CN111568704B - Lower limb rehabilitation exoskeleton based on rope transmission - Google Patents
Lower limb rehabilitation exoskeleton based on rope transmission Download PDFInfo
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- CN111568704B CN111568704B CN202010430902.4A CN202010430902A CN111568704B CN 111568704 B CN111568704 B CN 111568704B CN 202010430902 A CN202010430902 A CN 202010430902A CN 111568704 B CN111568704 B CN 111568704B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 29
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 122
- 210000000629 knee joint Anatomy 0.000 claims abstract description 99
- 210000004394 hip joint Anatomy 0.000 claims abstract description 79
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 50
- 210000001624 hip Anatomy 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 238000004146 energy storage Methods 0.000 claims description 44
- 210000000689 upper leg Anatomy 0.000 claims description 18
- 230000000712 assembly Effects 0.000 claims description 17
- 238000000429 assembly Methods 0.000 claims description 17
- 210000001699 lower leg Anatomy 0.000 claims description 16
- 210000002683 foot Anatomy 0.000 claims description 15
- 241001227561 Valgus Species 0.000 claims description 3
- 241000469816 Varus Species 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 3
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 claims description 2
- 210000002414 leg Anatomy 0.000 abstract description 16
- 210000003423 ankle Anatomy 0.000 description 12
- 210000001503 joint Anatomy 0.000 description 12
- 210000003127 knee Anatomy 0.000 description 8
- 244000309466 calf Species 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 208000020084 Bone disease Diseases 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 208000037805 labour Diseases 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
- 208000037816 tissue injury Diseases 0.000 description 1
- 210000001364 upper extremity Anatomy 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a lower limb rehabilitation exoskeleton based on rope transmission, which comprises: the waist fixing device comprises a backpack device, a waist fixing device, a left driving mechanism and a right driving mechanism; the left driving mechanism and the right driving mechanism have the same structure and comprise a hip joint driving mechanism connected with the waist fixing device, a knee joint driving mechanism connected with the lower end of the hip joint driving mechanism, an ankle joint driving mechanism connected with the lower end of the knee joint driving mechanism and a plantar support mechanism connected with the lower end of the ankle joint driving mechanism. The single leg of the present invention has 6 degrees of freedom: 2 degrees of freedom of the hip joint driving mechanism, 2 degrees of freedom of the knee joint driving mechanism and 2 degrees of freedom of the ankle joint driving mechanism, and the whole device can realize 12 degrees of freedom; the joint structure of the invention is coupled with the movement form of the human body joint, each joint is driven by the driving motor component of the back, the driving device can be arranged on the back far away from the joint by adopting a rope transmission mode, and the weight of the joint can be reduced.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a lower limb rehabilitation exoskeleton based on rope transmission.
Background
The exoskeleton robot is wearable equipment with a sport support protection function, and has wide application. In the medical field, recovered ectoskeleton robot can assist the disabled person effectively to carry out the rehabilitation training of upper limbs low limbs, lightens medical staff's working pressure greatly.
The structure of part of the joints of the existing exoskeleton robot does not accord with ergonomics, not only causes uncoordinated movement of the robot, but also causes pressure of the joints, thereby possibly damaging the joints. For example, for knee joints, studies have shown that human knee joint movement is complex, when the knee joint performs flexion and extension movements, the knee joint is not simply rotated in a single degree of freedom, and the femur rotates and slides on the tibia, but the structure of the knee joint of the lower limb exoskeleton is generally adopted to have rotation in a single degree of freedom, so that the knee joint does not conform to ergonomics, not only causes uncoordinated human-machine movements, but also causes joint pressure, and thus the joint may be damaged. In addition, currently, driving mechanisms of active exoskeletons are generally arranged at joints, which can cause the weight increase of lower limbs and the increase of the inertia of joint movement.
Therefore, a more reliable solution is now needed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a lower limb rehabilitation exoskeleton based on rope transmission aiming at the defects in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme: a lower limb rehabilitation exoskeleton based on rope transmission, comprising: the backpack device, the waist fixing device and the left driving mechanism and the right driving mechanism which are symmetrically connected to the left side and the right side of the waist fixing device;
The left driving mechanism and the right driving mechanism have the same structure and comprise a hip joint driving mechanism connected with the waist fixing device, a knee joint driving mechanism connected with the lower end of the hip joint driving mechanism, an ankle joint driving mechanism connected with the lower end of the knee joint driving mechanism and a plantar support mechanism connected with the lower end of the ankle joint driving mechanism;
A plurality of driving motor assemblies are arranged in the backpack device, and each of the hip joint driving mechanism, the knee joint driving mechanism and the ankle joint driving mechanism is respectively connected with at least one driving motor assembly through rope driving;
The hip joint driving mechanism has a flexion-extension degree of freedom realized by driving of one driving motor assembly and an adduction/external swing degree of freedom realized by a first passive energy storage assembly;
the knee joint driving mechanism has two degrees of freedom for realizing sagittal plane self-adaption by driving of one driving motor component;
The ankle joint drive mechanism has a flexion-extension degree of freedom achieved by actuation of one drive motor assembly and an varus/valgus degree of freedom achieved by a second passive energy storage assembly.
