CN109124990A - Lower limb rehabilitation ectoskeleton and exoskeleton robot - Google Patents
Lower limb rehabilitation ectoskeleton and exoskeleton robot Download PDFInfo
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- CN109124990A CN109124990A CN201811128060.6A CN201811128060A CN109124990A CN 109124990 A CN109124990 A CN 109124990A CN 201811128060 A CN201811128060 A CN 201811128060A CN 109124990 A CN109124990 A CN 109124990A
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- linking arm
- connecting rod
- section
- seperated
- lower limb
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Classifications
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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
- 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
- A61H1/0218—Drawing-out devices
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0165—Damping, vibration related features
-
- 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
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Abstract
The present invention discloses a kind of lower limb rehabilitation ectoskeleton and the exoskeleton robot using it, wherein lower limb rehabilitation ectoskeleton includes: joint assembly, and the joint assembly includes the first linking arm and the second linking arm, and the first linking arm and the second linking arm are rotatablely connected；Transmission component, the transmission component connect first linking arm and the second linking arm；And power device, the power device is set to the one end of first linking arm far from second linking arm, and connect with the transmission component, and the power device drives second linking arm to rotate relative to first linking arm by the transmission component.Technical solution of the present invention can be easy to implement the lower limb rehabilitation of patient.
Description
Technical field
The present invention relates to ectoskeleton technical field, in particular to a kind of lower limb rehabilitation ectoskeleton and exoskeleton robot.
Background technique
In clinical rehabilitation, in the rehabilitation early stage of the sufferers such as apoplexy, brain paralysis and acute stage, often need to call out by joint motion
It wakes up, remold because brain tissue impairment interrupts and the cerebral nervous system of disorder, while muscular strength can also be improved by joint motion, avoided
Muscular atrophy, limbs generate the other illnesss such as pressure sore.
It is mostly that rehabilitation teacher artificially helps patient to carry out corresponding rehabilitation movement in the rehabilitation department of existing clinic.Cause
To collapse from physical exhaustion the phase in patient, the active force of movement can not be provided, so needing to contribute by rehabilitation teacher to help patient at this time completely
It is trained, so greatly wastes manpower and time cost.Since the daily rehabilitation amount of every rehabilitation teacher is limited, so nothing
Method meets the needs of brain tissue impairment patient and injury of orthopaedics department patient's rapid growth.And pass through with artificially carrying out acute stage health
Refreshment is practiced, and cannot control rehabilitation modality well, such as carries out passive, active, effective switching of impedance mode, leads to rehabilitation efficacy
It is unsatisfactory.
Summary of the invention
The main object of the present invention is to provide a kind of lower limb rehabilitation ectoskeleton, it is intended to be easy to implement the lower limb rehabilitation of patient.
To achieve the above object, a kind of lower limb rehabilitation ectoskeleton proposed by the present invention, comprising:
Joint assembly, the joint assembly include the first linking arm and the second linking arm, first linking arm and described
The rotation connection of second linking arm；
Transmission component, the transmission component connect first linking arm and second linking arm；And
Power device, the power device be set to the one end of first linking arm far from second linking arm, and with
The transmission component connection, the power device drive second linking arm relatively described first to connect by the transmission component
Connect arm rotation.
Optionally, the power device is detachably connected with first linking arm；
And/or first linking arm and/or second linking arm are equipped with fixing piece.
Optionally, the transmission component includes the both ends being oppositely arranged, and one end of the transmission component is set to described first
The one end of linking arm far from second linking arm is simultaneously connect with the power device, the other end of the transmission component with it is described
First linking arm is hinged close to one end of second linking arm, and is fixedly connected with second linking arm.
Optionally, the transmission component includes successively hinged first connecting rod, second connecting rod and third connecting rod, and described first
The one end of connecting rod far from the second connecting rod is connect with the power device, and the third connecting rod deviates from the one of the second connecting rod
End is hinged close to one end of second linking arm with first linking arm, and connect with second linking arm.
Optionally, the first connecting rod, second connecting rod, third connecting rod and the first linking arm combine to form a parallelogram
Mechanism；
And/or damping unit is connected between first linking arm and second connecting rod, the damping unit elastic connection
Between first linking arm and second connecting rod, the damping unit and first linking arm are rotatablely connected, and described second
Connecting rod can drive the damping unit to rotate relative to first linking arm under the action of power device.
Optionally, second linking arm is connected with guiding device away from one end of first linking arm.
Optionally, second linking arm includes the sequentially connected first seperated section and the second seperated section, and described first point
One end of body section is hinged with first linking arm and connect with the transmission component, the other end of the described first seperated section and institute
It states the second seperated section to be detachably connected, the described second seperated section is filled away from one end of the described first seperated section equipped with the guiding
It sets.
Optionally, second linking arm further includes third fission section, the other end of the second seperated section and described the
Length adjustment device is connected between triad section, the third fission section is equipped with institute away from one end of the described second seperated section
State guiding device；
Alternatively, the other end of the described second seperated section is connected with length adjustment device, the length adjustment device is equipped with institute
State guiding device.
