CN111603362A - Lower limb skeleton robot - Google Patents
Lower limb skeleton robot Download PDFInfo
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- CN111603362A CN111603362A CN202010447817.9A CN202010447817A CN111603362A CN 111603362 A CN111603362 A CN 111603362A CN 202010447817 A CN202010447817 A CN 202010447817A CN 111603362 A CN111603362 A CN 111603362A
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- user
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- waist
- connecting rod
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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
-
- 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
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
- A61H2201/1472—Planetary gearing
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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
- 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
Abstract
The invention discloses a lower limb skeleton robot, which comprises: the robot comprises a waist support, a plurality of moment sensors, a plurality of driving devices, a plurality of connecting rods and a control system, wherein the waist support connects the robot with the waist of a user, the moment sensors are distributed on two sides of the lower limbs of the user and are respectively positioned at the waist and the knees of the user, the driving devices are distributed on two sides of the lower limbs of the user and are respectively positioned at the waist and the knees of the user, the connecting rods are distributed on two sides of the lower limbs of the user and are arranged in parallel with the skeleton of the lower limbs of the user, the moment sensors and the driving devices on the waist of the same side are connected with the moment sensors and the driving devices on the knees through the connecting rods, after the moment sensors acquire the force acted on the connecting rods by the user, the moment is determined and sent to the control system, so that the control system controls the driving devices to drive the connecting rods to drive the lower limbs of the user to move, reduce the injury of waist and knees and reduce the sports fatigue generated during working.
Description
Technical Field
The invention relates to the field of robots, in particular to a lower limb skeleton robot.
Background
The lower limb robot is mostly embodied in the medical industry in the prior art, assists patients with diseases to perform rehabilitation training, or provides assistance for the old with lower limb mobility inconvenience. For example, the lower limb walking ability of the elderly is reduced, and diseases such as hemiplegia and apoplexy cause walking disorder of the elderly. The lower limb robot provides active lower limb assistance for the user.
In the current production life, frequent walking of people is needed during a lot of activities or production work, corresponding work is completed through squatting and rising actions, and frequent active control of the lower limb robot is inconvenient to carry out corresponding work, such as sorting and carrying work of commodities, physical strength consumption and heart force. So that the staff can consume physical strength and heart force during working. Frequent such actions can lead to physical fatigue and reduce the enthusiasm of people.
Disclosure of Invention
The embodiment of the invention provides a lower limb skeleton robot which is used for saving physical strength of a user, reducing waist and knee injuries and reducing sports fatigue generated during work.
A lower extremity skeletal robot, comprising: the waist support device comprises a waist support, a plurality of torque sensors, a plurality of driving devices, a plurality of connecting rods and a control system;
the waist support is used for connecting the robot with the waist of the user;
the moment sensors are distributed on two sides of the lower limbs of the user and are respectively positioned on the waist and the knees of the user; the plurality of driving devices are distributed on two sides of the lower limbs of the user and are respectively positioned at the waist and the knees of the user; the connecting rods are distributed on two sides of the lower limb of the user and are arranged in parallel with the skeleton of the lower limb of the user; wherein, the moment sensor and the driving device of the waist part positioned on the same side are connected with the moment sensor and the driving device of the knee part through a connecting rod;
the moment sensor acquires the force of the user acting on the connecting rod, determines the moment and sends the moment to the control system;
the control system is arranged on the waist support and used for controlling the driving device to drive the connecting rod to drive the lower limbs of the user to move according to the moment.
According to the technical scheme, the lower limbs of a user are simulated according to the waist support, the driving device and the connecting rods, the moment sensor is installed in the driving device, the walking, squatting or standing instructions of the user are obtained, then the control system controls the driving device to drive the connecting rods to drive the lower limbs of the user to move according to the instructions, and therefore when the user walks, squats or stands, the physical strength of the user is saved, waist and knee injuries are reduced, and the sports fatigue generated during working is reduced.
Optionally, the driving device includes a motor and the planetary reducer;
the motor is used for receiving a driving signal of the control system and driving the planetary reducer to rotate;
the planetary reducer is used for driving the connecting rod to rotate, and the rotating speed of the connecting rod is adjusted and the steering of the connecting rod is controlled under the control of the driving signal.
In the technical scheme, the motor receives the driving signal, changes the rotating speed through the planetary reducer, and further adjusts the rotating speed of the connecting rod and the steering direction of the connecting rod so as to assist a user in walking, squatting or standing.
