CN106901947A - Wearable lower limb exoskeleton assisted walk robot mechanism - Google Patents
Wearable lower limb exoskeleton assisted walk robot mechanism Download PDFInfo
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- CN106901947A CN106901947A CN201510970914.5A CN201510970914A CN106901947A CN 106901947 A CN106901947 A CN 106901947A CN 201510970914 A CN201510970914 A CN 201510970914A CN 106901947 A CN106901947 A CN 106901947A
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- support component
- thigh
- hinged
- screw
- joint
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
Abstract
The present invention relates to new services and medical rehabilitation image training robot field,Specifically a kind of wearable lower limb exoskeleton assisted walk robot mechanism that can be used for lower limb power-assisted and rehabilitation training,Including Huai Guan Jie ﹑ Xi Guan Jie ﹑ Kuan Guan Jie ﹑ leg supports Zu Jian ﹑ thigh supports components and waist connector,Wherein ankle-joint is connected by leg support component with knee joint,Knee joint is connected by thigh support component with hip joint,The hip joint of the right both sides of Zuo ﹑ is connected by waist connector,The ankle-joint is provided with can Zhuan Dong ﹑ can swing along the longitudinal direction again in left-right direction plantar pressure sensor,The knee joint is provided with the drive device for driving the leg support component swing,The hip joint is provided with the drive device for driving the thigh support component swing,The hip joint can swing up and down installed in the end of the waist connector.Mono- ﹑ low costs of Jie structures Jian of the present invention and reliability is high, and effectively reducing energy consumption.
Description
Technical field
The present invention relates to new services and medical rehabilitation image training robot field, specifically one
Plant and can be used for the wearable lower limb exoskeleton assisted walk machine of lower limb power-assisted and rehabilitation training
Robot mechanism.
Background technology
According to the statistics made by the departments concerned, because of traffic accident and caused by limb injury or neurotrosis people
The number of number and the hemiplegic patient caused by the nervous system disease or cardiovascular and cerebrovascular disease is always
In the continuous trend for rising, this kind of patient is except necessary early stage drug therapy and early operation
Outward, rational rehabilitation training also has extremely important for the recovery and raising of extremity motor function
Effect.Common rehabilitation training generally will can just be carried out with the help of care-giving professional,
Because medical expense is expensive, the scarcity of nursing staff is added, Most patients all select to be in certainly
I trains, but because training method is unreasonable, many patients can miss the optimal of limb rehabilitating
Time, or even the motor function of limbs cannot effectively be recovered.Therefore, in order to effectively help
The person that helps limb injury and elderly and infirm carry out lower limb power-assisted and rehabilitation training, and research and development one kind can wear
Formula, man-machine integration intelligent rehabilitation training apparatus is worn to be very important.Now some
Research institution has gone out to develop similar products, but the defect of these product generally existings is：Structure
Fu Za ﹑ volume great ﹑ Structural Errors great ﹑ high costs and high energy consumption.
The content of the invention
It is an object of the invention to provide a kind of wearable lower limb exoskeleton assisted walk machine
Robot mechanism, it is adaptable to patient's lower limb power-assisted and rehabilitation training, the mono- ﹑ low costs of Jie structures Jian and reliability
Property it is high, and effectively reducing energy consumption.
The purpose of the present invention is achieved through the following technical solutions：
A kind of wearable lower limb exoskeleton assisted walk robot mechanism, including Huai Guan Jie ﹑ knees
Guan Jie ﹑ Kuan Guan Jie ﹑ leg supports Zu Jian ﹑ thigh supports components and waist connector, wherein ankle
Joint is connected by leg support component with knee joint, and knee joint passes through thigh support component and hip
The hip joint of the joint right both sides of connection , Zuo ﹑ is connected by waist connector, on the ankle-joint
Be provided with can Zhuan Dong ﹑ can swing along the longitudinal direction again in left-right direction plantar pressure sensor,
The knee joint is provided with the drive device for driving the leg support component swing, described
Hip joint is provided with the drive device for driving the thigh support component swing, and the hip is closed
Section can swing up and down installed in the end of the waist connector.