Optionally, second linking arm is additionally provided with ankle joint angle away from one end of first linking arm and adjusts dress
It sets, the ankle joint angle regulating device is set to the guiding device；
And/or the guiding device includes being set to second linking arm to deviate from first linking arm one end at least
One guide wheel.
The present invention also proposes a kind of exoskeleton robot, including lower limb rehabilitation ectoskeleton.Wherein, the lower limb rehabilitation dermoskeleton
Bone, comprising:
Joint assembly, the joint assembly include the first linking arm and the second linking arm, first linking arm and described
The rotation connection of second linking arm；
Transmission component, the transmission component connect first linking arm and second linking arm；And
Power device, the power device be set to the one end of first linking arm far from second linking arm, and with
The transmission component connection, the power device drive second linking arm relatively described first to connect by the transmission component
Connect arm rotation.
Technical solution of the present invention is set to the one end of the first linking arm far from the second linking arm by using power device, avoids
Power device overcomes self gravity to do work, and reduces the waste of the energy.
In use, passing through binding by the connection of the thigh of bundled piece and human body or the second linking arm with the first linking arm
For the connection of the shank of part and human body, power device is set to the one end of the first linking arm far from the second linking arm, that is, power fills
It is arranged at the hip joint of human body.Power device is when driving the rotation of the second linking arm by transmission component, the second linking arm band
Dynamic shank movement, makes human body complete the movement such as bend the knee, stretch, and when completing these movements, the position of power device is almost not
Become, therefore can be avoided power device and self gravity is overcome to do work.Also avoiding joint assembly weight distribution unevenly causes
Leg rotation, joint the problem of being misaligned, preferably to assist user's rehabilitation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of lower limb rehabilitation ectoskeleton of the present invention；
Fig. 2 is the structural schematic diagram at the another visual angle of one embodiment of lower limb rehabilitation ectoskeleton of the present invention；
Fig. 3 is the structural schematic diagram at the another visual angle of one embodiment of lower limb rehabilitation ectoskeleton of the present invention；
Fig. 4 is the knot of the first linking arm and power device and transmission component in one embodiment of lower limb rehabilitation ectoskeleton of the present invention
Structure schematic diagram；
Fig. 5 is the decomposition diagram of Fig. 4；
Fig. 6 is that first linking arm and the second linking arm are arranged in angle in one embodiment of lower limb rehabilitation ectoskeleton of the present invention
Structural schematic diagram；
Fig. 7 is the attachment structure schematic diagram of the second linking arm and guiding device and ankle-joint regulating device of the invention；
Fig. 8 is the decomposition diagram of length adjustment device in the present invention；
Fig. 9 is the structural schematic diagram of ankle-joint regulating device in the present invention；
Figure 10 is the decomposition diagram of Fig. 9；
Figure 11 is the decomposition diagram of damping unit.
Drawing reference numeral explanation:
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
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 embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, be also possible to
Electrical connection；It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor
Within the scope of shield.
The present invention proposes a kind of lower limb rehabilitation ectoskeleton 100, it is intended to be easy to implement the lower limb rehabilitation of patient.
In embodiments of the present invention, the lower limb rehabilitation ectoskeleton 100, as shown in Figure 1 to 11, comprising: joint assembly 10,
Joint assembly 10 includes the first linking arm 11 and the second linking arm 12, and the first linking arm 11 and the second linking arm 12 are rotatablely connected；
Transmission component 20, transmission component connect the first linking arm 11 and the second linking arm 12；And power device 30, power device 30 are set
It in the one end of the first linking arm 11 far from the second linking arm 12, and is connect with transmission component 20, power device 30 passes through transmission group
Part 20 drives the second linking arm 12 to rotate relative to the first linking arm 11.
In the present embodiment, the first linking arm 11 and the second linking arm 12 all can be the structures such as rod-shaped or tabular,
In order to mitigate the weight of the first linking arm 11 and the second linking arm 12, can be set on the first linking arm 11 and the second linking arm 12
Set engraved structure.And the material of the first linking arm 11 and the second linking arm 12 can select carbon fiber, aluminium alloy, stainless steel etc..
Technical solution of the present invention is set to one of the first linking arm 11 far from the second linking arm 12 by using power device 30
End, avoids power device 30 and self gravity is overcome to do work, reduce the waste of the energy.
In use, being passed through with the first linking arm 11 by the connection of the thigh of bundled piece and human body or the second linking arm 12
For the connection of the shank of bundled piece and human body, power device 30 is set to the one end of the first linking arm 11 far from the second linking arm 12,
That is, power device 30 is set at the hip joint of human body.Power device 30 is driving 12 turns of the second linking arm by transmission component
When dynamic, the second linking arm 12 drives shank movement, and human body is made to complete the movement such as bend the knee, stretch, when completing these movements, power
The change in location amplitude of device 30 is very little, therefore can reduce or even avoid power device 30 that self gravity is overcome to do work.
