CN108115650A - A kind of leg restraint for lower limb exoskeleton robot - Google Patents
A kind of leg restraint for lower limb exoskeleton robot Download PDFInfo
- Publication number
- CN108115650A CN108115650A CN201611075874.9A CN201611075874A CN108115650A CN 108115650 A CN108115650 A CN 108115650A CN 201611075874 A CN201611075874 A CN 201611075874A CN 108115650 A CN108115650 A CN 108115650A
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- CN
- China
- Prior art keywords
- leg
- sliding end
- shell
- lower limb
- exoskeleton robot
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to exoskeleton robot technical fields, specifically disclose a kind of leg restraint for lower limb exoskeleton robot, including fixing end, sliding end, set casing, rotation shell and bandage；The fixing end is fixed on the ectoskeleton of leg, and the fixing end is slidably connected with the sliding end, the sliding end can relatively described fixing end slide axially along the leg；The one side for rotating shell and being detachably arranged in the sliding end, the shell that rotates can be rotated relative to the sliding end along with the axially vertical direction in leg, the set casing is fixedly installed on the opposite side of the sliding end, the bandage is respectively arranged on the outside of the set casing and the rotation shell, the set casing, the rotation shell and bandage cooperation carry out fixed leg.The fixing device of the present invention has the advantageous effect of easy to disassemble, more preferable matching different human body leg type.
Description
Technical field
The present invention relates to exoskeleton robot technical fields, more particularly to a kind of leg for lower limb exoskeleton robot
Fixing device.
Background technology
Lower limb exoskeleton robot is a kind of wearable device of power-assisted, is typical man-machine hybrid system, functionally has
More human-computer interaction.Domestic existing leg fixed solution is mostly using the method being fixedly connected between fixing device and leg, a side
Face is difficult to dismantle, and cleaning is inconvenient；On the other hand the human body of different building shape cannot be matched well, influences the comfort of wearing,
For the group of handicapped of lower extremity motor function obstacle, long-time service is easier to cause secondary injury to the lower limb for dressing personnel.
The content of the invention
It is contemplated that existing exoskeleton robot fixed leg mechanism is overcome to be difficult to dismantle, different leg types can not be adapted to
Technological deficiency provides a kind of leg restraint for lower limb exoskeleton robot.
To achieve the above object, the present invention uses following technical scheme：
The present invention provides a kind of leg restraint for lower limb exoskeleton robot, including fixing end, sliding end, consolidates
Determine shell, rotate shell and bandage；
The fixing end is fixed on the ectoskeleton of leg, and the fixing end is slidably connected with the sliding end, the slip
End can relatively described fixing end slide axially along the leg；
The one side for rotating shell and being detachably arranged in the sliding end, the rotation shell can relatively described sliding end edge
Rotated with the axially vertical direction in leg, the set casing is fixedly installed on the opposite side of the sliding end, the set casing and
The bandage is respectively arranged on the outside of the rotation shell, the set casing, the rotation shell and bandage cooperation carry out Convenient table
Portion.
In some embodiments, the set casing includes fixing shell and fixed inner casing, the fixing shell are fixedly installed on
The one side of the sliding end, the fixed inner casing are arranged at the inside of the fixing shell；The rotation shell includes rotation case
And inner casing is rotated, the inside for rotating inner casing and being arranged at the rotation case, the rotation case is rotatably dispose in the cunning
On moved end, it can be rotated relative to the sliding end along with the axially vertical direction in leg.
In some embodiments, between the rotation inner casing and the rotation case, outside the fixed inner casing and the fixation
Sensor is respectively arranged between shell, the sensor is used to detect the movement tendency of the leg.
In some embodiments, the sensor is diaphragm pressure sensor.
In some embodiments, slideway is provided in the fixing end, sliding block is provided on the sliding end, the sliding block can
It is slidingly arranged on the slideway.
In some embodiments, the sliding end includes the sliding end matrix being fixedly connected and sliding end shaft, the rotation
Shell one end is provided with shaft, and the sliding end shaft is equipped with a through hole；The sliding block is fixedly connected with the slip matrix,
The fixing shell is fixedly installed on the sliding end matrix；The shaft of the rotation case is inserted into the sliding end shaft
Through hole in, with the rotation case be rotatablely connected.
