CN107411939A - A kind of special power-assisted healing robot of single lower limb individuals with disabilities - Google Patents
A kind of special power-assisted healing robot of single lower limb individuals with disabilities Download PDFInfo
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- CN107411939A CN107411939A CN201710607664.8A CN201710607664A CN107411939A CN 107411939 A CN107411939 A CN 107411939A CN 201710607664 A CN201710607664 A CN 201710607664A CN 107411939 A CN107411939 A CN 107411939A
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- component
- handle
- thigh
- rod member
- electric machine
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Abstract
The invention discloses a kind of special power-assisted healing robot of single lower limb individuals with disabilities, the power-assisted healing robot has three kinds of Passive Mode, aggressive mode and impedance mode steer modes；The power-assisted healing robot includes belt part, the thigh collar, the shank collar, sole part, thigh parts, lower leg component, knee joint electric machine, ankle-joint electric machine, handle component, handle and connecting rod, Motor with handle device, the first leg link and the second leg link；Core is the multi-connecting-rod mechanism collectively formed by the handle component in linkage component and fixed component, thigh parts, lower leg component, belt part, sole part, the first leg link and the second leg link.Low manufacture cost of the present invention, it is light and available for taking exercise, suitable for more crowds；There are preferable stability and security in configuration aspects, provided with stopping means, can effectively prevent unexpected generation.
Description
Technical field
The invention belongs to field of medical device, is related to a kind of lower limb rehabilitation articles for use, especially a kind of single lower limb disabled person
The special power-assisted healing robot of scholar.
Background technology
The external main purpose for initially entering exoskeleton research is to strengthen capacity for individual action and heavy burden ability of soldier etc.,
To mitigate sense of fatigue of soldier etc..Gradually there is certain development in fields such as walk help power-assisted, medical assistances later.It is wearable
Lower limb power-assisting robot is that one kind has merged the multi-disciplinary complication system such as Machine Design, sensing technology and control technology, it
Human body, support body can be not only protected, certain task, such as motion function of enhancing human body etc. can also be completed.With wheel
Chair is different as just walking-replacing tool, and power-assisting robot can be used for trouble of the auxiliary with cardiovascular and cerebrovascular disease or the nervous system disease
Person carries out rehabilitation training, helps them to regain walking ability.It can be used in medical institutions even family, can make patient
The ability lived on one's own life is obtained as early as possible.Wearable power-assisting robot is one kind of assistance exoskeleton, and it can make one and ectoskeleton
Cooperate, the coordination control of the intelligence of human body and machine is combined, the intelligence control of people is added to the power-assisted of ectoskeleton
In control, it is combined by the Power assisted control to ectoskeleton with the consciousness of people, it is possible to which it is difficult completion or nothing to complete human body itself
The action that method is completed.
Rarely have now for the special wearable lower limb power-assisting robot of single lower limb individuals with disabilities.Simultaneously as can
The mechanical structure of wearable lower limb power-assisting robot there is volume and weight it is bigger than normal the problem of, this influences to a certain extent
The application of wearable lower limb power-assisting robot.Existing wearable lower limb power-assisting robot often uses merely driven by power or liquid
Pressure driving, pattern is single, can not meet the needs of different disabled degree crowds.Therefore, need development badly and be used for single lower limb deformity
Personage exclusively with wearable lower limb power-assisting robot.
The content of the invention
The present invention for above-mentioned power-assisting robot correcting function and security performance and single lower limb disabled person it is urgent
The urgent problems such as demand, it is desirable to provide a kind of to pass through the lower limb power-assisted healing robot of various control pattern.For
Driving method employs amounts to 3 kinds of type of drive including Passive Mode, aggressive mode and impedance mode, devises one kind
The special power-assisted healing robot of single lower limb individuals with disabilities.
