CN109093603A - A kind of wearable ectoskeleton reinforcement lower limb suit - Google Patents
A kind of wearable ectoskeleton reinforcement lower limb suit Download PDFInfo
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- CN109093603A CN109093603A CN201811106745.0A CN201811106745A CN109093603A CN 109093603 A CN109093603 A CN 109093603A CN 201811106745 A CN201811106745 A CN 201811106745A CN 109093603 A CN109093603 A CN 109093603A
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- horizontal
- mobile jib
- lower limb
- reinforcement lower
- wearable ectoskeleton
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of wearable ectoskeleton reinforcement lower limb suit, may include: the waist structure being successively flexibly connected, thigh structure, shank structure and foot structure；The waist structure includes link block, and the link block both ends horizontal is connected with symmetrically arranged curved rod, and the curved rod end horizontal is rotatably connected to inverted "L" shape bar, and the bottom of the inverted "L" shape bar is rotatablely connected vertically with the thigh structural top；The thigh structural base is rotatablely connected vertically with the shank structural top, and the shank structural base is flexibly connected with the foot structure by bulb joint bearing.Wearable ectoskeleton reinforcement lower limb suit provided by the invention, makes human body wearing comfort, and flexibly, power-assisted is obvious, and is able to guide human action, body function for movement, improves ability of the human body in several work or movement.
Description
Technical field
The present invention relates to wearable exoskeleton robot technical fields, increase more particularly to a kind of wearable ectoskeleton
Power lower limb suit.
Background technique
In the ascendant in the research and development upsurge of ectoskeleton robot field both at home and abroad at present, a plurality of exoskeleton robots are in reality
It tests in room and is born and has carried out some confirmatory experiments.But these exoskeleton robot majorities have a single function, and performance is unstable, comfort
Not high, flexibility is not strong, and power-assisted effect is limited.
Summary of the invention
The object of the present invention is to provide a kind of wearable ectoskeleton reinforcement lower limb to be set with, and is deposited with solving the above-mentioned prior art
The problem of, make human body wearing comfort, flexibly, power-assisted is obvious, and is able to guide human action, body function for movement, improves
Ability of the human body in several work or movement.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of wearable ectoskeleton reinforcement lower limb suit, including be successively flexibly connected waist structure,
Thigh structure, shank structure and foot structure；The waist structure includes link block, and the link block both ends horizontal is flexibly connected
There is symmetrically arranged curved rod, the curved rod end horizontal is rotatably connected to inverted "L" shape bar, the bottom of the inverted "L" shape bar
It is rotatablely connected vertically with the thigh structural top；The thigh structural base and the shank structural top company of rotation vertically
It connects, the shank structural base is flexibly connected with the foot structure by bulb joint bearing.
Optionally, the link block includes moving horizontally plate and horizontal top, and the horizontal top passes through vertical connecting plates
It is connected with horizonal base plate, the vertical connecting plates two sides are respectively arranged with horizontal slider, and the plate that moves horizontally offers and institute
State the horizontal concrete chute that horizontal slider matches, it is described move horizontally plate by horizontal concrete chute be movably set in the horizontal top and
Between horizonal base plate；The plate end that moves horizontally is rotatablely connected vertically with the curved rod.
Optionally, the thigh structure includes the first mobile jib of upper hollow, is arranged with the first tune in first mobile jib
Pole, the first mobile jib top and the junction of first adjusting rod are equipped with fixing piece；The bottom of the inverted "L" shape bar
It is rotatablely connected with the first adjusting rod top vertical.
Optionally, the shank structure includes the second mobile jib of lower hollow, and second mobile jib bottom is arranged with second
The junction of adjusting rod, second mobile jib bottom and second adjusting rod is equipped with fixing piece；At the top of second mobile jib
It is rotatablely connected vertically with first mobile jib bottom, second adjusting rod bottom is closed with the foot structure by the bulb
Bearings are flexibly connected.
Optionally, the foot structure includes horizontal foot pedal, and it is vertical that the horizontal foot pedal outboard end is connected with
Fixed cylinder, the fixed cylinder are flexibly connected with second adjusting rod bottom by the bulb joint bearing.
Optionally, annular connecting band has been respectively fixedly connected on the inside of first mobile jib and on the inside of second mobile jib.
Optionally, the inverted "L" shape bar includes integrally formed flat bar and vertical bar, the arc boom end and the flat bar
Top horizontal rotation connection；Be fixedly installed with horizontal brace rod on first mobile jib, the flat bar far from the vertical bar one
End is connected with the first hydraulic stem with described horizontal brace rod one end.
Optionally, fixed part is installed, the fixed part and the horizontal brace rod other end are living on second mobile jib
It is dynamic to be connected with the second hydraulic stem.