Also avoid because 10 weight distribution of joint assembly unevenly caused by leg rotation, joint be misaligned the problem of, with preferably it is auxiliary
Help user's rehabilitation.Ectoskeleton is dressed for the ease of patient, it is removable using power device 30 and the first linking arm 11 in the present embodiment
The scheme for unloading connection can first remove power device 30 when dressing ectoskeleton to patient, ectoskeleton when mitigating wearing
Weight dresses good and then power device 30 is mounted on the first linking arm 11 in joint assembly 10.In other of the invention
In embodiment, the scheme that power device 30 is fixedly connected with the first linking arm 11 can also be used, when with reduction wearing ectoskeleton
Process.
Position for the ease of immobilized patients limbs with respect to the first linking arm 11 and the second linking arm 12, in the technical program
Fixing piece 13 is equipped on the first linking arm 11 and/or the second linking arm 12, in the present embodiment, fixing piece 13 is set to the first connection
The upside of arm 11 and the second linking arm 12, it is as shown in Figure 1 to Figure 3, fixed when lower limb rehabilitation ectoskeleton 100 is connect with human body
Part 13 is correspondingly arranged on front side of thigh and on front side of joint, and when dressing ectoskeleton, patient may be at the shape of prone position either sitting posture
Ectoskeleton can be worn on the leg of patient by state, ectoskeleton from the front side of patient, subsequently through bandage by the lower limb of patient with
Ectoskeleton is fixed together, and dresses convenient for patient.Joint play and torsion in order to prevent, in the first linking arm 11 and
The close one end of two linking arms 12 is connected with the fixing piece 13 for fixing joint, 13 one end of fixing piece and the first linking arm 11
Connection, the other end are connect with the second linking arm 12, and the corresponding knee joint of the fixing piece 13 is equipped with fixation hole 131.In use, patient
Joint be equipped with the fixation hole 131 so that joint assembly 10 is bonded to the greatest extent with human synovial, effectively improve pass
The drag efficiency of component 10 is saved, while also making the rehabilitation efficacy of patient more preferable.Wherein, the material of fixing piece 13 can for rubber,
Latex elastomeric material can also be made of multilayer cloth and/or cotton yarn, to increase its gas permeability, patient be facilitated to use.
Further, transmission component 20 includes the both ends being oppositely arranged, and one end of transmission component 20 is set to the first linking arm
11 one end far from the second linking arm 12, the other end of transmission component 20 and the first linking arm 11 are close to the one of the second linking arm 12
End is hinged, and connect with the second linking arm 12.The both ends that transmission component 20 is arranged are connect with the first linking arm 11 and second respectively
Arm 12 connects, and to simplify arragement construction of the transmission component 20 on the first linking arm 11, and then is convenient for the production and processing of ectoskeleton.
In the present embodiment, transmission component 20 includes successively hinged first connecting rod 21, second connecting rod 22 and third connecting rod 23,
The one end of first connecting rod 21 far from second connecting rod 22 is connect with power device 30, and third connecting rod 23 deviates from one end of second connecting rod 22
It is hinged close to one end of the second linking arm 12 with the first linking arm 11, and connect with the second linking arm 12.Third connecting rod 23 and
It is the hinged place of one linking arm 11, coaxial with the hinged place of the first linking arm 11 and the second linking arm 12, such as the first linking arm 11
It is equipped with shaft hole, shaft is equipped in shaft hole, the second linking arm 12 and third connecting rod 23 are rotatablely connected with the shaft.And the
The mode for being fixedly connected with either screw connection can be used between three-link 23 and the second linking arm 12.Wherein, power device 30
For motor 31, motor 31 is connect by electric machine support 32 with the first linking arm 11, output end and the first connecting rod 21 of motor 31
End connection.In order to reduce the width of lower limb rehabilitation ectoskeleton 100, the output end of motor 31 is arranged towards the first linking arm 11,
First connecting rod 21 is set between motor 31 and the first linking arm 11.The form that the output end of motor 31 is connect with first connecting rod 21 can
Think that the output shaft of motor 31 is connect with first connecting rod 21, output shaft is rotated to drive first connecting rod 21 to move, meanwhile, first connects
It connects and is correspondingly arranged at shaft hole on arm 11, the output shaft and shaft hole of motor 31 are rotatablely connected, so that the connection for increasing output shaft is rigid
Degree.Either the output end of motor 31 is equipped with ring flange, and ring flange is connect with first connecting rod 21, effect of the ring flange in motor 31
Lower movement, while first connecting rod 21 being driven to move.
For the ease of the assembling of ectoskeleton, in the present embodiment, pass through screw between electric machine support 32 and the first linking arm 11
Connection.Electric machine support 32 is cylindrical shape, and motor 31 is connected to the bottom of electric machine support 32, and the bottom of electric machine support 32 is equipped with installation
The mounting hole of fixed motor 31 is equipped with perforative notch in the side wall of electric machine support 32, and the notch runs through the electric machine support 32
End face, first connecting rod 21 be set to the notch in, in order to be driven by motor 31.It, can in order to reduce the weight of electric machine support 32
Multiple perforative notches to be arranged on the side wall of electric machine support 32, it need to only guarantee the support stiffness of electric machine support 32.Together
When in the end of electric machine support 32, flange is set, flange is equipped with through-hole, setting company corresponding with flange on the first linking arm 11
Access slot 111 is equipped with the through-hole through 11 thickness direction of the first linking arm in the slot bottom of link slot 111.Electric machine support 32 and first
When linking arm 11 connects, the flange of electric machine support 32 is plugged in link slot 111, is realized later using the cooperation of bolt and through-hole
The connection of electric machine support 32 and the first linking arm 11.
