CN107811819A - A kind of wearable lower limb rehabilitation robot - Google Patents
A kind of wearable lower limb rehabilitation robot Download PDFInfo
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- CN107811819A CN107811819A CN201711179484.0A CN201711179484A CN107811819A CN 107811819 A CN107811819 A CN 107811819A CN 201711179484 A CN201711179484 A CN 201711179484A CN 107811819 A CN107811819 A CN 107811819A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The disclosure provides a kind of wearable lower limb rehabilitation robot, bottom plate is dressed including foot, ankle device, lower-leg length adjustable connection mechanism, knee joint drive device, thigh length adjustable connection mechanism, hip joint drive device and lumbar device, foot's wearing bottom plate is connected with the ankle device, the ankle device is connected with the lower-leg length adjustable connection mechanism, the lower-leg length adjustable connection mechanism is connected with the knee joint drive device, the knee joint drive device is connected with the thigh length adjustable connection mechanism, the thigh length adjustable connection mechanism is connected with the hip joint drive device, the hip joint drive device is connected with the lumbar device.
Description
Technical field
A kind of this disclosure relates to robotic technology field, and in particular to wearable lower limb rehabilitation robot.
Background technology
China has tens million of patients to cause Nervous pathway to interrupt because of apoplexy, spinal cord injury and various accidents according to statistics
And cause limb paralysis, even result in inferior paraplegia, so that walking produces functional disorder.There is patient more than half at present
Improve limb function by training, wherein Traditional Rehabilitation training method is that have early stage professional rehabilitation teacher to be trained guidance, later stage
Patient's suffering limb is drawn according to guidance repeatedly by patient health upper limbs, family numbers of patients or nurse and carries out rehabilitation training.With medical treatment
The fast development of rehabilitation technique, lower limb rehabilitation robot are gradually introduced in the rehabilitation course of patient, and it has merged artificial intelligence
Energy, electrical control and bionic mechanical design, disclosure satisfy that the requirement of different patient's training strength, are suitable for patient and independently carry out health
Refreshment is practiced, and realizes and stands and walk.
Found by being retrieved to prior art, Publication No. CN1586434 patent of invention proposes a kind of lower limb rehabilitation
Robot, structure of contacting successively is supported by lumbar support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and vola
Into.The present invention can walk towards amputation patient or muscular atrophy patient according to walking program auxiliary patient is pre-set.This
Invention is driven using four-bar mechanism, and localised load is larger, and integrated model complexity and weight are bigger than normal.
Publication No. CN201310034245.1 patent of invention proposes a kind of wearable ectoskeleton assistant robot, and hip closes
Section and knee joint are simplified the free degree and set using linear series connection elastic device driving, simultaneity factor, and waist does not aid in the free degree
Design, while model of human ankle (ball pair) is reduced to a revolute, and the motion in outreach adduction direction is not considered.System is set
Meter does not consider the length adjusting mechanism for thigh, shank and waist, therefore system is not suitable for different height and weight wearers.
Publication No. CN201410827881.4 patent of invention provides a kind of lower limb exoskeleton walking aid rehabilitation robot,
Wherein hip joint without motor is installed respectively using two side hip joints by the way of, but pass through a servomotor and " crank
Sliding block " mechanism drives patient's bilateral lower limb alternating movement simultaneously.Realized and striden by the flexion and extension of knee joint and hip joint, ankle
The passive matrix free degree that hesitating for joint is in the wrong, dorsiflex campaign helps patient to reduce the impact from ground, the varus of ankle-joint is turned up
Configuration design contribute to wearer keep man-machine system in frontal plane inner equilibrium.
Publication No. CN201110292009.0 patent of invention provides a kind of wearable exoskeleton lower limb rehabilitation machine
People, the driving that direction is bent and stretched in joint are driven using disc type electric machine and harmonic speed reducer, realize driving and the good patch of patient articular
Close.In addition, ectoskeleton thigh and lower leg component use class sleeve design, with reference to screw adjustment length so that each joint ectoskeleton
Can good fit patient articular.The joint of exoskeleton robot is not provided with abduction and interior receipts, inward turning and outward turning direction in the invention
The free degree so that exoskeleton robot can not effectively imitate the walking states of human body.
The content of the invention
The disclosure is insufficient according to existing for lower limb rehabilitation robot of the prior art, and the space degree of coupling is low, wearing
A kind of the problems such as comfortableness is poor, bad adaptability and structure design be not compact, there is provided wearable lower limb rehabilitation robot.This public affairs
Open and be achieved through the following technical solutions：
A kind of wearable lower limb rehabilitation robot, including foot wearing bottom plate, ankle device, lower-leg length is adjustable company
Connection mechanism, knee joint drive device, thigh length adjustable connection mechanism, hip joint drive device and lumbar device；
Foot's wearing bottom plate is connected with the ankle device, and the ankle device can with the lower-leg length
Bindiny mechanism is adjusted to be connected, the lower-leg length adjustable connection mechanism is connected with the knee joint drive device, and the knee closes
Section drive device is connected with the thigh length adjustable connection mechanism, the thigh length adjustable connection mechanism and the hip joint
Drive device is connected, and the hip joint drive device is connected with the lumbar device；
Described ankle device bends and stretches connecting seat, ankle-joint with shank connecting plate, ankle-joint including ankle-joint and passively bent
Stretch device, ankle-joint bends and stretches locating part, foot's wearing support member, foot's wearing bandage, ankle connector and foot dress bottom plate；
The side that the ankle-joint bends and stretches connecting seat is connected with the ankle-joint passive flexion and extension device, other side installation institute
State ankle-joint and bend and stretch locating part, the ankle-joint bends and stretches connecting seat and is connected with the ankle-joint with shank connecting plate, the ankle
Joint passive flexion and extension device is connected with the ankle connector, and foot's wearing support member is fixed on the ankle connector
On, foot's wearing bandage is dressed support member with the foot and is fixedly connected, and foot's wearing bottom plate is positioned over the pin
On portion's wearing bandage.
