CN110141467A - A kind of wheeled healing robot of lower limb exoskeleton and its application method - Google Patents
A kind of wheeled healing robot of lower limb exoskeleton and its application method Download PDFInfo
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- CN110141467A CN110141467A CN201910526296.3A CN201910526296A CN110141467A CN 110141467 A CN110141467 A CN 110141467A CN 201910526296 A CN201910526296 A CN 201910526296A CN 110141467 A CN110141467 A CN 110141467A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 48
- 230000035876 healing Effects 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 14
- 210000002414 leg Anatomy 0.000 claims description 86
- 210000000689 upper leg Anatomy 0.000 claims description 60
- 230000007246 mechanism Effects 0.000 claims description 9
- 210000000629 knee joint Anatomy 0.000 claims description 7
- 238000004146 energy storage Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 6
- 210000000988 bone and bone Anatomy 0.000 claims description 5
- 210000001699 lower leg Anatomy 0.000 claims description 5
- 244000309466 calf Species 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 6
- 208000035475 disorder Diseases 0.000 abstract description 6
- 230000003862 health status Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
-
- 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
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Mechanical Engineering (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of wheeled healing robot of lower limb exoskeleton and its application methods, belong to technique of medical rehabilitation field.Technical solution is: lifting column is vertically set on chassis structure, and lower limb exoskeleton is arranged on lifting column；The chassis structure includes chassis (3), hub motor (1), retractable supports loop bar (2), line slide rail (4) and pedal and base slider (5), comprising backrest (17), Flexible Safety band (10), handrail (16), cushion (9), fixing joint (12) and leg ectoskeleton (14) may be reversed in the lower limb exoskeleton.The present invention can help the autonomous standing of the patient of lower limb disability or walking disorder progress and indoor and outdoor to ride instead of walk, promote the self-care ability and quality of the life of lower limb walking disorder patient, improve lower limb body processes by standing to improve health status, it squats down to stand and helps rehabilitation training, mitigate the burden of family numbers of patients.
Description
Technical field
The present invention relates to a kind of wheeled healing robot of lower limb exoskeleton and its application methods, belong to technique of medical rehabilitation neck
Domain.
Background technique
In recent years, because the lower limb paralysis of the factors such as traffic accident, industrial accident, cerebral apoplexy initiation and disabled number do not subtract,
Such patient not can be carried out autonomous standing, and the most of the time is all sitting on wheelchair, greatly reduce their physical condition
And quality of the life.Currently, lower limb paralysis is thirsted for standing up as abled person with individuals with disabilities, restore self-confident self-respect.But
In existing electric intelligent wheelchair, most of not to be able to satisfy lower limb inconvenience personage's the demand, there is such product categories
Seldom, intelligent product level is low, is difficult to the problems such as meeting patient demand.Lower limb exoskeleton robot be robot field wherein
One of, it is that the upright walking lower limb of autonomous lifting column can be realized according to one that body shape and lower limb physical disabilities make
Exoskeleton robot.
Summary of the invention
It is an object of the present invention to provide a kind of wheeled healing robot of lower limb exoskeleton and its application methods, using wheeled row
It walks, helps the patient of lower limb disability or walking disorder to carry out autonomous stand and ride instead of walk with indoor and outdoor, promote lower limb walking disorder patient
Self-care ability and quality of the life, improve lower limb body processes by standing to improving health status, squatting down to stand helps health
Refreshment is practiced, and mitigates the burden of family numbers of patients, solves the problems, such as background technique.