Optionally, between first adjusting rod and first mobile jib can opposed vertical it is mobile, moving displacement is
60mm。
The present invention achieves following technical effect compared with the existing technology:
Lower limb exoskeleton of the present invention fully takes into account ergonomics in design, and wherein the design of thigh and calf is cut using change
The equicohesive arc line type attaching type design in face, can be bonded completely with human leg, be provided simultaneously with the adjustable length of wide scope,
With guarantee different heights wearer it is comfortable.Simultaneously three joint-hips, SCID Mice rotation width using it is high-intensitive from
" drift bolt " (the rotation width that this concept of drift bolt is derived from the wheel of roller skate) of row design processing.It can guarantee the flexible of rotation,
Aesthetics can be improved again simultaneously, three joints are all made of limit setting, because behaviour is expert at, squat down, when lifting the elemental motions such as leg
The rotation angle in each joint of human body is all to have a certain range of, and reasonable setting limit can ensure the safety of wearer.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the wearable ectoskeleton reinforcement lower limb sleeve structure schematic diagram of the present invention；
Fig. 2 is waist structure schematic diagram of the present invention；
Fig. 3 is waist structure side view of the present invention；
Fig. 4 is thigh structural schematic diagram of the present invention；
Fig. 5 is shank structural schematic diagram of the present invention；
Fig. 6 is thigh structure of the present invention and shank structure connection diagram；
Fig. 7 is shank structure of the present invention and foot structure connection schematic diagram；
Wherein, 1 be link block, 101 for move horizontally plate, 102 be horizontal top, 103 be vertical connecting plates, 104 be water
Flat underside, 105 be horizontal slider, 106 be horizontal concrete chute, 2 be curved rod, 3 be inverted "L" shape bar, 301 be flat bar, 302 be perpendicular
Bar, 4 be bulb joint bearing, 5 be the first mobile jib, 6 be the first adjusting rod, 7 be fixing piece, 8 be the second mobile jib, 9 be the second tune
Pole, 10 for horizontal foot pedal, 11 be fixed cylinder, 12 be annular connecting band, 13 be horizontal brace rod, 14 be the first hydraulic stem,
15 be the second hydraulic stem.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of wearable ectoskeleton reinforcement lower limb to be set with, and is deposited with solving the above-mentioned prior art
The problem of, make human body wearing comfort, flexibly, power-assisted is obvious, and is able to guide human action, body function for movement, improves
Ability of the human body in several work or movement.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The present invention provides a kind of wearable ectoskeleton reinforcement lower limb suit, and activity connects as shown in Fig. 1-Fig. 7, including successively
Waist structure, thigh structure, shank structure and the foot structure connect；Waist structure includes link block 1,1 both ends of link block difference
Horizontal anomalous movement is connected with symmetrically arranged curved rod 2, and 2 end horizontal of curved rod is rotatably connected to inverted "L" shape bar 3, inverted "L" shape bar
3 bottom is rotatablely connected vertically with thigh structural top；Thigh structural base is rotatablely connected vertically with shank structural top, shank
Structural base is flexibly connected with foot structure by bulb joint bearing 4.
Specifically, the present invention is mainly made of waist, thigh and calf and four part of foot, wherein entire ectoskeleton structure exists
It realizes rehabilitation, must be depended on human body together when treating traction function, to realize the maximum effect of exoskeleton lower limbs.Human body lower limbs
One shares 7 freedom degrees, wherein 3 at hip joint, that is, waist structure, knee joint, that is, thigh structure and shank structural attachments 1
A, ankle-joint, that is, shank structure and 3 freedom degrees of foot structure in the lower limb structure that the present invention designs, are adequately fitted human body
Joint of lower extremity freedom degree, to obtain best experiment effect, wherein hip joint three, including front and back are bent and stretched, inside and outside side-sway and
Rotary freedom, knee joint and ankle-joint freedom degree then every rotary freedom to be fitted leg exercise.Lower limb exoskeleton is being set
Timing fully takes into account ergonomics, and wherein the design of thigh and calf is designed using the equicohesive arc line type attaching type of variable cross-section,
Can be bonded completely with human leg, be provided simultaneously with the adjustable length of wide scope, with guarantee different heights wearer relax
It is suitable.Simultaneously three joint-hips, SCID Mice rotation width using high-intensitive designed, designed processing " drift bolt " (drift bolt this
One concept is derived from the rotation width of the wheel of roller skate).It can guarantee the flexible of rotation, while aesthetics can be improved again, three passes
Section is all made of limit setting, because behaviour is expert at, squats down, and the rotation angle in each joint of human body is all when lifting the elemental motions such as leg
Have a certain range of, reasonable setting limit can ensure the safety of wearer.
