CN106726363B - Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device - Google Patents
Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device Download PDFInfo
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- CN106726363B CN106726363B CN201710148908.0A CN201710148908A CN106726363B CN 106726363 B CN106726363 B CN 106726363B CN 201710148908 A CN201710148908 A CN 201710148908A CN 106726363 B CN106726363 B CN 106726363B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 210000003141 lower extremity Anatomy 0.000 title abstract description 9
- 210000000689 upper leg Anatomy 0.000 claims abstract description 61
- 210000004394 hip joint Anatomy 0.000 claims abstract description 44
- 210000002414 leg Anatomy 0.000 claims abstract description 21
- 238000005452 bending Methods 0.000 claims abstract description 20
- 210000001624 hip Anatomy 0.000 claims abstract description 17
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 13
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 13
- 239000010959 steel Substances 0.000 claims abstract description 13
- 210000000629 knee joint Anatomy 0.000 claims abstract description 8
- 210000003127 knee Anatomy 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 claims description 4
- 210000002683 foot Anatomy 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims 1
- 244000309466 calf Species 0.000 description 6
- 210000003423 ankle Anatomy 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 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
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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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 discloses a wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device, which solves the problems of larger leg weight, poor motion coordination degree with a human body and the like of the traditional motor driving equipment, and further improves the fluency and applicability of the rehabilitation walking-assisting equipment. Comprises a back plate, a waist plate, a triaxial hip joint, a double-acting hydraulic cylinder, a thigh main body, a bionic connecting rod knee joint, a shank main body, a biaxial ankle joint and a sole plate; the triaxial hip joint comprises a hip joint adduction/abduction mechanism, a hip joint flexion/extension mechanism and a hip joint rotation internal/external mechanism; the knee joint bending and stretching mechanism comprises a thigh connecting piece, a front rocker, a rear rocker, a shank connecting piece, a double-acting hydraulic cylinder and a limiting mechanism; the ankle joint comprises a bending/stretching rotating shaft and an abduction/adduction rotating shaft, an elastic steel plate is laminated outside the bending/stretching rotating shaft, a slotted hole is formed in the other side of the steel plate and is connected with the sole plate, and the ankle joint hydraulic cylinder is connected between the shank supporting plate and the abduction/adduction rotating shaft and controls the swing of the sole plate.
Description
Technical Field
The invention relates to the technical field of lower limb rehabilitation walking-aid equipment, in particular to a wearable bionic hydraulic lower limb rehabilitation walking-aid mechanical device.
Background
With the development of society, paralyzed patients of lower limbs are getting social attention gradually, and the demand of rehabilitation aid devices is getting more urgent. The lower limb rehabilitation training mechanical device is a mechanical device for treating and solving daily activities and rapidly develops under such conditions.
In addition, in industrial production, mechanical devices that assist in exercise can increase endurance limits of the human body to increase production efficiency of some physical workers.
At present, similar products in the market mostly adopt motor driving, and the motor driving has the defects of larger leg weight and poorer motion coordination degree with human bodies, and the structure has larger modification and lifting space.
