CN106491319A - A kind of wearable knee joint power-assisting robot - Google Patents
A kind of wearable knee joint power-assisting robot Download PDFInfo
- Publication number
- CN106491319A CN106491319A CN201611092908.5A CN201611092908A CN106491319A CN 106491319 A CN106491319 A CN 106491319A CN 201611092908 A CN201611092908 A CN 201611092908A CN 106491319 A CN106491319 A CN 106491319A
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- China
- Prior art keywords
- knee joint
- air pump
- fixed plate
- lower limb
- direct writing
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
Abstract
The invention discloses a kind of wearable knee joint power-assisting robot, including control system part (1), flexibly direct writing mechanism (2,3), vola diaphragm pressure sensor group (4,5) etc..The wearable knee joint power-assisting robot is with micro air pump as pneumatic power source, act on kneed flexibly direct writing mechanism (2, 3) the flexible model of action combined with torque spring accumulation of energy using airbag boost air, based on vola diaphragm pressure sensor group (4, 5) Real-time Collection and the feedback to gait parameter, knee joint power-assisting robot control system part (1) is to flexibly direct writing mechanism (2, 3) real-time control is carried out, the flexible torque for acting on auxiliary knee joint bending and stretching is provided according to gait cycle in people's walking process, it is reached for the exercise ability of lower limbs decline or lower extremity movement part disability crowd provides the purpose that flexible walking is aided in.
Description
Technical field
The invention belongs to flexible exoskeleton roboticses and wearable power-assisting robot field, more particularly to one kind can
Wearable type knee joint power-assisting robot.
Background technology
With old people's muscular strength function, the degeneration of cardio-pulmonary function, shared by walking, the ratio of daily routines is gradually reduced, so as to
Various disease attack rates are caused to be substantially increased, such vicious cycle ultimately results in completely losing for motor capacity.In addition, in slight
Wind patient will also result in the part disability of the exercise ability of lower limbs, affect the ability to act of patient.Decline for the exercise ability of lower limbs
Old man or lower extremity movement part disable the particular/special requirement of crowd, wearable knee joint robot easily can be worn on
With them, when people walks, robot can provide power-assisted for people, increased with this exercise ability of lower limbs decline old man or
The strength and endurance of person's lower extremity movement part disability crowd.
The exploitation of most of wearable knee joint robotic equipments is concentrated in the realization of function at present, and in wearing
There is very big deficiency in the design in terms of convenience, it is impossible to quickly wear off freely, and the comfortableness that dresses is not good enough yet.Separately
Outward, the part of this kind of robot is more, conducts oneself with dignity heavier.And current battery power can only at most maintain several hours, once
Dead battery, for old people, can not bear so so many additament at all.Further, this kind of exoskeleton robot
Huge and numerous and diverse, and do not seem an assistive device being worn on the person, it is extremely difficult to the psychological identity sense of user.
Content of the invention
The purpose of the present invention is the defect for above-mentioned prior art, there is provided a kind of wearable knee joint power-assisted machine
People.Wearable knee joint power-assisting robot acts on kneed actuator mainly with micro air pump as pneumatic power source
The flexible model of action combined with torque spring accumulation of energy using airbag boost air, based on vola diaphragm pressure sensor group to step
The Real-time Feedback in state cycle, control system part carry out real-time control to wearable knee joint power-assisting robot actuator,
The torque for acting on auxiliary knee joint bending and stretching is provided according to gait cycle in people's walking process, lower extremity movement is reached for
Ability declines or lower extremity movement part disability crowd provides the purpose that flexibility walks auxiliary, and can improve muscle vitality,
Improve their self-care ability and health status.
To achieve these goals, the present invention is adopted the technical scheme that：
A kind of wearable knee joint power-assisting robot, including：
Control system part, including air pump system, electric control system, battery component, and trachea component；
Flexibly direct writing mechanism, its are suitable for the knee joint for being worn on the left lower limb of user and/or right lower limb, can be left lower limb and/or
The torque that the knee joint provided auxiliary of right lower limb stretches and bends；
Vola diaphragm pressure sensor group, its are suitable for the left foot and/or right crus of diaphragm for being worn on the user, for recognizing a left side
Foot and/or the gait cycle of right crus of diaphragm, the support phase contacted with ground including foot and are soared the shaking peroid that moves, and are the control system
Electric control system in system part provides gait parameter；The electric control system controls the gas according to the gait parameter
Pumping system works.