Optionally, the driving signal includes start and stop, a rotation direction, and a rotation speed of the motor.
In the technical scheme, the starting, stopping, rotating direction and rotating speed of the motor are controlled so as to realize the swinging speed of the connecting rod and simulate the actions of walking, squatting or standing of a user.
Optionally, the planetary reducer is provided with a fixing pin;
the fixed pin is used for stopping the planetary reducer rotates, so that the robot keeps acting.
Among the above-mentioned technical scheme, go out through planetary reducer and set up the fixed pin to make the user can the stasis at any time planetary reducer rotates to this help user keeps fixed action, need not use user knee joint and the hard support of waist, thereby saves user's physical power, reduces waist knee damage, reduces the sports fatigue that the during operation produced.
Optionally, the robot further comprises a legging;
the puttee is positioned on the connecting rod and used for fixing the connecting rod on the leg of the user.
Among the above-mentioned technical scheme, make connecting rod and user's shank be connected through the puttee to wear to unload simply when making the user use, promote user's experience.
Optionally, the robot further comprises an adjusting plate;
the adjusting plate is connected with the driving device of the knee for adjusting the position of the legging on the connecting rod.
Among the above-mentioned technical scheme, the regulating plate is according to user's leg length difference, adjusts the position of binding of above-mentioned puttee at user's shank to make the puttee bind more firmly, more nimble, promote user's experience.
Optionally, the robot comprises a power supply device;
the power supply device is arranged in the control system and used for providing power for the robot.
Among the above-mentioned technical scheme, set up power supply unit in control system, when providing the power for whole robot, reduce the structural design of robot, make robot simple structure, the user of being convenient for uses or saves, promotes user's experience.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a lower limb skeletal robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a lower limb skeletal robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 exemplarily shows a schematic structural diagram of a lower limb skeletal robot according to an embodiment of the present invention, fig. 1 a is a front view of the lower limb skeletal robot, and fig. 1 b is a side view of the lower limb skeletal robot, including: waist support 100, torque sensor 200, drive device 300, link 400 and control system 500.
The waist support 100 is used to connect the robot to the waist of the user, thereby fixing the robot to the waist of the user.
The moment sensors 200, which are only exemplarily indicated in fig. 1 where the moment sensors 200 are located, are actually distributed on both sides of the lower limbs of the user, and there may be a plurality of moment sensors 200, which are respectively located at the waist and the knees of the user.
The drive means 300, which in fig. 1 is only exemplarily indicated where the drive means 300 is located, may be physically distributed on both sides of the lower limbs of the user, and there may be a plurality of drive means 300, respectively located at the waist and the knees of the user.
The control system 500 is provided on the waist support 100.
The moment sensor 200 and the drive device 300 provided on the waist portion on the same side are connected to the moment sensor 200 and the drive device connection 300 of the knee portion via the link 400.
The torque sensor 200 obtains the force of the user acting on the connecting rod 400, determines the torque, and sends the torque to the control system 500, and then the control system 500 controls the driving device 300 to drive the connecting rod 400 to drive the lower limb of the user to move according to the torque, as described in the following specific embodiment.
Example 1
After the user A is connected with the robot, the user A performs squat action, the connecting rod 400 obtains force generated when the user squats, so that the torque sensor 200 obtains the force of the user acting on the connecting rod 400, the direction of the torque generated by the connecting rod during squat is determined to be upward, the torque is sent to the control system 500, and the control system 500 controls the driving device 300 to rotate anticlockwise according to the direction in the torque so as to enable the connecting rod to move upwards and drive the user A to squat.
Specifically, the driving device 300 includes a motor and a planetary reducer, the motor is configured to receive a driving signal of the control system 500, and then drive the planetary reducer to rotate, so that the planetary reducer drives the connecting rod 400 to rotate, and the rotating speed of the connecting rod 400 is adjusted and the steering direction of the connecting rod 400 is controlled under the control of the driving signal, so as to simulate the actions of the user, assist the user in completing different actions, save the physical strength of the user, and reduce the waist and knee injuries.
Further, drive signal includes opening of motor and stops, rotation direction and rotational speed, and opening through the control motor stops, the multiple action that the rotation direction can assist the user, walking and squat etc. can control user's rate of motion through the rotational speed, for example help the faster walking of staff, help the staff that has the pain to reduce squat and walking speed.
