CN112022618B - Rigid-flexible coupling wearable walking assisting exoskeleton system - Google Patents
Rigid-flexible coupling wearable walking assisting exoskeleton system Download PDFInfo
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- CN112022618B CN112022618B CN202010913476.XA CN202010913476A CN112022618B CN 112022618 B CN112022618 B CN 112022618B CN 202010913476 A CN202010913476 A CN 202010913476A CN 112022618 B CN112022618 B CN 112022618B
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- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 210000000689 upper leg Anatomy 0.000 claims abstract description 21
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- 210000003423 ankle Anatomy 0.000 claims description 3
- 210000003141 lower extremity Anatomy 0.000 abstract description 20
- 230000033001 locomotion Effects 0.000 abstract description 17
- 210000000629 knee joint Anatomy 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 6
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- 239000011664 nicotinic acid Substances 0.000 abstract 1
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- 238000009434 installation Methods 0.000 description 8
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- 230000000875 corresponding effect Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
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Classifications
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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
-
- 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
- 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
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- 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)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a rigid-flexible coupling wearable walking-assisting exoskeleton system, which comprises an assisting system and a supporting system, wherein the assisting system comprises a first supporting seat and a second supporting seat; the power assisting system comprises a waist wearing mechanism for wearing the exoskeleton system on a user body and a power mechanism for driving thighs of the user to be lifted or put down, the supporting system comprises a supporting chain formed by connecting a plurality of supporting joints, the supporting chain is of a spine-like bionic structure, each supporting joint can rotate at a large angle in a sagittal plane, the supporting joints can slightly rotate in a coronal plane and a horizontal plane, interference can not be caused to knee joints and ankle joints in the human lower limb movement process, the supporting system is in driving transmission connection with the power mechanism, assistance can be provided in the supporting phase in the human lower limb movement process, and the supporting system moves along with the human lower limb in the swinging phase. The invention has simple structure, light weight, comfortable wearing and convenient taking-off, has high coordination with the movement of the lower limbs of the human body, can help walking and 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 age, the human body gradually declines to cause muscular atrophy, which leads to mobility inconvenience. The wearable exoskeleton is used for providing body functions and assisting walking. 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 load requirements of individual soldiers, and in the medical rehabilitation field, the assistance exoskeleton robot can meet the requirements of patients suffering from lower limb paralysis and inconvenient walking.
One criterion for evaluating wearable exoskeletons should be to consider user comfort in addition to taking into account the intended function. The coordination of human lower limb movement and exoskeleton movement is also one of the important directions of current wearable exoskeleton research.
The wearable exoskeleton comprises two types of rigidity and flexibility, in the related art, the rigid wearable exoskeleton is hinged at hip joints, knee joints and ankle joints, for example, the four-bar mechanism drives the big and small legs to move, only the knee joint stretches back and forth, slight rotation is ignored by the single exoskeleton, the man-machine fit is poor, and the exoskeleton movement is different from the human lower limb movement law. Compared with a rigid robot, the flexible power-assisted robot has the advantages of low inertia and comfort in wearing, but most of the flexible power-assisted robots only play a role in assisting, and cannot play a role in supporting lower limbs, so that the problem of assisting the elderly suffering from arthritis is still solved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the rigid-flexible coupling wearable walking assisting exoskeleton system which has the advantages of convenient assistance, comfortable wearing, high coordination and convenient wearing and taking-off, can help walking and can provide supporting assistance.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
A rigid-flexible coupled wearable walk-assisting exoskeleton system, the system comprising a power assisting system and a supporting system; the power assisting system comprises a waist wearing mechanism for wearing the exoskeleton system on a user body and a power mechanism for driving thighs of the user to lift or put down; the support system is in transmission connection with the power mechanism, the support system comprises a support chain and a foot plate connected to the bottom of the support chain, the support chain comprises a plurality of support sections, the support sections are uniformly arranged along the height direction, two adjacent support sections are connected through a rocker arm sliding block mechanism, and two rolling grooves are formed in the support 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 of strip-shaped plate structures, the horizontal connecting piece is provided with two first through holes in a penetrating mode along the length direction of the horizontal connecting piece, the threaded ends of the two threaded universal balls are respectively arranged in the two first through holes of the horizontal connecting piece in a threaded connection mode, and the spherical ends of the two threaded universal balls are respectively connected in two rolling grooves of a supporting joint in a rolling mode; 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 support joint.
