CN108969306A - A kind of lower limb exoskeleton device of healing robot - Google Patents
A kind of lower limb exoskeleton device of healing robot Download PDFInfo
- Publication number
- CN108969306A CN108969306A CN201811048224.4A CN201811048224A CN108969306A CN 108969306 A CN108969306 A CN 108969306A CN 201811048224 A CN201811048224 A CN 201811048224A CN 108969306 A CN108969306 A CN 108969306A
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- China
- Prior art keywords
- thigh
- shank
- robot
- screw
- screw rod
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
-
- 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
Abstract
The invention discloses a kind of lower limb exoskeleton devices of healing robot, are related to healing robot field, including robot thigh, robot shank, the first drive screw, first driving device, the second drive screw, the second driving device, hip cross bar；One end of robot thigh and robot shank are rotatablely connected, and the other end and hip cross bar are rotatablely connected；First drive screw is connected between robot thigh and robot shank, and the second drive screw is connected between robot thigh and hip cross bar；The first drive screw is driven by first driving device, the second drive screw is driven by the second driving device.The present invention has the advantages that driving drive screw by driving motor, hip joint and motion of knee joint can be quickly and easily driven.
Description
Technical field
The present invention relates to healing robot field more particularly to a kind of lower limb exoskeleton devices of healing robot.
Background technique
China patient that the lower extremity motor function as caused by the factors such as cerebral apoplexy, brain trauma, aging of population is damaged every year
It is increasing, traditional artificial rehabilitation efficiency is lower, and therapist's large labor intensity is unable to satisfy the requirement of rehabilitation.
Healing robot be based on neural plasticity principle, by largely repeat and targeted gait training, gradually restore patient by
The function of damaging position, promotes the rehabilitation process of patient, can be used for the patient of the limitation of movement as caused by disease or unexpected injury
Carry out rehabilitation.The existing most functions of the equipments of healing robot are single, and application range is only limitted to the rehabilitation in local joint,
It not can be realized the integrated products of each joint recovering in leg, and intelligent and the degree of automation of existing product is not high,
The higher cost of rehabilitation training, only seldom patient can adequately be treated.
Summary of the invention
Quickly and easily hip can be driven to close the technical problems to be solved by the present invention are: existing healing robot lacks
The driving device of section and motion of knee joint.
The present invention is to solve a kind of above-mentioned technical problem: lower limb exoskeleton of healing robot by the following technical programs
Device, including robot thigh (1), robot shank (2), the first drive screw (3), first driving device (4), the second transmission
Screw rod (5), the second driving device (6), hip cross bar (7)；
The hip cross bar (7) is horizontally disposed, and the robot thigh (1) is equipped with the first connecting pin of thigh (11), institute
The top for stating robot thigh (1) is equipped with thigh second connection end (12) and thigh third connecting pin (13), the robot are small
The top of leg (2) is equipped with the first connecting pin of shank (21) and shank second connection end (22)；
The front end of the thigh second connection end (12) and the hip cross bar (7) is rotatablely connected by rotary shaft, described
The first connecting pin of shank (21) and the bottom end of the robot thigh (1) are rotatablely connected by rotary shaft；
First drive screw (3) includes the first screw jacket (31) and the first screw rod (32)；Outside first screw rod
The one end and first connecting pin of thigh (11) for covering (31) are rotatablely connected by rotary shaft, in first screw jacket (31)
It is fixed with nut；One end of first screw rod (32) penetrates first spiral shell from the other end of first screw jacket (31)
It is connect in bar housing (31) and with the nut thread, the other end of first screw rod (32) and the shank second connection end
(22) it is rotatablely connected by rotary shaft；
The first driving device (4) includes the first driving motor (41) and the first transmission mechanism (42), and described first drives
The output shaft of dynamic motor (41) connects first screw rod (32) by first transmission mechanism (42)；
Second drive screw (5) includes the second screw jacket (51) and the second screw rod (52)；Outside second screw rod
The rear end of one end and the hip cross bar (7) for covering (51) is rotatablely connected by rotary shaft, in second screw jacket (51)
It is fixed with nut；One end of second screw rod (52) penetrates second spiral shell from the other end of second screw jacket (51)
It is connect in bar housing (51) and with the nut thread, the other end of second screw rod (52) and thigh third connecting pin
(13) it is rotatablely connected by rotary shaft；
Second driving device (6) includes the second driving motor (61) and the second transmission mechanism (62), and described second drives
The output shaft of dynamic motor (61) connects second screw rod (52) by second transmission mechanism (62).