The ankle-joint includes base, trip shaft, articulated slab, spring, plantar pressure sensor
And contiguous block, the plantar pressure sensor is packed in base lower end, and the base upper end passes through
Trip shaft is hinged with the contiguous block, and the contiguous block passes through articulated slab and the leg support group
Part is hinged, and spring dead plate, two are equipped with the lower end of the contiguous block and leg support component
Individual spring is divided into the leg support component both sides, and each spring two ends respectively with difference
Spring dead plate be connected.
The leg support component includes shank sleeve, shank adjusting rod and fixture, and its is medium and small
Leg adjusting rod is inserted in shank sleeve, and the shank adjusting rod by the fixture with it is small
Leg sleeve ends are fastened and are fixedly connected.
The fixture is in semi-circular cylindrical, projection is provided with inside the fixture, described small
Leg adjusting rod is provided with the groove being engaged with the projection inside fixture；On the shank sleeve
It is provided with bondage plate.
The knee joint includes drive device, oscillating deck, sliding block, ball-screw, connecting rod and peace
Dress seat, the mounting seat and thigh support component are connected, the drive device and the ball wire
Thick stick be may be contained within the mounting seat and the ball-screw is driven by the drive device and revolved
Turn, the slide block set is provided with and the ball wire on the ball-screw and in the sliding block
The screw that thick stick coordinates, the sliding block and the rod hinge connection, the connecting rod cut with scissors with the oscillating deck
Connect, the oscillating deck and the leg support component are connected, the leg support component and thigh
Support component is hinged.
The axis of guide is provided with the mounting seat, one end of the sliding block is provided with wears for the axis of guide
The through hole crossed；The leg support component is by bending and stretching rotating shaft and thigh support member hinges, institute
State and bend and stretch rotating shaft and be provided with angular transducer.
The thigh support component includes thigh sleeve, thigh adjusting rod and fixture, wherein greatly
Leg adjusting rod is inserted in thigh sleeve, and the thigh adjusting rod by the fixture with it is big
Leg sleeve ends are fastened and are fixedly connected.
The fixture is in semi-circular cylindrical, and projection is provided with inside the fixture, described big
Leg adjusting rod is provided with the annular groove being engaged with the projection inside fixture；The thigh sleeve
It is provided with bondage plate.
The hip joint include drive device, the axis of guide, oscillating deck, sliding block, ball-screw,
Lian Gan ﹑ hinged seats and mounting seat, the mounting seat are connected with hinged seat and are connected with the waist
Part is hinged, and the drive device and ball-screw are installed in the mounting seat, and the rolling
Ballscrew is driven by the drive device and rotated, and the slide block set is mounted in the ball-screw
On, and the screw coordinated with the ball-screw is provided with the sliding block, the sliding block with it is described
Rod hinge connection, the connecting rod is hinged with the oscillating deck, the oscillating deck and the thigh support
Component is connected, and the thigh support component is hinged with the hinged seat.
The axis of guide is provided with the mounting seat, one end of the sliding block is provided with wears for the axis of guide
The through hole crossed；The thigh support component is hinged by bending and stretching rotating shaft with the hinged seat, described
Bend and stretch rotating shaft and be provided with angular transducer；The mounting seat is provided with width adjustment plates, the width
Degree adjustable plate swings connecting plate and is connected with the waist connector by one, wherein the swing
Connecting plate one end is packed in the width adjustment plates, and the other end cuts with scissors with the waist connector
Connect, multiple rows of installation that connecting plate installation site is swung for adjusting is provided with the width adjustment plates
Hole；The waist connector is provided with bondage plate.
Advantages of the present invention is with good effect：
1 ﹑ Xiao Shuai Gao ﹑ low costs of the present invention and energy-conservation.The present invention is driving joint, utilizes
Drive device rotating shaft is directly connected to ball-screw, and decelerator-free slows down, in view of ball-screw compared with
Transmission efficiency high, at utmost by power output can reduce loss, and then play energy-conservation
Effect.In addition, drive device does not connect decelerator, it is possible to subtract the spending of this part, have
Effect reduces cost.