The bionic legs on the market are mainly used in the field of human prostheses and are driven by passive mode, and the bionic legs can only be suitable for amputees to do gentle exercises, so that the requirements of rehabilitation and exercises of disabled persons with complete bodies are difficult to solve.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a wearable bionic hydraulic walking aid device according to the human body shape and the bionic technology, so as to solve the problems of poor coordination of human-machine movement, incoherence of movement and the like, and further improve the fluency and applicability of rehabilitation walking aid equipment.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device comprises a back plate 1, a waist plate 2, a triaxial hip joint 3, a double-acting hydraulic cylinder 4, a thigh main body 5, a bionic connecting rod knee joint 6, a shank main body 7, a biaxial ankle joint 8 and a sole plate 9;
the triaxial hip joint comprises a hip joint adduction/abduction mechanism, a hip joint flexion/extension mechanism and a hip joint rotation internal/external mechanism;
the hip joint adduction/abduction mechanism comprises a waist plate 2, a connecting piece 3.4 of left and right legs, an L-shaped connecting plate 3.6 and a joint bearing; wherein the connecting pieces 3.4 of the left leg and the right leg are fixed on the rotation centers of the two sides of the waist plate 2, the side surface of the waist plate is provided with a slope 3.7 which stretches into the groove of the connecting piece 3.4 of the left leg and the right leg to be used as a limiting structure, and the L-shaped connecting plate is fixed in the slideway of the connecting piece through a bolt and a slotted hole;
in the hip joint rotating inner/outer mechanism, the other end of the L-shaped connecting plate is pressed in grooves of a pair of hinge joints 3.5 and 3.2 by bolts, the shape of the hinge joint 3.2 near the front side is a shape of a plane 3.2.1 and a slope 3.2.2, and the shape is used as a limiting structure to control the unfolding range;
in the hip joint bending/extending mechanism, a hinge 3.2 near the front side is connected with a thigh main body 5 through a horseshoe-shaped connecting plate 3.3, and the upper part of the horseshoe-shaped connecting plate 3.3 extends out to be connected with the hinge 3.2 of the hip joint;
the knee joint bending and stretching mechanism comprises a thigh connecting piece 6.1, a front rocker 6.3, a rear rocker 6.4, a shank connecting piece 6.2, a double-acting hydraulic cylinder 6.5 and a limiting mechanism 6.8; the thigh connecting piece and the shank connecting piece are respectively connected with the thigh main body and the shank main body, and the front rocker 6.3 and the rear rocker 6.4 are respectively hinged between the thigh connecting piece and the shank connecting piece to connect the thigh and the shank together; one end of the double-acting hydraulic cylinder is fixed at the rear side rotating shaft of the lower leg connecting piece, and the other end of the double-acting hydraulic cylinder is fixed at the hinge of the thigh and used as a power element for controlling the opening and closing of the thigh and the lower leg; the limiting mechanism 6.8 is positioned at the front end of the thigh connecting piece and limits the position of the front rocker so as to ensure that the lower leg cannot bend and stretch in the opposite direction;
the thigh mechanism comprises a thigh main body 5, a thigh supporting plate 6.6 and a hydraulic cylinder hinge 6.7; the thigh support plate 6.6 is trapped in a T-shaped slot of the thigh body 5; a row of bolt holes are formed in the front of the thigh supporting plate 6.6, the middle bolt holes are connected with the thigh main body and are pressed through bolts, and the front bolt holes are connected with the hinge piece 6.7.1; the other end of the hinge piece 6.7.1 is connected with the hip joint hydraulic cylinder 6.7; when the length is adjusted, the two rows of bolt holes are matched for adjustment, so that the stroke of the hydraulic cylinder is controlled in a proper range;
the calf mechanism comprises a calf link 6.2 and a calf support plate 6.10; a row of bolt holes are formed in the middle of the supporting plate and are sunk in the T-shaped groove, and the supporting plate is fixed and pressed by bolts to adjust the effective use length of the lower leg;
the two-axis ankle joint comprises a bending/stretching rotating shaft 8.1 and an abduction/adduction rotating shaft 8.2, an elastic steel plate 8.3 is laminated outside the bending/stretching rotating shaft, a slotted hole is formed on the other side of the steel plate and is connected with a sole plate, the elastic force of the steel plate gradually balances the gravity of a body in movement, the degree of freedom is limited in a certain range, and the slotted hole is adapted to deformation generated by bending; an ankle hydraulic cylinder 8.5 is connected between the shank support plate and the abduction/adduction shaft 8.2 to control the swing of the sole plate.
The front end of the thigh connecting piece 6.1 is trapped in the concave 6.9 of the shank connecting piece 6.2, which is similar to the skeleton structure of a human body, and the concave depth controls the angle of the shank backswing, so that the knee movement range of the exoskeleton is within the normal angle of the human body.