As the technical solution of optimization, first connecting pin of thigh (11) is located at the front side of the robot thigh (1)
Middle part, the thigh second connection end (12) are located at right above the top of the robot thigh (1), the thigh third connection
End (13) is located at the top rear of the robot thigh (1)；It is small that first connecting pin of shank (21) is located at the robot
Right above the top of leg (2), the shank second connection end (22) is located at the top front side top of the robot shank (2).
Convenient for driving the hip joint and motion of knee joint of healing robot.
As the technical solution of optimization, first driving motor (41) connects control system.Realize automatic operation, behaviour
Make simple.
As the technical solution of optimization, the robot thigh (1) includes power device (100), thigh telescopic rod
(200), thigh housing (300)；
The thigh telescopic rod (200) include the first support (201), the first support plate (202), the first vertical bar (203),
First screw rod (204)；
First support (201) is equipped with upper and lower perforative first through hole (2011)；First vertical bar (203) is solid
It is scheduled on the first support (201) bottom end, the first strip through slot that front and back penetrates through is offered on first vertical bar (203)
(2031), the first vertical bar (203) bottom end is equipped with upper and lower perforative second through-hole (2032), second through-hole (2032)
It is penetrated through with the first strip through slot (2031)；First screw rod (204) sequentially passes through first through hole from top to bottom
(2011), the first strip through slot (2031) and the second through-hole (2032)；
First support plate (202) is fixed on the side of first support (201), and the power device (100) is solid
It is scheduled on first support plate (202), the part that first screw rod (204) is located above first support (201) connects
Connect the power device (100)；
The thigh housing (300) includes thigh outer casing inner wall (301), the first connector (302), the first screw shell
(303)；
The thigh outer casing inner wall (301) cover first vertical bar (203) outside, the thigh outer casing inner wall (301)
Fixed first connector (302) in upper end, first screw shell (303) pass through first connector (302) and institute
Thigh outer casing inner wall (301) connection is stated, the first screw shell (303) setting is in the first strip through slot (2031)
And it is threadedly coupled with first screw rod (204)；
First connecting pin of thigh (11) is fixedly connected on the outer wall upper end of the thigh housing (300), the shank
First connecting pin (21) and the bottom end of the thigh housing (300) are rotatablely connected by rotary shaft.
As the technical solution of optimization, the robot shank (2) includes power device (100), shank telescopic rod
(400), shank housing (500)；
The shank telescopic rod (400) include the second support (401), the second support plate (402), the second vertical bar (403),
Second screw rod (404)；
Second support (401) is equipped with upper and lower perforative third through-hole (4011)；Second vertical bar (403) is solid
It is scheduled on the second support (401) bottom end, the second strip through slot that front and back penetrates through is offered on second vertical bar (403)
(4031), the second vertical bar (403) bottom end is equipped with upper and lower perforative fourth hole (4032), the fourth hole (4032)
It is penetrated through with the second strip through slot (4031)；Second screw rod (404) sequentially passes through third through-hole from top to bottom
(4011), the second strip through slot (4031) and fourth hole (4032)；
Second support plate (402) is fixed on the side of second support (401), and the power device (100) is solid
It is scheduled on second support plate (402), the part that second screw rod (404) is located above second support (401) connects
Connect the power device (100)；
The shank housing (500) includes shank outer casing inner wall (501), the second connector (502), the second screw shell
(503)；
The shank outer casing inner wall (501) cover second vertical bar (403) outside, the shank outer casing inner wall (501)
Fixed second connector (502) in upper end, second screw shell (503) pass through second connector (502) and institute
Shank outer casing inner wall (501) connection is stated, the second screw shell (503) setting is in the second strip through slot (4031)
And it is threadedly coupled with second screw rod (404)；
First connecting pin of shank (21) and shank second connection end (22) are respectively fixedly connected with flexible in the shank
The top of bar (400).