Preferably, the waist fixing device comprises a fixing plate, a waist strap connected to the fixing plate and a backrest arranged on the inner side of the fixing plate.
Preferably, the hip joint driving mechanism is rotatably connected with the fixed plate through a first passive energy storage component, and the first passive energy storage component comprises a hip joint upper connecting plate fixedly connected with the fixed plate, two bearing seats fixedly connected with the hip joint upper connecting plate, a hip joint rotating shaft rotatably arranged on the two bearing seats along the adduction/outswing direction of a human hip joint, a connecting piece fixedly connected with the hip joint rotating shaft, and a plate spring with the upper end fixedly connected with the hip joint upper connecting plate and the lower end fixedly connected with the connecting piece;
the leaf spring stores energy due to deformation when the connecting piece moves adduction/outswing along with the hip joint.
Preferably, the hip joint driving mechanism comprises a hip joint driving wheel rotatably arranged at the lower end of the connecting piece, a hip joint lower connecting plate fixedly connected with the hip joint driving wheel and a hip joint bandage connected to the hip joint lower connecting plate and used for being fixedly sleeved on the thigh;
the hip joint driving wheel is in driving connection with at least one driving motor assembly through a first rope.
Preferably, the knee joint driving mechanism comprises a knee joint upper connecting plate connected with the hip joint lower connecting plate through the thigh connecting rod, an upper mounting plate connected with the lower end of the knee joint upper connecting plate, a knee joint driving wheel rotatably connected with the upper mounting plate, a first connecting rod with a first end rotatably connected with the upper mounting plate, a first driven wheel rotatably connected with the second end of the first connecting rod, a second connecting rod with a first end fixedly connected with the first driven wheel, a second driven wheel rotatably connected with the second end of the second connecting rod, a lower mounting plate fixedly connected with the second driven wheel and a knee joint lower connecting plate connected with the lower end of the lower mounting plate;
The knee joint driving wheel is in driving connection with at least one driving motor assembly through a second rope, and the knee joint driving wheel, the first driven wheel and the second driven wheel are in driving connection in sequence through transmission ropes;
the knee joint thigh bandage which is used for being fixed on the thigh is connected with the knee joint upper connecting plate, and the knee joint lower connecting plate is connected with the knee joint shank bandage which is used for being fixed on the shank.
Preferably, the upper mounting plate is fixedly connected with a first connecting shaft, and the knee joint driving wheel is rotatably connected to the first connecting shaft through a first bearing; a second connecting shaft is rotatably inserted in a shaft hole formed in the first connecting shaft through a second bearing, and the other end of the second connecting shaft is fixedly connected with the first end of the first connecting rod;
A second end of the first connecting rod is fixedly connected with a third connecting shaft, and the first driven wheel is rotatably connected to the third connecting shaft through a third bearing;
The first end of the second connecting rod is fixedly connected with the first driven wheel, and the second end of the second connecting rod is fixedly connected with a fourth connecting shaft; the second driven wheel is rotatably connected to the fourth connecting shaft through a fourth bearing, and the lower mounting plate is fixedly connected to the second driven wheel.
Preferably, the ankle joint driving mechanism comprises an ankle joint upper connecting plate connected with the knee joint lower connecting plate through a lower leg connecting rod, an ankle joint driving wheel rotatably connected on the ankle joint upper connecting plate and an ankle joint lower connecting plate fixedly connected with the ankle joint driving wheel;
the ankle joint lower connecting plate is connected with an ankle joint shank binding band;
The ankle joint driving wheel is in driving connection with at least one driving motor component through a third rope.
Preferably, the sole supporting mechanism is rotatably connected with the ankle joint lower connecting plate through the second passive energy storage component, and comprises a sole plate, a foot strap arranged on the sole plate and a supporting column connected on the sole plate and used for being connected with the second passive energy storage component.
Preferably, the second passive energy storage component comprises a first upper rotating connecting rod and a second upper rotating connecting rod, a first middle rotating connecting rod, a first energy storage elastic block, a first lower rotating connecting rod, a second middle rotating connecting rod and a second energy storage elastic block, wherein the first upper rotating connecting rod and the second upper rotating connecting rod are both rotatably connected with the ankle joint lower connecting plate, the first middle rotating connecting rod is respectively rotatably connected with the first upper rotating connecting rod and the second upper rotating connecting rod at two ends, the first energy storage elastic block is respectively rotatably connected with the first upper rotating connecting rod and the second upper rotating connecting rod at least one end, the first lower rotating connecting rod is respectively rotatably connected with the first upper rotating connecting rod and the second upper rotating connecting rod at the first end, the second lower rotating connecting rod is respectively rotatably connected with the second upper rotating connecting rod at the first end and the second upper rotating connecting rod at the first end, the second lower rotating connecting rod is respectively rotatably connected with the first lower rotating connecting rod at the two ends;
The second ends of the first lower rotating connecting rod and the second lower rotating connecting rod are rotatably connected with the supporting column.
