CN109363895A - A kind of lower limb exoskeleton robot of flexible wearable - Google Patents
A kind of lower limb exoskeleton robot of flexible wearable Download PDFInfo
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- CN109363895A CN109363895A CN201811205620.3A CN201811205620A CN109363895A CN 109363895 A CN109363895 A CN 109363895A CN 201811205620 A CN201811205620 A CN 201811205620A CN 109363895 A CN109363895 A CN 109363895A
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- lower limb
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 28
- 210000001624 hip Anatomy 0.000 claims abstract description 55
- 210000002683 foot Anatomy 0.000 claims abstract description 32
- 210000004394 hip joint Anatomy 0.000 claims abstract description 17
- 210000000629 knee joint Anatomy 0.000 claims abstract description 13
- 210000003127 knee Anatomy 0.000 claims abstract description 10
- 210000000689 upper leg Anatomy 0.000 claims description 18
- 210000002303 tibia Anatomy 0.000 claims description 17
- 210000004417 patella Anatomy 0.000 claims description 15
- 210000004233 talus Anatomy 0.000 claims description 10
- 210000002414 leg Anatomy 0.000 claims description 9
- 238000013519 translation Methods 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 8
- 210000003205 muscle Anatomy 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 229920000742 Cotton Polymers 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000012549 training Methods 0.000 description 5
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 208000035475 disorder Diseases 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241001421185 Anomis Species 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000029549 Muscle injury Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 206010003246 arthritis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Abstract
The invention discloses a kind of lower limb exoskeleton robots of flexible wearable, component 1, hip joint driving assembly 2, hip joint component 3, knee joint driving assembly 4, knee components 5, the first stretching structure 6, the second stretching structure 7, the wearable structure 8 of adjustable flexible, 9 nine major part of foot adjustment structure is adjusted by waist to form, lower limb exoskeleton robot of the invention, it can be very good to be embedded into the constructional device of lower limb rehabilitation ectoskeleton, meet the needs of different height users.Lower limb rehabilitation exoskeleton robot stability and adaptability during wearer sits down/stands up is good, in the case where not increasing wearer weight bearing itself, it improves efficiency and maintains the stability of center of gravity, improve wearer's safety, meanwhile, also reduce the energy consumption of lower limb exoskeleton robot itself.
Description
Technical field
The present invention relates to a kind of lower limb exoskeleton robots of flexible wearable.
Background technique
Lower limb walking is one of critical function of human body, and many nervous system diseases such as cerebral apoplexy, spinal cord injury etc. all can
Lead to motor dysfunction of lower limb, in addition to this, fracture, muscle damage etc. are sick and wounded may also to be related to lower limb walking function.China
As populous nation, lower limb function hinder the number of patient can not despise.Therefore, the treatment and rehabilitation of lower limb disorder by
The great attention of people.
In medical science of recovery therapy field, ambulation training is one of the important means of in lower limb disorder rehabilitation.Therefore, lower limb health
The use of multiple auxiliary device seems very necessary in rehabilitation.Lower limb exoskeleton is the typical generation in lower limb rehabilitation robot
One of table, such healing robot are designed based on bionics principle, in conjunction with ergonomics, can be worn on suffering limb, be realized more certainly
Right effective rehabilitation training, has biggish practical value and research significance.
Traditional lower limb exoskeleton robot is a kind of a kind of mechanical device that may be worn on outside operator's body, it can
Support, protection, and enhancing locomitivity are provided to the people of wearing ectoskeleton.But traditional lower limb exoskeleton robot, which is equipped, to be existed
The disadvantages of quality is big, structure function is single, the working time is short, price is high and wearing is inconvenient is not suitable for that part is needed to walk
The elderly group of the weak walking ability of auxiliary and joint injury, gonitis are suffered from.