As the technical solution of optimization, the power device (100) includes motor (101), driving pulley (102), synchronizes
Band (103), passive belt wheel (104)；The motor (101) connects control system；The output shaft of the motor (101) and the master
Movable belt pulley (102) connection, the driving pulley (102) connect the passive belt wheel (104) by the synchronous belt (103).It is real
Existing automatic operation, it is easy to operate.
As the technical solution of optimization, the lower limb exoskeleton device of the healing robot further includes leg position regulating device
(600) and arc plate (700)；
The leg position regulating device (600) includes tooth form motion bar (601) and mobile device, the mobile device packet
Include regulation cock (602), fixing card (603), set block (604), pedestal (605)；
The tooth form motion bar (601) runs through the set block (604)；Set block (604) side is equipped with circular hole (6041),
Bottom end is equipped with shrinkage pool (6042)；Gear is equipped among the regulation cock (602), the regulation cock (602) runs through the shrinkage pool
(6042) and with tooth form motion bar (601) gear it engages；The fixing card (603) runs through the circular hole (6041)；It is described
Set block (604) is fixedly connected with the pedestal (605)；
The pedestal (605) is fixedly connected with robot thigh (1) or robot shank (2)；The arc plate (700) with
Tooth form motion bar (601) connection.
As the technical solution of optimization, the tooth form motion bar (601) includes front and back adjusting rod and left and right adjusting bar, described
Front and back adjusting rod and left and right adjusting bar are horizontally disposed with and are mutually perpendicular to；It is respectively connected on the front and back adjusting rod and left and right adjusting bar
One mobile device is connected to the pedestal (605) and robot thigh (1) or machine of the mobile device on the front and back adjusting rod
People's shank (2) is fixedly connected, and is connected to the pedestal (605) and the arc plate of the mobile device on the left and right adjusting bar
(700) it is fixedly connected.
As the technical solution of optimization, the side of the front and back adjusting rod and left and right adjusting bar is equipped with third graduated scale
(6011)。
As the technical solution of optimization, there are three the leg position regulating device (600) sets altogether, three leg position tune
Regulating device (600) is connected to the middle part at the middle part of the robot thigh (1), the robot shank (2), the machine
The lower end of people's shank (2) is connected separately with the arc plate (700) on each leg position regulating device (600).
The present invention has the advantages that by driving motor drive drive screw, can quickly and easily drive hip joint and
Motion of knee joint；By motor drives screw mandrel, it can rapidly and accurately adjust thigh leg length or shank leg is long；Pass through leg position
Regulating device and arc plate adjust thigh support position in which can be convenient；High degree of automation, it is easy to operate, it is easily controllable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the lower limb exoskeleton device of healing robot of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of the first drive screw and first driving device of the embodiment of the present invention.
Fig. 3 is the structural schematic diagram of the second drive screw and the second driving device of the embodiment of the present invention.
Fig. 4 is the structural schematic diagram of thigh telescopic rod of the embodiment of the present invention.
Fig. 5 is the partial cutaway view of the outer set upper side of thigh of the embodiment of the present invention.
Fig. 6 is the structural schematic diagram of shank telescopic rod of the embodiment of the present invention.
Fig. 7 is the partial cutaway view of the outer set upper side of shank of the embodiment of the present invention.
Fig. 8 is the sectional view of power device of the embodiment of the present invention.
Fig. 9 is the structural schematic diagram of leg position of embodiment of the present invention regulating device and arc plate.
Figure 10 is the structural schematic diagram of set block of the embodiment of the present invention.
Specific embodiment
As Figure 1-10 shows, a kind of lower limb exoskeleton device of healing robot, including robot thigh 1, robot are small
Leg 2, the first drive screw 3, first driving device 4, the second drive screw 5, the second driving device 6, hip cross bar 7, leg position
Set regulating device 600, arc plate 700.
Robot thigh 1 includes power device 100, thigh telescopic rod 200, thigh housing 300.
Thigh telescopic rod 200 includes the first support 201, the first support plate 202, the first vertical bar 203, the first screw rod 204.
First support 201 is equipped with upper and lower perforative first through hole 2011；First vertical bar 203 is fixed on the first support
201 bottom ends offer the first strip through slot 2031 that front and back penetrates through in the first vertical bar 203, and 203 bottom end of the first vertical bar is set
There is perforative second through-hole 2032 up and down, the second through-hole 2032 and the first strip through slot 2031 penetrate through；First screw rod 204 is from upper
First through hole 2011, the first strip through slot 2031 and the second through-hole 2032 are sequentially passed through under.