Preferably, the driving motor assembly comprises a motor, a speed reducer in driving connection with the output end of the motor and a motor driving wheel in driving connection with the output end of the speed reducer;
The driving motor assemblies comprise 6 first driving motor assemblies and second driving motor assemblies which are respectively in driving connection with 2 hip joint driving wheels through the first ropes, third driving motor assemblies and fourth driving motor assemblies which are in driving connection with 2 knee joint driving wheels through the second ropes, and fifth driving motor assemblies and sixth driving motor assemblies which are in driving connection with 2 ankle joint driving wheels through the third ropes.
The beneficial effects of the invention are as follows:
the lower limb rehabilitation exoskeleton based on rope transmission has 6 degrees of freedom in one leg: 2 degrees of freedom of the hip joint driving mechanism, 2 degrees of freedom of the knee joint driving mechanism and 2 degrees of freedom of the ankle joint driving mechanism, and the whole device can realize 12 degrees of freedom; the joint structures of the invention are coupled with the movement form of the joints of the human body, each joint is driven by the driving motor component of the back and driven by adopting a rope transmission mode, and the driving equipment can be arranged on the back far from the joint, so that the weight of the joint can be reduced;
in the invention, the knee joint underactuated mechanism has two sagittal degrees of freedom, can adapt to the motion characteristics of the knee joint, and can not cause joint pressure;
The device can assist a patient with lower limb dysfunction or limited functions caused by lower limb joint and muscle tissue injury or bone diseases to walk on the flat ground, walk up and down stairs and other rehabilitation training at home; can relieve the economic and energy burden of family members of patients, also can help patients to realize life self-care, relieve the physiological pain of patients, and reduce the lower limb labor injury of staff engaged in repeated actions, long operation time or forced body positions.
Drawings
FIG. 1 is a schematic diagram of the structure of the rope-driven lower limb rehabilitation exoskeleton of the present invention from a side view of the lower limb rehabilitation exoskeleton worn on a human body;
FIG. 2 is a schematic diagram of the structure of the rope-based transmission lower limb rehabilitation exoskeleton of the present invention from a front view of the lower limb rehabilitation exoskeleton worn on a human body;
FIG. 3 is a schematic diagram of the lower limb rehabilitation exoskeleton based on rope transmission;
FIG. 4 is a schematic structural view of a left drive mechanism of the lower limb rehabilitation exoskeleton based on rope transmission of the present invention;
FIG. 5 is a schematic view of the structure of the hip joint driving mechanism of the present invention;
FIG. 6 is a schematic view of another view of the hip drive mechanism of the present invention;
FIG. 7 is a schematic view of the knee joint driving mechanism of the present invention;
FIG. 8 is a schematic view of the knee joint drive mechanism of the present invention with portions of the components removed;
FIG. 9 is a schematic view of the knee joint drive mechanism of the present invention from a back perspective with portions of the components removed;
FIG. 10 is a schematic view of the knee joint drive mechanism of the present invention with portions of the components removed;
FIG. 11 is a schematic cross-sectional view of a portion of the knee joint drive mechanism of the present invention;
FIG. 12 is a schematic cross-sectional view of a portion of the knee joint drive mechanism of the present invention;
FIG. 13 is a schematic view showing the internal structure of the knee joint driving mechanism of the present invention;
FIG. 14 is a schematic view of a knee joint driving mechanism of the present invention in a motion state;
FIG. 15 is a schematic view of another motion state of the knee joint driving mechanism of the present invention;
FIG. 16 is a schematic view of the overall structure of the ankle drive mechanism, plantar support mechanism and second passive energy storage assembly of the present invention;
FIG. 17 is a schematic view of an ankle drive mechanism, plantar support mechanism and second passive energy storage assembly of the present invention from another perspective;
FIG. 18 is a schematic diagram of a second passive energy storage component according to the present invention;
FIG. 19 is a schematic view of a second passive energy storage component according to another embodiment of the present invention;
FIG. 20 is a schematic view of the sole support mechanism of the present invention in an upright position;
FIG. 21 is a schematic view of the sole support mechanism of the present invention in an everted state;
FIG. 22 is a schematic view of the plantar support mechanism of the present invention in an inverted state.