The technical solution adopted by the present invention is as follows：
A kind of special power-assisted healing robot of single lower limb individuals with disabilities, the power-assisted healing robot have by dynamic model
Three kinds of formula, aggressive mode and impedance mode steer modes；The power-assisted healing robot is made up of fixed component and linkage component；
The fixed component includes belt part 1, the thigh collar 4, the shank collar 7 and sole part 9, and the linkage component includes thigh
Part 3, lower leg component 6, knee joint electric machine 5, ankle-joint electric machine 8, handle component 2, handle and connecting rod 13, Motor with handle
Device 14, the first leg link 11 and the second leg link 12；Core is by the handle in linkage component and fixed component
Part 2, thigh parts 3, lower leg component 6, belt part 1, sole part 9, the first leg link 11 and the second leg link 12
The multi-connecting-rod mechanism collectively formed；
The belt part 1 is hinged be hinged in first with one end of handle component 2 and the upper end three of thigh parts 3
Point；The lower end of the thigh parts 3 is hinged in the second pin joint with the upper end of lower leg component 6；The lower end of the lower leg component 6
It is hinged with the sole part 9 in the 3rd pin joint；The other end of the handle component 2 is cut with scissors with one end of handle and connecting rod 13
Connect, the other end of the handle and connecting rod 13 and the second leg link 12 are be hinged, and first leg link 11 is nested in the second leg
The bottom of portion's connecting rod 12 forms prismatic pair；The inner side of thigh parts 3 is provided with a slideway, and second leg link 12 is provided with
Slideway on one sliding block, with thigh parts 3 forms prismatic pair, and the sliding block is articulated with the second leg link 12；First leg
Portion's connecting rod 11, lower leg component 6 and sole part 9 are articulated with the 3rd pin joint；The thigh parts 3 and lower leg component 6 divide above
Not She You the thigh collar 4 and the shank collar 7 be used to human body lower limbs being fixed on robot thigh parts 3 and lower leg component 6,
The inner side of the collar is provided with elastic bands, to provide restraining force.
Further, the position for the sliding block being hinged in second leg link 12 can be adjusted according to being actually needed
To meet the needs of different user.Further, Motor with handle device 14, the handle are provided with first pin joint
Electric machine 14 includes handle disc type electric machine 14A and handle harmonic speed reducer 14B, the stator of the handle disc type electric machine 14A are consolidated
It is scheduled on handle component 2, its rotor is fixed in thigh parts 3, and for providing, thigh parts 3 are relative with handle component 2 to be turned
It is dynamic；Knee joint electric machine 5 is provided with second pin joint, the knee joint electric machine 5 includes knee joint disc type
Motor 5A and knee joint harmonic speed reducer 5B, the stator of the knee joint disc type electric machine 5A are fixed in thigh parts 3, its rotor
It is fixed on lower leg component 6, for providing the relative rotation of lower leg component 6 and thigh parts 3；Set at the 3rd pin joint
Ankle-joint electric machine 8 is equipped with, the ankle-joint electric machine 8 includes ankle-joint disc type electric machine 8A and ankle-joint harmonic speed reducer
8B, the stator of the ankle-joint disc type electric machine 8A are fixed in the first leg link 11, and its rotor is fixed on lower leg component 6,
For providing the relative rotation of the leg link 11 of lower leg component 6 and first.
Further, the belt part 1 is connected by the waistband fixture 1A with slideway, waistband support member 1C with waistband
Bolt 1B is formed；Fixed by waistband connecting bolt 1B and be respectively provided with the waistband fixture that a row is used to adjust the hole of installation site
1A and waistband support member 1C, and can be adjusted by changing relative position with holes, to meet that different building shape crowd dresses；
The waistband fixture 1A is leathercraft, is connected in a manner of belt fastener.
Further, the handle component 2 includes handle rod member 2A and handle sensor 2B, wherein handle sensor 2B peaces
Put on the handle of the downside of handle component 2.