Wherein, it is preferred that foot wearing bottom plate, the ankle device, the lower-leg length adjustable connection mechanism,
The number of the knee joint drive device, the thigh length adjustable connection mechanism and the hip joint drive device is 2
It is individual, and each two identical position is in axially symmetric, horizontally-parallel setting；Foot wearing bandage by screw with it is described
Foot's wearing support member is fixedly connected.
Further, described ankle-joint passive flexion and extension device include shell, small spring bearing, torsion spring, bend and stretch rotary shaft,
Big spring bearing, bend and stretch device connecting plate, ankle-joint bends and stretches connecting seat, ankle-joint and shank connecting plate and ankle connector；Institute
State and bend and stretch one end of rotary shaft and be connected by the small spring bearing with the shell, the other end for bending and stretching rotary shaft is led to
Cross the big spring bearing and bend and stretch connecting seat with the ankle-joint and be connected, rotary shaft phase is bent and stretched in one end of the torsion spring with described
Even, other end is connected with the shell.
Further, the lower-leg length adjustable connection mechanism includes shank knee joint connecting plate, the first man-machine connection is consolidated
Fixed board and shank ectoskeleton supporting plate, the shank ectoskeleton supporting plate upper end are sleeved on outside the shank knee joint connecting plate
Portion, the shank ectoskeleton supporting plate lower end are connected with the ankle-joint with shank connecting plate, and described first man-machine is connected
Plate is fixedly connected with the shank ectoskeleton supporting plate.
Wherein, it is preferred that adjusted between the shank ectoskeleton supporting plate and shank knee joint connecting plate by screw small
The length of leg ectoskeleton.
Further, described thigh length adjustable connection mechanism includes thigh hip joint connecting plate, the second man-machine connection
Fixed plate and knee joint thigh connecting plate, the knee joint thigh connecting plate upper end are sleeved on outside the thigh hip joint connecting plate
Portion, the knee joint thigh connecting plate lower end are connected with the knee joint drive device, described second it is man-machine be connected plate with
The knee joint thigh connecting plate is fixedly connected.
Wherein, it is preferred that adjusted between the knee joint thigh connecting plate and the thigh hip joint connecting plate by screw
Save the length of thigh ectoskeleton.
Further, the knee joint drive device includes knee joint thigh connecting plate, knee joint rotary stopper part, first
Harmonic speed reducer, the first motor and the first encoder, described shank knee joint connecting plate one end and the shank ectoskeleton
Supporting plate upper end connects, and the other end is connected with the first harmonic decelerator, described knee joint thigh connecting plate one end with it is described
First harmonic decelerator is connected, and the other end is connected with the knee joint thigh connecting plate, the knee joint rotary stopper part it is interior
Side is in contact with the shank knee joint connecting plate, one end of first motor and the first harmonic decelerator phase
Even, the other end is fixedly connected with first encoder.
Wherein, it is preferred that first motor selects disc type electric machine, the input of first motor and institute
State the first encoder to be connected, output end is connected with the first harmonic decelerator, and the first harmonic decelerator is provided with inner flange
And outward flange, the inner flange of the first harmonic decelerator are connected with described shank knee joint connecting plate one end, the harmonic wave subtracts
The outward flange of fast device is connected with one end of the knee joint thigh connecting plate, the knee joint rotary stopper part side and the knee
Joint thigh connecting plate is fixedly connected by screw.
Further, the lumbar device is spacing including clutch shaft bearing lid, spring bearing, waist connecting plate, outreach adduction
It is block, outreach adduction rotary shaft, torsion spring, the left connector of interior outward turning, inside and outside spin axis, inside and outside rotation bearing cap, the right connector of interior outward turning, outer
Spacing connecting rod, waist arc pressuring plate and the first hip joint waist connecting plate, described outreach adduction rotary shaft one end is received in exhibition to lead to
Cross the spring bearing with the outreach adduction limited block to be connected, middle part passes through on round end flat key and the waist arc pressuring plate
Keyway connection, the one end is connected with the waist arc pressuring plate by positioning hole, in the other end and the abduction
Limited block connection is received, the outreach adduction limited block side is fixedly connected with the waist connecting plate, and opposite side installs described the
One bearing cap, the outreach adduction gag lever post middle part is fixedly connected with the waist arc pressuring plate, in both ends and the abduction
One end of receipts limited block contact connection, described interior left connector one end of outward turning and the interior right connector of outward turning passes through described inside and outside
Spin axis is rotatablely connected, the other end of the other end of the interior left connector of outward turning and the interior right connector of outward turning with it is corresponding
The waist connecting plate is connected, described waist arc pressuring plate one end and one end phase of the first hip joint waist connecting plate
Even.