It is further preferred that link block 1 includes moving horizontally plate 101 and horizontal top 102, horizontal top 102 passes through perpendicular
Direct-connected fishplate bar 103 is connected with horizonal base plate 104, and 103 two sides of vertical connecting plates are respectively arranged with horizontal slider 105, move horizontally
Plate 101 offers the horizontal concrete chute 106 to match with horizontal slider 105, moves horizontally plate 101 and passes through 106 activity of horizontal concrete chute
It is set between horizontal top 102 and horizonal base plate 104；It moves horizontally 101 end of plate and curved rod 2 is rotatablely connected vertically.
Thigh structure includes the first mobile jib 5 of upper hollow, is arranged with the first adjusting rod 6, the first mobile jib in the first mobile jib 5
5 tops and the junction of the first adjusting rod 6 are equipped with fixing piece 7；The bottom of inverted "L" shape bar 3 and 6 top vertical of the first adjusting rod
Rotation connection.Both first adjusting rod 6 and the first mobile jib 5 opposite can slide, and opposite slide displacement is 60mm, regulate length
It is tightened with the bolt on fixing piece 7 afterwards to reach fixed effect, guarantees that people of the height between 165cm and 185cm comfortably dresses.
The design of thigh fully takes into account ergonomics, abandons the straight thick stick type design of common ectoskeleton, courageously uses arc line type and pastes
Meter is set up, human thigh's curve is more bonded in this way, is conducive to the performance of the performance of ectoskeleton traction therapeutic.
Shank structure includes the second mobile jib 8 of lower hollow, and 8 bottom of the second mobile jib is arranged with the second adjusting rod 9, and second is main
8 bottom of bar and the junction of the second adjusting rod 9 are equipped with fixing piece 7；Second mobile jib, 8 top turns vertically with 5 bottom of the first mobile jib
Dynamic connection, 9 bottom of the second adjusting rod are flexibly connected with foot structure by bulb joint bearing 4.
Foot structure includes horizontal foot pedal 10, and horizontal 10 outboard end of foot pedal is connected with vertical fixed cylinder 11, Gu
Safety barrel 11 is flexibly connected with 9 bottom of the second adjusting rod by bulb joint bearing 4.Ankle-joint can also be considered a ball-and-socket and close
Section.In exoskeleton ankle joint design, because three degree of freedom is all passive freedom degree, directly replaced using bulb joint bearing
Mode, this not only avoids ask when the design of general exoskeleton robot ankle-joint because asynchronous etc. caused by low pairs replacing high pair
Topic, and keep structure more compact.
Annular connecting band 12 has been respectively fixedly connected on the inside of first mobile jib, 5 inside and the second mobile jib 8.Inverted "L" shape bar 3 includes
Integrally formed flat bar 301 and vertical bar 302,2 end of curved rod and flat 301 top horizontal of bar are rotatablely connected；It is solid on first mobile jib 5
Dingan County is equipped with horizontal brace rod 13, and the is connected between the flat one end of bar 301 far from vertical bar 302 and one end of horizontal brace rod 13
One hydraulic stem 14.Fixed part is installed, fixed part and 13 other end of horizontal brace rod are connected with the second liquid on the second mobile jib 8
Compression bar 15.Between first adjusting rod 6 and the first mobile jib 5 can opposed vertical it is mobile, moving displacement 60mm.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (9)
1. a kind of wearable ectoskeleton reinforcement lower limb suit, it is characterised in that: including the waist structure, big being successively flexibly connected
Leg structure, shank structure and foot structure；The waist structure includes link block, and the link block both ends horizontal is connected with
Symmetrically arranged curved rod, the curved rod end horizontal are rotatably connected to inverted "L" shape bar, the bottom of the inverted "L" shape bar with
The thigh structural top is rotatablely connected vertically；The thigh structural base is rotatablely connected vertically with the shank structural top,
The shank structural base is flexibly connected with the foot structure by bulb joint bearing.
2. wearable ectoskeleton reinforcement lower limb suit according to claim 1, it is characterised in that: the link block includes
Plate and horizontal top are moved horizontally, the horizontal top is connected with horizonal base plate, the vertical connecting plates by vertical connecting plates
Two sides are respectively arranged with horizontal slider, and the plate that moves horizontally offers the horizontal concrete chute to match with the horizontal slider, institute
It states and moves horizontally plate and be movably set between the horizontal top and horizonal base plate by horizontal concrete chute；It is described to move horizontally plate end
End is rotatablely connected vertically with the curved rod.
