CN110465925A - A kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting - Google Patents
A kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting Download PDFInfo
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- CN110465925A CN110465925A CN201910888827.3A CN201910888827A CN110465925A CN 110465925 A CN110465925 A CN 110465925A CN 201910888827 A CN201910888827 A CN 201910888827A CN 110465925 A CN110465925 A CN 110465925A
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- China
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- bottom plate
- thigh
- flexible drive
- series connection
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Abstract
A kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting, it is related to a kind of walking aided exoskeleton robot, it includes waist, thigh and shank；Waist is connect with thigh, and thigh is connect with shank, and shank can be rotated relative to thigh, the rotation of thigh energy opposed waist；Thigh includes centrosymmetric two driving units；Each driving unit includes cover board, bottom plate and joint series connection flexible drive component；Cover board is connected with bottom plate, and joint series connection flexible drive component is set on the bottom plate between cover board and bottom plate, and two to be centrosymmetric driving unit is coupled by sliding groove structure and the distance adjusting mechanism by being installed on bottom plate is fixed；Joint series connection flexible drive component is connect with waist and energy opposed waist rotation, and shank connect with joint series connection flexible drive component and can be relative to thigh rotation.The present invention is stored and is released energy in passive type elastic element, reduces output impedance and face the impact force of human body with reducing, improve the safety of human-computer interaction.
Description
Technical field
The present invention relates to a kind of walking aided exoskeleton robots, and in particular to it is a kind of connect flexible drive modularization help
Exoskeleton robot.
Background technique
Walking aided exoskeleton robot is that auxiliary lower limb disability patient stands walking again, raising muscle and joint strength
Bionic intelligence electromechanical equipment, promote the recombination of brain in patients cortex by specific Repetitive training, excitation patient is actively
Motor mindedness simultaneously learns correct motor pattern.Traditional rigid structure walk-aiding exoskeleton robot is although have good track
Repeatability and fast-response, but the flexible characteristic of human body walking can not be complied with, external impact force is larger, and energy consumption is more,
It is unfavorable for safe and efficient human-computer interaction.Moreover, the otherness of patient also requires walk-aiding exoskeleton robot with higher suitable
Ying Xingyu flexibility.
Summary of the invention
The present invention is to overcome the shortcomings of the existing technology, provide a kind of modularization walk-aiding exoskeleton machine of flexible drive of connecting
People.Series connection flexible drive refers to the addition flexible drive link at joint of robot, reaches submissive by the flexible deformation of itself
The purpose of driving has better adaptability for auxiliary human locomotion, passes through elastic driving joint of connecting, walk-aiding exoskeleton energy
It is enough to store and release energy in passive type elastic element, reduce output impedance and face the impact force of human body with reducing, improves
The safety of human-computer interaction.
The technical scheme is that
A kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting, it includes waist, thigh and shank；Waist with
Thigh connection, thigh are connect with shank, and shank can be rotated relative to thigh, the rotation of thigh energy opposed waist；Thigh includes center
Symmetrical two driving units；Each driving unit includes cover board, bottom plate and joint series connection flexible drive component；Cover board and bottom plate
Connection, joint series connection flexible drive component are set on the bottom plate between cover board and bottom plate, and two to be centrosymmetric drive single
Member is coupled by sliding groove structure and the distance adjusting mechanism by being installed on bottom plate is fixed；Joint series connection flexible drive group
Part is connect with waist and energy opposed waist rotation, and shank connect with joint series connection flexible drive component and can be relative to thigh rotation.
