CN109730901B - Standing stabilizing mechanism for lower limb exoskeleton robot - Google Patents
Standing stabilizing mechanism for lower limb exoskeleton robot Download PDFInfo
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- CN109730901B CN109730901B CN201910008382.5A CN201910008382A CN109730901B CN 109730901 B CN109730901 B CN 109730901B CN 201910008382 A CN201910008382 A CN 201910008382A CN 109730901 B CN109730901 B CN 109730901B
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Abstract
The invention relates to the technical field of wearable rehabilitation medicine, in particular to a standing and stabilizing mechanism for a lower limb exoskeleton robot, which comprises a first supporting mechanism and a second supporting mechanism, wherein the first supporting mechanism and the second supporting mechanism are in bilateral symmetry structures with the same structure and installation mode, the first supporting mechanism comprises a front supporting device and a rear supporting device, the front supporting device and the rear supporting device are in front-back symmetry structures with the same structure and installation mode, the front supporting device comprises a front fixing component, a front limiting component and a front supporting component, the length of a stretching rod can be rapidly adjusted through a quick-release bolt under the condition that a wearer needs to stand for a long time, the stretching rod is fixed through a base, and the standing and stabilizing mechanism provides support for the standing of the lower limb exoskeleton robots with different sizes, so that the two hands of the wearer are liberated, allowing the wearer to perform daily activities.
Description
Technical Field
The invention relates to the technical field of wearable rehabilitation medicine, in particular to a standing stabilizing mechanism for a lower limb exoskeleton robot.
Background
Since a decade ago, with the development of science and technology, research and development and application of lower limb exoskeleton robot technology by researchers are rapidly developed, and the exoskeleton robot is applied in the military and medical fields, especially widely applied in the rehabilitation medical field in recent years, in the medical field, the exoskeleton robot is mainly divided into two aspects of rehabilitation medical treatment and auxiliary walking, and from the structural form of the lower limb exoskeleton robot at home and abroad, most of biped robots are used for walking with a crutch supporting structure, in the walking process, a wearer needs to grip the crutch tightly with both hands to assist balance, but when a human body naturally stands, the wearer also needs to hold the crutch with a hand to keep balance, so that the wearer cannot well blend in life in use, and for the situation, a few lower limb exoskeleton robots adopt self-balancing technology, but after the technology is applied, the walking speed of the robot is too slow, for example, the REX exoskeleton robot in England and a part of lower limb exoskeleton robots adopt an external system, but the system has a huge structure and higher requirements on fields, and can only be used for rehabilitation medical treatment, for example, the Lokomat lower limb rehabilitation robot in Switzerland, the invention patent with Chinese patent application number of 201610276144.9 discloses a standing frame for the disabled, which can help the disabled to stand, but because a base is limited on the ground, the standing frame cannot move at all, and similarly, some standing auxiliary structures are provided, but most of the standing auxiliary structures cannot switch between a walking state and a standing stable state.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a standing and stabilizing mechanism for a lower limb exoskeleton robot, which can enable a wearer to keep stable when standing when wearing the lower limb exoskeleton robot, so that both hands of the wearer are free to perform some daily activities.
The invention discloses a standing and stabilizing mechanism for a lower limb exoskeleton robot, which comprises a first supporting mechanism and a second supporting mechanism, wherein the first supporting mechanism and the second supporting mechanism are in bilateral symmetry structures with the same structure and installation mode, the first supporting mechanism and the second supporting mechanism are respectively fixed on two sides of the lower limb exoskeleton robot, the first supporting mechanism comprises a front supporting device and a rear supporting device, the front supporting device and the rear supporting device are in front-back symmetry structures with the same structure and installation mode, the front supporting device is installed on the front part of one side of the lower limb exoskeleton robot, the rear supporting device is installed on the rear part of the same side of the lower limb exoskeleton robot, the front supporting device comprises a front fixing component, a front limiting component and a front supporting component, the front fixing component, the front limiting component and the front supporting component are arranged from top to bottom and are positioned on the front part of one side of the lower limb exoskeleton robot The front fixing assembly and the front limiting assembly are both mounted on the lower limb exoskeleton robot, and the front supporting assembly is mounted on the front limiting assembly.
