CN107456360A - A kind of lower limb exoskeleton robot - Google Patents
A kind of lower limb exoskeleton robot Download PDFInfo
- Publication number
- CN107456360A CN107456360A CN201710598415.7A CN201710598415A CN107456360A CN 107456360 A CN107456360 A CN 107456360A CN 201710598415 A CN201710598415 A CN 201710598415A CN 107456360 A CN107456360 A CN 107456360A
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- CN
- China
- Prior art keywords
- executing agency
- hip
- joint
- link
- hip joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- 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 kind of lower limb exoskeleton robot,Include back bracket successively from top to down,Hip joint executing agency,Thick link,Knee joint executing agency,Shank link and the ankle-joint part with vola,The hip joint executing agency,Thick link,Knee joint executing agency,Shank link and ankle-joint part are all provided with as two groups,And it is symmetricly set on back bracket both sides,The thick link,Back bracket,Hip joint executing agency,Flexible binding strip is provided with shank link,It is respectively used to bondage thigh,Bondage chest,Bondage waist and bondage shank,Support and flexible binding strip are provided with the back bracket,Support is hinged on back bracket both sides,Flexible binding strip is connected on support,Bondage upper limbs,The thick link and the back bracket are hinged by hip joint executing agency,The thick link and the shank link are rotatablely connected by knee joint executing agency,It is easy to use,People's rehabilitation can faster be helped.
Description
Technical field
The invention belongs to the technical field of robot, specially a kind of lower limb exoskeleton robot.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, can run advance volume again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind
The work of work, such as production industry, construction industry, or dangerous work, present robot can help people to walk, Huan Zhekang
Multiple treatment.
The content of the invention
It is an object of the invention to provide a kind of lower limb exoskeleton robot, helps people's walking, helps people's rehabilitation.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of lower limb exoskeleton robot, include back bracket, hip joint executing agency, thigh company successively from top to down
Bar, knee joint executing agency, shank link and the ankle-joint part with vola, the hip joint executing agency, thick link,
Knee joint executing agency, shank link and ankle-joint part are all provided with as two groups and are symmetricly set on back bracket both sides, described big
Leg connecting rod, back bracket, hip joint executing agency, be provided with flexible binding strip on shank link, be respectively used to bondage thigh,
Bondage chest, bondage waist and bondage shank, support and flexible binding strip are provided with the back bracket, support is hinged on the back of the body
Portion support both sides, flexible binding strip are connected on support, bondage upper limbs, and the thick link and the back bracket are to pass through hip
Joint executing agency is hinged, and the thick link and the shank link are rotatablely connected by knee joint executing agency
's；
The hip joint executing agency includes connecting under L-type cross bar, hip joint A bars, hip joint B bars, hip hydraulic cylinder and hip
Bar, the short leg of the L-type cross bar are connected with hip joint A bars one end, are provided between the long leg and back bracket of L-type cross bar
Connection member is buffered, the long leg of L-type cross bar is flexibly connected with buffering connection member, and the hip joint A bars other end closes with hip
B bar hinges are saved, the hip joint B bars lower end is connected by hip lower connecting rod with thick link, and the hip hydraulic cylinder is arranged on hip
Between joint A bars and hip lower connecting rod；
The ankle-joint part includes support component and vola, and the support component upper end is connected with shank link upper end,
Lower end is rotatablely connected with vola, and support component includes support bar, ring spring block, circular arc spring guide, vola rotary shaft
Hole, support bar rotary shaft, lower block and ring spring, the support bar lower end side are provided with vertical neck, the ring spring
Block is on circular arc spring guide, and circular arc spring guide lower end is sleeved in support bar rotary shaft, and support bar rotary shaft is consolidated
Surely it is arranged on support bar, the vola is coordinated by support bar rotary shaft and vola rotation hole, and the ring spring block is set
Put at the top of circular arc spring guide circular arc and be fixed on support bar outer wall, lower block be arranged on circular arc spring guide front end,
And the front end in corresponding vola；
The knee joint executing agency is to connect branch by the disc type electric machine, harmonic speed reducer connecting box, joint installed successively
Frame, actuator shaft, upper joint connector and hypozygal connector composition, wherein the upper joint connector and hypozygal
Both sides after connector installation are provided with oscillating bearing, after wherein actuator shaft is through upper joint connector and hypozygal
Connector passes through spline synchronized links.
Further, flexible binding strip is set on vola.
Further, angle drive device is provided with the knee joint executing agency, angular transducer detection shank connects
The angle that bar rotates.
The beneficial effects of the invention are as follows：
It is easy to use, it can faster help people's rehabilitation.
Brief description of the drawings
Fig. 1 is front view of the present invention.
Fig. 2 is side view of the present invention.
Fig. 3 is back bracket schematic diagram in the present invention.
