CN110051503A - A kind of (rehabilitation) robot based on human body lower limbs ectoskeleton - Google Patents
A kind of (rehabilitation) robot based on human body lower limbs ectoskeleton Download PDFInfo
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- CN110051503A CN110051503A CN201910242985.1A CN201910242985A CN110051503A CN 110051503 A CN110051503 A CN 110051503A CN 201910242985 A CN201910242985 A CN 201910242985A CN 110051503 A CN110051503 A CN 110051503A
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- ectoskeleton
- joint
- hip joint
- expansion set
- waist
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 46
- 210000001699 lower leg Anatomy 0.000 claims abstract description 78
- 210000004394 hip joint Anatomy 0.000 claims abstract description 61
- 210000001624 hip Anatomy 0.000 claims abstract description 46
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 40
- 210000000629 knee joint Anatomy 0.000 claims abstract description 38
- 210000000689 upper leg Anatomy 0.000 claims abstract description 36
- 238000005096 rolling process Methods 0.000 claims abstract description 19
- 238000004146 energy storage Methods 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims description 22
- 210000002414 leg Anatomy 0.000 claims description 15
- 210000000988 bone and bone Anatomy 0.000 claims description 12
- 230000004580 weight loss Effects 0.000 claims description 10
- 210000002683 foot Anatomy 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 230000008961 swelling Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 4
- 210000001217 buttock Anatomy 0.000 claims description 3
- 210000003127 knee Anatomy 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 3
- 229960001030 mephenoxalone Drugs 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims description 2
- UIIMBOGNXHQVGW-UHFFFAOYSA-M Sodium bicarbonate Chemical compound [Na+].OC([O-])=O UIIMBOGNXHQVGW-UHFFFAOYSA-M 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 229910000030 sodium bicarbonate Inorganic materials 0.000 claims 1
- 235000017557 sodium bicarbonate Nutrition 0.000 claims 1
- 238000005728 strengthening Methods 0.000 claims 1
- 210000002435 tendon Anatomy 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 208000016261 weight loss Diseases 0.000 description 3
- 230000035876 healing Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 210000001694 thigh bone Anatomy 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000392 somatic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000000930 thermomechanical effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/1207—Driving means with electric or magnetic 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
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/50—Control means thereof
-
- 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
-
- 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
- A61H2205/10—Leg
-
- 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
- A61H2205/12—Feet
Abstract
A kind of (rehabilitation) robot based on human body lower limbs ectoskeleton of the present invention includes: power energy storage device, lower limb exoskeleton and load-bearing shoes；Power energy storage device is fixed in dosser, and dosser is equipped with multistage fixation hole；Lower limb exoskeleton includes waist adjusting and anti-rolling device, hip joint ectoskeleton, thigh ectoskeleton, knee joint ectoskeleton, shank ectoskeleton, ankle-joint ectoskeleton；Waist is adjusted and anti-rolling device is equipped with hole and sliding slot, is connect with hip joint ectoskeleton bearing；Hip joint ectoskeleton and thigh ectoskeleton are compressed by expansion set and nut, and when bearing load, the frictional force transmitting torque or axial force that expansion set and thigh generate are compressed；Thigh ectoskeleton and knee joint ectoskeleton are compressed by expansion set and nut；Knee joint ectoskeleton and shank ectoskeleton are compressed by expansion set and nut；Shank ectoskeleton and ankle-joint ectoskeleton are compressed by expansion set and nut；Ankle-joint is connect with load-bearing shoes screw；Many places can carry out grade or step-less adjustment.
Description
Technical field
The present invention relates to ectoskeleton technical field more particularly to a kind of healing robots of human body lower limbs ectoskeleton.
Background technique
With the raising of protrusion and the macroeconomy level of entire society's problem of an aging population, people increasingly focus on strong
Health simultaneously is ready to spend a large amount of money.Wherein the forfeiture of lower extremity motor function is used as the problem of seriously affecting mankind's normal walking,
More and more attention has been paid to.This kind of somatic damage influences the normal walking of patient, is easy to increase patient's physiology and psychological pain
Hardship so that the frequent mood of patient is low, or even loses the confidence to life.
