CN108030645A - A kind of wearable lower limb movement exoskeleton robot - Google Patents
A kind of wearable lower limb movement exoskeleton robot Download PDFInfo
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- CN108030645A CN108030645A CN201810020560.1A CN201810020560A CN108030645A CN 108030645 A CN108030645 A CN 108030645A CN 201810020560 A CN201810020560 A CN 201810020560A CN 108030645 A CN108030645 A CN 108030645A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 49
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 33
- 210000000689 upper leg Anatomy 0.000 claims abstract description 85
- 239000012530 fluid Substances 0.000 claims abstract description 30
- 230000001012 protector Effects 0.000 claims abstract description 20
- 230000001105 regulatory effect Effects 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 claims abstract description 12
- 230000004308 accommodation Effects 0.000 claims abstract description 10
- 210000001699 lower leg Anatomy 0.000 claims description 54
- 210000002414 leg Anatomy 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 210000005069 ears Anatomy 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 206010050031 Muscle strain Diseases 0.000 description 1
- 208000001132 Osteoporosis Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5035—Several programs selectable
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of wearable lower limb movement exoskeleton robot, including shoe body component, shank bar I, shank bar II, length adjustment device, fluid pressure drive device, thigh bar I, thigh bar II, frame carrier assembly, air bag, protector, crutch and wireless remote control；The shoe body component is fixedly connected with shank bar II, the length adjustment device is divided into shank pole length regulating device and thigh bar length adjustment device, shank pole length regulating device upper end is fixedly connected with shank bar I, lower end is fixedly connected with shank bar II, thigh bar length adjustment device upper end is fixedly connected with thigh bar I, lower end is fixedly connected with thigh bar II, and the crutch is assigned into the fixation round platform of shoe body component, and the wireless remote control is positioned over user.The present invention has security performance height, and long operational time, can carry out accommodation according to the figure of human body, user can be aided in smoothly complete rectilinear movement, avoidance and stair activity.
Description
Technical field
Mobile medical instrument, more particularly to a kind of wearable lower limb movement ectoskeleton machine are aided in the present invention relates to a kind of
Device people.
Background technology
Nowadays, China causes the patient of lower limb paralysis increasing because of disease or traffic accident, and with it is social gradually
Into the aging of population stage, more and more middle-aged and elderly people are each by joint degeneration, osteoporosis, leg muscle strain etc.
There is the aching and limp symptom such as weak of lower limb in the influence of kind of factor, has seriously affected the basic daily routines such as walking and stair activity
Meanwhile also white elephant is brought to society and family.
Such issues that in order to solve, except taking traditional physical training, Traditional Chinese health treatment, medical instrument auxiliary etc. often
Rule property method ensures outside the normal body movement of mid-aged population, develops power-assisting robot technology as under current solve
Acroparalysis patient and the handicapped most effective novel intelligent nursing intervention of mid-aged population.Wherein, wearable dermoskeleton
Bone robot technology is one kind the closest with human body relation.But existing exoskeleton robot equipment cannot be according to human body
Figure carry out adaptability adjustment, security performance is low, and run time is short, and user moved linearly, avoidance, up and down
It is very difficult during stair.
The content of the invention
Present invention seek to address that the above problem, there is provided a kind of wearable lower limb movement exoskeleton robot, has peace
Full performance is high, long operational time, and accommodation, perfect association between equipment and human body can be carried out according to the figure of human body
Tonality, can aid in user to smoothly complete rectilinear movement, avoidance and stair activity.The concrete technical scheme that the present invention uses is such as
Under：
A kind of wearable lower limb movement exoskeleton robot, including shoe body component, shank bar I, shank bar II, length tune
Regulating device, fluid pressure drive device, thigh bar I, thigh bar II, frame carrier assembly, air bag, protector, crutch and wireless remote control；Institute
State shoe body component to be fixedly connected with shank bar II, the length adjustment device is divided into shank pole length regulating device and grows with thigh bar
Regulating device is spent, shank pole length regulating device upper end is fixedly connected with shank bar I, and lower end is fixedly connected with shank bar II, greatly
Leg pole length regulating device upper end is fixedly connected with thigh bar I, and lower end is fixedly connected with thigh bar II, the fluid pressure drive device
It is divided into shank bar fluid pressure drive device and thigh bar fluid pressure drive device, shank bar fluid pressure drive device one end is solid with shank bar I
Fixed connection, the other end are fixedly connected with thigh bar II, and thigh bar fluid pressure drive device one end is fixedly connected with thigh bar I, another
End is fixedly connected with the femur rod in frame carrier assembly, and the air bag is divided into leg air bag and back air bag, leg
Portion's air bag is fixed on the front side of thigh bar II, and back air bag is fixed on rear side of frame carrier assembly, and the protector is divided into shank
Bar protector and thigh bar protector, shank bar protector are installed on the inner side of shank bar I, and thigh bar protector is installed on the inner side of thigh bar II,
The crutch is assigned into the fixation round platform of shoe body component, and the wireless remote control is positioned over user.
