CN112022618A - Rigid-flexible coupling wearable walking-aid exoskeleton system - Google Patents
Rigid-flexible coupling wearable walking-aid exoskeleton system Download PDFInfo
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- CN112022618A CN112022618A CN202010913476.XA CN202010913476A CN112022618A CN 112022618 A CN112022618 A CN 112022618A CN 202010913476 A CN202010913476 A CN 202010913476A CN 112022618 A CN112022618 A CN 112022618A
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- 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
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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
- A61H2201/12—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
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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
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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
- A61H2201/1628—Pelvis
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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
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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
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention relates to a rigid-flexible coupling wearable walking-aid exoskeleton system, which comprises a power-assisted system and a supporting system, wherein the power-assisted system comprises a power-assisted device and a power-assisted device; the helping hand system is including being used for wearing this ectoskeleton system in the waist wearing mechanism on user's health, being used for driving the power unit that user's thigh lifted or put down, braced system includes the support chain that forms by connecting a plurality of support sections, and the support chain is class backbone bionic structure, but each support section rotates at sagittal plane wide-angle, has small rotation in coronal plane and horizontal plane, can not lead to the fact the interference to knee joint, ankle joint department at human low limbs motion in-process, and braced system and power unit drive are connected, and at the in-process of human low limbs motion, can provide the helping hand when supporting mutually, move along with human low limbs when the swing is mutually. The invention has simple structure, light weight, comfortable wearing, convenient wearing and taking off and high coordination with the motion of the lower limbs of the human body, and not only can help walking, but also can provide supporting assistance.
Description
Technical Field
The invention relates to the field of exoskeletons, in particular to a rigid-flexible coupling wearable walking-aid exoskeletons system.
Background
With the increase of age, the function of the human body gradually decreases to cause muscular atrophy, resulting in mobility inconvenience. The wearable exoskeleton capable of providing physical functions and assisting walking is suitable for transportation. The wearable exoskeleton is widely applied to the military field, the medical rehabilitation field and the like. If in the military field, the heavy-assistance exoskeleton robot can meet the requirement of individual load bearing, and in the medical rehabilitation field, the assisted exoskeleton robot can meet the requirements of patients with paralyzed lower limbs and inconvenient walking.
One criterion for evaluating the wearable exoskeleton should consider user comfort in addition to accomplishing the intended function. Coordination of human lower limb movement and exoskeleton movement is also one of the important directions in current wearable exoskeleton research.
The wearable exoskeleton comprises a rigid exoskeleton and a flexible exoskeleton, in the related technology, the rigid wearable exoskeleton is mostly hinged at hip joints, knee joints and ankle joints, if a four-bar mechanism drives a large leg and a small leg to move, the exoskeleton only considers the front and back extension movement of the knee joints, slight rotation movement is omitted, the human-computer fit is poor, and the exoskeleton movement and the lower limb movement law of a human body are different. Compare in rigid robot, flexible helping hand robot has low inertia, dresses comfortable advantage, but most flexible helping hand robots only play the helping hand effect, can't play the effect of supporting low limbs, so still have great problem to the old person's helping hand that suffers from arthritis helps capable.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the rigid-flexible coupling wearable walking-aid exoskeleton system which is convenient to assist, comfortable to wear, high in coordination, convenient to put on and take off, capable of assisting walking and further capable of providing supporting assistance.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a rigid-flexible coupling wearable walking-aid exoskeleton system comprises a power assisting system and a supporting system; the power-assisted system comprises a waist wearing mechanism for wearing the exoskeleton system on the body of a user and a power mechanism for driving the thighs of the user to lift or put down; the supporting system is in transmission connection with the power mechanism and comprises a supporting chain and a foot plate connected to the bottom of the supporting chain, the supporting chain comprises a plurality of supporting sections, the supporting sections are uniformly arranged along the height direction, two adjacent supporting sections are connected through a rocker arm slider mechanism, and two rolling grooves are formed in the supporting sections; the rocker arm sliding block mechanism comprises a horizontal connecting piece, a vertical connecting piece and two threaded universal balls, wherein the horizontal connecting piece and the vertical connecting piece are both of long strip-shaped plate structures, the horizontal connecting piece is provided with two first through holes in a penetrating manner along the length direction of the horizontal connecting piece, the threaded ends of the two threaded universal balls are respectively installed in the two first through holes of the horizontal connecting piece in a threaded connection manner, and the ball body ends of the two threaded universal balls are respectively connected into two rolling grooves of a supporting joint in a rolling manner; one end of the vertical connecting piece is pivotally connected to the middle part of the horizontal connecting piece, and the other end of the vertical connecting piece is pivotally connected to the other supporting section.