During traditional lower limb rehabilitation, Physical Therapist plays very important role in the whole process, that is,
The masseur that we are usually understood, it is conceivable that, this treatment method massaged by Physical Therapist, there are many drawbacks.If
Training is proper, and patient then can slowly rehabilitation；If improper, it is more likely that patient's lower limb is caused to lose permanent walking ability.Cause
This, studies that a kind of economic serviceability is high, to be easy to dress and can be used for the ectoskeleton equipment of human body lower limbs rehabilitation be to be highly desirable
's.This necessity promotes robot technology in the application in rehabilitation medical field.Healing robot technology is quick in recent years
One emerging robot technology of development, is new opplication of the robot technology in medical science of recovery therapy field.
Lower limb exoskeleton rehabilitation robot is for one designed by aged or disabled of the lower limb there are walking disorder
The wearable man-machine integration mechanical device of money, has merged bionics, ergonomics, electronic technology, and information processing etc. is more
Field technology is in one.The device is mainly used in the fields such as medical rehabilitation and military affairs at present, it is therefore an objective to exist to lower limb and move
The patient of obstacle provides assisted walk, or expands and enhance the physiological function of a people, provides protection, support etc. for human body and makees
With.For example, paralysed patient can stand again by lower limb exoskeleton rehabilitation robot, and lower limb exoskeleton rehabilitation can be passed through
Robot drives human body walking, and then rehabilitation training, the atrophy of reducing human lower limb muscles.
Summary of the invention
It is an object of the invention to the patients for being unable to normal walking for lower limb to provide a kind of lower limb exoskeleton robot and health
Multiple robot, structure is simple, and economic serviceability is high, and followability is good, can provide assisted walk for patient.
Lower limb exoskeleton rehabilitation robot provided by the invention, outside power energy storage device, lower limb including hip joint top
Bone and load-bearing shoes.The power energy storage device on the hip joint top includes dosser and energy-storage battery, and the dosser is placed on institute
The top of hip joint is stated, user carries the dosser, and the energy-storage battery is placed on inside the dosser；The lower limb
Ectoskeleton successively includes waist adjusting and anti-rolling device, hip joint ectoskeleton, thigh ectoskeleton, knee joint dermoskeleton from top to bottom
Bone, shank ectoskeleton and ankle-joint ectoskeleton；The waist is adjusted and anti-rolling device is all respectively equipped with hole and sliding slot, passes through spiral shell
Nail or pin connect different hole locations to adapt to different user's wearings, the anti-rolling device and the hip joint ectoskeleton
Connection is rotated around vertical axes；The hip joint ectoskeleton and the thigh ectoskeleton rotate connection around vertical axes, outside the thigh
Bone rotates connection around vertical axes with the knee joint ectoskeleton；The knee joint ectoskeleton is with the shank ectoskeleton around vertical
Axis rotation connection；The shank ectoskeleton and ankle-joint ectoskeleton rotation connect；The ankle-joint ectoskeleton is held with described
Weight shoes are fixedly connected by screw；The hip joint ectoskeleton, the knee joint ectoskeleton and the cooperation of ankle-joint ectoskeleton, are realized
It walks when human motion, lifts leg, receives the freedom degrees such as leg, sitting, standing.
As a preferred option, the dosser is equipped with fixed energy-storage battery hole, harness hole and fixed master control plate hole, described
Harness hole can select the fixed harness of different location according to the own situation of user.
As a preferred option, the waist regulating device includes waist adjusting rod, waist dowel bushing and waist pin, institute
It states waist adjusting rod and waist dowel bushing is equipped with hole and sliding slot, grade adjusting is had according to different height and weight realizations.