In the application, power device 30 is preferably servo motor 31, in order to control the first linking arm 11 and the second connection
The speed that arm 12 is relatively rotated in different angles makes it more meet the physiological property of human motion, and then preferably assists using
Family rehabilitation.Hydraulic motor equal power device 30 also can be selected in certain power device 30.And first connecting rod 21 in the present embodiment,
The structure of two connecting rods 22 and third connecting rod 23 is not limited to direct rod shape, and structure is set according to the specific requirement in application.The
The material of one connecting rod 21, second connecting rod 22 and third connecting rod 23 can select carbon fiber, aluminium alloy, stainless steel etc..
In order to preferably assist user's rehabilitation, while convenient for controlling and adjusting the movement effects of the second linking arm 12, this reality
It applies in example, first connecting rod 21, second connecting rod 22, third connecting rod 23 and the combination of the first linking arm 11 form a parallelogram machine
Structure.That is, first connecting rod 21 is identical with the length of third connecting rod 23, second connecting rod 22 is identical with the length of the first linking arm 11, on
The identical theoretical length for referring to each connecting rod in four-bar mechanism of the length stated, rather than the physical length of each connecting rod.Due to
Four-bar mechanism is suitable for transmitting biggish power, can be realized determining motion profile, and remote convenient for manufacturing and can be realized
The advantages of distance transmitting, therefore, four-bar mechanism is selected in the present embodiment.Simultaneously as first connecting rod in parallelogram mechanism
21 with the movement of third connecting rod 23 be it is synchronous, therefore, first connecting rod 21 can be set by power device 30 in different conditions
When movement velocity, that is, can determine the corresponding movement velocity of third connecting rod 23, and then the second linking arm 12 can be determined in difference
Movement velocity when state so can set corresponding movement velocity according to the physiological status of patient, in order to which user uses,
It is also convenient for producing and processing.In other embodiments of the invention, transmission component 20 can also be passed using belt wheel transmission mechanism, gear
Motivation structure or other link mechanisms, preferably to assist Rehabilitation.
When doing rehabilitation exercise, in order to guarantee that the motion amplitude in the case where not interfering of transmission component 20 is minimum, this
Relationship in embodiment, between the length of first connecting rod 21 and the length of second connecting rod 22 are as follows: 1:4 to 2:5.That is, first connecting rod
Ratio range between 21 length and the length of second connecting rod 22 is 0.25 to 0.4, in practical applications, first connecting rod 21
Ratio between length and the length of second connecting rod 22 can select 0.25,0.28,0.3,0.32,0.35,0.37 or 0.4
Deng.
Since four-bar mechanism is when moving to extreme position, it may appear that the spacing of the first linking arm 11 and second connecting rod 22
From minimum phenomenon, even the first linking arm 11 is abutted with second connecting rod 22, leads to the appearance of movement dead, if without external force
Auxiliary, four-bar mechanism is difficult to move, for this purpose, connecting between the first linking arm 11 and second connecting rod 22 in the present embodiment
There is damping unit 40, as shown in Figures 1 to 6, damping unit 40 is resiliently attached between the first linking arm 11 and second connecting rod 22,
Damping unit 40 and the first linking arm 11 are rotatablely connected, and second connecting rod 22 can drive damping unit under the action of power device 30
40 rotate relative to the first linking arm 11.When the position of parallel motion to mechanism dead point, damping unit 40 connects to second
Bar 22 applies pulling force, and power device 30 drives first connecting rod 21 to move at this time, and second connecting rod 22 is incessantly right by power device 30
The driving force along 22 extending direction of second connecting rod that first connecting rod 21 applies, while being damped device 40 with second connecting rod 22 and being in
The pulling force of angle setting, then the synthesis Impact direction of second connecting rod 22 and its extending direction are inconsistent, therefore second connecting rod 22 can
It is moved under the driving of first connecting rod 21, avoids the presence of movement dead.
It, can be with simultaneously as the pulling force that damping unit 40 applies second connecting rod 22 is identical as the driving direction of driving force
The gravity for the human body that partial offset second connecting rod 22 needs to overcome during the motion, the weight of joint assembly 10 and foot with
Frictional force etc. between bed surface or ground, therefore the energy consumption of power device 30 can be reduced.In the present embodiment, damping dress
Setting 40 includes damping ontology 41, is equipped with two spaced first connecting pins 42 and second connection end 43 on damping ontology 41,
First connecting pin 42 and the first linking arm 11 are rotatablely connected, and second connection end 43 and damping ontology 41 are rotatablely connected and connect with second
Bar 22 is fixedly connected.When second connecting rod 22 moves under the action of power device 30, second connection end 43 can be driven to move simultaneously,
Second connection end 43 can be rotated with dynamic damping ontology 41 relative to the first linking arm 11.In the process of movement due to second connecting rod 22
Spacing between the first linking arm 11 is variation, therefore damping unit 40 can be in second connecting rod 22 and the first linking arm 11
Under the action of there is the phenomenon that extending or shortening.It can be designed between the first linking arm 11 and second connecting rod 22 in the application
When spacing maximum, the damping of damping unit 40 is zero, later with spacing between the first linking arm 11 and second connecting rod 22
Reduce, the damping of damping unit 40 is gradually increased, and the damping that damping unit 40 provides can also be used to limit simultaneously transmission second
The movement velocity of connecting rod 22, and then can be with the movement velocity of the second linking arm of auxiliary adjustment 12.