Wherein, it is preferred that the outreach adduction limited block side is fixed by trip bolt and the waist connecting plate to be connected
Connect, waist longitudinal length adjusted by screw between the first hip joint waist connecting plate and the waist arc pressuring plate,
Waist transverse width, the outreach adduction limit are adjusted by screw between the right connector of interior outward turning and the waist connecting plate
It is fixedly connected in the middle part of the connecting rod of position by positioning hole with the waist connecting plate, both ends are limited by spacing slotted eye and the outreach adduction
Position block contact connection, it is spacing by the outreach adduction between the spacing connecting rod of outreach adduction and the outreach adduction limited block
Slot size on block determines the scope of activities received in hip abduction.
Further, the hip joint drive device includes thigh hip joint connecting plate, hip joint rotary stopper part, second
Harmonic speed reducer, the second motor, second encoder and the second hip joint waist connecting plate, the thigh hip joint connecting plate
One end is connected with the knee joint thigh connecting plate upper end, and the other end is connected with the second harmonic decelerator, second hip
Joint waist connecting plate one end is connected with the harmonic speed reducer, and the other end is connected with the first hip joint waist connecting plate,
The inner side of the hip joint rotary stopper part is in contact with the thigh hip joint connecting plate, the output of second motor
End is connected with the second harmonic decelerator, and the other end is fixedly connected with the second encoder.
Wherein, it is preferred that pass through screw between the hip joint ectoskeleton supporting plate and the thigh hip joint connecting plate
Adjust the length of thigh ectoskeleton.
The beneficial effect of the disclosure is：
1) patient is being met using torsion spring and the combined mechanism of limited block in ankle-joint passive flexion and extension device and lumbar device
While the passive freedom degree range of movement of joint, it can effectively enter row constraint.
2) it is driven in knee joint drive device and hip joint drive device from the rimless motor harmonic decelerator of disc type, and
Combined with limited block, make compact-sized, driving high with joint rotation matching degree, turn error is small.
3) shank, thigh and lumbar device use length-adjustable structure design to meet the body of different patients spy
Sign, while according to knee joint physiological characteristic and human body figure feature, knee joint layout is used with shank ectoskeleton supporting plate
Bionic Design so that the ectoskeleton of parts of body moves the joint motions for the patient that can coincide, while mitigates lower limb rehabilitation machine
The weight of people's system, lower patient burden.
Brief description of the drawings
Accompanying drawing shows the illustrative embodiments of the disclosure, and it is bright be used to explain the principle of the disclosure together,
Which includes these accompanying drawings to provide further understanding of the disclosure, and accompanying drawing includes in this manual and forms this
Part for specification.
Fig. 1 is the structural representation of the wearable lower limb rehabilitation robot of disclosure embodiment；
Fig. 2 is the structural representation of the ankle device of the wearable lower limb rehabilitation robot of disclosure embodiment
Figure；
Fig. 3 is the ankle-joint passive flexion and extension device of the wearable lower limb rehabilitation robot of disclosure embodiment
Structural representation；
Fig. 4 is the lower-leg length adjustable connection mechanism of the wearable lower limb rehabilitation robot of disclosure embodiment
Structural representation；
Fig. 5 is the structure of the knee joint drive device of the wearable lower limb rehabilitation robot of disclosure embodiment
Schematic diagram；
Fig. 6 is the thigh length adjustable connection mechanism of the wearable lower limb rehabilitation robot of disclosure embodiment
Structural representation；
Fig. 7 is the structure of the hip joint drive device of the wearable lower limb rehabilitation robot of disclosure embodiment
Schematic diagram；
Fig. 8 is the structural representation of the lumbar device of the wearable lower limb rehabilitation robot of disclosure embodiment
Figure.
Embodiment
The disclosure is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that in order to just
The part related to the disclosure is illustrate only in description, accompanying drawing.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the disclosure can phase
Mutually combination.1-8 and describe the wearable lower limb rehabilitation robot of the disclosure in detail in conjunction with the embodiments below with reference to the accompanying drawings
Embodiment.