As a preferred option, connected between the anti-rolling device and the waist regulating device with axis and bearing rigidity
It connects, realizes freedom degree upper and lower when human motion, the anti-rolling device and hip joint ectoskeleton top pass through bearing block
Connection, freedom degree when realization people moves or so, two side stands are equipped with hole and sliding slot, are connected by screw or pin different
Hole location is to adapt to the waist and buttocks width of different crowd.
As a preferred option, the hip joint ectoskeleton includes gear assembly, electric machine assembly, hip joint bearing block, surveys
Angle device, interior outward turning limited block etc., the electric machine assembly is mounted on the gear assembly end, output power parallel with sagittal axis
It is transferred to the gear assembly, driving hip joint movement.The interior outward turning limited block is fixed on the hip joint bearing block, really
It protects hip joint mechanism to move in the angular range of license, hip joint is rotated when the goniometer then measures user's movement
Angle.Hip joint gear shaft switching cooperates with the hip joint bearing block, when realizing human motion lift leg and receive leg from
By spending.
As a preferred option, the thigh ectoskeleton include expansion set clamp nut, gaiter fixed frame, gaiter fixing piece,
Gaiter part, gaiter, thigh, thigh adjusting rod.The expansion set clamp nut is mounted on the thigh adjusting rod, the thigh tune
It solves bar and the thigh assembles, step-less adjustment may be implemented to continuously adjust, and the gaiter is equipped with the strip design of elongated slot, tightly
The closely connected body for closing user, the gaiter fixed frame are fixed with the gaiter fixing piece by the thigh, and the gaiter is solid
Determine part and the gaiter part is equipped with multiple rows of connecting hole and guide rail, has carried out grade adjusting, adapted to the user of not homomorphs.
As a preferred option, the knee joint ectoskeleton includes gear assembly, electric machine assembly, goniometer etc., the electricity
Thermomechanical components are mounted on the gear assembly end, and with vertical axis, output power is transferred to the gear assembly, and driving knee closes
Section movement, the knee joint Large Gear Shaft switching and knee joint bearing block cooperation, shank folding and unfolding when realizing human motion
Freedom degree.
As a preferred option, the shank ectoskeleton includes expansion set clamp nut, expansion set, shank, shank adjusting rod, institute
State expansion set clamp nut to be mounted on the shank adjusting rod, there is expansion set swelling among described the two, the shank adjusting rod with
The shank assembly, step-less adjustment is, it can be achieved that continuously adjust.
As a preferred option, the freedom degree of plantar flexion and dorsiflex may be implemented in the ankle-joint ectoskeleton, and the ranging is then
Front and back when measuring user's walking, the distance of lateral surface, obstacle avoidance, the gas spring are fixed on the gas spring fixing piece
On, the gas spring fixing piece is screwed on the sole connector.
As a preferred option, the ontology shoes are fixed with the sole connector, bear lower limb weight, the bandage branch
Frame is fixed on the ontology shoes, is equipped with slot, and bandage passes through the foot of slot regular user.
Lower limb exoskeleton rehabilitation robot provided by the invention, many places can carry out grade or step-less adjustment, and such as waist is tied up
Leg, thigh, shank, ankle-joint etc. are suitable for different users；Energy-storage system can satisfy prolonged energy supply, matter
The features such as amount is light, small in size, carries, energy conservation and environmental protection, high-efficient, meets the prolonged assisted walk of user；Overall machine
Tool structural wood is light, durable, easy to wear, can support the gravity of itself and wearer, can also bear external environment compared with
Big impact force has certain stiffness and strength；More motor powers are supported, limbs perfect coordination can be made to act；Human body work
Ectoskeleton harness and strip design are learned, user's body is fitted closely, walking habit can also be improved, worn off conveniently.
