CN109571434A - A kind of unpowered lower limb exoskeleton robot - Google Patents
A kind of unpowered lower limb exoskeleton robot Download PDFInfo
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- CN109571434A CN109571434A CN201811484277.0A CN201811484277A CN109571434A CN 109571434 A CN109571434 A CN 109571434A CN 201811484277 A CN201811484277 A CN 201811484277A CN 109571434 A CN109571434 A CN 109571434A
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- waist
- knee joint
- thigh
- plate
- straight panel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
A kind of unpowered lower limb exoskeleton robot, including sequentially connected waist from top to bottom, thigh, knee joint, shank and foot, waist is provided to the sliding rail of pulley rotation, improve the flexibility of movement, its waist has 3 freedom degrees, it is the rotation of the waist of ectoskeleton in the horizontal plane respectively, the flexion/extension of thigh and outer pendulum/interior receipts of thigh, it can guarantee that user dresses the kinematic dexterity of unpowered lower limb exoskeleton robot, and then improve the comfort of human body wearing, the eccentric block structure design that knee joint uses can form self-locking when human body dresses ectoskeleton standing, protect the knee joint of human body, it is simple with structure, movement is flexible, wearing comfort, feature easy to wear.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of unpowered lower limb exoskeleton robot.
Background technique
Exoskeleton robot assists wearer while being a kind of physiological make-up of apery body and collaboration wearer motion
Mechanical device.Whether ectoskeleton is by using the energy being divided into unpowered ectoskeleton and power exoskeleton.
Power exoskeleton needs the energy to provide power, such as internal combustion engine, battery device, in addition to this also needs motor, passes
The components such as sensor, controller.This results in that power exoskeleton cruising ability is weak, expensive, maintenance cost is high and is unfavorable for
It is widely popularized.
Unpowered ectoskeleton does not need additional power resources, and relative to power exoskeleton, structure is simple, cruising ability
By force, cheap, facilitate maintenance and application can be more extensive.And existing unpowered ectoskeleton flexibility and wearing comfort compared with
Difference, and knee joint can not be self-locking.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of unpowered lower limb exoskeleton machine
Device people, the flexibility of comfort and movement after capable of guaranteeing human body wearing ectoskeleton, realizes that knee joint is self-locking, has structure letter
The characteristics of list, flexibility height, wearing comfort.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of unpowered lower limb exoskeleton robot, including from top to bottom sequentially connected waist 1, thigh 2, knee joint 3,
Shank 4 and foot 5；
The waist 1 includes two sliding ways 6 and two glide paths 9 to match with two 7 shapes of arc waist panel, upper cunning
Road 6 and glide path 9 are fixedly arranged at 7 upper and lower part of arc waist panel respectively, and the lower recess of sliding way 6 and the top of glide path 9 are recessed
Slot forms sliding rail, and pulley 13 is stuck in sliding rail and is slidably connected with it, and pulley 13 and pulley link block 16 are hinged, pulley link block 16
Hinged with adjustment pin 14, adjustment pin 14 and pulley support block 15 are hinged, and one end of waist side plate 8 and pulley support block 15 are fixed and connected
It connects, the other end of waist side plate 8 is connect with thigh 2；It is cut with scissors with a waist panel link block 12 the opposite side of two arc waist panels 7
It connects, waist panel link block 12 is fixedly connected with the wide adjustable plate 10 of waist, and the wide adjustable plate 10 of two waists, which is fixed with waist central block 11, to be connected
It connects；
The thigh 2 includes the thigh link block 17 being fixedly connected with the waist side plate 8 of waist 1, thigh link block 17 with
Big short legs straight panel 18 is hinged, and big short legs straight panel 18 is fixedly connected with one end of thigh twisted plate 19 with vertical, thigh twisted plate 19
The other end it is vertical with thigh length straight panel 20 be fixedly connected, one end of thigh length straight panel 20 and knee joint connecting plate 21 and fixed connect
It connects, the other end of knee joint connecting plate 21 is connect with knee joint 3；
The knee joint 3 includes 23 on the knee joint bending plate being fixedly connected with the knee joint connecting plate 21 of thigh 2, and knee closes
23 is arc-shaped with thigh bandage 22 on bent-segment plate, and the two is fixedly connected to form circle, on knee joint bending plate 23 with knee joint side
24 upper end is vertically fixedly connected on plate, and 24 lower end and eccentric block 25 are hinged on knee joint side plate, eccentric block 25 and knee
26 upper end is hinged under the side plate of joint, and 26 lower end is fixedly connected under knee joint bending plate 28 under knee joint side plate, knee
28 is arc-shaped with shank bandage 27 under arthrogryposis plate, and the two is fixedly connected to form circle；
The shank 4 includes the 28 small short legs straight panel 29 being fixedly connected, small short legs under the knee joint bending plate with knee joint 3
Straight panel 29 is fixedly connected with one end of leg length straight panel 30, and the other end and shank twisted plate 31 of leg length straight panel 30 are fixed to be connected
It connects；
The foot 4 includes the foot straight panel 32 that upper end is fixedly connected with the shank twisted plate 31 of shank 4, foot straight panel
32 lower end and sole 34 are hinged, and the both ends of sole 34 and the foot bandage 33 of arc consolidate.