Preferably, the support section is of a butterfly-like structure, a clamping groove is formed in one side of the support section, a protrusion is formed in the other side of the support section, and the protrusion of one support section is accommodated in the clamping groove of the other support section.
Preferably, two first arc-shaped grooves are formed in one supporting section main body, a groove and two second arc-shaped grooves communicated with the groove are formed in the other supporting section main body, and the two first arc-shaped grooves are matched with the two second arc-shaped grooves one by one, so that two rolling grooves are formed in the supporting sections.
Preferably, be formed with two spring passageways and a screw thread passageway on the support festival, wear to be equipped with positioning spring in the spring passageway, the screw thread ring is installed at the both ends of screw thread passageway, positioning spring's one end is connected on the screw thread ring of a support festival, and the other end is connected on the screw thread ring of the support festival adjacent with it.
Preferably, be equipped with the support frame between sole and the support chain, the support frame is claw column structure, and its upper end pivot is connected on the support section, and the lower extreme is fixed on the sole, the branching department of support frame is connected with the bandage, user's ankle with the sole realizes linking firmly through this bandage.
Preferably, the waist wearing mechanism comprises a waist fixing plate, the waist fixing plate comprises a main body fixing plate and an auxiliary fixing plate, the main body fixing plate and the auxiliary fixing plate are both arc-shaped thin plate-shaped structures, the main body fixing plate and the auxiliary fixing plate are connected through a belt, and the length of the belt is adjustable; the waist wearing mechanism further comprises two braces, the two braces are connected to the two sides of the waist fixing plate respectively, the braces are of strip-shaped structures and made of flexible materials, and the lengths of the braces are adjustable. One end of the strap is fixed on the main body fixing plate, and the other end of the strap is fixed on the auxiliary fixing plate.
Preferably, the power mechanism comprises a pair of power components, the pair of power components are respectively connected to two sides of the waist fixing plate, the power mechanism component comprises a motor, a transmission unit and an execution unit, the execution unit comprises a curved surface structure matched with the shape of a thigh, the curved surface structure is fixedly connected with the thigh through a binding band, and the motor is used for driving the transmission unit to drive the curved surface structure to rotate so as to lift or put down the thigh.
Preferably, the transmission unit comprises a wire coil, a flexible rope, a tripod and a pulley; the wire coil is rotatably connected with an output shaft of the motor, the pulley is rotatably connected to the auxiliary fixing plate through a tripod, one end of the flexible rope is connected to the wire coil, and the other end of the flexible rope is connected with the execution unit after passing through the pulley; the execution unit comprises a first transmission piece, a rotating connection piece and a second transmission piece, the rotating connection piece is rotatably connected to the main body fixing plate, and the first transmission piece and the second transmission piece are respectively fixed to the upper side and the lower side of the rotating connection piece. The first transmission piece is connected with one end, extending out of the pulley, of the flexible rope.
Preferably, the first transmission piece comprises a connecting block and a first transmission rod, the connecting block is of a block structure and is provided with an ear hole for connecting the flexible rope, the first transmission rod is formed by bending a rod body, one end of the first transmission rod is fixed on the connecting block, and the other end of the first transmission rod is connected to the rotary connecting piece; the second transmission part comprises a second transmission rod and a curved surface rod, one end of the second transmission rod is fixed on the connecting block, and the other end of the second transmission rod is connected with the supporting system; the curved surface rod is connected to the second transmission rod, a curved surface used for matching with the thigh of the human body is arranged on the curved surface rod, and the curved surface rod is further connected with a binding belt used for fixing the curved surface rod on the thigh.