A kind of wearable lower limb rehabilitation robot of disclosure embodiment, including foot's wearing bottom plate 101, ankle
Joint arrangement 102, lower-leg length adjustable connection mechanism 103, knee joint drive device 104, thigh length adjustable connection mechanism
105th, hip joint drive device 106 and lumbar device 107；
Foot's wearing bottom plate 101 is connected with ankle device 102, ankle device 102 and the adjustable connection of lower-leg length
Mechanism 103 is connected, and lower-leg length adjustable connection mechanism 103 is connected with knee joint drive device 104, knee joint drive device
104 are connected with thigh length adjustable connection mechanism 105, thigh length adjustable connection mechanism 105 and the phase of hip joint drive device 106
Connection, hip joint drive device 106 are connected with lumbar device 107；
Ankle device 102 includes ankle-joint, and with shank connecting plate 201, ankle-joint to bend and stretch connecting seat 202, ankle-joint passive
Bend and stretch device 203, ankle-joint bends and stretches locating part 204, foot's wearing support member 205, foot's wearing bandage 206, ankle connector
207 and foot wearing bottom plate 101；
Ankle-joint bends and stretches the side of connecting seat 202 and is connected with ankle-joint passive flexion and extension device 203, other side installation ankle-joint
Locating part 204 is bent and stretched, ankle-joint bends and stretches connecting seat 202 and is connected with ankle-joint with shank connecting plate 201, ankle-joint passive flexion and extension
Device 203 is connected with ankle connector 207, and foot's wearing support member 205 is fixed on ankle connector 207, and foot's wearing is tied up
Band 206 is dressed support member 205 with foot and is fixedly connected, and foot's wearing bottom plate 101 is positioned on foot's wearing bandage 206.
Ankle-joint passive flexion and extension device 203 include shell 301, small spring bearing 302, torsion spring 303, bend and stretch rotary shaft 304,
Big spring bearing 305, bend and stretch device connecting plate 302, ankle-joint bends and stretches connecting seat 202, ankle-joint and shank connecting plate 201 and pin
Ankle connector 207；
Bend and stretch the one end of rotary shaft 304 by small spring bearing 302 with shell 301 to be connected, bend and stretch the other end of rotary shaft 304
Connecting seat 202 is bent and stretched by big spring bearing 305 with ankle-joint to be connected, the one end of torsion spring 303 is connected with bending and stretching rotary shaft 304, separately
Outer one end is connected with shell 301.
Lower-leg length adjustable connection mechanism 103 includes the man-machine plate 402 that is connected of shank knee joint connecting plate 401, first
With shank ectoskeleton supporting plate 403；The upper end of shank ectoskeleton supporting plate 403 is sleeved on outside shank knee joint connecting plate 401, small
The lower end of leg ectoskeleton supporting plate 403 is connected with ankle-joint with shank connecting plate 201, the first man-machine plate 402 and shank of being connected
Ectoskeleton supporting plate 403 is fixedly connected.
Thigh length adjustable connection mechanism 105 includes the man-machine plate 601 that is connected of thigh hip joint connecting plate 602, second
With knee joint thigh connecting plate 501；
The upper end of knee joint thigh connecting plate 501 is sleeved on outside thigh hip joint connecting plate 602, knee joint thigh connecting plate
501 lower ends are connected with knee joint drive device 104, and the second man-machine plate 601 that is connected is fixed with knee joint thigh connecting plate 501
Connection.
Knee joint drive device 104 includes knee joint thigh connecting plate 501, knee joint rotary stopper part 502, first harmonic
Decelerator 503, the first motor 504 and the first encoder 505；
The one end of shank knee joint connecting plate 401 is connected with the upper end of shank ectoskeleton supporting plate 403, the other end and first harmonic
Decelerator 503 is connected, and the one end of knee joint thigh connecting plate 501 is connected with first harmonic decelerator 503, and the other end is big with knee joint
Leg connecting plate 501 is connected, and the inner side of knee joint rotary stopper part 502 is in contact with shank knee joint connecting plate 401, the first driving
One end of motor 504 is connected with first harmonic decelerator 503, and the other end is fixedly connected with the first encoder 505.
Lumbar device 107 includes clutch shaft bearing lid 801, spring bearing 802, waist connecting plate 803, outreach adduction limited block
804th, outreach adduction rotary shaft 805, torsion spring 806, the left connector 807 of interior outward turning, inside and outside spin axis 808, it is inside and outside rotation bearing cap 809,
The right connector 810 of interior outward turning, the spacing connecting rod 811 of outreach adduction, the hip joint waist connecting plate of waist arc pressuring plate 812 and first
813；
The one end of outreach adduction rotary shaft 805 is connected by spring bearing 802 with outreach adduction limited block 804, and middle part passes through
Round end flat key is connected with the keyway in waist arc pressuring plate 812, and the one end of torsion spring 806 is connected with waist arc pressuring plate 812, separately
One end is connected with outreach adduction limited block 804, and the side of outreach adduction limited block 804 is fixedly connected with waist connecting plate 803, another
Side installation clutch shaft bearing lid 801, the spacing middle part of connecting rod 811 of outreach adduction are fixedly connected with waist arc pressuring plate 812, both ends and
The contact connection of outreach adduction limited block 804, one end of the interior left one end of connector 807 of outward turning connector 810 right with interior outward turning passes through
Inside and outside spin axis 808 is rotatablely connected, the other end of the interior left connector 807 of outward turning and the other end of the right connector 810 of interior outward turning with
Corresponding waist connecting plate 803 is connected, the one end of waist arc pressuring plate 812 and one end of the first hip joint waist connecting plate 813
It is connected.
