CN109730901A - One kind being used for lower limb exoskeleton robot standing stabilizing mechanism - Google Patents

One kind being used for lower limb exoskeleton robot standing stabilizing mechanism Download PDF

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Publication number
CN109730901A
CN109730901A CN201910008382.5A CN201910008382A CN109730901A CN 109730901 A CN109730901 A CN 109730901A CN 201910008382 A CN201910008382 A CN 201910008382A CN 109730901 A CN109730901 A CN 109730901A
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CN
China
Prior art keywords
support
exoskeleton robot
limb exoskeleton
supporting
stretch rod
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910008382.5A
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Chinese (zh)
Inventor
程洪
徐发树
赵恩盛
邱静
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University of Electronic Science and Technology of China
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University of Electronic Science and Technology of China
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Application filed by University of Electronic Science and Technology of China filed Critical University of Electronic Science and Technology of China
Priority to CN201910008382.5A priority Critical patent/CN109730901A/en
Publication of CN109730901A publication Critical patent/CN109730901A/en
Pending legal-status Critical Current

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Abstract

The present invention relates to wearable technique of medical rehabilitation fields, specifically, it is related to a kind of for lower limb exoskeleton robot standing stabilizing mechanism, including the first supporting mechanism and the second supporting mechanism, first supporting mechanism and the second supporting mechanism are structure and mounting means bilateral symmetry all the same, stating the first supporting mechanism includes anterior part support device and back support device, the anterior part support device and back support device are structure and mounting means front and back symmetrical structure all the same, the anterior part support device includes front fixation kit, front limit assembly and front support component, the present invention is in the case where wearer needs the long period to stand, the length of stretch rod can be quickly adjusted by Quick Release bolt, stretch rod is fixed by pedestal, support is provided for the standing stabilization of various sizes of lower limb exoskeleton robot, To liberate the both hands of wearer, wearer is allow to carry out daily routines.