First through hole 2011 and 2032 middle line of the second through-hole are same axis, and radius is identical, prevent the first screw rod 204
Deviation is shaken in rotation.
First vertical bar, 203 side is provided along its length the first graduated scale 2033.
First support plate 202 is fixed on the side of the first support 201, and power device 100 is fixed on by fixing bolt
In one support plate 202, loosening when preventing from operating, the first screw rod 204 is located at the part connecting power device of 201 top of the first support
100。
Thigh housing 300 includes thigh outer casing inner wall 301, the first connector 302, the first screw shell 303.
301 sets of thigh outer casing inner wall outside the first vertical bar 203, the first connector is fixed in 301 upper end of thigh outer casing inner wall
302, the first connector 302 is mutually perpendicular to 203 axis of the first vertical bar, and the first screw shell 303 passes through the first connector 302
Connect with thigh outer casing inner wall 301, the first screw shell 303 be arranged in the first strip through slot 2031 and with the first screw rod
204 are threadedly coupled.
The connection side of first screw shell 303 and the first connector 302, the first connector 302 and thigh outer casing inner wall 301
Formula is welding, so that thigh outer casing inner wall 301 is not easy to be broken with the first screw shell 303 when thigh housing 300 moves up and down.
Robot shank 2 includes power device 100, shank telescopic rod 400, shank housing 500.
Shank telescopic rod 400 includes the second support 401, the second support plate 402, the second vertical bar 403, the second screw rod 404.
Second support 401 is equipped with upper and lower perforative third through-hole 4011；Second vertical bar 403 is fixed on the second support
401 bottom ends offer the second strip through slot 4031 that front and back penetrates through in the second vertical bar 403, and 403 bottom end of the second vertical bar is set
There is perforative fourth hole 4032 up and down, fourth hole 4032 and the second strip through slot 4031 penetrate through；Second screw rod 404 is from upper
Third through-hole 4011, the second strip through slot 4031 and fourth hole 4032 are sequentially passed through under.
Third through-hole 4011 and 4032 middle line of fourth hole are same axis, and radius is identical, prevents the second screw rod 404
Deviation is shaken in rotation.
Second vertical bar, 403 side is provided along its length the second graduated scale 4033.
Second support plate 402 is fixed on the side of the second support 401, and power device 100 is fixed on by fixing bolt
In two support plates 402, loosening when preventing from operating, the second screw rod 404 is located at the part connecting power device of 401 top of the second support
100。
Shank housing 500 includes shank outer casing inner wall 501, the second connector 502, the second screw shell 503.
501 sets of shank outer casing inner wall outside the second vertical bar 403, the second connector is fixed in 501 upper end of shank outer casing inner wall
502, the second connector 502 is mutually perpendicular to 403 axis of the second vertical bar, and the second screw shell 503 passes through the second connector 502
Connect with shank outer casing inner wall 501, the second screw shell 503 be arranged in the second strip through slot 4031 and with the second screw rod
404 are threadedly coupled.
The connection side of second screw shell 503 and the second connector 502, the second connector 502 and shank outer casing inner wall 501
Formula is welding, so that shank outer casing inner wall 501 is not easy to be broken with the second screw shell 503 when shank housing 500 moves up and down.
Power device 100 includes motor 101, driving pulley 102, synchronous belt 103, passive belt wheel 104, motor box 105；Electricity
Machine 101 connects control system；The output shaft of motor 101 is connect with driving pulley 102, and driving pulley 102 is connected by synchronous belt 103
Passive belt wheel 104 is connect, synchronous belt 103 is gear synchronous band；It is fixed on the passive of the power device 100 in the first support plate 202
Belt wheel 104 connects the first screw rod 204, is fixed on the connection of passive belt wheel 104 the of the power device 100 in the second support plate 402
Two screw rods 404；Motor box 105 is fixedly connected by fixing bolt with motor 101.