Hip joint drive device 106 includes thigh hip joint connecting plate 602, hip joint rotary stopper part 702, second harmonic
Decelerator 704, the second motor 703, the hip joint waist connecting plate 705 of second encoder 701 and second；
The one end of thigh hip joint connecting plate 602 is connected with the upper end of knee joint thigh connecting plate 501, the other end and second harmonic
Decelerator 704 is connected, and the one end of the second hip joint waist connecting plate 705 is connected with second harmonic decelerator 704, the other end and first
Hip joint waist connecting plate 813 is connected, and the inner side of hip joint rotary stopper part 702 is in contact with thigh hip joint connecting plate 602,
The output end of second motor 703 is connected with second harmonic decelerator 704, and the other end is fixedly connected with second encoder 701.
In more detail, as shown in figure 1, foot's wearing bottom plate 101 is connected with ankle device 102, can directly support
Patient feet, ankle device 102 are connected with lower-leg length adjustable connection mechanism 103, and constraint ankle-joint is bent and stretched and outreach adduction
The free degree on direction, the one end of lower-leg length adjustable connection mechanism 103 are connected with ankle device 102, pass through man-machine connection
Fixed plate 402 and bandage are fixed on patient's calf, and the length of small leg mechanism is discontinuously adjusted by changing screw position；Knee
Articulated driving equipment 104 is connected with lower-leg length adjustable connection mechanism 103, can drive patient's knee joint bend and stretch direction from
By spending, thigh length adjustable connection mechanism 105 is connected with knee joint drive device 104, can be adjusted by changing screw position interruption
Save length, and plate 601 is connected and bandage is bound to patient thigh, hip joint drive device 106 and thigh length by man-machine
Degree adjustable connection mechanism 105 is connected, and driving hip joint bends and stretches the free degree in direction, and lumbar device 107 fills with hip joint driving
Put 106 to be connected, be bound to patient's waist, constrain in hip abduction debit to the free degree, and can be by changing screw position
Adjust the longitudinal depth and transverse width of healing robot.
Foot's wearing bottom plate 101, ankle device 102, lower-leg length adjustable connection mechanism 103, knee joint drive device
104th, the number of thigh length adjustable connection mechanism 105 and hip joint drive device 106 is 2, and every 2 identical portions
Part is in axially symmetric, horizontally-parallel setting.
As shown in Figures 2 and 3, described ankle device 102 is bent and stretched including ankle-joint with shank connecting plate 201, ankle-joint
Connecting seat 202, ankle-joint passive flexion and extension device 203, ankle-joint bend and stretch locating part 204, support member 205 is dressed by foot, foot wears
Wear bandage 206 and ankle connector 207；Wherein, the ankle-joint passive flexion and extension device 203 includes shell 301, small spring bearing
302nd, torsion spring 303, bend and stretch that rotary shaft 304, big spring bearing 305, ankle-joint bend and stretch connecting seat 202, ankle-joint and shank connect
Plate 201 and ankle connector 207.
Wherein ankle-joint bends and stretches connecting seat 202 and is connected with ankle-joint with shank connecting plate 201, the passive device of ankle-joint
203 output end, which is provided with, bends and stretches rotary shaft 304, and bending and stretching connecting seat 202 with ankle-joint by big bearing 305 is connected, and bends and stretches rotation
Rotating shaft 304 is fixedly connected by trip bolt with ankle connector 207, and the one end of torsion spring 303 is by positioning hole and bends and stretches rotary shaft
304 are connected, and other end is connected by positioning hole with shell 301, and foot's wearing support member 205 is fixed on ankle connector
207, foot's wearing bandage 206 is dressed support member 205 with foot by screw and is fixedly connected, and foot's wearing bottom plate 101 is positioned over
On foot's wearing bandage 206, the passive device of ankle-joint bends and stretches the rotation amplitude of rotary shaft 304 using the component constraint of torsion spring 303
And then control the luffing angle of foot's wearing bottom plate 101.
As shown in figure 4, the lower end of shank ectoskeleton supporting plate 403 is connected with ankle-joint with shank connecting plate 201, shank dermoskeleton
The upper end of bone supporting plate 403 is sleeved on outside shank knee joint connecting plate 401, can adjust shank dermoskeleton by changing screw position
The length of bone, the man-machine plate 402 that is connected are fixedly connected with shank ectoskeleton supporting plate 403, can be realized by bandage and patient
The binding of shank.
As shown in figure 5, knee joint drive device 104 uses harmonic speed reducer 503 and disc type motor 504, harmonic wave subtracts
Fast device 503 is provided with inner flange and outward flange, and shank knee joint connecting plate 401 is connected with the inner flange of harmonic speed reducer 503, and knee closes
Section thigh connecting plate 501 is connected with the outward flange of harmonic speed reducer 503, and the free degree that direction is bent and stretched to knee joint is driven,
The side of knee joint rotary stopper part 502 is fixedly connected with knee joint thigh connecting plate 501 by screw, knee joint rotary stopper part
502 inner side contacts connection with shank knee joint connecting plate 401, and the range of movement in direction is bent and stretched for limiting, encoder 505 with
Motor 504 is fixedly connected for gathering kneed rotational angle.