The adduction/abduction rotation axis of the hip joint is positioned at the rear side of the hip of the human body, which realizes the coincidence with the central axis of the joint of the human body and does not affect sitting.
The invention has the advantages that: solves the problems of poor coordination of the human-machine movement, incoherence of movement and the like, and further improves the fluency and applicability of the rehabilitation aid.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of three degrees of freedom of a mid-hip joint;
FIG. 3 is a schematic view of a four bar knee extension and thigh position;
FIG. 4 is a schematic view of a four bar knee flexion and lower leg;
fig. 5 is a schematic view of two degrees of freedom of the ankle joint.
Detailed Description
The invention is specifically described below with reference to the accompanying drawings, and as shown in the drawings, the invention comprises a back plate 1, a waist plate 2, a triaxial hip joint 3, a double-acting hydraulic cylinder 4, a thigh main body 5, a bionic connecting rod knee joint 6, a shank main body 7, a biaxial ankle joint 8 and a sole plate 9;
the triaxial hip joint comprises a hip joint adduction/abduction mechanism, a hip joint flexion/extension mechanism and a hip joint rotation internal/external mechanism;
the hip joint adduction/abduction mechanism comprises a waist plate 2, a connecting piece 3.4 of left and right legs, an L-shaped connecting plate 3.6 and a joint bearing; wherein the connecting pieces 3.4 of the left leg and the right leg are fixed on the rotation centers of the two sides of the waist plate 2, the side surface of the waist plate is provided with a slope 3.7 which stretches into the groove of the connecting piece 3.4 of the left leg and the right leg to be used as a limiting structure, and the L-shaped connecting plate 3.6 is fixed in the slideway of the connecting piece through bolts and slotted holes;
in the hip joint rotating inner/outer mechanism, the other end of the L-shaped connecting plate is pressed in grooves of a pair of hinge joints 3.5 and 3.2 by bolts, the shape of the hinge joint 3.2 near the front side is a shape of a plane 3.2.1 and a slope 3.2.2, and the shape is used as a limiting structure to control the unfolding range;
in the hip joint bending/extending mechanism, a hinge 3.2 near the front side is connected with a thigh main body 5 through a horseshoe-shaped connecting plate 3.3, and the upper part of the horseshoe-shaped connecting plate 3.3 extends out to be connected with the hinge 3.2 of the hip joint;
the knee joint bending and stretching mechanism comprises a thigh connecting piece 6.1, a front rocker 6.3, a rear rocker 6.4, a shank connecting piece 6.2, a double-acting hydraulic cylinder 6.5 and a limiting mechanism 6.8; the thigh connecting piece and the shank connecting piece are respectively connected with the thigh main body and the shank main body, and the front rocker 6.3 and the rear rocker 6.4 are respectively hinged between the thigh connecting piece and the shank connecting piece to connect the thigh and the shank together; one end of the double-acting hydraulic cylinder is fixed at the rear side rotating shaft of the lower leg connecting piece, and the other end of the double-acting hydraulic cylinder is fixed at the hinge of the thigh and used as a power element for controlling the opening and closing of the thigh and the lower leg; the limiting mechanism 6.8 is positioned at the front end of the thigh connecting piece and limits the position of the front rocker so as to ensure that the lower leg cannot bend and stretch in the opposite direction;
the thigh mechanism comprises a thigh main body 5, a thigh supporting plate 6.6 and a hydraulic cylinder hinge 6.7; the thigh support plate 6.6 is trapped in a T-shaped slot of the thigh body 5; a row of bolt holes are formed in the front of the thigh supporting plate 6.6, the middle bolt holes are connected with the thigh main body and are pressed through bolts, and the front bolt holes are connected with the hinge piece 6.7.1; the other end of the hinge piece 6.7.1 is connected with the hip joint hydraulic cylinder 6.7; when the length is adjusted, the two rows of bolt holes are matched for adjustment, so that the stroke of the hydraulic cylinder is controlled in a proper range;
the calf mechanism comprises a calf link 6.2 and a calf support plate 6.10; a row of bolt holes are formed in the middle of the supporting plate and are sunk in the T-shaped groove, and the supporting plate is fixed and pressed by bolts to adjust the effective use length of the lower leg;
the two-axis ankle joint comprises a bending/stretching rotating shaft 8.1 and an abduction/adduction rotating shaft 8.2, an elastic steel plate 8.3 is laminated outside the bending/stretching rotating shaft, a slotted hole is formed on the other side of the steel plate and is connected with a sole plate, the elastic force of the steel plate gradually balances the gravity of a body in movement, the degree of freedom is limited in a certain range, and the slotted hole is adapted to deformation generated by bending; an ankle hydraulic cylinder 8.5 is connected between the shank support plate and the abduction/adduction shaft 8.2 to control the swing of the sole plate.