Summary of the invention
In view of the above shortcomings of the prior art, easy to operate the object of the present invention is to provide a kind of structure is simple, it is at low cost
The lower limb exoskeleton robot of honest and clean flexible wearable can be very good the constructional device for being embedded into lower limb rehabilitation ectoskeleton
In, meet the needs of different height users.Lower limb rehabilitation exoskeleton robot stability during wearer sits down/stands up
It is good with adaptability, in the case where not increasing wearer weight bearing itself, improves efficiency and maintain the stability of center of gravity, improves wearing
Person's safety, meanwhile, also reduce the energy consumption of lower limb exoskeleton robot itself.
The specific technical solution that the present invention takes is:
A kind of lower limb exoskeleton robot of flexible wearable adjusts component 1, hip joint driving assembly 2, hip by waist and closes
Section component 3, knee joint driving assembly 4, knee components 5, the first stretching structure 6, the second stretching structure 7, adjustable flexible are worn
Wear the most of composition of formula structure 8, foot adjustment structure 9 nine, in which:
The waist adjusts component 1 by rear waist panel 1-1, side waist bar 1-2, translation sliding block 1-3, tetra- part adjusting slider 1-4
It constitutes, wherein rear waist panel 1-1 is made of rear waist panel plate muscle 1-1-1, plate muscle sliding slot 1-1-2, affixed slideway block 1-1-3, it is therefore an objective to
Realize the width adjusting on rear waist panel 1-1；Wherein side waist bar 1-2 is by waist bar connector 1-2-1, waist bar link slot 1-2-2, waist
Bar 1-2-3 composition, it is therefore an objective to realize the connection and adjusting with rear waist panel 1-1；Translation sliding block 1-3 is riveted on side one end Yao Gan1-2
Portion and with rear waist panel 1-1 can realize left and right sliding, up and down limit move, the other end the side Yao Gan1-2 be hinges seat
Structure, the side of adjusting slider 1-4 is on bolted splice translation sliding block 1-3；
The hip joint driving assembly 2 is by cabinet 2-1, servo motor 2-2, cylinder body 2-3, screw rod 2-4, hinges seat 2-
5 five parts are constituted, and wherein cabinet 2-1, servo motor 2-2, cylinder body 2-3, screw rod 2-4 constitute electric cylinder, the side cabinet 2-1 and tune
The other side of section sliding block 1-4 is fixedly connected；Servo motor 2-2, cylinder body 2-3 are connect with cabinet 2-1 screw, and servo motor 2-2
It can place up and down；The end screw thread of screw rod 2-4 is connect with the hinge hole of hinges seat 2-5；
The hip joint component 3 by side connector 3-1, turn osteomere 3-2 and constitute, wherein side connector 3-1 and hinges seat 2-5
It is bolted, turns osteomere 3-2 and the hinges holder structure of the side end Yao Gan1-2 is bolted；
The knee joint driving assembly 4 is by fixed hinge seat 4-1, adjusting slider 4-2, cabinet 4-3, servo motor 4-4, cylinder
Body 4-5, lead screw 4-6 are constituted, and wherein cabinet 4-3, servo motor 4-4, cylinder body 4-5, screw rod 4-6 constitute electric cylinder, cabinet 4-3 mono-
Side and adjusting slider 4-2 are affixed；Servo motor 4-4, cylinder body 4-5 are connect with cabinet 4-3 screw, and servo motor 4-4 can be upper and lower
It places；
First telescoping mechanism 6 is made of femur part 6-1, telescopic rod a6-2, the second telescoping mechanism 7 by shin bone part 7-1,
Telescopic rod b7-2, anklebone part 7-3 are constituted；Wherein one end of telescopic rod a6-2, which is embedded in, turns in osteomere 3-2, and is fixed by screw
Connection, the other side are embedded in femur part 6-1, fasten telescopic rod a6-2, it can be achieved that telescopic rod a6- by rotatable handle threaded rod
2 electrodeless telescopic adjustment, the upper end femur part 6-1 are fixedly connected with fixed hinge seat 4-1, and the lower end femur part 6-1 is
Hinges holder structure；The one end telescopic rod b7-2 is embedded in shin bone part 7-1, fastens telescopic rod by rotatable handle threaded rod
B7-2, it can be achieved that telescopic rod b7-2 electrodeless telescopic adjustment, the other end is fixedly connected with anklebone part 7-3；The shin bone part 7-1 with