Preferably, the flexibly direct writing mechanism include thigh fixed plate, shank fixed plate, air bag, rotating shaft, torque spring,
Spring fixation clip, spring mountings；
Described thigh fixed plate, shank fixed plate are using carbon fibre material, magnalium gold or duralumin, hard alumin ium alloy material system
Into.
Preferably, the air bag of described flexibly direct writing mechanism includes the rubber liner of inside and and outside canvas protection
Set, rubber liner is in the inside of canvas protective case；Described air bag is that cross section is the columnar structures of tetragon, presses with being input into
Power increases, and the air bag becomes 180 ° of fixed angle by no pressure, without fixed angle state, so as to aid in knee joint exceptionally straight.
Preferably, the canvas protective case two of which adjacent side leaves canvas stylolite, and VELCRO fixing band is sewed in institute
State canvas stylolite；The VELCRO fixing band is fixed on the air bag in the thigh fixed plate and shank fixed plate, gas
Capsule gas pressure power will be directly transferred in thigh fixed plate and shank fixed plate.
Preferably, the gait parameter information of the vola diaphragm pressure sensor group Real-time Collection and feedback, described electric
Control system control air pump system work, and real-time closed loop control is carried out into and out of flow to the air pump system, according to gait
Cycle provides malleation or negative pressure for the air bag in the flexibly direct writing mechanism.
Preferably, when the lower limb for having dressed the flexibly direct writing mechanism is in the support phase, the air pump system is the lower limb
The air bag of flexibly direct writing mechanism provides negative pressure；When the lower limb is in shaking peroid, the air pump system is the flexibly direct writing machine of the lower limb
The air bag of structure provides malleation.
Preferably, the air bag forms make shank fixed plate rotate a pair relative to thigh fixed plate with the torque spring
Active force and counteracting force, when the air pump system passes through the trachea component to the airbag aeration, in the air bag
Air pressure constantly increases and overcomes the twisting resistance of torque spring, progressivelyes reach fixed angle by no pressure, without fixed angle state
, make shank fixed plate rotate relative to thigh fixed plate and make knee joint exceptionally straight, the torque that stretches is provided for knee joint by 180 °.
Preferably, when the air pump system is evacuated to the air bag by the trachea component, in air bag, pressure becomes rapidly
Little, torque spring is returned to free position by the effect of itself torsional return；Acted on by torque spring torsional return, shank
Fixed plate does rotate counterclockwise with respect to thigh fixed plate, and can reach the angle needed for auxiliary knee joint strides, and is that right lower limb knee joint is closed
Section provides the torque of the bending that strides.
Preferably, the flexibly direct writing mechanism is fixed on thigh, knee joint and the shank of user by flexible fixing strap
Corresponding site, so as to the torque for providing knee joint bending and stretch.
Preferably, the air pump system includes air pump A and air pump B；The flexibly direct writing mechanism includes being suitable to be worn on a left side
First flexibly direct writing mechanism of lower limb and the second flexibly direct writing mechanism for being suitable to be worn on right lower limb；
The air pump A can provide malleation by the trachea component for the first flexibly direct writing mechanism, and for institute
State the second flexibly direct writing mechanism and negative pressure is provided；
The air pump B can provide malleation by the trachea component for the second flexibly direct writing mechanism, and for institute
State the first flexibly direct writing mechanism and negative pressure is provided；
The control system part is controlled to the air pump A and air pump B according to the vola diaphragm pressure sensor group
System so that when the shaking peroid, right crus of diaphragm that left foot is moved in soaring the support phase is in, the air pump B work, the air pump A are not
Work；When the shaking peroid, left foot that right crus of diaphragm is moved in soaring the support phase is in, air pump A work, the air pump B not work
Make.
The excellent effect of the present invention is：
Compared to existing technology, wearable knee joint power-assisting robot of the present invention is soft as knee joint using Mini-size direct current air pump
Property actuator pneumatic power source is provided, act on kneed Zuo Tui flexibly direct writings mechanism and You Tui flexibly direct writings mechanism and adopt
Airbag boost air is combined with torque spring accumulation of energy flexible model of action, based on vola diaphragm pressure sensor group to gait parameter
Real-time Feedback, control system part carry out real-time control to robot flexibility actuator, enhance robot execution action with
The harmony of people's natural gait, improves the execution efficiency of robot and the efficiency of man-machine interaction.