Description

One kind being used for lower limb exoskeleton robot standing stabilizing mechanism
Technical field
The present invention relates to wearable technique of medical rehabilitation fields, and in particular, to one kind is used for lower limb exoskeleton robot Standing stabilizing mechanism.
Background technique
Since the nearly more than ten years, with the development of science and technology, research and development of the research staff to lower limb exoskeleton robot technology Also rapidly developing with application, is having application in military and medical field, especially obtained in terms of rehabilitation medical in recent years It is widely applied, in medical field, exoskeleton robot is broadly divided into two aspects of rehabilitation medical and auxiliary walking, from domestic and international Lower limb exoskeleton robot structural form on as can be seen that most of be aided with crutch support knot using biped robot Structure is walked, and in the process of walking, wearer's both hands is needed to hold crutch auxiliary balance, but when human body natural stands, wear Wearer must also hold crutch and keep balance, cause wearer that cannot incorporate life well in use, in response to this, A small number of lower limb exoskeleton robots use self-balancing technology, but after applying this technology, the speed of travel of robot is excessively slow, Such as the REX exoskeleton robot of Britain, some lower limb exoskeleton robot uses external system, but the system structure It is huge, to the more demanding of place, it is only capable of using as rehabilitation medical, such as the Lokomat lower limb rehabilitation robot of Switzerland, in The patent of invention that state's application number of invention patent is 201610276144.9, discloses a kind of disabled person's standing-rack, the standing-rack Disabled person can be helped to stand, but because pedestal is limited in ground, any movement can not be carried out, it is similar also Some standing supplementary structures, but cannot mostly be switched between walking states and standing stable state.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of for lower limb exoskeleton robot standing stabilizing mechanism, should Design can make wearer keep stabilization when standing when dressing lower limb exoskeleton robot, keep the both hands of wearer vacant out Come, carries out some daily activities.
It is disclosed by the invention it is a kind of be used for lower limb exoskeleton robot standing stabilizing mechanism, including the first supporting mechanism and the Two supporting mechanisms, first supporting mechanism and the second supporting mechanism are structure and mounting means bilateral symmetry knot all the same Structure, first supporting mechanism and the second supporting mechanism are separately fixed at the two sides of lower limb exoskeleton robot, and described first Support mechanism includes anterior part support device and back support device, and the anterior part support device and back support device are structure and peace Dress mode front and back symmetrical structure all the same, the anterior part support device are mounted on the front of lower limb exoskeleton robot side, The back support device is mounted on the ipsilateral rear portion of lower limb exoskeleton robot, and the anterior part support device includes that front is fixed Component, front limit assembly and front support component, the front fixation kit, front limit assembly and front support component are certainly Upper and lower setting and the front for being located at lower limb exoskeleton robot side, the front fixation kit and front limit assembly are pacified On lower limb exoskeleton robot, the front support component is mounted on the limit assembly of front.
Preferably, the front limit assembly includes pedestal, shaft, limited block and clamping pin, the lower limb exoskeleton machine The side of device people is equipped with pedestal mounting groove, and the pedestal is bolted in pedestal mounting groove, and the pedestal is trapezoidal knot Structure, the short side on the parallel both sides of the trapezium structure is located in lower limb exoskeleton robot and its length is less than pedestal mounting groove Depth, the long side on the parallel both sides of the trapezium structure extend lower limb exoskeleton robot, the shaft, limited block and clamping Pin is each attached on pedestal, and the shaft and clamping pin are respectively positioned on the lower section of limited block, and the clamping pin is compared with shaft close to trapezoidal The long side on the both sides of parallelism structural, the clamping pin inside are equipped with spring, and the front support component is stretch rod, the stretching Bar and shaft are rotatablely connected.
Preferably, the front fixation kit is front fixing clamp, and the front fixing clamp is bolted on lower limb The front of exoskeleton robot side.