The hinges holder structure of the lower end femur part 6-1 is bolted；
The knee components 5 are made of hinges seat 5-1, kneecap part 5-2, the threaded hole of hinges seat 5-1
It is threadedly coupled with the end of screw rod 4-6 and the other side and the end connector of kneecap part 5-2 is bolted；The configuration design of kneecap part 5-2
It is sickle-shaped, generation interference when preventing from swinging with knee joint, meanwhile, it realizes and kneed synchronous hunting；The side kneecap part 5-2
It is connect with shin bone part 7-1 rivet interlacement or hinge；
The wearable structure 8 of adjustable flexible is by flexible-belt 8-1, one 8-2 of adjusting rod, two 8-3 of adjusting rod, connected pull rod
8-4, supporting block 8-5, the convex block 8-6 that is connected are constituted, wherein flexible-belt 8-1 is the binding realized to leg, flexible-belt 8-1's
Back side middle and supporting block 8-5 bonding connection；Supporting block 8-5 is connected by screw to one 8-2 of adjusting rod, one 8-2 of adjusting rod
The sliding that left and right can be achieved is inserted in connected convex block 8-6, and one 8-1 of adjusting rod is fastened by rotatable handle threaded rod；And lead to
It crosses handle rotating threaded rod and fastens two 8-3 of adjusting rod；There is screw thread at the connected both ends pull rod 8-4, and one end is with connected convex block 8-6's
Threaded hole is threadedly coupled, and the other end is threadedly coupled with the threaded hole of two 8-3 of adjusting rod；The wearable structure 8 of adjustable flexible
Every side leg is three, before and after can be achieved in two lateral mass for inserting in femur part 6-1, shin bone part 7-1 by two 8-3 of adjusting rod respectively
Sliding, another is fixedly connected by two 8-3 of adjusting rod with anklebone part 7-3；
The foot adjustment structure 9 is made of beam rail 9-1, foot adjusting rod 9-2, spring-rope 9-3, wherein beam rail
The end side 9-1 is bolted with shin bone part 7-1, and the other end is connected with foot adjusting rod 9-2 through row by side head, and can be real
The upward rotation of existing foot adjusting rod 9-2；The one end the spring-rope 9-3 is connected with foot correction device, the other end and foot
Adjusting rod 9-2 buckles binding connection through row.
Preferably, the flexible-belt 8-1 is cotton material.
Preferably, there is scale on one 8-2 of adjusting rod and two 8-3 of adjusting rod, regulated quantity can be adjusted through row scale.
The beneficial effects of the present invention are:
1, the present invention can be according to the figure of people in the design that waist adjusts component and walking is wiggly is adjusted,
The flexibility in structure can be achieved.
2, in the structure of hip joint driving assembly, screw rod end is connected using screw thread with hinges hole the present invention
It connects, structure is simple, convenient for disassembly and assembly.The servo motor of electric cylinder can dispose cylinder body top that can also dispose below, can be according to patient
Sufferer situation carry out selection installation, above setting can assist patient to realize big transmission, and more reasonable in conjunction with designing, practical function is more smooth
Reliably, and space hold is small.
3, for the present invention in the design of kneed structure, the hinge hole of fixed hinge seat is settable multiple, is suitable for knee pass
The amplitude of fluctuation of section, connection upper hinge hole can realize it is kneed significantly swing, the case where adaptive difference patient, structure letter
It is single, it is easy to operate.The shape of kneecap part is designed as sickle-shaped simultaneously, and interference is generated when to prevent from swinging with knee joint, meanwhile,
It realizes and kneed synchronous hunting.
4, the present invention can be fastened flexible in the structure design of the first and second telescoping mechanism by rotatable handle threaded rod
Bar increases the stability of telescopic rod elongation, improves the safety of its structure.The shape of kneecap part is designed as sickle-shaped, is
Interference is generated when preventing from swinging with knee joint, meanwhile, realization and kneed synchronous hunting make its structure more be bonded joint
Movement.