Figure 11 is please referred to, damping ontology 41 includes shell 411, and the first connecting pin 42 is set to the outer surface of shell 411, shell
411 middle part is equipped with accommodating cavity, is equipped with an opening being connected to accommodating cavity in the outer surface of shell 411, damping ontology 41 also wraps
Damper rod 412 is included, one end of damper rod 412 is set in accommodating cavity, and the other end and second connection end 43 are hinged, on damper rod 412
It is arranged with spring 413, is located at one end in accommodating cavity equipped with stopper 4121 in damper rod 412, stopper 4121 is for stopping spring
413, prevent spring 413 from falling off from damper rod 412, certain spring 413 can using resilient sleeve 1243 or disc spring etc. its
He replaces elastic component.It is equipped with end cap 414 in the opening of shell 411, end cap 414 is open for covering, while on end cap 414
Equipped with resigning mouthful 641, damper rod 412 stretches out from resigning mouthful 641, when second connection end 43 is under the action of second connecting rod 22,
When pulling damper rod 412 mobile to the outside of shell 411, spring 413 follows damper rod 412 to transport under the action of stopper 4121
It is dynamic, while being connected between end cap 414 and stopper 4121 under the action of end cap 414, to increase the damping force of damper rod 412.
For the ease of connecting damping unit 40 on transmission component 20, at the same when being also convenient for packing up ectoskeleton transmission component folding, this
In embodiment, damper rod 412 is threadedly coupled with second connection end 43, for example damper rod 412 is equipped with external screw thread, second connection end 43
It is equipped with threaded hole equipped with matched threaded hole or damper rod 412, second connection end 43 is equipped with matched outer spiral shell
Line.When not needing using lower limb rehabilitation ectoskeleton 100, it can be made to separate with second connection end 43 with rotary damping bar 412,
And then the external force being applied on second connecting rod 22 can be removed, in order to adjust the state of lower limb exoskeleton.It is of course also possible to logical
Rotation damper rod 412 is crossed, and then adjusts the damping force of damping unit 40, in order to be suitable for the patient of different weight.
Due to need lower limb rehabilitation user or patient leg power be it is very weak, power device 30 drive
When joint assembly 10 drives lower extremity movement, the movement of lower limb will appear hip outward turning, put outside ankle etc. other freedom degrees, but in brain
It is to prevent patient from hip outward turning, the ankle postures such as pendulum, drop foot outside occur by brace during apoplexy patient bed rehabilitation
, if once limbs are formed in acute stage, it will to later period patient stand walking and other normal activities, cause extremely serious
Influence.So it is very necessary for carrying out the freedom degree constraint of associated joint during the rehabilitation of acute stage.For this purpose, this reality
It applies in example, increases guiding device 50, guiding device 50 is connected to one end that the second linking arm 12 deviates from the first linking arm 11.?
When second linking arm 12 moves, guiding device 50 plays the role of guiding, while playing limit to joint assembly 10, keeps away
Exempt from the phenomenon that joint assembly 10 rotates, to guarantee the rehabilitation efficacy of patient.
Further, as shown in fig. 7, guiding device 50 includes deviating from the one of the first linking arm 11 set on the second linking arm 12
The guide wheel 51 at end.Guide wheel 51 can be connected directly between on the second linking arm 12 by the shaft in the middle part of it, can also be in the second linking arm
12 are arranged connecting plate 52 away from one end of the first linking arm 11, and guide wheel 51 is connect with connecting plate 52, meanwhile, patient can also be by foot
Portion is placed on connecting plate 52, preferably to assist patient.In this implementation, connecting plate 52 is vertically arranged with the second linking arm 12,
And the side connecting to the second linking arm 12 with user extends, in order to which foot is placed on connecting plate 52 by user.Guide wheel 51
It may be provided at the two sides of connecting plate 52, or the lower section of connecting plate 52 be set.Since the structure of guide wheel 51 is relatively easy and
The space occupied is few, therefore, when the ectoskeleton in the present embodiment is conveniently used for patient and is in bed state, carries out health on one's sick bed
Multiple movement.Certainly in the application, patient can also do rehabilitation exercise in the state of sitting posture.In other embodiments of the invention,
Guiding device 50 can also be the guide rail either screw mechanism etc. set on the second linking arm 12 away from the end of the first linking arm 11
Deng, guide rail or screw mechanism the space occupied are larger, but its movement track determine, patient can be reduced and hip outward turning occur
Phenomenon.