Preferably, each described stretch rod is scalable secondary structure, is equipped with Quick Release in the junction of stretch rod Bolt.
Preferably, the bottom of each stretch rod, which is bolted, is equipped with a universal wheel.
Preferably, each described stretch rod is all made of aluminum alloy material.
The utility model has the advantages that one kind of the invention be used for lower limb exoskeleton robot standing stabilizing mechanism, wearer need compared with In the case where standing for a long time, the length of stretch rod can be quickly adjusted by Quick Release bolt, and stretch rod is carried out by pedestal It is fixed, support is provided for the standing stabilization of various sizes of lower limb exoskeleton robot, to liberate the both hands of wearer, is made Wearer can carry out daily routines, when lower limb exoskeleton robot is walked, the two sides of robot can be fixed on and It will not influence the normal walking speed of lower limb exoskeleton robot.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is to be assemblied in standing support effect picture on lower limb exoskeleton robot in embodiment;
Fig. 2 is that stretch rod is fixed on the structure chart on fixing clamp in embodiment;
Fig. 3 is the structure chart of embodiment middle front part limit assembly and front support component;
Description of symbols: the first supporting mechanism of 1-, the second supporting mechanism of 2-, 3- anterior part support device, 4- back support device, The front 31- fixation kit, the front 32- limit assembly, 33- front support component, 321- pedestal, 322- shaft, 323- limited block, 324- clamping pin, 331- stretch rod, 311- fixing clamp, 3311- Quick Release bolt, 3312- universal wheel.
Specific embodiment
Multiple embodiments of the invention will be disclosed with schema below, as clearly stated, the details in many practices It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also It is to say, in some embodiments of the invention, the details in these practices is non-essential.In addition, for the sake of simplifying schema, Some known usual structures and component will be painted it in the drawings in simply illustrative mode.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, not especially censure The meaning of order or cis-position, also non-to limit the present invention, the component described just for the sake of difference with same technique term Or operation, it is not understood to indicate or imply its relative importance or implicitly indicates the number of indicated technical characteristic Amount." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one of the features.In addition, each Technical solution between a embodiment can be combined with each other, but must can be implemented as base with those of ordinary skill in the art Plinth will be understood that the combination of this technical solution is not present when conflicting or cannot achieve when occurs in the combination of technical solution, Also not the present invention claims protection scope within.
Referring to figs. 1 to shown in Fig. 3 a kind of for lower limb exoskeleton robot standing stabilizing mechanism, including the first support machine Structure 1 and the second supporting mechanism 2, first supporting mechanism 1 and the second supporting mechanism 2 are structure and a mounting means left side all the same Right symmetrical structure, first supporting mechanism 1 and the second supporting mechanism 2 are separately fixed at the two sides of lower limb exoskeleton robot, First supporting mechanism 1 includes anterior part support device 3 and back support device 4, the anterior part support device 3 and back support Device 4 is structure and mounting means front and back symmetrical structure all the same, and the anterior part support device 3 is mounted on lower limb exoskeleton machine The front of device people side, the back support device 4 are mounted on the ipsilateral rear portion of lower limb exoskeleton robot, the front support Device 3 includes front fixation kit 31, front limit assembly 32 and front support component 33, and the front fixation kit 31 is preceding Portion's limit assembly 32 and front support component 33 are arranged from top to bottom and are located at the front of lower limb exoskeleton robot side, described Front fixation kit 31 and front limit assembly 32 are installed on lower limb exoskeleton robot, and the front support component 33 is pacified On front limit assembly 32, a supporting mechanism 1 and the second supporting mechanism 2 are bilateral symmetry, 3 He of anterior part support device Back support device 4 is front and back symmetrical structure, is omitted in claim to the second supporting mechanism 2 and back support device 4 Statement, the design of above structure is separately mounted to the two sides of robot and front and back and completes to improve the standing support of robot The stability of standing is fixed support component by fixation kit, be will not influence when lower limb exoskeleton robot is walked The walking of robot.
