended on connecting rod of support by lock, and waistband passes through the sets of holes among back bracket plate;Hip joint driving mechanism is located on the downside of waist bracket, and is threadedly coupled with the other end connecting shaft of left side lumbar bracket, left lumbar bracket, and the first thick link, the second thick link, the first thigh bandage and the second thigh bandage constitute hip joint executing agency;Knee joint driving mechanism is fastenedly connected on the second thick link, and the first shank link, the second shank link, the first shank bandage and the second shank bandage constitute knee joint executing agency.

Description

A kind of wearable lower limb servomechanism

Technical field

The present invention relates to a kind of lower limb power-assisted instrument, especially a kind of wearable lower limb servomechanism.

Background technique

Hip joint supports the weight of entire trunk as the important joint of human body lower limbs, the physical stress ratio born Other joints are much bigger;Knee joint is the maximum and most complicated joint of human body, and it is lower limb exercise that it, which bears a heavy burden mostly, and amount of exercise is big Hinge, therefore also shelter has first of joint its disease incidence.Their health status directly affects the daily routines of people, for example walk, Running and jump etc., Just because of this, human body lower limbs joint is at heavy-duty service, joint in daily life Over fatigue, which is even damaged, can bring various lesions, and the joint of lower extremity of the elderly is with advancing age and muscle strength Decline, joint torque is insufficient for the needs of proper motion, and lower limb servomechanism then can be by giving the elderly's hip Joint and knee joint apply reasonable external torque and assist its movement to make up the deficiency of the elderly itself output torque.

Joint of lower extremity servomechanism mainly uses motor driven, hydraulic-driven or air pressure driving, current many joint assistances Mechanism uses hydraulic or air pressure driving method, but since hydraulic or air pressure driving method has noise big, pollutes more, stroke It is short, the disadvantages of precision is not high is controlled, so that structure is complicated for joint of lower extremity servomechanism, bulky, wearing trouble, with human body coupling It is poor to close performance, furthermore existing assistance exoskeleton designs control complexity mostly in the market, and it is expensive, so there is an urgent need to a Simple structure, convenient control, wearing comfort and the lower limb servomechanism for meeting level of mass consumption.

Summary of the invention

The problem to be solved in the present invention is just to provide one kind and provides additional torque based on motor driven, for patient's joint of lower extremity Wearable lower limb servomechanism, it is desirable that the mechanism structure is simple, light quality, and safely controllable and Applied economy value is high.

To achieve the above object, the invention provides the following technical scheme:

A kind of wearable lower limb servomechanism, including control cabinet, connecting rod of support, back bracket plate, waistband, left lumbar Bracket, waist adjustment mechanism, left side lumbar bracket, hip joint driving mechanism, connector, the first thick link, the second thigh connect Bar, knee joint driving mechanism, the first shank link and the second shank link;

The left side lumbar bracket is identical with left lumbar supporting structure and is L-shaped structure;The left side lumbar bracket With threaded hole E uniformly distributed in the vertical lateral surface of left lumbar bracket one end and lower horizontal side, band is provided in the other end face Threaded connecting shaft;

One end of the left side lumbar bracket and left lumbar bracket passes through connecting flange and is respectively fixedly connected in waist Adjustment mechanism two sides;Connecting shaft on the other end passes through the first shell top in the first fastening nut and hip joint driving mechanism The threaded hole A screw thread that portion opens up is connected;

The threaded hole B screw thread opened up on the first output flange in first connector one end and hip joint driving mechanism Connection;The other end is connected with the first thick link by the second fastening nut screw thread;First thick link lower end opens up There is guide rail A;And several round tube hole C are offered on guide rail A;What second thick link was mounted on that the first thick link opens up leads In rail A, and it is bolted;

Second thick link end offers round tube hole J, and the second thick link is driven by round tube hole J and knee joint The hole opened up on second housing in mechanism is bolted;

The threaded hole K screw thread opened up on the second output flange in second connector one end and knee joint driving mechanism Connection;The other end is connected with the first shank link by the second fastening nut screw thread;First shank link lower end opens up There is guide rail B;And several round tube hole M are offered on guide rail B;Second shank link is mounted in the first shank link guide rail B, And it is bolted;

It is respectively arranged on first thick link, the second thick link, the first shank link and the second shank link First thigh bandage, the second thigh bandage, the first shank bandage, the second shank bandage;

The left side lumbar bracket and the vertical lateral surface of left lumbar bracket are fastenedly connected back branch by screw D respectively Frame plate, and back bracket plate and left side lumbar bracket, left lumbar bracket are vertical, upper and lower two parallel connecting rod of support Both ends are threadedly coupled with the back bracket plate on left side lumbar bracket and left lumbar side face respectively;

The control cabinet is suspended on connecting rod of support by lock, and waistband passes through the sets of holes among back bracket plate.

