CN108245380A - A kind of human body lower limbs recovery exercising robot - Google Patents
A kind of human body lower limbs recovery exercising robot Download PDFInfo
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- CN108245380A CN108245380A CN201810206304.1A CN201810206304A CN108245380A CN 108245380 A CN108245380 A CN 108245380A CN 201810206304 A CN201810206304 A CN 201810206304A CN 108245380 A CN108245380 A CN 108245380A
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- loss
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- human body
- gaiter
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/0464—Walk exercisers without moving parts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/836—Sensors arranged on the body of the user
Abstract
The invention discloses a kind of human body lower limbs recovery exercising robots, including ectoskeleton power plant, treadmill, waist joint device, suspention weight reducing device and its control system, gait track when wherein ectoskeleton power plant drive human body is walked according to normal person is trained；Treadmill collaboration ectoskeleton provides identical training speed for patient；Suspention weight reducing device is sling human body by rope, and patient can be drawn according to desired trajectory and moves up and down and provides loss of weight power；Waist joint device is for the ectoskeleton power plant with the coupling part for suspending weight reducing device in midair, it can be achieved that human body width adequate adjusts and meet the undulatory motion of human body in walking process；Under the action of gait training and suspention loss of weight control system, patient carries out gait training according to predetermined gait track, and loss of weight system draws patient motion according to synchronous barycenter trajectory, to simulate the fluctuations of body when normal human walks, improves rehabilitation efficacy.
Description
Technical field
The present invention relates to medical rehabilitation instrument, more particularly to a kind of human body lower limbs recovery exercising robot.
Background technology
For the patient by central nervous system diseases such as spinal injury, apoplexy, the overwhelming majority can face movement
Sexual dysfunction, patient have different degrees of viability, labor capacity is lost mostly, this seriously endangers their health.It is modern
Medicine thinks, by constantly repeatedly providing the stimulation of some strength to nervous centralis, can restore central nervous system injury future trouble
The functional locomotor activity of person.Lower limb rehabilitation training traditional at present is according to normal human by professional Physical Therapist " teach-by-doing "
The gait of walking draws patient's suffering limb to stimulate its motor center neural repeatedly, it is assisted to obtain locomotor activity, however
This method not only increases the labor intensity of physiatrician, and required medical expense is higher, and therapeutic effect is low.Therefore,
Demand to lower limb rehabilitation robot just seems particularly urgent.
Chinese patent CN106344340A and CN105997441B have all referred to a kind of wearable lower limb walking aid rehabilitation machine
Device people, but the two need to provide large range of place for its activity for patient, meanwhile, patient need to rely on the tools such as crutch that could protect
It holds balance and balance is poor, cause training quality not high.China Patent No. CN102836048B relates to a kind of inclination
Bed lower limbs rehabilitation training robot, patient recline in bed, and upper body is fixed, and limiting human body upper body exercises leads to body not
It is suitable, simultaneously because body is in heeling condition, it is impossible to which the true walking environment of reduction, rehabilitation efficacy are poor completely.Chinese patent
" the adaptive weight reducing device of suspension type and recovery exercising robot of rehabilitation training " (CN107693301A) is proposed including rope
The adaptive loss of weight case of rope winding plant and adaptive center of gravity following device, although so that robot occupied space is reduced, and
Reduce true walking environment to a certain extent, still, due to leg training accessory can not autokinetic movement, can not simulate normal
Walking step state causes patient to be not easy to keep one's balance in training, and center of gravity follows effect poor, not only influences training effect
Fruit also easily causes patient centainly to injure.
Invention content
The present invention is solves the shortcomings of the prior art, it is proposed that a kind of human body lower limbs recovery exercising robot.
In order to achieve the above objectives, present invention employs following technical schemes：
The robot includes gait training system, loss of weight system and waist joint device, and gait training system includes dermoskeleton
Bone power plant, ectoskeleton power plant include for human body wearing lower limb exoskeleton, lower limb exoskeleton include joint driver,
Joint connecting mechanism, length adjustment mechanism and gaiter mechanism, joint connecting mechanism include fixed section and the work being connected with fixed section
Dynamic section, joint driver are arranged on fixed section, and active segment is connected respectively with length adjustment mechanism and joint driver, gaiter machine
Structure is arranged on length adjustment mechanism, and loss of weight system includes the rope that gravity center of human body can be followed to change and is used to support subtracting for rope
Weight stent, waist joint device is set on loss of weight stent, available for connecting lower limb exoskeleton.
Preferably, the joint driver include connecting rod, the drive enclosure that is set on the fixed section and with drive
The motor mount that device shell is connected is moved, is provided with the first servo motor on motor mount, the first servo motor passes through shaft coupling
Device is connected with the leading screw being set in drive enclosure, is provided with nut mounting base on the leading screw, nut mounting base include with
The nut that leading screw is connected and the nut set being set on nut, nut cover be set in drive enclosure can linear slide
Guide rail slide block be connected, one end of connecting rod and nut set are hinged, and the other end stretches out drive enclosure and is simultaneously hinged with the active segment.
Preferably, the joint connecting mechanism specifically includes joint pressing plate, fixed end connection (can be used for connection waist to connect
Connection device) and movable end connection, it fixes on end connection and is provided with round boss, joint pressing plate is axially disposed within along the boss
Can be freely rotated on fixed end connection and around the boss, joint pressing plate respectively with movable end connection and the joint driver
It is connected, joint driver is arranged on fixed end connection.
Preferably, the boss is hollow structure, and the encoder for detecting corner, the volume are provided in hollow structure
The rotor of code device is connected with the encoder stent being set on the joint pressing plate.
Preferably, the length adjustment mechanism includes length adjustment inner tube and length adjustment outer tube, the gaiter mechanism
It is connected with length adjustment outer tube, one end built-in length of length adjustment inner tube is adjusted in outer tube, is provided on length adjustment outer tube
Adjust inner tube for locked lengths and be exposed to the clamping device of length adjustment outside pipe point length, length adjustment outer tube or/and
Length adjustment inner tube is connected with the joint connecting mechanism.