It is provided with threaded hole of the row for adjustment length on the wide adjustable plate 10 of waist, is provided with a row on waist panel link block 12
Threaded hole corresponding with the wide adjustable plate 10 of waist is adjusted between the wide adjustable plate 10 of waist and waist panel link block 12 by bolt consolidation
Length dresses use to adjust waist size in wearing to adapt to the user of different waist width.
It is provided with threaded hole of the row for adjustment length in the thigh length straight panel 20, is provided with one on knee joint connecting plate 21
Arrange corresponding with thigh length straight panel 20 threaded hole, between thigh length straight panel 20 and knee joint connecting plate 21 by bolt consolidation come
Entire length is adjusted, dresses use to adapt to the user of different thigh length.
It is provided with threaded hole of the row for adjustment length in the leg length straight panel 30, is provided with a row in small short legs straight panel 29
Threaded hole corresponding with leg length straight panel 30 is adjusted between leg length straight panel 30 and small short legs straight panel 29 by bolt consolidation
Length dresses use to adapt to the user of different lower-leg lengths.
There is a kind of unpowered lower limb exoskeleton robot provided by the present invention sequentially connected waist, thigh, knee to close
Section, shank and foot, waist provide the flexibility that movement is improved to the sliding rail of pulley rotation, and waist has 3 freedom
Degree, is rotation, the flexion/extension of thigh and the outer pendulum/interior receipts of thigh of the waist of ectoskeleton in the horizontal plane respectively, is designed in this way
It can guarantee that user dresses the kinematic dexterity of unpowered lower limb exoskeleton robot, and then improve the comfort of human body wearing,
After user dresses ectoskeleton, the upper part of the body of human body can surround the central axis by human pelvis center in Human Height direction
The maximum angle rotated left and right in the horizontal plane is 30 °, the flexion/extension motion range of human hip be (0 ° -130 °, 0 ° -
15 °), interior receipts/abduction exercise range of human hip is (0 ° -25 °, 0 ° -30 °), the flexion and extension backward of human body knee joint
Range is 0 ° -135 °, and plantar flexion/dorsiflex motion range of model of human ankle is (0 ° -20 °, 0 ° -25 °).With existing ectoskeleton
Robot compares, and the configuration of the present invention is simple, movement are flexibly, comfort is high, are easy to dress.In addition, a kind of nothing provided by the invention
Power lower limb exoskeleton robot, knee joint are designed using centering type, and when can guarantee that user dresses ectoskeleton standing, knee is closed
Section is capable of forming self-locking, on the one hand, can protect the knee joint of human body, on the other hand, human body can be born a heavy burden by unpowered
After the waist and thigh of exoskeleton robot, it effectively is transferred to shank and foot by knee joint, is eventually led to ground.
Further, the size of waist of the present invention, thigh and shank is adjustable, is worn with adapting to the user of the different bodily forms
It wears, it is applied widely.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of unpowered lower limb exoskeleton robot.
Fig. 2 is a kind of front view of unpowered lower limb exoskeleton robot.
Fig. 3 is a kind of waist structure schematic diagram of unpowered lower limb exoskeleton robot.
Fig. 4 is a kind of decomposition texture schematic diagram of the waist of unpowered lower limb exoskeleton robot.
Fig. 5 is a kind of thigh structural schematic diagram of unpowered lower limb exoskeleton robot.
Fig. 6 is a kind of knee joint structure schematic diagram of unpowered lower limb exoskeleton robot.
Fig. 7 is a kind of knee joint side view of unpowered lower limb exoskeleton robot.
Fig. 8 is a kind of shank structural schematic diagram of unpowered lower limb exoskeleton robot.
Fig. 9 is a kind of foot structure schematic diagram of unpowered lower limb exoskeleton robot.