Further, the connecting flange is rectangular, and is evenly equipped with threaded hole I above;The waist adjustment mechanism and the right side Side waist bracket and column distribution;The connecting flange is placed in the lower surface of waist adjustment mechanism Yu left lumbar bracket;The company Acting flange is connect by threaded hole I with waist adjustment mechanism one end screw, and uniformly distributed in horizontal side under left lumbar bracket Threaded hole E is connected also by screw.

Further, the waist adjustment mechanism includes the first threaded base, screw shell, the second threaded base, the One threaded rod and the second threaded rod;First threaded rod one end is mounted in the first threaded base, and the other end is mounted on screw thread In sleeve;Second threaded rod one end is mounted in the second threaded base, and the other end is mounted in screw shell.

Further, the hip joint driving mechanism includes the first absolute type encoder, hip joint disc type electric machine, hip pass Section harmonic speed reducer, the first torsion sensor, the first output shaft, the first flat key, the first output flange, the first shell, first are determined Position bearing, the first washer and first bearing end cap;Hip joint disc type electric machine tail portion is equipped with the first absolute type encoder;Institute Hip joint disc type electric machine output end is stated to be connected with hip joint harmonic speed reducer;Hip pass is disposed on first output shaft Save harmonic speed reducer, the first torsion sensor, the first output flange and the first shell;Wherein, first output flange and One output shaft is connected by the first flat key;First positioning bearing side passes through the first washer and first bearing end cap seal.

Further, first shell and the first limited block bolt-connection;First upper shell is provided with double U Shape structure, to be threadedly coupled with connecting shaft;The first shell axial sides are uniformly distributed multiple through-hole F, the first limiting block Through-hole H is offered with the corresponding section through-hole F on block;First limited block uses surface modeling.

Further, the knee joint driving mechanism includes the second absolute type encoder, knee joint disc type electric machine, knee pass Section harmonic speed reducer, the second torsion sensor, the second output shaft, the second flat key, the second output flange, second housing, second are determined Position bearing, second packing ring and second bearing end cap;Knee joint disc type electric machine tail portion is equipped with the second absolute type encoder;Institute Knee joint disc type electric machine output end is stated to be connected with knee joint harmonic speed reducer;Knee pass is disposed on second output shaft Save harmonic speed reducer, the second torsion sensor, the second output flange and second housing;Wherein, second output flange and Two output shafts are connected by the second flat key;Second positioning bearing side passes through second packing ring and second bearing end cap seal.

Further, the second housing and the second limited block bolt-connection;The second housing upper end is provided with circle Cylindricality pore structure, to be fixedly connected with the second thick link bolt;The second housing axial sides are uniformly distributed multiple logical Hole N offers through-hole P with the corresponding section through-hole N on the second limited block;Second limited block uses surface modeling.

Further, waist width adjusting hole O is uniformly distributed on the waistband, face is done with hard leather in waistband outside, interior Side is lined with flexible material.

Further, the connecting rod of support, back bracket plate, left lumbar bracket, waist adjustment mechanism, left side lumbar Bracket, connecting flange, the first shell, second housing, the first thick link, the second thick link, the first shank link and second The material of shank link is carbon fiber, and is lined with flexible material with the position of human contact.

Further, the control cabinet is for loading battery and supplementary controlled system, and supplementary controlled system setting is anxious Stop button.

The beneficial effects of the present invention are: being driven using disc type electric machine and harmonic speed reducer, control precision is accurate, maximum special Point be exactly it is thin, the rotor and stator of general motor are inside and outside set with, and disk type electric machine stator is on flat substrate, and rotor is lid On stator, therefore disc type electric machine and harmonic speed reducer driving are for requiring to be preferably to drive for compact-sized mechanism Mode;The frame structure material of the lower limb servomechanism is carbon fiber, and intensity is high, rigidity is good, light weight, using storage Battery power supply is not limited so that the present invention has good portability by sphere of action, is suitble to the daily wearing of the elderly;Hip closes Section and the shell of knee joint driving mechanism, which are equipped on the limited block with defencive function and supplementary controlled system, is arranged emergency stop Button, the flexion angle range of safety can be arranged in patient according to own situation, safely controllable;It, should in conjunction with simulation of human body principle Every side hip joint of lower limb servomechanism uses two freedom degrees, and every side knee joint uses one degree of freedom, waist adjustment mechanism Guarantee that the joint rotation center of different patients is overlapped with the mechanism rotation center with Leg length adjustment mechanism, not only structure letter It is single, easily controllable, and it is able to satisfy the basic requirement of people, it is suitble to industrial production and large-scale promotion.

Detailed description of the invention

Fig. 1 is overall structure of the present invention;

Fig. 2 is overall structure schematic rear view of the present invention;

Fig. 3 is waist adjustment mechanism structure chart of the present invention;

Fig. 4 is hip joint driving mechanism explosive view of the present invention;

Fig. 5 is knee joint driving mechanism explosive view of the present invention;

Fig. 6 is left side lumbar rack assumption diagram of the present invention;

Fig. 7 is embodiment of the present invention flow chart.