Preferably, the gaiter mechanism include gaiter inner ring, gaiter outer shroud, bandage, tension-compression sensor, miniature guide rail and with
What the length adjustment mechanism was connected locks guide rail, and gaiter inner ring and gaiter outer shroud are connected by miniature guide rail, tension and compression sensing
Device is set between gaiter inner ring and gaiter outer shroud, and bandage is set in gaiter inner ring, can lock sliding block and gaiter on guide rail
Outer shroud is connected.
Preferably, the lower limb exoskeleton includes two joint connecting mechanisms, and one corresponds to lower limb hip joint, and one right
Lower limb knee joint is answered, the joint connecting mechanism positioned at upside is connected to waist joint device, upper and lower sides two by its fixing end
Joint connecting mechanism is connected by a length adjustment mechanism, another length adjustment mechanism is connected to downside joint connecting mechanism
Lower end (movable end)；Lower limb exoskeleton specifically includes hip joint driver, knee joint driver, the connection of hip joint pelvis side
Part, femoral hip prosthesis side connector, knee joint femoral side connector, knee joint tibial side connector, thigh side length adjust machine
Structure and shank side length regulating mechanism, hip joint driver are arranged on the connector of hip joint pelvis side, hip joint driver and
Femoral hip prosthesis side connector is connected with the joint pressing plate free to rotate being set on the connector of hip joint pelvis side, thigh
Side length regulating mechanism is connected respectively with femoral hip prosthesis side connector and knee joint femoral side connector, and knee joint driver is set
It puts on the connector of knee joint femoral side, knee joint driver and knee joint tibial side connector are with being set to knee joint femoral side
Joint pressing plate free to rotate on connector is connected, shank side length regulating mechanism and knee joint tibial side connector phase
Even, gaiter mechanism is respectively arranged on shank side length regulating mechanism and thigh side length regulating mechanism, hip joint pelvis side connects
Detection femoral hip prosthesis side connector and knee joint tibial side are separately provided on fitting and knee joint femoral side connector
The encoder of connector corner.
Preferably, the waist joint device includes width adjustment mechanism and supporting mechanism；The width adjustment mechanism packet
Width adjusting support plate, two ectoskeleton installing plates adjustable in pitch are included (for connecting the hip joint pelvis side of lower limb exoskeleton
Connector) and the linear guide in width adjusting support plate and positive and negative tooth leading screw are arranged on, positive and negative tooth leading screw end set has
Handwheel, one of ectoskeleton installing plate and the orthodontic nut that is arranged on positive and negative tooth leading screw and to be arranged on the linear guide corresponding
Linear bearing on side is connected, another ectoskeleton installing plate and the anti-tooth nut that is arranged on positive and negative tooth leading screw and is arranged on
Linear bearing in the linear guide respective side is connected；
The supporting mechanism include upper pendulum bar, draft link and the support base being connected with the loss of weight stent, upper pendulum bar and under
The front end of swing rod is hinged with the width adjusting support plate, the rear end and support seat hinge of upper pendulum bar and draft link.
Preferably, the loss of weight system specifically includes adaptive loss of weight case, loss of weight stent and rope traction component, rope draw groups
Part includes loss of weight clothes, pulling force sensor, rope and the pulley blocks being set on loss of weight stent, one end of pulling force sensor and loss of weight
Clothes are connected, and the other end is connected with rope, and rope is extended to through the pulley blocks in adaptive loss of weight case；
The adaptive loss of weight case includes babinet and the installing plate being set in babinet, rope winding plant and adaptive
Center of gravity following device, rope winding plant and adaptive center of gravity following device are respectively arranged on the two sides of the installing plate,
The rope is connected by the pulley being set on installing plate with rope winding plant and adaptive center of gravity following device successively；
The gait training system further includes the treadmill for being set to the loss of weight frame bottom.
Preferably, the robot further includes industrial personal computer, motion control card, ectoskeleton Power plant control module, treadmill
Control module and loss of weight system control module；The ectoskeleton Power plant control module includes servo motor (i.e. above-mentioned the
One servo motor, there are four servo motors altogether for two lower limb exoskeletons) driver and for detecting joint connecting mechanism rotation
The encoder of angle (corner), motor servo driver are connected respectively with the servo motor and motion control card, motion control
Card and the encoder are connected respectively with industrial personal computer；The treadmill control module includes DC motor speed-regulating device and the sensing that tests the speed
Device, DC motor speed-regulating device respectively with for treadmill provide power direct current generator and industrial personal computer be connected, tachogenerator with
Industrial personal computer is connected；The loss of weight system control module includes suspention loss of weight submodule and center of gravity follows submodule；Suspend loss of weight in midair
Module includes the data collecting card being connected with industrial personal computer and pulling force sensor；
Ectoskeleton Power plant control module drives according to the preset gait track for human body lower limbs rehabilitation training
Dynamic lower limb exoskeleton drives human body to carry out lower limb gait training using lower limb exoskeleton；
Loss of weight submodule is suspended in midair according to preset loss of weight power, numerical value is detected as feedback using pulling force sensor, with subtracting
Gravity setting numerical value is compared, and is calculated loss of weight power and is adjusted variable quantity, will be adjusted variable quantity and be converted signal in order to control and pass through fortune
Dynamic control card passes to rope winding plant (servo motor B), adjusts rope lengths using rope winding plant, is set until reaching
Fixed loss of weight power；
Center of gravity follows submodule to pass through the adaptive center of gravity of motion control card control according to preset centre-of-gravity path
Following device (servo motor A) drives rope using adaptive center of gravity following device, synchronous while lower limb gait training
Human body is drawn to move up and down.
Beneficial effects of the present invention are embodied in：
Gait training system can drive the simulation normal gait movement of patient's lower limb in the present invention；Loss of weight system can be in patient
Gait training during certain loss of weight power is provided for it, while can according to scheduled track by adjust rope lengths with
Its body steadiness is maintained with patient's gravity center shift, and with reference to waist joint device, overcomes and is not easy to keep body in training
The deficiency of balance so that center of gravity follows effect more preferable, can remold the motor center nerve of patient, patient is allowed to regain walking
Ability, and improve rehabilitation effect.