The technical scheme is that
A kind of wheeled healing robot of lower limb exoskeleton, includes lower limb exoskeleton, lifting column and chassis structure, and lifting column hangs down
Straight to be arranged on chassis structure, lower limb exoskeleton is arranged on lifting column；The chassis structure include chassis, hub motor,
Retractable supports loop bar, line slide rail and pedal and base slider, lifting column are vertically set on chassis, two line slide rails
It is separately positioned on the chassis of lifting column two sides, matching is equipped with pedal and base slider on line slide rail；It is set below chassis
There are four retractable supports loop bars, the end of retractable supports loop bar is equipped with hub motor；
Comprising backrest, Flexible Safety band, handrail, cushion, fixing joint and leg ectoskeleton may be reversed in the lower limb exoskeleton,
The top of lifting column is arranged in backrest, and Flexible Safety band and handrail setting are leaning on back, cushion may be reversed and be arranged under backrest
On the lifting column of side；The leg ectoskeleton includes that right thigh ectoskeleton, right leg ectoskeleton, left thigh ectoskeleton and a left side are small
Leg ectoskeleton, it is hinged by knee joint rotating mechanism between right thigh ectoskeleton and right leg ectoskeleton；Right leg ectoskeleton and
Left leg ectoskeleton passes through foot support respectively and is arranged in above the pedal and base slider of chassis structure；The fixing joint packet
Fixing joint containing right thigh, right leg fixing joint, left thigh fixing joint and right leg fixing joint, right thigh fixing joint
It is fixed on the inside of right thigh ectoskeleton, right leg fixing joint is fixed on the inside of right leg ectoskeleton, and left thigh fixing joint is solid
It is scheduled on the inside of left thigh ectoskeleton, right leg fixing joint is fixed on the inside of left leg ectoskeleton；The leg ectoskeleton it is upper
End is connect with handrail.
The shape of the right thigh ectoskeleton, right leg ectoskeleton, left thigh ectoskeleton and left leg ectoskeleton, be with
The similar shape of human body corresponding position shape.
The right thigh fixing joint, right leg fixing joint, left thigh fixing joint and right leg fixing joint are
Spill fixed plate matches with the thigh crus of human body；In use, the thigh and shank of human body be respectively put into it is corresponding solid
Determine joint, is tightened by leg strap.
The knee joint rotating mechanism includes connecting rod, upper U-shaped part, lower U-shaped part and hinged shaft, and right thigh ectoskeleton lower end is equipped with
Connecting rod, the other end of connecting rod are equipped with upper U-shaped part, and the upper end of right leg ectoskeleton is equipped with lower U-shaped part, upper U-shaped part and lower U-shaped part
Opening is opposite to be matched together, and hinged by hinged shaft, constitutes articulated structure between right thigh ectoskeleton and right leg ectoskeleton；
It is hinged between articulated structure between left thigh ectoskeleton and left leg ectoskeleton and right thigh ectoskeleton and right leg ectoskeleton
Structure is identical.
The lifting column is equipped with lifting column electric device, and the line slide rail is matched with slide electric push rod.
Energy-storage battery is equipped with below the chassis, for driving lifting column electric device, hub motor and sliding rail electricity
Dynamic push rod；The hub motor is furnished with wheel, has braking mechanism.
Retractable supports set boom end below the chassis is equipped with universal wheel, is connect by universal wheel with hub motor.
Universal wheel can be realized steering；Retractable supports loop bar extended state is diagonal two pairs and stretches out respectively to respective opposite direction, from length
Increase the contact area on the chassis and ground on degree and width, increases stability.
The backrest bottom, which connects, may be reversed cushion, and it is semicircle that cushion, which may be reversed,；It is packing up vertically downward when stance
Raised configuration when state, sitting posture to be rotated by 90 ° along from the backrest bottom rotating shaft to robot front；The handrail is solid
It is scheduled on the bottom end two sides of the backrest.
Connected between the backrest bottom and lifting column by backrest bottom rotating shaft, backrest can on lifting column to
After rotate, 90 degree of maximum rotation angle.The lifting column is connected to the extreme end of chassis, and the built-in lifting of the lifting column is vertical
Column electric device, lifting column slide lifting in the form of inside and outside overlapping；The lifting column is raised above, and affects leg dermoskeleton
Bone is stance perpendicular to horizontal plane；The lifting column retracts downwards, so that leg ectoskeleton is bent, thigh ectoskeleton
It is parallel to horizontal plane, is sitting posture state.
Described two pedals and base slider are moved forward and backward on line slide rail, and line slide rail end is connected with slide electric
Push rod；When user's stance, the slide electric push rod is original state, and the pedal and base slider are located at the chassis
Middle part；When user's sitting posture, the slide electric push rod is release state, is pushed to directly by the pedal and base slider
Line sliding rail front end；Pedal and base slider are matched with foot bandage, carry out tightening fixation.