Further, the joint series connection flexible drive component includes bevel pinion, bevel gear wheel, bevel gear shaft, roundlet
Stud wheel, big roller gear gear ring, series connection elastomer, output rod, cylindrical gear shaft, motor and driver；Driver is fixed on
On bottom plate, motor is fixed on bottom plate by electric machine support, and driver is connect with motor by conducting wire, and bevel pinion is mounted on electricity
On machine output end, the ring flange of bevel gear wheel side and bevel gear shaft is connected, and the other side is rotatably installed on bottom plate, bevel gear wheel
It is engaged with bevel pinion, small cylinder gear is packed in the other end of bevel gear shaft, and bevel gear shaft is rotatablely installed on the cover board, great circle
Stud wheel gear ring is nested on series connection elastomer and the two is fixed together, and cylindrical gear shaft is arranged in output rod and series connection elasticity
The concentric holes of body, series connection elastomer and cylindrical gear shaft are connect with output rod respectively, and cylindrical gear shaft both ends are rotatably installed in bottom
On plate and cover board, big roller gear gear ring is engaged with small cylinder gear；A piece output rod of each driving unit is inserted into outside
On structural slab, another output rod is connect with shank.
The present invention has following technical effect that compared with prior art
1, using series connection flexible drive mode, walk-aiding exoskeleton robot can be in passive type elastic element for hip, knee joint
It is middle to store and release energy, reduce output impedance, improves the stability of power control and face the impact force of human body with reducing, improve people
The safety of machine interaction, improves the operational efficiency of system, is more in line with the compliant characteristic of human body walking.
2, walk-aiding exoskeleton robot overall structure uses modularized design, mainly includes waist, thigh and shank three
Most of, design realizes the fast insert-pull of mechanical connection and electrical connection, convenient for assembling wearing and transportation.Meanwhile hip
Joint, knee joint driving assembly are symmetrically arranged in driving thigh, and overall configuration is light and handy, compact, the degree of modularity is high, Neng Gouyou
Effect improves the comfort and friendliness of ectoskeleton wearing.
The present invention is described in further detail with reference to the accompanying drawings and examples.
Detailed description of the invention
Fig. 1 is overall structure figure of the present invention；
Fig. 2 is the structure chart that waist forward direction is seen；
Fig. 3 is the structure chart that waist vest is seen；
Fig. 4 is from the thigh structure chart in terms of inside；
Fig. 5 is from the thigh structure chart in terms of outside；
Fig. 6 is the Medial Thigh Skin structure chart after removing cover board；
Fig. 7 is the structure chart that through-hole and dovetail groove are had on the bottom plate of a driving unit；
Fig. 8 is the structure chart of the dovetail on the bottom plate of another driving unit；
Fig. 9 is the structure chart of distance adjusting mechanism；
Figure 10 is the structure chart of joint series connection elastic parts；
Figure 11 is the structure chart of series connection elastomer；
Figure 12 is the installation diagram of shank；
Figure 13 is the explosive view of shank.
Specific embodiment
Referring to shown in Fig. 1, Fig. 4, Fig. 5 and Fig. 6, a kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting, it
Including waist I, thigh II and shank III；Waist I is connect with thigh II, and thigh II is connect with shank III, and shank III can phase
Thigh II is rotated, thigh II can opposed waist I rotation；
Thigh II includes centrosymmetric two driving units；Each driving unit include cover board II-1, bottom plate II-2 and
Connect flexible drive component II-A in joint；Cover board II-1 is connected with bottom plate II-2, joint series connection flexible drive component II-A setting
On bottom plate II-2 between cover board II-1 and bottom plate II-2, two driving units being centrosymmetric are cooperated by sliding groove structure
It installs and the distance adjusting mechanism II-B by being installed on bottom plate II-2 is fixed；Joint series connection flexible drive component II-A and waist
Portion I connection and energy opposed waist I rotation, shank III connect with joint series connection flexible drive component II-A and can thigh II relatively
Rotation.
Shown in Fig. 7 and Fig. 8, the thigh II of ectoskeleton has left and right leg two parts of mirror image each other, and single thigh is by center
Symmetrical two driving units composition, each driving unit include cover board II-1, bottom plate II-2 and joint series connection flexible drive group
Part II-A.Cover board II-1 and bottom plate II-2 are bolted, and pass through swallow between two bottom plate II-2 of the relationship that is centrosymmetric
Stern notch II-111 and dovetail II-112 grafting.