The front end of the thigh connecting piece 6.1 is trapped in the concave 6.9 of the shank connecting piece 6.2, which is similar to the skeleton structure of a human body, and the concave depth controls the angle of the shank backswing, so that the knee movement range of the exoskeleton is within the normal angle of the human body.
The adduction/abduction rotation axis of the hip joint is positioned at the rear side of the hip of the human body, which realizes the coincidence with the central axis of the joint of the human body and does not affect sitting.
The working process of the invention is as follows:
the user wears the exoskeleton, the width of the hip joints and the length of the thighs and the thighs are adjusted according to the body size of the wearer, and the joint axis joint of the human body is ensured to be opposite to the joint axis of the exoskeleton. The waist plate is arranged at the back of the human body, the back plate is backed on the back through the binding belt, and the sole plate is connected with the foot of the human body.
When the user performs lower limb rehabilitation exercise, the hip joint hydraulic cylinder controls the hip joint bending/stretching mechanism to complete thigh back-and-forth swing, and the knee hydraulic cylinder controls the knee bending/stretching mechanism to complete knee swing. When the user walks, the leg needs to be lifted laterally, the adduction/abduction mechanism of the hip joint moves along with the human body, and when the user needs to turn, the hip joint adduction/abduction mechanism moves along with the human body. When encountering uneven inclined ground, the ankle joint abduction/adduction mechanism slightly rotates to adapt to the angle of the ground, and the elastic steel plate plays an auxiliary supporting role. The hinge at the foot plate is attached to the sole which is bent in the movement.
Claims (1)
1. The utility model provides a wearable bionical hydraulic low limbs rehabilitation helps capable mechanical device which characterized in that: comprises a back plate (1), a waist plate (2), a triaxial hip joint (3), a double-acting hydraulic cylinder, a thigh main body (5), a bionic connecting rod knee joint (6), a shank main body (7), a biaxial ankle joint (8) and a sole plate (9);
the triaxial hip joint comprises a hip joint adduction/abduction mechanism, a hip joint flexion/extension mechanism and a hip joint rotation internal/external mechanism;
the hip joint adduction/abduction mechanism comprises a waist plate (2), a left leg connecting piece and a right leg connecting piece (3.4), an L-shaped connecting plate (3.6) and a knuckle bearing; wherein the connecting pieces (3.4) of the left leg and the right leg are fixed on the rotation centers of the two sides of the waist plate (2), the side surface of the waist plate is provided with a slope (3.7) which stretches into the groove (3.8) of the connecting piece (3.4) of the left leg and the right leg to be used as a limiting structure, and the L-shaped connecting plate is fixed in a slideway of the connecting piece through a bolt and a slotted hole;
in the hip joint rotating inner/outer mechanism, the other end of the L-shaped connecting plate is pressed in a groove of a pair of hinge joints (3.2) by using bolts, the shape of the hinge joint (3.2) close to the front side is a plane (3.2.1), and the shape of an inclined plane (3.2.2) is used as a limiting structure to control the unfolding range;
in the hip joint bending/extending mechanism, a hinge (3.2) at the front side is connected with a thigh main body (5) through a horseshoe-shaped connecting plate (3.3), and the upper part of the horseshoe-shaped connecting plate (3.3) extends out to be connected with the hinge (3.2) of the hip joint;