Preferably, the shoe body component include camera, fixed round platform, U-type groove column, sole frame, sole, foot rope,
Crawler belt, driving wheel, drive, drive shaft, transmission shaft, gear I, gear II, stepper motor and drive bearing；It is described to be used to gather
The camera of traffic information is installed on sole frame front end, the U-type groove column is fixed on sole frame rear end, described with endoporus
Fixed round platform is installed on camera rear end, and the sole is installed in sole frame bottom groove, and the foot rope is connected in sole
In the middle part of frame, prevent user's both feet from being slided with lower limb exoskeleton robot, the transmission shaft and drive shaft are installed in foot
In the through hole of chassis groove, and drive bearing is installed in through hole, the stepper motor is installed on sole frame, the driving
Wheel is connected in drive shaft both ends, and the drive is connected in both ends of the drive shaft, and the driving wheel is connected with drive by crawler belt,
Gear II installed in stepper motor output shaft end drives the gear I of installation on the driving shaft to rotate, and passes through stepper motor
Rotational movement driving wheel and drive rotate, and enable wearable lower limb movement exoskeleton robot to aid in user complete
Be in line movement.
Preferably, the frame carrier assembly include backrest, shoulder strap, solar panel, control cabinet, wireless receiver, steering engine,
Shaft coupling, bearing, leading screw, sliding thick stick, femur rod, locknut, bolt and bottom cover；The shoulder strap is fixed on backrest side, described
Control cabinet is bolted in backrest, and the solar panel for being used to collect energy is fixed on control cabinet upper surface,
The side of the wireless receiver installed in control cabinet for being used to receive wireless remote control signals, the bottom cover are bolted on
Backrest bottom surface, leading screw both ends screw thread in the interspersed femur rod threaded hole it is oppositely oriented, in the interspersed femur rod circular hole
Cunning thick stick end be fixedly connected with locknut, the leading screw, sliding thick stick and the femur rod with threaded hole and circular hole are installed in
In backrest bottom groove, described leading screw one end is connected through bearing by shaft coupling with steering engine, and the other end is installed on through bearing
In backrest shrinkage pool, control steering engine to rotate come the distance between adjusting screw both sides femur rod by wireless remote control, realize to difference
The accommodation of user waist size.
Preferably, the length adjustment device includes U-shaped doubly-linked connector, supporting rod, hinge, sliding block and adjusting screw；Institute
State adjusting screw both sides and be symmetrically installed the sliding block with self-locking performance, one end of the supporting rod passes through hinge and U-shaped doubly-linked connector
Hinged, the other end is hinged by hinge and sliding block, is adjusted by rotating the movement of adjusting screw control slide block to distinguish adjustment length
The distance between the shank pole length regulating device of device and the U-shaped doubly-linked connector in thigh bar length adjustment device both ends, realization pair
The shank of different users and the accommodation of thigh length dimension.
Preferably, the fluid pressure drive device includes hydraulic cylinder, I type joints, ears seat, u shaped connector and flat connector；Institute
The flat connector being fixed on hydraulic cylinder to be stated to be hinged with ears seat, described I type joints one end is threadedly coupled with hydraulic cylinder motion bar,
The other end is hinged with u shaped connector, and shank bar fluid pressure drive device and thigh bar fluid pressure drive device are controlled by wireless remote control
The accurate control to shank bar and thigh bar action is realized in hydraulic cylinder extension movement, and auxiliary user smoothly completes avoidance and up and down
Stair.
Beneficial effects of the present invention are as follows：
(1) security performance is high；The balance of body, prevents that center of gravity is inclined when user can use crutch maintenance stair activity
Move, if detecting, user falls down tendency, and air bag can be opened rapidly, prevent user from coming to harm because falling down, carry
High security performance.
