CN109589246A - 一种高强度液动肌肉驱动外骨骼 - Google Patents

一种高强度液动肌肉驱动外骨骼 Download PDF

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CN109589246A
CN109589246A CN201710917934.5A CN201710917934A CN109589246A CN 109589246 A CN109589246 A CN 109589246A CN 201710917934 A CN201710917934 A CN 201710917934A CN 109589246 A CN109589246 A CN 109589246A
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muscle
waist panel
leg plate
leg
surge
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沈冬华
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Jiangsu Crane Intelligent Machinery Co Ltd
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Jiangsu Crane Intelligent Machinery Co Ltd
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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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • 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
    • A61H2201/1238—Driving means with hydraulic or pneumatic 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1409—Hydraulic or pneumatic means
    • 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
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis 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
    • 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
    • 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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Robotics (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

本发明涉及一种高强度液动肌肉驱动外骨骼。包括腰板和两个腿板，所述腰板为弧形状，所述腿板为十字型结构，所述腰板的两端分别与腿板的上端转动连接，所述腿板的下端固定安装有套腿环，所述腿板的前端和后端与腰板之间分别连接有前液动肌肉和后液动肌肉，所述前液动肌肉与后液动肌肉相对于腿板呈对称分布，腰板拐角处背面设有加强凹槽筋，所述腿板下端外侧设有与套腿环连接的加强板。本发明结构简单，体积小，重量轻，使用液动肌肉作为外骨骼的驱动器，结构紧凑，能够大大减轻外骨骼的重量，减轻人体的负重；液动肌肉在其轴向上具有一定的柔性，使得驱动力比较柔和，能减轻外骨骼运动过程中前后末端位置的冲击，人体穿戴更加舒适。

Description

一种高强度液动肌肉驱动外骨骼
技术领域
本发明涉及一种外骨骼，尤其涉及一种高强度液动肌肉驱动外骨骼，用于下肢髋关节助力，属于机器人应用领域。
背景技术
外骨骼康复助力机器人将机器人技术、自动化技术和临床康复医学技术相结合而产生的一种辅助或替代康复理疗师完成关节康复训练的机器人自动化装置。
现今，市场上现有的外骨骼的动力驱动元件多为电机、液压缸等刚性机械部件，存在体积大、重量大的缺陷，造成外骨骼不能真正进入实用化。
发明内容
针对上述缺陷，本发明的目的在于提供一种结构简单，操作方便快捷，能够实现髋关节助力外骨骼轻量化的一种高强度液动肌肉驱动外骨骼。
为此本发明所采用的技术方案是：
包括腰板和两个腿板，所述腰板为弧形状，所述腿板为十字型结构，所述腰板的两端分别与腿板的上端转动连接，所述腿板的下端固定安装有套腿环，所述腿板的前端和后端与腰板之间分别连接有前液动肌肉和后液动肌肉，所述前液动肌肉与后液动肌肉相对于腿板呈对称分布，腰板拐角处背面设有加强凹槽筋，所述腿板下端外侧设有与套腿环连接的加强板。
作为上述技术方案的进一步改进，所述腿板上端和腰板两端均设有连接孔，腿板上端和腰板两端的连接孔通过固定轴连接。
作为上述技术方案的进一步改进，所述前液动肌肉和后液动肌肉的上下两端分别与腰板和腿板铰接连接。
作为上述技术方案的进一步改进，所述前液动肌肉和后液动肌肉采用高压液体驱动或压缩空气驱动。
本发明的优点是：
本发明结构简单，体积小，重量轻，使用液动肌肉作为外骨骼的驱动器，结构紧凑，能够大大减轻外骨骼的重量，减轻人体的负重；液动肌肉在其轴向上具有一定的柔性，使得驱动力比较柔和，能减轻外骨骼运动过程中前后末端位置的冲击，人体穿戴更加舒适。
附图说明
图1是本发明的结构示意图。
图中1是腰板、2是腿板、3是套腿环、4是前液动肌肉、5是后液动肌肉、6是固定轴、7是加强凹槽筋、8是加强板。
具体实施方式
一种高强度液动肌肉驱动外骨骼，包括腰板1和两个腿板2，所述腰板1为弧形状，所述腿板2为十字型结构，所述腰板1的两端分别与腿板2的上端转动连接，所述腿板2的下端固定安装有套腿环3，所述腿板2的前端和后端与腰板1之间分别连接有前液动肌肉4和后液动肌肉5，所述前液动肌肉4与后液动肌肉5相对于腿板2呈对称分布，腰板1拐角处背面设有加强凹槽筋7，所述腿板2下端外侧设有与套腿环3连接的加强板8。
作为上述技术方案的进一步改进，所述腿板2上端和腰板1两端均设有连接孔，腿板2上端和腰板1两端的连接孔通过固定轴6连接。
作为上述技术方案的进一步改进，所述前液动肌肉4和后液动肌肉5的上下两端分别与腰板1和腿板2铰接连接。
作为上述技术方案的进一步改进，所述前液动肌肉4和后液动肌肉5采用高压液体驱动或压缩空气驱动。
需要强调的是：以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (4)

1.一种高强度液动肌肉驱动外骨骼，其特征在于，包括腰板和两个腿板，所述腰板为弧形状，所述腿板为十字型结构，所述腰板的两端分别与腿板的上端转动连接，所述腿板的下端固定安装有套腿环，所述腿板的前端和后端与腰板之间分别连接有前液动肌肉和后液动肌肉，所述前液动肌肉与后液动肌肉相对于腿板呈对称分布，腰板拐角处背面设有加强凹槽筋，所述腿板下端外侧设有与套腿环连接的加强板。
2.根据权利要求1所述的一种高强度液动肌肉驱动外骨骼，其特征在于，所述腿板上端和腰板两端均设有连接孔，腿板上端和腰板两端的连接孔通过固定轴连接。
3.根据权利要求1所述的一种高强度液动肌肉驱动外骨骼，其特征在于，所述前液动肌肉和后液动肌肉的上下两端分别与腰板和腿板铰接连接。
4.根据权利要求1所述的一种高强度液动肌肉驱动外骨骼，其特征在于，所述前液动肌肉和后液动肌肉采用高压液体驱动或压缩空气驱动。
CN201710917934.5A 2017-09-30 2017-09-30 一种高强度液动肌肉驱动外骨骼 Pending CN109589246A (zh)

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Application publication date: 20190409