Compared to existing technology, wearable knee joint power-assisting robot executable portion of the present invention is using airbag boost air and torsion
Spring energy-storage combines flexible model of action, lighter weight, overcomes general leg power-assisted equipment or exoskeleton robot etc.
The shortcoming that rigid mechanism executive item volume is big and quality is big, effectively reduces due to the actuator that leg must add and brings
Load, and reduce the energy expenditure that this sub-load is brought in walking process.Also, airbag boost air and torque spring accumulation of energy phase
The rigid mechanism inertia such as general leg power-assisted equipment or exoskeleton robot are overcome greatly in conjunction with flexible model of action, easily make
The shortcomings of adult knee damage, poor stability, comfortableness difference, significantly improve safety and the comfortableness of equipment.
Present invention is especially suited for old people and lower extremities disability patient, stretch for knee joint provided auxiliary in walking process
With the torque of bending, so as to reach the purpose of auxiliary old people and lower extremities disability patient's walking, and can help old age
People and lower extremities disability patient improve muscle vitality, improve their self-care ability and health status.
Description of the drawings
Fig. 1 is the composition figure of wearable knee joint power-assisting robot of the present invention；
Fig. 2 is control system part composition figure of the present invention；
Fig. 3 is Zuo Tui flexibly direct writings mechanism outline drawing (extended configuration) of the present invention.
Fig. 4 is Zuo Tui flexibly direct writings mechanism explosive view of the present invention (composition figure, extended configuration).
Fig. 5 is You Tui flexibly direct writings mechanism outline drawing (case of bending) of the present invention.
Fig. 6 is You Tui flexibly direct writings mechanism explosive view of the present invention (composition figure, case of bending).
Fig. 7 is that left foot is in the swing that moves of soaring in one gait cycle of knee joint power-assisting robot of the present invention
Phase, fundamental diagram of the right crus of diaphragm in the support phase；
Fig. 8 is that left foot is in the support phase in one gait cycle of knee joint power-assisting robot of the present invention, at right crus of diaphragm
The fundamental diagram of the shaking peroid that moves in soaring；
Wherein each reference implication is as follows：
1. control system part；2. Zuo Tui flexibly direct writings mechanism；3. You Tui flexibly direct writings mechanism；4. left foot vola thin film pressure
Force transducer group；5. right crus of diaphragm vola diaphragm pressure sensor group.
101. body；Cover on 102.；103. micro air pumps (A)；104. micro air pumps (B)；105. electric control system；
106. dc-battery components；107. flexible fixing strap；108. air pump fixed supports；109. set of cells fixed supports；110. fastening
Part；111. trachea；112. trachea；113. trachea；114. trachea.
201. left lower limb thigh fixed plates；202. left lower limb shank fixed plates；203. air bag；204. rotating shaft；205. torque spring；
206. spring fixation clips；207. spring mountings；208. spring protection covers；209. flexible fixing strap；210. VELCRO are fixed
Band；111. trachea；112 tracheas；213. securing member；214. rivet.
301. right lower limb thigh fixed plates；302. right lower limb shank fixed plates；303. air bag；304. rotating shaft；305. torque spring；
306. spring fixation clips；307. spring mountings；308. spring protection covers；309. flexible fixing strap；310. VELCRO are fixed
Band；113. trachea；114. trachea；313. securing member；314. rivet.
Specific embodiment
The invention will be further described with case is embodied as below in conjunction with the accompanying drawings, but not as the limit to the present invention
Fixed.