For the ease of the assembling and transport of ectoskeleton, the second linking arm 12 includes the be detachably connected in the present embodiment
One seperated section 121 and the second seperated section 122, one end of the first seperated section 121 are connect with transmission component 20, the other end and second point
One end of body section 122 connects, and the other end of the second seperated section 122 is equipped with guiding device 50.It, can when dressing ectoskeleton to patient
First to dress the first linking arm 11 and the first seperated section 121, the second seperated section 122 is dressed later, can be dressed convenient for patient.And
First seperated section 121 and the second seperated section 122, also can be convenient for the first seperated section 121 and the using the scheme being detachably connected
The connection of diad section 122.
Since the height of patient is inconsistent, in order to increase the versatility for the product for using technical solution of the present invention production, with
Play the role of auxiliary to patient convenient for guiding device 50, in the present embodiment, the second linking arm 12 includes sequentially connected first
One end of the seperated section 122 of seperated section 121, second and third fission section 123, the first seperated section 121 is connect with transmission component 20, the
The other end section 122 seperated with second of one seperated section 121 is detachably connected, and the other end of the second seperated section 122 is seperated with third
Length adjustment device 124 is connected between one end of section 123, guiding device 50 is set to third fission section 123.Second seperated section
It is connected between 122 sections 123 seperated with third using length adjustment device 124, therefore, the second fission section 122 section seperated with third
Spacing between 123 can be adjusted by length adjustment device 124, and then the length of adjustable second linking arm 12, in order to suffer from
Person is in use, guiding device 50 is kept in contact with bed surface or ground always.
In the present embodiment, as shown in figure 8, length adjustment device 124 is section seperated with third set on the second fission section 122
Screw rod 1241 between 123 is equipped in the second seperated section 122 and adjusts screwed pipe 1242, adjusts screwed pipe 1242 and screw rod
1241 one end connection, the other end of screw rod 1241 section 123 seperated with third connect, and rotation adjusts screwed pipe 1242 and can drive
The distance between screw rod 1241 is mobile, and then adjust the second fission section 122 section 123 seperated with third, that is, adjust the second linking arm
12 length.When for the ease of adjusting the second 12 length of linking arm, the steady movement of the second linking arm 12 and stress equalization, second
It is additionally provided with guide rod 1244 between seperated section 122 section 123 seperated with third, is additionally provided with sleeve 1243, guide rod in the second seperated section 122
1244 one end is set in sleeve 1243, and the other end of guide rod 1244 section 123 seperated with third connects, to connect in adjusting second
When 12 length of arm, play the role of guiding.In other embodiments of the invention, length adjustment device 124 can also for set on
Gear and rack teeth mechanism between second fission section 122 section 123 seperated with third.
In another embodiment of the invention, the second linking arm 12 includes that section 121 seperated with first is detachably connected
Diad section 122 deviates from the second seperated section 122 and is equipped with length adjustment device 124, length adjustment device to one end of seperated section
124 directly connect with guiding device 50.To simplify the structure of the second linking arm 12, while the usage amount of raw material can be saved.
Meanwhile in the present embodiment, the first seperated section 121 and the second seperated section 122 are using the scheme being detachably connected, under
Limb rehabilitation ectoskeleton 100 when not in use, can by from the junction of the first seperated section 121 and the second seperated section 122 by part the
Two linking arms 12 and the guiding device 50 of lower section disassemble from the first seperated section 121 together, in order to store and transport.Its
In, the scheme of the first seperated section 121 and the second seperated section 122 being detachably connected can be the first seperated section 121 and second point
The scheme that body section 122 is connected by screw to, the scheme etc. that the scheme of plug connection is either threadedly coupled.
For the ease of the connection of the first fission section 121 section 122 seperated with second, as shown in Fig. 4, Fig. 5 and Fig. 7, first point
One surface of body section 121 towards the second seperated section 122 is equipped with inserting groove 1211, and the opposite two sidewalls of inserting groove 1211 are equipped with and pass through
The through-hole worn, when the second fission section 122 section 121 seperated with first connects, the second seperated section 122 is away from third fission section 123
End is plugged in inserting groove 1211, meanwhile, through-hole correspond in the second seperated section 122 and is equipped with the first connecting hole, first point later
Body section 121 and the second seperated section 122 are realized by the cooperation of bolt and through-hole and the first connecting hole and are connected.For the ease of first point
The cooperation of the section 122 seperated with second of body section 121, in the present embodiment, the one of the connection of section 121 seperated with first of the second seperated section 122
Two opposite surfaces are held to be all provided with fluted 1221, groove 1221 is arranged through the end face of the second seperated section 122, the second seperated section
When 122 end is plugged in inserting groove 1211, the end of the first seperated section 121 is extend into groove 1221, the first seperated section
121 side surface is abutted with the side wall of groove 1221, need to be only pushed to the end face of the second seperated section 122 later and inserting groove
1211 bottom wall abuts, that is, realizes being correspondingly arranged for through-hole and the first connecting hole, only bolt realization need to be arranged in through-hole later
The connection of first seperated section 121 and the second seperated section 122.