Detailed description of the invention
Fig. 1 is a kind of main view based on human body lower limbs exoskeleton robot of the present invention；
Fig. 2 is a kind of three-dimensional structure diagram of based on human body lower limbs exoskeleton robot a vision of the present invention；
Fig. 3 is that the present invention is a kind of based on waist adjusting and anti-each angle of rolling device unit in human body lower limbs exoskeleton robot
Three-dimensional structure diagram；
Fig. 4 is a kind of schematic perspective view based on hip joint ectoskeleton in human body lower limbs exoskeleton robot of the present invention；
Fig. 5 is a kind of structural schematic diagram based on each angle of gaiter unit in human body lower limbs exoskeleton robot of the present invention；
Fig. 6 is a kind of schematic perspective view based on knee joint ectoskeleton in human body lower limbs exoskeleton robot of the present invention；
Fig. 7 is that the present invention is a kind of to be illustrated based on the stereochemical structure of shank and ankle-joint ectoskeleton in human body lower limbs exoskeleton robot
Figure.
In figure: 1.61807 bearing axis；2. waist adjusting rod；3. waist dowel bushing 1；4. waist dowel bushing 2；Outward turning in 5.
Limited block；6. hip joint motor cabinet；7.7009 the outer pressing ring of bearing；8. potentiometer is transferred；9. expansion set clamp nut 32-36；10. tying up
Leg fixed frame 1；11. gaiter fixing piece；12. gaiter part；13. gaiter；14. gas spring seat；15. waist pin；16. dosser；17.
Ankle-joint axis；18. ankle-joint bearing；19. the outer pressing ring of ankle-joint bearing；20. ankle-joint stiffening plate 2；21. ankle-joint stiffening plate 1；
22. sole connector 1；23. ontology shoes；24. ankle-joint reinforces 3；25. gas spring fixing piece 1；26. ranging machine support；27. surveying
Away from；28. Large Gear Shaft；29. gear assembles；30. hip joint bearing block；31. goniometer；32. hip joint gear shaft is transferred；33.
Shank adjusting rod；34. ankle-joint seat；35. encoder；36. motor；37. motor cabinet；38. knee joint bearing block；39. knee joint
Large Gear Shaft switching；40.7007 bearing blocks；41. waist；42. waist rear transverse rod；43. electric machine assembly；44. hip joint ectoskeleton；
45. anti-rolling device；46. waist regulating device；47. thigh ectoskeleton；48. knee joint ectoskeleton；49. shank ectoskeleton；50.
Ankle-joint ectoskeleton；51. thigh；52. thigh adjusting rod；53. outer gaiter；Gaiter in 54.；55. gear wheel；56. pinion gear；
57. shank；58. bandage bracket.
Specific embodiment
The invention will be further described with reference to the accompanying drawing, but protection scope of the present invention is not limited to following institute
It states.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, it can understand that above-mentioned term is being sent out with concrete condition
Concrete meaning in bright.
As shown in Fig. 16, a kind of robot based on human body lower limbs ectoskeleton.It includes the power energy storage on hip joint top
Device, lower limb exoskeleton and load-bearing shoes.The power energy storage device on the hip joint top includes dosser 16 and energy-storage battery, described
Dosser 16 is placed on the top of the hip joint ectoskeleton, and the energy-storage battery is placed on inside the dosser；Outside the lower limb
Bone successively includes that waist adjusts 46 and anti-rolling device 45, hip joint ectoskeleton 44, thigh ectoskeleton 47, knee pass from top to bottom
Ectoskeleton 48, shank ectoskeleton 49 and ankle-joint ectoskeleton 50 are saved, the waist adjusting 46 and anti-rolling device 45 are all set respectively
There are hole and sliding slot, different hole locations is connected by screw or pin to adapt to different user's wearings, the anti-rolling device
45 rotate connection around vertical axes with the hip joint ectoskeleton 44, and the hip joint ectoskeleton is equipped with limiting device, user
Certain angle can only be turned over during side-to-side movement, to ensure safety；Outside the hip joint ectoskeleton 44 and the thigh
Bone 47 rotates connection around vertical axes, and junction is compressed by expansion set and expansion set clamp nut 9, when bearing load, leans on expansion set
The frictional force transmitting torque generated together with thigh adjusting rod 52 or axial force compress, which is easily installed, disassembly side
Just, intensity is high, and connective stability is reliable；The thigh ectoskeleton 47 rotates connection around vertical axes with the knee joint ectoskeleton 48,
Junction is compressed by expansion set and expansion set clamp nut 9；The knee joint ectoskeleton 48 is with the shank ectoskeleton 49 around vertical
Axis rotation connection, junction is compressed by expansion set and expansion set clamp nut 9；The shank ectoskeleton 49 and the ankle-joint dermoskeleton
The rotation connection of bone 50；The ankle-joint ectoskeleton 50 is fixedly connected with the load-bearing shoes 23 by screw；The hip joint dermoskeleton
Bone 44, the knee joint ectoskeleton 48 and ankle-joint ectoskeleton 50 cooperate, and walk when realizing human motion, lift leg, receive leg, sit
The freedom degrees such as vertical, standing.