Further, encoder is installed on each joint and fixes in the hollow structure on end connection, and encoder shell can
It is fixed with the fixed end connection, encoder shaft is fixed with the movable end connection by encoder stent, is thus compiled
Code device is the corner that can measure joint, is shown in patient's training process for joint angles, such mounting means structure is tight
It gathers, angle measurement is convenient, meanwhile, the mounting means of internally-arranged type is protected convenient for encoder, prevents from colliding with, and improves device security.
Further, in joint driver part, using the crank block being made of joint pressing plate, connecting rod and guide rail slide block
Transmission mechanism, servo motor by leading screw control nut movement, the linear motion of nut is converted into crank handle turns joint
Rotation, under such mode, joint motions precision is high, and patient can be driven to be trained according to scheduled gait track, improves
Trained accuracy, meanwhile, the driving force that the kind of drive of leading screw will improve servo motor makes joint torque bigger, can
Patient is more effectively driven, improves rehabilitation efficacy.
Further, patient legs are fastened by bandage and gaiter mechanism inner ring, with the increasing of Rehabilitation degree
Add, the active movement consciousness enhancing of patient legs (is embodied in tension-compression sensor numerical value in the training process and patient is complete
It is different during passive exercise), tension-compression sensor can be intended to the active movement of patient to make detection, and active control afterwards
In play a role.Meanwhile the gaiter mechanism inner and outer ring when can lock free to slide at guide rail, patient legs and dermoskeleton
Appropriate relative movement can occur between bone, meet the horizontal fine motion of patient legs, improve the comfort level of patient's training.
Description of the drawings
Fig. 1 is lower limbs rehabilitation training robot general structure schematic diagram；
Fig. 2 is ectoskeleton power plant general structure schematic diagram；
Fig. 3 is the length adjustment rod structure schematic diagram of ectoskeleton power plant in Fig. 2；
Fig. 4 is the joint drive schematic diagram (a) of ectoskeleton power plant in Fig. 2, (b) and the explosion of hip joint activation configuration
Scheme (c)；
Fig. 5 is structure of installing encoders exploded perspective view at the knee joint of ectoskeleton power plant in Fig. 2；
Fig. 6 is the gaiter mechanism general illustration (a) of ectoskeleton power plant and explosive view (b) in Fig. 2；
Fig. 7 is waist joint device structure diagram；Wherein, (a) is width adjustment mechanism structure diagram；(b) it is branch
Support mechanism structure diagram；(c) it is rotary shaft scheme of installation；
Fig. 8 is the general structure schematic diagram for suspending weight reducing device in midair；
Fig. 9 is the structure diagram for the adaptive loss of weight case for suspending weight reducing device in Fig. 8 in midair；Wherein, (a) is installing plate front
It sees；(b) it is installing plate dorsal view；
Figure 10 is the schematic diagram for suspending weight reducing device in Fig. 8 in midair；
Figure 11 is the control system hardware connection figure of lower limbs rehabilitation training robot；
Figure 12 is Rehabilitation training flow chart；
In figure：1- ectoskeleton power plants；2- treadmills；3- waist joint devices；The adaptive loss of weight casees of 4-；5- loss of weight branch
Frame；6- rope traction components；7- hip joint drivers；8- hip joint pelvis heads；9- hip joint coder installing devices；10- hips close
Save femur side connector；11- thigh side length adjusting rods；12- knee joint drivers；13- knee joint femorals side connector；14-
Knee joint coder installing device；15- knee joint tibials side connector；16- shank side length adjusting rods；17- gaiters mechanism；
18- AC servo motors；19- motor mounts；20- single-iris shaft couplings；21- drive enclosures；22- guide rail slide blocks；23- drives
Dynamic device miniature guide rail；24- leading screw bearings；25- connecting rods；26- nut sets；27- driver nuts；28- ball-screws；29- is absolute
Formula encoder；30- joints pressing plate；31- encoders install disk；32- encoder stents；33- gaiter outer shrouds；34- gaiter inner ring；
35- Medical bandages；36- right angles bar；37- gaiter guide rails；38- bands are screw；39- gaiter sliding blocks；40- tension-compression sensors；41- is tied up
The miniature sliding block of leg；42- gaiter miniature guide rails；43- holding screws；44- sensors install round block；45- width adjusting support plates；
46- the linear guides；47- linear bearings；48- handwheels；49- ectoskeleton installing plates；50- installs riser；The anti-tooth nuts of 51-；52- is just
Anti- tooth leading screw；53- orthodontic nuts；54-JK bearing blocks；55- upper pendulum bars；56- draft links；57- support bases；58- locking nuts；
59- axle sleeves；60- deep groove ball bearings；61- rotary shafts；62- door frames；63- ropes；64- pulling force sensors；65- losss of weight take；66- feet
Wheel；67- installing plates front fixed pulley A；68- installing plates front movable pulley；69- movable plates；70- lead rail axis bearings；71- loss of weight casees
Guide rail；72- loss of weight case linear bearings；73- wing plates；74- loss of weight case nuts；75- loss of weight case leading screws；76- lead screw shaft bearings；77-
Flexible sheet shaft coupling；78- DC servo motors A；79- servo motor A mounting brackets；80- DC servo motors B；81- slows down
Machine；82- speed reducer mounting brackets；83- plum couplings；84- rope roll bearing seats；85- rope rollers；86- loss of weight case mounting holes；87- pacifies
Loading board lateral deflection fixed pulley；88- case lids；89- installing plates front fixed pulley B；90- installing plates；91- strips are open；92- long
Spend adjusting rod inner tube；93- length adjustment bar outer tubes；94- gaiter mounting blocks；95- clamping devices.
Specific embodiment
It elaborating with reference to the accompanying drawings and examples to the present invention, the embodiment is used to explain the present invention, without
It is limiting the scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of wearable exoskeleton robot for lower limb rehabilitation training, in brain
The lower limb rehabilitation training of the central nervous system injuries patient such as wind and spinal injury, including gait training system, 3 and of waist joint device
Suspend loss of weight system in midair, track when gait training system is walked using two ectoskeletons according to normal human drives patient's lower limb to carry out
Training, loss of weight system drive patient's undulatory motion in perpendicular according to the centre-of-gravity path under gait training track, and
Certain loss of weight power for patient is provided, maintains the body steadiness of patient；Waist joint device is as the gait training system
With the attachment device of loss of weight system, the width of two ectoskeletons in the gait training system is can adjust to adapt to patient width,
The structural requirement of patient's body bobbing in gait training can be met.