Robot thigh 1 is equipped with the first connecting pin of thigh 11, and the first connecting pin of thigh 11 is fixedly connected on thigh housing
300 outer wall upper end, the first connecting pin of thigh 11 are located at the front side of thigh housing 300；The top of robot thigh 1 is equipped with thigh
Second connection end 12 and thigh third connecting pin 13, thigh second connection end 12 and thigh third connecting pin 13 are respectively fixedly connected with
Thigh telescopic rod 200 top and be structure as a whole with thigh telescopic rod 200, thigh second connection end 12 is located at the machine National People's Congress
Right above the top of leg 1, thigh third connecting pin 13 is located at the top rear of robot thigh 1.
The top of robot shank 2 is equipped with the first connecting pin of shank 21 and shank second connection end 22, and shank first connects
End 21 and shank second connection end 22 are respectively fixedly connected with the top in shank telescopic rod 400 and are one with shank telescopic rod 400
Body structure, the first connecting pin of shank 21 are located at right above the top of shank telescopic rod 400, and shank second connection end 22 is located at shank
The top front side top of telescopic rod 400.
Hip cross bar 7 is horizontally disposed, and the length direction of hip cross bar 7 is along the direction that moves forward and backward of robot thigh 1, thigh
The front end of second connection end 12 and hip cross bar 7 is rotatablely connected by rotary shaft.
The first connecting pin of shank 21 and the bottom end of thigh housing 300 are rotatablely connected by rotary shaft.
First drive screw 3 includes the first screw jacket 31 and the first screw rod 32；One end of first screw jacket 31 and big
The first connecting pin of leg 11 is rotatablely connected by rotary shaft, is fixed with nut in the first screw jacket 31；One end of first screw rod 32
Penetrate in the first screw jacket 31 from the other end of the first screw jacket 31 and connect with nut thread, the first screw rod 32 it is another
End is rotatablely connected with shank second connection end 22 by rotary shaft.
First driving device 4 includes the first driving motor 41, the first transmission mechanism 42, first motor bracket 43, and first drives
The output shaft of dynamic motor 41 connects the first screw rod 32 by the first transmission mechanism 42, and first motor bracket 43 is solid by fixing bolt
It is scheduled on the first screw jacket 31, the first driving motor 41 is fixed on first motor bracket 43 by fixing bolt, prevents from transporting
Loosening when making.
First driving motor 41 connects control system.
First transmission mechanism 42 includes first gear 421, first gear synchronous belt 422, second gear 423, the first driving
The output shaft of motor 41 is connect with first gear 421, and first gear 421 connects second gear by first gear synchronous belt 422
423, second gear 423 connects the first screw rod 32.
Second drive screw 5 includes the second screw jacket 51 and the second screw rod 52；One end of second screw jacket 51 and hip
The rear end of portion's cross bar 7 is rotatablely connected by rotary shaft, is fixed with nut in the second screw jacket 51；One end of second screw rod 52 from
The other end of second screw jacket 51 is penetrated in the second screw jacket 51 and is connect with nut thread, the other end of the second screw rod 52
It is rotatablely connected with thigh third connecting pin 13 by rotary shaft.
Second driving device 6 includes the second driving motor 61, the second transmission mechanism 62, the second electric machine support 63, and second drives
The output shaft of dynamic motor 61 connects the second screw rod 52 by the second transmission mechanism 62, and the second electric machine support 63 is solid by fixing bolt
It is scheduled on the second screw jacket 51, the second driving motor 61 is fixed on the second electric machine support 63 by fixing bolt, prevents from transporting
Loosening when making.
Second driving motor 61 connects control system.
Second transmission mechanism 62 includes third gear 621, second gear synchronous belt 622, the 4th gear 623, the second driving
The output shaft of motor 61 is connect with third gear 621, and third gear 621 connects the 4th gear by second gear synchronous belt 622
623, the 4th gear 623 connects the second screw rod 52.
Leg position regulating device 600 include tooth form motion bar 601 and mobile device, mobile device include regulation cock 602,
Fixing card 603, set block 604, pedestal 605, cover board 606.
Tooth form motion bar 601 is through set block 604；It covers 604 side of block and is equipped with circular hole 6041, bottom end is equipped with shrinkage pool 6042；It adjusts
It saves and is equipped with gear among bolt 602, regulation cock 602 is engaged through shrinkage pool 6042 and with 601 gear of tooth form motion bar；Fixing card 603
Through circular hole 6041；Set block 604 is fixedly connected with pedestal 605, in the cylindrical hole on the top insertion pedestal 605 of regulation cock 602；
Cover board 606 is connect by fixing bolt with pedestal 605, and regulation cock 602 and fixing card 603 are installed in the lateral surface of cover board 606.