Fig. 4 is buffering connection member schematic diagram in the present invention.
Fig. 5 is hip joint executing agency schematic diagram in the present invention.
Fig. 6 is knee joint executing agency schematic diagram in the present invention.
Fig. 7 is ankle-joint block diagram in the present invention.
Fig. 8 is ankle-joint part partial schematic diagram in the present invention.
Fig. 9 is ankle-joint part partial schematic diagram in the present invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
As shown in drawings, a kind of lower limb exoskeleton robot, back bracket 1 is included successively from top to down, hip joint performs
Mechanism 2, thick link 3, knee joint executing agency 4, shank link 5 and the ankle-joint part 6 with vola 7, hip joint perform
Mechanism 2, thick link 3, knee joint executing agency 4, shank link 5 and ankle-joint part 6 are set to two groups and are symmetricly set on
The both sides of back bracket 1, thick link 3, back bracket 1, hip joint executing agency 4, shank link 5, be provided with vola 6 it is soft
Property binding strip 8, is respectively used to bondage thigh, bondage chest, bondage waist and bondage shank, support 9 is provided with back bracket 1
With flexible binding strip 8, support 9 is hinged on the both sides of back bracket 1, and flexible binding strip 8 is connected on support 9, bondage upper limbs, thigh
Connecting rod 3 and back bracket 1 are hinged by hip joint executing agency 2, and thick link 3 and shank link 5 are closed by knee
Save what executing agency 4 was rotatablely connected；
Hip joint executing agency 2 is included under L-type cross bar 20, hip joint A bars 21, hip joint B bars 22, hip hydraulic cylinder 23 and hip
Connecting rod 24, the short leg of L-type cross bar 20 are connected with the one end of hip joint A bars 21, long leg and the back bracket 1 of L-type cross bar 20
Between be provided with buffering connection member 25, the long leg of L-type cross bar 20 is flexibly connected with buffering connection member 25, hip joint A bars
21 other ends and the hinge of hip joint B bars 22, the lower end of hip joint B bars 22 are connected by hip lower connecting rod 24 with thick link 3, hip liquid
Cylinder pressure 23 is arranged between hip joint A bars 21 and hip lower connecting rod 24；
Ankle-joint part 6 includes support component 60 and vola 7, and the upper end of support component 60 is connected with the upper end of shank link 5, under
End is rotatablely connected with vola 7, and support component 60 includes support bar 62, ring spring block 63, circular arc spring guide 64, vola
Rotational axis hole 65, support bar rotary shaft 66, lower block 67 and ring spring 68, the lower end side of support bar 62 are provided with vertical neck
69, for ring spring block 63 on circular arc spring guide 64, the lower end of circular arc spring guide 64 is sleeved on support bar rotary shaft
On 66, support bar rotary shaft 66 is fixedly installed on support bar 62, and vola 7 passes through support bar rotary shaft 66 and vola rotation hole 65
Coordinate, ring spring block 63 is arranged at the top of the circular arc of circular arc spring guide 64 and is fixed on the outer wall of support bar 62, lower block
67 are arranged on the front end in the front end of circular arc spring guide 64 and corresponding vola 7.
Knee joint executing agency 4 is to connect branch by the disc type electric machine 40, harmonic speed reducer connecting box 41, joint installed successively
Frame 42, actuator shaft 43, upper joint connector 44 and hypozygal connector 45 form, wherein the He of upper joint connector 44
Both sides after hypozygal connector 45 is installed are provided with oscillating bearing 46, and wherein actuator shaft 43 is connected through upper joint
After part 44 and hypozygal connector 45 passes through spline synchronized links.
Angle drive device is provided with knee joint executing agency 4, the angle that angular transducer detection shank link 5 rotates
Degree, when rotational angle exceedes threshold values, knee joint executing agency 4 stops operating.
Human body walking principle is as follows：
1. human body walking is divided into support phase and swing phase, support phase is exactly that leg lands period of support body；Swing
It is exactly mutually the period that leg is swung in the air.
2. ectoskeleton is through outside human body, so ectoskeleton walking is also in compliance with support phase and swing phase.Wherein support phase is again
Support phase initial stage (leg rigid connection tread surface stage), support phase mid-term (leg curvature contacts the ground stage), support can be divided into
Phase latter stage (leg immediately enters the swing phase stage).
At support phase initial stage, 3. ectoskeleton leg starts to contact ectoskeleton with ground, in order to avoid unexpected touchdown vibration
It is excessive, it is necessary to which joint stiffness is minimum；
In support phase mid-term, ectoskeleton leg formally contacts, it is necessary to play a part of supported weight ectoskeleton with ground,
Need joint stiffness larger；
Ectoskeleton ectoskeleton leg at support phase latter stage starts from surface separation, it is necessary to move flexibly, it is necessary to joint
It is smaller in rigidity.
