CN109846682A - A kind of combined type exoskeleton robot - Google Patents
A kind of combined type exoskeleton robot Download PDFInfo
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- CN109846682A CN109846682A CN201910278933.XA CN201910278933A CN109846682A CN 109846682 A CN109846682 A CN 109846682A CN 201910278933 A CN201910278933 A CN 201910278933A CN 109846682 A CN109846682 A CN 109846682A
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- wheelchair
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Abstract
The invention discloses a kind of combined type exoskeleton robots, including waist balancing stand, back-supported plate, shoulder strap, buttocks supporting part, left part and right part；Back-supported plate is fixed on waist balancing stand；Shoulder strap is fixed on back-supported plate；The both ends of buttocks supporting part are fixed on waist balancing stand；Left part is identical with right part structure, is symmetrically mounted at waist balancing stand lower part；Left part includes thigh module, calf module, wheelchair module, foot's module, bolt, short axle, extension type wheelchair support rod, first hydraulic cylinder and second hydraulic cylinder；Wheelchair module includes Wheelchair support, drive shaft of rear wheel, wheelchair rear wheel and wheelchair front wheel.Robot passes through deformation and recombination, the climbing stairs being worn on human body and the auxiliary walking for completing daily simple action and rehabilitation ectoskeleton are modified to realize the wheelchair fast forwarded through, it is integrated with wheelchair to realize auxiliary walking, meets the use demand of handicapped person.
Description
Technical field
The present invention relates to healing robot field, specifically a kind of combined type exoskeleton robot.
Background technique
With the development of ectoskeleton technology and universal, ectoskeleton becomes the selection of more and more people's walk helps or rehabilitation.
Ancillary equipment of the exoskeleton robot as the handicapped person such as the elderly and lower extremity movement difficulty personage, can not only power-assisted people
Body movement, moreover it is possible to assist human body recovery.For the patient that lower limb need rehabilitation, during reconditioning, it can not grow
Time stands.And ectoskeleton wears off more difficult for patient, in the case where needing to fast move, cannot achieve fast
It is mobile to take wheelchair that speed takes off ectoskeleton.Also there is this problem for the elderly.Therefore, it designs a while there is auxiliary to walk
The ectoskeleton of function and wheelchair function is imperative.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of combined type ectoskeleton machine
People.
The technical solution that the present invention solves the technical problem is to provide a kind of combined type exoskeleton robot, feature
It is that the robot includes waist balancing stand, back-supported plate, shoulder strap, buttocks supporting part, left part and right part；The back
Support plate is fixed on waist balancing stand；Shoulder strap is fixed on back-supported plate；The both ends of the buttocks supporting part are fixed
On waist balancing stand；The left part is identical with right part structure, is symmetrically mounted at waist balancing stand lower part；
The left part includes thigh module, calf module, wheelchair module, foot's module, bolt, short axle, extension type wheel
Chair support rod, first hydraulic cylinder and second hydraulic cylinder；The wheelchair module includes Wheelchair support, drive shaft of rear wheel, wheelchair rear wheel
And wheelchair front wheel；
One end of thigh module is connect with waist balancing stand with revolute pair, and one end of the other end and calf module is with revolute pair
Connection；The other end of calf module is connect with foot module with revolute pair；One end of the second hydraulic cylinder and waist balancing stand
It is connected by revolute pair, the other end is connect with thigh module by revolute pair；One end of the second hydraulic cylinder and thigh module
It is connected by revolute pair, the other end is connect with calf module by revolute pair；Described short axle one end passes through revolute pair and foot's mould
Block connection, the other end are connect with Wheelchair support by revolute pair；The Wheelchair support is connect with wheelchair front wheel by revolute pair；Afterwards
One end of wheel shaft is connect by revolute pair with Wheelchair support, and the other end is fixedly connected with wheelchair rear wheel；The shell of the bolt
Body is fixed in thigh module, and the flexible realization of pin tongue is contacting and separating with Wheelchair support；The extension type wheelchair support rod
One end is fixedly mounted on waist balancing stand, and the other end is fixed in Wheelchair support under wheelchair state.
Compared with prior art, the beneficial effects of the invention are that:
(1) robot by the climbing stairs being worn on human body and is completed daily simple by deformation and recombination
The auxiliary walking of movement and rehabilitation ectoskeleton are modified to realize the wheelchair fast forwarded through, realize the one of auxiliary walking and wheelchair
Change, meets the use demand of handicapped person.