Gasket 6031 is equipped between fixing card 603 and circular hole 6041, gasket 6031 is plastic spacer, to tooth when preventing from tightening
Shape motion bar 601 damages.
Tooth form motion bar 601 includes front and back adjusting rod and left and right adjusting bar, and front and back adjusting rod and left and right adjusting bar are horizontal
It is arranged and is mutually perpendicular to, forms integrated L shape；A mobile device is respectively connected on front and back adjusting rod and left and right adjusting bar, is connected
The pedestal 605 of mobile device on the adjusting rod of front and back is fixedly connected with robot thigh 1 or robot shank 2, is connected to a left side
The pedestal 605 of mobile device on right adjusting rod is fixedly connected with the back side of arc plate 700, and the front correspondence of arc plate 700 makes
User's leg position.
The side of front and back adjusting rod and left and right adjusting bar is equipped with third graduated scale 6011.
There are three leg position regulating device 600 is set altogether, three leg position regulating devices 600 are connected to robot
The middle part of thigh 1, robot shank 2 middle part, the lower end of robot shank 2 connects respectively in each leg position regulating device 600
It is connected to arc plate 700.
By rotating regulation cock 602, so that tooth form motion bar 601 and mobile device relative motion, to control arc plate
700 position all around, adjusts thigh support position in which can be convenient.
Control system controls the first driving motor 41 and rotates forward the drive rotation of first gear 421, and synchronous by first gear
Band 422 passes to second gear 423, so that the first screw rod 32 rotates, by the rotation of the first screw rod 32 so that the first screw rod 32
Opposing nut is moved to outside the first screw jacket 31, so that the first drive screw 3 be made to extend, band mobile robot shank 2 is transported backward
It is dynamic；Same control system controls the reversion of the first driving motor 41, and the first drive screw 3 can be made to shorten, band mobile robot shank 2
It travels forward；The motion of knee joint of healing robot is driven by the cooperation of the forward and reverse of the first driving motor 41.
Control system controls the second driving motor 61 and rotates forward the drive rotation of third gear 621, and synchronous by second gear
Band 622 passes to the 4th gear 623, so that the second screw rod 52 rotates, by the rotation of the second screw rod 52 so that the second screw rod 52
Opposing nut is moved to outside the second screw jacket 51, so that the second drive screw 5 be made to extend, band mobile robot thigh 1 is transported forward
It is dynamic；Same control system controls the reversion of the second driving motor 61, and the second drive screw 5 can be made to shorten, band mobile robot thigh 5
It moves backward；The hip joint movement of healing robot is driven by the cooperation of the forward and reverse of the second driving motor 61.
Control system controls motor 101 and rotates forward the drive rotation of driving pulley 102, and is passed to passively by synchronous belt 103
Belt wheel 104, so that the first screw rod 204 or the rotation of the second screw rod 404, are made by the rotation of the first screw rod 204 or the second screw rod 404
The first screw shell 303 up moved relative to first screw rod 204 or the second screw shell 503 up with respect to the second screw rod 404
It is mobile, so that thigh housing 300 or shank housing 500 be made up to move；Same control system control motor 101 inverts, and can make
Thigh housing 300 or shank housing 500 move down；By the initial input of control system to thigh leg length and shank leg progress
It goes and controls, realize automation and rapidly and accurately adjusting thigh leg length or shank leg are long.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of lower limb exoskeleton device of healing robot, it is characterised in that: including robot thigh (1), robot shank
(2), the first drive screw (3), first driving device (4), the second drive screw (5), the second driving device (6), hip cross bar
(7)；
The hip cross bar (7) is horizontally disposed, and the robot thigh (1) is equipped with the first connecting pin of thigh (11), the machine
The top of device National People's Congress leg (1) is equipped with thigh second connection end (12) and thigh third connecting pin (13), the robot shank (2)
Top be equipped with the first connecting pin of shank (21) and shank second connection end (22)；