Reference numerals illustrate:
1-a backpack device; 10-a drive motor assembly; 11-a first drive motor assembly; 12-a second drive motor assembly; 13-a third drive motor assembly; 14-a fourth drive motor assembly; 15-a fifth drive motor assembly; 16-a sixth drive motor assembly; 18-human body; 100-a motor; 101-a speed reducer; 102-a motor driving wheel;
2-lumbar fixation means; 20-a fixing plate; 21-waist strap; 22-a backrest;
3-a first passive energy storage assembly; 30-a hip joint upper connecting plate; 31-bearing seats; 32-hip joint shaft; 33-a connector; 34-leaf springs;
4-a hip joint driving mechanism; 40-hip joint driving wheel; 41-a hip joint lower connection plate; 42-hip joint straps; 43-thigh link;
5-knee joint driving mechanism; 50-knee joint upper connecting plate; 51—an upper mounting plate; 52-knee joint drive wheel; 53-a first link; 54—a first driven wheel; 55-a second link; 56—a second driven wheel; 57-lower mounting plate; 58-a knee joint lower connecting plate; 500-knee thigh straps; 580-knee calf strap;
590-a first connecting shaft; 591-shaft hole; 592-a second connecting shaft; 593-a third connecting shaft; 594-a fourth connecting shaft; 595-a first bearing; 596-a second bearing; 597—a third bearing; 598-a fourth bearing;
6-ankle joint driving mechanism; 60-ankle joint upper connecting plate; 61-ankle drive wheel; 62-ankle lower connecting plate; 63—a shank link; 64—ankle calf strap;
7-a plantar support mechanism; 70-sole plate; 71-foot strap; 72-supporting columns;
80-a first rope; 81-a second rope; 82-a third rope; 83-a drive rope; 810-a second left rope; 811-a second right rope; 830-a first drive rope; 831-a second drive line; 832-a third drive rope; 833—a fourth drive rope; 834-a fixed block;
9-a second passive energy storage component; 90-a first upper rotating connecting rod; 91-second upper rotating connecting rod; 92-a first intermediate rotary connecting rod; 93-a first energy storage bullet; 94-a first lower rotating connecting rod; 95-a second lower rotating connecting rod; 96—a second intermediate rotating connecting rod; 97-second energy storage bullet.
Detailed Description
The present invention is described in further detail below with reference to examples to enable those skilled in the art to practice the same by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-22, a lower limb rehabilitation exoskeleton based on rope transmission of the present embodiment includes: the backpack device 1, the waist fixing device 2 and a left driving mechanism and a right driving mechanism which are symmetrically connected to the left side and the right side of the waist fixing device 2;
the left driving mechanism and the right driving mechanism have the same structure and correspond to the left leg and the right leg, and each comprises a hip joint driving mechanism 4 connected with the waist fixing device 2, a knee joint driving mechanism 5 connected with the lower end of the hip joint driving mechanism 4, an ankle joint driving mechanism 6 connected with the lower end of the knee joint driving mechanism 5 and a sole supporting mechanism 7 connected with the lower end of the ankle joint driving mechanism 6;
A plurality of driving motor assemblies 10 are arranged in the backpack device 1, and each hip joint driving mechanism 4, knee joint driving mechanism 5 and ankle joint driving mechanism 6 are respectively connected with at least one driving motor assembly 10 through rope driving;
the hip joint driving mechanism 4 has a flexion-extension degree of freedom by driving of one driving motor assembly 10 and an adduction/abduction degree of freedom by the first passive energy storage assembly 3;
The knee joint driving mechanism 5 has a degree of freedom of flexion and extension and a degree of freedom of movement in the knee joint direction by driving of one driving motor assembly 10;
The ankle joint drive 6 has a flexion and extension degree of freedom by the drive of one drive motor assembly 10 and an varus/valgus degree of freedom by the second passive energy storage assembly 9.
I.e. 6 degrees of freedom in a single leg, 2 degrees of freedom in the hip joint driving mechanism 4, 2 degrees of freedom in the knee joint driving mechanism 5, 2 degrees of freedom in the ankle joint driving mechanism 6, and 12 degrees of freedom in the overall device.
The joint structures are coupled with the movement form of the joints of the human body 18, and each joint is driven by a back driving motor assembly 10 in a rope transmission mode. The device can assist the patient with lower limb dysfunction or limited function caused by the injury of lower limb joints and muscle tissues or bone diseases to walk on the flat ground, walk up and down stairs and other rehabilitation training at home; can relieve the economic and energy burden of family members of patients, also can help patients to realize life self-care, relieve the physiological pain of patients, and reduce the lower limb labor injury of staff engaged in repeated actions, long operation time or forced body positions.
In one embodiment, the lumbar fixation device 2 includes a fixation plate 20, a lumbar strap 21 attached to the fixation plate 20, and a backrest 22 disposed inside the fixation plate 20.
Referring to fig. 3, the driving motor assembly 10 includes a motor 100, a decelerator 101 drivingly connected to an output end of the motor 100, and a motor driving wheel 102 drivingly connected to an output end of the decelerator 101; the motor driving wheel 102 drives the corresponding mechanism to move through rope transmission.
In this embodiment, the driving motor assembly includes 6: the first driving motor assembly 11, the second driving motor assembly 12, the third driving motor assembly 13, the fourth driving motor assembly 14, the fifth driving motor assembly 15 and the sixth driving motor assembly 16 correspond to 2 hip joint driving mechanisms 4 for driving the left leg and the right leg, the third driving motor assembly 13 and the fourth driving motor assembly 14 correspond to 2 knee joint driving mechanisms 5 for driving the left leg and the right leg, and the fifth driving motor assembly 15 and the sixth driving motor assembly 16 correspond to 2 ankle joint driving mechanisms 6 for driving the left leg and the right leg.