Preferably, the support sections are of butterfly-like structures, a clamping groove is formed in one side of each support section, a protrusion is formed in the other side of each support section, and the protrusion of one support section is accommodated in the clamping groove of the other support section.
Preferably, two first arc grooves are formed in one support section main body, and a groove, two second arc grooves communicated with the groove are formed in the other support section main body, and the two first arc grooves are matched with the two second arc grooves one by one, so that two rolling grooves are formed in the support section.
Preferably, two spring channels and a thread channel are formed on the support section, positioning springs are arranged in the spring channels in a penetrating mode, thread rings are arranged at two ends of the thread channel, one end of each positioning spring is connected to the thread ring of one support section, and the other end of each positioning spring is connected to the thread ring of the adjacent support section.
Preferably, a supporting frame is arranged between the foot plate and the supporting chain, the supporting frame is in a claw-shaped structure, the upper end of the supporting frame is pivotally connected to the supporting section, the lower end of the supporting frame is fixed to the foot plate, a binding belt is connected to the bifurcation of the supporting frame, and the ankle of a user is fixedly connected with the foot plate through the binding belt.
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 of arc-shaped thin plate structures, the main body fixing plate and the auxiliary fixing plate are connected through a waistband, and the length of the waistband is adjustable; the waist wearing mechanism further comprises two braces, the two braces are respectively connected to two sides of the waist fixing plate, the braces are of a strip-shaped structure and made of flexible materials, and the length of each brace is adjustable. One end of the brace is fixed on the main body fixing plate, and the other end 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 components comprise a motor, a transmission unit and an execution unit, the execution unit comprises a curved surface structure matched with the thigh in shape, the curved surface structure is fixedly connected with the thigh through a binding belt, 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 rotationally connected with an output shaft of the motor, the pulley is rotationally 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 rotation connecting piece and a second transmission piece, wherein the rotation connecting piece is rotationally 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 rotation connecting piece. The first transmission piece is connected with one end of the flexible rope extending out of the pulley.
Preferably, the first transmission member comprises a connecting block and a first transmission rod, the connecting block is in a block structure, an ear hole for connecting the flexible rope is formed in the connecting block, 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 rotating connection member; the second transmission piece 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 matched with the thigh part of the human body is arranged on the curved surface rod, and the curved surface rod is also connected with a binding belt for fixing the curved surface rod on the thigh.
Preferably, the rotary connector comprises a rotary connector body, a first clamping seat and a second clamping seat; the installation seat is connected to the main body fixing plate, the installation seat is located below the main body fixing plate, the rotating connecting piece main body is connected to the lower portion of the installation seat in a rotating mode through the rib plates, and the rotating connecting piece is connected to the installation seat in a rotating mode through the rolling bearings. The first lower clamping groove is formed in one side of the rotating connecting piece main body, the 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 second lower clamping groove is formed in the other side of the rotating connecting piece main body, the second upper clamping groove is formed in the second clamping seat, the second clamping seat is connected to the rotating connecting piece main body through a bolt, and 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.
Compared with the prior art, the invention has the following implementation effects:
The support joint can rotate in a large angle in a sagittal plane, so that the position requirement of the human lower limb during movement is met; the small rotation is carried out on the coronal plane and the horizontal plane, the interference to knee joints and ankle joints in the process of the movement of the lower limbs of the human body is avoided, and the consistency and coordination of the exoskeleton and the movement of the lower limbs of the human body are improved.
The invention has simple structure, light weight, comfortable wearing and convenient taking-off, has high coordination with the movement of the lower limbs of the human body, can help walking and can provide supporting assistance.