The gait training system includes ectoskeleton power plant 1 and treadmill 2, and suspention loss of weight system includes adaptive loss of weight
Case 4, loss of weight stent 5 and rope traction component 6.The gait training system (being specially ectoskeleton power plant) is connected by waist
Device 3 is connect with suspention loss of weight system (being specially loss of weight stent), and three is in gait training and the control system effect of suspention loss of weight
Lower cooperative motion, auxiliary patient carry out normal gait rehabilitation training.
Referring to Fig. 2, Fig. 3 and Fig. 5, the ectoskeleton power plant 1 includes two symmetrical lower limb exoskeletons.To be worn on
For the lower limb exoskeleton of left leg, lower limb exoskeleton is mainly by being used to that leg corresponding joint (hip joint, knee joint) to be driven to move
Driver and joint connecting mechanism, encoder erecting device, length tune (are shown) for patient motion angle in gait training
Pole and the gaiter mechanism 17 grade composition on corresponding length adjustment bar.Specifically, hip joint driver 7 is pacified by screw
On hip joint pelvis head 8 (i.e. hip joint pelvis side connector), the circular hole and hip joint that are set on two lateral joint pressing plates 30
Boss circular contact (free to rotate) on pelvis head 8, meanwhile, two lateral joint pressing plates 30 and femoral hip prosthesis side connector 10
Fixed by screw, femoral hip prosthesis side connector 10 and 8 opposite side of hip joint pelvis head in the corresponding arc surface of shape,
Under joint pressing plate drives, femoral hip prosthesis side connector 10 can be rotated around hip joint pelvis head 8, on hip joint driver 7
Connecting rod 25 is hinged with joint pressing plate 30 by hinge, and using joint pressing plate as crank, hip joint driver 7 utilizes inside as a result,
Sliding block linear motion with slider-crank mechanism manner of execution driving lower limb exoskeleton correspondence leg hip joint position rotation (from
And drive hip joint), 10 other end of femoral hip prosthesis side connector and the length adjustment in thigh side length adjusting rod 11
Bar inner tube 92 is welded, the length adjustment bar outer tube 93 in the thigh side length adjusting rod 11 and knee joint femoral side connector 13
One end welding.Similarly, lower limb exoskeleton is corresponded to and can also be rotated at the knee joint of leg, wherein, knee joint driver 12 passes through
Screw is fixed on knee joint femoral side connector 13, and one end of knee joint tibial side connector 15 is fixed with by screw to be located at
The joint pressing plate 30 of both sides is set on the boss circumference and the joint pressing plate 30 on 13 other end of knee joint femoral side connector
Annular opening contacts (free to rotate), knee joint tibial side connector 15 are in shape with 13 opposite side of knee joint femoral side connector
Corresponding arc surface, under the drive of joint pressing plate, knee joint tibial side connector 15 can surround knee joint femoral side connector 13
It rotates, the connecting rod on knee joint driver 12 is hinged with the joint pressing plate 30 by hinge, and thus knee joint driver 12 can drive
The kneed position in correspondence leg of dynamic lower limb exoskeleton is rotated (so as to drive knee joint), knee joint tibial side connector
15 other end is welded with the length adjustment bar inner tube 92 in shank side length adjusting rod 16.
Referring to Fig. 3, the length adjustment bar inner tube 92 is built in length adjustment bar outer tube 93, and the two is freely slidable,
So that each length adjustment bar stretches adjustable, it is fixedly clamped after adjusting by clamping device 95, is applicable in different human body Leg length,
Two gaiter mounting blocks 94 are respectively arranged on corresponding length adjustment bar outer tube 93, for the installation of gaiter mechanism 17.
Referring to Fig. 4, the hip joint driver 7 provides power by AC servo motor 18, and AC servo motor 18 passes through
Screw is fixed on motor mount 19, and the motor mount 19 is also connected by screw with drive enclosure 21, and motor is stretched
Outlet is fixed by single-iris shaft coupling 20 and ball-screw 28, and the ball-screw both ends are fixed on drive by leading screw bearing 24
In dynamic device shell 21, the driver miniature guide rail 23 parallel with leading screw and disposed thereon is additionally provided in the drive enclosure
Guide rail slide block 22, the guide rail slide block 22 cover 26 sides with nut and connect, and make nut set that can only move (straight line along miniature guide rail 23
Slide and itself do not rotate), the nut covers 26 opposite sides and is hinged with connecting rod 25, and the nut set 26 is also fixed on driving
On device nut 27, thus when AC servo motor 18 rotates, ball-screw 28 is driven to rotate by single-iris shaft coupling 20, made
Driver nut 27 is moved along driver miniature guide rail 23, so as to which connecting rod 25 be driven to drive corresponding position (hip joint pelvis head 8
Place) joint press plate rotary, driving joint connecting mechanism rotation (refers specifically to femoral hip prosthesis side connector 10 around hip joint pelvis
First 8 rotation).In addition, knee joint driver 12 is identical with 7 structural principle of hip joint driver, according to activity space needs, connect
Bar is stretched out by the not ipsilateral of respective drive enclosure.
Referring to Fig. 5, for the coder installing device for installing absolute type encoder 29, absolute type encoder 29 passes through hip
Joint encoders erecting device 9, knee joint coder installing device 14 are respectively placed in the correspondence leg hip joint of lower limb exoskeleton
And kneed position.By taking knee joint coder installing device 14 as an example, coder installing device includes encoder and installs disk
31 and encoder stent 32, encoder installation disk 31 is connect with knee joint femoral side connector 13, an absolute type encoder
29 are built in the circular hole of knee joint femoral side connector 13, and are connect with encoder installation disk 31, which is located at
At 13 raised head face of knee joint femoral side connector, encoder passes through joint pressing plate 30 at the boss by the circular hole, described exhausted
Disk 31 is installed by encoder to the shell of formula encoder 29 to fix with knee joint femoral side connector 13, the encoder branch
Frame 32 is fixed at the boss on a lateral joint pressing plate 30, and the rotor of absolute type encoder 29 is connect with encoder stent 32, by
This, the relative rotation of knee joint femoral side connector 13 and knee joint tibial side connector 15 can be exchanged into absolute type encoder
The synchronous rotation of 29 shells and rotor, you can detection knee joint corner.It is described above to be also suitable for hip joint encoder installation dress
Put and correspond to the detection of hip joint corner.