Since patient is also required to resume training the muscle of ankle-joint in rehabilitation, in order to restore the flesh of muscle
Power, for this purpose, being additionally provided with ankle joint angle in the present embodiment away from one end of the first linking arm 11 in the second linking arm 12 and adjusting dress
It sets, ankle joint angle regulating device is set to guiding device 50.Ankle joint angle regulating device is for adjusting between shank and foot
Angle, in order to adjust the muscular strength of ankle-joint and foot's different location.As shown in Fig. 1, Fig. 7, Fig. 9 and Figure 10, ankle-joint angle
Degree regulating device includes the support plate 61 set on guiding device 50, is rotatably connected to angle adjustment plate 62, angle in support plate 61
Adjustable plate 62 is used to support the foot of patient, in order to keep the foot of patient to be kept in contact with angle adjustment plate 62, by angle tune
Section plate 62 is fixedly connected with the foot of patient by bandage.One of support plate 61 and angle adjustment plate 62 are equipped with angle tune
Knothole 6221, wherein it is another be equipped with second connecting hole 611 corresponding with angle adjustment holes 6221, support plate 61 and angular adjustment
Plate 62 is connected by fastener 63.In the present embodiment, support plate 61 is equipped with a circular through hole connecting with fastener 63, angle
Adjustable plate 62 be equipped with it is multiple at support plate 61 and 62 rotation connection of angle adjustment plate centered on and spaced angle tune
Knothole 6221, for the ease of the muscle strength of even regulation ankle, adjacent angular adjustment hole 6221 respectively with support plate 61
It is 10 ° with the angle being formed by between line at 62 rotation connection of angle adjustment plate.As multiple angle adjustment holes 6221 are distinguished
The back song angle of corresponding foot is 20 °, 10 ° and toe song angle is 0 °, -10 °, -20 ° and -30 °.In practical applications,
Adjacent angular adjustment hole 6221 can be set and be formed by line at support plate 61 and 62 rotation connection of angle adjustment plate respectively
Between angle be 5 ° or other convenient for adjust ankle-joint foot muscles angles.Angle in other embodiments of the invention
Regulating tank is strip-shaped hole, which is preferably the arcuation item centered at support plate 61 and 62 rotation connection of angle adjustment plate
Shape hole, the second connecting hole 611 can be circular through hole, may be set to be structure identical with 6221 shape of angle adjustment holes.
Wherein, fastener 63 can be pin, screw either bolt, and fastener 63 selects wing bolt in the present embodiment, in order to
It manually adjusts.
In the present embodiment, angle adjustment plate 62 is including foot's fixed plate 621 and is set to 621 opposite sides of foot's fixed plate
Adjustable plate 622, adjustable plate 622 be equipped with multiple angle adjustment holes 6221, guiding device 50 be equipped with two branch being oppositely arranged
Fagging 61, two support plates 61 are connect with two adjustable plates 622 respectively.Wherein, support plate 61 is set to the connecting plate 52 of guiding device 50
Upper surface.Ankle-joint is preferably adjusted for the ease of ankle-joint regulating device 60, shank is additionally provided on connecting plate 52 and fixes
Part 6413, shank fixing piece 6413 with shank for connecting, the phenomenon that fix shank, it is avoided to reverse.It is small in order to make
It is more comfortable when leg bundled fixed, resigning mouthful 641 corresponding with calf protrusion can be offered on shank fixing piece 6413,
Keep shank fixing piece 6413 and the compactness of shank more preferable, while the versatility of shank fixing piece 6413 can also be improved.This reality
It applies in example, shank fixing piece 6413 is flat, while being arranged at the arcuation being bonded with shank.In the other embodiment of the present invention
In, shank fixing piece 6413 can also be made using elastic material.
Ankle joint angle regulating device is arranged in the present embodiment realizes the fixed constraint to ankle-joint.Doctor or family members
Ankle joint angle can be quickly adjusted manually according to the practical muscular strength situation of patient, realize the corresponding rehabilitation and protection of ankle-joint.It keeps away
The additional complexity using power mechanism is exempted from, the generation of the diseases such as drop foot, strephenopodia, the strephexopodia can be effectively prevent.Pass through letter
Single structure realizes the fixation of ankle joint angle, can be effectively improved the muscular strength of ankle-joint Surrounding muscles, facilitate cranial nerve weight
Modeling.And do not need to introduce power source in ankle, system complexity is reduced, system weight is reduced.
The present invention also proposes a kind of exoskeleton robot (not shown), which includes lower limb rehabilitation ectoskeleton
100, the specific structure of the lower limb rehabilitation ectoskeleton 100 is referring to above-described embodiment, since this exoskeleton robot is using above-mentioned
Whole technical solutions of all embodiments, thus it is at least all beneficial to effect brought by the technical solution with above-described embodiment
Fruit, this is no longer going to repeat them.Wherein, a kind of lower limb rehabilitation ectoskeleton 100 characterized by comprising joint assembly 10 closes
Saving component 10 includes the first linking arm 11 and the second linking arm 12, and the first linking arm 11 and the second linking arm 12 are rotatablely connected；It passes
Dynamic component 20, transmission component connect the first linking arm 11 and the second linking arm 12；And power device 30, power device 30 are set to
The one end of first linking arm 11 far from the second linking arm 12, and connect with transmission component 20, power device 30 passes through transmission component
20 the second linking arms 12 of driving are rotated relative to the first linking arm 11.