The dosser 16 is equipped with fixed energy-storage battery hole, harness hole and fixed master control plate hole, and the harness hole can root
According to the own situation fixed harness of selection different location of user as shown in figure 3, the waist regulating device 46 includes waist tune
Pole 2, waist dowel bushing 3,4 and waist pin 15, the waist adjusting rod 2 and waist dowel bushing 3,4 are equipped with hole and sliding slot,
It can realize there is grade adjusting according to different height and weights.
As shown in figure 3, the anti-rolling device 45 and the waist are adjusted between 46 devices with 61807 bearing axis 1, waist
Rear transverse rod 42 is rigidly connected, and realizes freedom degree upper and lower when human motion, the anti-rolling device 45 and the hip joint dermoskeleton
44 top of bone, which is rotated by 7007 bearing blocks 40 along vertical axes, to be connected, freedom degree when realization people moves or so, 41 He of waist
7007 bearing blocks 40 be equipped with hole and sliding slot, different hole locations is connected by screw or pin with adapt to the waist of different crowd and
Buttocks width.
As shown in figure 4, the hip joint ectoskeleton 44 include gear assembly 29, electric machine assembly 43, hip joint bearing block 30,
Goniometer 31, the switching of hip joint gear shaft 32, connector, interior outward turning limited block 5, the electric machine assembly 43 are mounted on the small tooth
56 ends are taken turns, it is parallel with sagittal axis, use space is saved, output power is transferred to the gear assembly 29, drives outside hip joint
Bone 44 acts.The interior outward turning limited block 5 is fixed on the hip joint bearing block 30, it is ensured that hip joint mechanism is permitted in safety
Can angular range in side-to-side movement, the goniometer 31 is mounted on the gear wheel 55, and hip closes when measurement user's movement
Rotated angle is saved, the hip joint gear shaft switching 32 is equipped with multiple weight loss grooves, can reduce weight, remove loss of weight flute profile
At reinforcing rib, enhance the structural member intensity, the hip joint gear shaft switching 32 cooperates with the hip joint bearing block 30, real
The freedom degree of lift leg and receipts leg when existing human motion.
As shown in figure 5, the thigh ectoskeleton 47 includes expansion set clamp nut 9, gaiter fixed frame 10, gaiter fixing piece
11, gaiter part 12, gaiter 13, thigh 51, thigh adjusting rod 52.The expansion set clamp nut 9 is mounted on the thigh adjusting rod
On 52, the thigh adjusting rod 52 is matched with the thigh 51 along vertical axes rotating dress, by expansion set clamp nut 9 and expansion set two
Person's rotation and place's swelling, realize step-less adjustment, it can continuously adjust, the gaiter fixed frame 10 passes through the gaiter 13 and is fixed on
On the gaiter fixing piece 11, the gaiter 13 is equipped with the strip design of elongated slot, the body of user is fitted closely, by gaiter
Fixed frame 10 is passed through and is fixed on the thigh 51, the gaiter fixing piece 11 and the gaiter part 12, the outer gaiter 53
It is equipped with multiple rows of connecting hole and guide rail with the interior gaiter 54, grade adjusting has been carried out, to adapt to the user of not homomorphs.
