CN109568079A - A kind of wearable type lower limb power-assisting robot - Google Patents
A kind of wearable type lower limb power-assisting robot Download PDFInfo
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- CN109568079A CN109568079A CN201811403384.6A CN201811403384A CN109568079A CN 109568079 A CN109568079 A CN 109568079A CN 201811403384 A CN201811403384 A CN 201811403384A CN 109568079 A CN109568079 A CN 109568079A
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- ankle
- lower limb
- connecting rod
- hip joint
- sliding block
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- 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 wearable type lower limb power-assisting robots, including waistband, lower limb pedipulator, driving mechanism.Lower limb pedipulator includes hip joint mechanism, knee-joint mechanism, ankle-joint mechanism, thick link telescoping mechanism, shank link telescoping mechanism, foot.Wearable type lower limb power-assisting robot of the present invention is using slider-crank mechanism as hip joint and kneed driving mechanism, the driving of motor acceleration and deceleration device is taken compared to existing private, cost can be greatly reduced in advantage, structure is simple, and it can guarantee hip joint and kneed movement, secondly versatile, the telescoping mechanism of leg is adapted to the patient of different heights, the design of the ankle-joint ankle connector of offer not only ensure that the pitching movement of ankle-joint and the multiple degrees of freedom characteristic of flip-flop movement, also greatly simplify the structure of robot.
Description
Technical field
The present invention relates to medical robot technical fields, and in particular to a kind of wearable type lower limb power-assisting robot.
Background technique
China just gradually marches toward aging society, since most the elderlys can generally drop there is handicapped with flexibility
Low symptom, old man with hemiplegia and paraplegia disease or because of the young man that disease, traffic accident disable more have no ability to manage independently
The life of oneself, therefore a large amount of rehabilitation training teacher of China's demand and ancillary equipment.
However existing rehabilitation training has the following problems, and for Traditional Rehabilitation training, one rehabilitation training's teacher number
Deficiency, secondly the limited working level with rehabilitation training teacher of therapeutic effect；For general rehabilitation equipment, one cost is high
Expensive, medical expense is huge；Secondly equipment is located at interior, patient can only be in fixed-site training；Both of which can not be by rehabilitation
The daily life of training involvement patient.
For above situation, the present invention provides a kind of wearable type lower limb power-assisting robot, ensure that the same of training effectiveness
When, it is reduced costs by simplified designed with mechanism of structure, and make it have easy to use and have a wide range of application, strong interference immunity
The features such as.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, a kind of wearable type lower limb booster engine is provided
It the problem of device people, which not only solves power-assisting robot substitution Traditional Rehabilitation trainer, also solves existing
There is the problems such as robot cost of manufacture is high, inconvenient for use, application range is narrow.
The present invention solves its technical problem and is achieved through the following technical solutions:
A kind of wearable type lower limb power-assisting robot, including waistband, lower limb pedipulator and driving motor, the waistband are fixed on
The top of lower limb pedipulator；
The lower limb pedipulator includes hip joint mechanism, knee-joint mechanism, ankle-joint mechanism and foot, the waistband and hip
Articulation mechanism is fixedly connected, and the hip joint mechanism connects knee-joint mechanism, the knee joint by thick link telescoping mechanism
Mechanism connects ankle-joint mechanism by shank link telescoping mechanism, and the ankle-joint mechanism is fixedly connected with foot；
The hip joint structure includes hip joint shell, and driving motor is set in hip joint shell, outside the hip joint
Slider-crank mechanism and screw rod are additionally provided in shell, the slider-crank mechanism includes sliding block, connecting rod one and connecting rod two, the cunning
One end of block and connecting rod one is hinged, and one end of the other end and connecting rod two of the connecting rod one is hinged, the other end of the connecting rod two
It is rotatably connected to connecting shaft, the connecting shaft is worn outside hip joint shell into hip joint shell, and the connecting shaft is worn
If into connecting rod two；The screw rod is worn from slider bottom into sliding block, the section transmission that the screw rod is stretched out from sliding block top