the knee joint bending and stretching mechanism comprises a thigh connecting piece (6.1), a front rocker (6.3), a rear rocker (6.4), a shank connecting piece (6.2), a double-acting hydraulic cylinder (6.5) and a limiting mechanism (6.8); the thigh connecting piece and the shank connecting piece are respectively connected with the thigh main body and the shank main body, and the front rocker (6.3) and the rear rocker (6.4) are respectively hinged between the thigh connecting piece and the shank connecting piece to connect the thigh and the shank together; one end of the double-acting hydraulic cylinder is fixed at the rear side rotating shaft of the lower leg connecting piece, and the other end of the double-acting hydraulic cylinder is fixed at the hinge of the thigh and used as a power element for controlling the opening and closing of the thigh and the lower leg; the limiting mechanism (6.8) is positioned at the front end of the thigh connecting piece and limits the position of the front rocker so as to ensure that the lower leg cannot bend and stretch in the opposite direction;
the thigh mechanism comprises a thigh main body (5), a thigh supporting plate (6.6), a hydraulic cylinder hinge (6.7.1); the thigh support plate (6.6) is trapped in the T-shaped groove of the thigh main body (5); a row of bolt holes are formed in the front of the thigh supporting plate (6.6), the middle bolt holes are connected with the thigh main body, the thigh main body is pressed by bolts, and the front bolt holes are connected with the hinge piece (6.7.1); the other end of the hinge piece (6.7.1) is connected with a hip joint hydraulic cylinder (6.7); when the length is adjusted, the two rows of bolt holes are matched for adjustment, so that the stroke of the hip joint hydraulic cylinder (6.7) is controlled in a proper range;
the lower leg mechanism comprises a lower leg connecting piece (6.2) and a lower leg supporting plate (6.10); a row of bolt holes are formed in the middle of the supporting plate and are sunk in the T-shaped groove, and the supporting plate is fixed and pressed by bolts to adjust the effective use length of the lower leg;
the two-axis ankle joint comprises a bending/stretching rotating shaft (8.1) and an abduction/adduction rotating shaft (8.2), an elastic steel plate (8.3) is laminated outside the bending/stretching rotating shaft, a slotted hole is formed in the other side of the steel plate and is connected with a sole plate, the elastic force of the steel plate gradually balances the gravity of a body in movement, the degree of freedom is limited in a certain range, and the slotted hole is adapted to deformation generated by bending; the ankle joint hydraulic cylinder (8.5) is connected between the lower leg supporting plate and the abduction/adduction rotating shaft (8.2) to control the swing of the sole;
the front end of the thigh connecting piece (6.1) is trapped in a concave part (6.9) of the shank connecting piece (6.2), and the depth of the concave part (6.9) controls the angle of the shank backswing, so that the knee movement range of the exoskeleton is within the normal angle of a human body;
the abduction/adduction rotating shaft of the hip joint is positioned at the rear side of the hip of the human body, is consistent with the central axis of the joint of the human body, and does not influence sitting;
when encountering uneven inclined ground, the ankle joint abduction/adduction rotating shaft (8.2) slightly rotates to adapt to the angle of the ground, and the elastic steel plate (8.3) plays an auxiliary supporting role, so that the hinge at the foot plate is attached to the curved sole in the motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710148908.0A CN106726363B (en) | 2017-03-13 | 2017-03-13 | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710148908.0A CN106726363B (en) | 2017-03-13 | 2017-03-13 | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device |
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| CN106726363A CN106726363A (en) | 2017-05-31 |
| CN106726363B true CN106726363B (en) | 2023-11-17 |
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| CN108095983A (en) * | 2018-02-05 | 2018-06-01 | 河北工程大学 | A kind of two sufficient walking mechanisms for high amputation patient |
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