Referring to Fig. 6, the gaiter mechanism 17 is by gaiter inner ring 34, gaiter outer shroud 33, gaiter guide rail 37 and tension-compression sensor
40 grade parts form, and gaiter inner ring 34, gaiter outer shroud 33 in shape is partly encircled, are equipped with the miniature sliding block of gaiter in gaiter inner ring 34
41, gaiter miniature guide rail 42 is installed on the gaiter outer shroud 33, gaiter inner ring 34 is placed in gaiter outer shroud 33, opening direction phase
Together, it is slidably connected by the cooperation of matching of gaiter miniature guide rail 42 and the miniature sliding block 41 of gaiter, so as to make gaiter inner ring can be in gaiter
Faint slip in outer shroud, Medical bandage 35 pass through the square hole on the gaiter inner ring 34 opening both sides to consolidate patient legs
It is fixed.It is measured for convenience of the follow-up reciprocal force carried out between patient legs and ectoskeleton, described 40 one end of tension-compression sensor passes through spiral shell
Line is screwed in the threaded hole on gaiter outer shroud 33, and 40 other end of tension-compression sensor installs round block by being threaded into sensor
In 44, the sensor installation round block is fixed on by holding screw 43 in the circular hole among gaiter inner ring.The gaiter outer shroud
33 are fixed by screw and gaiter sliding block 39, which can be free to slide on gaiter guide rail 37, can also pass through band handle
Screw 38 fastens, and is fixed with right angle bar 36 on the gaiter guide rail 37 on another gaiter sliding block, and the right angle bar 36 is inserted into length
It spends in the gaiter mounting blocks 94 on adjusting rod outer tube 93 or gaiter pipe clamp, is locked at outside length adjustment bar by gaiter mounting blocks 94
On pipe 93, so as to complete the installation of gaiter mechanism 17.Patient legs fix with gaiter inner ring as a result, and gaiter outer shroud is fixed on outer
On bone, tension-compression sensor is the reciprocal force that can measure between patient and ectoskeleton, and human body is actively intended to perceive after convenient
Research.
Referring to Fig. 7, the waist joint device 3 includes width adjustment mechanism and supporting mechanism, and ectoskeleton power plant 1 is logical
Waist joint device 3 is crossed with loss of weight system to be connected.Wherein, the width adjustment mechanism mainly by width adjusting support plate 45,
The linear guide 46, linear bearing 47, positive and negative tooth leading screw 52, orthodontic nut 53, anti-tooth nut 51, handwheel 48 and ectoskeleton installing plate
49 grades form.Specifically, upper and lower two the linear guides 46 are set on 45 front of width adjusting support plate, every the linear guide
On be provided with two sets of sliding bearing groups, what a set of sliding bearing group included placing installation in opposite directions in the linear guide 46 can be along the guide rail
Two linear bearings 47 free to slide；Positive and negative tooth leading screw 52 is mounted on the width adjusting support plate by both sides JK bearing blocks 54
On 45 fronts, the positive and negative tooth leading screw both ends are equipped with handwheel 48；The anti-tooth nut 51 is placed in opposite directions with orthodontic nut 53, respectively
From composition set screw group, two sets of nut groups are symmetrically mounted on positive and negative tooth leading screw 52, the upper and lower two sets of sliding bearing groups of homonymy,
Nut group is fixed with installation riser 50, and installation riser 50 and the ectoskeleton installing plate 49 is connected (lower limb dermoskeleton by screw
Bone is fixed on by hip joint pelvis head 8 on ectoskeleton installing plate 49), by rotation hand wheel 48, it is outer that leading screw forces nut to drive
Bone moves toward one another, and adjusts the spacing before two lower limb exoskeletons, to meet different human body width, while carries out gait in patient
In training process, meet the fluctuations of its body.The supporting mechanism is by upper pendulum bar 55, draft link 56, support base 57 and axis
The compositions such as attachment device, specifically, upper pendulum bar 55 are placed in parallel with draft link 56, with width adjusting support plate 45 and support base 57
Form parallelogram；Deep groove ball bearing 60, the upper pendulum bar 55 and the bottom are provided in the upper pendulum bar 55 and draft link 56
The lug at bar 56 and 45 back side of width adjusting support plate is by deep groove ball bearing 60, rotary shaft 61, (axle sleeve is butted on bearing to axle sleeve 59
Inner ring prevents swing rod from axial float occurs along rotary shaft) connection, and pass through locking nut 58 and fasten, i.e., upper and lower swing rod 55,56
Front end is hinged in the width adjusting support plate 45；And rear end is hinged on support base 57.Gait training mistake is carried out in patient
Cheng Zhong, the width adjustment mechanism can drive lower limb exoskeleton to be rotated as human body rises and falls around the support base 57, by institute
It states 57 place plane of support base and loss of weight stent 5 is fixed on to be in perpendicular always, by parallel four by support base 57
Side shape principle so that width adjusting support plate 45 is also at vertical state, i.e., in lower limb exoskeleton drives patient's training process
It is parallel with support base plane, to maintain vertical state residing for human body, ensure the balance of patient.
Station is on treadmill 2 (treadmill includes the treadmill driven by direct current generator) after patient dresses ectoskeleton, by ectoskeleton
Patient's lower limb is driven to carry out rehabilitation operation according to predetermined gait track, meanwhile, 2 constant speed of treadmill synchronizes start and stop.