Shown in referring to figs. 2 and 3, waist I includes back flexible board I-1, external structure plate I-3 and two waist flexible boards
I-2；Back flexible board I-1 and waist flexible board I-2 is flexible material, and the two is fixed on the inside of external structure plate I-3,
The interface of the two sides external structure plate I-3 is connect with joint series connection flexible drive component II-A.Back flexible board I-1 and waist are flexible
Plate I-2 is all made of flexible material, is adhered on the inside of external structure plate I-3 by cohesive material, for protecting human body to escape injury；
External structure plate I-3 is bolted using the interface of waist two sides with thigh II, convenient for plug replacement.
Referring to shown in Fig. 6 and Figure 10, the joint series connection flexible drive component II-A includes bevel pinion II-15, auger
Gear II-12, bevel gear shaft II-13, small cylinder gear II-14, big roller gear gear ring II-19, series connection elastomer II-20,
Output rod II-21, cylindrical gear shaft II-22, motor II-17 and driver II-18；Driver II-18 is fixed on bottom plate II-2
On, motor II-17 is fixed on bottom plate II-2 by electric machine support, and driver II-8 is connect with motor II-17 by conducting wire, small
Bevel gear II-15 is mounted on motor II-17 output end, and the ring flange of the side bevel gear wheel II-12 and bevel gear shaft II-13 connect
It connects, the other side is rotatably installed on bottom plate II-2, and bevel gear wheel II-12 is engaged with bevel pinion II-15, small cylinder gear II-
14 are packed in the other end of bevel gear shaft II-13, and bevel gear shaft II-13 is rotatably installed on cover board II-1, big roller gear tooth
Circle II-19 is nested on series connection elastomer II-20 and the two is fixed together, and cylindrical gear shaft II-22 is arranged in output rod II-
21 and series connection elastomer II-20 concentric holes, series connection elastomer II-20 and cylindrical gear shaft II-22 respectively with output rod II-21
Connection, the both ends cylindrical gear shaft II-22 are rotatably installed on bottom plate II-2 and cover board II-1, big roller gear gear ring II-19 with
Small cylinder gear II-14 engagement；A piece output rod II-21 of each driving unit is inserted on external structure plate I-3, Ling Yigen
Output rod II-21 is connect with shank III.As shown in Figure 4 and Figure 5, the thigh II further includes thigh bandage II-3 and sensor
Cover board II-5；Thigh bandage II-3 is fixed on bottom plate II-2, and sensor is installed on the end of cylindrical gear shaft II-22, sensing
Sender unit cap merging is mounted on bottom plate II-2 by device cover board II-5.Thigh bandage II-3 is arranged in wearer's thigh side.