Appended drawing reference is as follows:

1- control cabinet, 2- connecting rod of support, 3- back bracket plate, 4- waistband, 5- left lumbar bracket, 6- waist adjust machine Structure, 7- left side lumbar bracket, 8- connecting flange, the first fastening nut of 9-, 10- hip joint driving mechanism, the first connector of 11-, The second fastening nut of 12-, the first thick link of 13-, the second thick link of 14-, the first thigh of 15- bandage, the second thigh of 16- are tied up Band, 17- knee joint driving mechanism, the first shank link of 18-, the second shank link of 19-, the first shank of 20- bandage, 21- second Shank bandage, 22- connecting shaft, the first threaded base of 61-, 62- screw shell, the second threaded base of 63-, the first threaded rod of 64-, The second threaded rod of 65-, the first absolute type encoder of 101-, 102- hip joint disc type electric machine, 103- hip joint harmonic speed reducer, The first torsion sensor of 104-, the first output shaft of 105-, the first flat key of 106-, the first output flange of 107-, the first shell of 108-, The first limited block of 109-, 110- first position bearing, the first washer of 111-, 112- first bearing end cap, 171- second absolutely Formula encoder, 172- knee joint disc type electric machine, 173- knee joint harmonic speed reducer, the second torsion sensor of 174-, 175- second Output shaft, the second flat key of 176-, the second output flange of 177-, 178- second housing, the second limited block of 179-, 180- second are fixed Position bearing, 181- second packing ring and 182- second bearing end cap.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.

A kind of wearable lower limb servomechanism, including control cabinet 1, connecting rod of support 2, back bracket plate 3, waistband 4, right side Waist bracket 5, waist adjustment mechanism 6, left side lumbar bracket 7, hip joint driving mechanism 10, connector 11, the first thick link 13, the second thick link 14, knee joint driving mechanism 17, the first shank link 18 and the second shank link 19;

The left side lumbar bracket 7 is identical with 5 structure of left lumbar bracket and is L-shaped structure;The left side lumbar branch It is evenly distributed with threaded hole E on the vertical lateral surface of 5 one end of frame 7 and left lumbar bracket and lower horizontal side, is arranged in the other end face There is screwed connecting shaft 22;

One end of the left side lumbar bracket 7 and left lumbar bracket 5 passes through connecting flange 8 and is respectively fixedly connected in waist 6 two sides of portion's adjustment mechanism;Connecting shaft 22 on the other end passes through the first fastening nut 9 and the in hip joint driving mechanism 10 The threaded hole A screw thread opened up at the top of one shell 108 is connected;

The screw thread opened up on the first output flange 107 in described first connector, 11 one end and hip joint driving mechanism 10 Hole B is threadedly coupled;The other end is connected with the first thick link 13 by 12 screw thread of the second fastening nut;First thigh connects 13 lower end of bar offers guide rail A;And several round tube hole C are offered on guide rail A;It is big that second thick link 14 is mounted on first In the guide rail A that leg connecting rod 13 opens up, and it is bolted;

Second thick link, 14 end offers round tube hole J, and the second thick link 14 passes through round tube hole J and knee joint The hole opened up on second housing 178 in driving mechanism 17 is bolted;

The threaded hole opened up on the second output flange 177 in second connector one end and knee joint driving mechanism 17 K is threadedly coupled;The other end is connected with the first shank link 18 by 12 screw thread of the second fastening nut;First shank link 18 lower ends offer guide rail B;And several round tube hole M are offered on guide rail B;Second shank link 19 is mounted on the first shank In 18 guide rail B of connecting rod, and it is bolted;

Divide on first thick link 13, the second thick link 14, the first shank link 18 and the second shank link 19 It is not provided with the first thigh bandage 15, the second thigh bandage 16, the first shank bandage 20, the second shank bandage 21;

The left side lumbar bracket 7 and the vertical lateral surface of left lumbar bracket 5 are fastenedly connected back by screw D respectively Supporting plate 3, and back bracket plate 3 and left side lumbar bracket 7, left lumbar bracket 5 are vertical, upper and lower two parallel brackets connect The both ends of extension bar 2 are threadedly coupled with the back bracket plate 3 on 5 side of left side lumbar bracket 7 and left lumbar bracket respectively;

The control cabinet 1 is suspended on connecting rod of support 2 by lock, and waistband 4 passes through the set among back bracket plate 3 Hole.

Wherein, the connecting flange 8 is rectangular, and is evenly equipped with threaded hole I above;The waist adjustment mechanism 6 and right side Waist bracket 5 and column distribution;The connecting flange 8 is placed in the lower surface of waist adjustment mechanism 6 Yu left lumbar bracket 5;It is described Connecting flange 8 is connect by threaded hole I with 6 one end screw of waist adjustment mechanism, is descended in horizontal side with left lumbar bracket 5 The threaded hole E of cloth is connected also by screw.