As shown in fig. 6, the knee joint ectoskeleton 48 include gear assembly 29, electric machine assembly 43, knee joint bearing block 38,
The switching of knee joint Large Gear Shaft 39, goniometer 31, connector, the electric machine assembly 43 are mounted on 56 end of pinion gear, with
Vertical axis, space maximum reasonableization are used, and output power is transferred to the gear assembly 29, driving knee joint movement, institute
It states goniometer 31 to be fixed on the gear wheel 55, the angle that knee joint is rotated when measurement user moves, the knee joint
Large Gear Shaft switching 39 is equipped with multiple weight loss grooves, can reduce weight, and the reinforcing rib that removal weight loss groove is formed enhances the structural member
Intensity, the knee joint Large Gear Shaft switching 39 and the knee joint bearing block 38 cooperation, shank folding and unfolding when realizing human motion
Freedom degree.
As shown in fig. 7, the shank ectoskeleton 49 includes expansion set clamp nut 9, shank 57, shank adjusting rod 33, it is described
Expansion set clamp nut 9 is mounted on the shank adjusting rod 33, and the shank adjusting rod 33 is revolved with the shank 57 along vertical axes
Turn assembly, revolves and locate swelling in the two by expansion set clamp nut 9 and expansion set, realize step-less adjustment, it can continuously adjust.
As shown in fig. 7, the ankle-joint ectoskeleton 50 includes ankle-joint flange, ankle-joint seat 34, ankle-joint bearing 18, ankle
Joint shaft 17, ankle-joint stiffening plate 20, gas spring, gas spring fixing piece 25, ranging machine support 26, ranging 27, sole connector
22, the freedom degree of plantar flexion (on tiptoe) and dorsiflex (hook point) may be implemented in the ankle-joint ectoskeleton 50, and the ranging 27 is solid
It is scheduled on the ranging machine support 26, front and back, the distance of lateral surface, obstacle avoidance, the gas spring when measurement user walks
It being fixed on the gas spring fixing piece 25, the gas spring fixing piece 25 is screwed on the sole connector 22,
People's foot landing instant ground bring impact force when dressing exoskeleton robot walking can be slowed down by providing one kind, and be risen
To the effect of foot landing and buffering, the knee joint of user and ankle-joint is protected to preserve from, walking process is more comfortable.
The load-bearing shoes include ontology shoes 23, bandage bracket 58, and the ontology shoes 23 and the sole connector 22 are fixed,
Lower limb weight is born, the bandage bracket 58 is fixed on the ontology shoes 23, is equipped with slot, and bandage passes through slot regular user's
Foot.
The foregoing is merely presently preferred embodiments of the present invention, the thought being not intended to restrict the invention, all of the invention
Within spiritual and principle, made any modification, same replacement, improvement etc. be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of (rehabilitation) robot based on human body lower limbs ectoskeleton characterized by comprising the power on hip joint top stores up
Energy device, lower limb exoskeleton and load-bearing shoes (23), the power energy storage device on the hip joint top include dosser (16) and energy storage
Battery, the dosser (16) are placed on the top of the hip joint, and the energy-storage battery is placed on inside the dosser；Under described
Limb ectoskeleton successively includes that waist adjusts (46) and anti-rolling device (45), hip joint ectoskeleton (44), outside thigh from top to bottom
Bone (47), knee joint ectoskeleton (48), shank ectoskeleton (49) and ankle-joint ectoskeleton (50)；The waist adjust (46) and
Anti- rolling device (45) is all respectively equipped with hole and sliding slot, connects different hole locations by screw or pin to adapt to different uses
Person's wearing, the anti-rolling device (45) and the hip joint ectoskeleton (44) rotate connection around vertical axes；Outside the hip joint
Bone (44) rotates connection around vertical axes with the thigh ectoskeleton (47), and junction passes through expansion set and expansion set clamp nut (9)
It compresses；The thigh ectoskeleton (47) rotates connection around vertical axes with the knee joint ectoskeleton (48), and junction passes through expansion set
It is compressed with expansion set clamp nut (9)；The knee joint ectoskeleton (48) rotates company around vertical axes with the shank ectoskeleton (49)
It connects, junction is compressed by expansion set and expansion set clamp nut (9)；The shank ectoskeleton (49) and the ankle-joint ectoskeleton
(50) rotation connection；The ankle-joint ectoskeleton (50) is fixedly connected with the load-bearing shoes (23) by screw；The hip joint
Ectoskeleton (44), the knee joint ectoskeleton (48) and ankle-joint ectoskeleton (50) cooperation, walking, lift when realizing human motion
Leg receives the freedom degrees such as leg, sitting, standing.