Preferably, anterior spacing subassembly includes base, pivot, stopper and chucking round pin, the lateral part of low limbs ectoskeleton robot is equipped with the pedestal mounting groove, the base passes through the bolt fastening in the pedestal mounting groove, the base is the trapezium structure, the minor face on the parallel both sides of trapezium structure is located low limbs ectoskeleton robot and its length is less than the degree of depth of pedestal mounting groove, low limbs ectoskeleton robot is extended to the long limit on the parallel both sides of trapezium structure, pivot, stopper and chucking round pin are all fixed on the base, pivot and chucking round pin all are located the below of stopper, the chucking round pin is close to the long limit on the parallel both sides of trapezium structure than the pivot, the inside spring that is equipped with of chucking round pin, anterior supporting component is tensile pole, tensile pole rotates with the pivot to be connected.
Preferably, the front fixing component is a front fixing clamp which is fixed on the front part of one side of the lower limb exoskeleton robot through bolts.
Preferably, each stretching rod is of a telescopic secondary structure, and a quick-release bolt is installed at the joint of the stretching rods.
Preferably, a universal wheel is fixedly mounted at the bottom of each stretching rod through a bolt.
Preferably, each stretching rod is made of aluminum alloy.
Has the advantages that: according to the standing and stabilizing mechanism for the lower limb exoskeleton robot, disclosed by the invention, under the condition that a wearer needs to stand for a long time, the length of the stretching rod can be quickly adjusted through the quick-release bolt, the stretching rod is fixed through the base, and support is provided for the standing stability of the lower limb exoskeleton robots with different sizes, so that the two hands of the wearer are liberated, the wearer can carry out daily activities, and when the lower limb exoskeleton robot walks, the stretching rod can be fixed on the two sides of the robot without influencing the normal walking speed of the lower limb exoskeleton robot.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a diagram of the effect of standing support assembled on a lower extremity exoskeleton robot in an embodiment;
FIG. 2 is a view showing the structure of the stretching rod fixed to the fixing clip in the embodiment;
FIG. 3 is a block diagram of a front stop assembly and a front support assembly in an embodiment;
description of reference numerals: 1-first support mechanism, 2-second support mechanism, 3-front support device, 4-rear support device, 31-front fixing component, 32-front limit component, 33-front support component, 321-base, 322-rotating shaft, 323-limit block, 324-clamping pin, 331-stretching rod, 311-fixing clamp, 3311-quick-release bolt and 3312-universal wheel.
Detailed Description
In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the various embodiments of the present invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 3, a standing and stabilizing mechanism for a lower limb exoskeleton robot comprises a first supporting mechanism 1 and a second supporting mechanism 2, wherein the first supporting mechanism 1 and the second supporting mechanism 2 are bilaterally symmetrical structures with the same structure and installation mode, the first supporting mechanism 1 and the second supporting mechanism 2 are respectively fixed on two sides of the lower limb exoskeleton robot, the first supporting mechanism 1 comprises a front supporting device 3 and a rear supporting device 4, the front supporting device 3 and the rear supporting device 4 are longitudinally symmetrical structures with the same structure and installation mode, the front supporting device 3 is installed on the front portion of one side of the lower limb exoskeleton robot, the rear supporting device 4 is installed on the rear portion of the same side of the lower limb exoskeleton robot, the front supporting device 3 comprises a front fixing component 31, a front limiting component 32 and a front supporting component 33, the front fixing component 31, the front limiting component 32 and the front supporting component 33 are arranged from top to bottom and are positioned at the front part of one side of the lower limb exoskeleton robot, the front fixing component 31 and the front limiting component 32 are both arranged on the lower limb exoskeleton robot, the front supporting component 33 is arranged on the front limiting component 32, a supporting mechanism 1 and a second supporting mechanism 2 are in a left-right symmetrical structure, the front supporting device 3 and the rear supporting device 4 are in a front-back symmetrical structure, the expression of the second supporting mechanism 2 and the rear supporting device 4 is omitted in the claims, the above structural designs are respectively arranged at the two sides and the front and the rear of the robot to complete the standing support of the robot, the standing stability is improved, when the lower limb exoskeleton robot walks, the supporting assembly is fixed through the fixing assembly, and the walking of the robot cannot be influenced.