(2) long operational time；The solar energy of collection continuously can be converted into power storage to control by solar panel
In case, run time is extended.
(3) accommodation can be carried out according to the figure of human body；Steering engine is controlled to rotate by wireless remote control to adjust silk
The distance between thick stick both sides femur rod, realizes the accommodation to different users' waist sizes, by rotating adjusting screw
Control slide block is moved to distinguish the distance between U-shaped doubly-linked connector in adjustment length regulating device both ends, is realized to different users
Shank and thigh length dimension accommodation, perfect harmony between equipment and human body.
(4) user can be aided in smoothly complete rectilinear movement, avoidance and stair activity；Wireless remote control hair in manipulator
The number of delivering letters, to control cabinet, controls the rotation of stepper motor and hydraulic-driven in shoe body component to fill through wireless receiver by control cabinet
Put the flexible of middle hydraulic cylinder, make wearable lower limb movement exoskeleton robot auxiliary user complete rectilinear movement, avoidance and
Stair activity.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other can also be obtained according to these attached drawings
Attached drawing.
Fig. 1：A kind of overall structure diagram of wearable lower limb movement exoskeleton robot of the present invention；
Fig. 2：A kind of shoe body component structure diagram of wearable lower limb movement exoskeleton robot of the present invention；
Fig. 3：A kind of frame carrier assembly structure diagram of wearable lower limb movement exoskeleton robot of the present invention；
Fig. 4：A kind of length adjustment device structure diagram of wearable lower limb movement exoskeleton robot of the present invention；
Fig. 5：A kind of fluid pressure drive device structure diagram of wearable lower limb movement exoskeleton robot of the present invention；
Fig. 6：A kind of air bag Unclosing structure schematic diagram of wearable lower limb movement exoskeleton robot of the present invention.
Symbol description：
1st, frame carrier assembly, 101, backrest, 102, shoulder strap, 103, bottom cover, 104, femur rod, 105, sliding thick stick, 106, leading screw,
107th, bearing, 108, shaft coupling, 109, locknut, 110, steering engine, 111, control cabinet, 112, wireless receiver, 113, bolt,
114th, solar panel, 2, crutch, 3, thigh bar I, 4, protector, 5, air bag, 6, shank bar I, 7, length adjustment device,
701st, U-shaped doubly-linked connector, 702, supporting rod, 703, sliding block, 704, adjusting screw, 705, hinge, 8, shoe body component, 801, shooting
Head, 802, fixed round platform, 803, foot rope, 804, U-type groove column, 805, sole frame, 806, stepper motor, 807, transmission shaft,
808th, drive bearing, 809, drive, 810, crawler belt, 811, driving wheel, 812, gear II, 813, gear I, 814, drive shaft,
815th, sole, 9, shank bar II, 10, thigh bar II, 11, wireless remote control, 12, fluid pressure drive device, 1201, ears seat,
1202nd, flat connector, 1203, hydraulic cylinder, 1204, I type joints, 1205, u shaped connector.
Embodiment
In order to make the object, technical solutions and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing into
One step it is described in detail, it is clear that described embodiment only part of the embodiment of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
All other embodiment, belongs to the scope of protection of the invention.
As shown in Fig. 1, Fig. 6, a kind of wearable lower limb movement exoskeleton robot, including shoe body component (8), shank bar
I (6), shank bar II (9), length adjustment device (7), fluid pressure drive device (12), thigh bar I (3), thigh bar II (10), the back of the body
Frame component (1), air bag (5), protector (4), crutch (2) and wireless remote control (11)；The shoe body component (8) and shank bar II
(9) it is fixedly connected, the length adjustment device (7) is divided into shank pole length regulating device and thigh bar length adjustment device, small
Leg pole length regulating device upper end is fixedly connected with shank bar I (6), and lower end is fixedly connected with shank bar II (9), thigh pole length
Regulating device upper end is fixedly connected with thigh bar I (3), and lower end is fixedly connected with thigh bar II (10), the fluid pressure drive device
(12) it is divided into shank bar fluid pressure drive device and thigh bar fluid pressure drive device, shank bar fluid pressure drive device one end and shank bar
I (6) are fixedly connected, and the other end is fixedly connected with thigh bar II (10), thigh bar fluid pressure drive device one end and thigh bar I (3)
It is fixedly connected, the other end is fixedly connected with the femur rod (104) in frame carrier assembly (1), and the air bag (5) is divided into leg peace
Full air bag and back air bag, leg air bag are fixed on front side of thigh bar II (10), and back air bag is fixed on the back of the body
On rear side of frame component (1), the protector (4) is divided into shank bar protector and thigh bar protector, and shank bar protector is installed on shank bar I
(6) inner side, thigh bar protector are installed on the inside of thigh bar II (10), and the crutch (2) assigns into the fixed circle of shoe body component (8)
In platform (802), the wireless remote control (11) is positioned over user.