Further, shown in Figure 11, the series connection elastomer II-20 includes concentric inner ring II-201, outer ring II-
202 and multiple snakelike elastic slice II-203, be distributed along the circumference between inner ring II-201 and outer ring II-202 with both connect it is more
The waveform of a snakelike elastic slice II-203, each snakelike elastic slice II-203 are radially propagated, and big roller gear gear ring II-19 is nested in
It connects on the outer ring of elastomer II-20 and the two is fixed together, the inner ring II-201 and output rod of the elastomer II-20 that connects
II-21 is affixed, and cylindrical gear shaft II-22 is arranged in the concentric holes of output rod II-21 and the inner ring II-201, roller gear
Axis II-22 is connect by spline with output rod II-21.In above scheme, usually snakelike elastic slice II-203 selects 3.Driver
II-18 is connected on bottom plate II-2 by screw, and motor II-17 is fixed by screws on electric machine support, and electric machine support passes through
Screw is fixed on bottom plate II-2, and bevel pinion II-15 is connect by key with motor II-17.The side bevel gear wheel II-12 passes through
Four pin connect with the ring flange of bevel gear shaft II-13 progress it is circumferentially positioned, the other side is mounted on bottom plate II-2 by bearing,
Bearing shim is installed, bevel gear wheel II-12 and bevel pinion II-15 intermeshing pass between bevel gear wheel II-12 and bearing
It is dynamic.Bevel gear shaft II-13 sells the one end connecting with bevel gear wheel II-12 and bevel gear wheel II-12 inner hole in gap by four
Cooperation, the other end are connect by key with small cylinder gear II-14.Bevel gear shaft II-13 is mounted on cover board II-1 by bearing,
Bearing shim is installed between small cylinder gear II-14 and bearing.Big roller gear gear ring II-19 is nested in series connection elastomer
The outer ring of II-20, and be connected by screw, series connection elastomer II-20 and output rod II-21 are connected by bolt, output rod II-
21 are connect by spline with cylindrical gear shaft II-22, and output shaft II-22 is mounted on bottom plate II-2 and cover board by two side bearings
Between II-1.Big roller gear gear ring II-19 and small cylinder gear II-14 intermeshing is driven.Output rod II-21 and external knot
Structure plate I-3 is connected by fast insert-pull, and is locked with screw.Ectoskeleton body is integrated with structure-function in the present embodiment
Flexible drive body connect as core component, the hip joint of single leg is symmetrically arranged in the branch of thigh with kneed driving unit
On fagging, complete transmission system is motor+planet wheel decelerator+commutation bevel gear+series connection Flexible element transmission, overall structure
It is compact, joint weight is alleviated, the stability of output rod is improved.
As shown in Fig. 6 and Fig. 9, for preferably flexible modulation hip joint and kneed distance, it is portable to devise operation
Distance adjusting mechanism II-B, the distance adjusting mechanism II-B includes adjusting bolt II-6, adjusting bolt hitch II-7, locking
Nut II-8 and spring II-9；Adjust bolt hitch II-7 be fixed on adjust bolt II-6 nut on, adjust bolt II-6 from
The side plate through-hole II-10 of the bottom plate II-2 of one driving unit is inserted into, and spring II-9, which is set in, to be adjusted on bolt II-6, locking screw
Female II-8, which is screwed in, to be adjusted on bolt II-6, and the both ends of spring II-9 are against locking nut II-8 and one driving unit
At the side plate through-hole II-10 of bottom plate II-2, adjusting bolt II-6 can wear and be detached from the bottom plate II-2's of another driving unit
Side plate through-hole II-10.It is inserted into so set, adjusting bolt II-6 from the side plate through-hole II-10 of the side bottom plate II-2, from bottom plate
The side plate through-hole II-10 of the opposite side II-2 stretches out, side plate through-hole II-10 of the insertion with the bottom plate II-2 for organizing another driving unit
In, it realizes and is adjusted with the distance between two driving units of group, and then realize that the distance between hip joint and knee joint are adjusted.It adjusts
Section bolt hitch II-7 is fixed on the nut for adjusting bolt II-6 by pin, and spring II-9, which is sleeved on, to be adjusted on bolt II-6,
It is realized by locking nut II-8 and is adjusting the axially position on bolt II-6.The distance between the hip joint and knee joint are adjusted
Adjusting range is 350mm-480mm.
Referring to shown in Fig. 1, Figure 12 and Figure 13, shank III includes be slidably connected bar III-1, sliding block III-2, bearing base
III-3, orthoses connecting rod III-4 and orthoses III-5；
Be slidably connected bar III-1 one end and another output rod II-21 it is affixed, the other end is arranged with slidably
Sliding block III-2, sliding block III-2 and pedestal III-3 are affixed, and the upper end orthoses connecting rod III-4 is rotatably installed in pedestal III-3,
The orthoses lower end connecting rod III-4 with and wearer's shank cooperation orthoses III-5 it is affixed.Sliding block III-2 has sliding slot, sliding
The other end of connecting rod III-1 is slidably arranged in sliding block III-2 sliding slot and the two is locked by screw, thrust ball bearing III-
8 are mounted between bearing cover III-7 and bearing base III-3, holding screw III-6 connection bearing cover III-7 and orthopedic
The back side sliding slot sliding of device connecting rod III-4, orthoses connecting rod III-4 and orthoses III-5 are arranged and the two passes through screw and locks.