Referring to fig. 5 to 6, in the present embodiment, the hip joint driving mechanism 4 is rotatably connected with the fixed plate 20 through the first passive energy storage component 3, and the first passive energy storage component 3 includes a hip joint upper connecting plate 30 fixedly connected with the fixed plate 20, two bearing seats 31 fixedly connected with the hip joint upper connecting plate 30, a hip joint rotating shaft 32 rotatably arranged on the two bearing seats 31 along the adduction/outswing direction of the hip joint of the human body 18, a connecting piece 33 fixedly connected with the hip joint rotating shaft 32, and a plate spring 34 with an upper end fixedly connected with the hip joint upper connecting plate 30 and a lower end fixedly connected with the connecting piece 33;
The leaf spring 34 stores energy due to deformation when the link 33 performs adduction/adduction movement with the hip joint. Namely, when the hip joint of the human body 18 performs adduction/outswing actions, the connecting piece 33 is driven by thighs to perform adduction/outswing movements, the connecting piece 33 can squeeze the plate spring 34, so that the plate spring 34 is inwards/outwards bent and deformed to store energy, and auxiliary return power is provided for resetting the connecting piece 33 (when adduction is performed, the plate spring 34 is inwards bent to have elastic force of the outswing, and when the hip joint is reset, external auxiliary power is provided, when the hip joint is reset, the plate spring 34 is outwards bent to have the elastic force of the adduction, and when the hip joint is reset, the inward auxiliary power is provided).
The hip joint driving mechanism 4 comprises a hip joint driving wheel 40 rotatably arranged at the lower end of the connecting piece 33, a hip joint lower connecting plate 41 fixedly connected with the hip joint driving wheel 40 and a hip joint binding belt 42 connected with the hip joint lower connecting plate 41 and used for fixedly sleeving the thigh; the left and right hip drive wheels 40 are respectively in driving connection with the first drive motor assembly 11 and the second drive motor assembly 12 by two pairs of first ropes 80. When the hip joint driving wheel 40 rotates, the lower hip joint connecting plate 41 is driven to rotate, thighs are driven to act, and the hip joint driving wheel 40 rotates in two directions to realize flexion and extension movements of the hip joint.
The principle of the rope transmission is described by taking the transmission of the motor driving wheel 102 and the knee joint driving wheel 52 as an example, specifically: each pair of first ropes 80 comprises two ropes, two ends of each rope are respectively fixed on the motor driving wheel 102 and the knee joint driving wheel 52, the winding directions of the two ropes on the motor driving wheel 102 are opposite, and the knee joint driving wheel 52 is driven to rotate forward and reversely when the motor driving wheel 102 rotates forward and reversely, so that driving connection is realized. The rope transmission principle in the knee joint driving mechanism 5 and the ankle joint driving mechanism 6 is the same.
Referring to fig. 7 to 13, in the present embodiment, the knee joint driving mechanism 5 includes a knee joint upper connection plate 50 connected to a hip joint lower connection plate 41 through a thigh link 43, an upper mounting plate 51 connected to a lower end of the knee joint upper connection plate 50, a knee joint driving wheel 52 rotatably connected to the upper mounting plate 51, a first link 53 rotatably connected to the upper mounting plate 51 at a first end, a first driven wheel 54 rotatably connected to a second end of the first link 53, a second link 55 fixedly connected to the first driven wheel 54 at a first end, a second driven wheel 56 rotatably connected to a second end of the second link 55, a lower mounting plate 57 fixedly connected to the second driven wheel 56, and a knee joint lower connection plate 58 connected to a lower end of the lower mounting plate 57;
The knee joint driving wheel 52 is in driving connection with at least one driving motor assembly through a second rope 81, and the knee joint driving wheel 52, the first driven wheel 54 and the second driven wheel 56 are in driving connection in sequence through a transmission rope 83;
Knee thigh straps 500 for securing to the thigh are attached to the knee upper connecting plate 50, and knee calf straps 580 for securing to the calf are attached to the knee lower connecting plate 58.
The upper mounting plate 51 is fixedly connected with a first connecting shaft 590, and the knee joint driving wheel 52 is rotatably connected to the first connecting shaft 590 through a first bearing 595; a second connecting shaft 592 is rotatably inserted into a shaft hole 591 formed in the first connecting shaft 590 through a second bearing 596, and the other end of the second connecting shaft 592 is fixedly connected with the first end of the first connecting rod 53; so that the knee drive wheel 52 can rotate relative to the upper mounting plate 51 and the first end of the first link 53 can also rotate relative to the upper mounting plate 51.
A second end of the first connecting rod 53 is fixedly connected with a third connecting shaft 593, and the first driven wheel 54 is rotatably connected to the third connecting shaft 593 through a third bearing 597; so that the rotation of the second end of the first link 53 drives the first driven wheel 54 to move, and the driving force transmitted by the knee joint driving wheel 52 through the rope can enable the first driven wheel 54 to rotate relative to the second end of the first link 53.
A first end of the second connecting rod 55 is fixedly connected with the first driven wheel 54, and a second end of the second connecting rod 55 is fixedly connected with a fourth connecting shaft 594; the second driven wheel 56 is rotatably coupled to a fourth coupling shaft 594 via a fourth bearing 598, and the lower mounting plate 57 is fixedly secured to the second driven wheel 56. So that the rotation of the second end of the second link 55 can drive the second driven wheel 56 to move, and the driving force transmitted by the knee joint driving wheel 52 through the rope can enable the second driven wheel 56 to rotate relative to the second end of the second link 55.