The waist adjustment mechanism 6 includes the first threaded base 61, screw shell 62, the second threaded base 63, first Threaded rod 64 and the second threaded rod 65;Described first threaded rod, 64 one end is mounted in the first threaded base 61, other end installation In screw shell 62;Described second threaded rod, 65 one end is mounted in the second threaded base 63, and the other end is mounted on thread bush In cylinder 62.

The hip joint driving mechanism 10 includes the first absolute type encoder 101, hip joint disc type electric machine 102, hip pass Save harmonic speed reducer 103, the first torsion sensor 104, the first output shaft 105, the first flat key 106, the first output flange 107, First shell 108, first positions bearing 110, the first washer 111 and first bearing end cap 112;The hip joint disc type electric machine 102 tail portions are equipped with the first absolute type encoder 101;102 output end of hip joint disc type electric machine and hip joint harmonic reduction Device 103 is connected;Hip joint harmonic speed reducer 103, the first torsion sensor are disposed on first output shaft 105 104, the first output flange 107 and the first shell 108;Wherein, first output flange 107 passes through with the first output shaft 105 The connection of first flat key 106;First positioning 110 side of bearing is sealed by the first washer 111 and first bearing end cap 112.

109 bolt-connection of first shell 108 and the first limited block;First shell, 108 upper end is provided with double U Shape structure, to be threadedly coupled with connecting shaft 22;First shell, 108 axial sides are uniformly distributed multiple through-hole F, the first limit Through-hole H is offered with the corresponding section through-hole F on the block 109 of position;First limited block 109 uses surface modeling.

The knee joint driving mechanism 17 includes the second absolute type encoder 171, knee joint disc type electric machine 172, knee joint Harmonic speed reducer 173, the second torsion sensor 174, the second output shaft 175, the second flat key 176, the second output flange 177, Two shells 178, second position bearing 180, second packing ring 181 and second bearing end cap 182;The knee joint disc type electric machine 172 Tail portion is equipped with the second absolute type encoder 171;172 output end of knee joint disc type electric machine and knee joint harmonic speed reducer 173 are connected;Be disposed on second output shaft 175 knee joint harmonic speed reducer 173, the second torsion sensor 174, Second output flange 177 and second housing 178;Wherein, second output flange 177 and the second output shaft 175 pass through second Flat key 176 connects;Second positioning 180 side of bearing is sealed by second packing ring 181 and second bearing end cap 182.

179 bolt-connection of the second housing 178 and the second limited block;178 upper end of second housing is provided with circle Cylindricality pore structure, to be fixedly connected with the second thick link (14) bolt;178 axial sides of second housing are uniformly distributed Multiple through-hole N offer through-hole P with the corresponding section through-hole N on the second limited block 179;Second limited block 179 is adopted Use surface modeling.

Waist width adjusting hole O is uniformly distributed on the waistband 4, face is done with hard leather in 4 outside of waistband, and inside is lined with soft Soft material.

The connecting rod of support 2, back bracket plate 3, left lumbar bracket 5, waist adjustment mechanism 6, left side lumbar bracket 7, connecting flange 8, the first shell 108, second housing 178, the first thick link 13, the second thick link 14, the first shank connect The material of bar 18 and the second shank link 19 is carbon fiber, and is lined with flexible material with the position of human contact.

The control cabinet 1 is for loading battery and supplementary controlled system, and scram button is arranged in supplementary controlled system.

Refering to fig. 1, Fig. 2, Fig. 6, in present example, a kind of wearable lower limb servomechanism, including waist mechanism, drive Motivation structure and executing agency, left side lumbar bracket 7 is identical with 5 structure of left lumbar bracket and is L-shaped structure, and one end is uniformly distributed Threaded hole E, the other end are extended with screwed connecting shaft 22, and left side lumbar bracket 7 and 5 one end of left lumbar bracket pass through company Acting flange 8 is fixedly connected on 6 two sides of waist adjustment mechanism, and the end side surface is fastenedly connected two blocks of back bracket plates by screw D 3, and two blocks of back bracket plates 3 are vertical with left side lumbar bracket 7, left lumbar bracket 5, upper and lower two parallel connecting rod of support 2 are threaded on back bracket plate 3, and control cabinet 1 is suspended on connecting rod of support 2 by lock, and waistband 4 passes through back bracket Sets of holes among plate 3;Hip joint driving mechanism 10 is located on the downside of waist bracket, and with left side lumbar bracket 7, left lumbar bracket 5 other end connecting shafts 22 are threadedly coupled, and have a passively interior receipts outreach freedom degree herein, it is therefore an objective to improve the wearing mechanism With the coupling of human body, the first fastening nut 9 guarantees that hip joint driving mechanism 10 does not slide axially, and hip joint driving machine Structure 10 provides second active freedom degree, the i.e. flexion and extension of hip joint;First thick link 13, the second thick link 14, One thigh bandage 15 and the second thigh bandage 16 constitute hip joint executing agency, the first thick link 13, the first output flange 107 It is fastenedly connected respectively with connector 11, the second fastening nut 12 guarantees that hip joint executing agency does not slide axially, and first is big Leg bandage 15 and the second thigh bandage 16 be fixed to be riveted on the first thick link 13, on the second thick link 14;Knee joint driving Mechanism 17 is bolted connection on the second thick link 14, and knee joint driving mechanism 17 provides kneed active and bends and stretches Freedom degree;First shank link 18, the second shank link 19, the first shank bandage 20 and the second shank bandage 21 constitute knee joint Executing agency, the first shank link 18, the second output flange 177 are fastenedly connected with connector 11 respectively, the second fastening nut 12 Guarantee that knee joint executing agency does not slide axially, the first shank bandage 20 and the fixation of the second shank bandage 21 are riveted on first On shank link 18, the second shank link 19.