Driving motor is connected, the screw rod can make rotating motion under driving motor driving relative to sliding block；
The thick link telescoping mechanism includes upper connecting rod and lower link, and the upper connecting rod and lower link are that cylindrical body is long
Bar, the hollow setting of lower link, and the internal diameter of the lower link are equal to the outer diameter of upper connecting rod, described upper connecting rod one end and connecting rod
Two bottom end is fixedly connected, and the upper connecting rod other end protrudes into lower link, and the upper connecting rod can move in lower link, described
Lower link is fixedly connected with knee-joint mechanism far from the end of upper connecting rod；
The knee-joint mechanism is identical as the structure of hip joint structure, direction is on the contrary, the bottom end of the knee-joint mechanism connects
Connect shank link telescoping mechanism；
The shank link telescoping mechanism is identical as the structure of thick link telescoping mechanism, the shank link telescoping mechanism
Lower end connect ankle-joint mechanism；
The ankle-joint mechanism includes ankle frame and ankle connector, and the ankle frame includes rectangular base plate, the rectangular base plate
Side is equipped with two pieces of symmetrical otic placodes, and the top of the ankle connector is located between two pieces of otic placodes, wears in the otic placode
Equipped with connecting column one, and the connecting column one runs through the top of ankle connector, and described one one end of connecting column offers internal screw thread,
The connecting column one has ankle screw by internal screw thread lock；
The foot includes foot pedal, toe and connecting pin, and the toe is rotatablely connected foot pedal by connecting pin, described
Foot pedal on face ankle be equipped with rectangular boss, two pieces of symmetrical connecting plates, institute are installed in the rectangular boss
The lower part for stating ankle connector is located between two pieces of connecting plates, is equipped with connecting column two, and the company in two pieces of connecting plates
The lower part that column two runs through ankle connector is connect, described two one end of connecting column offers external screw thread, and the connecting column two passes through outer spiral shell
Line lock has ankle nut.
Further, the hip joint shell is divided into upper housing and lower case, and the driving motor is located in upper housing.
Further, it is provided with fixed ring in the lower case, guide rod is fixed in the fixed ring, and the guide rod passes through
Sliding block is worn, the sliding block can be slided along guide rod.
Further, the helicla flute to match with screw rod is provided in the sliding block, the screw rod is threaded through in helicla flute,
And it also fills out between screw rod and helicla flute equipped with ball.
Further, the lower link top is arranged with circular boop, and the circular boop adjusts fixed upper connecting rod by circular boop bolt
Position in lower link.
Further, the part that the screw rod is in slider bottom is arranged with spring.
Further, the top of ankle connector is U-shaped structure.
Further, two pieces of fixed blocks are additionally provided on the foot, two pieces of fixed blocks are symmetrically fixed on foot pedal
Upper surface.
Further, four gas springs, gas spring one end hinge are also equipped between the rectangular base plate and foot pedal
It connects in the bottom of rectangular base plate, the gas spring other end is hinged on the upper surface of foot pedal.
Further, the through-hole one worn for connecting column one is offered on the otic placode, the connecting column one is threaded through logical
Kong Yizhong, the diameter of the end of the connecting column one far from internal screw thread are greater than the diameter of through-hole one；The connecting plate offers confession
The through-hole two that connecting column is worn, the connecting column two are threaded through in through-hole two, and the connecting column two is far from externally threaded end
Diameter is greater than the diameter of through-hole two.
The invention has the benefit that
Wearable type lower limb power-assisting robot of the present invention using slider-crank mechanism as hip joint and kneed driving mechanism,
The driving of motor acceleration and deceleration device is taken compared to existing private, cost can be greatly reduced in advantage, and structure is simple, and can guarantee that hip closes
Section and kneed movement, secondly versatile (patient that the telescoping mechanism of leg is adapted to different heights), ankle-joint ankle
The design of portion's connector not only ensure that the pitching movement of ankle-joint and the multiple degrees of freedom characteristic of flip-flop movement, also greatly simplify
The structure of robot.