Further, the thigh parts 3 are by rod member 3C is formed outside rod member 3A, connecting bolt 3B and thigh in thigh, institute
State in thigh and be equipped with above rod member 3A and the outer rod member 3C of thigh for adjusting outer rod member relative to the two of interior rod member installation site
Round, the inside and outside rod member of thigh are fixed by connecting bolt 3B, with suitable for different height users；The lower leg component 6 by
Rod member 6A, connecting bolt 6B and the outer rod member 6C of shank are formed in shank, in the shank above the rod member 6A and outer rod member 6C of shank
It is equipped with for adjusting two rounds of the outer rod member relative to interior rod member installation site, the inside and outside rod member of shank passes through connecting bolt
6B is fixed, with suitable for different height users；To prevent the power-assisted healing robot because overexercise damages human body
Spacer pin, the outer rod member 3C of the thigh and the first leg are provided with joint, the outer rod member 6C of the shank and shank above rod member 6A
Connecting rod 11 is provided with stop collar.
Further, the sole part 9 carries torsion spring by rear sole 9A, the forefoot plate 9B provided with the collar and one
Rotating shaft is formed, and forward and backward sole 9B, 9A are connected by rotating shaft；By rod member 6C outside front and rear two springs 10 connection shank with after
Sole 9A, sole part 9 is unlikely sagging during ensureing foot-up, and the substantially vertical lower leg component 7 in position is to ensure walking process
In correct gait, while play certain cushioning effect when walking, the setting of torsion spring and spring 10 ensures that human body is corresponding and closed
The comfort of section, and have certain protective effect to foot and ankle-joint.
The present invention has the following advantages that compared with prior art：
1st, the present invention has three kinds of operational modes：Passive Mode, aggressive mode and impedance mode, suitable for different disabled journeys
The single lower limb individuals with disabilities of degree uses, or even available for amputation user；Three kinds of operational modes of the present invention can be not only used for
It assisted walk, can be also used for resuming training, it is more perfect to compare prior art function.Prior art is mostly entered for both legs simultaneously
Row design, and the single lower limb individuals with disabilities that the present invention is applied to different disabled degrees uses, or even make available for amputation user
With；
2nd, low manufacture cost of the present invention, it is light and available for taking exercise, it is applied widely；The present invention is applicable not only under one side
Limb individuals with disabilities, it may also be used for bilateral lower limb disability personage, for relatively other robots, it is necessary to mechanical part it is few, installation
Difficulty also reduces, and this causes the low manufacture cost of the present invention, light portable；
3rd, the present invention has preferable stability and security in configuration aspects, provided with stopping means, can effectively prevent accident
Occur.Structure of the present invention is reliable and secure；In the prior art on the one hand in the structure design of leg mostly using open loop machine
Structure, no leg link ensure the security of mechanism, and another aspect mechanism lacks reliable safeguard measure to protect lower limb.This
Invention causes to damage when being provided with many places stopping means in structure to prevent mechanism malfunction to lower limb.
Brief description of the drawings
Fig. 1 is the isometric side view of lower limb power-assisted healing robot；
Fig. 2 is the waistband apparatus of lower limb power-assisted healing robot；
Fig. 3 is the left view of lower limb power-assisted healing robot；
Fig. 4 is the hip joint part of lower limb power-assisted healing robot；
Fig. 5 is the knee joint part of lower limb power-assisted healing robot；
Fig. 6 is the ankle portion of lower limb power-assisted healing robot；
Fig. 7 is the thigh parts of lower limb power-assisted healing robot；
Fig. 8 is the lower leg component of lower limb power-assisted healing robot.
Wherein：
1-belt part；1A-waistband fixture；1B-waistband connecting bolt；1C-waistband support member；2-handle portion
Part；2A-handle rod member；2B-handle sensor；3-thigh parts；Rod member in 3A-thigh；3B-connecting bolt；3C-big
The outer rod member of leg；4-thigh collar；5-knee joint electric machine；5A-knee joint disc type electric machine；5B-knee joint harmonic reduction
Device；6-lower leg component；Rod member in 6A-shank；6B-connecting bolt；The outer rod member of 6C-shank；7-shank collar；8-ankle closes
Save electric machine；8A-ankle-joint disc type electric machine；8B-ankle-joint harmonic speed reducer；9-sole part；9A-rear sole；
9B-forefoot plate；10-spring；11-the first leg link；12-the second leg link；13-handle and connecting rod；14-handle electricity
Machine device；14A-handle disc type electric machine；14B-handle harmonic speed reducer.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is the present invention
Part of the embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, belongs to the scope of protection of the invention.