5, the wearable structure design of adjustable flexible is upper, it can be achieved that the leg to different patients is accurately positioned.Structure letter
Single, adjustment process is convenient and practical function, can reach ectoskeleton and preferably be bonded with patient legs, keep rehabilitation training more effective
With.
6, the present invention can in the design of foot adjustment structure, one end by side head and foot adjusting rod through row connection,
And it can realize the upward rotation of foot adjusting rod.When sufferer needs foot to adjust, pass through spring-rope one end and foot correction device phase
It connects, the other end and foot adjusting rod buckle binding through row and connect, and can complete the wearing adjusted to foot, provide for leg training
Support, protection, and enhancing locomitivity, to reach more natural effective rehabilitation training.
Detailed description of the invention
Fig. 1 is schematic perspective view of the embodiment of the present invention；
Fig. 2 is the side view of the flexible wearable of Fig. 1；
The waist that Fig. 3 is Fig. 1 adjusts component and hip joint component and driving assembly structural schematic diagram；
Fig. 4 is the structural schematic diagram of knee components and driving assembly in Fig. 1；
Fig. 5 is the partial enlargement diagram of the first and second telescoping mechanism in Fig. 1；
Fig. 6 is the partial structural diagram that waist adjusts component in Fig. 1；
Fig. 7 is the partial structural diagram that waist adjusts component in Fig. 1；
Fig. 8 is the structural schematic diagram of adjustable flexible wearable structure and foot adjustment structure in Fig. 1；
In figure: 1, waist adjusts component；1-1, rear waist panel；1-1-1, rear waist panel plate muscle；1-1-2, plate muscle sliding slot；1-1-3,
Affixed slideway block；1-2, side waist bar；1-2-1, waist bar connector；1-2-2, waist bar link slot；1-2-3, waist bar；1-3, translation are slided
Block；1-4, adjusting slider；2, hip joint driving assembly；2-1, cabinet；2-2, servo motor；2-3, cylinder body；2-4, lead screw；2-5,
Hinges seat；3, hip joint component；3-1, side connector；3-2, turn osteomere；4, knee joint driving assembly；4-1, fixed hinge
Seat；4-2, adjusting slider；4-3, cabinet；4-4, servo motor；4-5, cylinder body；4-6, lead screw；5, knee components；5-1, activity
Hinge seat；5-2, kneecap part；6, the first telescoping mechanism；6-1, femur part；6-2, telescopic rod a；7, the second telescoping mechanism；7-1, shin
Osteomere；7-2, telescopic rod b；7-3, anklebone part；8, the wearable structure of adjustable flexible；8-1, flexible-belt；8-2, adjusting rod one；8-
3, adjusting rod two；8-4, be connected pull rod；8-5, supporting block；8-6, be connected convex block；9, foot adjustment structure；9-1, beam rail；
9-2, foot adjusting rod；9-3, spring-rope.
Specific embodiment
Preferred version of the present invention is described in further details with reference to the accompanying drawing.