(2) leg of robot uses telescopic design, can be adjusted for the user of different heights
And adjustment is easy, to adapt to the thigh of different users and the length of shank, realizes that the hip joint of robot corresponds to the hip of human body
Joint, the knee joint of robot correspond to the knee joint of human body, and the ankle-joint of robot corresponds to the ankle-joint of human body.
(3) shoulder strap, buttocks supporting part, thigh fixed belt, small leg restraint webbing and foot's fixing belt are all made of elastic material
Expect and be equipped with thereon buckle, suitable elasticity can be adjusted according to different users, realize fitting.
(4) robot design is rationally compact, will not interfere with and influences each other between component in deformation process, realizes auxiliary
Helping will not influence each other when walking function and wheelchair function, take full advantage of limited space, keep robot integrally more compact,
Space utilization rate is high.
(5) robot is simple for structure, runs smoothly, economical and practical, securely and reliably.Robot mostly uses greatly aluminium alloy material
Matter significantly reduces the weight of integral device.
Detailed description of the invention
Fig. 1 is the overall structure axonometric schematic diagram when auxiliary walking states of an embodiment of the present invention are stood；
Fig. 2 be an embodiment of the present invention from standing state into wheelchair state transition process wheelchair front and back wheel and ground
Overall structure axonometric schematic diagram when contact；
Fig. 3 is the schematic front view of Fig. 2 of the present invention；
Fig. 4 is the left view schematic diagram of Fig. 2 of the present invention；
Fig. 5 is the overall structure axonometric schematic diagram under the wheelchair state of an embodiment of the present invention；
In figure, 1. shoulder straps；2. bevel gear；3. drive shaft of rear wheel；4. buttocks supporting part；5. thigh fixed belt；6. big
Inboard leg plate；7. motor；8. Wheelchair support；9. small leg restraint webbing；10. front wheel supporting frame；11. medial leg plate；12. waist is flat
Weigh frame；13. hip joint；14. balanced support plate；15. thigh support arm；16. bolt；17. knee joint；18. shank support arm；
19. short axle；20. ankle-joint；21. back-supported plate；22. extension type wheelchair support rod；23. wheelchair rear wheel；24. first is hydraulic
Cylinder；25. wheelchair front wheel；26. second hydraulic cylinder；27. foot support frame；28. foot's fixing belt.
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the claim of this application processed.
The present invention provides a kind of combined type exoskeleton robot (referring to Fig. 1-5, abbreviation robot), it is characterised in that should
Robot includes waist balancing stand 12, back-supported plate 21, shoulder strap 1, buttocks supporting part 4, left part and right part；The back
Support plate 21 is fixed on 12 upper surface of waist balancing stand；Shoulder strap 1 is fixed on back-supported plate 21, is had on shoulder strap 1
There is buckle for fixing human shoulder；The both ends of the buttocks supporting part 4 are fixed on waist balancing stand 12, buttocks supporting part 4
It is upper that there is buckle to be used to support human buttock；The left part is identical with right part, is symmetrically mounted under waist balancing stand 12
Portion；
The left part includes thigh module, calf module, wheelchair module, foot's module, bolt 16, short axle 19, scalable
Formula wheelchair support rod 22, first hydraulic cylinder 24 and second hydraulic cylinder 26；The wheelchair module includes Wheelchair support 8, rear wheel drive
Axis 3, wheelchair rear wheel 23 and wheelchair front wheel 25；
One end of thigh module connect to form hip joint 13, the other end and shank in the form of revolute pair with waist balancing stand 12
One end of module connects to form knee joint 17 with revolute pair；The other end of calf module is connected in a manner of revolute pair with foot's module
It connects to form ankle-joint 20；One end of the second hydraulic cylinder 26 is connect with waist balancing stand 12 by revolute pair (hinged), another
End is connect with thigh module by revolute pair (hinged)；One end of the second hydraulic cylinder 24 and thigh module pass through revolute pair
(hinged) connection, the other end are connect with calf module by revolute pair (hinged)；Described 19 one end of short axle passes through revolute pair and foot
The connection of portion's module, the other end are connect with Wheelchair support 8 by revolute pair；The Wheelchair support 8 passes through rotation with wheelchair front wheel 25
Pair connection；One end of drive shaft of rear wheel 3 is connect by revolute pair with Wheelchair support 8, and the other end passes through taper pin and wheelchair rear wheel
23 center is fixedly connected；The shell of the bolt 16 is fixed in thigh module, and the flexible realization of pin tongue connects with Wheelchair support 8
Touching and separation；Described 22 one end of extension type wheelchair support rod is fixedly mounted on waist balancing stand 12, another under wheelchair state
One end is fixed in groove or the hole of Wheelchair support 8, guarantees the stabilization of Wheelchair structure, the extension type wheel in the case where assisting walking states
Length after the contraction of chair support rod 22 does not influence the swing of human body lower limbs.