Fig. 1 is the composition figure of wearable knee joint power-assisting robot of the present invention.As shown in figure 1, a kind of wearable
Type knee joint power-assisting robot, mainly by control system part 1, Zuo Tui flexibly direct writings mechanism 2, You Tui flexibly direct writings mechanism 3, a left side
The compositions such as foot vola diaphragm pressure sensor group 4, right crus of diaphragm vola diaphragm pressure sensor group 5.As illustrated, left lower limb flexibly direct writing
Mechanism 2 and You Tui flexibly direct writings mechanism 3 are respectively acting on left and right lower limb knee joint, and the two is stored with torque spring using airbag boost air
The model of action that can be combined.Control system part 1 is according to left foot vola diaphragm pressure sensor group 4 and right crus of diaphragm vola thin film pressure
Force transducer group 5 provides air bag pressure of the gait cycle parameter to Zuo Tui flexibly direct writings mechanism 2 and You Tui flexibly direct writings mechanism 3
It is controlled, is that Zuo Tui flexibly direct writings mechanism and You Tui flexibly direct writings mechanism provide malleation and negative pressure, carries in people's walking process
For the flexible torque for acting on auxiliary knee joint bending and stretch.
Fig. 2 is 1 composition figure of control system part of the present invention.As shown in Fig. 2 described control system part includes
Body 101, upper lid 102, micro air pump (A) 103, micro air pump (B) 104, electric control system 105, dc-battery component
106th, flexible fixing strap 107, air pump fixed support 108, set of cells fixed support 109, securing member 110, trachea 111, trachea
112nd, the composition such as trachea 113 and trachea 114.Load bearing unit of the body 101 for the control system part 1, by upper
Lid 102 is sealed to the parts inside body 101 and is protected.The electric control system 105 is solid by securing member 110
It is scheduled on body 101, is the control unit of the knee joint power-assisting robot, to the micro air pump (A) 103, micro air pump
(B) 104, left foot vola diaphragm pressure sensor group 4 and right crus of diaphragm vola diaphragm pressure sensor group 5 etc. are controlled.Miniature gas
Pump (A) 103, micro air pump (B) 104 is direct-current piston type air pump, is fixed on body 101 by securing member 110, is the knee joint
The pneumatic generation part of joint assistance robot.Trachea 111, trachea 112, trachea 113 and trachea 114 are air pressure transfer passage.
The dc-battery component 106, using the lithium battery of repeatable charging, is fixed on body 101 by set of cells fixed support 109
On, predominantly described micro air pump (A) 103, micro air pump (B) 104, left foot diaphragm pressure sensor group 4, right crus of diaphragm vola thin film
Pressure transducer group 5 and electric control system 105 are powered.The left foot vola diaphragm pressure sensor group 4 and right crus of diaphragm vola
Diaphragm pressure sensor group 5, measures in the process of walking and to the liftoff process of toe (a walking action), knows from heelstrike
Other gait cycle, the support phase and foot contacted with ground including both feet are soared the shaking peroid that moves, and are that electric control system 105 is carried
For gait data, and then the electric control system 105 is to the malleation of micro air pump (A) 103 and micro air pump (B) 104 and negative
Pressure carries out real-time control, so as to realize the output control synchronous with people's walking step state.
Fig. 3 is 2 outline drawing of Zuo Tui flexibly direct writings mechanism (extended configuration) of the present invention, and Fig. 4 is of the present invention
2 explosive view of Zuo Tui flexibly direct writings mechanism (composition figure, extended configuration).The Zuo Tui flexibly direct writings mechanism 2 is main by left lower limb thigh
Fixed plate 201, left lower limb shank fixed plate 202, air bag 203, rotating shaft 204, torque spring 205, spring fixation clip 206, spring
Fixture 207, spring protection cover 208, flexible fixing strap 209, VELCRO fixing band 210, trachea 111, trachea 112, securing member
213 and rivet 214 etc. constitute.
Left lower limb thigh fixed plate 201, left lower limb shank fixed plate 202 are made using light-high-strength carbon fibre material, play power
Conduction and support effect., in the rotating shaft 204 of left lower limb thigh fixed plate 201, left lower limb is big for left lower limb shank fixed plate 202
There are the adjustable limit platform to left lower limb shank fixed plate 202, knee joint during can striding according to user in lower limb fixed plate 201
Stretch and the minimum and maximum angle of bending is adjusted, and fixed by screw fastener, so as to realize that left lower limb shank is fixed
The rotation around the shaft in the range of the fixed angle of plate 202.Torque spring 205 is installed in rotating shaft 204, and passes through spring mountings
207th, spring fixation clip 206 and securing member 213 etc. are separately fixed at left lower limb thigh fixed plate 201 and left lower limb shank fixed plate
On 202, then outside have spring protection cover 208 to carry out closed protective.Free angle (the free position of the torque spring 205
When angle value) be 120 °, 200 ° of maximum defluxion.120 ° of the free angle angle is people's knee joint in walking course of a step
Generally curved maximum angle, the angle can choose the torque spring of different free angles according to the difference of user.