The each joint part of lower limb exoskeleton is equipped with multiple sensors, and is equipped with audio-switch, according to sensor and
The signal that audio-switch issues carries out corresponding action control, is common technology known in this field, is not present patent application
Innovative point；Such as: it carries out corresponding automatically control by working out corresponding software program according to user's needs and operates, be this
The public technology in field.
Hub motor, retractable supports loop bar, line slide rail, pedal and the base slider, foot that present patent application is related to
Lifting column, cushion, Flexible Safety band, sensor, energy-storage battery, universal wheel, slide electric push rod and lifting may be reversed in bracket
Column electric device etc. is common technology contents known in this field.
A kind of application method of the wheeled healing robot of lower limb exoskeleton, comprises the following steps:
Before use, first setting sitting posture state for leg ectoskeleton；User is seated on the turnable cushion, with backrest both sides
Flexible Safety band user is fixed above the waist；Then thigh and calf is respectively placed on the fixing joint of lower limb exoskeleton, and
It is fixed by leg strap；Finally both feet are stepped down on pedal and base slider, and are fixed by foot bandage；
When being adjusted to stance from sitting posture state, support post is raised above, and turnable cushion is rotated down 90 degree in receipts
The state of rising；Leg ectoskeleton gradually perpendicular standing state；Slide electric push rod is shunk, and pedal and base slider are received to straight line and slided
In the middle part of rail, stance is so far completed；
When being adjusted to sitting posture state from stance, support post falls downward may be reversed cushion and is rotated by 90 ° upwards in liter
The state of rising, leg ectoskeleton are gradually curved in sitting posture state；Pedal and base slider are pushed into line slide rail by slide electric push rod
Sitting posture state is so far completed in front；
When user is located at it is outdoor when, the universal wheel of pedestal lower part is protruding by retractable supports loop bar, from length and
Increase the contact area with ground on width, increases stability；The rotation of wheel-hub motor driven vehicle wheel is advanced, retreats or is turned to.
When lying or recline after user needs, the backrest fell backward, and backrest can realize lie angle degree after 90 degree of maximum,
When lying after user does not need, backrest can be returned original state.
The beneficial effects of the present invention are: the present invention can help the patient of lower limb disability or walking disorder independently to be stood
It rides instead of walk with indoor and outdoor, promotes the self-care ability and quality of the life of lower limb walking disorder patient, improvement lower limb body follows by standing
For ring to improve health status, squatting down to stand helps rehabilitation training, mitigates the burden of family numbers of patients.
Detailed description of the invention
Fig. 1 is the stance front overall construction drawing of the embodiment of the present invention；
Fig. 2 is the stance back side overall construction drawing of the embodiment of the present invention；
Fig. 3 is leg of embodiment of the present invention ectoskeleton structural schematic diagram；
Fig. 4 is sitting posture of embodiment of the present invention state overall structure figure；
Fig. 5 is retractable supports of embodiment of the present invention loop bar extended state diagram；
Fig. 6 is retractable supports of embodiment of the present invention loop bar retracted state schematic diagram；
In figure: hub motor 1, retractable supports loop bar 2, chassis 3, line slide rail 4, pedal and base slider 5, foot support 6,
Cushion 9, Flexible Safety band 10, foot bandage 11, fixing joint 12, sensing may be reversed in knee joint rotating mechanism 7, lifting column 8
Device 13, leg ectoskeleton 14, backrest bottom rotating shaft 15, handrail 16, backrest 17, energy-storage battery 18, universal wheel 19, slide electric
Push rod 20, lifting column electric device 21, connecting rod 22, upper U-shaped part 23, lower U-shaped part 24, hinged shaft 25, right thigh fixing joint 12-
1, right leg fixing joint 12-2, left thigh fixing joint 12-3, right leg fixing joint 12-4, right thigh ectoskeleton 14-1,
Right leg ectoskeleton 14-2, left thigh ectoskeleton 14-3, left leg ectoskeleton 14-4.
Specific embodiment
Below in conjunction with attached drawing, by example, the invention will be further described.