Fig. 2 is a schematic diagram illustrating a structure of a part of a lower limb skeletal robot, as shown in fig. 2, a fixed pin 600 is provided at a planetary reducer, and the fixed pin 600 is used for rotation of the planetary reducer in the stagnation torque sensor 200, so that the connecting rod 400 is kept still to keep the robot in motion. The material of the connecting rod 400 may be a carbon fiber material, which has physical properties such as light weight, high strength, and high hardness, and can be used for bearing load.
For example, the user needs to work for a long time in a half-squat state when working, so the user presses the fixing pin 600 when the user is in the half-squat state and reaches a working height, the planetary reducer is suspended from rotating, the connecting rod is kept still, and the robot is kept still, because of the physical properties of the material of the connecting rod 400, the user does not need to use the waist and the knee joint to support when the user is in the half-squat state, so that the waist and knee injury is reduced, and the physical strength of the user is saved.
As shown in fig. 2, the robot further comprises a puttee 700, the puttee 700 is located on the connecting rod 400 and is used for fixing the connecting rod 400 on the leg of the user so as to realize connection and combination with the waist, so that the robot is completely connected with the lower limb of the user, and the motion of the user is better simulated.
Illustratively, the robot further comprises an adjusting plate 800, the adjusting plate 800 is connected with the driving device 300 for knee for adjusting the position of the puttee on the connecting rod 400, for example, the height of the user B is 160cm, the lower leg is shorter, when the robot is used, the puttee 700 needs to be adjusted, the distance between the puttee 700 and the driving device 300 for knee is shorter, after the user B takes off the robot, the user C wears the robot, the height of the user B is 190cm, the lower leg is longer, and by adjusting the puttee 700, the user can be firmer and more flexible when the robot is fixed by using the puttee 700.
The robot further includes a power supply device, which is disposed in the control system 500 and is used for providing power for the robot, and the power supply device includes a rechargeable lithium battery.
In order to better explain the above technical solutions, the following description will be given under specific examples.
Example 2
Referring to b in fig. 1, when the user C works, a squat behavior is generated, so that the link 400 has a moment in a counterclockwise direction centering on the driving device 300 at the waist, the moment is acquired by the moment sensor 200 and then sent to the control system 500, the control system 500 sends a current driving signal to the driving device 300, the current driving signal is that the motor in the driving device 300 rotates counterclockwise, the rotation speed is 400r/min (revolutions per minute), the reduction ratio of the planetary reducer in the driving device 300 is 100, the rotation speed output through the planetary reducer is 4/min by calculation, the link 400 is controlled to rotate counterclockwise according to the speed of 4/min, the execution time of the driving signal is 3 seconds, the robot assists the user C to squat for 3 seconds, and the current driving signal is ended.
It should be noted that, if the current driving signal is not executed, and a next driving signal different from the rotation direction of the motor in the current driving signal is obtained, the current driving signal is ended, and the next driving signal is executed. For example, as described in connection with example 2 above, the current drive signal is executed for 1.5 seconds at the robot. The user C generates a standing behavior, so that the link 400 has a moment in a clockwise direction centering on the driving device 300 at the waist, after the moment sensor 200 acquires the moment in the clockwise direction, the moment is sent to the control system 500, the control system 500 sends a next driving signal to the driving device 300, the next driving signal is that the motor in the driving device 300 rotates clockwise, the rotating speed is 400r/min (revolutions per minute), the reduction ratio of the planetary reducer in the driving device 300 is 100, the rotating speed output through the planetary reducer is 4/min through calculation, the link 400 is controlled to rotate clockwise according to the speed of 4/min, the execution time of the driving signal is 1.5 seconds, the robot assists the user C to stand for 1.5 seconds, so that the user returns to the initial action, and the driving signal is ended.
In the embodiment of the invention, the moment of the next action of the human body is acquired through the moment sensor, and the force generated by the synergistic action of the planetary speed reducers at the waist and the knee is transmitted to the waist and the knee joint of the user through the connecting rod under the control of the control system, so that the waist and knee injury of the user is reduced, and the body fatigue of the user is reduced.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (7)
1. A lower extremity skeletal robot, comprising: the waist support device comprises a waist support, a plurality of torque sensors, a plurality of driving devices, a plurality of connecting rods and a control system;
the waist support is used for connecting the robot with the waist of the user;
the moment sensors are distributed on two sides of the lower limbs of the user and are respectively positioned on the waist and the knees of the user; the plurality of driving devices are distributed on two sides of the lower limbs of the user and are respectively positioned at the waist and the knees of the user; the connecting rods are distributed on two sides of the lower limb of the user and are arranged in parallel with the skeleton of the lower limb of the user; wherein, the moment sensor and the driving device of the waist part positioned on the same side are connected with the moment sensor and the driving device of the knee part through a connecting rod;
the moment sensor acquires the force of the user acting on the connecting rod, determines the moment and sends the moment to the control system;
the control system is arranged on the waist support and used for controlling the driving device to drive the connecting rod to drive the lower limbs of the user to move according to the moment.