2 ﹑ simple structures of the present invention.If using gear transmission mode, due to gear drive pair
The centre-to-centre spacing installation requirement of gear train is higher, so complex core-regulating mechanism is needed, if
Using V belt translation mode, belt stretcher is typically also needed to, this adds increased the complexity of structure
Degree, mechanism can well avoid these problems, greatly due to using ball-screw-transmission
It is big to simplify structure.
3 ﹑ structural reliabilities of the present invention are high.Compared to gear or the kind of drive of V belt translation,
If using aligning device or belt stretcher, can cause that structure is numerous and diverse, if do not used,
Structural failure is larger caused by then the both sides tensile force of the return difference of gear or V belt translation is different, the machine
Structure uses crank block slider structure, and junction is and is hinged, almost without structure when running mechanism
Property error and transmission it is unstable situations such as.
Brief description of the drawings
Fig. 1 is structural representation of the invention,
Fig. 2 is the structural representation of ankle-joint in Fig. 1,
Fig. 3 is the structural representation of shank support component in Fig. 1,
Fig. 4 is kneed structural representation in Fig. 1,
Fig. 5 is the structural representation of thigh support component in Fig. 1.
Fig. 6 is the structural representation of hip joint in Fig. 1.
Wherein, 1 is ankle-joint, and 2 is knee joint, and 3 is hip joint, and 4 is drive device, 5
It is bondage plate, 6 is leg support component, and 7 is thigh support component, and 8 is waist connector,
9 is base, and 10 is trip shaft, and 11 is articulated slab, and 12 to bend and stretch rotating shaft, and 13 is spring,
14 is spring dead plate, and 15 is plantar pressure sensor, and 16 is shank sleeve, and 17 is shank
Adjusting rod, 18 is fixture, and 19 is the axis of guide, and 20 is oscillating deck, and 21 is sliding block, 22
It is ball-screw, 23 is connecting rod, and 24 is hinged seat, and 25 is angular transducer, and 26 is to bend and stretch
Rotating shaft, 27 is thigh sleeve, and 28 is thigh adjusting rod, and 29 to bend and stretch rotating shaft, and 30 is width
Adjustable plate, 31 to swing connecting plate, and 32 is contiguous block, and 33 is groove, and 34 is side plate.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention includes the ﹑ shanks of 1 ﹑ knee joints of ankle-joint, 2 ﹑ hip joints 3
The ﹑ thigh supports component 7 of support component 6 and waist connector 8, wherein ankle-joint 1 are by small
Leg support component 6 is connected with knee joint 2, and knee joint 2 is closed by thigh support component 7 with hip
The hip joint 3 that section 3 connects the right both sides of , Zuo ﹑ is connected by waist connector 8, and the ankle is closed
Section 1 is provided with not only can Zhuan Dong ﹑ but also the vola that can be swung along the longitudinal direction in left-right direction
Pressure sensor 15, the knee joint 2 is provided with before and after the driving leg support component 6
The drive device 4 of swing, the hip joint 3 is provided with before and after the driving thigh support component 7
The drive device 4 of swing, the hip joint 3 is connected in which can swing up and down installed in the waist
The end of part 8.