Referring to fig. 1 and 3, the front limiting assembly 32 includes a base 321, a rotating shaft 322, a limiting block 323, and a clamping pin 324, wherein a base 321 installation groove is formed in a side portion of the lower limb exoskeleton robot, the base 321 is fixed in the base 321 installation groove by a bolt, the base 321 is a trapezoid structure, short sides of two parallel sides of the trapezoid structure are located in the lower limb exoskeleton robot and have a length smaller than a depth of the base 321 installation groove, long sides of the two parallel sides of the trapezoid structure extend out of the lower limb exoskeleton robot, the rotating shaft 322, the limiting block 323, and the clamping pin 324 are all fixed on the base 321, the rotating shaft 322 and the clamping pin 324 are both located below the limiting block 323, the clamping pin 324 is closer to the long sides of the two parallel sides of the trapezoid structure than the rotating shaft 322, a spring is disposed inside the clamping pin 324, the front supporting assembly 33 is a stretching rod 331, the stretching rod 331 is rotatably connected with the rotating shaft 322, the seat 321 is in a trapezoidal structure, when the stretching rod 331 installed on the base 321 rotates to the ground, an included angle can be formed between the stretching rod 331 and the advancing direction of the robot, so that the walking is prevented from being influenced by collision during walking, meanwhile, the rotation of the stretching rod 331 is limited by the limit block 323, the clamping pin 324 and the depth of the installation groove of the base 321 on the base 321, the stability of the stretching rod 331 is ensured, a spring is arranged in the clamping pin 324, when the stretching rod 331 rotates to the ground, the spring drives the clamping pin 324 to bounce, the stability of the stretching rod 331 is ensured, a front supporting device 3 and a rear supporting device 4 which are front-back symmetrical are arranged on one side, a first supporting mechanism 1 and a second supporting mechanism 2 which are left-right symmetrical are arranged, the four stretching rods 331 are arranged on the front, the rear, the left and the right, the stretching rod 331 on the front prevents a wearer from falling forwards, the stretching rod 331 on the rear prevents the wearer from falling backwards, and the stretching rod 331 is unfolded at a certain angle from left to right, so that the human body can be prevented from laterally falling.
Referring to fig. 1 and 2, the front fixing component 31 is a fixing clip 311, the fixing clip 311 is fixed to the front of one side of the lower extremity exoskeleton robot through a bolt, and when a wearer walks, the stretching rod 331 is retracted and clamped on the fixing clip 311, so that normal walking of the wearer is not affected.
Referring to fig. 1, each of the stretching rods 331 has a telescopic secondary structure, a quick release bolt 3311 is installed at a joint of the stretching rods 331, when the quick release bolt 3311 is opened, the length of the stretching rod 331 can be conveniently adjusted, a certain body type difference generally exists among lower limb exoskeleton robot wearers, and the stretching rods 331 can better meet the length requirement of a user.
Referring to fig. 1, a universal wheel 3312 is fixedly mounted at the bottom of each of the stretching rods 331 through a bolt, when the stretching rod 331 stands, the outer skeleton robot is supported by the four stretching rods 331, and the universal wheels 3312 at the bottom contact the ground, so that the wearer can be helped to move easily, and the requirement of the wearer on movement in a small space is met.
Referring to fig. 1, each of the stretching rods 331 is made of an aluminum alloy, and the stretching rods 331 are made of an aluminum alloy, so that the weight of the whole mechanism can be effectively reduced, and the burden of a wearer can be reduced.