3. wearable ectoskeleton reinforcement lower limb suit according to claim 1, it is characterised in that: the thigh structure packet
The first mobile jib of upper hollow is included, is arranged with the first adjusting rod in first mobile jib, with described the at the top of first mobile jib
The junction of one adjusting rod is equipped with fixing piece；The bottom of the inverted "L" shape bar and the first adjusting rod top vertical rotate
Connection.
4. wearable ectoskeleton reinforcement lower limb suit according to claim 3, it is characterised in that: the shank structure packet
Include the second mobile jib of lower hollow, second mobile jib bottom is arranged with the second adjusting rod, second mobile jib bottom with it is described
The junction of second adjusting rod is equipped with fixing piece；At the top of second mobile jib with first mobile jib bottom company of rotation vertically
It connects, second adjusting rod bottom is flexibly connected with the foot structure by the bulb joint bearing.
5. wearable ectoskeleton reinforcement lower limb suit according to claim 4, it is characterised in that: the foot structure packet
Horizontal foot pedal is included, the horizontal foot pedal outboard end is connected with vertical fixed cylinder, and the fixed cylinder and described second are adjusted
Pole bottom is flexibly connected by the bulb joint bearing.
6. wearable ectoskeleton reinforcement lower limb suit according to claim 5, it is characterised in that: in first mobile jib
Annular connecting band has been respectively fixedly connected on the inside of side and second mobile jib.
7. wearable ectoskeleton reinforcement lower limb suit according to claim 6, it is characterised in that: the inverted "L" shape bar
Including integrally formed flat bar and vertical bar, the arc boom end and the flat bar top horizontal are rotatablely connected；Described first is main
Horizontal brace rod is fixedly installed on bar, the one end of the flat bar far from the vertical bar is connected with described horizontal brace rod one end
First hydraulic stem.
8. wearable ectoskeleton reinforcement lower limb suit according to claim 7, it is characterised in that: on second mobile jib
Fixed part is installed, the fixed part and the horizontal brace rod other end are connected with the second hydraulic stem.
9. wearable ectoskeleton reinforcement lower limb suit according to claim 8, it is characterised in that: first adjusting rod
Between first mobile jib can opposed vertical it is mobile, moving displacement 60mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811106745.0A CN109093603A (en) | 2018-09-21 | 2018-09-21 | A kind of wearable ectoskeleton reinforcement lower limb suit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811106745.0A CN109093603A (en) | 2018-09-21 | 2018-09-21 | A kind of wearable ectoskeleton reinforcement lower limb suit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109093603A true CN109093603A (en) | 2018-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811106745.0A Pending CN109093603A (en) | 2018-09-21 | 2018-09-21 | A kind of wearable ectoskeleton reinforcement lower limb suit |
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| CN (1) | CN109093603A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111281746A (en) * | 2020-03-07 | 2020-06-16 | 宿州学院 | Driving device of lower limb rehabilitation robot |
| CN111376236A (en) * | 2020-04-07 | 2020-07-07 | 北京海益同展信息科技有限公司 | Hip joint structure and exoskeleton robot |
| CN115445049A (en) * | 2022-10-14 | 2022-12-09 | 中国人民解放军总医院第四医学中心 | Anesthesia department postoperative awakening device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105973A (en) * | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN106272337A (en) * | 2016-08-25 | 2017-01-04 | 西南交通大学 | A kind of wearable lower limb exoskeleton power-assisting robot |
| CN206085037U (en) * | 2016-10-20 | 2017-04-12 | 山东科技大学 | Wearable heavy burden ectoskeleton |
-
2018
- 2018-09-21 CN CN201811106745.0A patent/CN109093603A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105105973A (en) * | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN106272337A (en) * | 2016-08-25 | 2017-01-04 | 西南交通大学 | A kind of wearable lower limb exoskeleton power-assisting robot |
| CN206085037U (en) * | 2016-10-20 | 2017-04-12 | 山东科技大学 | Wearable heavy burden ectoskeleton |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111281746A (en) * | 2020-03-07 | 2020-06-16 | 宿州学院 | Driving device of lower limb rehabilitation robot |
| CN111376236A (en) * | 2020-04-07 | 2020-07-07 | 北京海益同展信息科技有限公司 | Hip joint structure and exoskeleton robot |
| CN115445049A (en) * | 2022-10-14 | 2022-12-09 | 中国人民解放军总医院第四医学中心 | Anesthesia department postoperative awakening device |
| CN115445049B (en) * | 2022-10-14 | 2023-09-29 | 中国人民解放军总医院第四医学中心 | Postoperative awakening device for anesthesia department |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181228 |
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| RJ01 | Rejection of invention patent application after publication |