2. (rehabilitation) robot of the human body lower limbs ectoskeleton as described in claim 1, which is characterized in that on the dosser (16)
Equipped with fixed energy-storage battery hole, harness hole and fixed master control plate hole.
3. (rehabilitation) robot of the human body lower limbs ectoskeleton as described in claim 1, which is characterized in that the waist adjusts dress
Setting (46) includes waist adjusting rod (2), waist dowel bushing (3), (4) and waist pin (15), the waist adjusting rod (2) and waist
Portion's dowel bushing (3), (4) are equipped with hole and sliding slot, and grade adjusting may be implemented.
4. (rehabilitation) robot of the human body lower limbs ectoskeleton as described in claim 1, which is characterized in that the anti-rolling device
(45) it is rigidly connected between the waist regulating device (46) with bearing axis (1), waist rear transverse rod (42), realizes human motion
When upper and lower freedom degree, the anti-rolling device (45) and hip joint ectoskeleton (44) top are by bearing block (40) along perpendicular
D-axis rotation connection, freedom degree when realization people moves or so, waist (41) and bearing block (40) are equipped with hole and sliding slot, pass through
Screw or pin connect different hole locations to adapt to the waist of different crowd and buttocks width.
5. (rehabilitation) robot of the human body lower limbs ectoskeleton as described in claim 1, which is characterized in that the hip joint dermoskeleton
Bone (44) includes gear assembly (29), electric machine assembly (43), hip joint bearing block (30), goniometer (31), hip joint gear shaft
Switching (32), connector, interior outward turning limited block (5), the electric machine assembly (43) is mounted on the pinion gear (56) end, with water
Flat (sagittal) axis is parallel, and output power is transferred to the gear assembly (29), and driving hip joint ectoskeleton (44) movement is described interior
Outward turning limited block (5) is fixed on the hip joint bearing block (30), it is ensured that angular range of the hip joint mechanism in security clearance
Interior side-to-side movement, the goniometer (31) are mounted on the gear wheel (55), and hip joint is rotated when measurement user moves
Angle, hip joint gear shaft switching (32) is equipped with multiple weight loss grooves, can reduce weight, it is that removal weight loss groove is formed plus
Strengthening tendons, enhance the structural member intensity, and the hip joint gear shaft switching (32) and the hip joint bearing block (30) cooperate, realize
Leg to be lifted when human motion and receives the freedom degree of leg, the hip joint bearing block (30) is equipped with multiple weight loss grooves, can reduce weight,
The reinforcing rib that weight loss groove is formed is removed, the structural member intensity is enhanced.
6. (rehabilitation) robot of the human body lower limbs ectoskeleton as described in claim 1, which is characterized in that the thigh ectoskeleton
It (47) include expansion set clamp nut (9), gaiter fixed frame (10), gaiter fixing piece (11), gaiter part (12), gaiter (13), big
Leg (51), thigh adjusting rod (52), the expansion set clamp nut (9) are mounted on the thigh adjusting rod (52), the thigh
Adjusting rod (52) is matched with the thigh (51) along vertical axes rotating dress, by expansion set clamp nut (9) and expansion set in the two rotation and
Locate swelling, realize step-less adjustment, it can continuously adjusts, the gaiter fixed frame (10) and the gaiter fixing piece (11) are even
It connects, the gaiter (13) is equipped with the strip design of elongated slot, fits closely the body of user, is passed through by gaiter fixed frame (10)
And it is fixed on the thigh (51), the gaiter fixing piece (11) and the gaiter part (12), the outer gaiter (53) and institute
Interior gaiter (54) are stated equipped with multiple rows of connecting hole and guide rail, grade adjusting have been carried out, to adapt to the user of not homomorphs.