The front end of the thigh second connection end (12) and the hip cross bar (7) is rotatablely connected by rotary shaft, the shank
First connecting pin (21) and the bottom end of the robot thigh (1) are rotatablely connected by rotary shaft；
First drive screw (3) includes the first screw jacket (31) and the first screw rod (32)；First screw jacket
(31) one end and first connecting pin of thigh (11) is rotatablely connected by rotary shaft, solid in first screw jacket (31)
Surely there is nut；One end of first screw rod (32) penetrates first screw rod from the other end of first screw jacket (31)
It is connect in housing (31) and with the nut thread, the other end of first screw rod (32) and the shank second connection end
(22) it is rotatablely connected by rotary shaft；
The first driving device (4) includes the first driving motor (41) and the first transmission mechanism (42), the first driving electricity
The output shaft of machine (41) connects first screw rod (32) by first transmission mechanism (42)；
Second drive screw (5) includes the second screw jacket (51) and the second screw rod (52)；Second screw jacket
(51) rear end of one end and the hip cross bar (7) is rotatablely connected by rotary shaft, solid in second screw jacket (51)
Surely there is nut；One end of second screw rod (52) penetrates second screw rod from the other end of second screw jacket (51)
It is connect in housing (51) and with the nut thread, the other end of second screw rod (52) and thigh third connecting pin
(13) it is rotatablely connected by rotary shaft；
Second driving device (6) includes the second driving motor (61) and the second transmission mechanism (62), the second driving electricity
The output shaft of machine (61) connects second screw rod (52) by second transmission mechanism (62).
2. the lower limb exoskeleton device of healing robot as described in claim 1, it is characterised in that: the thigh first connects
End (11) is located in the middle part of the front side of the robot thigh (1), and the thigh second connection end (12) is located at the machine National People's Congress
Right above the top of leg (1), thigh third connecting pin (13) is located at the top rear of the robot thigh (1)；It is described
The first connecting pin of shank (21) is located at right above the top of the robot shank (2), shank second connection end (22) position
In the top front side top of the robot shank (2).
3. the lower limb exoskeleton device of healing robot as described in claim 1, it is characterised in that: first driving motor
(41) control system is connected.
4. the lower limb exoskeleton device of healing robot as described in claim 1, it is characterised in that: the robot thigh
It (1) include power device (100), thigh telescopic rod (200), thigh housing (300)；
The thigh telescopic rod (200) includes the first support (201), the first support plate (202), the first vertical bar (203), first
Screw rod (204)；
First support (201) is equipped with upper and lower perforative first through hole (2011)；First vertical bar (203) is fixed on
First support (201) bottom end offers the first strip through slot that front and back penetrates through on first vertical bar (203)
(2031), the first vertical bar (203) bottom end is equipped with upper and lower perforative second through-hole (2032), second through-hole (2032)
It is penetrated through with the first strip through slot (2031)；First screw rod (204) sequentially passes through first through hole from top to bottom
(2011), the first strip through slot (2031) and the second through-hole (2032)；
First support plate (202) is fixed on the side of first support (201), and the power device (100) is fixed on
On first support plate (202), first screw rod (204) is located at the connection institute of the part above first support (201)
State power device (100)；
The thigh housing (300) includes thigh outer casing inner wall (301), the first connector (302), the first screw shell (303)；
The thigh outer casing inner wall (301) cover first vertical bar (203) outside, thigh outer casing inner wall (301) upper end
Fixed first connector (302), first screw shell (303) pass through first connector (302) and described big
Leg outer casing inner wall (301) connection, first screw shell (303) setting in the first strip through slot (2031) and with
First screw rod (204) is threadedly coupled；
First connecting pin of thigh (11) is fixedly connected on the outer wall upper end of the thigh housing (300), the shank first
Connecting pin (21) and the bottom end of the thigh housing (300) are rotatablely connected by rotary shaft.