Preferably, the rotary connector comprises a rotary connector body, a first cartridge and a second cartridge; the main part fixed plate is connected with a mounting seat, the mounting seat is partially positioned below the main part fixed plate, the main part of the rotary connecting piece is rotatably connected to the lower part of the mounting seat through a ribbed plate, and the rotary connecting piece is rotatably connected with the mounting seat through a rolling bearing. The connecting piece comprises a rotating connecting piece body and is characterized in that a first lower clamping groove is formed in one side of the rotating connecting piece body, a first upper clamping groove is formed in the first clamping seat, the first clamping seat is connected to the rotating connecting piece body through a bolt, and the first lower clamping groove and the first upper clamping groove are matched to form a first channel for a first transmission rod to penetrate through. The other side of the rotating connecting piece main body is provided with a second lower clamping groove, the second clamping seat is provided with a second upper clamping groove, and the second clamping seat is connected to the rotating connecting piece main body through a bolt, so that the second lower clamping groove and the second upper clamping groove are matched to form a second channel for a second transmission rod to penetrate.
Compared with the prior art, the invention has the following implementation effects:
the support section can rotate in a large angle in a sagittal plane, so that the position requirement of the lower limbs of a human body during movement is met; the micro-rotation is realized in the coronal plane and the horizontal plane, so that the interference on knee joints and ankle joints in the motion process of the lower limbs of the human body is avoided, and the consistent coordination of the exoskeleton and the motion of the lower limbs of the human body is improved.
The invention has simple structure, light weight, comfortable wearing, convenient wearing and taking off and high coordination with the motion of the lower limbs of the human body, and not only can help walking, but also can provide supporting assistance.
Drawings
FIG. 1 is a schematic diagram of the exoskeleton system of the present invention
FIG. 2 is a schematic view of the waist wearing mechanism of the present invention
FIG. 3 is a schematic view of the power mechanism of the present invention
FIG. 4 is a schematic view of the structure of the transmission unit of the present invention
FIG. 5 is a schematic view of a first transmission member according to the present invention
FIG. 6 is a schematic view of the second transmission member of the present invention
FIG. 7 is a schematic view of the structure of the rotary joint of the present invention
FIG. 8 is a schematic view of the structure of the support chain of the present invention.
Fig. 9 and 10 are schematic structural views of the support joint of the present invention.
FIG. 11 is a schematic structural view of a main body of a support joint according to the present invention.
Fig. 12 is a schematic structural view of a portion where the threaded ring and the positioning spring are located in the present invention.
The reference numerals are explained below: 1. a boost system; 11. a waist wearing mechanism; 111. a main body fixing plate; 112. an auxiliary fixing plate; 113. a harness; 114. a waistband; 12. a transmission unit; 121. a tripod; 122. wire coils; 123. a pulley; 124. a flexible cord; 13. a first transmission member; 131. connecting blocks; 132. a first drive lever; 14. a second transmission member; 141. a second transmission rod; 142. a curved rod; 15. rotating the connecting piece; 151. rotating the connector body; 152. a first card holder; 153. a second card holder; 154. a rib plate; 155. a rolling bearing; 16. a motor; 2. a support system; 21. a support section; 211. a support section main body; 212. a groove; 213. rolling a groove; 214. a third arc-shaped slot; 215. a fourth arc-shaped groove; 251. a threaded universal ball; 252. a horizontal connecting member; 253. a vertical connecting member; 22. a foot plate; 23. a support frame; 24. an arc-shaped support; 3. a threaded ring; 4. and positioning the spring.
Detailed Description
Exemplary embodiments that embody features and advantages of the invention are described in detail below in the specification. It is to be understood that the invention is capable of other embodiments and that various changes in form and details may be made therein without departing from the scope of the invention and the description and drawings are to be regarded as illustrative in nature and not as restrictive.
Referring to fig. 1, the rigid-flexible coupling wearable walking exoskeleton system in the embodiment comprises a power assisting system 1 and a supporting system 2.