As shown in fig. 6, the lower end of knee joint thigh connecting plate 501 is connected with the outward flange of harmonic speed reducer 503, knee joint is big
The upper end of leg connecting plate 501 is sleeved on the outside of thigh hip joint connecting plate 602, and big leg mechanism is adjusted by changing screw position
Length, the man-machine plate 601 that is connected are fixedly connected with knee joint thigh connecting plate 501, are realized by bandage with patient thigh's
Binding.
As shown in fig. 7, hip joint drive device 106 uses harmonic speed reducer 704 and disc type motor 703, harmonic wave subtracts
Fast device 704 is provided with inner flange and outward flange, and the one end of thigh hip joint connecting plate 602 is connected with the inner flange of harmonic speed reducer 704,
The one end of second hip joint waist connecting plate 705 is connected with the outward flange of harmonic speed reducer 704, and the freedom in direction is bent and stretched to hip joint
Degree is driven；The side of knee joint rotary stopper part 702 is fixedly connected with the second hip joint waist connecting plate 705 by screw,
The inner side of knee joint rotary stopper part 502 contacts connection with thigh hip joint connecting plate 602, and direction is bent and stretched for limiting hip joint
Range of movement, encoder 701 is fixedly connected with the rotational angle for gathering hip joint with motor 703.
As shown in figure 8, the one end of outreach adduction rotary shaft 805 is connected with outreach adduction limited block 804, middle part is put down by round end
Key is connected with the keyway in waist arc pressuring plate 812, and the one end of torsion spring 806 passes through positioning hole and the phase of waist arc pressuring plate 812
Even, the other end is connected with outreach adduction limited block 804, and the side of outreach adduction limited block 804 is connected by trip bolt with waist
Plate 803 is fixedly connected, by debit in the elastic restraint hip abduction of torsion spring 806 to range of movement, outreach adduction is spacing
The middle part of connecting rod 811 is fixedly connected by positioning hole with waist arc pressuring plate 812, and both ends pass through spacing slotted eye and outreach adduction
The contact connection of limited block 804, for limit debit in hip abduction to range of movement.The one of the interior left connector 807 of outward turning
One end of end connector 810 right with interior outward turning is rotatablely connected by inside and outside spin axis 808, the interior left connector 807 of outward turning and interior outward turning
The other end of right connector 810 is connected with waist connecting plate 803, horizontal by adjusting screw position continuously adjustable waist
Width, the one end of waist arc pressuring plate 812 are connected with one end of the first hip joint waist connecting plate 813, connected by adjusting screw
Continuous regulation waist longitudinal length.
The motor that the disclosure uses can be communicated by bus and serial ports with host computer, be sent by host computer
Default gait track drives the specific joint of patient, while each encoder can gather specific pass in real time to motor
Save the angle rotated and be sent to host computer and be used to analyze compared with desired gait track.Motor can receive physiology
The electromyographic signal of sensor collection, signal or the emergency stop switch signal such as blood pressure, so as to when lower limb rehabilitation robot occur it is abnormal
Motor can be stopped during joint position in time protection is provided.
During a kind of wearable lower limb rehabilitation robot work of the disclosure, patient's shank, thigh and waist are measured first
Size, then adjust shank and thigh length adjustable mechanism and lumbar device arrive suitable dimension, the disclosure passes through bandage general
The thigh and calf of patient is connected with the thigh and calf of wearable lower limb rehabilitation robot mechanism, at the same by waistband by patient's waist and
Lumbar device links together.
It will be understood by those of skill in the art that above-mentioned embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- is that the scope of the present disclosure is defined.For those skilled in the art, may be used also on the basis of disclosed above
To make other changes or modification, and these changes or modification are still in the scope of the present disclosure.
Claims (7)
1. a kind of wearable lower limb rehabilitation robot, including foot's wearing bottom plate (101), ankle device (102), leg length
Spend adjustable connection mechanism (103), knee joint drive device (104), thigh length adjustable connection mechanism (105), hip joint driving
Device (106) and lumbar device (107)；
Foot's wearing bottom plate (101) is connected with the ankle device (102), the ankle device (102) and institute
State lower-leg length adjustable connection mechanism (103) to be connected, the lower-leg length adjustable connection mechanism (103) is driven with the knee joint
Dynamic device (104) is connected, and the knee joint drive device (104) is connected with the thigh length adjustable connection mechanism (105),
The thigh length adjustable connection mechanism (105) is connected with the hip joint drive device (106), the hip joint driving dress
(106) are put with the lumbar device (107) to be connected；
Described ankle device (102) includes ankle-joint and bends and stretches connecting seat (202), ankle with shank connecting plate (201), ankle-joint
Joint passive flexion and extension device (203), ankle-joint bend and stretch locating part (204), foot's wearing support member (205), foot's wearing bandage
And ankle connector (207) (206)；
The side that the ankle-joint bends and stretches connecting seat (202) is connected with the ankle-joint passive flexion and extension device (203), other side
The ankle-joint is installed and bends and stretches locating part (204), the ankle-joint bends and stretches connecting seat (202) and is connected with the ankle-joint with shank
Plate (201) is connected, and the ankle-joint passive flexion and extension device (203) is connected with the ankle connector (207), and the foot wears
Wear support member (205) to be fixed on the ankle connector (207), foot's wearing bandage (206) is dressed with the foot
Support member (205) is fixedly connected, and foot's wearing bottom plate (101) is positioned on foot's wearing bandage (206).