As shown in Fig. 2, the shoe body component (8) includes camera (801), fixed round platform (802), U-type groove column
(804), sole frame (805), sole (815), foot rope (803), crawler belt (810), driving wheel (811), drive (809), drive
Moving axis (814), transmission shaft (807), gear I (813), gear II (812), stepper motor (806) and drive bearing (808)；Institute
State the camera (801) for gathering traffic information and be installed on sole frame (805) front end, the U-type groove column (804) is fixed on
Sole frame (805) rear end, the fixation round platform (802) with endoporus are installed on camera (801) rear end, the sole
(815) it is installed in sole frame (805) bottom groove, the foot rope (803) is connected in the middle part of sole frame (805), prevents from using
Person's both feet are slided with lower limb exoskeleton robot, and the transmission shaft (807) and drive shaft (814) are installed in sole frame
(805) in the through hole of groove, and drive bearing (808) is installed in through hole, the stepper motor (806) is installed on sole frame
(805) on, the driving wheel (811) is connected in drive shaft (814) both ends, and the drive (809) is connected in transmission shaft (807)
Both ends, the driving wheel (811) and drive (809) are connected by crawler belt (810), installed in stepper motor (806) output shaft
The gear II (812) of end drives the gear I (813) being installed in drive shaft (814) to rotate, and passes through stepper motor (806)
Rotational movement driving wheel (811) and drive (809) rotate, and enable wearable lower limb movement exoskeleton robot auxiliary
User is helped to complete rectilinear movement.
As shown in figure 3, the frame carrier assembly (1) includes backrest (101), shoulder strap (102), solar panel (114), control
Case (111) processed, wireless receiver (112), steering engine (110), shaft coupling (108), bearing (107), leading screw (106), sliding thick stick
(105), femur rod (104), locknut (109), bolt (113) and bottom cover (103)；The shoulder strap (102) is fixed on backrest
(101) side, the control cabinet (111) are fixed in backrest (101) by bolt (113), described to be used to collect energy too
Positive energy solar panel (114) is fixed on control cabinet (111) upper surface, the wireless receiving for being used to receive wireless remote control (11) signal
Device (112) is installed on the side of control cabinet (111), and the bottom cover (103) is fixed on backrest (101) bottom surface by bolt (113),
Oppositely oriented, the interspersed femur rod (104) of leading screw (106) both ends screw thread in interspersed femur rod (104) threaded hole
Cunning thick stick (105) end in circular hole is fixedly connected with locknut (109), and the leading screw (106), slide thick stick (105) and have spiral shell
The femur rod of pit and circular hole (104) is installed in backrest (101) bottom groove, and described leading screw (106) one end passes through bearing
(107) it is connected by shaft coupling (108) with steering engine (110), the other end is installed in backrest (101) shrinkage pool through bearing (107),
Steering engine (110) is controlled to rotate come the distance between adjusting screw (106) both sides femur rod (104) by wireless remote control (11), it is real
Now to the accommodation of different users' waist sizes.
As shown in figure 4, the length adjustment device (7) includes U-shaped doubly-linked connector (701), supporting rod (702), hinge
(705), sliding block (703) and adjusting screw (704)；Adjusting screw (704) both sides are symmetrically installed the sliding block with self-locking performance
(703), one end of the supporting rod (702) is hinged by hinge (705) and U-shaped doubly-linked connector (701), and the other end passes through hinge
(705) hinged with sliding block (703), by rotating, adjusting screw (704) control slide block (703) is mobile to be adjusted to distinguish adjustment length
Between the U-shaped doubly-linked connector (701) of the shank pole length regulating device of device (7) and thigh bar length adjustment device both ends away from
From realizing the accommodation of the shank and thigh length dimension to different users.