Wheelchair module further includes motor 7, bevel gear 2 and front wheel supporting frame 10；Front wheel supporting frame 10 is fixed on Wheelchair support 8
On, wheelchair front wheel 25 is connect with front wheel supporting frame 10 by revolute pair；Motor 7 is fixed on Wheelchair support 8, and output end is fixed
Bevel gear 2 is installed；The bevel gear 2 engages connection with the bevel gear on drive shaft of rear wheel 3.
The thigh module includes thigh support arm 15, femoribus internus plate 6 and thigh fixed belt 5；The calf module packet
Include shank support arm 18, medial leg plate 11 and small leg restraint webbing 9；Foot's module includes foot support frame 27 and foot's fixing belt
28；The end of the thigh support arm 15 connect with waist balancing stand 12 with revolute pair to be formed hip joint 13 (revolute pair i.e. axis with
Rolling bearing cooperation, one end of specifically thigh support arm 15 are fixed with axis, the inner ring interference fit fixation of axis and rolling bearing
Connection, the outer ring of bearing are fixedly connected with waist balancing stand 12, realize rotation)；Thigh support arm 15 and femoribus internus plate 6 are to move
Secondary form connection is moved, passes through screw thread (bolt or screw) after thigh length of the relative motion to suitable length to adapt to user
It is fixedly connected with that (prismatic pair is specifically to have grooved tracks or raised track inside thigh support arm 15, is had on the outside of femoribus internus plate 6
There are protrusion or groove, the protrusion or groove of femoribus internus plate 6 and the grooved tracks of thigh support arm 15 or raised track cooperate, real
Existing femoribus internus plate 6 opposite sliding with thigh support arm 15)；The end of femoribus internus plate 6 and shank support arm 18 are by turning
Dynamic secondary connection forms knee joint 17；Shank support arm 18 is connect with medial leg plate 11 by prismatic pair, and relative motion is to suitably
It is fixedly connected with that (prismatic pair is specifically to prop up outside shank after lower-leg length of the length to adapt to user by screw thread (bolt or screw)
There is grooved tracks or raised track inside frame 18, there is protrusion or groove on the outside of medial leg plate 11, medial leg plate 11
The grooved tracks or raised track of protrusion or groove and shank support arm 18 cooperate, and realize medial leg plate 11 and shank support arm
18 opposite sliding)；The end of medial leg plate 11 connect to form ankle-joint 20 in a manner of revolute pair with foot support frame 27；
One end of the second hydraulic cylinder 26 is connect with waist balancing stand 12 by revolute pair, and the other end and thigh support arm 15 are by turning
Dynamic secondary connection；Thigh fixed belt 5 is fixed on thigh support arm 15, has buckle big for fixing human on thigh fixed belt 5
Leg；One end of the second hydraulic cylinder 24 is connect with thigh support arm 15 by revolute pair, and the other end and shank support arm 18 are logical
Cross revolute pair connection；Small leg restraint webbing 9 is fixed on shank support arm 18, has buckle for fixing people on small leg restraint webbing 9
Body shank；Described 19 one end of short axle is connect by revolute pair with foot support frame 27；Foot's fixing belt 28 is fixed on foot support
On frame 27, in foot's fixing belt 28 there is buckle to be used for fixing human foot.
Left part further includes balanced support plate 14；Balanced support plate 14 is fixedly connected with thigh support arm 15, is played centre and is connected
The effect connect, in the case where assisting walking states, Wheelchair support 8 is swung with leg, reduces the amplitude of fluctuation of Wheelchair support 8；Institute
The shell for stating bolt 16 is fixed on balanced support plate 14, and the flexible realization of pin tongue is contacting and separating with Wheelchair support 8.
Wheelchair front wheel 25 uses omni-directional wheel, the advance of Convenient wheelchair.
Extension type wheelchair support rod 22 uses structure identical with the bar portion stretching structure principle of folding umbrella, has
Several fixed positions, are fixed after being adjusted to suitable length by pin.