A kind of wheeled healing robot of lower limb exoskeleton includes lower limb exoskeleton, lifting column 8 and chassis structure, lifting
Uprights vertical is arranged on chassis structure, and lower limb exoskeleton is arranged on lifting column；The chassis structure includes chassis 3, wheel
Hub motor 1, retractable supports loop bar 2, line slide rail 4 and pedal and base slider 5, lifting column 8 are vertically set on chassis 3
On, two line slide rails 4 are separately positioned on the chassis 3 of 8 two sides of lifting column, and matching is equipped with pedal and bottom on line slide rail 4
Portion's sliding block 5；Four retractable supports loop bars 2 are equipped with below chassis 3, the end of retractable supports loop bar 2 is equipped with hub motor
1；
Comprising backrest 17, Flexible Safety band 10, handrail 16, cushion 9, fixing joint 12 and leg may be reversed in the lower limb exoskeleton
The top of lifting column 8 is arranged in portion's ectoskeleton 14, backrest 17, and Flexible Safety band 10 and handrail 16 are arranged on backrest 17, can
Turnover cushion 9 is arranged on the lifting column 8 below backrest 17；The leg ectoskeleton 14 include right thigh ectoskeleton 14-1,
Right leg ectoskeleton 14-2, left thigh ectoskeleton 14-3 and left leg ectoskeleton 14-4, right thigh ectoskeleton 14-1 and right leg
It is hinged by knee joint rotating mechanism 7 between ectoskeleton 14-2；Right leg ectoskeleton 14-2 and left leg ectoskeleton 14-4 difference
5 top of pedal and base slider of chassis structure is set by foot support 6；The fixing joint 12 is fixed comprising right thigh
Joint 12-1, right leg fixing joint 12-2, left thigh fixing joint 12-3 and right leg fixing joint 12-4, right thigh are fixed
Joint 12-1 is fixed on the inside of right thigh ectoskeleton 14-1, and right leg fixing joint 12-2 is fixed in right leg ectoskeleton 14-2
Side, left thigh fixing joint 12-3 are fixed on the inside of left thigh ectoskeleton 14-3, and right leg fixing joint 12-4 is fixed on left small
On the inside of leg ectoskeleton 14-4；The upper end of the leg ectoskeleton 14 is connect with handrail 16.
The right thigh ectoskeleton 14-1, right leg ectoskeleton 14-2, left thigh ectoskeleton 14-3 and left leg ectoskeleton
The shape of 14-4 is shape similar with human body corresponding position shape.
The right thigh fixing joint 12-1, right leg fixing joint 12-2, left thigh fixing joint 12-3 and right leg
Fixing joint 12-4 is spill fixed plate, is matched with the thigh crus of human body；In use, the thigh and shank of human body
It is respectively put into corresponding fixing joint, is tightened by leg strap.
The knee joint rotating mechanism 7 includes connecting rod 22, upper U-shaped part 23, lower U-shaped part 24 and hinged shaft 25, right thigh dermoskeleton
The lower end bone 14-1 is equipped with connecting rod 22, and the other end of connecting rod is equipped with upper U-shaped part 23, and the upper end of right leg ectoskeleton 14-2 is equipped with lower U
Shape part 24, the matching opposite with the opening of lower U-shaped part 24 of upper U-shaped part 23 together, and hingedly by hinged shaft 25, are constituted outside right thigh
Articulated structure between bone 14-1 and right leg ectoskeleton 14-2.Between left thigh ectoskeleton 14-3 and left leg ectoskeleton 14-4
Articulated structure and right thigh ectoskeleton 14-1 and right leg ectoskeleton 14-2 between articulated structure it is identical.
The lifting column 8 is equipped with lifting column electric device 21, and the line slide rail 4 is matched with slide electric push rod
20。
Energy-storage battery 18 is equipped with below the chassis 3, for driving lifting column electric device 21,1 and of hub motor
Slide electric push rod 20；The hub motor 1 is furnished with wheel, has braking mechanism.
2 end of retractable supports loop bar below the chassis 3 is equipped with universal wheel 19, passes through universal wheel and hub motor 1
Connection.Universal wheel can be realized steering；Retractable supports loop bar extended state is stretched out to respective opposite direction for diagonal two Duis respectively,
Increase the contact area on the chassis and ground from length and width, increases stability.
The backrest bottom, which connects, may be reversed cushion, and it is semicircle that cushion 9, which may be reversed,；It is packing up vertically downward when stance
Raised configuration when state, sitting posture to be rotated by 90 ° along from the backrest bottom rotating shaft to robot front；The handrail is solid
It is scheduled on the bottom end two sides of the backrest.