Detailed description of the invention
Fig. 1 is integral perspective structural schematic diagram of the present invention；
Fig. 2 is integral outer structural schematic diagram of the present invention；
Fig. 3 is the structural schematic diagram of slider-crank mechanism in the present invention；
Fig. 4 is the scheme of installation of slider-crank mechanism in the present invention；
Fig. 5 is the structural schematic diagram of thick link telescoping mechanism in the present invention；
Fig. 6 is the agent structure schematic diagram of ankle-joint mechanism in the present invention；
Fig. 7 is the connection schematic diagram of rectangular base plate and ankle-joint connector in the present invention；
Fig. 8 is the connection schematic diagram of ankle-joint connector and rectangular boss in the present invention；
Fig. 9 is the structural schematic diagram of connecting column two in the present invention；
Figure 10 is the connection schematic diagram of foot and ankle-joint mechanism in the present invention.
Description of symbols:
1- hip joint shell, 2- waistband, 3- knee joint shell, 4- foot, 5- ankle-joint mechanism, 6- shank link telescopic machine
Structure, 7- knee-joint mechanism, 8- thick link telescoping mechanism, 9- hip joint structure, the right pedipulator of 10- lower limb, the left machinery of 11- lower limb
Leg, 12- upper housing, 13- lower case, 301- driving motor, 302- sliding block, 303- connecting rod one, 304- connecting rod two, 305- connection
Axis, 306- upper connecting rod, 307- screw rod, 308- spring, 309- guide rod, 310- slider-crank mechanism, 311- fixed ring, 51- circular boop,
52- circular boop bolt, 53- lower link, 54- circular boop nut, 601- ankle frame, 602- gas spring, 603- foot pedal, 604- ankle spiral shell
Mother, 605- ankle connector, 606- connecting column two, 6061- external screw thread, 607- ankle screw, 608- rectangular base plate, 609- connection
Column one, 6091- internal screw thread, 610- otic placode, 81- fixed block, 82- toe, 83- connecting pin, 84- connecting plate, 85- rectangular boss.
Specific embodiment
Below by specific embodiment, the invention will be further described, and it is not limit that following embodiment, which is descriptive,
Qualitatively, this does not limit the scope of protection of the present invention.
As depicted in figs. 1 and 2, a kind of wearable type lower limb power-assisting robot, including waistband 2, lower limb pedipulator and driving electricity
Machine 301, lower limb pedipulator include the left pedipulator 11 of completely identical in structure lower limb, the right pedipulator 10 of lower limb, and waistband 2 is fixed on down
The top of the left pedipulator 11 of limb and the right pedipulator 10 of lower limb, driving motor 301 is for driving lower limb pedipulator to complete specified joint
Movement, driving motor 301 can realize positive and negative rotation.
The left pedipulator 11 of the lower limb of lower limb pedipulator and the right pedipulator 10 of lower limb include hip joint mechanism 9, knee joint machine
Structure 7, ankle-joint mechanism 5 and foot 4, waistband 2 are fixedly connected with hip joint mechanism 9, and hip joint mechanism 9 is flexible by thick link
Mechanism 8 connects knee-joint mechanism 7, and knee-joint mechanism 7 connects ankle-joint mechanism 5, ankle-joint machine by shank link telescoping mechanism 6
Structure 5 is fixedly connected with foot 4.