Night bolt can be used in bolt 16, is commercial product.
The working principle of the invention and workflow are:
When needing to walk using the robot assisted, the relative position of thigh support arm 15 and femoribus internus plate 6 is adjusted,
Cooperate with user's thigh length；The relative position for adjusting shank support arm 18 and medial leg plate 11, with user's leg length
Degree cooperation；The sole of user is placed on foot support frame 27, and foot's fixing belt 28 and the foot of user are fixed；Thigh is fixed
Fixed with 5 with the thigh of user, small leg restraint webbing 8 and the shank of user are fixed, the back of shoulder strap 1 in user's both shoulders,
Realize the hip joint of the corresponding human body of the hip joint 13 of robot, the knee joint of the corresponding human body of the knee joint 17 of robot, robot
The corresponding human body of ankle-joint 20 ankle-joint, guarantee correct position of the ectoskeleton with respect to human body.
After wearing is completed, start auxiliary walking, for first stepping left leg (left leg be lead leg, right leg is supporting leg),
The second hydraulic cylinder 26 of left part, which is attracted, drives thigh support arm 15, and the first hydraulic cylinder 24 of left part, which is attracted, drives shank support arm
18, realize that the left leg of user lifts.Then the first hydraulic cylinder 24 of left part is first discharged, then discharges the second hydraulic cylinder 26 of left part,
Left foot landing, realizes that left leg is taken a step forward.Right leg similarly, realizes the movement that entire exoskeleton robot drives human body to advance.
When needing to be modified to wheelchair, the pin tongue of bolt 16 is retracted, and Wheelchair support 8 is removed from bolt 16, before wheelchair
Wheel 25 and wheelchair rear wheel 23 contact ground.Then 26 4 hydraulic cylinders of the first hydraulic cylinder 24 and second hydraulic cylinder of left part and right part
Be attracted simultaneously, the buttocks of user be sitting in buttocks supporting part 4 (in the present embodiment thigh support arm 15 and shank support arm 18 it
Between be 100 ° -120 °), then extension type wheelchair support rod 22 elongation on Wheelchair support 8 groove or hole match fixation
Afterwards, the length of fixed extension type wheelchair support rod 22, guarantees the stability of Wheelchair structure.And then complete the modification of wheelchair.It is logical
It is remarkable to push wheelchair to advance or wheelchair rear wheel 23 is driven by motor 7, realize wheeled advance.
When needing to be modified to assist walking states again, extension type wheelchair support rod 22 shortens, and divides with Wheelchair support 8
From then 26 4 hydraulic cylinders of the first hydraulic cylinder 24 and second hydraulic cylinder of left part and right part discharge simultaneously, the buttocks of user
Leave buttocks supporting part 4.Then the pin tongue of bolt 16 stretches out, and Wheelchair support 8 is hung on bolt 16, the support of extension type wheelchair
22 length of bar is fixed, and the standing state of auxiliary walking is become.
The present invention does not address place and is suitable for the prior art.
Claims (8)
1. a kind of combined type exoskeleton robot, it is characterised in that the robot includes waist balancing stand, back-supported plate, shoulder
Bandage, buttocks supporting part, left part and right part；The back-supported plate is fixed on waist balancing stand；Shoulder strap is fixed on back
In portion's support plate；The both ends of the buttocks supporting part are fixed on waist balancing stand；The left part is identical with right part structure, symmetrically
Ground is mounted on waist balancing stand lower part；
The left part includes thigh module, calf module, wheelchair module, foot's module, bolt, short axle, extension type wheelchair branch
Strut, first hydraulic cylinder and second hydraulic cylinder；The wheelchair module includes Wheelchair support, drive shaft of rear wheel, wheelchair rear wheel and wheel
Chair front-wheel；
One end of thigh module is connect with waist balancing stand with revolute pair, and one end of the other end and calf module is connected with revolute pair
It connects；The other end of calf module is connect with foot module with revolute pair；One end of the second hydraulic cylinder and waist balancing stand are logical
Revolute pair connection is crossed, the other end is connect with thigh module by revolute pair；One end of the second hydraulic cylinder and thigh module are logical
Revolute pair connection is crossed, the other end is connect with calf module by revolute pair；Described short axle one end passes through revolute pair and foot's module
Connection, the other end are connect with Wheelchair support by revolute pair；The Wheelchair support is connect with wheelchair front wheel by revolute pair；Rear-wheel
One end of transmission shaft is connect by revolute pair with Wheelchair support, and the other end is fixedly connected with wheelchair rear wheel；The shell of the bolt
It is fixed in thigh module, the flexible realization of pin tongue is contacting and separating with Wheelchair support；The extension type wheelchair support rod one
End is fixedly mounted on waist balancing stand, and the other end is fixed in Wheelchair support under wheelchair state.