2. A robot as claimed in claim 1, wherein said drive means comprises a motor and said planetary reducer;
the motor is used for receiving a driving signal of the control system and driving the planetary reducer to rotate;
the planetary reducer is used for driving the connecting rod to rotate, and the rotating speed of the connecting rod is adjusted and the steering of the connecting rod is controlled under the control of the driving signal.
3. A robot as claimed in claim 2, wherein the drive signals include start and stop, direction of rotation and speed of rotation of the motor.
4. The robot according to claim 2, wherein the planetary reducer is provided with a fixing pin;
the fixed pin is used for stopping the planetary reducer rotates, so that the robot keeps acting.
5. A robot as claimed in any of claims 1 to 4, further comprising a legging;
the puttee is positioned on the connecting rod and used for fixing the connecting rod on the leg of the user.
6. A robot as claimed in claim 5, further comprising an adjustment plate;
the adjusting plate is connected with the driving device of the knee for adjusting the position of the legging on the connecting rod.
7. A robot as claimed in claim 1, characterized in that the robot comprises power supply means;
the power supply device is arranged in the control system and used for providing power for the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010447817.9A CN111603362A (en) | 2020-05-25 | 2020-05-25 | Lower limb skeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010447817.9A CN111603362A (en) | 2020-05-25 | 2020-05-25 | Lower limb skeleton robot |
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| Publication Number | Publication Date |
|---|---|
| CN111603362A true CN111603362A (en) | 2020-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010447817.9A Pending CN111603362A (en) | 2020-05-25 | 2020-05-25 | Lower limb skeleton robot |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| WO2014039134A1 (en) * | 2012-09-07 | 2014-03-13 | The Regents Of The University Of California | Controllable passive artificial knee |
| WO2016083650A1 (en) * | 2014-11-27 | 2016-06-02 | Marsi Bionics S.L. | Exoskeleton for assisting human movement |
| CN106859922A (en) * | 2017-03-13 | 2017-06-20 | 张萌 | A kind of lower limb assistance exoskeleton robot based on variable flexibility joint |
| CN107690375A (en) * | 2017-06-22 | 2018-02-13 | 深圳市肯綮科技有限公司 | Portable power joint arrangement and lower limb assistance exoskeleton equipment and its control method |
| CN108904221A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | Stiffness variable elastic multifunctional driver and its motion control method |
| CN109172289A (en) * | 2018-10-16 | 2019-01-11 | 合肥工业大学 | Hip joint healing ectoskeleton and its motion control method based on multifunction drive |
| CN109646245A (en) * | 2019-01-14 | 2019-04-19 | 浙江孚邦科技有限公司 | One kind being used for lower limb exoskeleton robot steering mechanism |
-
2020
- 2020-05-25 CN CN202010447817.9A patent/CN111603362A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| WO2014039134A1 (en) * | 2012-09-07 | 2014-03-13 | The Regents Of The University Of California | Controllable passive artificial knee |
| WO2016083650A1 (en) * | 2014-11-27 | 2016-06-02 | Marsi Bionics S.L. | Exoskeleton for assisting human movement |
| CN106859922A (en) * | 2017-03-13 | 2017-06-20 | 张萌 | A kind of lower limb assistance exoskeleton robot based on variable flexibility joint |
| CN107690375A (en) * | 2017-06-22 | 2018-02-13 | 深圳市肯綮科技有限公司 | Portable power joint arrangement and lower limb assistance exoskeleton equipment and its control method |
| CN108904221A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | Stiffness variable elastic multifunctional driver and its motion control method |
| CN109172289A (en) * | 2018-10-16 | 2019-01-11 | 合肥工业大学 | Hip joint healing ectoskeleton and its motion control method based on multifunction drive |
| CN109646245A (en) * | 2019-01-14 | 2019-04-19 | 浙江孚邦科技有限公司 | One kind being used for lower limb exoskeleton robot steering mechanism |
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Application publication date: 20200901 |