Referring to fig. 2 and 3, the power assisting system 1 includes a waist wearing mechanism 11 and a power mechanism. The waist wearing mechanism 11 comprises a waist fixing plate, the waist fixing plate comprises a main body fixing plate 111 and an auxiliary fixing plate 112, the main body fixing plate 111 and the auxiliary fixing plate 112 are both arc-shaped thin plate-shaped structures, and hard materials such as stainless steel and stainless iron are adopted to meet the rigidity requirement. The main body fixing plate 111 and the auxiliary fixing plate 112 are connected by a belt 114, and the length of the belt 114 is adjustable. The size of the cavity enclosed by the main body fixing plate 111 and the auxiliary fixing plate 112 can be adjusted through the waistband 114, so that the waist fixing plate can be effectively attached to the waist of a user, the waist fixing plate is prevented from falling off in the use process, and the stability and the reliability of the exoskeleton system are ensured.
Further, the waist wearing mechanism 11 further includes two straps 113, the two straps 113 are respectively connected to two sides of the waist fixing plate, the straps 113 are in a strip structure and made of flexible materials, and the length of the straps 113 is adjustable. One end of the strap 113 is fixed to the main body fixing plate 111, and the other end is fixed to the auxiliary fixing plate 112. Therefore, the straps 113 can be effectively attached to the back of the user, and the possibility that the waist wearing mechanism 11 falls off can be eliminated through the matching of the straps 113 and the waist fixing plate, so that the exoskeleton system can stably work for a long time.
The power mechanism is used for driving the supporting system 2 to drive the thighs of the user to swing, and comprises a pair of power assemblies which are respectively connected to two sides of the waist fixing plate. The power machine component comprises a motor 16, a transmission unit 12 and an execution unit, wherein the motor 16 is used for driving the transmission unit 12 to drive the execution unit to act.
The motor 16 is fixed to the auxiliary fixing plate 112.
Referring to fig. 4, the transmission unit 12 includes a wire coil 122, a flexible rope 124, a tripod 121, and a pulley 123; the wire coil 122 is rotatably connected with an output shaft of the motor 16, the pulley 123 is rotatably connected to the auxiliary fixing plate 112 through a tripod 121, one end of the flexible rope 124 is connected to the wire coil 122, and the other end of the flexible rope is connected to the execution unit after passing through the pulley 123. In this way, the force transmission direction is changed by the pulley 123, so that the motor 16 can drive the actuator unit to perform corresponding operations with less effort.
Referring to fig. 3, 5 and 6, the execution unit includes a first transmission member 13, a rotating connection member 15 and a second transmission member 14, the rotating connection member 15 is rotatably connected to the main body fixing plate 111, and the first transmission member 13 and the second transmission member 14 are respectively fixed on the upper side and the lower side of the rotating connection member 15. The first transmission piece 13 is connected to one end of the flexible rope 124 extending out of the pulley 123.
After the motor 16 is activated, the motor 16 drives the wire coil 122 to rotate, and the wire coil 122 rotates to release or wind the flexible rope 124. When the wire coil 122 winds the flexible rope 124, the flexible rope 124 pulls the first transmission member 13, the first transmission member 13 moves to drive the rotating connecting member 15 to swing, the rotating connecting member 15 swings to drive the second transmission member 14 to rotate relative to the main body fixing plate 111, the second transmission member 14 transmits power to the supporting system 2 in the rotating process, and the thigh is lifted through the supporting system 2.
In this embodiment, the wire coil 122 includes a cylinder and two baffles connected to two ends of the cylinder, one of the baffles is connected to the motor 16 shaft of the motor 16, the cylinder is cam-shaped, and the flexible cord 124 is wound around the cylinder. Therefore, the cam-shaped barrel can be used for winding and unwinding the flexible rope 124 in a variable speed mode, the flexible rope accords with the motion law of the lower limbs of the human body, the design is more humanized, and the comfort level of a user in use can be improved.