As shown in Fig. 2 the ankle-joint 1 include base 9, trip shaft 10, articulated slab 11,
Bend and stretch rotating shaft 12, spring 13, the ﹑ plantar pressure sensors 15 of spring dead plate 14 and connection
Block 32, wherein plantar pressure sensor 15 are packed in the lower end of base 9, the upper end of the base 9
It is hinged with contiguous block 32 by trip shaft 10, the base 9 is rotated around the trip shaft 10
Plantar pressure sensor 15 is driven to rotate in left-right direction, on the leg support component 6
Shank sleeve 16 is provided with, the contiguous block 32 passes through articulated slab 11 and the shank sleeve 16
It is connected, wherein one end of the articulated slab 11 is packed in the contiguous block 32 by three screws
On, the other end is hinged on the bottom of the shank sleeve 16 by bending and stretching rotating shaft 12, described
Articulated slab 11 around it is described bend and stretch rotating shaft 12 rotation drive the He of 32 ﹑ bases of the contiguous block 9
Plantar pressure sensor 15 swings along the longitudinal direction together, in the contiguous block 32 and shank set
The lower end of cylinder 16 is equipped with spring dead plate 14, and two springs 13 are divided into the shank set
Cylinder 16 both sides, and each spring 13 two ends respectively with contiguous block 32 on spring dead plate
14 and shank sleeve 16 on spring dead plate 14 be connected, the spring 13 can be small
The cushion impact forces during swing of leg support component 6 (i.e. flexion/extension rotation), the vola pressure
Force snesor 15 is connected with real-time computer control system, feeds back plantar pressure variable signal.
In the present embodiment, the model IMS-00005-C40 of the plantar pressure sensor 15 is raw
Product producer is Ai Dong Group Co., Ltd.
As shown in figure 3, the leg support component 6 is adjusted including shank sleeve 16, shank
Bar 17 and fixture 18, wherein shank adjusting rod 17 are inserted in shank sleeve 16, described
Shank adjusting rod 17 is connected by fixture 18 with the shank sleeve 16.The fixture
18 in that semi-circular cylindrical and can be fastened on the one end of the shank sleeve 16 away from ankle-joint 1, small
Adjustable length in the insertion shank of leg adjusting rod 17 sleeve 16, when inserting for shank adjusting rod 17
Enter after length determines, the fixture 18 and the end of the shank sleeve 16 are fastened institute
Shank adjusting rod 17 is stated, wherein the fixture 18 is fixed by screws in shank sleeve 16
On, projection is provided with inside the fixture 18, it is provided with many on the shank adjusting rod 17
The individual groove 33 that can be engaged with the projection inside fixture 18, inside fixture 18
Shank adjusting rod 17 is limited on projection insertion shank adjusting rod 17 in corresponding groove to move.
As shown in figure 4, the knee joint 2 includes drive device 4, the axis of guide 19, oscillating deck
20th, sliding block 21, ball-screw 22, connecting rod 23, angular transducer 25, bend and stretch rotating shaft 26
And mounting seat.Wherein, the ﹑ axis of guides 19 of motor 4, sliding block 21 and ball-screw 22 are respectively provided with
In in mounting seat, the mounting seat includes two pieces of installing plates under the Shang ﹑ of the He of side plate 34 of both sides,
Two pieces of installing plates Shang the of biside plate 34 under ﹑ Shang two ends difference Tong Guo on the downside of ﹑ are connected, big
Leg support component 7 is provided with thigh sleeve 27, in the thigh sleeve 27 and the knee joint
2 connected one end are provided with hinged seat 24, and the mounting seat is connected with the hinged seat 24, institute
Drive device 4 is stated for brush direct current motor, the drive device 4 is arranged on the mounting seat
On upper mounting plate, the ball-screw 22 is parallel with the axis of guide 19 to be fixedly arranged in the mounting seat,
And the ball-screw 22 is driven by the drive device 4 and rotated, and is set on the sliding block 21
There are two through holes for being passed through for the ball-screw 22 and the axis of guide 19 respectively, the sliding block
21 are sleeved on the ball-screw 22 and the axis of guide 19, and are set in the sliding block 21
There is the screw coordinated with the ball-screw 22, drive device 4 drives ball-screw 22 to rotate
The sliding block 21 is driven to be moved along the ball-screw 22, the axis of guide 19 plays flat
Weigh the ball-screw 22 radial load and guiding effect, the sliding block 21 is near described
The one end of thigh sleeve 27 is hinged with one end of the connecting rod 23, the other end of the connecting rod 23
One end with the oscillating deck 20 is hinged, and the oscillating deck 20 is in the L-type put upside down, the pendulum
The other end of dynamic plate 20 is connected with the shank adjusting rod 17 on the leg support component 6, institute
Shank adjusting rod 17 is stated away from one end of the ankle-joint 1 by bending and stretching rotating shaft 26 and thigh set
Hinged seat 24 on cylinder 27 is hinged, and the sliding block 21 enters along the lifting carriage of ball-screw 22
And pass through the connecting rod 23 and oscillating deck 20 drives the shank adjusting rod 17 to be bent and stretched around described
The swing of rotating shaft 26, be provided with for measuring leg support component in rotating shaft 26 in described bending and stretching
The angular transducer 25 of 6 pendulum angles, in the present embodiment, the type of the angular transducer 25
Number be R24HS, manufacturer be minot Electronics Co., Ltd. of Shenzhen.