As shown in Figure 3 and Figure 4, hip joint structure 9 includes hip joint shell 1, and hip joint shell 1 divides for upper housing 12 under
Shell 13, driving motor 301 are located in upper housing 12, and slider-crank mechanism 310 and screw rod are additionally provided in hip joint shell 1
307, slider-crank mechanism 310 includes sliding block 302, connecting rod 1, connecting rod 2 304 and connecting shaft 305, sliding block 302 and connecting rod one
303 one end is hinged, and one end of the other end and connecting rod 2 304 of connecting rod 1 is hinged, and the other end of connecting rod 2 304, which rotates, to be connected
Be connected to connecting shaft 305, connecting shaft 305 is worn outside hip joint shell 1 into hip joint shell 1, and connecting shaft 305 wear into
Enter connecting rod 2 304, connecting shaft 305 guarantees that connecting shaft 305 will not fall off by being threadedly engaged nut check position.In sliding block 302
It is provided with the helicla flute to match with screw rod 307, screw rod 307 is threaded through in helicla flute, and is also filled out between screw rod 307 and helicla flute
Equipped with ball, ball can reduce frictional force.Screw rod 307 is worn from 302 bottom of sliding block into sliding block 302, and screw rod 307 is from sliding block
The section transmission that 302 tops are stretched out connects driving motor 301, and the part that screw rod 307 is in 302 bottom of sliding block is arranged with spring
308.Spring 308 makes hip joint flexor more smooth, reduces external shock loading, plays certain bradyseism and makees
With.It is provided with fixed ring 311 in lower case 13, guide rod 309 is fixed in fixed ring 311, guide rod 309 runs through sliding block 302, sliding block
302 can slide along guide rod 309.By the driving rotation of driving motor 301, screw rod 307 is done relative to sliding block 302 to be rotated screw rod 307
Movement, the two occur axial displacement, then the spiral rolling track for the formation that sliding block 302 is matched with screw rod 307 make sliding block 302 along
Guide rod 309 moves down, to drive, connecting rod 1 is moved down and connecting rod 2 304 is rotated down around the connecting shaft, completes hip joint
The flexion and extension of mechanism 9, and hip joint shell 1 will limit the extreme angles of the rotation of slider-crank mechanism 310.
As shown in figure 5, thick link telescoping mechanism 8 includes upper connecting rod 306 and lower link 53, upper connecting rod 306 and lower link
53 be the outer diameter that cylindrical body stock, the hollow setting of lower link 53, and the internal diameter of lower link 53 are equal to upper connecting rod 306, upper connecting rod
306 one end are fixedly connected with the bottom end of connecting rod 2 304, and 306 other end of upper connecting rod protrudes into lower link 53,53 top of lower link set
Equipped with circular boop 51, circular boop 51 adjusts position of the upper connecting rod 306 in lower link 53 by circular boop bolt 52.According to required thigh length
The difference of degree, the insertion depth of adjustable upper connecting rod 306, thus realize that the thigh length of lower limb power-assisting robot is adjustable, circle
Top of 51 sets of the hoop in lower link 53, locks circular boop 51 using circular boop bolt 52 and circular boop nut 54, right using circular boop 51
The pressure that lower link 53 generates, compress upper connecting rod 306 ensure that so that upper connecting rod 306 will not generate movement in lower link 53
The anti-interference of thick link telescoping mechanism 8.Lower link 53 is fixedly connected with knee-joint mechanism 7 far from the end of upper connecting rod 306.
Knee-joint mechanism 7 is identical as the structure of hip joint structure 9, direction is on the contrary, the bottom end of knee-joint mechanism 7 connects shank
Bar linkage telescopic mechanism 6.
Shank link telescoping mechanism 6 is identical as the structure of thick link telescoping mechanism 8, under shank link telescoping mechanism 6
End connection ankle-joint mechanism 5.
As shown in Figure 6 and Figure 7, ankle-joint mechanism 5 includes ankle frame 601 and ankle connector 605, and ankle frame 601 includes rectangle
Bottom plate 608,608 side of rectangular base plate are equipped with two pieces of symmetrical otic placodes 610, and the top of ankle connector 605 is located at two pieces
Between otic placode 610, the top of ankle connector 605 is U-shaped structure.It offers on otic placode 610 and leads to for what connecting column 1 was worn
Kong Yi, connecting column 1 are threaded through in through-hole one, and connecting column 1 runs through the top of ankle connector 605, connecting column one
609 one end offer internal screw thread 6091, and connecting column 1 has ankle screw 607, connecting column 1 by the lock of internal screw thread 6091
The diameter of end far from internal screw thread 6091 is greater than the diameter of through-hole one.