Shown in referring to Figure 1 and Figure 3, the front limit assembly 32 includes pedestal 321, shaft 322, limited block 323 and card The side of tight pin 324, the lower limb exoskeleton robot is equipped with 321 mounting groove of pedestal, and the pedestal 321 is bolted on In 321 mounting groove of pedestal, the pedestal 321 is trapezium structure, and the short side on the parallel both sides of the trapezium structure is located at outside lower limb In bone robot and its length is less than the depth of 321 mounting groove of pedestal, and the long side on the parallel both sides of the trapezium structure extends Lower limb exoskeleton robot out, the shaft 322, limited block 323 and clamping pin 324 are each attached on pedestal 321, the shaft 322 and clamping pin 324 be respectively positioned on the lower section of limited block 323, the clamping pin 324 is parallel close to trapezium structure compared with shaft 322 The long side on both sides, spring is equipped with inside the clamping pin 324, and the front support component 33 is stretch rod 331, the stretch rod 331 are rotatablely connected with shaft 322, and seat 321 is trapezium structure, are mounted on the stretch rod 331 on pedestal 321 in rotation to ground When, angle can be formed with the direction of advance of robot, collide when so as to avoid walking and influence to walk, meanwhile, bottom Limited block 323, clamping pin 324 and pedestal 321 on seat 321 are located at the rotation of stretch rod 331 of the depth limit of mounting groove, It ensure that the stability of stretch rod 331, be equipped with spring in clamping pin 324, at the rotation of stretch rod 331 to ground, spring is driven Clamping pin 324 bounces, and ensure that the stabilization of stretch rod 331, symmetrical anterior part support device 3 and rear portion branch before and after the setting of side Support arrangement 4 and symmetrical first supporting mechanism 1 and the second supporting mechanism 2 all around amount to four stretch rods 331, The stretch rod 331 of front prevents wearer from dumping forward, and the stretch rod 331 at rear portion prevents wearer from toppling over backward, and stretch rod 331 or so expansion certain angles, can prevent human body sideways.
Shown in referring to Figures 1 and 2, the front fixation kit 31 is fixing clamp 311, and the fixing clamp 311 passes through bolt It is fixed on the front of lower limb exoskeleton robot side, when wearer walks, stretch rod 331 is withdrawn, fixing clamp is stuck in On 311, the normal walking of wearer will not influence.
Shown in referring to Fig.1, each described stretch rod 331 is scalable secondary structure, in the junction of stretch rod 331 Quick Release bolt 3311 is installed, when tearing the opening of bolt 3311 open, can conveniently adjust the length of stretch rod 331, lower limb exoskeleton machine Device people wearer is usually present certain size difference, and stretch rod 331 can preferably meet requirement of the user to length.
Shown in referring to Fig.1, the bottom of each stretch rod 331, which is bolted, is equipped with a universal wheel 3312, when standing, four stretch rods 331 are supported exoskeleton robot, the universal wheel 3312 and ground face contact of bottom, Wearer can be helped simply to be moved, meet wearer's requirement mobile in small space.
Shown in referring to Fig.1, each described stretch rod 331 is all made of aluminum alloy material, and boom 331 uses aluminium alloy material Matter can effectively reduce the weight of overall mechanism, mitigate the burden of wearer.
When walking, the contraction of stretch rod 331 is placed on fixing clamp 311 lower limb exoskeleton robot, when needs are to standing When being stablized, stretch rod 331 is broken into two with one's hands from fixing clamp 311, open Quick Release bolt 3311, stretch rod 331 is adjusted to conjunction Suitable length retells stretch rod 331 and 322 is rotated around the shaft, when turning to the limit angle of limited block 323, clamping pin 324 It bounces under the action of the spring and stretch rod 331 is fixed, at this point, 4 stretch rods 331 have reached firm support effect, It assists human body to stand, when wearer wants walking, by the outside extraction certain distance of clamping pin 324, rotates stretch rod 331, and It opens Quick Release bolt 3311 to be shortened, finally be placed on fixing clamp 311.The upper only embodiments of the present invention , it is not intended to restrict the invention.To those skilled in the art, the invention may be variously modified and varied.It is all It should all include in right of the invention in the interior any modification, equivalent replacement, improvement and so on of spirit and principles of the present invention Within claimed range.