In some embodiments, limited block is provided with below the slideway, for limiting the position that the sliding end moves downward
It puts.
In some embodiments, the fixed inner casing and the rotation case are both provided with cushion on the inside of leg.
The beneficial effects of the present invention are：
The present invention rapidly can be dismantled and installed, and make cleaning protection pad more convenient；Rotating part has certain activity with bandage
Scope can compensate for systematic error；The judgement to movement tendency is realized using two pressure sensors, it is simple in structure.
Description of the drawings
Fig. 1 is overall structure of the present invention for one specific embodiment of leg restraint of lower limb exoskeleton robot
Schematic diagram；
Fig. 2 is one specific embodiment detachable structure of leg restraint that the present invention is used for lower limb exoskeleton robot
Schematic diagram；
Fig. 3 is the present invention for sensor knot in one specific embodiment of leg restraint of lower limb exoskeleton robot
Structure schematic diagram.
Reference sign：
1 fixing end, 2 sliding end
3 fix 4 fixing shell of inner casing
5 rotate 6 rotation case of inner casing
7 bandage, 8 cushion
9 pressure sensors 21 slide matrix
22 sliding end shafts
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
Term " first ", " second ", " the 3rd " " in description and claims of this specification and above-mentioned attached drawing
The (if present)s such as four " are the objects for distinguishing similar, without being used to describe specific order or precedence.It should manage
The data that solution so uses can exchange in the appropriate case, so that the embodiments described herein can be with except illustrating herein
Or the order beyond the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
The present invention the leg restraint for lower limb exoskeleton robot including fixing end 1, sliding end 2, set casing,
Rotate shell and bandage 7.Fixing end 1 is fixed on the ectoskeleton of leg, and fixing end 1 is slidably connected with sliding end 2, makes sliding end 2 can
End 1 is relatively fixed to slide axially along leg.The one side that shell is detachably arranged in sliding end 2 is rotated, rotating shell opposite can slide
End 2 is rotated along with the axially vertical direction in leg, so as to fulfill the adjusting to leg elasticity.Set casing is fixedly installed on slip
Bandage 7 is respectively arranged on the outside of the opposite side at end 2, set casing and rotation shell, set casing rotates shell and bandage cooperation to fix
Leg.
Referring to Fig. 1, it is one specific embodiment of leg restraint that the present invention is used for lower limb exoskeleton robot
Overall structure diagram.In the present embodiment, set casing includes fixed inner casing 3 and fixing shell 4, fixing shell 4 are fixedly installed on
The one side of sliding end 2, fixed inner casing 3 are arranged at the inside of fixing shell 4, and the two has similar structure, include fitting leg
The curved-surface structure of portion's shape, 4 material therefor of fixing shell are harder than fixed inner casing 3.Rotating shell includes rotating inner casing 5 and rotation case
6, the inside that inner casing 5 is arranged at rotation case 6 is rotated, the two has similar structure, and 6 material therefor of rotation case is than in rotation
Shell 5 is hard.Rotation case 6 is rotatably dispose on sliding end 2, can be rotated relative to sliding end 2 along with the axially vertical direction in leg.Tool
Body, the concrete structure of the leg restraint in the present embodiment for lower limb exoskeleton robot is：Including fixing end 1, slide
Moved end 2, fixed inner casing 3, fixing shell 4, rotation inner casing 5, rotation case 6, bandage 7, cushion 8, pressure sensor 9.
With reference to Fig. 1 and Fig. 2, the present invention can for one specific embodiment of leg restraint of lower limb exoskeleton robot
The schematic diagram of detaching structure.Preferably, sliding end 2 includes sliding end matrix 21 and sliding end shaft 22, the two in the present embodiment
Between it is fixed.Sliding block is provided on sliding end matrix 21, and one side is provided with threaded hole.It is designed to that two parts are mainly
Facilitate processing.Slideway is provided in fixing end 1, the sliding block of sliding end matrix 21 can be in the slideway in fixing end 1 along leg
It slides axially.