In the present embodiment, refering to Fig. 3, patient first dresses the lower limb servomechanism, according to own situation, adjusts waist tune Complete machine structure 6 is to change the waist size of the wearing mechanism, and refering to Fig. 5, waist adjustment mechanism 6 is by the first threaded base 61, screw thread Sleeve 62, the second threaded base 63, the first threaded rod 64 and the second threaded rod 65 are constituted, the first threaded base 61, screw shell 62,63 inner hole of the second threaded base has screw thread, and thread rotary orientation is identical;65 outer surface of first threaded rod 64 and the second threaded rod Vehicle has screw thread, and thread rotary orientation and the first threaded base 61, screw shell 62, the second threaded base 63 are on the contrary, therefore with some When power rotates screw shell 63, the first threaded rod 64 and the second threaded rod 65 inside contract or outside simultaneously under the action of reverse acting spiral power It stretches, to change the waist size of the mechanism, makes the good fitting human body of the wearing mechanism;Equally distributed adjustment hole on waistband 4 O, patient adjust waistband 4 according to own situation, and purpose is in close contact the wearing mechanism and human body, does not occur in use Face is done with hard leather in the situations such as sliding, the outside of waistband 4, and inside is lined with flexible material, and inside flexible material is in order to wear patient It wears comfortably, outside hard leather keeps waistband 4 firm firm, and high-grade medical cotton, foam-rubber cushion etc. can be used in flexible material.

In the present embodiment, refering to Fig. 4, Fig. 7, the hip joint driving mechanism 10 is exhausted by successively install first It is defeated to formula encoder 101, hip joint disc type electric machine 102, hip joint harmonic speed reducer 103, the first torsion sensor 104, first Shaft 105, the first output flange 107, the first shell 108, first positioning bearing 110, the first washer 111 and first bearing end cap 112 compositions, wherein 102 tail portion of hip joint disc type electric machine is equipped with the first absolute type encoder 101, the pass that purpose will test It saves real-time corner or rate conversion is electric signal;First torsion sensor 104 is mounted on hip joint harmonic speed reducer 103, mesh Be detect hip joint torque signal;First positioning bearing 110 guarantees to be interfered when the rotation of the first output shaft 105 by radial force When be able to maintain coaxial transmission.First torsion sensor 104, the first absolute type encoder 101 are electrically connected with supplementary controlled system; First output flange 107 and the first output shaft 105 pass through 106 synchronized links of the first flat key.When patient's hip joint buckling, first Absolute type encoder 101 and the first torsion sensor 104 detect the variation of corner and torque, and corner, dtc signal are converted It is transmitted to supplementary controlled system for electric signal, then drives hip joint disc type electric machine 102 until predetermined angle stops, auxiliary hip closes Section movement, provides about 50% torque;When the stretching, extension of patient's hip joint, turned round according to the first absolute type encoder 101 and first The signal that force snesor 104 detects, motor stalls or motor, which change, to be turned to.In addition, 108 two sides of the first shell Multiple through-hole F are uniformly distributed, the first limited block 109 uses surface modeling, and is uniformly distributed multiple through-hole H, the first shell 108 Coupled with the first limited block 109 using plain bolt, patient changes the connection position of the first limited block 109 according to own situation Set, selection reasonably bends and stretches angular range, and 109 purpose of the first limited block is to guarantee patient safety, avoid the servomechanism by Personal injury is caused in out of control.