2. wearable lower limb rehabilitation robot according to claim 1, it is characterised in that the ankle-joint passive flexion and extension
Device (203) includes shell (301), small spring bearing (302), torsion spring (303), bends and stretches rotary shaft (304), big spring bearing
(305) device connecting plate (302), is bent and stretched, ankle-joint bends and stretches connecting seat (202), ankle-joint and shank connecting plate (201) and ankle
Connector (207)；
Described rotary shaft (304) one end of bending and stretching is connected by the small spring bearing (302) with the shell (301), described to bend
Stretch rotary shaft (304) other end connecting seat (202) bent and stretched with the ankle-joint by the big spring bearing (305) and be connected,
One end of the torsion spring (303) is connected with the rotary shaft (304) of bending and stretching, and other end is connected with the shell (301).
3. wearable lower limb rehabilitation robot according to claim 1 or 2, it is characterised in that the lower-leg length can
Bindiny mechanism (103) is adjusted to include shank knee joint connecting plate (401), the first man-machine plate that is connected (402) and shank ectoskeleton
Supporting plate (403)；Shank ectoskeleton supporting plate (403) upper end is sleeved on shank knee joint connecting plate (401) outside,
Shank ectoskeleton supporting plate (403) lower end is connected with the ankle-joint with shank connecting plate (201), the first man-machine company
Fixed plate (402) is connect to be fixedly connected with the shank ectoskeleton supporting plate (403).
4. according to the wearable lower limb rehabilitation robot described in claim any one of 1-3, it is characterised in that the thigh length
Degree adjustable connection mechanism (105) includes thigh hip joint connecting plate (602), the second man-machine plate that is connected (601) and knee joint
Thigh connecting plate (501)；
Knee joint thigh connecting plate (501) upper end is sleeved on thigh hip joint connecting plate (602) outside, and the knee closes
Section thigh connecting plate (501) lower end is connected with the knee joint drive device (104), the described second man-machine plate that is connected
(601) it is fixedly connected with the knee joint thigh connecting plate (501).
5. according to the wearable lower limb rehabilitation robot described in claim any one of 1-4, it is characterised in that the knee joint
Drive device (104) includes knee joint thigh connecting plate (501), knee joint rotary stopper part (502), first harmonic decelerator
(503), the first motor (504) and the first encoder (505)；
Described shank knee joint connecting plate (401) one end is connected with shank ectoskeleton supporting plate (403) upper end, the other end with
The first harmonic decelerator (503) is connected, described knee joint thigh connecting plate (501) one end and the first harmonic decelerator
(503) be connected, the other end is connected with the knee joint thigh connecting plate (501), the knee joint rotary stopper part (502) it is interior
Side is in contact with the shank knee joint connecting plate (401), one end and the first harmonic of first motor (504)
Decelerator (503) is connected, and the other end is fixedly connected with first encoder (505).
6. according to the wearable lower limb rehabilitation robot described in claim any one of 1-5, it is characterised in that the waist dress
Put (107) include clutch shaft bearing lid (801), spring bearing (802), waist connecting plate (803), outreach adduction limited block (804),
Outreach adduction rotary shaft (805), torsion spring (806), the left connector of interior outward turning (807), inside and outside spin axis (808), inside and outside rotation bearing cap
(809), the right connector of interior outward turning (810), the spacing connecting rod of outreach adduction (811), waist arc pressuring plate (812) and the first hip close
Save waist connecting plate (813)；
Described outreach adduction rotary shaft (805) one end passes through the spring bearing (802) and the outreach adduction limited block (804)
It is connected, middle part is connected by key with the waist arc pressuring plate (812), described torsion spring (806) one end and the waist arc
Connecting plate (812) is connected, and the other end is connected with the outreach adduction limited block (804), the outreach adduction limited block (804) one
Side is fixedly connected with the waist connecting plate (803), and opposite side installs the clutch shaft bearing lid (801), the outreach adduction limit
It is fixedly connected in the middle part of position connecting rod (811) with the waist arc pressuring plate (812), both ends and the outreach adduction limited block
(804) contact connection, the described interior left connector of outward turning (807) one end and one end of the interior right connector of outward turning (810) pass through
Inside and outside spin axis (808) rotation connection, the other end of the interior left connector of outward turning (807) and the interior right connector of outward turning
(810) the other end with the corresponding waist connecting plate (803) be connected, described waist arc pressuring plate (812) one end with
One end of the first hip joint waist connecting plate (813) is connected.