The air bag 203 includes that the rubber liner of inside and the canvas protective case with outside, rubber liner are protected in canvas
The inside of set.Columnar structures form of 203 cross section of the air bag for tetragon, as the air pump input pressure increases, institute
The fixed angle that air bag 203 can become 180 ° by no pressure, without fixed angle state is stated, and with stronger pressure, that is, is aided in
Knee joint is exceptionally straight.Canvas protective case two of which adjacent side leaves canvas stylolite, and VELCRO fixing band 210 can be sewed in canvas
Face sutures.The air bag 203 can be fixed on by left lower limb thigh fixed plate 201 and left lower limb shank by VELCRO fixing band 210
Fixed plate 202,203 gas pressure power of air bag will be passed directly in left lower limb thigh fixed plate 201 and left lower limb shank fixed plate 202.
The pliability of the flexible fixing strap 209 is preferably made from sticky cloth and elastic band, and is fixed on the left lower limb by rivet 214
Thigh fixed plate 201 and left lower limb shank fixed plate 202.The Zuo Tui flexibly direct writings mechanism 2 is fixed on by flexible fixing strap 209
The left lower limb thigh of user, knee joint and shank corresponding site, provide the user left lower limb knee joint bending and the torque that stretches.
The Zuo Tui flexibly direct writings mechanism 2 is mainly by installed in the left lower limb thigh fixed plate 201 and left lower limb shank
203 air pressure of air bag and 205 twisting resistance of torque spring realization auxiliary knee extension and bending in fixed plate 202.Specifically,
Air bag 203 forms a pair of works for making left lower limb shank fixed plate 202 rotate relative to left lower limb thigh fixed plate 201 with torque spring 205
Firmly and counteracting force, when 103 pairs of air bags 203 of the micro air pump (A) are inflated, when the air pressure in air bag 203 constantly increases,
And overcome the twisting resistance of torque spring 205,180 ° of air bag fixed angle is progressivelyed reach by no pressure, without fixed angle state, is made
The relatively left lower limb thigh fixed plate 201 of left lower limb shank fixed plate 202 rotates clockwise and reaches make knee joint exceptionally straight 180 °, is left
Lower limb knee joint provides the torque that stretches, that is, aid in left lower limb knee joint exceptionally straight, and now the twisting resistance of torque spring is maximum.Micro air pump
(B), when 104 pairs of air bags 203 are evacuated, in air bag 203, pressure diminishes rapidly, and torque spring 205 is acted on by itself torsional return
Return to free position.Acted on by 205 torsional return of torque spring, the relatively left lower limb thigh of left lower limb shank fixed plate 202 is fixed
Plate 201 does rotate counterclockwise, and can reach 120 ° of extreme angles needed for auxiliary knee joint strides, for left lower limb knee joint provide across
The torque of step bending.
Fig. 5 is 3 outline drawing of You Tui flexibly direct writings mechanism (case of bending during negative pressure) of the present invention, and Fig. 6 is this
Bright described 3 explosive view of You Tui flexibly direct writings mechanism (composition figure, case of bending during negative pressure).The You Tui flexibly direct writings mechanism
3 is main solid by right lower limb thigh fixed plate 301, right lower limb shank fixed plate 302, air bag 303, rotating shaft 304, torque spring 305, spring
Fixed pressuring plate 306, spring mountings 307, spring protection cover 308, flexible fixing strap 309, VELCRO fixing band 310, trachea 113,
Trachea 114, securing member 313 and rivet 314 etc. are constituted.The You Tui flexibly direct writings mechanism 3 is fixed on by flexible fixing strap 309
The right lower limb thigh of user, knee joint and shank corresponding site, provide the user right lower limb knee joint bending and the torque that stretches.