As shown in figures 1 and 3, the power-assisted healing robot has three kinds of Passive Mode, aggressive mode and impedance mode
Steer mode；The power-assisted healing robot is made up of fixed component and linkage component；The fixed component includes belt part
1st, the thigh collar 4, the shank collar 7 and sole part 9, the linkage component include thigh parts 3, lower leg component 6, knee joint electricity
Machine device 5, ankle-joint electric machine 8, handle component 2, handle and connecting rod 13, Motor with handle device 14, the and of the first leg link 11
Second leg link 12；Core is by the handle component 2 in linkage component and fixed component, thigh parts 3, lower leg component
6th, the multi-connecting-rod mechanism that belt part 1, sole part 9, the first leg link 11 and the second leg link 12 collectively form；
The belt part 1 is hinged be hinged in first with one end of handle component 2 and the upper end three of thigh parts 3
Point；Motor with handle device 14 is provided with first pin joint, the Motor with handle device 14 includes handle disc type electric machine
14A and handle harmonic speed reducer 14B, the stator of the handle disc type electric machine 14A are fixed on handle component 2, and its rotor is fixed
In thigh parts 3, for providing the relative rotation of thigh parts 3 and handle component 2；The lower end of the thigh parts 3 with it is small
The upper end of pin components 6 is hinged in the second pin joint；Knee joint electric machine 5 is provided with second pin joint, it is described
Knee joint electric machine 5 includes knee joint disc type electric machine 5A and knee joint harmonic speed reducer 5B, the knee joint disc type electric machine 5A
Stator be fixed in thigh parts 3, its rotor is fixed on lower leg component 6, for providing lower leg component 6 and thigh parts 3
Relative rotation；The lower end of the lower leg component 6 is hinged in the 3rd pin joint with the sole part 9；In the described 3rd hinge
Junction is provided with ankle-joint electric machine 8, and the ankle-joint electric machine 8 includes ankle-joint disc type electric machine 8A and ankle-joint is humorous
Ripple decelerator 8B, the stator of the ankle-joint disc type electric machine 8A are fixed in the first leg link 11, and its rotor is fixed on shank
On part 6, for providing the relative rotation of the leg link 11 of lower leg component 6 and first；The other end and hand of the handle component 2
One end of handle connecting rod 13 is hinged, and the other end of the handle and connecting rod 13 and the second leg link 12 are be hinged, and first leg connects
The bottom that bar 11 is nested in the second leg link 12 forms prismatic pair；The inner side of the thigh parts 3 is provided with a slideway, and described second
The slideway that leg link 12 is provided with a sliding block, with thigh parts 3 forms prismatic pair, and the sliding block is articulated with the second leg company
Bar 12, first leg link 11, lower leg component 6 and sole part 9 are articulated with the 3rd pin joint；The He of thigh parts 3
Lower leg component 6 is respectively equipped with the thigh collar 4 above and the shank collar 7 is used to human body lower limbs being fixed on robot thigh parts 3
On lower leg component 6, elastic bands are provided with the inner side of the collar, to provide restraining force.
The position for the sliding block being hinged in second leg link 12 can be adjusted to meet not according to being actually needed
With the needs of user；
As shown in figure 4, the Motor with handle device 14 includes handle disc type electric machine 14A and handle harmonic speed reducer 14B, institute
The stator for stating handle disc type electric machine 14A is fixed on handle component 2, and its rotor is fixed in thigh parts 3, for providing thigh
The relative rotation of part 3 and handle component 2；As shown in figure 5, the knee joint electric machine 5 includes knee joint disc type electric machine 5A
With knee joint harmonic speed reducer 5B, the stator of the knee joint disc type electric machine 5A is fixed in thigh parts 3, and its rotor is fixed on
On lower leg component 6, for providing the relative rotation of lower leg component 6 and thigh parts 3；As shown in fig. 6, the ankle-joint motor dress
8 are put to be fixed on including ankle-joint disc type electric machine 8A and ankle-joint harmonic speed reducer 8B, the stator of the ankle-joint disc type electric machine 8A
In first leg link 11, its rotor is fixed on lower leg component 6, for providing the leg link 11 of lower leg component 6 and first
Relatively rotate.