Drawings
FIG. 1 is a schematic diagram of an exoskeleton system according to the present invention
FIG. 2 is a schematic view of the waist wearing mechanism according to the present invention
FIG. 3 is a schematic view of a power mechanism according to the present invention
FIG. 4 is a schematic diagram of a transmission unit according to the present invention
FIG. 5 is a schematic view of a first driving member according to the present invention
FIG. 6 is a schematic structural view of a second driving member according to the present invention
FIG. 7 is a schematic view of a rotary connector according to the present invention
Fig. 8 is a schematic structural view of a support chain according to the present invention.
Fig. 9 and 10 are schematic views of the structure of the support joint according to the present invention.
Fig. 11 is a schematic structural view of a support joint body according to the present invention.
Fig. 12 is a schematic view of the structure of the part where the threaded ring and the positioning spring are located in the present invention.
The reference numerals are explained as follows: 1. a power assisting 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 coil; 123. a pulley; 124. a flexible rope; 13. a first transmission member; 131. a connecting block; 132. a first transmission rod; 14. a second transmission member; 141. a second transmission rod; 142. a curved surface bar; 15. rotating the connecting piece; 151. rotating the connector body; 152. a first clamping seat; 153. a second clamping seat; 154. rib plates; 155. a rolling bearing; 16. a motor; 2. a support system; 21. a support section; 211. a support section body; 212. a groove; 213. rolling grooves; 214. a third arc-shaped groove; 215. a fourth arc-shaped groove; 251. a threaded universal ball; 252. a horizontal connector; 253. a vertical connection; 22. foot plates; 23. a support frame; 24. an arc-shaped support; 3. a threaded ring; 4. and positioning a spring.
Detailed Description
Exemplary embodiments that embody features and advantages of the present invention will be described in detail in the following description. It will be understood that the invention is capable of various modifications in various embodiments, all without departing from the scope of the invention, and that the description and illustrations herein are intended to be by way of illustration only and not to be construed as limiting the invention.
Referring to fig. 1, the rigid-flexible coupled wearable walking-assisting exoskeleton system in the present embodiment includes an 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 of arc-shaped thin plate structures, and hard materials such as stainless steel, stainless iron and the like are adopted to meet the rigidity requirement. The main body fixing plate 111 and the auxiliary fixing plate 112 are connected through a waistband 114, and the length of the waistband 114 is adjustable. The size of the cavity enclosed by the main 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 operation 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 are made of flexible materials, and the length of the straps 113 is adjustable. The strap 113 has one end fixed to the main body fixing plate 111 and the other end fixed to the auxiliary fixing plate 112. Thus, the back strap 113 can be effectively attached to the back of the user, and the possibility that the waist wearing mechanism 11 falls off can be avoided through the cooperation of the back strap 113 and the waist fixing plate, so that the exoskeleton system can work stably for a long time.
The power mechanism is used for driving the support system 2 to drive thighs of a user to swing, and comprises a pair of power components which are respectively connected to two sides of the waist fixing plate. The power unit 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 the 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 executing unit after passing through the pulley 123. In this way, the pulley 123 changes the force transmission direction, so that the motor 16 can drive the execution unit to perform corresponding actions more effort-saving.
Referring to fig. 3, 5 and 6, the executing unit includes a first transmission member 13, a rotation connecting member 15 and a second transmission member 14, wherein the rotation connecting 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 and lower sides of the rotation connecting member 15. Wherein, the first transmission member 13 is connected to an end of the flexible rope 124 extending out of the pulley 123.
After the motor 16 is started, 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 rotation connection member 15 to swing, the rotation connection member 15 swings to drive the second transmission member 14 to rotate relative to the main body fixing plate 111, and the second transmission member 14 transmits power to the support system 2 in the rotation process, so that the support system 2 can drive the thigh to lift.
In this embodiment, the wire coil 122 includes a cylinder and baffles connected to two ends of the cylinder, wherein one baffle is connected to the motor 16 of the motor 16, the cylinder is in a cam shape, and the flexible rope 124 is wound on the cylinder. Therefore, the flexible rope 124 can be wound and unwound in a variable speed through the cam-shaped cylinder, the movement rule of the lower limb of the human body is consistent, the design is more humanized, and the comfort level of a user during use can be improved.