As shown in figure 5, the thigh support component 7 is adjusted including thigh sleeve 27, thigh
Bar 28 and fixture 18, wherein thigh adjusting rod 28 are inserted in thigh sleeve 27, and institute
Thigh adjusting rod 28 is stated to be connected with thigh sleeve 27 by fixture 18.The thigh regulation
Bar 28 and the connected mode and shank adjusting rod 17 of thigh sleeve 27 and the company of shank sleeve 16
Connect mode identical, but be provided with internal with fixture (18) on the thigh adjusting rod (28)
The annular groove that is engaged of projection, it is so fixed after thigh adjusting rod 28 and thigh sleeve 27 also
Can relatively rotate.
As shown in fig. 6, the hip joint 3 includes drive device 4, the axis of guide 19, swings
Plate 20, sliding block 21, ball-screw 22, connecting rod 23, hinged seat 24, angular transducer 25,
Rotating shaft 26 and mounting seat are bent and stretched, two pieces under the Shang ﹑ of the He of side plate 34 of the mounting seat including both sides
Installing plate, two pieces of installing plate phases Shang the of biside plate 34 under ﹑ Shang two ends difference Tong Guo on the downside of ﹑
Even, the mounting seat is connected with hinged seat 24, and the drive device 4 is brush direct current motor,
The drive device 4 is arranged on the upper mounting plate of the mounting seat, the He of the axis of guide 19
Ball-screw 22 is parallel to be fixedly arranged in the mounting seat, and the ball-screw 22 is by described
Drive device 4 drives rotation, and the sliding block 21 is provided with two and supplies the ball-screw respectively
22 and the through hole that passes through of the axis of guide 19, the sliding block 21 is sleeved on the He of the axis of guide 19
On ball-screw 22, the silk coordinated with the ball-screw 22 is provided with the sliding block 21
Mother, drive device 4 drives ball-screw 22 to rotate and drives the sliding block 21 along the ball
Leading screw 22 is moved, the axis of guide 19 play balance the radial load of the ball-screw 22 with
And the effect being oriented to, the sliding block 21 is near one end of the hinged seat 24 and the connecting rod
23 one end is hinged, and the other end of the connecting rod 23 is hinged with one end of the oscillating deck 20,
The oscillating deck 20 is in the L-type put upside down, the other end of the oscillating deck 20 and the thigh branch
Thigh adjusting rod 28 on support component 7 is connected, and the thigh adjusting rod 28 is away from the knee
The one end in joint 2 is hinged by bending and stretching rotating shaft 26 with the hinged seat 24, the sliding block 21
Driven along the lifting carriage of ball-screw 22 and by the connecting rod 23 and oscillating deck 20 described big
Leg adjusting rod 28 bends and stretches the swing of rotating shaft 26 around described, and is bent and stretched in rotating shaft 26 described
It is provided with the angular transducer 25 for measuring the pendulum angle of thigh support component 7.In the peace
Dress seat is provided with width adjustment plates 30, and the width adjustment plates 30 are by swinging connecting plate 31
End with the waist connector 8 is connected, wherein described swing connecting plate 31 one end is fixedly mounted with
In the width adjustment plates 30, the other end is hinged with the waist connector 8, described
Width adjustment plates 30 are provided with and multiple rows of swing connecting plate 31 installation site and (adjust wide for adjusting
Degree) mounting hole.