As shown in Fig. 2 the belt part 1 is connected by waistband fixture 1A, the waistband support member 1C with slideway and waistband
Connecting bolt 1B is formed；The waistband that the hole that a row is used to adjust installation site is respectively provided with by waistband connecting bolt 1B fixations is fixed
Part 1A and waistband support member 1C, and can be adjusted by changing relative position with holes, to meet that different building shape crowd wears
Wear；The waistband fixture 1A is leathercraft, is connected in a manner of belt fastener.
As shown in figure 4, the handle component 2 includes handle rod member 2A and handle sensor 2B, wherein handle sensor 2B
It is placed in above the handle of the downside of handle component 2.
As shown in fig. 7, the thigh parts 3 are by rod member 3C is formed outside rod member 3A, connecting bolt 3B and thigh in thigh, institute
State in thigh and be equipped with above rod member 3A and the outer rod member 3C of thigh for adjusting outer rod member relative to the two of interior rod member installation site
Round, the inside and outside rod member of thigh are fixed by connecting bolt 3B, with suitable for different height users；It is as shown in figure 8, described
Lower leg component 6 is by rod member 6C is formed outside rod member 6A, connecting bolt 6B and shank in shank, in the shank outside rod member 6A and shank
It is equipped with above rod member 6C for adjusting two rounds of the outer rod member relative to interior rod member installation site, the inside and outside rod member of shank leads to
Cross connecting bolt 6B to fix, with suitable for different height users；To prevent the power-assisted healing robot due to overexercise
And human synovial is damaged, be provided with spacer pin in the outer rod member 6C of the shank and shank above rod member 6A, thigh rod member 3C outside
Stop collar is provided with the first leg link 11.
As shown in fig. 6, the sole part 9 carries torsion spring by rear sole 9A, the forefoot plate 9B provided with the collar and one
Rotating shaft is formed, and forward and backward sole 9B, 9A are connected by rotating shaft；By rod member 6C outside front and rear two springs 10 connection shank with after
Sole 9A, sole part 9 is unlikely sagging during ensureing foot-up, and the substantially vertical lower leg component 7 in position is to ensure walking process
In correct gait, while play certain cushioning effect when walking, the setting of torsion spring and spring 10 ensures that human body is corresponding and closed
The comfort of section, and have certain protective effect to foot and ankle-joint.
The application method that the invention will now be described in detail with reference to the accompanying drawings：
Fig. 1~Fig. 8 is the structure chart of lower limb rehabilitation power-assisting robot disclosed by the invention.Use in the direction that the present invention is previously mentioned
Language, such as " on ", " under ", "front", "rear", "left", "right" etc., only it is the direction of refer to the attached drawing diagram.Therefore, used side
It is intended merely to illustrate to term, and is not used for limiting the present invention.Next, we will be carried out in detail with reference to accompanying drawing to the present invention
Explanation.
Referring to Fig. 1, Fig. 2 and Fig. 6, it is described briefly for its application method, the wearing mode of equipment is：Root is needed in wearing
According to the human dimension parameter adjustment thigh parts 3 of user and the length of lower leg component 6, and adjust and fix waistband fixture
1A and waistband support member 1C relative position；User foot is placed on the sole 9 of robot, after being passed through by elastic bands
The collar on sole 9A fixes sole；User's shank and thigh are passed through into the elastic bands of the shank collar 7 and the thigh collar 4 point
It is not fixed on lower leg component 6 and thigh parts 3；Waist is fixed on belt part 1 again, passes through the waistband fixture 1A
Two-side elastic bandage is connected waist.