The following detailed description is made regarding the driving principle of the second rope 81 and the transmission rope 83 in the knee joint driving mechanism 5:
The second rope 81 includes a second left rope 810 and a second right rope 811 wound around the wheel surface of the knee-joint driving wheel 52 in opposite directions for inputting driving force to the knee-joint driving wheel 52, and the driving rope 83 includes a first driving rope 830 and a second driving rope 831 connected between the knee-joint driving wheel 52 and the first driven wheel 54, and a third driving rope 832 and a fourth driving rope 833 connected between the first driven wheel 54 and the second driven wheel 56.
The first end of the first drive cable 830 and the first end of the second drive cable 831 are wrapped around the tread of the knee joint drive wheel 52 in opposite directions, and the second end of the first drive cable 830 and the second end of the second drive cable 831 are wrapped around the tread of the first driven wheel 54 in opposite directions;
The first end of the third drive cable 832 is wound in an opposite direction from the first end of the fourth drive cable 833 on the tread of the first driven wheel 54 and the second end of the third drive cable 832 is wound in an opposite direction from the second end of the fourth drive cable 833 on the tread of the second driven wheel 56. In one embodiment, all of the ropes are implemented on the corresponding wheels by a fixed block 834, the fixed block 834 being connected to the rope end, and the fixed block 834 being fixed to the wheels.
Taking the mechanism on the left leg as an example, the operation principle of the knee joint driving mechanism 5 is as follows:
Referring to fig. 14, pulling force is provided to the second left rope 810, the knee joint driving wheel 52 rotates clockwise, and the knee joint driving wheel 52 rotates clockwise through the first transmission rope 830 to drive the first driven wheel 54; the first driven wheel 54 drives the second driven wheel 56 to rotate clockwise through the third transmission rope 832, and simultaneously, the rotation of the first driven wheel 54 makes the second connecting rod 55 rotate clockwise around the first end of the second connecting rod 55, so that the lower mounting plate 57 on the second end of the second connecting rod 55 rotates clockwise, and the lower leg can be driven to realize leg bending; because the first end of the first link 53 is rotatable relative to the upper mounting plate 51, the second end of the first link 53 is rotatable relative to the first driven wheel 54, and the second link 55 rotates to move the first driven wheel 54 away from the knee joint (i.e., the first driven wheel 54 moves away from the knee joint when the leg is bent, so that the sliding of the knee joint during bending can be adapted without causing pressure on the knee joint).
Referring to fig. 15, pulling force is applied to the second right rope 811, the knee-joint driving wheel 52 rotates counterclockwise, and the knee-joint driving wheel 52 drives the first driven wheel 54 to rotate counterclockwise through the second transmission rope 831; the first driven wheel 54 drives the second driven wheel 56 to rotate anticlockwise through the fourth transmission rope 833, and meanwhile, the rotation of the first driven wheel 54 enables the second connecting rod 55 to rotate anticlockwise around the first end of the second connecting rod, so that the lower mounting plate 57 on the second end of the second connecting rod 55 rotates anticlockwise, and the lower leg can be driven to realize the leg stretching action; since the first end of the first link 53 is rotatable relative to the upper mounting plate 51, the second end of the first link 53 is rotatable relative to the first driven wheel 54, and the second link 55 is rotatable, so that the first driven wheel 54 can move in the knee joint direction (i.e., the first driven wheel 54 can move in the knee joint direction when the lower leg is extended), thereby being able to adapt to the sliding of the knee joint without causing pressure on the knee joint.
Referring to fig. 16 to 17, in the present embodiment, the ankle driving mechanism 6 includes an ankle upper connecting plate 60 connected to a knee lower connecting plate 58 through a lower leg link 63, an ankle driving wheel 61 rotatably connected to the ankle upper connecting plate 60, and an ankle lower connecting plate 62 fixedly connected to the ankle driving wheel 61;
An ankle calf strap 64 is connected to the ankle lower connecting plate 62;
the left and right ankle driving wheels 61 are respectively and drivingly connected to the fifth driving motor assembly 15 and the sixth driving motor assembly 16 through two pairs of third ropes 82. When the ankle joint driving wheel 61 rotates, the ankle joint lower connecting plate 62 is driven to rotate, the foot is driven to act, and the ankle joint driving wheel 61 rotates in two directions to realize the flexion and extension movement of the foot.
Referring to fig. 16-17, in this embodiment, the plantar support mechanism 7 is rotatably connected to the ankle joint lower connecting plate 62 through the second passive energy storage assembly 9, and the plantar support mechanism 7 includes a sole plate 70, a foot strap 71 provided on the sole plate 70, and a support post 72 connected to the sole plate 70 for connection to the second passive energy storage assembly 9.
Referring to fig. 18 to 19, in the present embodiment, the second passive energy storage assembly 9 includes a first upper rotating link 90 and a second upper rotating link 91, both ends of which are rotatably connected to the ankle joint lower link 62, a first intermediate rotating link 92, both ends of which are rotatably connected to the first upper rotating link 90 and the second upper rotating link 91, at least one first energy storage elastic block 93, both ends of which are rotatably connected to the first upper rotating link 90 and the second upper rotating link 91, a first lower rotating link 94, both ends of which are rotatably connected to the second end of the first upper rotating link 90, a second lower rotating link 95, both ends of which are rotatably connected to the first lower rotating link 94 and the second lower rotating link 95, respectively, and at least one second energy storage elastic block 97, both ends of which are rotatably connected to the first lower rotating link 94 and the second lower rotating link 95, respectively;
The second ends of the first lower rotatable connecting rod 94 and the second lower rotatable connecting rod 95 are rotatably connected to the support post 72.