As shown in figure 5, the fluid pressure drive device (12) includes hydraulic cylinder (1203), I type joints (1204), ears seat
(1201), u shaped connector (1205) and flat connector (1202)；The flat connector (1202) being fixed on hydraulic cylinder (1203)
Hinged with ears seat (1201), described I type joints (1204) one end is threadedly coupled with hydraulic cylinder (1203) motion bar, the other end and
U shaped connector (1205) is hinged, and shank bar fluid pressure drive device and thigh bar fluid pressure drive device are controlled by wireless remote control (11)
Hydraulic cylinder (1203) stretching motion realize accurate control to shank bar and thigh bar action, auxiliary user, which smoothly completes, to be kept away
Barrier and stair activity.
During present invention work, user operates portable wireless remote control (11), by the rotation for controlling steering engine (110)
To adjust the distance between two femur rods (104), wearable lower limb movement exoskeleton robot hip is set to be put on very
Comfortably；Adjusting screw (704) in manual rotation length adjustment device (7), control the U-shaped doubly-linked connector (701) in both ends between
Distance, the thigh length and lower-leg length for making wearable lower limb movement exoskeleton robot meet user's demand, perfect
Harmony between human body；After user dresses lower limb movement exoskeleton robot, wireless remote control (11) hair in manipulator
The number of delivering letters gives control cabinet (111) through wireless receiver (112), and stepper motor in shoe body component (8) is controlled by control cabinet (111)
(806) hydraulic cylinder (1203) is flexible in rotation and fluid pressure drive device (12), makes wearable lower limb movement ectoskeleton machine
Device people aids in user to complete rectilinear movement, avoidance and stair activity.
During rectilinear movement, stepper motor (806) in sole frame (805) while driving wheel (811), drive are driven
(809) rotated with crawler belt (810), when the camera (801) on sole frame (805) detects that there is barrier in front, ectoskeleton
Robot meeting adjust automatically moving direction, cut-through thing continue to move to target；During stair activity, camera (801) collection
To when there is certain distance with stair above, the hydraulic cylinder in fluid pressure drive device (12) is controlled by control cabinet (111)
(1203) stretch, realize gait the same stair activity of the user according to normal person.Centre-of gravity shift in order to prevent, user can be with
Using the balance of body during crutch (2) maintenance stair activity, if the Attitute detecting device in control cabinet (111) detects user
Body falls down tendency in moving process, is fixed on the air bag on front side of thigh bar II (10) and on rear side of frame carrier assembly (1)
(5) it can rapidly open, prevent user from, because being injured falling down be subject to external environment condition, improving wearable lower limb movement dermoskeleton
The security performance of bone robot.At the same time the present invention outdoors operation when, solar panel (114) can continuously collection too
Sun can be converted into power storage into control cabinet (111), extend the run time of lower limb movement exoskeleton robot.
Obviously, those skilled in the art can carry out the embodiment of the present invention various modification and variations without departing from this hair
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these modification and variations.
Claims (5)
- A kind of 1. wearable lower limb movement exoskeleton robot, it is characterised in that：Including shoe body component, shank bar I, shank bar IIth, length adjustment device, fluid pressure drive device, thigh bar I, thigh bar II, frame carrier assembly, air bag, protector, crutch and nothing Line is remotely controlled；The shoe body component is fixedly connected with shank bar II, and the length adjustment device is divided into shank pole length regulating device With thigh bar length adjustment device, shank pole length regulating device upper end is fixedly connected with shank bar I, and lower end is solid with shank bar II Fixed connection, thigh bar length adjustment device upper end are fixedly connected with thigh bar I, and lower end is fixedly connected with thigh bar II, the liquid Hydraulic driver is divided into shank bar fluid pressure drive device and thigh bar fluid pressure drive device, shank bar fluid pressure drive device one end with Shank bar I is fixedly connected, and the other end is fixedly connected with thigh bar II, and thigh bar fluid pressure drive device one end is fixed with thigh bar I Connection, the other end are fixedly connected with the femur rod in frame carrier assembly, and the air bag is divided into leg air bag pacifies with back Full air bag, leg air bag are fixed on the front side of thigh bar II, and back air bag is fixed on rear side of frame carrier assembly, the protector It is divided into shank bar protector and thigh bar protector, shank bar protector is installed on the inner side of shank bar I, and thigh bar protector is installed on thigh bar II inner side, the crutch are assigned into the fixation round platform of shoe body component, and the wireless remote control is positioned over user.