Referring to fig. 5, the first transmission member 13 includes a connection block 131 and a first transmission rod 132, the connection block 131 is a block structure and has an ear hole for connecting the flexible rope 124, the first transmission rod 132 is formed by bending a rod body, one end of the first transmission rod 132 is fixed on the connection block 131, and the other end of the first transmission rod 132 is connected on the rotation connecting member 15. The first driving rods 132 are provided in a plurality, and the plurality of first driving rods 132 are uniformly distributed along the length direction of the connecting block 131. In this embodiment, two first transmission rods 132 are disposed on the connecting block 131, and the first transmission rods 132 are made of hollow carbon fiber tubes, so that the first transmission members 13 have sufficient strength while transmitting power, and the weight of the whole exoskeleton system is reduced, thereby reducing the load of the user. The curved structure design of first transfer lever 132 satisfies in the requirement of human waist to the radian for the user dresses more comfortablely.
Referring to fig. 6, the second transmission member 14 includes a second transmission rod 141 and a curved rod 142, one end of the second transmission rod 141 is fixed to the connection block 131, and the other end is connected to the support system 2. The second driving rod 141 in the present application is provided in plurality, and the plurality of second driving rods 141 are uniformly distributed along the length direction of the connecting block 131. In this embodiment, two second transmission rods 141 are connected to the rotary connection member 15, and the two second transmission rods 141 are made of hollow carbon fiber tubes, so that the second transmission member 14 has sufficient strength while transmitting power, thereby further reducing the weight of the whole exoskeleton system and reducing the load of the user. The curved rod 142 is connected to the second transmission rod 141, the curved rod 142 has a curved surface for matching with the thigh of a human body, the curved rod 142 is further connected with a binding band (not shown), and the execution unit and the thigh of a user can be fixed together through the matching of the binding band and the curved surface of the curved rod 142, so that the execution unit drives the thigh to achieve the effect of lifting or lowering, and the purpose of assisting walking is achieved. In addition, through the curved surface design of curved surface pole 142 and the better laminating of thigh, increase the lifting surface area, strengthened helping hand effect.
Referring to fig. 3, the rotational connector 15 includes a rotational connector body 151, a first card holder 152, and a second card holder 153.
The main part fixed plate 111 is connected with a mounting seat, the mounting seat is partially positioned below the main part fixed plate 111, the rotating connector main body 151 is rotatably connected to the lower portion of the mounting seat through a ribbed plate 154, and the rotating connector main body 151 is rotatably connected with the mounting seat through a rolling bearing 155. A first lower clamping groove is formed in one side of the rotating connector main body 151, a first upper clamping groove is formed in the first clamping seat 152, and the first clamping seat 152 is connected to the rotating connector main body 151 through a bolt, so that the first lower clamping groove and the first upper clamping groove are matched to form a first channel for the first transmission rod 132 to penetrate. A second lower clamping groove is formed in the other side of the rotary connecting piece main body 151, a second upper clamping groove is formed in the second clamping seat 153, and the second clamping seat 153 is connected to the rotary connecting piece main body 151 through a bolt, so that the second lower clamping groove and the second upper clamping groove are matched to form a second channel for the second transmission rod 141 to penetrate.
Referring to fig. 4, the supporting system 2 includes a supporting chain and a foot plate 22, the supporting chain includes a plurality of supporting sections 21, the supporting sections 21 are uniformly arranged along the height direction, and two adjacent supporting sections 21 are connected through a rocker-slider mechanism. The support section 21 is of a butterfly-like structure, a clamping groove is formed in one side of the support section 21, and a protrusion is formed in the other side of the support section. The protrusion of one support section 21 is received in the slot of another support section 21, so that the joint-like structure is formed at the joint of two adjacent support sections 21. The supporting joint 21 at the top end is provided with two blind holes for the second transmission rod 141 to penetrate through. Referring to fig. 4 and 11, the support section 21 is formed by butting two support section main bodies 211, and the two support section main bodies 211 are fixed by bolts or rivets. Two first arc-shaped grooves are formed in one supporting section main body 211, a groove 212 and two second arc-shaped grooves communicated with the groove 212 are formed in the other supporting section main body 211, and the two first arc-shaped grooves are matched with the two second arc-shaped grooves one by one, so that two rolling grooves 213 are formed in the supporting section 21.