Appended drawing reference is as follows:
1 waist；2 thighs；3 knee joints；4 shanks；5 foots；6 sliding ways；7 arc waist panels；8 waist side plates；9 glide paths；
The wide adjustable plate of 10 waists；11 waist central blocks；12 waist panel link blocks；13 pulleys；14 adjustment pins；15 pulley support blocks；16 pulleys connect
Connect block；17 thigh link blocks；18 big short legs straight panels；19 thigh twisted plates；20 thigh length straight panels；21 knee joint connecting plates；22 is big
Leg bandage；On 23 knee joint bending plates；On 24 knee joint side plates；25 eccentric blocks；Under 26 knee joint side plates；27 shank bandages；28
Under knee joint bending plate；29 small short legs straight panels；30 leg length straight panels；31 shank twisted plates；32 foot straight panels；33 soles；34
Foot bandage.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
A kind of structure of unpowered lower limb exoskeleton robot is as shown in Figure 1 and Figure 2 including sequentially connected from top to bottom
Waist 1, thigh 2, knee joint 3, shank 4 and foot 5.
Referring to Fig. 3, Fig. 4, the waist 1 includes upper cunning 6, arc waist panel 7, waist side plate 8, glide path 9, the wide adjusting of waist
Plate 10, waist central block 11, waist panel link block 12, pulley 13, adjustment pin 14, pulley support block 15 and pulley link block 16,
In, two sliding ways 6 and two glide paths 9 match with 7 shape of arc waist panel, and sliding way 6 and glide path 9 are fixedly arranged at arc respectively
7 upper and lower part of shape waist panel, the lower recess of sliding way 6 and the upper grooves of glide path 9 form sliding rail, and pulley 13 is stuck in sliding rail
Interior to be slidably connected with it, pulley 13 and pulley link block 16 are hinged, and pulley link block 16 and adjustment pin 14 are hinged, adjustment pin 14 with
Pulley support block 15 is hinged, and one end of waist side plate 8 is threadably secured with pulley support block 15 to be connect, waist side plate 8 it is another
One end is connect with thigh 2；The opposite side of two arc waist panels 7 is hinged with a waist panel link block 12, waist panel link block 12
Be threadably secured and connect with the wide adjustable plate 10 of waist, the wide adjustable plate 10 of two waists with 11 company of being threadably secured of waist central block
It connects.It is provided with threaded hole of the row for adjustment length on the wide adjustable plate 10 of waist, is provided with a row and waist on waist panel link block 12
Wide adjustable plate 10 corresponding threaded hole adjusts length by bolt consolidation between the wide adjustable plate 10 of waist and waist panel link block 12
Degree dresses use to adjust waist size in wearing to adapt to the user of different waist width.
After user dresses unpowered lower limb exoskeleton robot, the upper part of the body of human body can be around Human Height direction
It is 30 ° by the maximum angle that the central axis at human pelvis center rotates left and right in the horizontal plane.The flexion/extension of human hip is transported
Dynamic range is (0 ° -130 °, 0 ° -15 °), and interior receipts/abduction exercise range of human hip is (0 ° -25 °, 0 ° -30 °).
Referring to Fig. 5, the thigh 2 is straight including thigh link block 17, big short legs straight panel 18, thigh twisted plate 19, thigh length
Plate 20 and knee joint connecting plate 21, wherein thigh link block 17 is fixedly connected with the waist side plate 8 of waist 1, thigh link block 17
Hinged with big short legs straight panel 18, big short legs straight panel 18 is fixedly connected with one end of thigh twisted plate 19 with by the way that screw thread is vertical, greatly
The other end of leg twisted plate 19 is fixedly connected with thigh length straight panel 20 by the way that screw thread is vertical, and thigh length straight panel 20 is connect with knee joint
One end of plate 21 is connect with being threadably secured, and the other end of knee joint connecting plate 21 is connect with knee joint 3, and the thigh length is straight
It is provided with threaded hole of the row for adjustment length on plate 20, a row is provided on knee joint connecting plate 21 and thigh length straight panel 20 is opposite
The threaded hole answered adjusts entire length by bolt consolidation between thigh length straight panel 20 and knee joint connecting plate 21, to adapt to
The user of different thigh length, which dresses, to be used.