In the application, exoskeleton robot may include two lower limb rehabilitation ectoskeletons 100 and other with outside lower limb rehabilitation
The mechanism that bone 100 connects, in order to carry out rehabilitation simultaneously to two lower limb of patient simultaneously.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (10)
1. a kind of lower limb rehabilitation ectoskeleton characterized by comprising
Joint assembly, the joint assembly include the first linking arm and the second linking arm, first linking arm and described second
Linking arm rotation connection；
Transmission component, the transmission component connect first linking arm and second linking arm；And
Power device, the power device be set to the one end of first linking arm far from second linking arm, and with it is described
Transmission component connection, the power device drive relatively described first linking arm of the second linking arm by the transmission component
Rotation.
2. lower limb rehabilitation ectoskeleton as described in claim 1, which is characterized in that the power device and first linking arm
It is detachably connected；
And/or first linking arm and/or second linking arm are equipped with fixing piece.
3. lower limb rehabilitation ectoskeleton as described in claim 1, which is characterized in that the transmission component includes two be oppositely arranged
End, one end of the transmission component are set to the one end of first linking arm far from second linking arm and fill with the power
Connection is set, the other end of the transmission component is hinged close to one end of second linking arm with first linking arm, and with
Second linking arm is fixedly connected.
4. lower limb rehabilitation ectoskeleton as claimed in claim 3, which is characterized in that the transmission component includes successively hinged
One connecting rod, second connecting rod and third connecting rod, the one end of the first connecting rod far from the second connecting rod and the power device connect
It connects, the third connecting rod is away from one end of the second connecting rod and first linking arm close to one end of second linking arm
Hingedly, and with second linking arm it connect.
5. lower limb rehabilitation ectoskeleton as claimed in claim 4, which is characterized in that the first connecting rod, second connecting rod, third connect
Bar and the first linking arm combine to form a parallelogram mechanism；
And/or damping unit is connected between first linking arm and second connecting rod, the damping unit is resiliently attached to institute
It states between the first linking arm and second connecting rod, the damping unit and first linking arm are rotatablely connected, the second connecting rod
The damping unit can be driven to rotate under the action of power device relative to first linking arm.
6. the lower limb rehabilitation ectoskeleton as described in any in claim 1 to 5, which is characterized in that second linking arm deviates from
One end of first linking arm is connected with guiding device.
7. lower limb rehabilitation ectoskeleton as claimed in claim 6, which is characterized in that second linking arm includes sequentially connected
First seperated section and the second seperated section, one end of the described first seperated section and first linking arm it is hinged and with the transmission group
The other end section seperated with described second of part connection, the described first seperated section is detachably connected, and the described second seperated section deviates from institute
The one end for stating the first seperated section is equipped with the guiding device.
8. lower limb rehabilitation ectoskeleton as claimed in claim 7, which is characterized in that second linking arm further includes third fission
Section, length adjustment device, the third point are connected between the other end section seperated with the third of the described second seperated section
Body section is equipped with the guiding device away from one end of the described second seperated section；
Alternatively, the other end of the described second seperated section is connected with length adjustment device, the length adjustment device is equipped with described lead
To device.
9. lower limb rehabilitation ectoskeleton as claimed in claim 6, which is characterized in that second linking arm connects away from described first
The one end for connecing arm is additionally provided with ankle joint angle regulating device, and the ankle joint angle regulating device is set to the guiding device；
And/or the guiding device includes leading set on second linking arm away from least the one of first linking arm one end
Wheel.
10. a kind of exoskeleton robot, which is characterized in that including the lower limb rehabilitation dermoskeleton as described in any in claim 1 to 9
Bone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811128060.6A CN109124990A (en) | 2018-09-25 | 2018-09-25 | Lower limb rehabilitation ectoskeleton and exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811128060.6A CN109124990A (en) | 2018-09-25 | 2018-09-25 | Lower limb rehabilitation ectoskeleton and exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109124990A true CN109124990A (en) | 2019-01-04 |
Family
ID=64812645
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811128060.6A Pending CN109124990A (en) | 2018-09-25 | 2018-09-25 | Lower limb rehabilitation ectoskeleton and exoskeleton robot |
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| CN110051509A (en) * | 2019-06-04 | 2019-07-26 | 河南科技大学第一附属医院 | A kind of nursing leg support device |
| CN110575352A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | exoskeleton for limb rehabilitation |
| CN110575354A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN110575360A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN110575362A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN110575355A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | exoskeleton for limb rehabilitation |
| CN111053677A (en) * | 2020-01-09 | 2020-04-24 | 荷塘探索国际健康科技发展（北京）有限公司 | Limb rehabilitation training device |
| CN117565024A (en) * | 2023-12-27 | 2024-02-20 | 浙江通势达电动技术有限公司 | Integrated joint driving device and method for exoskeleton robot |
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