The rocker arm sliding block mechanism comprises a horizontal connecting piece 252, a vertical connecting piece 253 and two threaded universal balls 251, wherein the horizontal connecting piece 252 and the vertical connecting piece 253 are both of strip-shaped plate-shaped structures, two first through holes are formed in the horizontal connecting piece 252 in a penetrating manner along the length direction of the horizontal connecting piece 252, the threaded ends of the two threaded universal balls 251 are respectively installed in the two first through holes of the horizontal connecting piece 252 in a threaded connection manner, and the ball ends of the two threaded universal balls 251 are respectively connected into two rolling grooves 213 of one support joint 21 in a rolling manner after passing through the groove 212; one end of the vertical link 253 is pivotally connected to the middle of the horizontal link 252, and the other end of the vertical link 253 is pivotally connected to the other support node 21.
One side surface of the supporting section 21 is provided with an arc-shaped groove, and the arc-shaped groove and the rocker sliding block mechanism are respectively positioned at two sides of the supporting section 21. The supporting sections 21 can be fully attached to legs of a user through the arc-shaped grooves, so that the stress area is increased, and the boosting effect is enhanced. In this application, the support chain is secured to the user's leg by means of the arcuate support 24 and its corresponding strap.
Further, the horizontal connecting piece 252 includes a main body portion and limiting portions respectively located on two sides of the main body portion, the main body portion is located in the groove 212 on the supporting section 21, the limiting portions are provided with the first through holes, and an inner side surface of the limiting portions is coplanar with an outer side surface of the supporting section 21. Thus, the horizontal connecting element 252 can only rotate on a plane through the matching mode of the limiting part and the supporting node 21, so that the movement of the horizontal connecting element 252 is more stable.
The support joint 21 in this application adopts the flat body structure of similar butterfly shape, and the shape is "spheroidal joint face" on its horizontal plane direction, but makes support joint 21 rotate at the sagittal plane wide-angle through the design of "spheroidal joint face", position requirement when satisfying the motion of human low limbs. Through the design of the rocker arm sliding block mechanism, the supporting section 21 only slightly rotates in the coronal plane and the horizontal plane, so that the knee joint and the ankle joint cannot be interfered in the motion process of the lower limbs of the human body, the motion rule of the lower limbs of the human body is met, and the motion consistency and the coordination of the exoskeleton and the lower limbs of the human body are improved.
Referring to fig. 11 and 12, third arc-shaped grooves 214 are formed in both sides of the bottoms of the two support section main bodies 211 of the support section 21, the third arc-shaped grooves 214 are located outside the middle of the support section 41, and the third arc-shaped grooves 214 of the two support section main bodies 211 are matched with each other, so that two spring channels are formed in the support section 21, the axes of the spring channels extend along the axial direction of the rolling grooves 213, and positioning springs 4 are inserted into the spring channels; the fourth arc wall 215 has all been seted up at the middle part of two support section main parts 211 of support section, and the fourth arc wall 215 of two support section main parts 211 mutually supports, makes be formed with the screw thread passageway on the support section 21, the axis of screw thread passageway is followed the radial extension of spring passageway, the both ends of screw thread passageway are equipped with threaded ring 3 through the threaded connection mode, the one end of positioning spring 4 is connected on the threaded ring 3 of a support section 21, and the other end is connected on the threaded ring 3 of support section 21 adjacent to it. In this way, by the cooperation of the threaded ring 3 and the positioning spring 4, the plurality of support links 21 can be quickly aligned into a chain, thereby improving the assembling effect of the support links 21.
Further, the vertical connector 253 located at the middle of the support chain includes two vertical connector bodies 2531 which are matched with each other, the two vertical connector bodies 2531 are independent of each other, one end of one vertical connector body 2531 is hinged on one support section 21, and one end of the other vertical connector body 2531 is hinged on the other support section 21. Thus, a fracture can be formed at the position of the support chain corresponding to the knee joint through the split design of the vertical connecting piece 253, so that the support chain can rotate at a larger angle, and a user can sit down conveniently.
Referring to fig. 4, a support frame 23 is arranged between the foot plate 22 and the support chain, the support frame 23 is a claw-shaped structure, the upper end of the support frame 23 is pivotally connected to the support section 21, the lower end of the support frame is fixed to the foot plate 22, and the crotch of the support frame 23 is connected with a strap, through which the ankle can be fixed to the foot plate 22. A pressure sensor is embedded in the upper surface of the foot board 22, and the pressure sensor can acquire the pressure information borne by the foot board 22, and in a specific embodiment, the model of the pressure sensor is RX-ES 39A.