The embodiments of the present invention described above are not intended to limit the scope of the present invention, any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the claim protection model of the present invention
Within enclosing.
Claims (3)
1. a kind of lower limb exoskeleton robot, it is characterised in that include back bracket successively from top to down, hip joint performs machine
Structure, thick link, knee joint executing agency, shank link and the ankle-joint part with vola, the hip joint executing agency,
Thick link, knee joint executing agency, shank link and ankle-joint part are all provided with as two groups and are symmetricly set on back bracket two
Side, the thick link, back bracket, hip joint executing agency, flexible binding strip is provided with shank link, be respectively used to
Bondage thigh, bondage chest, bondage waist and bondage shank, support and flexible binding strip are provided with the back bracket, prop up
Frame is hinged on back bracket both sides, and flexible binding strip is connected on support, bondage upper limbs, the thick link and the back branch
Frame is hinged by hip joint executing agency, and the thick link and the shank link are by knee joint executing agency
Rotation connection；
The hip joint executing agency includes L-type cross bar, hip joint A bars, hip joint B bars, hip hydraulic cylinder and hip lower connecting rod, institute
The short leg for stating L-type cross bar is connected with hip joint A bars one end, and buffering is provided between the long leg and back bracket of L-type cross bar
Connection member, the long leg of L-type cross bar are flexibly connected with buffering connection member, the hip joint A bars other end and hip joint B bars
Hinge, the hip joint B bars lower end are connected by hip lower connecting rod with thick link, and the hip hydraulic cylinder is arranged on hip joint A
Between bar and hip lower connecting rod；
The ankle-joint part includes support component and vola, and the support component upper end is connected with shank link upper end, lower end
It is rotatablely connected with vola, support component includes support bar, ring spring block, circular arc spring guide, vola rotational axis hole, branch
Strut rotary shaft, lower block and ring spring, the support bar lower end side are provided with vertical neck, and the ring spring block exists
On circular arc spring guide, circular arc spring guide lower end is sleeved in support bar rotary shaft, the fixed setting of support bar rotary shaft
On support bar, the vola is coordinated by support bar rotary shaft and vola rotation hole, and the ring spring block is arranged on circle
At the top of arc spring guide rod circular arc and it is fixed on support bar outer wall, lower block is arranged on circular arc spring guide front end and correspondingly
The front end in vola；
The knee joint executing agency be by install successively disc type electric machine, harmonic speed reducer connecting box, articulating mounts, hold
Row mechanism output shaft, upper joint connector and hypozygal connector composition, wherein the upper joint connector connects with hypozygal
Both sides after part installation are provided with oscillating bearing, and wherein actuator shaft connects after being through upper joint connector with hypozygal
Part passes through spline synchronized links.
2. a kind of lower limb exoskeleton robot according to claim 1, it is characterised in that flexible bondage is set on vola
Band.
3. a kind of lower limb exoskeleton robot according to claim 1, it is characterised in that set in the knee joint executing agency
Angle drive device is equipped with, the angle that angular transducer detection shank link rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710598415.7A CN107456360A (en) | 2017-07-21 | 2017-07-21 | A kind of lower limb exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710598415.7A CN107456360A (en) | 2017-07-21 | 2017-07-21 | A kind of lower limb exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107456360A true CN107456360A (en) | 2017-12-12 |
Family
ID=60544438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710598415.7A Pending CN107456360A (en) | 2017-07-21 | 2017-07-21 | A kind of lower limb exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107456360A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110074949A (en) * | 2019-06-11 | 2019-08-02 | 唐山市拓又达科技有限公司 | A kind of lower limb exoskeleton robot and application method |
| CN111249114A (en) * | 2020-01-16 | 2020-06-09 | 江西省人民医院 | Crotch skeleton postoperative mount that possesses self-supporting |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN106041899A (en) * | 2016-08-22 | 2016-10-26 | 中国人民解放军63908部队 | Lower extremity assist exoskeleton robot |
-
2017
- 2017-07-21 CN CN201710598415.7A patent/CN107456360A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN106041899A (en) * | 2016-08-22 | 2016-10-26 | 中国人民解放军63908部队 | Lower extremity assist exoskeleton robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110074949A (en) * | 2019-06-11 | 2019-08-02 | 唐山市拓又达科技有限公司 | A kind of lower limb exoskeleton robot and application method |
| CN111249114A (en) * | 2020-01-16 | 2020-06-09 | 江西省人民医院 | Crotch skeleton postoperative mount that possesses self-supporting |
| CN111249114B (en) * | 2020-01-16 | 2022-05-17 | 江西省人民医院 | Crotch skeleton postoperative mount that possesses self-supporting |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171212 |