In the present embodiment, refering to Fig. 5, Fig. 7, the knee joint driving mechanism 17 is exhausted by successively install second It is defeated to formula encoder 171, knee joint disc type electric machine 172, knee joint harmonic speed reducer 173, the second torsion sensor 174, second Shaft 175, the second output flange 177, second housing 178, second position bearing 180, second packing ring 181 and second bearing end cap 182 compositions, wherein 172 tail portion of knee joint disc type electric machine is equipped with the second absolute type encoder of the detection real-time corner in joint 171, the real-time corner in the joint that purpose will test or rate conversion are electric signal;Second torsion sensor 174 is mounted on knee pass It saves on harmonic speed reducer 173, it is therefore an objective to detect kneed torque signal;Second torsion sensor 174, the second absolute encoding Device 171 and supplementary controlled system are electrically connected;Second output flange 177 is synchronous by the second flat key 176 with the second output shaft 175 Connection.Knee joint driving mechanism 17 is fastenedly connected on the second thick link 14, so when patient takes a step, knee joint driving machine Structure 17 can move together with the second thigh bar 14, and in course of a step, shank also has curvature movement, the second absolute encoding Device 171 and the second torsion sensor 174 detect the variation of corner and torque, and corner, dtc signal are converted to electric signal and passed It is sent to supplementary controlled system, then drives knee joint disc type electric machine 172 until predetermined angle stops, auxiliary motion of knee joint mentions For about 50% torque;When patient's knee extension, according to the second absolute type encoder 171 and the second torsion sensor The signal of 174 detections, motor stalls or motor, which change, to be turned to.In addition, 178 two sides of second housing are uniformly distributed Multiple through-hole N, the second limited block 179 uses surface modeling, and is uniformly distributed multiple through-hole P, second housing 178 and the second limit Position block 179 is coupled using plain bolt, and patient changes the link position of the second limited block 179, selection according to own situation Angular range is reasonably bent and stretched, 179 purpose of the second limited block is to guarantee patient safety, and the servomechanism is avoided to make due to out of control At personal injury;In a particular embodiment, patient can also close hip joint driving mechanism according to own situation, and knee is used alone and closes Save servomechanism.

In the present embodiment, the first thick link 13 of the lower limb servomechanism, the second thick link 14, first are small Multiple adjusting through-hole C and M are uniformly distributed on leg connecting rod 18 and the second shank link 19, the first thick link 13 and the second thigh connect Bar 14, the first shank link 18 and 19 use of the second shank link are bolted, and patient can select large and small leg according to self-condition Pole length.

In the present embodiment, the connecting rod of support 2, back bracket plate 3, left lumbar bracket 5, waist adjustment mechanism 6, left side lumbar bracket 7, connecting flange 8, the first shell 108, the first thick link 13, the second thick link 14, the first shank The material of connecting rod 18 and the second shank link 19 is carbon fiber, and is lined with flexible material with the position of human contact.Select carbon Fiber Materials are will not to apply extra load to user, and the intensity of carbon fiber also accords with to make sleeve mechanism light quality It closes and requires;Inside is lined with flexible material to make user's wearing comfort, the friction of reducing mechanism and human body.

In the present embodiment, the control cabinet 1 is for loading battery and supplementary controlled system, and supplementary controlled system is set Set scram button.

In description of the invention, term such as " fixation " and " connection " for not making specific explanation be shall be understood in a broad sense, For example, " connection " may be fixed connection or may be dismantle connection, or integral connection;It can be and be directly connected to, it can also Being indirectly connected with by intermediary.For the ordinary skill in the art, on can understanding as the case may be State the concrete meaning of term in the present invention.

Although the present invention has been presented for some embodiments of the present invention, it will be appreciated by those of skill in the art that Without departing from the spirit of the invention, the embodiments herein can be changed.Above-described embodiment is only exemplary, It should not be using the embodiments herein as the restriction of interest field of the present invention.

Claims (6)