So set, the output rod II-21 of the one end for the bar III-1 that is slidably connected and thigh drive module II carry out suit connection, utilize
Screw is fixed, and the other end is made into sliding rail shape, is kept sliding block III-2 freely slidable, is locked by screw.The bottom end sliding block III-2
It is connected with bearing base III-3.Thrust ball bearing III-8 is mounted between bearing cover III-7 and bearing base III-3, tightly
Determine screw III-6 connection bearing cover III-7 and orthoses connecting rod III-4, orthoses connecting rod III-4 top cylinder part with push away
Power ball bearing III-8 is in clearance fit, completes installation of the thrust ball bearing III-8 in bearing base III-3 with this.It is orthopedic
The back side device connecting rod III-4 and orthoses III-5 sliding slot can be slided mutually, and be locked by screw.Shank III is that wearer is small
Leg only provides the passive rotary motion around vertical axes, can for patient foot reshaping lifting for helping, it is outer to mitigate strephenopodia, foot
Turn over, drop foot the problems such as, also adapt to the shank spinning movement in patient's walking process, mitigate the discomfort during patient motion
Sense.
The course of work
The motor II-17 work of joint series connection flexible drive component II-A drives bevel pinion II-15 rotation, bevel gear wheel
II-12 is rotated by commutation vertical with bevel pinion II-15 intermeshing realization, and passes through pin and bevel gear shaft II-13 is driven to turn
Dynamic, bevel gear shaft II-13 is driven by key drives small cylinder gear II-14 to rotate, big roller gear gear ring II-19 and small column
Gear II-14 intermeshing transmission generates rotation, and then generates driving moment to series connection elastomer II-20, when the driving moment
When snakelike elastic slice II-203 maximum distortion more than series connection elastomer II-20 bears torque, connect elastomer II-20 and output rod
II-21 follows big roller gear gear ring II-19 to rotate simultaneously, to realize the joint series connection end flexible drive component II-A output
The rotation of bar II-21 exports.
The rotation that output rod II-21 is driven when motor II-17 work, realizes thigh II relative to waist I and shank
Relative rotation of the III relative to thigh driving unit II.Thigh II and shank III pass through thigh bandage and shank bandage band respectively
Dynamic wearer's thigh and shank are completed to swing, to realize the pendulum of both legs by exoskeleton system help old man or disabled person
It is dynamic；By control method, ectoskeleton is driven into the swing of wearer and the efficient submissive combination of support, can assist old man or
Basic lower limb function needed for disabled person reinforces or realizes the daily lifes such as standing, walking, upper downslope, stair activity again.
In the distance between hip joint and knee joint regulating mechanism II-B, unilateral two to be centrosymmetric driving unit
Between by dovetail groove II-111 and dovetail II-112 grafting, when the tune for pulling side manually by adjusting bolt hitch II-7
Save after bolt II-6 stretches out the driving unit locking hole of opposite side, two driving units can the changing of the relative positions above and below dovetail groove, according to cover board
Position mark on II-2 after two driving units are stretched to determining suitable position, unclamp and adjusts bolt hitch II-7, In
Under the action of spring II-9 restoring force, adjust bolt II-6 and protrude into the side plate through-hole II-10 of opposite side and lock, complete hip joint with
The distance between knee joint is adjusted.