It is connected between 17 bottom of backrest and lifting column 8 by backrest bottom rotating shaft 15, backrest 17 can gone up and down
It rotates backward on column 8,90 degree of maximum rotation angle.The lifting column is connected to the extreme end of chassis, the lifting column
Built-in lifting column electric device 21, lifting column slide lifting in the form of inside and outside overlapping；The lifting column is raised above,
It affects leg ectoskeleton 14 perpendicular to horizontal plane, is stance；The lifting column retracts downwards, so that leg ectoskeleton 14
Bending, thigh ectoskeleton are parallel to horizontal plane, are sitting posture state.
Described two pedals and base slider 5 are moved forward and backward on line slide rail, and line slide rail end is connected with sliding rail electricity
Dynamic push rod；When user's stance, the slide electric push rod is original state, and the pedal and base slider 5 are located at described
In the middle part of chassis；When user's sitting posture, the slide electric push rod is release state, passes through 5 quilt of the pedal and base slider
It is pushed into line slide rail front end；Pedal and base slider 5 are matched with foot bandage 11, carry out tightening fixation.
The each joint part of lower limb exoskeleton is equipped with multiple sensors 13, and is equipped with audio-switch, according to sensor
The signal issued with audio-switch is accordingly controlled, and is common technology known in this field, is not the innovation of present patent application
Point.
Hub motor 1, retractable supports loop bar 2, line slide rail 4, pedal and base slider 5 that present patent application is related to,
Foot support 6, lifting column 8 may be reversed cushion 9, Flexible Safety band 10, sensor 13, energy-storage battery 18, universal wheel 19, slide
Rail electric pushrod 20 and lifting column electric device 21 etc. are common technology contents known in this field.
A kind of application method of the wheeled healing robot of lower limb exoskeleton, comprises the following steps:
Before use, first setting sitting posture state for leg ectoskeleton 14；User is seated on the turnable cushion 9, uses backrest
The Flexible Safety band 10 on 17 both sides is fixed above the waist by user；Then thigh and calf is respectively placed in the fixation of lower limb exoskeleton 14
On joint 12, and fixed by leg strap；Finally both feet are stepped down on pedal and base slider 5, and solid by foot bandage
It is fixed；
When being adjusted to stance from sitting posture state, support post 8 is raised above, and turnable cushion 9 is rotated down 90 degree and is in
Collapsed state；The gradually perpendicular standing state of leg ectoskeleton 14；Slide electric push rod 20 is shunk, and pedal and base slider 5 are received
To 4 middle part of line slide rail, stance is so far completed；
When being adjusted to sitting posture state from stance, 8 falls downward of support post, upward be rotated by 90 ° of cushion 9, which may be reversed, is in
Raised configuration, leg ectoskeleton 14 are gradually curved in sitting posture state；Pedal and base slider 5 are pushed into directly by slide electric push rod 20
Sitting posture state is so far completed in 4 front of line sliding rail；
It is when user is located at open air, the universal wheel 19 of 3 lower part of chassis is protruding by retractable supports loop bar 2, from length
Increase the contact area with ground on degree and width, increases stability；The rotation of wheel-hub motor driven vehicle wheel is advanced, retreats or is turned
To.
When lying or recline after user needs, the backrest 17 fell backward, and backrest can realize lie angle after 90 degree of maximum
Degree, when lying after user does not need, can return original state for backrest.