5. the lower limb exoskeleton device of healing robot as described in claim 1, it is characterised in that: the robot shank
It (2) include power device (100), shank telescopic rod (400), shank housing (500)；
The shank telescopic rod (400) includes the second support (401), the second support plate (402), the second vertical bar (403), second
Screw rod (404)；
Second support (401) is equipped with upper and lower perforative third through-hole (4011)；Second vertical bar (403) is fixed on
Second support (401) bottom end offers the second strip through slot that front and back penetrates through on second vertical bar (403)
(4031), the second vertical bar (403) bottom end is equipped with upper and lower perforative fourth hole (4032), the fourth hole (4032)
It is penetrated through with the second strip through slot (4031)；Second screw rod (404) sequentially passes through third through-hole from top to bottom
(4011), the second strip through slot (4031) and fourth hole (4032)；
Second support plate (402) is fixed on the side of second support (401), and the power device (100) is fixed on
On second support plate (402), second screw rod (404) is located at the connection institute of the part above second support (401)
State power device (100)；
The shank housing (500) includes shank outer casing inner wall (501), the second connector (502), the second screw shell (503)；
The shank outer casing inner wall (501) cover second vertical bar (403) outside, shank outer casing inner wall (501) upper end
Fixed second connector (502), second screw shell (503) by second connector (502) with it is described small
Leg outer casing inner wall (501) connection, second screw shell (503) setting in the second strip through slot (4031) and with
Second screw rod (404) is threadedly coupled；
First connecting pin of shank (21) and shank second connection end (22) are respectively fixedly connected in the shank telescopic rod
(400) top.
6. the lower limb exoskeleton device of healing robot as described in claim 4 or 5, it is characterised in that: the power device
It (100) include motor (101), driving pulley (102), synchronous belt (103), passive belt wheel (104)；Motor (101) connection
Control system；The output shaft of the motor (101) is connect with the driving pulley (102), and the driving pulley (102) passes through institute
It states synchronous belt (103) and connects the passive belt wheel (104).
7. the lower limb exoskeleton device of healing robot as described in claim 1, it is characterised in that: under the healing robot
Limb exoskeleton device further includes leg position regulating device (600) and arc plate (700)；
The leg position regulating device (600) includes tooth form motion bar (601) and mobile device, and the mobile device includes adjusting
Save bolt (602), fixing card (603), set block (604), pedestal (605)；
The tooth form motion bar (601) runs through the set block (604)；Set block (604) side is equipped with circular hole (6041), bottom end
Equipped with shrinkage pool (6042)；Gear is equipped among the regulation cock (602), the regulation cock (602) runs through the shrinkage pool (6042)
And it is engaged with tooth form motion bar (601) gear；The fixing card (603) runs through the circular hole (6041)；The set block
(604) it is fixedly connected with the pedestal (605)；
The pedestal (605) is fixedly connected with robot thigh (1) or robot shank (2)；The arc plate (700) with it is described
Tooth form motion bar (601) connection.
8. the lower limb exoskeleton device of healing robot as claimed in claim 7, it is characterised in that: the tooth form motion bar
It (601) include front and back adjusting rod and left and right adjusting bar, the front and back adjusting rod and left and right adjusting bar are horizontally disposed and mutually vertical
Directly；A mobile device is respectively connected on the front and back adjusting rod and left and right adjusting bar, the shifting being connected on the front and back adjusting rod
The pedestal (605) of dynamic device is fixedly connected with robot thigh (1) or robot shank (2), is connected to the left and right adjusting bar
On the pedestal (605) of mobile device be fixedly connected with the arc plate (700).
9. the lower limb exoskeleton device of healing robot as claimed in claim 8, it is characterised in that: the front and back adjusting rod and
The side of left and right adjusting bar is equipped with third graduated scale (6011).
10. the lower limb exoskeleton device of healing robot as claimed in claim 7, it is characterised in that: the leg position tune
There are three regulating device (600) is set altogether, three leg position regulating devices (600) are connected to the robot thigh (1)
Middle part, the robot shank (2) middle part, the lower end of the robot shank (2), each leg position regulating device (600)
On be connected separately with the arc plate (700).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048224.4A CN108969306A (en) | 2018-09-10 | 2018-09-10 | A kind of lower limb exoskeleton device of healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048224.4A CN108969306A (en) | 2018-09-10 | 2018-09-10 | A kind of lower limb exoskeleton device of healing robot |
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| Publication Number | Publication Date |
|---|---|
| CN108969306A true CN108969306A (en) | 2018-12-11 |
Family
ID=64545148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811048224.4A Pending CN108969306A (en) | 2018-09-10 | 2018-09-10 | A kind of lower limb exoskeleton device of healing robot |
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| CN (1) | CN108969306A (en) |
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