Above-mentioned specific embodiment is used to illustrate the present invention, rather than limits the invention, the present invention with
Preferable case study on implementation discloses as above, and however, it is not intended to limit the invention, any person skilled in the art, is not departing from
Within the scope of technical solution of the present invention, when the structure and technology contents that can use the disclosure above make a little change or are modified to
The equivalence enforcement case of equivalent variations, still belongs to technical solution of the present invention range.
Claims (9)
1. a kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting, it includes waist (I), thigh (II) and shank
(III)；Waist (I) is connect with thigh (II), and thigh (II) is connect with shank (III), and shank (III) can relatively thigh (II)
Rotation, thigh (II) can opposed waist (I) rotations；It is characterized by:
Thigh (II) includes centrosymmetric two driving units；Each driving unit includes cover board (II-1), bottom plate (II-2)
Flexible drive component (II-A) is connected with joint；Cover board (II-1) and bottom plate (II-2) connection, joint series connection flexible drive component
(II-A) it is set on the bottom plate (II-2) between cover board (II-1) and bottom plate (II-2), two driving units being centrosymmetric
It is coupled by sliding groove structure and the distance adjusting mechanism (II-B) by being installed on bottom plate (II-2) is fixed；Joint series connection
Flexible drive component (II-A) connect with waist (I) and can opposed waist (I) rotate, shank (III) connect elastic drive with joint
Dynamic component (II-A) connection can simultaneously be rotated relative to thigh (II).
2. a kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting according to claim 1, it is characterised in that: waist
Portion (I) includes back flexible board (I-1), external structure plate (I-3) and two waist flexible boards (I-2)；Back flexible board (I-1)
It is flexible material with waist flexible board (I-2), and the two is fixed on the inside of external structure plate (I-3), external structure plate (I-
3) interface of two sides is connect with joint series connection flexible drive component (II-A).
3. a kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting according to claim 2, it is characterised in that: institute
Stating joint series connection flexible drive component (II-A) includes bevel pinion (II-15), bevel gear wheel (II-12), bevel gear shaft (II-
13), small cylinder gear (II-14), big roller gear gear ring (II-19), series connection elastomer (II-20), output rod (II-21),
Cylindrical gear shaft (II-22), motor (II-17) and driver (II-18)；Driver (II-18) is fixed on bottom plate (II-2),
Motor (II-17) is fixed on bottom plate (II-2) by electric machine support, and driver (II-8) and motor (II-17) are connected by conducting wire
It connects, bevel pinion (II-15) is mounted on motor (II-17) output end, the bevel gear wheel side (II-12) and bevel gear shaft (II-
13) ring flange connection, the other side are rotatably installed on bottom plate (II-2), bevel gear wheel (II-12) and bevel pinion (II-15)
Engagement, small cylinder gear (II-14) are packed in the other end of bevel gear shaft (II-13), and bevel gear shaft (II-13) is rotatably installed in
On cover board (II-1), big roller gear gear ring (II-19) is nested in series connection elastomer (II-20) and the two is fixed together,
Cylindrical gear shaft (II-22) is arranged in the concentric holes of output rod (II-21) and series connection elastomer (II-20), elastomer of connecting
(II-20) it is connect respectively with output rod (II-21) with cylindrical gear shaft (II-22), the cylindrical gear shaft both ends (II-22) rotation peace
On bottom plate (II-2) and cover board (II-1), big roller gear gear ring (II-19) is engaged with small cylinder gear (II-14)；Often
A piece output rod (II-21) of a driving unit is inserted on external structure plate (I-3), another output rod (II-21) with it is small
Leg (III) connection.