Embodiment
A kind of lower limb exoskeleton robot of flexible wearable adjusts component 1 by waist, hip joint drives as shown in Figure 1, 2
Dynamic component 2, hip joint component 3, knee joint driving assembly 4, knee components 5, the first stretching structure 6, the second stretching structure 7,
The most of composition of the wearable structure 8 of adjustable flexible, foot adjustment structure 9 nine, in which:
As shown in figure 3, the waist adjusts component 1 by rear waist panel 1-1, side waist bar 1-2, translation sliding block 1-3, adjusting slider
Tetra- part 1-4 is constituted, as shown in fig. 6, waist panel 1-1 is by rear waist panel plate muscle 1-1-1, plate muscle sliding slot 1-1-2, affixed slideway after wherein
Block 1-1-3 composition, it is therefore an objective to realize the width adjusting on rear waist panel 1-1；As shown in fig. 7, wherein side waist bar 1-2 is connected by waist bar
Connector 1-2-1, waist bar link slot 1-2-2, waist bar 1-2-3 composition, it is therefore an objective to realize the connection and adjusting with rear waist panel 1-1；It is flat
Movable slider 1-3 is riveted on side waist bar 1-2 one end and can realize left and right sliding with rear waist panel 1-1, limit move up and down, the side
Waist the other end bar 1-2 is hinges holder structure, and the side of adjusting slider 1-4 is on bolted splice translation sliding block 1-3；It is described
Hip joint driving assembly 2 is made of cabinet 2-1, servo motor 2-2, cylinder body 2-3, screw rod 2-4, five part hinges seat 2-5,
Wherein cabinet 2-1, servo motor 2-2, cylinder body 2-3, screw rod 2-4 constitute electric cylinder, and the side cabinet 2-1 is with adjusting slider 1-4's
The other side is fixedly connected；Servo motor 2-2, cylinder body 2-3 are connect with cabinet 2-1 screw, and servo motor 2-2 can be placed up and down；
The end screw thread of screw rod 2-4 is connect with the hinge hole of hinges seat 2-5；The hip joint component 3 by side connector 3-1, turn osteomere
3-2 is constituted, and wherein side connector 3-1 and hinges seat 2-5 is bolted, and turns the moveable hinge of osteomere 3-2 Yu the end side Yao Gan1-2
Chain holder structure is bolted；
As shown in figure 4, the knee joint driving assembly 4 is by fixed hinge seat 4-1, adjusting slider 4-2, cabinet 4-3, servo
Motor 4-4, cylinder body 4-5, lead screw 4-6 are constituted, and wherein cabinet 4-3, servo motor 4-4, cylinder body 4-5, screw rod 4-6 are constituted electronic
Cylinder, the side cabinet 4-3 and adjusting slider 4-2 are affixed；Servo motor 4-4, cylinder body 4-5 are connect with cabinet 4-3 screw, and servo electricity
Machine 4-4 can be placed up and down；
As shown in figure 5, first telescoping mechanism 6 is made of femur part 6-1, telescopic rod a6-2, the second telescoping mechanism 7 by
Shin bone part 7-1, telescopic rod b7-2, anklebone part 7-3 are constituted；Wherein one end of telescopic rod a6-2, which is embedded in, turns in osteomere 3-2, and leads to
It crosses screw to be fixedly connected, the other side is embedded in femur part 6-1, fastens telescopic rod a6-2 by rotatable handle threaded rod, can be real
The electrodeless telescopic adjustment of existing telescopic rod a6-2, the upper end femur part 6-1 are fixedly connected with fixed hinge seat 4-1, the femur
The lower end part 6-1 is hinges holder structure；The one end telescopic rod b7-2 is embedded in shin bone part 7-1, passes through rotatable handle threaded rod
Fasten telescopic rod b7-2, it can be achieved that telescopic rod b7-2 electrodeless telescopic adjustment, the other end is fixedly connected with anklebone part 7-3；It is described
Shin bone part 7-1 and the hinges holder structure of the lower end femur part 6-1 are bolted；
As shown in figure 4, the knee components 5 are made of hinges seat 5-1, kneecap part 5-2, hinges seat 5-
1 threaded hole is threadedly coupled with the end of screw rod 4-6 and the other side and the end connector of kneecap part 5-2 are bolted；Kneecap part 5-2's
Shape is designed as sickle-shaped, generation interference, the kneecap side part 5-2 and shin bone part 7-1 rivet interlacement when preventing from swinging with knee joint
Or hinge connection；