Referring to Fig. 6, the knee joint 3 includes including thigh bandage 22, on knee joint bending plate on 23, knee joint side plate
24, under eccentric block 25, knee joint side plate 28 under 26, shank bandage 27 and knee joint bending plate, wherein 23 on knee joint bending plate
It is fixedly connected with the knee joint connecting plate 21 of thigh 2,23 is arc-shaped with thigh bandage 22 on knee joint bending plate, and the two passes through spiral shell
Line is fixedly connected to form circle, and 23 fixed connect on knee joint side plate 24 upper end by the way that screw thread is vertical on knee joint bending plate
Connect, 24 lower end and eccentric block 25 are hinged on knee joint side plate, eccentric block 25 under knee joint side plate 26 upper end it is hinged,
26 lower end is threadably secured under knee joint bending plate 28 and connect under knee joint side plate, under knee joint bending plate 28 with it is small
Leg bandage 27 is arc-shaped, and the two is threadably secured connection and forms circle.
Referring to Fig. 7, the eccentric block 25 of knee joint 3 uses eccentric structure to simulate the motion of knee joint of human body, works as human body
Dress ectoskeleton walking when, in standing state, eccentric 3 structure of knee joint can be formed it is self-locking, to protect the knee of human body to close
Section, after user dresses unpowered lower limb exoskeleton robot, the range of flexion and extension backward of human body knee joint is 0 ° -135 °.
Referring to Fig. 8, the shank 4 includes the 28 small short legs straight panel being fixedly connected under the knee joint bending plate with knee joint 3
29, small short legs straight panel 29 is threadably secured with one end of leg length straight panel 30 to be connect, the other end of leg length straight panel 30 with it is small
Leg twisted plate 31 is threadably secured connection；Threaded hole of the row for adjustment length is provided in the leg length straight panel 30, it is small
Be provided with row threaded hole corresponding with leg length straight panel 30 in short legs straight panel 29, leg length straight panel 30 and small short legs straight panel 29 it
Between by bolt consolidation come adjustment length, dressed with to adapt to the user of different lower-leg lengths and used.
Referring to Fig. 9, the foot 4 includes the foot straight panel 32 that upper end is fixedly connected with the shank twisted plate 31 of shank 4,
The lower end of foot straight panel 32 and sole 34 are hinged, and the both ends of sole 34 and the foot bandage 33 of arc consolidate, and work as user
After dressing unpowered lower limb exoskeleton robot, plantar flexion/dorsiflex motion range of model of human ankle be (0 ° -20 °, 0 ° -
25°)。
Claims (4)
1. a kind of unpowered lower limb exoskeleton robot, which is characterized in that including sequentially connected waist (1) from top to bottom, greatly
Leg (2), knee joint (3), shank (4) and foot (5)；
The waist (1) includes two sliding ways (6) and two glide paths (9) to match with two arc waist panel (7) shapes,
Sliding way (6) and glide path (9) are fixedly arranged at arc waist panel (7) upper and lower part, the lower recess of sliding way (6) and downslide respectively
The upper grooves in road (9) form sliding rail, and pulley (13) is stuck in sliding rail and is slidably connected with it, pulley (13) and pulley link block
(16) hingedly, pulley link block (16) and adjustment pin (14) hingedly, adjustment pin (14) and pulley support block (15) hingedly, waist side
One end of plate (8) is fixedly connected with pulley support block (15), and the other end of waist side plate (8) is connect with thigh (2)；Two arcs
The opposite side of waist panel (7) with a waist panel link block (12) hingedly, waist panel link block (12) and the wide adjustable plate of waist (10) are solid
Fixed connection, two wide adjustable plates of waist (10) are fixedly connected with waist central block (11)；
The thigh (2) includes the thigh link block (17) being fixedly connected with the waist side plate (8) of waist (1), thigh link block
(17) hingedly with big short legs straight panel (18), big short legs straight panel (18) is fixedly connected with one end of thigh twisted plate (19) with vertical,
The other end of thigh twisted plate (19) is vertical with thigh length straight panel (20) to be fixedly connected, and thigh length straight panel (20) is connect with knee joint
One end of plate (21) be fixedly connected, the other end of knee joint connecting plate (21) is connect with knee joint (3)；
The knee joint (3) includes on the knee joint bending plate being fixedly connected with the knee joint connecting plate (21) of thigh (2) (23),
(23) and thigh bandage (22) are arc-shaped on knee joint bending plate, and the two is fixedly connected to form circle, on knee joint bending plate (23)
Vertical with the upper end of (24) on knee joint side plate to be fixedly connected, the lower end of (24) and eccentric block (25) are cut with scissors on knee joint side plate
It connects, eccentric block (25) and the upper end of (26) under knee joint side plate are hinged, the lower end of (26) and knee joint under knee joint side plate
(28) are fixedly connected under twisted plate, and (28) and shank bandage (27) are arc-shaped under knee joint bending plate, and the two is fixedly connected to form
Circle；
The shank (4) includes the small short legs straight panel (29) being fixedly connected with (28) under the knee joint bending plate of knee joint (3), small
Short legs straight panel (29) is fixedly connected with one end of leg length straight panel (30), the other end and shank twisted plate of leg length straight panel (30)
(31) it is fixedly connected；
The foot (4) includes the foot straight panel (32) that upper end is fixedly connected with the shank twisted plate (31) of shank (4), foot
Hingedly, the both ends of sole (34) and the foot bandage (33) of arc consolidate for the lower end and sole (34) of straight panel (32).