- A kind of 2. wearable lower limb movement exoskeleton robot according to claim 1, it is characterised in that：The shoe body Component includes camera, fixed round platform, U-type groove column, sole frame, sole, foot rope, crawler belt, driving wheel, drive, driving Axis, transmission shaft, gear I, gear II, stepper motor and drive bearing；The camera for being used to gather traffic information is installed on Sole frame front end, the U-type groove column is fixed on sole frame rear end, after the fixation round platform with endoporus is installed on camera End, the sole are installed in sole frame bottom groove, and the foot rope is connected in the middle part of sole frame, prevent user's both feet with Lower limb exoskeleton robot slides, and the transmission shaft and drive shaft are installed in the through hole of foot chassis groove, and logical Drive bearing is installed, the stepper motor is installed on sole frame, and the driving wheel is connected in drive shaft both ends, described in hole Drive is connected in both ends of the drive shaft, and the driving wheel is connected with drive by crawler belt, installed in stepper motor output shaft end The gear II at end drives the gear I of installation on the driving shaft to rotate, and passes through the rotational movement driving wheel and biography of stepper motor Wheel rotation, enables wearable lower limb movement exoskeleton robot to aid in user to complete rectilinear movement.
- A kind of 3. wearable lower limb movement exoskeleton robot according to claim 1, it is characterised in that：The backrest Component include backrest, shoulder strap, solar panel, control cabinet, wireless receiver, steering engine, shaft coupling, bearing, leading screw, sliding thick stick, Femur rod, locknut, bolt and bottom cover；The shoulder strap is fixed on backrest side, and the control cabinet is bolted on the back of the body On frame, the solar panel for being used to collect energy is fixed on control cabinet upper surface, described to be used to receive wireless remote control letter Number wireless receiver be installed on the side of control cabinet, the bottom cover is bolted on backrest bottom surface, the interspersed femur Leading screw both ends screw thread in bar threaded hole it is oppositely oriented, the cunning thick stick end in the interspersed femur rod circular hole is consolidated with locknut Fixed connection, the leading screw, sliding thick stick and the femur rod with threaded hole and circular hole are installed in backrest bottom groove, the leading screw One end is connected through bearing by shaft coupling with steering engine, and the other end is installed in backrest shrinkage pool through bearing, passes through wireless remote control Control steering engine to rotate and carry out the distance between adjusting screw both sides femur rod, realize the adaptability tune to different users' waist sizes It is whole.
- A kind of 4. wearable lower limb movement ectoskeleton machine according to Claims 2 or 3, it is characterised in that：The length Degree regulating device includes U-shaped doubly-linked connector, supporting rod, hinge, sliding block and adjusting screw；The adjusting screw both sides are symmetrically installed Sliding block with self-locking performance, one end of the supporting rod are hinged by hinge and U-shaped doubly-linked connector, and the other end passes through hinge and cunning Block is hinged, and distinguishes the shank pole length regulating device of adjustment length regulating device by rotating the movement of adjusting screw control slide block The distance between U-shaped doubly-linked connector in thigh bar length adjustment device both ends, realizes the shank and thigh length to different users Spend the accommodation of size.
- A kind of 5. wearable lower limb movement ectoskeleton machine according to Claims 2 or 3, it is characterised in that：The liquid Hydraulic driver includes hydraulic cylinder, I type joints, ears seat, u shaped connector and flat connector；It is described be fixed on it is flat on hydraulic cylinder Connector is hinged with ears seat, and described I type joints one end is threadedly coupled with hydraulic cylinder motion bar, and the other end is hinged with u shaped connector, The hydraulic cylinder extension movement realization pair of shank bar fluid pressure drive device and thigh bar fluid pressure drive device is controlled by wireless remote control Shank bar and the accurate control of thigh bar action, auxiliary user smoothly complete avoidance and stair activity.
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| CN201810020560.1A CN108030645B (en) | 2018-01-10 | 2018-01-10 | Wearable lower limb mobile exoskeleton robot |
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| CN201810020560.1A CN108030645B (en) | 2018-01-10 | 2018-01-10 | Wearable lower limb mobile exoskeleton robot |
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| CN110076795A (en) * | 2019-04-26 | 2019-08-02 | 南安冠玲工业设计有限公司 | A kind of novel science and education intelligent robot |
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