In the present embodiment, limited block is provided with below the slideway of fixing end 1, is moved downward for limiting sliding block in slideway
Position, prevent sliding end 2 from deviating from from below.Slideway inner wall is provided with lubrication system, and plastic slide film conduct is used in this example
Lubrication system.It is opposite up and down between ectoskeleton leg and human leg during use since ectoskeleton is to the quick follower characteristics of human body
Displacement very little, so not making /V above the sliding pair of slideway, sliding block, gravity can be protected with frictional force under a standing way length
Fixing device is not fallen out when card uses.
In the present embodiment, fixing shell 4 is fixedly mounted on by screw on sliding end matrix 21.Rotation case 6 is with sliding
End shaft 22 is rotatablely connected.Specifically, the structure of rotation case 6 includes being arranged on the shaft of side, the link block above shaft
And the curved-surface structure for being bonded shape of leg with shaft rotation connection, link block are used for lowermost limit, specific location is top
Cantilever shaft below link block.Sliding end shaft 22 is equipped with a through hole, for being inserted into the cantilever shaft on rotation case 6, leads to
It crosses after link block coordinates with sliding end shaft 22 and realizes lower limit.Shaft hole matching between rotation case 6 and sliding end 2 uses gap
It cooperation and only sets /V, ensures from top not deviate from using device self gravitation and with human leg's frictional force, and can be with
Easily dismantled.
Referring to Fig. 3, to be used for one specific embodiment of leg restraint of lower limb exoskeleton robot in the present invention
Middle sensor structure schematic diagram.It rotation case 6 and rotates between inner casing 5 and fixing shell 4 and fixed 3 intermediate space of inner casing
Pressure sensor 9 is separately installed with, for detecting the movement tendency of the leg, diaphragm pressure sensor is used in this example.It is logical
Such setting is crossed, is equivalent to placement sensor before and after human leg, the pressure of 7 bondage of bandage can be eliminated by making difference to measurement result
Power, the force direction of gained are the direction of human leg's movement tendency.
Fixing shell 4,6 outside of rotation case are respectively fixed with bandage 7, fixed leg elastic for adjusting.Fixed inner casing
3rd, rotate 5 inside of inner casing and post cushion 8 respectively, for protecting human body, provide buffering.
All fixed forms in this example include but not limited to the modes such as screw threads for fastening, welding, bonding, riveting and buckle.
The present invention has the advantages that for the leg restraint of lower limb exoskeleton robot：
1st, rapidly it can dismantle and install, make cleaning protection pad more convenient；
2nd, rotating part and bandage have certain scope of activities, can compensate for systematic error；
3rd, it is simple in structure using judgement of two pressure sensors realizations to movement tendency.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit may be referred to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
Division is only a kind of division of logic function, can there is other dividing mode, such as multiple units or component in actual implementation
It may be combined or can be integrated into another system or some features can be ignored or does not perform.It is another, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
The leg restraint provided by the present invention for lower limb exoskeleton robot is described in detail above,
For those of ordinary skill in the art, according to the thought of the embodiment of the present invention, in specific embodiments and applications
It will change, in conclusion this specification content should not be construed as limiting the invention.
Claims (8)
1. a kind of leg restraint for lower limb exoskeleton robot, which is characterized in that including fixing end, sliding end, consolidate
Determine shell, rotate shell and bandage；
The fixing end is fixed on the ectoskeleton of leg, and the fixing end is slidably connected with the sliding end, and the sliding end can
Relatively described fixing end slides axially along the leg；
The one side for rotating shell and being detachably arranged in the sliding end, the rotation shell can relatively described sliding end edge and legs
The axially vertical direction in portion rotates, and the set casing is fixedly installed on the opposite side of the sliding end, the set casing and described
It rotates and the bandage is respectively arranged on the outside of shell, the set casing, the rotation shell and bandage cooperation carry out fixed leg.