Referring to Fig. 1~Fig. 8, the special power-assisted healing robot of single lower limb individuals with disabilities has three kinds of operational modes：
Passive Mode, aggressive mode and impedance mode；The Passive Mode refers to by human hand joystick sensor 2B, each motor dress
Put and rotation direction and speed are determined according to present present position and control dynamics, drive human body lower limbs to press desired trajectory to front/rear
Take a step；The aggressive mode is referred specifically under the desired trajectory set, it is necessary to which people's lower limb go to go to drive using certain strength
Whole power-assisted healing robot, each electric machine determine rotation direction and speed according to present present position and the lower limb dynamics of kicking one's legs
Degree, auxiliary human body lower limbs are realized takes a step to act to front/rear；The impedance mode is relative with aggressive mode, and referring to needs people's lower limb to go
Go to drive whole power-assisted healing robot using certain strength, each electric machine is kicked one's legs according to present present position and lower limb
Dynamics determines rotation direction and speed, hinders human body lower limbs to realize and takes a step to act to front/rear.The Three models are instructed for rehabilitation
When practicing, user's standing walking posture is not limited only to, user can also sitting posture progress rehabilitation training.The handle component 2
In right side of body, it can realize that certain power-assisted is provided in the Three models to be acted on by pushing.
Referring to Fig. 1~Fig. 3, there is two rows use on the waistband fixture 1A and waistband support member 1C of the belt part 1 respectively
In the hole of regulation installation site, the two is linked together by waistband connecting bolt 1B, can be with holes relative by changing
Position is adjusted to adapt to the user of different body sizes, and the waistband fixture 1A is leathercraft, with the side of belt fastener
Formula is attached, to adapt to the user of different waistlines.
Referring to Fig. 1, Fig. 3, Fig. 4, Fig. 7 and Fig. 8, there is the thigh set for being fixed on user's leg in the thigh parts 3
Ring 4, there is the shank collar 7 for being fixed on user's leg on the lower leg component 6, the thigh collar 4, the shank collar 7
Both sides are provided with elastic bands, and to provide restraining force, leg and the lower limb rehabilitation power-assisting robot are fixed together, and drive
Human body lower limbs realize synchronization action with the lower limb rehabilitation power-assisting robot.
Referring to Fig. 3, Fig. 4, Fig. 7 and Fig. 8, to be used for different users, according to human thigh's dimensional parameters, thigh is adjusted
The relative position in hole, is fixed with connecting bolt 3B, thereby determines that the length of thigh parts 3 on the outer rod member 3C of interior rod member 3A and thigh；
According to human calf's dimensional parameters, the relative position in hole on the rod member 6A and outer rod member 6C of shank in shank is adjusted, uses connecting bolt
6B is fixed, and thereby determines that the length of lower leg component 6；The outer rod member 6C of shank spacer pin and the stop collar of leg link 1 is matched somebody with somebody
Close, rod member 6A spacer pins and the outer rod member 3C of thigh stop collar, which coordinate, in shank makes two joint allow angular range activity, protects
Card wearing training of safety；The leg link one 11 and 2 12 forms prismatic pair, can freely stretch within the specific limits.
Referring to Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the handle sensor 2B is placed in the handbar of handle component 2, is used for
The power and moment of torsion of hand are detected, learns that user is intended to, output signal after signal is handled, driving disc type electric machine 5A, 8A,
14A is rotated, and then realizes the mass motion of the lower limb rehabilitation power-assisting robot；Described motor 5A, 8A, 14A and harmonic wave
Decelerator is combined, and reduces noise, reduces volume and weight.
Referring to Fig. 1, Fig. 3 and Fig. 6, the sole part 9 being made up of the forefoot plate 9B and rear sole 9A, adapted to when on foot
The bending of sole, ensure that the posture of human normal walking is comfortable, the position of sole part 9 when the spring 10 is to ensure foot-up
Substantially vertical lower leg component 7 plays certain cushioning effect when walking to ensure the correct gait in walking process, right
Foot is effectively protected effect.