Bondage is equipped with the ﹑ shanks sleeve 16 of the waist connector 8 and thigh sleeve 27
Plate 5.
Operation principle of the invention is：
The present invention when in use, the plantar pressure sensor on the sole of user and ankle-joint 1
15 are offseted, and then according to the physical condition of user, adjustment shank adjusting rod 17 and thigh are adjusted
The stroke of pole 28 and two spacing of hip joint 3, incite somebody to action this by bondage plate 5 afterwards
Together with human body bind, people need to also maintain to balance by crutch, then be powered by power supply for invention
Each drive device 4 is rotated, so as to drive the human body lower limbs to carry out activity, and is passed by angle
Signal that sensor 25 and plantar pressure sensor 15 feed back to controls each drive device 4
Output, reaches the purpose of control gait.
Claims (10)
1. a kind of wearable lower limb exoskeleton assisted walk robot mechanism, it is characterised in that：
Including ankle-joint (1) ﹑ knee joints (2) ﹑ hip joints (3) ﹑ leg supports component (6)
﹑ thigh supports component (7) and waist connector (8), wherein ankle-joint (1) is by shank
Support component (6) is connected with knee joint (2), and knee joint (2) is by thigh support component
(7) hip joint (3) that the right both sides of , Zuo ﹑ are connected with hip joint (3) is connected by waist
Part (8) is connected, and the ankle-joint (1) is provided with can Zhuan Dong ﹑ again can edge in left-right direction
The plantar pressure sensor (15) that fore-and-aft direction swings, the knee joint (2) is provided with driving
The drive device (4) of the leg support component (6) swing, the hip joint (3)
The drive device (4) for driving the thigh support component (7) swing is provided with, it is described
Hip joint (3) is arranged on the end of the waist connector (8) in which can swing up and down.
2. wearable lower limb exoskeleton assisted walk robot according to claim 1
Mechanism, it is characterised in that：The ankle-joint (1) including base (9), trip shaft (10),
Articulated slab (11), spring (13), plantar pressure sensor (15) and contiguous block (32),
The plantar pressure sensor (15) is packed in base (9) lower end, on the base (9)
End is hinged by trip shaft (10) with the contiguous block (32), and the contiguous block (32) is led to
Cross articulated slab (11) to be hinged with the leg support component (6), in the contiguous block (32)
Spring dead plate (14), two springs (13) are equipped with the lower end of leg support component (6)
Leg support component (6) both sides are divided into, and the two ends of each spring (13) are distinguished
It is connected from different spring dead plates (14).
3. wearable lower limb exoskeleton assisted walk machine according to claim 1 and 2
Device robot mechanism, it is characterised in that：The leg support component (6) including shank sleeve (16),
Shank adjusting rod (17) and fixture (18), wherein shank adjusting rod (17) are inserted into small
In leg sleeve (16), and the shank adjusting rod (17) by the fixture (18) with
Shank sleeve (16) end fastens and is fixedly connected.
4. wearable lower limb exoskeleton assisted walk robot according to claim 3
Mechanism, it is characterised in that：The fixture (18) in semi-circular cylindrical, in the fixture (18)
Inside is provided with projection, is provided with internal with fixture (18) on the shank adjusting rod (17)
The groove (33) that is engaged of projection；The shank sleeve (16) is provided with bondage plate (5).
5. wearable lower limb exoskeleton assisted walk robot according to claim 1
Mechanism, it is characterised in that：The knee joint (2) including drive device (4), oscillating deck (20),
Sliding block (21), ball-screw (22), connecting rod (23) and mounting seat, the mounting seat with it is big
Leg support component (7) is connected, and the drive device (4) and the ball-screw (22) are
It is arranged in the mounting seat and the ball-screw (22) is by the drive device (4)
Rotation is driven, the sliding block (21) is sleeved on the ball-screw (22) and the sliding block
(21) in be provided with the ball-screw (22) coordinate screw, the sliding block (21) with
The connecting rod (23) is hinged, and the connecting rod (23) is hinged with the oscillating deck (20), institute
State oscillating deck (20) to be connected with the leg support component (6), the leg support component
(6) it is hinged with thigh support component (7).