As shown in figure 8, the wearable structure 8 of adjustable flexible is by flexible-belt 8-1, one 8-2 of adjusting rod, two 8- of adjusting rod
3, be connected pull rod 8-4, supporting block 8-5, connected convex block 8-6 composition, wherein flexible-belt 8-1 is that cotton material is easy to accomplish right
The binding of leg, the back side middle of flexible-belt 8-1 and supporting block 8-5 bonding connection；Supporting block 8-5 and one 8-2 of adjusting rod is logical
Screw connection is crossed, one 8-2 of adjusting rod inserts in connected convex block 8-6 the sliding that left and right can be achieved, and passes through rotatable handle screw thread
Bar fastens one 8-1 of adjusting rod；And two 8-3 of adjusting rod is fastened by rotatable handle threaded rod；There is spiral shell at the connected both ends pull rod 8-4
Line, one end are threadedly coupled with the threaded hole of connected convex block 8-6, and the other end is threadedly coupled with the threaded hole of two 8-3 of adjusting rod；Institute
Stating the adjustable flexible every side leg of wearable structure 8 is three, and two insert in femur part 6-1, shin bone by two 8-3 of adjusting rod respectively
The sliding of front and back can be achieved in the lateral mass of part 7-1, another is fixedly connected by two 8-3 of adjusting rod with anklebone part 7-3；It is described
There is scale on two 8-3 of one 8-2 of adjusting rod and adjusting rod, regulated quantity can be adjusted through row scale；The foot adjustment structure 9 by
Beam rail 9-1, foot adjusting rod 9-2, spring-rope 9-3 are constituted, and wherein the end side beam rail 9-1 and shin bone part 7-1 pass through bolt
Connection, the other end is connected with foot adjusting rod 9-2 through row by side head, and can realize the upward rotation of foot adjusting rod 9-2；
The one end the spring-rope 9-3 is connected with foot correction device, and the other end and foot adjusting rod 9-2 buckle binding through row and connect.
Claims (3)
1. a kind of lower limb exoskeleton robot of flexible wearable, it is characterised in that adjust component 1, hip joint driving group by waist
It is part 2, hip joint component 3, knee joint driving assembly 4, knee components 5, the first stretching structure 6, the second stretching structure 7, adjustable
Save the most of composition of flexible wearable structure 8, foot adjustment structure 9 nine, in which:
The waist adjusts component 1 and is made of rear waist panel 1-1, side waist bar 1-2, translation sliding block 1-3, tetra- part adjusting slider 1-4,
Waist panel 1-1 is made of rear waist panel plate muscle 1-1-1, plate muscle sliding slot 1-1-2, affixed slideway block 1-1-3 after wherein, it is therefore an objective to be realized
Width adjusting on waist panel 1-1 afterwards；Wherein side waist bar 1-2 is by waist bar connector 1-2-1, waist bar link slot 1-2-2, waist bar 1-2-
3 compositions, it is therefore an objective to realize the connection and adjusting with rear waist panel 1-1；Translation sliding block 1-3 be riveted on side waist bar 1-2 one end and with
Waist panel 1-1 can realize left and right sliding, limit movement up and down afterwards, and the other end the side Yao Gan1-2 is hinges holder structure, adjust
The side of sliding block 1-4 is saved on bolted splice translation sliding block 1-3；
The hip joint driving assembly 2 is by cabinet 2-1, servo motor 2-2, cylinder body 2-3, screw rod 2-4, hinges seat 2-5 five
Part is constituted, and wherein cabinet 2-1, servo motor 2-2, cylinder body 2-3, screw rod 2-4 constitute electric cylinder, the side cabinet 2-1 and adjusting
The other side of sliding block 1-4 is fixedly connected；Servo motor 2-2, cylinder body 2-3 are connect with cabinet 2-1 screw, and servo motor 2-2 can
It places up and down；The end screw thread of screw rod 2-4 is connect with the hinge hole of hinges seat 2-5；
The hip joint component 3 by side connector 3-1, turn osteomere 3-2 and constitute, wherein side connector 3-1 and hinges seat 2-5 bolt
Connection, turns osteomere 3-2 and the hinges holder structure of the side end Yao Gan1-2 is bolted；
The knee joint driving assembly 4 is by fixed hinge seat 4-1, adjusting slider 4-2, cabinet 4-3, servo motor 4-4, cylinder body 4-