In the You Tui flexibly direct writings mechanism 3 except right lower limb thigh fixed plate 301, right lower limb shank fixed plate 302, spring
Left lower limb thigh fixed plate 201, left lower limb shank fixed plate 202 and spring in protective cover 308 and Zuo Tui flexibly direct writings mechanism 2 is protected
308 form of shield is variant outer, and You Tui flexibly direct writings mechanism 3 with the parts of correspondence position in Zuo Tui flexibly direct writings mechanism 2 is
General, with interchangeability.In addition, as shown in Fig. 3,4,5 and 6, You Tui flexibly direct writings mechanism 3 and Zuo Tui flexibly direct writings mechanism 2
Compare, except right 302 swaying direction of lower limb shank fixed plate conversely, the two other parts installation relation is identical.So, here
No longer 3 parts installation relation of You Tui flexibly direct writings mechanism and Structure Mechanism are repeated.
Fig. 7 is that left foot is in the swing that moves of soaring in one gait cycle of knee joint power-assisting robot of the present invention
Phase, fundamental diagram of the right crus of diaphragm in the support phase；Fig. 8 is in one gait cycle of knee joint power-assisting robot of the present invention
Left foot is in support phase, fundamental diagram of the right crus of diaphragm in the shaking peroid that moves of soaring.In a gait cycle, first with a left side
Foot soars the shaking peroid that moves, as a example by the right crus of diaphragm support phase, as shown in fig. 7, when left foot is in and soars the shaking peroid that moves, left foot
Vola diaphragm pressure sensor group 4 measures the process (a walking action) from left foot toeoff to left foot heelstrike, identification step
The state cycle；Equally, right crus of diaphragm vola diaphragm pressure sensor group 5 is measured from right crus of diaphragm heelstrike to the liftoff process of a toe (step
Action is made), gait cycle is recognized, so as to realize the measurement and identification of left and right foot gait cycle, is that electric control system 105 is provided
Left lower limb and the gait data of right lower limb.And then the electric control system 105 carries out output real-time control to micro air pump (B) 104,
Micro air pump (B) 104 is evacuated (negative pressure control by trachea 112 for the air bag 203 in the Zuo Tui flexibly direct writings mechanism 2
System), in air bag 203, pressure diminishes rapidly, and torque spring 205 is returned to free position by the effect of itself torsional return.Receive
205 torsional return of torque spring is acted on, and the relatively left lower limb thigh fixed plate 201 of left lower limb shank fixed plate 202 does rotate counterclockwise,
For the torque that left lower limb knee joint provides the bending that strides.Micro air pump (B) 104 is the right lower limb flexibly direct writing machine by trachea 113
Air bag 303 in structure 3 is inflated (over-pressure control), when 104 pairs of air bags 303 of the micro air pump (B) are inflated, in air bag 303
Air pressure when constantly increasing, and overcome the twisting resistance of torque spring 305, progressively reach gas by no pressure, without fixed angle state
180 ° of capsule fixed angle, the relatively right lower limb thigh fixed plate 301 of right lower limb shank fixed plate 302 is rotated counterclockwise and is reached closes knee joint
Exceptionally straight 180 ° are saved, and the torque that stretches are provided for right lower limb knee joint, that is, are aided in right lower limb knee joint exceptionally straight, the now torsion of torque spring
Turn power maximum.Do not work in soar shaking peroid micro air pump A (103) moved of left foot.
Subsequently, left foot progresses into the support phase, and right crus of diaphragm progresses into the shaking peroid that moves of soaring.As shown in figure 8, the electricity
Gas control system 105 carries out real-time traffic turnover control to micro air pump (A) 103, is held for the left lower limb flexibility by trachea 111
Air bag 203 in row mechanism 2 is inflated (over-pressure control), and in air bag 203, pressure increases rapidly, and overcomes torque spring 205
Twisting resistance, progressively reach 180 ° of air bag fixed angle by no pressure, without fixed angle state, make left lower limb shank fixed plate 202
Rotate clockwise and make knee joint exceptionally straight with respect to left lower limb thigh fixed plate 201, the torque that stretches is provided for right lower limb knee joint, now
The twisting resistance of torque spring is maximum.Meanwhile, micro air pump (A) 103 is in the You Tui flexibly direct writings mechanism 3 by trachea 114
Air bag 303 be evacuated (vacuum cavitations), in air bag 303, pressure diminishes rapidly, torque spring 305 receive itself torsional return
Effect return to free position.Acted on by 305 torsional return of torque spring, 302 relatively right lower limb of right lower limb shank fixed plate is big
Lower limb fixed plate 301 turns clockwise, for the torque that right lower limb knee joint provides the bending that strides.Soar the shaking peroid moved in right crus of diaphragm
Micro air pump B (104) does not work.