2. the leg restraint of lower limb exoskeleton robot to be used for as described in claim 1, which is characterized in that the fixation
Shell includes fixing shell and fixed inner casing, the fixing shell are fixedly installed on the one side of the sliding end, the fixed inner casing
It is arranged at the inside of the fixing shell；
The rotation shell includes rotation case and rotates inner casing, the inside for rotating inner casing and being arranged at the rotation case, institute
It states rotation case to be rotatably dispose on the sliding end, can be rotated relative to the sliding end along with the axially vertical direction in leg.
3. the leg restraint of lower limb exoskeleton robot to be used for as claimed in claim 2, which is characterized in that the rotation
Sensor, the biography are respectively arranged between inner casing and the rotation case, between the fixed inner casing and the fixing shell
Sensor is used to detect the movement tendency of the leg.
4. the leg restraint of lower limb exoskeleton robot to be used for as claimed in claim 3, which is characterized in that the sensing
Device is diaphragm pressure sensor.
5. the leg restraint of lower limb exoskeleton robot to be used for as claimed in claim 2, which is characterized in that the fixation
Slideway is provided on end, sliding block is provided on the sliding end, the sliding block is slidably disposed on the slideway.
6. the leg restraint of lower limb exoskeleton robot to be used for as claimed in claim 5, which is characterized in that the slip
End includes the sliding end matrix being fixedly connected and sliding end shaft, described rotation case one end are provided with shaft, the sliding end
Shaft is equipped with a through hole；
The sliding block is fixedly connected with the slip matrix, and the fixing shell is fixedly installed on the sliding end matrix；
The shaft of the rotation case is inserted into the through hole in the sliding end shaft, to be rotatablely connected with the rotation case.
7. the leg restraint of lower limb exoskeleton robot to be used for as claimed in claim 5, which is characterized in that the slideway
Lower section is provided with limited block, for limiting the position that the sliding end moves downward.
8. the leg restraint of lower limb exoskeleton robot to be used for as claimed in claim 2, which is characterized in that the fixation
Inner casing and the rotation case are both provided with cushion on the inside of leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075874.9A CN108115650A (en) | 2016-11-29 | 2016-11-29 | A kind of leg restraint for lower limb exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075874.9A CN108115650A (en) | 2016-11-29 | 2016-11-29 | A kind of leg restraint for lower limb exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108115650A true CN108115650A (en) | 2018-06-05 |
Family
ID=62225917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611075874.9A Pending CN108115650A (en) | 2016-11-29 | 2016-11-29 | A kind of leg restraint for lower limb exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108115650A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109079752A (en) * | 2018-07-27 | 2018-12-25 | 北京机械设备研究所 | A kind of man-machine attachment device of ectoskeleton thigh based on linear bearing |
| CN111693181A (en) * | 2020-05-20 | 2020-09-22 | 南京航空航天大学 | Man-machine one-dimensional interaction force measuring sensor and measuring method for lower limb exoskeleton |
| CN112168611A (en) * | 2020-09-30 | 2021-01-05 | 天津大学 | Lower limb active exoskeleton for surface weightlessness training |
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| CN106109186A (en) * | 2016-08-31 | 2016-11-16 | 中国科学院深圳先进技术研究院 | Wearable lower limb exoskeleton robot |
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| CN201524216U (en) * | 2009-02-23 | 2010-07-14 | 耿超 | Auxiliary human walking device |
| CN102871822A (en) * | 2012-09-28 | 2013-01-16 | 中国科学院深圳先进技术研究院 | Portable and wearable exoskeleton robot for lower limb recovery and walking aid |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079752A (en) * | 2018-07-27 | 2018-12-25 | 北京机械设备研究所 | A kind of man-machine attachment device of ectoskeleton thigh based on linear bearing |
| CN111693181A (en) * | 2020-05-20 | 2020-09-22 | 南京航空航天大学 | Man-machine one-dimensional interaction force measuring sensor and measuring method for lower limb exoskeleton |
| CN111693181B (en) * | 2020-05-20 | 2022-04-05 | 南京航空航天大学 | Man-machine one-dimensional interaction force measuring sensor and measuring method for lower limb exoskeleton |
| CN112168611A (en) * | 2020-09-30 | 2021-01-05 | 天津大学 | Lower limb active exoskeleton for surface weightlessness training |
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Application publication date: 20180605 |