7. according to the wearable lower limb rehabilitation robot described in claim any one of 1-6, it is characterised in that the hip joint
Drive device (106) includes thigh hip joint connecting plate (602), hip joint rotary stopper part (702), second harmonic decelerator
(704), the second motor (703), second encoder (701) and the second hip joint waist connecting plate (705)；
Described thigh hip joint connecting plate (602) one end is connected with knee joint thigh connecting plate (501) upper end, the other end with
The second harmonic decelerator (704) is connected, and described second hip joint waist connecting plate (705) one end subtracts with the second harmonic
Fast device (704) is connected, and the other end is connected with the first hip joint waist connecting plate (813), the hip joint rotary stopper part
(702) inner side is in contact with the thigh hip joint connecting plate (602), the output end of second motor (703) with
The second harmonic decelerator (704) is connected, and the other end is fixedly connected with the second encoder (701).
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| CN201711179484.0A CN107811819A (en) | 2017-11-23 | 2017-11-23 | A kind of wearable lower limb rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711179484.0A CN107811819A (en) | 2017-11-23 | 2017-11-23 | A kind of wearable lower limb rehabilitation robot |
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| CN201711179484.0A Pending CN107811819A (en) | 2017-11-23 | 2017-11-23 | A kind of wearable lower limb rehabilitation robot |
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| CN108721061A (en) * | 2018-03-26 | 2018-11-02 | 大连交通大学 | A kind of novel auxiliary mechanical limb device |
| CN109199793A (en) * | 2018-10-29 | 2019-01-15 | 杭州大力神医疗器械有限公司 | A kind of shoulder elbow activity instrument |
| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
| CN109316314A (en) * | 2018-10-19 | 2019-02-12 | 中国科学院深圳先进技术研究院 | Exoskeleton robot, universal joint mould group and its joint limit assembly |
| CN109454632A (en) * | 2019-01-14 | 2019-03-12 | 东北大学 | A kind of lower limb exoskeleton system with lower jump pooling feature |
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| CN110897834A (en) * | 2020-01-02 | 2020-03-24 | 金陵科技学院 | Adjustable lower limb exoskeleton device suitable for gait training of cerebral palsy children |
| CN111084706A (en) * | 2019-12-07 | 2020-05-01 | 宿州学院 | Active-motion man-machine interaction system with joint rotation angle appointed |
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| CN108721061A (en) * | 2018-03-26 | 2018-11-02 | 大连交通大学 | A kind of novel auxiliary mechanical limb device |
| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
| CN109316314A (en) * | 2018-10-19 | 2019-02-12 | 中国科学院深圳先进技术研究院 | Exoskeleton robot, universal joint mould group and its joint limit assembly |
| CN109199793A (en) * | 2018-10-29 | 2019-01-15 | 杭州大力神医疗器械有限公司 | A kind of shoulder elbow activity instrument |
| CN109620240A (en) * | 2018-11-02 | 2019-04-16 | 浙江工商职业技术学院 | A kind of human body lower limbs articulation angle capture device |
| CN109646246A (en) * | 2019-01-14 | 2019-04-19 | 浙江孚邦科技有限公司 | A kind of wearable lower limb exoskeleton robot stretching and beading device |
| CN109454632A (en) * | 2019-01-14 | 2019-03-12 | 东北大学 | A kind of lower limb exoskeleton system with lower jump pooling feature |
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| CN109674626A (en) * | 2019-02-18 | 2019-04-26 | 清华大学 | Hip joint can outreach adduction dynamical type lower limb exoskeleton |
| CN110179623A (en) * | 2019-04-25 | 2019-08-30 | 杭州电子科技大学 | A kind of novel lower limb rehabilitation robot |
| CN110123589A (en) * | 2019-05-20 | 2019-08-16 | 南京理工大学 | A kind of wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight for hemiplegic patient |
| CN110434832A (en) * | 2019-07-04 | 2019-11-12 | 布法罗机器人科技（成都）有限公司 | A kind of compact ectoskeleton power unit |
| CN110202594A (en) * | 2019-07-16 | 2019-09-06 | 韩恒文 | A kind of intelligent robot for assisting running |
| CN111084706A (en) * | 2019-12-07 | 2020-05-01 | 宿州学院 | Active-motion man-machine interaction system with joint rotation angle appointed |
| CN113041090A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Rehabilitation training robot for exoskeleton |
| CN110897834A (en) * | 2020-01-02 | 2020-03-24 | 金陵科技学院 | Adjustable lower limb exoskeleton device suitable for gait training of cerebral palsy children |
| CN111714338A (en) * | 2020-07-02 | 2020-09-29 | 河海大学常州校区 | Lower limb exoskeleton adjusting and rehabilitation device |
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| CN113133898A (en) * | 2021-04-26 | 2021-07-20 | 北京工业大学 | Lower limb rehabilitation exoskeleton mechanism with flexible joints |
| CN113133898B (en) * | 2021-04-26 | 2023-01-13 | 北京工业大学 | Lower limb rehabilitation exoskeleton mechanism with flexible joints |
| CN113143698A (en) * | 2021-05-28 | 2021-07-23 | 上海理工大学 | Lower limb exoskeleton with waist correction function |
| CN113143698B (en) * | 2021-05-28 | 2023-03-07 | 上海理工大学 | Lower limb exoskeleton with waist correction function |
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| CN113558942A (en) * | 2021-07-30 | 2021-10-29 | 沈阳新松机器人自动化股份有限公司 | Supporting and power assisting device for shank and ankle joint rehabilitation |
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