Claims (8)
1. a kind of wheeled healing robot of lower limb exoskeleton, it is characterised in that: include lower limb exoskeleton, lifting column (8) and bottom
Dish structure, lifting column are vertically set on chassis structure, and lower limb exoskeleton is arranged on lifting column；The chassis structure packet
Containing chassis (3), hub motor (1), retractable supports loop bar (2), line slide rail (4) and pedal and base slider (5), lifting is vertical
Column (8) is vertically set on chassis (3), and two line slide rails (4) are separately positioned on the chassis (3) of lifting column (8) two sides,
Matching is equipped with pedal and base slider (5) on line slide rail (4)；Four retractable supports loop bars are equipped with below chassis (3)
(2), the end of retractable supports loop bar (2) is equipped with hub motor (1)；
Comprising backrest (17), Flexible Safety band (10), handrail (16), cushion (9), fixed pass may be reversed in the lower limb exoskeleton
(12) and leg ectoskeleton (14) are saved, backrest (17) is arranged in the top of lifting column (8), Flexible Safety band (10) and handrail
(16) it is arranged on backrest (17), may be reversed on the lifting column (8) that cushion (9) are arranged below backrest (17)；The leg
Ectoskeleton (14) includes right thigh ectoskeleton (14-1), right leg ectoskeleton (14-2), left thigh ectoskeleton (14-3) He Zuo little
Leg ectoskeleton (14-4) passes through knee joint rotating mechanism between right thigh ectoskeleton (14-1) and right leg ectoskeleton (14-2)
(7) hinged；Right leg ectoskeleton (14-2) and left leg ectoskeleton (14-4) are tied by foot support (6) setting on chassis respectively
Above the pedal and base slider (5) of structure；The fixing joint (12) is fixed comprising right thigh fixing joint (12-1), right leg
Joint (12-2), left thigh fixing joint (12-3) and right leg fixing joint (12-4), right thigh fixing joint (12-1) are solid
It being scheduled on the inside of right thigh ectoskeleton (14-1), right leg fixing joint (12-2) is fixed on the inside of right leg ectoskeleton (14-2),
Left thigh fixing joint (12-3) is fixed on the inside of left thigh ectoskeleton (14-3), and right leg fixing joint (12-4) is fixed on a left side
On the inside of shank ectoskeleton (14-4)；The upper end of the leg ectoskeleton (14) is connect with handrail (16).
2. the wheeled healing robot of a kind of lower limb exoskeleton according to claim 1, it is characterised in that: the knee joint rotation
Rotation mechanism (7) includes connecting rod (22), upper U-shaped part (23), lower U-shaped part (24) and hinged shaft (25), under right thigh ectoskeleton (14-1)
End is equipped with connecting rod (22), and the other end of connecting rod is equipped with upper U-shaped part (23), and the upper end of right leg ectoskeleton (14-2) is equipped with lower U-shaped
Part (24), the matching opposite with the opening of lower U-shaped part (24) of upper U-shaped part (23) together, and hingedly by hinged shaft (25), are constituted right
Articulated structure between thigh ectoskeleton (14-1) and right leg ectoskeleton (14-2)；Outside left thigh ectoskeleton (14-3) and left leg
Articulated structure between articulated structure between bone (14-4) and right thigh ectoskeleton (14-1) and right leg ectoskeleton (14-2)
It is identical.
3. the wheeled healing robot of a kind of lower limb exoskeleton according to claim 1 or 2, it is characterised in that: the lifting
Column (8) is equipped with lifting column electric device (21), and the line slide rail (4) is matched with slide electric push rod (20).
4. the wheeled healing robot of a kind of lower limb exoskeleton according to claim 1 or 2, it is characterised in that: the chassis
(3) energy-storage battery (18) are equipped with below.
5. the wheeled healing robot of a kind of lower limb exoskeleton according to claim 1 or 2, it is characterised in that: the chassis
(3) retractable supports loop bar (2) end below is equipped with universal wheel (19), is connect by universal wheel with hub motor (1).
6. the wheeled healing robot of a kind of lower limb exoskeleton according to claim 1 or 2, it is characterised in that: the backrest
Bottom, which connects, may be reversed cushion, and it is semicircle that cushion (9), which may be reversed,.
7. the wheeled healing robot of a kind of lower limb exoskeleton according to claim 1 or 2, it is characterised in that: the backrest
(17) it is connect between bottom and lifting column (8) by backrest bottom rotating shaft (15).