As shown in Fig. 8 to Figure 10, foot 4 includes foot pedal 603, toe 82, connecting pin 83 and two pieces of fixed blocks 81, toe
82 are rotatablely connected foot pedal 603 by connecting pin 83, and toe 82 can be rotated around connecting pin 83, to realize passively bowing for toe 82
It faces upward, increases the freedom degree of foot 4, to cope with complicated landform.Two pieces of fixed blocks 81 are symmetrically fixed on 603 upper surface of foot pedal, use
In the fixation of successive patients foot.Face ankle is equipped with rectangular boss 85 on foot pedal 603, is equipped in rectangular boss 85
The lower part of two pieces of symmetrical connecting plates 84, ankle connector 605 is located between two pieces of connecting plates 84, opens in two pieces of connecting plates 84
Equipped with the through-hole two worn for connecting column 606, connecting column 2 606 is threaded through in through-hole two, and connecting column 2 606 connects through ankle
The lower part of fitting 605,2 606 one end of connecting column offer external screw thread 6061, and connecting column 2 606 has ankle by the lock of external screw thread 6061
Portion's nut 604, the diameter of end of the connecting column 2 606 far from external screw thread 6061 are greater than the diameter of through-hole two.Ankle connector 605
It can be rotated around connecting column 2 606, so that foot pedal 603 be driven to stir, turning up for human ankle joint be simulated with this and is stirred with interior
Make.Four gas springs 602, four 602 one end of gas spring and rectangular base are also equipped between rectangular base plate 608 and foot pedal 603
Plate 608 lower end surface 4 corner hinge, 602 other end of gas spring are hinged on the upper surface of foot pedal 603.Ankle-joint mechanism 5 is to use
Gas spring 602 is buffered, and at the same time can also play the role of limiting joint position.Gas spring 602 and general bullet
Spring is compared, and speed is easy to control, and in the process of walking, the variation of dynamic force is small.
The present invention is in use, the driving motor in the hip joint structure of the left pedipulator of lower limb rotates forward, realization hip joint mechanism
Drive left thigh in sagittal plane on lift work, at the same time, the driving motor in the knee-joint mechanism of the left pedipulator of lower limb is same
When work, realize that knee-joint mechanism drives contractive action of the left leg in sagittal plane.At this point, the driving in the left pedipulator of lower limb
Motor stalls, and power-assisting robot left thigh lifts, left leg is shunk, the right pedipulator upright support of lower limb.Next, lower limb are left
Driving motor reversion in the knee-joint mechanism of pedipulator completes return, until left leg so that left leg, which is realized, lifts work
It is located at same straight line with left thigh.Human body is to the left to lean forward, and the left pedipulator of lower limb is stepped forward under gravity, at the same time
The hip joint mechanism of the right pedipulator of lower limb is forced to realize rotation, i.e., the connecting rod two in the hip joint mechanism of the right pedipulator of lower limb is around even
Spindle rotation, so that the right pedipulator of lower limb turns forward, the knee-joint mechanism of the right pedipulator of lower limb has not occurred rotation at this time, when
Before the left foot of lower limb power-assisting robot will just land, the driving motor in the knee-joint mechanism of the right pedipulator of lower limb is rotated forward, lower limb
The knee-joint mechanism of right pedipulator is shunk, and the driving motor in the hip joint mechanism of the right pedipulator of lower limb rotates forward, power-assisting robot
Right thigh lift, at the same time in the left pedipulator of lower limb hip joint driving motor reversion, the hip joint of the left pedipulator of lower limb
Mechanism gradually return, makes the left pedipulator of lower limb return to original state, perpendicular to the ground, patient's center of gravity is held on a left side, right thigh at this time
When lifting to designated position on continuous, the driving motor stalling of the hip joint mechanism in the right pedipulator of lower limb, the right pedipulator of lower limb
In knee-joint mechanism driving motor reversion, reset lift until completing, it is in alignment with right thigh, this
When, the to the right of people is leaned forward, and under the effect of gravity, the right pedipulator landing of lower limb, left foot repeats right crus of diaphragm a series of actions just now, left and right