Referring to Fig. 8, in the suspention loss of weight system, loss of weight stent 5 includes the upper bracket body for being used to support rope traction component,
And by the pin lower carriage body mating with it, lower carriage body include door frame 62, two square tubes being intervally arranged and
Standpipe and Liftable armrest in square tube, upper bracket body are installed on standpipe, and the bottom of square tube is equipped with castor 66, convenient
Loss of weight stent 5 moves, and the treadmill 2 is located between two square tubes, and door frame 62 is mounted on 5 rear side of loss of weight stent, with both sides
Standpipe is connected, and support base 57 can be fixed by screws on the door frame 62；The rope traction component 6 mainly takes 65 by loss of weight, draws
Force snesor 64 and 63 grade of rope composition, specifically, 64 one end of pulling force sensor connection loss of weight take 65, and pulling force sensor 64 is another
One end connects rope 63, and rope 63 is extended to along the pulley blocks on upper bracket body in adaptive loss of weight case 4, adaptive loss of weight case
4 are mounted on standpipe.Patient wears loss of weight and takes 65, is sling by the traction of rope 63, servo motor is drawn in adaptive loss of weight case 4
It is lower synchronous with gait training system, it is moved according to desired trajectory.Weight reducing device also provides certain loss of weight power for patient simultaneously.
Referring to Fig. 9, the adaptive loss of weight case 4 includes babinet and case lid 88, and the positive of installing plate 90 fixes peace in babinet
Equipped with adaptive center of gravity following device, the back side of installing plate 90 is installed with rope winding plant.
In the rope winding plant (Fig. 9 b), DC servo motor B 80 arranges in pairs or groups speed reducer 81 as torque output list
Member, 81 output terminal of speed reducer are connected with plum coupling 83, and plum coupling 83 is connected with rope roller 85, wind and are used on roller 85 of restricting
The rope 63 of patient's suspention；Speed reducer 81 is fixed on by speed reducer mounting bracket 82 on installing plate 90, and rope roller 85 is by rope roll bearing seat
84 are fixed on installing plate 90；Before Rehabilitation training, patient is first risen into certain altitude by rope winding plant, passes through pulling force
64 fed back values of sensor are adjusted to the loss of weight power of setting, and rope winding plant is stopped later, and standard is carried out for gait training
It is standby.
The adaptive center of gravity following device (Fig. 9 a) mainly connects ball-screw by motor by shaft coupling, so as to drive
Dynamic movable plate, realizes that center of gravity follows by movable plate in patient's gait training, ensures to provide metastable loss of weight power.Specifically
Ground, loss of weight case nut 74 are fixed on 69 lower part of movable plate, and 69 left and right sides of movable plate is equipped with wing plate 73, wing plate 73 and loss of weight case
Linear bearing 72 connects, and loss of weight case linear bearing 72 can be free to slide on loss of weight case guide rail 71, and loss of weight case guide rail 71 passes through
Lead rail axis bearing 70 is fixed on installing plate 90 (linear bearing edge is fixed on the positive guide rail of installing plate and moves in a straight line)；Loss of weight
75 both ends of case leading screw are fixed on by lead screw shaft bearings 76 on installing plate 90, loss of weight case leading screw 75 by flexible sheet shaft coupling 77 with
DC servo motor A 78 is connected, and so as to transmit movement, loss of weight case leading screw 75 rotates, and loss of weight case nut 74 is driven to move up and down,
So as to which movable plate be driven to move along a straight line about 69；DC servo motor A 78 is fixed on installing plate by servo motor A mounting brackets 79
On 90；69 top of movable plate is equipped with installing plate front movable pulley 68, and two fixed pulleys positive with installing plate form pulley blocks,
Rope 63 by the rope roller 85 at 90 back side of installing plate draw around after installing plate lateral deflection fixed pulley 87 through the positive cunning of installing plate
Wheel group draws babinet, and specifically, rope is fixed sliding by the steering through one of fixed pulley (installing plate front fixed pulley B 89)
Wheel leads to the movable pulley, and the rope is led to through another fixed pulley (installing plate front fixed pulley A 67) by the movable pulley
The strip opening 91 being set on babinet, so as to lead to outside babinet.It is biased to 90 front of installing plate in 91 positions of strip opening
Adaptive center of gravity following device, rope 63 is connected to the drawing that loss of weight takes 65 (such as loss of weight vest) upper ends after being drawn by the opening
On force snesor 64, rope passes through the strip opening on babinet to enter in adaptive loss of weight case, is finally wrapped in through pulley blocks
It restricts on roller 85.
Referring to Figure 10, the operation principle of the suspention loss of weight system：Under the feedback of pulling force sensor 64, control rope volume
The DC servo motor B 80 raised in device is discharged/is hauled, and adjusts patient's loss of weight power to setting value；In rehabilitation training
In, according to preset human body vertical direction movement locus (i.e. centre-of-gravity path), be converted into adaptive center of gravity with
With the corner of DC servo motor A 78 in device, installing plate front movable pulley 6,8 is driven to move, adjust 63 length of rope, it is real
When follow patient's gravity center shift.
Referring to Figure 11, the gait training and suspention loss of weight control system include industrial personal computer, motion control card, gait training
System control module and suspention loss of weight system control module.
The gait training system control module includes ectoskeleton power plant control submodule and treadmill control submodule.
Specifically, the ectoskeleton power plant control submodule mainly includes motor servo driver, terminal board, serial converter
Deng the servo motor (being particularly located in hip joint driver and knee joint driver) in the ectoskeleton power plant passes through arteries and veins
It breasts the tape and power line is connect with motor servo driver, the motor servo driver passes through terminal board and motion control card phase
Even, the motion control card is communicated using Ethernet (Ethernet), receives the control instruction from industrial personal computer, is closed so as to drive
Section movement, the absolute type encoder are connected by serial converter with industrial personal computer, joint rotation angle are acquired, for patient motion shape
The display of state；Treadmill control submodule mainly includes DC motor speed-regulating device, D/A modules, tachogenerator, Arduino exploitations
Plate etc., specifically, Arduino development boards connection D/A modules export analog quantity to control machine governor, for adjusting treadmill
The speed of direct current generator, tachogenerator are connected with Arduino development boards, for feeding back the rotating speed of motor, with this to motor
Speed carries out closed-loop control, meanwhile, industrial personal computer realizes the Communication Control to Arduino development boards by way of serial ports connection.