Referring to fig. 5, the first transmission member 13 includes a connection block 131 and a first transmission rod 132, where the connection block 131 has 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, and one end of the first transmission rod 132 is fixed on the connection block 131, and the other end is connected to the rotation connection member 15. The plurality of first transmission rods 132 are provided in the present application, and the plurality of first transmission rods 132 are uniformly distributed along the length direction of the connection block 131. In this embodiment, two first transmission rods 132 are disposed on the connection block 131, and the first transmission rods 132 are made of hollow carbon fiber tubes, so that the first transmission member 13 has sufficient strength while transmitting power, and the weight of the whole exoskeleton system is reduced, thereby reducing the load of a user. The curved structural design of the first transmission rod 132 meets the requirement of the waist of the human body on the radian, so that the user can wear the belt more comfortably.
Referring to fig. 6, the second transmission member 14 includes a second transmission rod 141 and a curved rod 142, wherein one end of the second transmission rod 141 is fixed on the connection block 131, and the other end is connected to the support system 2. The second transmission rods 141 in the present application are provided in plurality, and the plurality of second transmission rods 141 are uniformly distributed along the length direction of the connection block 131. In this embodiment, two second transmission rods 141 are connected to the rotary connecting 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 surface rod 142 is connected to the second transmission rod 141, the curved surface rod 142 is provided with a curved surface for matching the thigh position of the human body, the curved surface rod 142 is also connected with a binding belt (not shown), and the execution unit and the thigh of the user can be fixed together through matching of the curved surfaces of the binding belt and the curved surface 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 better laminating of curved surface design and thigh of curved surface pole 142, increase the area of force, strengthened the helping hand effect.
Referring to fig. 3, the rotary connector 15 includes a rotary connector body 151, a first clamping seat 152 and a second clamping seat 153.
The main body fixing plate 111 is connected with an installation seat, the installation seat is partially positioned below the main body fixing plate 111, the rotating connecting piece main body 151 is rotatably connected to the lower portion of the installation seat through a rib plate 154, and the rotating connecting piece main body 151 is rotatably connected with the installation seat through a rolling bearing 155. A first lower clamping groove is formed in one side of the rotating connecting piece main body 151, a first upper clamping groove is formed in the first clamping seat 152, the first clamping seat 152 is connected to the rotating connecting piece main body 151 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 132 to penetrate. The second lower clamping groove is formed in the other side of the rotating connecting piece main body 151, the second upper clamping groove is formed in the second clamping seat 153, the second clamping seat 153 is connected to the rotating connecting piece main body 151 through a bolt, and 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 support system 2 includes a support chain and a foot plate 22, the support chain includes a plurality of support sections 21, the support sections 21 are uniformly arranged along the height direction, and two adjacent support 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 accommodated in the clamping groove of the other support section 21, so that the joint of the two adjacent support sections 21 forms a joint-like structure. The support section 21 at the top end is provided with two blind holes for the second transmission rod 141 to penetrate. Referring to fig. 4 and 11, the support section 21 is formed by butting two support section bodies 211, and the two support section bodies 211 are connected by bolts or rivets to achieve fixation. Two first arc grooves are formed in one support section main body 211, a groove 212 and two second arc grooves communicated with the groove 212 are formed in the other support section main body 211, and the two first arc grooves are matched with the two second arc grooves one by one, so that two rolling grooves 213 are formed in the support 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 of strip-shaped plate structures, the horizontal connecting piece 252 is provided with two first through holes in a penetrating mode along the length direction of the horizontal connecting piece 252, the threaded ends of the two threaded universal balls 251 are respectively arranged in the two first through holes of the horizontal connecting piece 252 in a threaded connection mode, and the ball ends of the two threaded universal balls 251 are respectively connected into two rolling grooves 213 of a support joint 21 in a rolling mode after passing through the grooves 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 section 21.
One side of the support section 21 is provided with an arc-shaped groove, and the arc-shaped groove and the rocker arm sliding block mechanism are respectively positioned on two sides of the support section 21. The support joint 21 can be fully attached to the leg of a user through the arrangement of the arc-shaped groove, so that the stress area is increased, and the power-assisted effect is enhanced. In the present application, the support chains are secured to the user's legs by means of arcuate supports 24 and corresponding straps.