8. a kind of application method of the wheeled healing robot of lower limb exoskeleton, using lower limb dermoskeleton defined by claim 1-7
The wheeled healing robot of bone, characterized by comprising the steps of:
Before use, first setting sitting posture state for leg ectoskeleton (14)；User is seated on the turnable cushion (9), uses
The Flexible Safety band (10) on backrest (17) both sides is fixed above the waist by user；Then thigh and calf is respectively placed in leg ectoskeleton
(14) it on fixing joint (12), and is fixed by leg strap；Finally both feet are stepped down on pedal and base slider (5), and
It is fixed by foot bandage；
When being adjusted to stance from sitting posture state, support post (8) is raised above, and cushion (9) may be reversed and be rotated down
(90) degree is in collapsed state；Leg ectoskeleton (14) gradually perpendicular standing state；Slide electric push rod (20) shrink, pedal and
Base slider (5) is received in the middle part of line slide rail (4), and stance is so far completed；
When being adjusted to sitting posture state from stance, support post (8) falls downward may be reversed cushion (9) and rotate 90 upwards
Degree is in raised configuration, and leg ectoskeleton (14) is gradually curved in sitting posture state；Slide electric push rod (20) is sliding by pedal and bottom
Block (5) is pushed into line slide rail (4) front, so far completes sitting posture state；
When user is located at it is outdoor when, by the universal wheel (19) of chassis (3) lower part by retractable supports loop bar (2) to overhanging
Out, increase the contact area with ground from length and width, increase stability；Wheel-hub motor driven vehicle wheel rotation, advance, after
It moves back or turns to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526296.3A CN110141467A (en) | 2019-06-18 | 2019-06-18 | A kind of wheeled healing robot of lower limb exoskeleton and its application method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910526296.3A CN110141467A (en) | 2019-06-18 | 2019-06-18 | A kind of wheeled healing robot of lower limb exoskeleton and its application method |
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| CN110141467A true CN110141467A (en) | 2019-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910526296.3A Withdrawn CN110141467A (en) | 2019-06-18 | 2019-06-18 | A kind of wheeled healing robot of lower limb exoskeleton and its application method |
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Cited By (8)
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| CN110522582A (en) * | 2019-09-23 | 2019-12-03 | 天津科技大学 | Multi-function rotating moving device |
| CN110638583A (en) * | 2019-09-24 | 2020-01-03 | 刘玉辉 | Automatic wheelchair for pediatric rehabilitation |
| CN110916987A (en) * | 2019-11-29 | 2020-03-27 | 山东大学 | Lower limb rehabilitation training robot capable of moving autonomously |
| CN111228089A (en) * | 2020-03-13 | 2020-06-05 | 西安文理学院 | Wearable telescopic lower limb exoskeleton power assisting device and method |
| CN111419654A (en) * | 2020-01-04 | 2020-07-17 | 广东铱鸣智能医疗科技有限公司 | Waist-protecting fastening belt system of electric standing-assisting walking aid |
| CN111821113A (en) * | 2020-08-20 | 2020-10-27 | 河北工业大学 | Posture transformation rehabilitation robot |
| CN112494287A (en) * | 2021-02-03 | 2021-03-16 | 杭州程天科技发展有限公司 | Follow-up hanging bracket |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110522582A (en) * | 2019-09-23 | 2019-12-03 | 天津科技大学 | Multi-function rotating moving device |
| CN110638583A (en) * | 2019-09-24 | 2020-01-03 | 刘玉辉 | Automatic wheelchair for pediatric rehabilitation |
| CN110916987A (en) * | 2019-11-29 | 2020-03-27 | 山东大学 | Lower limb rehabilitation training robot capable of moving autonomously |
| CN111419654A (en) * | 2020-01-04 | 2020-07-17 | 广东铱鸣智能医疗科技有限公司 | Waist-protecting fastening belt system of electric standing-assisting walking aid |
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| CN111228089A (en) * | 2020-03-13 | 2020-06-05 | 西安文理学院 | Wearable telescopic lower limb exoskeleton power assisting device and method |
| CN111228089B (en) * | 2020-03-13 | 2024-02-09 | 西安文理学院 | Wearable telescopic lower limb exoskeleton assisting device |
| CN111821113A (en) * | 2020-08-20 | 2020-10-27 | 河北工业大学 | Posture transformation rehabilitation robot |
| CN112494287A (en) * | 2021-02-03 | 2021-03-16 | 杭州程天科技发展有限公司 | Follow-up hanging bracket |
| CN116077284A (en) * | 2023-02-03 | 2023-05-09 | 深圳作为科技有限公司 | Safety belt lifting device and walking-assisting robot |
| CN116077284B (en) * | 2023-02-03 | 2024-04-26 | 深圳作为科技有限公司 | Safety belt lifting device and walking-assisting robot |
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Application publication date: 20190820 |