The second passive energy storage assembly 9 passively stores energy as the foot is everted, thereby providing auxiliary power for repositioning the foot. Taking the mechanism on the left leg as an example for illustration, the specific working principle of the second passive energy storage component 9 is as follows:
Referring to fig. 20, the foot is in a vertical state, and the first energy storage bullet 93 and the second energy storage bullet 97 are in an original length state and do not store energy;
Referring to fig. 21, the foot is in an everted state, and at this time, with fig. 20 as a comparison object, the first upper rotating connecting rod 90 and the second upper rotating connecting rod 91 rotate clockwise relative to the ankle joint lower connecting plate 62, the first lower rotating connecting rod 94 and the second lower rotating connecting rod 95 rotate simultaneously, and the first energy storage elastic block 93 is compressed and the second energy storage elastic block 97 is stretched, so that auxiliary return power is provided when the foot is reset inwards, and the foot is helped to reset;
Referring to fig. 22, the foot is in an inversion state, and at this time, with fig. 20 as a comparison object, the first upper rotating connecting rod 90 and the second upper rotating connecting rod 91 rotate counterclockwise relative to the ankle joint lower connecting plate 62, the first lower rotating connecting rod 94 and the second lower rotating connecting rod 95 rotate simultaneously, and are in an expansion trend, the first energy storage elastic block 93 is stretched, and the second energy storage elastic block 97 is compressed, so that auxiliary return power is provided when the foot is reset outwards, and the foot is helped to reset.
In the present invention, since the external driving device provides driving force to the device through the rope, the driving device can be disposed at the back far from the joint to reduce the weight at the joint. The wire tube is sleeved outside the rope exposed outside, the wire tube is made of hard materials which are bent, and when the rope stretches and slides in the wire tube, the wire tube can basically keep still, and a plurality of ropes are prevented from interfering or winding with each other.
In an alternative embodiment, the waist strap 21, knee thigh strap 500, knee shank strap 580, ankle shank strap 64, foot strap 71 are all elastic; the thigh link 43 and the shank link 63 can be telescopically adjusted, so that the device can be applied to people with different body types.
Although embodiments of the present invention have been disclosed above, it is not limited to the use of the description and embodiments, it is well suited to various fields of use for the invention, and further modifications may be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the particular details without departing from the general concepts defined in the claims and the equivalents thereof.
Claims (7)
1. Lower limb rehabilitation exoskeleton based on rope transmission, which is characterized by comprising: the backpack device, the waist fixing device and the left driving mechanism and the right driving mechanism which are symmetrically connected to the left side and the right side of the waist fixing device;
The left driving mechanism and the right driving mechanism have the same structure and comprise a hip joint driving mechanism connected with the waist fixing device, a knee joint driving mechanism connected with the lower end of the hip joint driving mechanism, an ankle joint driving mechanism connected with the lower end of the knee joint driving mechanism and a plantar support mechanism connected with the lower end of the ankle joint driving mechanism;
A plurality of driving motor assemblies are arranged in the backpack device, and each of the hip joint driving mechanism, the knee joint driving mechanism and the ankle joint driving mechanism is respectively connected with at least one driving motor assembly through rope driving;
The hip joint driving mechanism has a flexion-extension degree of freedom realized by driving of one driving motor assembly and an adduction/external swing degree of freedom realized by a first passive energy storage assembly;
The knee joint driving mechanism has a bending and stretching degree of freedom and a movement degree of freedom in the direction of the knee joint or the direction far away from the knee joint, which are realized by driving of a driving motor assembly;
The ankle joint driving mechanism has a flexion and extension degree of freedom realized by driving of one driving motor assembly and an varus/valgus degree of freedom realized by a second passive energy storage assembly;
The knee joint driving mechanism comprises a knee joint upper connecting plate connected with the hip joint lower connecting plate through a thigh connecting rod, an upper mounting plate connected to the lower end of the knee joint upper connecting plate, a knee joint driving wheel rotatably connected to the upper mounting plate, a first connecting rod with a first end rotatably connected with the upper mounting plate, a first driven wheel rotatably connected to the second end of the first connecting rod, a second connecting rod with a first end fixedly connected with the first driven wheel, a second driven wheel rotatably connected to the second end of the second connecting rod, a lower mounting plate fixedly connected to the second driven wheel and a knee joint lower connecting plate connected to the lower end of the lower mounting plate;
The knee joint driving wheel is in driving connection with at least one driving motor assembly through a second rope, and the knee joint driving wheel, the first driven wheel and the second driven wheel are in driving connection in sequence through transmission ropes;
the knee joint upper connecting plate is connected with a knee joint thigh strap which is used for being fixed on the thigh, and the knee joint lower connecting plate is connected with a knee joint shank strap which is used for being fixed on the shank;
The upper mounting plate is fixedly connected with a first connecting shaft, and the knee joint driving wheel is rotatably connected to the first connecting shaft through a first bearing; a second connecting shaft is rotatably inserted in a shaft hole formed in the first connecting shaft through a second bearing, and the other end of the second connecting shaft is fixedly connected with the first end of the first connecting rod;
A second end of the first connecting rod is fixedly connected with a third connecting shaft, and the first driven wheel is rotatably connected to the third connecting shaft through a third bearing;
The first end of the second connecting rod is fixedly connected with the first driven wheel, and the second end of the second connecting rod is fixedly connected with a fourth connecting shaft; the second driven wheel is rotatably connected to the fourth connecting shaft through a fourth bearing, and the lower mounting plate is fixedly connected to the second driven wheel;
The ankle joint driving mechanism comprises an ankle joint upper connecting plate connected with the knee joint lower connecting plate through a lower leg connecting rod, an ankle joint driving wheel rotatably connected on the ankle joint upper connecting plate and an ankle joint lower connecting plate fixedly connected with the ankle joint driving wheel;
the ankle joint lower connecting plate is connected with an ankle joint shank binding band;
The ankle joint driving wheel is in driving connection with at least one driving motor component through a third rope.