Further, the horizontal connecting piece 252 includes a main body portion and limiting portions respectively located at two sides of the main body portion, the main body portion is located in the groove 212 on the support 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 support section 21. In this way, the horizontal connecting piece 252 can only rotate on the plane by the cooperation mode of the limiting part and the supporting joint 21, so that the movement of the horizontal connecting piece 252 is more stable.
The support joint 21 in the application adopts a butterfly-like flat body structure, the shape of the support joint in the horizontal plane direction is a ball-like joint surface, and the support joint 21 can rotate in a sagittal plane at a large angle through the design of the ball-like joint surface, so that the position requirement of the human lower limb during movement is met. The support joint 21 only slightly rotates in the coronal plane and the horizontal plane through the design of the rocker arm sliding block mechanism, so that the interference to knee joints and ankle joints in the human lower limb movement process is avoided, the motion law of human lower limbs is met, and the consistency and coordination of exoskeleton and human lower limb movement are improved.
Referring to fig. 11 and 12, the two sides of the bottom of the two support section main bodies 211 of the support section 21 are respectively provided with a third arc-shaped groove 214, the third arc-shaped grooves 214 are positioned at the outer side of the middle part of the support section 41, and the third arc-shaped grooves 214 of the two support section main bodies 211 are mutually matched, so that two spring channels are formed on 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 penetrated in the spring channels; the middle parts of the two support section main bodies 211 of the support section are provided with fourth arc grooves 215, the fourth arc grooves 215 of the two support section main bodies 211 are mutually matched, so that a threaded channel is formed on the support section 21, the axis of the threaded channel extends along the radial direction of the spring channel, two ends of the threaded channel are provided with threaded rings 3 in a threaded connection mode, one end of the positioning spring 4 is connected to the threaded ring 3 of one support section 21, and the other end of the positioning spring is connected to the threaded ring 3 of the adjacent support section 21. In this way, by the cooperation of the threaded ring 3 and the positioning spring 4, the plurality of support sections 21 can be aligned into a chain quickly, thereby improving the assembly effect of the support sections 21.
Further, the vertical connector 253 located in the middle of the support chain includes two mutually matched vertical connector bodies 2531, the two vertical connector bodies 2531 are independent, 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. In this way, a fracture can be formed at the position of the support chain corresponding to the knee joint through the split type design of the vertical connecting piece 253, so that the angle of the support chain can be larger, and a user can sit down conveniently.
Referring to fig. 4, a supporting frame 23 is disposed between the foot plate 22 and the supporting chain, the supporting frame 23 is in a claw-shaped structure, the upper end of the supporting frame is pivotally connected to the supporting section 21, the lower end of the supporting frame is fixed to the foot plate 22, and a strap is connected to the crotch of the supporting frame 23, so that the ankle and the foot plate 22 can be fixed by the strap. The upper surface of the foot plate 22 is embedded with a pressure sensor, through which pressure information borne by the foot plate 22 can be collected, and in a specific embodiment, the pressure sensor is of the model RX-ES39A.
The working principle of the application is as follows:
The exoskeleton system is worn on a person's body by means of a belt, harness 113 and straps. The motor 16 drives the wire coil 122 attached thereto to rotate clockwise or counterclockwise. When the wire coil 122 rotates to shrink the flexible rope 124, the flexible rope 124 pulls the first transmission member 13 to swing, so as to drive the second transmission member 14 to rotate around the main body fixing plate 111, and further drive the thigh to lift up, so that the lower limb of the human body is in a swinging phase, the support chains are bent along with the bending of the lower limb of the human body, and the bending corners are dispersed between each support joint 21. When the motor 16 drives the wire coil 122 fixedly connected with the motor to reversely rotate, so that the flexible rope 124 is released, the flexible rope 124 pulls the first transmission piece 13 to swing, so that the second transmission piece 14 is driven to rotate around the main body fixing plate 111, and the thighs are driven to be put down, the lower limbs of the human body are in a supporting phase, and the supporting chain is bent to be straight, so that weight support is provided for the human body.