The working principle of the application is as follows:
the exoskeleton system is worn on a person's body by a belt, straps 113 and straps. The motor 16 drives the wire coil 122 fixedly connected therewith to rotate clockwise or counterclockwise. When the wire coil 122 rotates to contract the flexible rope 124, the flexible rope 124 pulls the first transmission piece 13 to swing, so as to drive the second transmission piece 14 to rotate around the main body fixing plate 111, further drive the thighs to lift, enable the lower limbs of the human body to be in a swinging phase, enable the support chain to bend along with the bending of the lower limbs of the human body, and disperse bending corners between each support section 21. When the motor 16 drives the wire coil 122 fixedly connected with the motor to rotate reversely so as to release the flexible rope 124, the flexible rope 124 pulls the first transmission piece 13 to swing, so as to drive the second transmission piece 14 to rotate around the main body fixing plate 111, and further drive the thigh to put down, so that the lower limbs of the human body are in a supporting phase, and the supporting chain is bent into a straight shape, so as to provide weight support for the human body.
While the present application has been described with reference to an exemplary embodiment, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present application may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (10)
1. A rigid-flexible coupling wearable walking exoskeleton system is characterized by comprising a power assisting system and a supporting system; the power-assisted system comprises a waist wearing mechanism used for wearing the exoskeleton system on the body of a user and a power mechanism used for driving the thighs of the user to lift or put down; the supporting system is in transmission connection with the power mechanism and comprises a supporting chain and a foot plate which is connected to the bottom of the supporting chain through a pivot, the supporting chain comprises a plurality of supporting sections, the supporting sections are uniformly arranged along the height direction, and two adjacent supporting sections are connected through a rocker arm sliding block mechanism; two rolling grooves are formed on the supporting section; the rocker arm sliding block mechanism comprises a horizontal connecting piece, a vertical connecting piece and two threaded universal balls, wherein the horizontal connecting piece and the vertical connecting piece are both of long strip-shaped plate structures, the horizontal connecting piece is provided with two first through holes in a penetrating manner along the length direction of the horizontal connecting piece, the threaded ends of the two threaded universal balls are respectively installed in the two first through holes of the horizontal connecting piece in a threaded connection manner, and the ball body ends of the two threaded universal balls are respectively connected into two rolling grooves of a supporting joint in a rolling manner; one end of the vertical connecting piece is pivotally connected to the middle part of the horizontal connecting piece, and the other end of the vertical connecting piece is pivotally connected to the other supporting section.
2. The rigid-flexible coupling wearable exoskeleton system as claimed in claim 1, wherein the support sections are butterfly-like structures, one side of each support section is formed with a slot, the other side of each support section is formed with a protrusion, and the protrusion of one support section is received in the slot of the other support section.
3. The rigid-flexible coupling wearable exoskeleton system as claimed in claim 1, wherein one of the supporting sections is provided with two first arc-shaped grooves, the other supporting section is provided with a groove and two second arc-shaped grooves communicated with the groove, and the two first arc-shaped grooves and the two second arc-shaped grooves are matched one by one, so that the two rolling grooves are formed on the supporting sections.
4. The rigid-flexible coupling wearable exoskeleton system as claimed in claim 1, wherein the two spring channels and the threaded channel are formed on the support sections, the positioning spring is inserted into the spring channel, the threaded channel is provided with threaded rings at two ends, one end of the positioning spring is connected to the threaded ring of one support section, and the other end of the positioning spring is connected to the threaded ring of the adjacent support section.
5. The rigid-flexible coupling wearable walking exoskeleton system as claimed in claim 1, wherein a support frame is provided between the foot plate and the support chain, the support frame is in a claw-like structure, the upper end of the support frame is pivotally connected to the support section, the lower end of the support frame is fixed to the foot plate, a crotch of the support frame is connected with a strap, and the ankle of the user is fixedly connected with the foot plate through the strap.