Foot is alternately accomplished walking, and during left foot or right crus of diaphragm are detached from bottom surface, foot completes passively pitching and flip-flop movement.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of wearable type lower limb power-assisting robot, it is characterised in that: including waistband (2), lower limb pedipulator and driving motor
(301), the waistband (2) is fixed on the top of lower limb pedipulator；
The lower limb pedipulator includes hip joint mechanism (9), knee-joint mechanism (7), ankle-joint mechanism (5) and foot (4), described
Waistband (2) is fixedly connected with hip joint mechanism (9), and the hip joint mechanism (9) connects knee by thick link telescoping mechanism (8)
Articulation mechanism (7), the knee-joint mechanism (7) pass through shank link telescoping mechanism (6) connection ankle-joint mechanism (5), the ankle
Articulation mechanism (5) is fixedly connected with foot (4)；
The hip joint structure (9) includes hip joint shell (1), and driving motor (301) is set in hip joint shell (1), institute
It states and is additionally provided with slider-crank mechanism (310) and screw rod (307) in hip joint shell (1), slider-crank mechanism (310) packet
Sliding block (302), connecting rod one (303) and connecting rod two (304) are included, the sliding block (302) and one end of connecting rod one (303) are hinged, institute
The one end for stating the other end and connecting rod two (304) of connecting rod one (303) is hinged, the other end rotation connection of the connecting rod two (304)
Have connecting shaft (305), the connecting shaft (305) is worn outside hip joint shell (1) into hip joint shell (1), and described
Connecting shaft (305) is worn into connecting rod two (304)；The screw rod (307) wears from sliding block (302) bottom into sliding block (302),
Section transmission that the screw rod (307) is stretched out from sliding block (302) top connects driving motor (301), and the screw rod (307) can be
It makes rotating motion under driving motor (301) driving relative to sliding block (302)；
The thick link telescoping mechanism (8) includes upper connecting rod (306) and lower link (53), upper connecting rod (306) He Xialian
Bar (53) is cylindrical body stock, the hollow setting of the lower link (53), and the internal diameter of the lower link (53) is equal to upper connecting rod
(306) outer diameter, described upper connecting rod (306) one end are fixedly connected with the bottom end of connecting rod two (304), and the upper connecting rod (306) is another
One end is protruded into lower link (53), and the upper connecting rod (306) can move in lower link (53), and the lower link (53) is far from upper
The end of connecting rod (306) is fixedly connected with knee-joint mechanism (7)；
The knee-joint mechanism (7) is identical as the structure of hip joint structure (9), direction on the contrary, the knee-joint mechanism (7) bottom
End connection shank link telescoping mechanism (6)；
The shank link telescoping mechanism (6) is identical as the structure of thick link telescoping mechanism (8), the shank link telescopic machine
The lower end of structure (6) connects ankle-joint mechanism (5)；
The ankle-joint mechanism (5) includes ankle frame (601) and ankle connector (605), and the ankle frame (601) includes rectangular base plate
(608), rectangular base plate (608) side is equipped with two pieces of symmetrical otic placodes (610), the ankle connector (605)
Top is located between two pieces of otic placodes (610), is equipped with connecting column one (609), and the connecting column one in the otic placode (610)
(609) run through the top of ankle connector (605), described connecting column one (609) one end offers internal screw thread (6091), the company
Connecing column one (609) has ankle screw (607) by internal screw thread (6091) lock；
The foot (4) includes foot pedal (603), toe (82) and connecting pin (83), and the toe (82) passes through connecting pin
(83) foot pedal (603) are rotatablely connected, face ankle is equipped with rectangular boss (85) on the foot pedal (603), described
Two pieces of symmetrical connecting plates (84) are installed, the lower part of the ankle connector (605) is located at two pieces in rectangular boss (85)
Between connecting plate (84), it is equipped with connecting column two (606) in two pieces of connecting plates (84), and the connecting column two (606) passes through
The lower part of ankle connector (605) is worn, described connecting column two (606) one end offers external screw thread (6061), the connecting column two
(606) there are ankle nut (604) by external screw thread (6061) lock.
2. a kind of wearable type lower limb power-assisting robot as described in claim 1, it is characterised in that: the hip joint shell (1)
It is divided into upper housing (12) and lower case (13), the driving motor (301) is located in upper housing (12).