It is described above, it is only that the present invention is directed to right side lower limb disability personage's preferred embodiment, its symmetrical structure
It is the design for the special power-assisted healing robot of left side lower limb disability personage, protection scope of the present invention is not merely limited to
In this, it is same for any one skilled in the art in the technical scope of the present invention, according to the present invention's
Technical scheme and its inventive concept are subject to equivalent substitution or polishing, should all be included within the scope of the present invention.
Claims (8)
- A kind of 1. special power-assisted healing robot of single lower limb individuals with disabilities, it is characterised in that：The power-assisted healing robot tool There are three kinds of Passive Mode, aggressive mode and impedance mode steer modes；The power-assisted healing robot is by fixed component and connecting rod Part forms；The fixed component includes belt part (1), the thigh collar (4), the shank collar (7) and sole part (9), institute Stating linkage component includes thigh parts (3), lower leg component (6), knee joint electric machine (5), ankle-joint electric machine (8), hand Shank part (2), handle and connecting rod (13), Motor with handle device (14), the first leg link (11) and the second leg link (12)；Core Center portion point is by the handle component (2) in linkage component and fixed component, thigh parts (3), lower leg component (6), belt part (1), the multi-connecting-rod mechanism that sole part (9), the first leg link (11) and the second leg link (12) collectively form；The belt part (1) is hinged in the first hinge with one end of handle component (2) and the upper end three of thigh parts (3) Contact；The lower end of the thigh parts (3) is hinged in the second pin joint with the upper end of lower leg component (6)；The lower leg component (6) lower end is hinged in the 3rd pin joint with the sole part (9)；The other end of the handle component (2) connects with handle One end of bar (13) is hinged, and the other end and the second leg link (12) of the handle and connecting rod (13) are be hinged, first leg The bottom that connecting rod (11) is nested in the second leg link (12) forms prismatic pair；A slideway is provided with the inside of the thigh parts (3), The slideway that second leg link (12) is provided with a sliding block, with thigh parts (3) forms prismatic pair, and the sliding block is hinged In the second leg link (12)；First leg link (11), lower leg component (6) and sole part (9) are articulated with the 3rd hinge Contact；The thigh parts (3) and lower leg component (6) are respectively equipped with the thigh collar (4) above and the shank collar (7) is used for people Body lower limb are fixed in robot thigh parts (3) and lower leg component (6), elastic bands are provided with the inner side of the collar, to carry For restraining force.
- A kind of 2. special power-assisted healing robot of single lower limb individuals with disabilities according to claim 1, it is characterised in that：Institute Stating the position for the sliding block being hinged in the second leg link (12) can be adjusted to meet different user according to being actually needed Need.
- A kind of 3. special power-assisted healing robot of single lower limb individuals with disabilities according to claim 1, it is characterised in that： Motor with handle device (14) is provided with first pin joint, the Motor with handle device (14) includes handle disc type electric machine (14A) and handle harmonic speed reducer (14B), the stator of the handle disc type electric machine (14A) are fixed on handle component (2), its Rotor is fixed in thigh parts (3), for providing the relative rotation of thigh parts (3) and handle component (2)；Described second Be provided with knee joint electric machine (5) at pin joint, the knee joint electric machine (5) include knee joint disc type electric machine (5A) and Knee joint harmonic speed reducer (5B), the stator of the knee joint disc type electric machine (5A) are fixed in thigh parts (3), and its rotor is consolidated It is scheduled on lower leg component (6), for providing the relative rotation of lower leg component (6) and thigh parts (3)；In the 3rd pin joint Place is provided with ankle-joint electric machine (8), and the ankle-joint electric machine (8) includes ankle-joint disc type electric machine (8A) and ankle-joint Harmonic speed reducer (8B), the stator of the ankle-joint disc type electric machine (8A) are fixed in the first leg link (11), and its rotor is consolidated It is scheduled on lower leg component (6), for providing the relative rotation of lower leg component (6) and the first leg link (11).