Claims (6)

1. one kind is used for lower limb exoskeleton robot standing stabilizing mechanism, it is characterised in that: including the first supporting mechanism (1) and the Two supporting mechanisms (2), first supporting mechanism (1) and the second supporting mechanism (2) are structure and a mounting means left side all the same Right symmetrical structure, first supporting mechanism (1) and the second supporting mechanism (2) are separately fixed at the two of lower limb exoskeleton robot Side, first supporting mechanism (1) include anterior part support device (3) and back support device (4), the anterior part support device (3) and back support device (4) is structure and mounting means front and back symmetrical structure all the same, the anterior part support device (3) It is mounted on the front of lower limb exoskeleton robot side, it is same that the back support device (4) is mounted on lower limb exoskeleton robot The rear portion of side, the anterior part support device (3) include front fixation kit (31), front limit assembly (32) and front support group Part (33), the front fixation kit (31), front limit assembly (32) and front support component (33) be arranged from top to bottom and Positioned at the front of lower limb exoskeleton robot side, the front fixation kit (31) and front limit assembly (32) are installed in On lower limb exoskeleton robot, the front support component (33) is mounted on front limit assembly (32).
2. according to claim 1 a kind of for lower limb exoskeleton robot standing stabilizing mechanism, it is characterised in that: described Front limit assembly (32) includes pedestal (321), shaft (322), limited block (323) and clamping pin (324), the lower limb dermoskeleton The side of bone robot is equipped with pedestal (321) mounting groove, and the pedestal (321) is bolted on pedestal (321) mounting groove Interior, the pedestal (321) is trapezium structure, and the short side on the parallel both sides of the trapezium structure is located in lower limb exoskeleton robot And its length is less than the depth of pedestal (321) mounting groove, the long side on the parallel both sides of the trapezium structure extends lower limb dermoskeleton Bone robot, the shaft (322), limited block (323) and clamping pin (324) are each attached on pedestal (321), the shaft (322) and clamping pin (324) is respectively positioned on the lower sections of limited block (323), and the clamping pin (324) is compared with shaft (322) close to trapezoidal The long side on the both sides of parallelism structural, the clamping pin (324) is internal to be equipped with spring, and the front support component (33) is stretch rod (331), the stretch rod (331) and shaft (322) are rotatablely connected.
3. according to claim 1 a kind of for lower limb exoskeleton robot standing stabilizing mechanism, it is characterised in that: described Front fixation kit (31) is fixing clamp (311), and the fixing clamp (311) is bolted on lower limb exoskeleton robot one The front of side.
4. according to claim 2 a kind of for lower limb exoskeleton robot standing stabilizing mechanism, it is characterised in that: each A stretch rod (331) is scalable secondary structure, is equipped with Quick Release bolt in the junction of stretch rod (331) (3311).
5. according to claim 2 a kind of for lower limb exoskeleton robot standing stabilizing mechanism, it is characterised in that: each The bottom of a stretch rod (331), which is bolted, is equipped with a universal wheel (3312).
6. according to claim 5 a kind of for lower limb exoskeleton robot standing stabilizing mechanism, it is characterised in that: each A stretch rod (331) is all made of aluminum alloy material.
CN201910008382.5A 2019-01-04 2019-01-04 One kind being used for lower limb exoskeleton robot standing stabilizing mechanism Pending CN109730901A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110695973A (en) * 2019-11-16 2020-01-17 西安交通大学 Lower limb structure of exoskeleton robot for rescue of active power-assisted armored vehicle
CN110834318A (en) * 2019-11-16 2020-02-25 西安交通大学 Rescue exoskeleton robot for active power-assisted armored vehicle

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CN102551410A (en) * 2011-12-19 2012-07-11 陈荣财 Baby dining chair
CN103767396A (en) * 2014-01-12 2014-05-07 广东乐美达集团有限公司 Foldable high dining chair
CN203914202U (en) * 2014-06-12 2014-11-05 昆山市小博士儿童用品有限公司 Dining chair chair frame retracting mechanism
CN104159553A (en) * 2013-03-11 2014-11-19 日本精工株式会社 Obstacle avoiding guide robot
CN105456004A (en) * 2015-12-28 2016-04-06 中国科学院自动化研究所 Exoskeleton type moving and walking rehabilitation training device and method
CN106963597A (en) * 2017-03-30 2017-07-21 合肥工业大学 A kind of Wearable apery gait lower limb rehabilitation walking aid device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102440891A (en) * 2011-10-17 2012-05-09 上海大学 Anti-destabilization framework type walking assisting legs
CN102551410A (en) * 2011-12-19 2012-07-11 陈荣财 Baby dining chair
CN104159553A (en) * 2013-03-11 2014-11-19 日本精工株式会社 Obstacle avoiding guide robot
CN103767396A (en) * 2014-01-12 2014-05-07 广东乐美达集团有限公司 Foldable high dining chair
CN203914202U (en) * 2014-06-12 2014-11-05 昆山市小博士儿童用品有限公司 Dining chair chair frame retracting mechanism
CN105456004A (en) * 2015-12-28 2016-04-06 中国科学院自动化研究所 Exoskeleton type moving and walking rehabilitation training device and method
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110695973A (en) * 2019-11-16 2020-01-17 西安交通大学 Lower limb structure of exoskeleton robot for rescue of active power-assisted armored vehicle
CN110834318A (en) * 2019-11-16 2020-02-25 西安交通大学 Rescue exoskeleton robot for active power-assisted armored vehicle
CN110695973B (en) * 2019-11-16 2021-04-09 西安交通大学 Lower limb structure of exoskeleton robot for rescue of active power-assisted armored vehicle

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