3. a kind of wearable type lower limb power-assisting robot as claimed in claim 2, it is characterised in that: set in the lower case (13)
It is equipped with fixed ring (311), is fixed with guide rod (309) in the fixed ring (311), and the guide rod (309) runs through sliding block
(302), the sliding block (302) can be slided along guide rod (309).
4. a kind of wearable type lower limb power-assisting robot as claimed in claim 3, it is characterised in that: set in the sliding block (302)
It is equipped with the helicla flute to match with screw rod (307), the screw rod (307) is threaded through in helicla flute, and screw rod (307) and helicla flute
Between also fill out equipped with ball.
5. a kind of wearable type lower limb power-assisting robot as described in claim 1, it is characterised in that: lower link (53) top
It is arranged with circular boop (51), the circular boop (51) adjusts fixed upper connecting rod (306) in lower link (53) by circular boop bolt (52)
Position.
6. a kind of wearable type lower limb power-assisting robot as described in claim 1, it is characterised in that: the screw rod (307) is in
The part of sliding block (302) bottom is arranged with spring (308).
7. a kind of wearable type lower limb power-assisting robot as described in claim 1, it is characterised in that: ankle connector (605)
Top is U-shaped structure.
8. a kind of wearable type lower limb power-assisting robot as described in claim 1, it is characterised in that: also set on the foot (4)
Two pieces of fixed blocks (81) are equipped with, two pieces of fixed blocks (81) are symmetrically fixed on foot pedal (603) upper surface.
9. a kind of wearable type lower limb power-assisting robot as described in claim 1, it is characterised in that: the rectangular base plate (608)
Four gas springs (602) are also equipped between foot pedal (603), described gas spring (602) one end is hinged on rectangular base plate
(608) bottom, gas spring (602) other end are hinged on the upper surface of foot pedal (603).
10. a kind of wearable type lower limb power-assisting robot as described in claim 1, it is characterised in that: opened on the otic placode (610)
Equipped with the through-hole one worn for connecting column one (609), the connecting column one (609) is threaded through in through-hole one, the connecting column one
(609) diameter of the end far from internal screw thread (6091) is greater than the diameter of through-hole one；The connecting plate (84) offers for connection
The through-hole two that column (606) is worn, the connecting column two (606) are threaded through in through-hole two, and the connecting column two (606) is far from outer spiral shell
The diameter of the end of line (6061) is greater than the diameter of through-hole two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811403384.6A CN109568079A (en) | 2018-11-23 | 2018-11-23 | A kind of wearable type lower limb power-assisting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811403384.6A CN109568079A (en) | 2018-11-23 | 2018-11-23 | A kind of wearable type lower limb power-assisting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109568079A true CN109568079A (en) | 2019-04-05 |
Family
ID=65923983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811403384.6A Pending CN109568079A (en) | 2018-11-23 | 2018-11-23 | A kind of wearable type lower limb power-assisting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114376857A (en) * | 2021-12-08 | 2022-04-22 | 浙江大学 | Horizontal lower limb six-degree-of-freedom full-joint power-assisted rehabilitation mechanical leg |
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| CN205198395U (en) * | 2015-12-22 | 2016-05-04 | 中国科学院沈阳自动化研究所 | Wearable low limbs ectoskeleton helping hand walking robot mechanism |
| WO2016179275A1 (en) * | 2015-05-05 | 2016-11-10 | Ekso Bionics, Inc. | Ensuring operator engagement in an exoskeleton bionic device |
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|---|---|---|---|---|
| CN1895856A (en) * | 2006-06-22 | 2007-01-17 | 上海交通大学 | Foot mechanism with toe freedom for two-foot walking robot |
| CN203060231U (en) * | 2013-01-29 | 2013-07-17 | 苏州大学 | Wearable lower limb exoskeleton walking-assisting robot |
| WO2016179275A1 (en) * | 2015-05-05 | 2016-11-10 | Ekso Bionics, Inc. | Ensuring operator engagement in an exoskeleton bionic device |
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Application publication date: 20190405 |