5, lead screw 4-6 constitute, wherein cabinet 4-3, servo motor 4-4, cylinder body 4-5, screw rod 4-6 constitute electric cylinder, the side cabinet 4-3 with
Adjusting slider 4-2 is affixed；Servo motor 4-4, cylinder body 4-5 are connect with cabinet 4-3 screw, and servo motor 4-4 can be placed up and down；
First telescoping mechanism 6 is made of femur part 6-1, telescopic rod a6-2, and the second telescoping mechanism 7 is by shin bone part 7-1, flexible
Bar b7-2, anklebone part 7-3 are constituted；Wherein one end of telescopic rod a6-2, which is embedded in, turns in osteomere 3-2, and connects by the way that screw is fixed
It connects, the other side is embedded in femur part 6-1, fastens telescopic rod a6-2, it can be achieved that telescopic rod a6-2 by rotatable handle threaded rod
Electrodeless telescopic adjustment, the upper end femur part 6-1 is fixedly connected with fixed hinge seat 4-1, and the lower end femur part 6-1 is to live
Dynamic hinge holder structure；The one end telescopic rod b7-2 is embedded in shin bone part 7-1, fastens telescopic rod b7- by rotatable handle threaded rod
2, it can be achieved that telescopic rod b7-2 electrodeless telescopic adjustment, the other end is fixedly connected with anklebone part 7-3；The shin bone part 7-1 and stock
The hinges holder structure of the lower end osteomere 6-1 is bolted；
The knee components 5 are made of hinges seat 5-1, kneecap part 5-2, the threaded hole and silk of hinges seat 5-1
The end of bar 4-6 is threadedly coupled and the other side and the end connector of kneecap part 5-2 are bolted；The shape of kneecap part 5-2 is designed as sickle
Knife-edge generates interference when preventing from swinging with knee joint, meanwhile, it realizes and kneed synchronous hunting；The kneecap side part 5-2 and shin
Osteomere 7-1 rivet interlacement or hinge connection；
The wearable structure 8 of adjustable flexible by flexible-belt 8-1, one 8-2 of adjusting rod, two 8-3 of adjusting rod, be connected pull rod 8-4,
Supporting block 8-5, the convex block 8-6 that is connected are constituted, wherein flexible-belt 8-1 is the binding realized to leg, the back side of flexible-belt 8-1
Middle and supporting block 8-5 bonding connection；Supporting block 8-5 is connected by screw to one 8-2 of adjusting rod, and one 8-2 of adjusting rod is inserted in
The sliding of left and right can be achieved in connected convex block 8-6, and one 8-1 of adjusting rod is fastened by rotatable handle threaded rod；And pass through hand
Handle rotating threaded rod fastens two 8-3 of adjusting rod；There are screw thread, the screw thread of one end and connected convex block 8-6 in the connected both ends pull rod 8-4
Hole is threadedly coupled, and the other end is threadedly coupled with the threaded hole of two 8-3 of adjusting rod；The every side of the wearable structure 8 of adjustable flexible
Leg is three, the cunning before and after can be achieved in two lateral mass for inserting in femur part 6-1, shin bone part 7-1 by two 8-3 of adjusting rod respectively
It moves, another is fixedly connected by two 8-3 of adjusting rod with anklebone part 7-3；
The foot adjustment structure 9 is made of beam rail 9-1, foot adjusting rod 9-2, spring-rope 9-3, wherein beam rail 9-1
End side is bolted with shin bone part 7-1, and the other end is connected with foot adjusting rod 9-2 through row by side head, and can be realized
The upward rotation of foot adjusting rod 9-2；The one end the spring-rope 9-3 is connected with foot correction device, the other end and foot tune
Pole 9-2 buckles binding connection through row.
2. lower limb exoskeleton robot according to claim 1, it is characterised in that the flexible-belt 8-1 is cotton material
Material.
3. lower limb exoskeleton robot according to claim 1, it is characterised in that one 8-2 of adjusting rod and adjusting rod two
There is scale on 8-3, regulated quantity can be adjusted through row scale.
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| CN201811205620.3A CN109363895A (en) | 2018-10-16 | 2018-10-16 | A kind of lower limb exoskeleton robot of flexible wearable |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811205620.3A CN109363895A (en) | 2018-10-16 | 2018-10-16 | A kind of lower limb exoskeleton robot of flexible wearable |
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