When the lower limb exoskeleton robot walks, the stretching rod 331 is contracted and placed on the fixing clamp 311, when the standing needs to be stabilized, the stretching rod 331 is broken off from the fixing clamp 311, the quick-release bolt 3311 is opened, the stretching rod 331 is adjusted to a proper length, the stretching rod 331 rotates around the rotating shaft 322, when the stretching rod is rotated to a limiting angle of the limiting block 323, the clamping pin 324 bounces up under the action of the spring to fix the stretching rod 331, at the moment, 4 stretching rods 331 reach a stable supporting effect to assist the standing of a human body, when a wearer wants to walk, the clamping pin 324 is outwards pulled out for a certain distance, the stretching rod 331 is rotated, the quick-release bolt 3311 is opened to shorten the stretching rod 331, and finally the stretching rod is placed on the fixing clamp 311. The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (3)
1. A standing stabilizing mechanism for a lower limb exoskeleton robot is characterized in that: the exoskeleton robot comprises a first supporting mechanism (1) and a second supporting mechanism (2), wherein the first supporting mechanism (1) and the second supporting mechanism (2) are of bilateral symmetry structures with the same structure and the same installation mode, the first supporting mechanism (1) and the second supporting mechanism (2) are respectively fixed on two sides of a lower limb exoskeleton robot, the first supporting mechanism (1) comprises a front supporting device (3) and a rear supporting device (4), the front supporting device (3) and the rear supporting device (4) are of front-back symmetry structures with the same structure and the same installation mode, the front supporting device (3) is installed on the front portion of one side of the lower limb exoskeleton robot, the rear supporting device (4) is installed on the rear portion of the same side of the lower limb exoskeleton robot, the front supporting device (3) comprises a front fixing component (31), a front limiting component (32) and a front supporting component (33), the front fixing component (31), the front limiting component (32) and the front supporting component (33) are arranged from top to bottom and located at the front part of one side of the lower limb exoskeleton robot, the front fixing component (31) and the front limiting component (32) are both installed on the lower limb exoskeleton robot, the front supporting component (33) is installed on the front limiting component (32), the first supporting mechanism (1) and the second supporting mechanism (2) are in bilateral symmetry structures, the front supporting device (3) and the rear supporting device (4) are in front-back symmetry structures, the front limiting component (32) comprises a base (321), a rotating shaft (322), a limiting block (323) and a clamping pin (324), a base (321) mounting groove is formed in the side part of the lower limb exoskeleton robot, the base (321) is fixed in the base (321) mounting groove through a bolt, and the base (321) is in a trapezoidal structure, the short sides of the two parallel sides of the trapezoidal structure are positioned in the lower limb exoskeleton robot, the length of the short sides of the two parallel sides of the trapezoidal structure is smaller than the depth of the mounting groove of the base (321), the long sides of the two parallel sides of the trapezoidal structure extend out of the lower limb exoskeleton robot, the rotating shaft (322), the limiting block (323) and the clamping pin (324) are fixed on the base (321), the rotating shaft (322) and the clamping pin (324) are both positioned below the limiting block (323), the clamping pin (324) is close to the long sides of the two parallel sides of the trapezoidal structure compared with the rotating shaft (322), a spring is arranged inside the clamping pin (324), the front supporting component (33) is a stretching rod (331), the stretching rod (331) is rotatably connected with the rotating shaft (322), the front fixing component (31) is a fixing clamp (311), and the lower limb fixing clamp (311) is fixed at the front part of one side of the exoskeleton robot through a bolt, each stretching rod (331) is of a telescopic secondary structure, and a quick-release bolt (3311) is installed at the joint of the stretching rods (331).
2. The standing stabilizing mechanism for a lower extremity exoskeleton robot of claim 1, wherein: the bottom of each stretching rod (331) is fixedly provided with a universal wheel (3312) through a bolt.
3. The standing stabilizing mechanism for a lower extremity exoskeleton robot of claim 1, wherein: each stretching rod (331) is made of aluminum alloy.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910008382.5A CN109730901B (en) | 2019-01-04 | 2019-01-04 | Standing stabilizing mechanism for lower limb exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910008382.5A CN109730901B (en) | 2019-01-04 | 2019-01-04 | Standing stabilizing mechanism for lower limb exoskeleton robot |
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| CN109730901A CN109730901A (en) | 2019-05-10 |
| CN109730901B true CN109730901B (en) | 2022-01-18 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110450193A (en) * | 2019-09-06 | 2019-11-15 | 梁渤涛 | The walking supporting mechanism of biped running type robot |
| CN110834318B (en) * | 2019-11-16 | 2021-06-01 | 兵器工业卫生研究所 | 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 |
| CN111419649A (en) * | 2020-04-10 | 2020-07-17 | 赵勇 | Patient rehabilitation walking assisting device based on intelligent medical treatment |
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| CN102440891A (en) * | 2011-10-17 | 2012-05-09 | 上海大学 | Anti-destabilization framework type walking assisting legs |
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