1. a kind of wearable lower limb servomechanism, which is characterized in that including control cabinet (1), connecting rod of support (2), back bracket Plate (3), waistband (4), left lumbar bracket (5), waist adjustment mechanism (6), left side lumbar bracket (7), hip joint driving mechanism (10), the first connector (11), the first thick link (13), the second thick link (14), knee joint driving mechanism (17), first Shank link (18) and the second shank link (19);
The left side lumbar bracket (7) is identical with left lumbar bracket (5) structure and is L-shaped structure;The left side lumbar branch Uniformly distributed threaded hole E on the vertical lateral surface and lower horizontal side of frame (7) and left lumbar bracket (5) one end, in the other end face It is provided with screwed connecting shaft (22);
One end of the left side lumbar bracket (7) and left lumbar bracket (5) passes through connecting flange (8) and is respectively fixedly connected with Waist adjustment mechanism (6) two sides;Connecting shaft (22) on the other end passes through the first fastening nut (9) and hip joint driving mechanism (10) the threaded hole A screw thread opened up at the top of the first shell (108) in is connected;Described first connector (11) one end and hip close The threaded hole B opened up on the first output flange (107) in section driving mechanism (10) is threadedly coupled;The other end and the first thigh connect Bar (13) is connected by the second fastening nut (12) screw thread;First thick link (13) lower end offers guide rail A;And it leads Several round tube hole C are offered on rail A;Second thick link (14) is mounted on the guide rail A that the first thick link (13) opens up It is interior, and be bolted;
Second thick link (14) end offers round tube hole J, and the second thick link (14) passes through round tube hole J and knee joint The hole opened up on second housing (178) in driving mechanism (17) is bolted;
The threaded hole K spiral shell opened up on the second output flange (177) in second connector one end and knee joint driving mechanism (17) Line connection;The other end is connected with the first shank link (18) by the second fastening nut (12) screw thread;First shank connects Bar (18) lower end offers guide rail B;And several round tube hole M are offered on guide rail B;Second shank link (19) is mounted on In one shank link (18) guide rail B, and it is bolted;
First thick link (13), the second thick link (14), the first shank link (18) and the second shank link (19) On be respectively arranged with the first thigh bandage (15), the second thigh bandage (16), the first shank bandage (20), the second shank bandage (21);
The left side lumbar bracket (7) and the vertical lateral surface of left lumbar bracket (5) are fastenedly connected back by screw D respectively Supporting plate (3), and back bracket plate (3) and left side lumbar bracket (7), left lumbar bracket (5) are vertical, upper and lower two are parallel Connecting rod of support (2) both ends respectively with the back bracket plate on left side lumbar bracket (7) and left lumbar bracket (5) side (3) it is threadedly coupled;
The control cabinet (1) is suspended on connecting rod of support (2) by lock, and waistband (4) passes through among back bracket plate (3) Sets of holes;The hip joint driving mechanism (10) includes the first absolute type encoder (101), hip joint disc type electric machine (102), hip It is joint harmonic speed reducer (103), the first torsion sensor (104), the first output shaft (105), the first flat key (106), first defeated Flange (107), the first shell (108), the first positioning bearing (110), the first washer (111) and first bearing end cap (112) out; Hip joint disc type electric machine (102) tail portion is equipped with the first absolute type encoder (101);The hip joint disc type electric machine (102) output end is connected with hip joint harmonic speed reducer (103);Hip pass is disposed on first output shaft (105) Save harmonic speed reducer (103), the first torsion sensor (104), the first output flange (107) and the first shell (108);Wherein, First output flange (107) is connect with the first output shaft (105) by the first flat key (106);The first positioning bearing (110) side is sealed by the first washer (111) and first bearing end cap (112);First shell (108) upper end is provided with Dual U-shaped structure, to be threadedly coupled with connecting shaft (22);Two sides on first shell (108) about its axisymmetrical, The even multiple through-hole F of distribution, two the first limited blocks (109) are fixedly connected by the through-hole H and through-hole F that open up thereon respectively In the two sides of the first shell (108), first limited block (109) uses surface modeling;
The knee joint driving mechanism (17) includes the second absolute type encoder (171), knee joint disc type electric machine (172), knee pass Save harmonic speed reducer (173), the second torsion sensor (174), the second output shaft (175), the second flat key (176), the second output Flange (177), second housing (178), the second positioning bearing (180), second packing ring (181) and second bearing end cap (182);Institute It states knee joint disc type electric machine (172) tail portion and the second absolute type encoder (171) is installed;The knee joint disc type electric machine (172) Output end is connected with knee joint harmonic speed reducer (173);Knee joint harmonic wave is disposed on second output shaft (175) Retarder (173), the second torsion sensor (174), the second output flange (177) and second housing (178);Wherein, described Two output flanges (177) are connect with the second output shaft (175) by the second flat key (176);The second positioning bearing (180) one Side is sealed by second packing ring (181) and second bearing end cap (182);
Second housing (178) upper end is provided with cylindrical hole structure, connects to fix with the second thick link (14) bolt It connects;Two sides on the second housing (178) about its axisymmetrical are uniformly distributed multiple through-hole N, two the second limited blocks (179) two sides of second housing (178), second limit are fixedly connected on by the through-hole P and through-hole N that open up thereon respectively Position block (179) uses surface modeling.
2. a kind of wearable lower limb servomechanism according to claim 1, which is characterized in that the connecting flange (8) is It is rectangular, and it is evenly equipped with threaded hole I above;The waist adjustment mechanism (6) and left lumbar bracket (5) and column distribution;The company Acting flange (8) is placed in the lower surface of waist adjustment mechanism (6) Yu left lumbar bracket (5);The connecting flange (8) passes through screw thread Hole I is connect with waist adjustment mechanism (6) one end screw, with threaded hole E uniformly distributed in horizontal side under left lumbar bracket (5) It is connected by screw to.
3. a kind of wearable lower limb servomechanism according to claim 1, which is characterized in that the waist adjustment mechanism It (6) include the first threaded base (61), screw shell (62), the second threaded base (63), the first threaded rod (64) and the second spiral shell Rasp bar (65);Described first threaded rod (64) one end is mounted in the first threaded base (61), and the other end is mounted on screw shell (62) in;Described second threaded rod (65) one end is mounted in the second threaded base (63), and the other end is mounted on screw shell (62) in.
4. a kind of wearable lower limb servomechanism according to claim 1, which is characterized in that on the waistband (4) uniformly It is distributed waist width adjusting hole O, face is done with hard leather in waistband (4) outside, and inside is lined with flexible material.
5. a kind of wearable lower limb servomechanism according to claim 1, which is characterized in that the connecting rod of support (2), Back bracket plate (3), left lumbar bracket (5), waist adjustment mechanism (6), left side lumbar bracket (7), connecting flange (8), One shell (108), second housing (178), the first thick link (13), the second thick link (14), the first shank link (18) And second the material of shank link (19) be carbon fiber, and be lined with flexible material with the position of human contact.
6. a kind of wearable lower limb servomechanism according to claim 1, which is characterized in that the control cabinet (1) is used In loading battery and supplementary controlled system, and scram button is arranged in supplementary controlled system.
CN201610676548.7A 2016-08-15 2016-08-15 A kind of wearable lower limb servomechanism CN106420270B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610676548.7A CN106420270B (en) 2016-08-15 2016-08-15 A kind of wearable lower limb servomechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610676548.7A CN106420270B (en) 2016-08-15 2016-08-15 A kind of wearable lower limb servomechanism