The suspention loss of weight system control module includes suspention loss of weight submodule (being adjusted for loss of weight power) and is followed with center of gravity
Submodule.Specifically, the suspention loss of weight submodule include the loss of weight motor driver being connect with DC servo motor B 80 and
The data collecting card being connect with pulling force sensor 64, the loss of weight motor driver are connected by terminal board with motion control card,
Loss of weight power is first set on industrial personal computer, industrial personal computer acquires pulling force sensor current value by data collecting card and is used as feedback, with
The numerical value of setting is compared, and is calculated loss of weight power and is adjusted variable quantity and send it to motion control card, the motion control card
Pulse signal is sent to loss of weight motor driver, adjusting rope 63 by loss of weight motor driver control DC servo motor B grows
Degree, preset loss of weight power is provided for patient.The center of gravity follows submodule to include following with what DC servo motor A 78 was connect
Motor driver, industrial personal computer will be followed according to preset centre-of-gravity path by motion control card by terminal board control
Motor driver, it is described to follow motor driver that DC servo motor A is driven to drive rope 63 again, carry out lower limb gait in patient
While training, sync pulling patient moves up and down.
Referring to Figure 12, when patient needs to carry out lower limb rehabilitation training, first, according to the body sizes of patient, using each
Length adjustment bar and width adjustment mechanism are adjusted ectoskeleton leg length and width (spacing of i.e. two lower limb exoskeletons),
Then patient dresses ectoskeleton (mechanism is fixed using gaiter) and is taken with loss of weight, adjusts the stage into loss of weight power later, and first setting subtracts
Gravity fsetThe error ε allowed with loss of weight power reads the numerical value f of pulling force sensor 64actual, and calculate factualWith fsetDifference
Δ f judges Δ f whether in the range of loss of weight power allowable error ε, if factual＞ fset+ ε, actual value is bigger than the setting value upper limit, says
Bright rope tension, control (PID controller) DC servo motor B 80 discharge rope, until | factual-fset|≤ε；If factual
＜ fset- ε, actual value is smaller than setting value lower limit, illustrates that rope is excessively loose, and control DC servo motor B 80 hauls, until |
factual-fset|≤ε, loss of weight power, which has adjusted, at this time finishes.Next the gait training track of setting is loaded into and in institute by industrial personal computer
Synchronization centre-of-gravity path during training under gait track is stated, drives gait training system and the system synchronization movement of suspention loss of weight,
Patient is assisted to carry out lower limb rehabilitation training.After training, loss of weight system puts down patient, unloads loss of weight clothes and ectoskeleton.
In a word in the present invention, the moving body of ectoskeleton power plant leash (such as patient) of gait training system according to
Scheduled gait track (such as during normal person's walking) carries out lower limb rehabilitation training, and treadmill collaboration ectoskeleton power plant is patient
Identical training speed is provided；In the process, loss of weight system also rises and falls according to scheduled centre-of-gravity path traction patient body
Movement, the variation of center of gravity in the vertical direction when meeting normal human's walking, meanwhile, certain loss of weight power is provided for patient, and
Maintain its body steadiness；Waist joint device is played a supporting role to ectoskeleton power plant, it can be achieved that human body width adequate tune
Section, can also rotate around loss of weight stent, meet the centre of body weight fluctuations of patient in the training process, be conducive to improve body
Stability.The applicable different size patients of the robot, training opportunity device people fixes, and without very big space for activities, and suffers from
Person, in standing state, restores environment of truly walking in training, patient is helped to maintain balance by robot, improves health
Multiple therapeutic effect.
Claims (10)
1. a kind of human body lower limbs recovery exercising robot, it is characterised in that：The robot includes gait training system, loss of weight system
And waist joint device (3), gait training system include ectoskeleton power plant (1), ectoskeleton power plant (1) is including supplying people
The lower limb exoskeleton of body wearing, lower limb exoskeleton include joint driver, joint connecting mechanism, length adjustment mechanism and gaiter machine
Structure (17), joint connecting mechanism includes fixed section and the active segment being connected with fixed section, joint driver are arranged on fixed section,
Active segment is connected respectively with length adjustment mechanism and joint driver, and gaiter mechanism (17) is arranged on length adjustment mechanism, is subtracted
Weight system includes the rope (63) that gravity center of human body can be followed to change and the loss of weight stent (5) for being used to support rope (63), and waist connects
Connection device (3) is set on loss of weight stent (5).
2. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The joint driver packet
The drive enclosure (21) for include connecting rod (25), being set on the fixed section and the motor being connected with drive enclosure (21) peace
Seat (19) is filled, the first servo motor is provided on motor mount (19), the first servo motor is by shaft coupling and is set to drive
Leading screw in dynamic device shell (21) is connected, and nut mounting base is provided on the leading screw, and nut mounting base includes being connected with leading screw
Nut and the nut set (26) that is set on nut, nut set (26) and be set in drive enclosure (21) can straight line
The guide rail slide block (22) of slip is connected, and one end of connecting rod (25) is hinged with nut set (26), and the other end stretches out drive enclosure
(21) and with the active segment it is hinged.
3. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The joint connecting mechanism
Joint pressing plate (30), fixed end connection and movable end connection are specifically included, round boss is provided on fixed end connection,
Joint pressing plate (30) is axially disposed on fixed end connection along the boss and can be freely rotated around the boss, joint pressing plate (30)
It is connected respectively with movable end connection and the joint driver, joint driver is arranged on fixed end connection.
4. a kind of human body lower limbs recovery exercising robot according to claim 3, it is characterised in that：The boss is hollow knot
Structure, is provided with the encoder for detecting corner in hollow structure, the rotor of the encoder and is set to the joint pressing plate
(30) the encoder stent (32) on is connected.
5. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The length adjustment mechanism
Including length adjustment inner tube and length adjustment outer tube, the gaiter mechanism (17) is connected with length adjustment outer tube, length adjustment
One end built-in length of inner tube is adjusted in outer tube, is provided on length adjustment outer tube and is exposed to length for locked lengths adjusting inner tube
Degree adjusts the clamping device (95) that outside pipe divides length, length adjustment outer tube or/and length adjustment inner tube and connects with the joint
Connection mechanism is connected.
6. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The gaiter mechanism (17)
Including gaiter inner ring (34), gaiter outer shroud (33), bandage, tension-compression sensor (40), miniature guide rail and with the length adjustment machine
What structure was connected locks guide rail, and gaiter inner ring (34) and gaiter outer shroud (33) are connected by miniature guide rail, tension-compression sensor (40)
It is set between gaiter inner ring (34) and gaiter outer shroud (33), bandage is set in gaiter inner ring (34), can be locked on guide rail
Sliding block is connected with gaiter outer shroud (33).
7. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The lower limb exoskeleton tool
Body includes hip joint driver (7), knee joint driver (12), hip joint pelvis side connector, femoral hip prosthesis side connector
(10), knee joint femoral side connector (13), knee joint tibial side connector (15), thigh side length regulating mechanism and shank side
Length adjustment mechanism, hip joint driver (7) are arranged on the connector of hip joint pelvis side, and hip joint driver (7) and hip close
Section femur side connector (10) is connected with the joint pressing plate free to rotate being set on the connector of hip joint pelvis side, thigh
Side length regulating mechanism is connected respectively with femoral hip prosthesis side connector (10) and knee joint femoral side connector (13), knee joint
Driver (12) is arranged on knee joint femoral side connector (13), knee joint driver (12) and knee joint tibial side connector
(15) it is connected with the joint pressing plate free to rotate being set on knee joint femoral side connector (13), shank side length is adjusted
Mechanism is connected with knee joint tibial side connector (15), on shank side length regulating mechanism and thigh side length regulating mechanism respectively
Gaiter mechanism (17) is provided with, is separately provided on hip joint pelvis side connector and knee joint femoral side connector (13)
Detect the encoder of femoral hip prosthesis side connector (10) and knee joint tibial side connector (15) corner.
8. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The waist joint device
(3) including width adjustment mechanism and supporting mechanism；The width adjustment mechanism includes width adjusting support plate (45), two dermoskeletons
Bone installing plate (49) and the linear guide (46) being arranged in width adjusting support plate (45) and positive and negative tooth leading screw (52), it is positive and negative
Tooth leading screw (52) end set has handwheel (48), and one of ectoskeleton installing plate (49) is with being arranged on positive and negative tooth leading screw (52)
Orthodontic nut (53) and the linear bearing (47) that is arranged in the linear guide (46) respective side be connected, another ectoskeleton peace
It loading board (49) and the anti-tooth nut (51) that is arranged on positive and negative tooth leading screw (52) and is arranged in the linear guide (46) respective side
Linear bearing (47) be connected；
The supporting mechanism includes upper pendulum bar (55), draft link (56) and the support base (57) being connected with the loss of weight stent (5),
The front end of upper pendulum bar (55) and draft link (56) is hinged with the width adjusting support plate (45), upper pendulum bar (55) and draft link
(56) rear end is hinged with support base (57).
9. a kind of human body lower limbs recovery exercising robot according to claim 1, it is characterised in that：The loss of weight system is specific
Including adaptive loss of weight case (4), loss of weight stent (5) and rope traction component (6), rope traction component (6) includes loss of weight clothes (65), drawing
Force snesor (64), rope (63) and the pulley blocks being set on loss of weight stent (5), one end of pulling force sensor (64) and loss of weight
It takes (64) to be connected, the other end is connected with rope (63), and rope (6) is extended to through the pulley blocks in adaptive loss of weight case (4)；
The adaptive loss of weight case (4) including babinet and the installing plate being set in babinet (90), rope winding plant and from
Center of gravity following device is adapted to, rope winding plant and adaptive center of gravity following device are respectively arranged at the two sides of installing plate (90)
On, the rope (63) is followed by the pulley being set on installing plate (90) with rope winding plant and adaptive center of gravity successively
Device is connected；
The gait training system further includes the treadmill (2) for being set to loss of weight stent (5) bottom.
10. a kind of human body lower limbs recovery exercising robot according to claim 9, it is characterised in that：The robot also wraps
Include industrial personal computer, motion control card, ectoskeleton Power plant control module, treadmill control module and loss of weight system control module；
The ectoskeleton Power plant control module includes motor servo driver and for detecting joint connecting mechanism rotational angle
Encoder, motor servo driver respectively with motion control card and for joint driver provide power servo motor phase
Even, motion control card and the encoder are connected respectively with industrial personal computer；The treadmill control module includes DC motor speed-regulating device
And tachogenerator, DC motor speed-regulating device are connected respectively with for the direct current generator to treadmill (2) offer power and industrial personal computer,
Tachogenerator is connected with industrial personal computer；The loss of weight system control module includes suspention loss of weight submodule and center of gravity follows submodule
Block；Suspention loss of weight submodule includes the data collecting card being connected with industrial personal computer and pulling force sensor (64)；
Ectoskeleton Power plant control module is according under the preset gait Track fusion for human body lower limbs rehabilitation training
Limb ectoskeleton drives human body to carry out lower limb gait training using lower limb exoskeleton；
Loss of weight submodule is suspended in midair according to preset loss of weight power, numerical value is detected as feedback using pulling force sensor (64), with subtracting
Gravity setting numerical value is compared, and is calculated loss of weight power and is adjusted variable quantity, will be adjusted variable quantity and be converted signal in order to control and pass through fortune
Dynamic control card passes to rope winding plant, rope (63) length is adjusted using rope winding plant, until reaching subtracting for setting
Gravity；
Center of gravity follows submodule to be followed according to preset centre-of-gravity path by the adaptive center of gravity of motion control card control
Device drives rope (63), while lower limb gait training, above and below sync pulling human body using adaptive center of gravity following device
Movement.
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| CN109316316A (en) * | 2018-10-16 | 2019-02-12 | 广西科技大学 | A kind of lower limb rehabilitation ectoskeleton constructional device of flexible wearable |
| CN109330822A (en) * | 2018-11-15 | 2019-02-15 | 苏州大学 | A kind of gait rehabilitation training robot |
| CN109363898A (en) * | 2018-09-26 | 2019-02-22 | 河海大学常州校区 | A kind of multi-functional medical step exercises vehicle |
| CN109363895A (en) * | 2018-10-16 | 2019-02-22 | 广西科技大学 | A kind of lower limb exoskeleton robot of flexible wearable |
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