4. a kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting according to claim 3, it is characterised in that: institute
Stating series connection elastomer (II-20) includes concentric inner ring (II-201), outer ring (II-202) and multiple snakelike elastic slices (II-203),
The multiple snakelike elastic slices (II-203) connecting with the two are distributed along the circumference between inner ring (II-201) and outer ring (II-202), often
The waveform of a snakelike elastic slice (II-203) is radially propagated, and big roller gear gear ring (II-19) is nested in series connection elastomer (II-
20) on outer ring and the two is fixed together, and the inner ring (II-201) and output rod (II-21) of series connection elastomer (II-20) are solid
It connects, cylindrical gear shaft (II-22) is arranged in the concentric holes of output rod (II-21) and the inner ring (II-201), roller gear
Axis (II-22) is connect by spline with output rod (II-21).
5. a kind of according to claim 1, the modularization walk-aiding exoskeleton robot for flexible drive of connecting of 2,3 or 4, feature
Be: the distance adjusting mechanism (II-B) includes adjusting bolt (II-6), adjusting bolt hitch (II-7), locking nut (II-
And spring (II-9) 8)；It adjusts bolt hitch (II-7) to be fixed on the nut for adjusting bolt (II-6), adjust bolt (II-6)
From side plate through-hole (II-10) insertion of the bottom plate (II-2) of a driving unit, spring (II-9), which is set in, adjusts bolt (II-
6) on, locking nut (II-8), which is screwed in, to be adjusted on bolt (II-6), and the both ends of spring (II-9) are against locking nut (II-8)
At the side plate through-hole (II-10) of the bottom plate (II-2) of one driving unit, adjusting bolt (II-6) can wear and be detached from
The side plate through-hole II-10 of the bottom plate (II-2) of another driving unit.
6. a kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting according to claim 5, it is characterised in that: small
Leg (III) include be slidably connected bar (III-1), sliding block (III-2), bearing base (III-3), orthoses connecting rod (III-4) and
Orthoses (III-5)；
Be slidably connected bar (III-1) one end and another output rod (II-21) it is affixed, the other end is arranged with slidably
Sliding block (III-2), sliding block (III-2) and pedestal (III-3) are affixed, and the upper end orthoses connecting rod (III-4) is rotatably installed in pedestal
(III-3) in, the orthoses connecting rod lower end (III-4) with and wearer's shank cooperate orthoses (III-5) it is affixed.
7. a kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting according to claim 6, it is characterised in that: institute
Stating thigh (II) further includes thigh bandage (II-3) and sensor cover board (II-5)；Thigh bandage (II-3) is fixed on bottom plate (II-
2) on, sensor is installed on the end of cylindrical gear shaft (II-22), and sender unit cap merging is mounted on by sensor cover board (II-5)
On bottom plate (II-2).
8. a kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting according to claim 7, it is characterised in that: institute
Stating the distance between hip joint and knee joint adjustable range is 350mm-480mm.
9. a kind of modularization walk-aiding exoskeleton robot for flexible drive of connecting according to claim 8, it is characterised in that: sliding
Block (III-2) has sliding slot, and the other end of the bar that is slidably connected (III-1) is slidably arranged in sliding block (III-2) sliding slot and the two
It is locked by screw, thrust ball bearing (III-8) is mounted between bearing cover (III-7) and bearing base (III-3), tightening
Screw (III-6) connects bearing cover (III-7) and orthoses connecting rod (III-4), orthoses connecting rod (III-4) and orthoses
(III-5) back side sliding slot sliding setting and the two is locked by screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910888827.3A CN110465925B (en) | 2019-09-19 | 2019-09-19 | Modularized walking-assisting exoskeleton robot driven by elasticity in series |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910888827.3A CN110465925B (en) | 2019-09-19 | 2019-09-19 | Modularized walking-assisting exoskeleton robot driven by elasticity in series |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110465925A true CN110465925A (en) | 2019-11-19 |
| CN110465925B CN110465925B (en) | 2022-10-04 |
Family
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Family Applications (1)
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| CN201910888827.3A Active CN110465925B (en) | 2019-09-19 | 2019-09-19 | Modularized walking-assisting exoskeleton robot driven by elasticity in series |
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