It is more than walking auxiliary function that the knee joint power-assisting robot realizes the cycle that strides.So circulate past
Multiple, the left foot vola diaphragm pressure sensor group 4 of the knee joint power-assisting robot and right crus of diaphragm vola diaphragm pressure sensor group
5, gait cycle is recognized in walking process, be that electric control system 105 provides gait data, and then the electric control system
105 pairs of micro air pumps (A) 103 and micro air pump (B) 104 carry out real-time control, are left lower limb flexibly direct writing machine in good time according to gait
The air bag 303 of the air bag 203 of structure 2 and You Tui flexibly direct writings mechanism 3 provides malleation and negative pressure, and ultimately forms and act on knee joint
Bending and stretching torque, reach in the process of walking, the synchronous stretching, extension of the gait for providing people for knee joint and bending soft
Property torque, realize Pneumatic flexible walking auxiliary.
Wearable knee joint power-assisting robot of the present invention is carried using Mini-size direct current air pump as knee joint flexibly direct writing mechanism
For pneumatic power source, combined with torque spring accumulation of energy flexible model of action using airbag boost air, passed based on vola diaphragm pressure
Real-time Feedback of the sensor group to gait parameter, control system part carry out real-time control to robot flexibility actuator, strengthen
Robot execution action and the harmony of people's natural gait, improve the execution efficiency of robot and the efficiency of man-machine interaction.
Also, wearable knee joint power-assisting robot executable portion of the present invention is combined soft using airbag boost air with torque spring accumulation of energy
Property model of action, overcome that the rigid mechanism inertia such as general leg power-assisted equipment or exoskeleton robot are big, volume is big and matter
The big shortcoming of amount, significantly improves safety and the comfortableness of equipment, and effectively reduces due to holding that leg must add
Row mechanism and the load that brings, and reduce the energy expenditure that this sub-load is brought in walking process.Present invention is especially suited for old
Year people and lower extremities disability patient, walking process be knee joint provided auxiliary stretch and bending torque, auxiliary so as to reach
The purpose of old people and lower extremities disability patient's walking is helped, and old people and lower extremities disability patient can be helped to improve
Muscle vitality, improves their self-care ability and health status.
Embodiment described above, simply one kind of the present invention more preferably specific embodiment, those skilled in the art
The usual variations and alternatives that member is carried out in the range of technical solution of the present invention should all include within the scope of the present invention.
Claims (10)
1. a kind of wearable knee joint power-assisting robot, including：
Control system part (1), including air pump system (103,104), electric control system (105), battery component (106), with
And trachea component (111,112,113,114)；
Flexibly direct writing mechanism (2,3), which is suitable for the knee joint for being worn on the left lower limb of user and/or right lower limb, can be left lower limb and/or
The torque that the knee joint provided auxiliary of right lower limb stretches and bends；
(4,5), which is suitable for the left foot and/or right crus of diaphragm for being worn on the user to vola diaphragm pressure sensor group, for recognizing
Left foot and/or the gait cycle of right crus of diaphragm, the support phase contacted with ground including foot and are soared the shaking peroid that moves, and are the control
Electric control system (105) in system unit (1) provides gait parameter；Electric control system (105) are according to the step
Air pump system described in state state modulator (103,104) work.
2. wearable knee joint power-assisting robot according to claim 1, it is characterised in that the flexibly direct writing mechanism
(2) include thigh fixed plate (201,301), shank fixed plate (202,302), air bag (203,303), rotating shaft (204,304), turn round
Power spring (205,305), spring fixation clip (206,306), spring mountings (207,307)；
Described thigh fixed plate (201,301), shank fixed plate (202,302) using carbon fibre material, magnalium gold or
Duralumin, hard alumin ium alloy material is made.