Publications (2)

Publication Number Publication Date
CN106420270A CN106420270A (en) 2017-02-22
CN106420270B true CN106420270B (en) 2019-04-30

Family

ID=58181346

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610676548.7A CN106420270B (en) 2016-08-15 2016-08-15 A kind of wearable lower limb servomechanism

Country Status (1)

Country Link
CN (1) CN106420270B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107233193A (en) * 2017-06-01 2017-10-10 成都双创时代科技有限公司 Wearable lower limb exoskeleton robot
CN107802461A (en) * 2017-11-15 2018-03-16 北京林业大学 Wearable single lower limb intelligent assisting exoskeleton and control method thereof

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4112430B2 (en) * 2003-05-21 2008-07-02 本田技研工業株式会社 Walking assist device
US7628766B1 (en) * 2003-10-29 2009-12-08 The Regents Of The University Of California Lower extremity enhancer
CN101589983B (en) * 2009-06-26 2011-05-18 北京工业大学 Wearable lower limb exoskeleton device
CN102327173B (en) * 2011-09-29 2013-05-22 上海交通大学 Wearable exoskeleton lower limb rehabilitation robot
JP6071824B2 (en) * 2013-09-18 2017-02-01 株式会社東芝 Knee joint operation support device
CN103610568B (en) * 2013-12-16 2015-05-27 哈尔滨工业大学 Human-simulated external skeleton robot assisting lower limbs
CN103932870B (en) * 2014-05-04 2016-04-13 浙江大学 Rehabilitation of lower extremity exoskeleton bionic design
CN104434470B (en) * 2014-12-04 2017-01-04 电子科技大学 One kind of lower extremity bones robot walking aids for
CN105662780B (en) * 2016-01-12 2018-03-20 武汉理工大学 A lower-extremity orthotic booster

Also Published As

Publication number Publication date
CN106420270A (en) 2017-02-22

Similar Documents

Publication Publication Date Title
CN101810533B (en) Walking aid exoskeleton rehabilitation robot
CN103054692B (en) Wearable lower limb exoskeleton walking-assisted robot
CN104257490A (en) Method for folding wearable lower limb assisting robots
CN102119902B (en) Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton
CN103315880B (en) Hand external skeleton rehabilitation system based on memory alloy driving
CN103735386B (en) Lower limb bones outside wearable rehabilitation robot
CN101862255A (en) Gait rehabilitation robot for using rope to pull lower limbs
CN101125112B (en) Wearing type upper limb recovery training robot device
CN102113949B (en) Exoskeleton-wearable rehabilitation robot
CN103610524B (en) A portable power storage robot exoskeleton
CN101579282B (en) Pneumatic drive mode of limbs joint rehabilitation training and pneumatic type upper limbs rehabilitation training device
CN202537871U (en) Hand and wrist exoskeleton rehabilitation training device
CN102961231B (en) Gait rehabilitation training robot
CN104490568A (en) Human lower extremity exoskeleton walking aid rehabilitation robot
CN104013514B (en) A hydraulically driven power wearable human walking robot
CN203379328U (en) Wearable pneumatic lower limb rehabilitation training mechanical device
CN202342398U (en) Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training
CN204450526U (en) Exoskeleton power-assisting mechanism driven by pneumatic muscle actuator
CN203060231U (en) Wearable lower limb exoskeleton walking-assisting robot
CN104490565B (en) Seven - freedom outside the rehabilitation robot for upper limb bones
CN103006416B (en) Mechanical lower-limb rehabilitation robot walker device
CN102949281A (en) Rehabilitation training robot for lower limb joint
CN103622796B (en) One kind wearable lower limb rehabilitation training device
CN102028604B (en) Parallel type ankle rehabilitation training apparatus
CN204072672U (en) Parallel-connection ankle joint rehabilitation robot

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
GR01 Patent grant