- A kind of 4. special power-assisted healing robot of single lower limb individuals with disabilities according to claim 1, it is characterised in that：Institute Belt part (1) is stated to be made up of the waistband fixture (1A) with slideway, waistband support member (1C) and waistband connecting bolt (1B)； Pass through the fixed waistband fixture (1A) and waist for being respectively provided with a row and being used to adjust the hole of installation site of waistband connecting bolt (1B) Band support member (1C), and can be adjusted by changing relative position with holes, to meet that different building shape crowd dresses；It is described Waistband fixture (1A) is leathercraft, is connected in a manner of belt fastener.
- A kind of 5. special power-assisted healing robot of single lower limb individuals with disabilities according to claim 1, it is characterised in that：Institute Stating handle component (2) includes handle rod member (2A) and handle sensor (2B), and wherein handle sensor (2B) is placed in handle portion Above handle on the downside of part (2).
- A kind of 6. special power-assisted healing robot of single lower limb individuals with disabilities according to claim 1, it is characterised in that：Institute State thigh parts (3) to be made up of the outer rod member (3C) of rod member in thigh (3A), connecting bolt (3B) and thigh, rod member in the thigh The outer rod member (3C) of (3A) and thigh is equipped with for adjusting two rounds of the outer rod member relative to interior rod member installation site, thigh above Inside and outside rod member it is fixed by connecting bolt (3B), with suitable for different height users；The lower leg component (6) is by shank The outer rod member (6C) of interior rod member (6A), connecting bolt (6B) and shank is formed, rod member (6A) and the outer rod member of shank in the shank (6C) is equipped with for adjusting two rounds of the outer rod member relative to interior rod member installation site above, and the inside and outside rod member of shank passes through Connecting bolt (6B) is fixed, with suitable for different height users；To prevent the power-assisted healing robot due to overexercise And human synovial is damaged, rod member (6A) is provided with spacer pin, the thigh outer bar above in the outer rod member (6C) of the shank and shank Part (3C) and the first leg link (11) are provided with stop collar.
- A kind of 7. special power-assisted healing robot of single lower limb individuals with disabilities according to claim 1, it is characterised in that：Institute State sole part (9) to be made up of the rotating shaft of the rear sole (9A) provided with the collar, forefoot plate (9B) and one with torsion spring, by turning The forward and backward sole of axis connection (9B, 9A)；The outer rod member (6C) of shank and rear sole (9A) are connected by two front and rear springs (10), Sole part (9) is unlikely sagging during ensureing foot-up, and the substantially vertical lower leg component in position (7) is to ensure in walking process Correct gait, while certain cushioning effect is played when walking, the setting of torsion spring and spring (10) ensures human body corresponding joint Comfort, and have certain protective effect to foot and ankle-joint.
- A kind of 8. special power-assisted healing robot of single lower limb individuals with disabilities according to claim 1, it is characterised in that：Institute State Passive Mode refer to it is true according to present present position and control dynamics by human hand joystick sensor 2B, each electric machine Determine rotation direction and speed, drive human body lower limbs to be taken a step by desired trajectory to front/rear；The aggressive mode refers specifically to setting Desired trajectory under, it is necessary to which people's lower limb go to go to drive whole power-assisted healing robot, each electric machine using certain strength Rotation direction and speed are determined according to present present position and the lower limb dynamics of kicking one's legs, auxiliary human body lower limbs are realized takes a step to front/rear Action；The impedance mode is relative with aggressive mode, and referring to needs people's lower limb to go to go to drive whole power-assisted health using certain strength Multiple robot, each electric machine determine rotation direction and speed according to present present position and the lower limb dynamics of kicking one's legs, and hinder people Body lower limb are realized takes a step to act to front/rear.
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| CN110623819B (en) * | 2019-10-31 | 2022-03-11 | 中北大学 | Lower limb rehabilitation robot based on Unity3D |
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| CN113941123A (en) * | 2021-09-30 | 2022-01-18 | 温州市中心医院 | Clinical treatment device of department of neurology |
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