6. The rigid-flexible coupling wearable exoskeleton system as claimed in claim 1, wherein the waist wearing mechanism comprises a waist fixing plate, the waist fixing plate comprises a main body fixing plate and an auxiliary fixing plate, the main body fixing plate and the auxiliary fixing plate are both arc-shaped thin plate-shaped structures, the main body fixing plate and the auxiliary fixing plate are connected through a belt, and the length of the belt is adjustable; the waist wearing mechanism further comprises two braces, the two braces are connected to the two sides of the waist fixing plate respectively, the braces are of strip-shaped structures and made of flexible materials, and the lengths of the braces are adjustable. One end of the strap is fixed on the main body fixing plate, and the other end is fixed on the auxiliary fixing plate.
7. The rigid-flexible coupling wearable walking-aid exoskeleton system as claimed in claim 6, wherein the power mechanism comprises a pair of power assemblies, the pair of power assemblies are respectively connected to two sides of the waist fixing plate, the power assemblies comprise motors, transmission units and execution units, the execution units comprise curved structures matched with the shapes of thighs, the curved structures are fixedly connected with the thighs through binding bands, and the motors are used for driving the transmission units to drive the curved structures to rotate so as to lift or put down the thighs.
8. The rigid-flexible coupled wearable exoskeleton system of claim 7, wherein the transmission unit comprises a wire coil, a flexible rope, a tripod and pulleys; the wire coil is rotatably connected with an output shaft of the motor, the pulley is rotatably connected to the auxiliary fixing plate through a tripod, one end of the flexible rope is connected to the wire coil, and the other end of the flexible rope is connected with the execution unit after passing through the pulley; the execution unit comprises a first transmission piece, a rotary connecting piece and a second transmission piece, the rotary connecting piece is rotatably connected to the main body fixing plate, and the first transmission piece and the second transmission piece are respectively fixed on the upper side and the lower side of the rotary connecting piece; wherein, the first transmission piece is connected with one end of the flexible rope extending out of the pulley.
9. The rigid-flexible coupling wearable exoskeleton system as claimed in claim 8, wherein the first transmission member comprises a connecting block and a first transmission rod, the connecting block is a block-shaped structure and has an ear hole for connecting the flexible rope, the first transmission rod is formed by bending a rod body, one end of the first transmission rod is fixed on the connecting block, and the other end of the first transmission rod is connected to the rotary connecting member; the second transmission part comprises a second transmission rod and a curved surface rod, one end of the second transmission rod is fixed on the connecting block, and the other end of the second transmission rod is connected with the supporting system; the curved surface rod is connected to the second transmission rod, a curved surface used for matching with the thigh of the human body is arranged on the curved surface rod, and the curved surface rod is further connected with a binding belt used for fixing the curved surface rod on the thigh.
10. The rigid-flexible coupled wearable exoskeleton system of claim 9, wherein the rotational connector comprises a rotational connector body, a first cartridge and a second cartridge; the main body fixing plate is connected with a mounting seat, the mounting seat part is positioned below the main body fixing plate, the main body of the rotary connecting piece is rotatably connected to the lower part of the mounting seat through a ribbed plate, and the rotary connecting piece is rotatably connected with the mounting seat through a rolling bearing; a first lower clamping groove is formed in one side of the rotating connecting piece main body, a first upper clamping groove is formed in the first clamping seat, the first clamping seat is connected to the rotating connecting piece main body through a bolt, and the first lower clamping groove and the first upper clamping groove are matched to form a first channel for the first transmission rod to penetrate. The other side of the rotating connecting piece main body is provided with a second lower clamping groove, the second clamping seat is provided with a second upper clamping groove, and the second clamping seat is connected to the rotating connecting piece main body through a bolt, so that the second lower clamping groove and the second upper clamping groove are matched to form a second channel for the second transmission rod to penetrate.
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| CN202010913476.XA CN112022618B (en) | 2020-09-03 | 2020-09-03 | Rigid-flexible coupling wearable walking assisting exoskeleton system |
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| CN202010913476.XA CN112022618B (en) | 2020-09-03 | 2020-09-03 | Rigid-flexible coupling wearable walking assisting exoskeleton system |
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