2. a kind of unpowered lower limb exoskeleton robot according to claim 1, which is characterized in that the wide adjustable plate of waist
(10) it is provided with threaded hole of the row for adjustment length on, is provided with a row and the wide adjustable plate of waist (10) phase on waist panel link block (12)
Corresponding threaded hole, by bolt consolidation come adjustment length between the wide adjustable plate of waist (10) and waist panel link block (12).
3. a kind of unpowered lower limb exoskeleton robot according to claim 1, which is characterized in that the thigh length straight panel
(20) it is provided with threaded hole of the row for adjustment length on, is provided with a row and thigh length straight panel (20) on knee joint connecting plate (21)
Corresponding threaded hole adjusts whole length by bolt consolidation between thigh length straight panel (20) and knee joint connecting plate (21)
Degree.
4. a kind of unpowered lower limb exoskeleton robot according to claim 1, which is characterized in that the leg length straight panel
(30) it is provided with threaded hole of the row for adjustment length on, is provided with a row and leg length straight panel (30) phase on small short legs straight panel (29)
Corresponding threaded hole, by bolt consolidation come adjustment length between leg length straight panel (30) and small short legs straight panel (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484277.0A CN109571434B (en) | 2018-12-06 | 2018-12-06 | Unpowered lower limb exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484277.0A CN109571434B (en) | 2018-12-06 | 2018-12-06 | Unpowered lower limb exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
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| CN109571434A true CN109571434A (en) | 2019-04-05 |
| CN109571434B CN109571434B (en) | 2020-06-26 |
Family
ID=65927603
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| CN201811484277.0A Active CN109571434B (en) | 2018-12-06 | 2018-12-06 | Unpowered lower limb exoskeleton robot |
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Cited By (8)
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|---|---|---|---|---|
| CN110193815A (en) * | 2019-05-08 | 2019-09-03 | 三峡大学 | A kind of wearable power-assisted raising ectoskeleton equipment |
| CN110936356A (en) * | 2019-12-09 | 2020-03-31 | 西安交通大学 | Waist device of exoskeleton robot |
| CN111805514A (en) * | 2019-07-19 | 2020-10-23 | 重庆市牛迪科技发展有限公司 | Waist exoskeleton |
| CN111840006A (en) * | 2019-10-10 | 2020-10-30 | 邳州利康沃智能康复设备有限公司 | Passive walking-aid exoskeleton |
| CN112388610A (en) * | 2020-10-14 | 2021-02-23 | 郑州第四极机电科技有限公司 | Unpowered exoskeleton loading device |
| CN112569090A (en) * | 2019-09-30 | 2021-03-30 | 广东博智林机器人有限公司 | Adjusting mechanism and exoskeleton robot |
| CN113768761A (en) * | 2021-09-14 | 2021-12-10 | 山东理工大学 | Unpowered lower limb exoskeleton device |
| CN114668633A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Wearable weight-reduction supporting device |
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|---|---|---|---|---|
| CN110193815A (en) * | 2019-05-08 | 2019-09-03 | 三峡大学 | A kind of wearable power-assisted raising ectoskeleton equipment |
| CN111805514A (en) * | 2019-07-19 | 2020-10-23 | 重庆市牛迪科技发展有限公司 | Waist exoskeleton |
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| CN110936356A (en) * | 2019-12-09 | 2020-03-31 | 西安交通大学 | Waist device of exoskeleton robot |
| CN112388610A (en) * | 2020-10-14 | 2021-02-23 | 郑州第四极机电科技有限公司 | Unpowered exoskeleton loading device |
| CN112388610B (en) * | 2020-10-14 | 2023-12-01 | 郑州第四极机电科技有限公司 | Unpowered exoskeleton loading device |
| CN114668633A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Wearable weight-reduction supporting device |
| CN113768761A (en) * | 2021-09-14 | 2021-12-10 | 山东理工大学 | Unpowered lower limb exoskeleton device |
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| Publication number | Publication date |
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| CN109571434B (en) | 2020-06-26 |
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