2. The rope drive based lower limb rehabilitation exoskeleton of claim 1 wherein said lumbar fixation means comprises a fixation plate, a lumbar strap attached to said fixation plate and a backrest disposed inside said fixation plate.
3. The rope transmission-based lower limb rehabilitation exoskeleton of claim 2, wherein the hip joint driving mechanism is rotatably connected with the fixed plate through a first passive energy storage component, and the first passive energy storage component comprises a hip joint upper connecting plate fixedly connected with the fixed plate, two bearing seats fixedly connected with the hip joint upper connecting plate, a hip joint rotating shaft rotatably arranged on the two bearing seats along the adduction/outstation direction of a human hip joint, a connecting piece fixedly connected with the hip joint rotating shaft, and a plate spring with the upper end fixedly connected with the hip joint upper connecting plate and the lower end fixedly connected with the connecting piece;
the leaf spring stores energy due to deformation when the connecting piece moves adduction/outswing along with the hip joint.
4. The rope transmission-based lower limb rehabilitation exoskeleton of claim 3, wherein said hip joint driving mechanism comprises a hip joint driving wheel rotatably arranged at the lower end of said connecting piece, a hip joint lower connecting plate fixedly connected with said hip joint driving wheel, and a hip joint bandage connected with said hip joint lower connecting plate and used for fixedly sleeving on the thigh;
the hip joint driving wheel is in driving connection with at least one driving motor assembly through a first rope.
5. The rope drive based lower limb rehabilitation exoskeleton of claim 4 wherein said plantar support mechanism is rotatably connected to said ankle joint lower connecting plate by said second passive energy storage assembly, said plantar support mechanism comprising a sole plate, a foot strap disposed on said sole plate, and a support post connected to said sole plate for connection to said second passive energy storage assembly.
6. The rope-driven lower limb rehabilitation exoskeleton of claim 5 wherein said second passive energy storage assembly comprises a first upper rotating connecting rod and a second upper rotating connecting rod each rotatably connected at a first end to said ankle joint lower connecting plate, a first intermediate rotating connecting rod each rotatably connected at both ends to said first upper rotating connecting rod and said second upper rotating connecting rod, at least one first energy storage elastic block each rotatably connected at both ends to said first upper rotating connecting rod and said second upper rotating connecting rod, a first lower rotating connecting rod each rotatably connected at a first end to said second end of said first upper rotating connecting rod, a second lower rotating connecting rod each rotatably connected at a first end to said second end of said second upper rotating connecting rod, a second intermediate rotating connecting rod each rotatably connected at both ends to said first lower rotating connecting rod and said second lower rotating connecting rod, and at least one second energy storage elastic block each rotatably connected at both ends to said first lower rotating connecting rod and said second lower rotating connecting rod;
The second ends of the first lower rotating connecting rod and the second lower rotating connecting rod are rotatably connected with the supporting column.
7. The rope drive-based lower limb rehabilitation exoskeleton of claim 4, wherein said drive motor assembly comprises a motor, a decelerator drivingly connected to an output of said motor, and a motor drive wheel drivingly connected to an output of said decelerator;
The driving motor assemblies comprise 6 first driving motor assemblies and second driving motor assemblies which are respectively in driving connection with 2 hip joint driving wheels through the first ropes, third driving motor assemblies and fourth driving motor assemblies which are in driving connection with 2 knee joint driving wheels through the second ropes, and fifth driving motor assemblies and sixth driving motor assemblies which are in driving connection with 2 ankle joint driving wheels through the third ropes.
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| CN114248257A (en) * | 2021-04-05 | 2022-03-29 | 新加坡国立大学 | Cable-driven human lower limb movement assisting device |
| CN113183130B (en) * | 2021-04-23 | 2023-07-18 | 中国科学院深圳先进技术研究院 | Bionic triaxial intersection type exoskeleton robot hip joint |
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