3. wearable knee joint power-assisting robot according to claim 2, it is characterised in that described flexibly direct writing machine
Structure (2, (203,303) including internal rubber liner and the canvas protective case with outside, protect air bag 3) in canvas by rubber liner
The inside of sheath；Described air bag (203,303) for cross section for tetragon columnar structures, as input pressure increases, institute
State air bag (203,303) by no pressure, become 180 ° of fixed angle without fixed angle state, so as to aid in knee joint exceptionally straight.
4. wearable knee joint power-assisting robot according to claim 3, it is characterised in that the canvas protective case
Two of which adjacent side leaves canvas stylolite, and (210,310) sewing is in the canvas stylolite for VELCRO fixing band；The magic
Patch fixing band (210,310) by the air bag (203,303) be fixed on the thigh fixed plate (201,301) and shank fixed plate
(202,302) on, air bag (203) gas pressure power will be directly transferred to thigh fixed plate (201,301) and shank fixed plate
(202,302) on.
5. wearable knee joint power-assisting robot according to claim 4, it is characterised in that the vola diaphragm pressure
Sensor group (4,5) the gait parameter information of Real-time Collection and feedback, described electric control system (105) control air pump system work
Make, and real-time closed loop control is carried out into and out of flow to the air pump system, be the flexibly direct writing mechanism according to gait cycle
Air bag in (2) (203,303) provide malleation or negative pressure.
6. flexible walking power assistive device according to claim 5, it is characterised in that when having dressed the flexibly direct writing mechanism
Lower limb be in the support phase when, the air pump system provides negative pressure for the air bag of the flexibly direct writing mechanism of the lower limb；When the lower limb is in pendulum
During the dynamic phase, the air pump system provides malleation for the air bag of the flexibly direct writing mechanism of the lower limb.
7. flexible walking power assistive device according to claim 6, it is characterised in that the air bag (203,303) with described
Torque spring (205,305) formed make shank fixed plate (202,302) relative thigh fixed plate (201, a pair of the works for 301) rotating
Firmly and counteracting force, when the air pump system by the trachea component to the air bag (203, when 303) inflating, the gas
Capsule (203,303) in air pressure constantly increase and overcome the twisting resistance of torque spring (205), by no pressure, without fixed angle shape
State progressivelyes reach 180 ° of fixed angle, make shank fixed plate (202,302) relative thigh fixed plate (201,301) rotate and make knee joint
Joint is exceptionally straight, provides the torque that stretches for knee joint.
8. wearable knee joint power-assisting robot according to claim 7, it is characterised in that the air pump system passes through
When the trachea component is evacuated to the air bag, air bag (203,303) in pressure diminish rapidly, torque spring (305) receive itself
The effect of torsional return returns to free position；Acted on by torque spring (305) torsional return, shank fixed plate (202,
302) relative thigh fixed plate (201,301) do rotate counterclockwise, and the angle needed for auxiliary knee joint strides can be reached, be right
Lower limb knee joint provides the torque of the bending that strides.
9. the wearable knee joint power-assisting robot according to claim 1 or 4, it is characterised in that the flexibly direct writing
Mechanism (2,3) by flexible fixing strap (209,309) be fixed on thigh, knee joint and the shank corresponding site of user, so as to
Knee joint bending and the torque that stretches are provided.
10. wearable knee joint power-assisting robot according to claim 6, it is characterised in that the air pump system bag
Include air pump A and air pump B；The flexibly direct writing mechanism includes being suitable to the first flexibly direct writing mechanism for being worn on left lower limb and is suitable to dress
The second flexibly direct writing mechanism in right lower limb；
The air pump A can provide malleation by the trachea component for the first flexibly direct writing mechanism, and for described the
Two flexibly direct writing mechanisms provide negative pressure；
The air pump B can provide malleation by the trachea component for the second flexibly direct writing mechanism, and for described the
One flexibly direct writing mechanism provides negative pressure；
The electric control system is controlled to the air pump A and air pump B according to the vola diaphragm pressure sensor group, is made
Obtain when the shaking peroid, right crus of diaphragm that left foot is moved in soaring the support phase is in, the air pump B work, the air pump A do not work；
When the shaking peroid, left foot that right crus of diaphragm is moved in soaring the support phase is in, the air pump A work, the air pump B do not work.
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| CN201611092908.5A CN106491319B (en) | 2016-12-01 | 2016-12-01 | A kind of wearable knee joint power-assisting robot |
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