2. combined type exoskeleton robot according to claim 1, it is characterised in that wheelchair module further includes motor, cone tooth
Wheel and front wheel supporting frame；Front wheel supporting frame is fixed on Wheelchair support, and wheelchair front wheel is connect with front wheel supporting frame by revolute pair；
Motor is fixed on Wheelchair support, and output end is fixedly installed with bevel gear；Cone tooth on the bevel gear and drive shaft of rear wheel
Wheel engagement.
3. combined type exoskeleton robot according to claim 1, it is characterised in that the thigh module includes outside thigh
Bracket, femoribus internus plate and thigh fixed belt；The calf module includes that shank support arm, medial leg plate and shank are fixed
Band；Foot's module includes foot support frame and foot's fixing belt；The end of the thigh support arm is with waist balancing stand to rotate
Pair connection；Thigh support arm is connect with femoribus internus plate with prismatic pair, is fixedly connected after relative motion to suitable length；In thigh
The end of side plate is connect with shank support arm by revolute pair；Shank support arm is connect with medial leg plate by prismatic pair, phase
To being fixedly connected after moving to suitable length；The end of medial leg plate is connect with foot support frame with revolute pair；Described second
One end of hydraulic cylinder is connect with waist balancing stand by revolute pair, and the other end is connect with thigh support arm by revolute pair；Thigh
Fixing belt is fixed on thigh support arm；One end of the second hydraulic cylinder is connect with thigh support arm by revolute pair, another
End is connect with shank support arm by revolute pair；Small leg restraint webbing is fixed on shank support arm；Described short axle one end is by turning
Dynamic pair is connect with foot support frame；Foot's fixing belt is fixed on foot support frame.
4. combined type exoskeleton robot according to claim 3, it is characterised in that left part further includes balanced support plate；It is flat
Weighing apparatus support plate is fixedly connected with thigh support arm；The shell of the bolt is fixed on balanced support plate, pin tongue is flexible realize with
Wheelchair support is contacting and separating.
5. combined type exoskeleton robot according to claim 3, it is characterised in that on shoulder strap there is buckle to be used for
Fixing human shoulder；In buttocks supporting part there is buckle to be used to support human buttock；Have buckle for solid on thigh fixed belt
Determine human thigh；On small leg restraint webbing there is buckle to be used for fixing human shank；Have buckle for fixing in foot's fixing belt
Human foot.
6. combined type exoskeleton robot according to claim 1, it is characterised in that wheelchair front wheel uses omni-directional wheel.
7. combined type exoskeleton robot according to claim 1, it is characterised in that extension type wheelchair support rod has
Several fixed positions are fixed after being adjusted to suitable length.
8. combined type exoskeleton robot according to claim 1, it is characterised in that night bolt can be used in bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910278933.XA CN109846682A (en) | 2019-04-09 | 2019-04-09 | A kind of combined type exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910278933.XA CN109846682A (en) | 2019-04-09 | 2019-04-09 | A kind of combined type exoskeleton robot |
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| CN201910278933.XA Pending CN109846682A (en) | 2019-04-09 | 2019-04-09 | A kind of combined type exoskeleton robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393656A (en) * | 2019-07-01 | 2019-11-01 | 东南大学 | It is a kind of can the dual-purpose lower limb exoskeleton of wheel leg |
| CN110638583A (en) * | 2019-09-24 | 2020-01-03 | 刘玉辉 | Automatic wheelchair for pediatric rehabilitation |
| CN112716756A (en) * | 2020-10-28 | 2021-04-30 | 浙江大学台州研究院 | Multifunctional rehabilitation robot |
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| CN108969310A (en) * | 2018-09-03 | 2018-12-11 | 杭州程天科技发展有限公司 | A kind of lower limb booster type exoskeleton robot |
| CN210301649U (en) * | 2019-04-09 | 2020-04-14 | 河北工业大学 | Combined type ectoskeleton robot |
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| CN106333829A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Ectoskeletal multi-degree-of-freedom lower limb rehabilitation power-assisted mechanism |
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