7. (rehabilitation) robot of the human body lower limbs ectoskeleton as described in claim 1, which is characterized in that the knee joint dermoskeleton
Bone (48) include gear assembly (29), electric machine assembly (43), knee joint bearing block (38), knee joint Large Gear Shaft switching (39),
Goniometer (31), connector, the electric machine assembly (43) are mounted on the pinion gear (56) end, with vertical axis, output
Power transmission is fixed on the gear wheel (55) to gear assembly (29), driving knee joint movement, the goniometer (31)
On, the angle that knee joint is rotated when measurement user moves, the knee joint Large Gear Shaft switching (39) is equipped with multiple subtract
Baking soda can reduce weight, and the reinforcing rib that removal weight loss groove is formed enhances the structural member intensity, and the knee joint Large Gear Shaft turns
(39) and the knee joint bearing block (38) cooperation are connect, the freedom degree of shank folding and unfolding, the knee axis when realizing human motion
Seat (38) are held equipped with multiple weight loss grooves, can reduce weight, the reinforcing rib that removal weight loss groove is formed enhances the structural member intensity.
8. (rehabilitation) robot of the human body lower limbs ectoskeleton as described in claim 1, which is characterized in that the shank ectoskeleton
It (49) include expansion set clamp nut (9), shank (57), shank adjusting rod (33), the expansion set clamp nut (9) is mounted on described
On shank adjusting rod (33), the shank adjusting rod (33) is matched with the shank (57) along vertical axes rotating dress, passes through expansion set pressure
Tight nut (9) and expansion set in the two rotation and locate swelling, realize step-less adjustment, it can continuously adjust.
9. (rehabilitation) robot of the human body lower limbs ectoskeleton as described in claim 1, which is characterized in that the ankle-joint dermoskeleton
Bone (50) includes ankle-joint flange, ankle-joint seat 34, ankle-joint bearing (18), ankle-joint stiffening plate (20), gas spring, gas spring
Fixing piece (25), ranging machine support (26), ranging (27), sole connector (22), the ankle-joint ectoskeleton (50) can be real
The freedom degree of existing plantar flexion (on tiptoe) and dorsiflex (hook point), the ranging (27) are fixed on the ranging machine support (26),
Front and back when measuring user's walking, the distance of lateral surface, obstacle avoidance, the gas spring are fixed on the gas spring fixing piece
(25) on, the gas spring fixing piece (25) is screwed on the sole connector (22).
10. (rehabilitation) robot of the human body lower limbs ectoskeleton as described in claim 1, which is characterized in that the load-bearing shoes packet
Ontology shoes (23), bandage bracket (58) are included, the ontology shoes (23) and the sole connector (22) are fixed, bear lower limb weight
Amount, the bandage bracket (58) are fixed on the ontology shoes (23), are equipped with slot, and bandage passes through the foot of slot regular user.
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| CN113509303A (en) * | 2021-05-28 | 2021-10-19 | 上海理工大学 | Walking-aid lower limb power orthosis supported by trunk |
| CN113545965A (en) * | 2021-08-12 | 2021-10-26 | 吉林大学 | Exoskeleton robot for assisting lower limb rehabilitation training |
| CN114668632A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Exoskeleton leg large-size adjusting device and exoskeleton lower limb |
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| CN113545965A (en) * | 2021-08-12 | 2021-10-26 | 吉林大学 | Exoskeleton robot for assisting lower limb rehabilitation training |
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