6. wearable lower limb exoskeleton assisted walk robot according to claim 5
Mechanism, it is characterised in that：The axis of guide (19), the sliding block (21) are provided with the mounting seat
One end be provided with for the axis of guide (19) through hole that passes through；The leg support component (6)
It is hinged with thigh support component (7) by bending and stretching rotating shaft (26), it is described to bend and stretch rotating shaft (26)
It is provided with angular transducer (25).
7. wearable lower limb exoskeleton assisted walk robot according to claim 1
Mechanism, it is characterised in that：The thigh support component (7) includes thigh sleeve (27), big
Leg adjusting rod (28) and fixture (18), wherein thigh adjusting rod (28) are inserted into thigh
In sleeve (27), and the thigh adjusting rod (28) by the fixture (18) with it is big
Leg sleeve (27) end fastens and is fixedly connected.
8. wearable lower limb exoskeleton assisted walk robot according to claim 7
Mechanism, it is characterised in that：The fixture (18) in semi-circular cylindrical, in the fixture (18)
Inside is provided with projection, is provided with internal with fixture (18) on the thigh adjusting rod (28)
The annular groove that is engaged of projection；The thigh sleeve (27) is provided with bondage plate (5).
9. wearable lower limb exoskeleton assisted walk robot according to claim 1
Mechanism, it is characterised in that：The hip joint (3) including drive device (4), the axis of guide (19),
Oscillating deck (20), sliding block (21), ball-screw (22), connecting rod (23) ﹑ hinged seats (24)
And mounting seat, the mounting seat and hinged seat (24) be connected and with the waist connector (8)
It is hinged, the drive device (4) and ball-screw (22) are installed in the mounting seat,
And the ball-screw (22) is driven by the drive device (4) and rotated, the sliding block
(21) it is sleeved on the ball-screw (22), and is provided with and institute in the sliding block (21)
The screw of ball-screw (22) cooperation is stated, the sliding block (21) is cut with scissors with the connecting rod (23)
Connect, the connecting rod (23) is hinged with the oscillating deck (20), the oscillating deck (20) with
The thigh support component (7) is connected, the thigh support component (7) and the hinged seat
(24) it is hinged.
10. wearable lower limb exoskeleton assisted walk machine according to claim 9
Robot mechanism, it is characterised in that：The axis of guide (19), the sliding block (21) are provided with the mounting seat
One end be provided with for the axis of guide (19) through hole that passes through；The thigh support component (7)
It is hinged with the hinged seat (24) by bending and stretching rotating shaft (26), it is described to bend and stretch rotating shaft (26)
It is provided with angular transducer (25)；The mounting seat is provided with width adjustment plates (30), described
Width adjustment plates (30) swing connecting plate (31) and the waist connector (8) by one
It is connected, wherein described swing connecting plate (31) one end is packed in the width adjustment plates (30)
On, the other end is hinged with the waist connector (8), in the width adjustment plates (30)
It is provided with multiple rows of mounting hole that connecting plate (31) installation site is swung for adjusting；The waist connects
Fitting (8) is provided with bondage plate (5).
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| CN201510970914.5A CN106901947B (en) | 2015-12-22 | 2015-12-22 | Wearable lower limb exoskeleton assisted walking robot mechanism |
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| CN201510970914.5A CN106901947B (en) | 2015-12-22 | 2015-12-22 | Wearable lower limb exoskeleton assisted walking robot mechanism |
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| CN106901947A true CN106901947A (en) | 2017-06-30 |
| CN106901947B CN106901947B (en) | 2023-08-18 |
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| CN115300864A (en) * | 2022-07-14 | 2022-11-08 | 深圳先进技术研究院 | Hip joint exoskeleton for transverse walking rehabilitation |
| CN115813396A (en) * | 2023-02-15 | 2023-03-21 | 潍坊医学院附属医院 | Surgical diagnostic tool useful for improving diagnostic efficiency and accuracy |
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