While the application has been described with reference to an exemplary embodiment, it is to be understood that the terminology used is intended to be in the nature of words of description and 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 (6)
1. A rigid-flexible coupled wearable walk-assisting exoskeleton system, which is characterized by comprising a power assisting system and a supporting system; the power assisting system comprises a waist wearing mechanism for wearing the exoskeleton system on a user body and a power mechanism for driving thighs of the user to lift or put down; the support system is in transmission connection with the power mechanism and comprises a support chain and a foot plate which is pivotally connected to the bottom of the support chain, the support chain comprises a plurality of support sections, the support sections are uniformly arranged along the height direction, and two adjacent support sections are connected through a rocker arm sliding block mechanism; two rolling grooves are formed on the support 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 of strip-shaped plate-shaped 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 arranged in the two first through holes of the horizontal connecting piece in a threaded connection manner, and the spherical ends of the two threaded universal balls are respectively connected in 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 support joint;
The waist wearing mechanism comprises a waist fixing plate, wherein the waist fixing plate comprises a main body fixing plate and an auxiliary fixing plate;
The power mechanism comprises a pair of power components which are respectively connected to two sides of the waist fixing plate, the power components comprise a motor, a transmission unit and an execution unit, the execution unit comprises a curved surface structure matched with the thigh in shape, the curved surface structure is fixedly connected with the thigh through a binding belt, 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;
The transmission unit comprises a wire coil, a flexible rope, a tripod and a pulley; the wire coil is rotationally connected with an output shaft of the motor, the pulley is rotationally connected to the auxiliary fixing plate through the 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, wherein the rotary connecting piece is rotationally 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; the first transmission piece is connected with one end of the flexible rope extending out of the pulley;
the first transmission piece comprises a connecting block and a first transmission rod, the connecting block is of a block structure, an ear hole for connecting a flexible rope is formed in the connecting block, 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 rotating connection piece; the second transmission piece 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, the curved surface rod is provided with a curved surface matched with the thigh part of the human body, and the curved surface rod is also connected with a binding belt for fixing the curved surface rod on the thigh;
The rotary connecting piece comprises a rotary connecting piece main body, a first clamping seat and a second clamping seat; the main body fixing plate is connected with the mounting seat, the mounting seat is positioned below the main body fixing plate, the main body of the rotary connecting piece is rotationally connected to the lower part of the mounting seat through the rib plate, and the rotary connecting piece is rotationally connected with the mounting seat through the rolling bearing; the first draw-in groove has been seted up down to rotation connecting piece main part one side, first draw-in groove has been seted up on the first cassette, first cassette passes through bolted connection in rotation connecting piece main part, and make first draw-in groove and first last draw-in groove cooperate to form the first passageway that supplies first transfer line to penetrate, the second draw-in groove has been seted up down to rotation connecting piece main part opposite side, the second is gone up the draw-in groove of having seted up on the second cassette, the second cassette passes through bolted connection in rotation connecting piece main part, and make second draw-in groove and second go up the draw-in groove cooperation and form the second passageway that supplies the second transfer line to penetrate down.
2. The rigid-flexible coupled wearable walking aid exoskeleton system of claim 1, wherein the support sections are butterfly-like in structure, one side of each support section is formed with a clamping groove, the other side of each support section is formed with a protrusion, and the protrusions of one support section are accommodated in the clamping grooves of the other support section.
3. The rigid-flexible coupled wearable walking aid exoskeleton system of claim 1, wherein two first arc-shaped grooves are formed in one support section main body, a groove and two second arc-shaped grooves communicated with the groove are formed in the other support 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 support section.
4. The rigid-flexible coupled wearable walking aid exoskeleton system of claim 1, wherein the support section is formed with two spring channels and one threaded channel, positioning springs are arranged in the spring channels in a penetrating manner, threaded rings are arranged at two ends of the threaded channels, one end of each positioning spring is connected to the threaded ring of one support section, and the other end of each positioning spring is connected to the threaded ring of the adjacent support section.
5. The rigid-flexible coupled wearable walking aid exoskeleton system of claim 1, wherein a supporting frame is arranged between the foot plate and the supporting chain, the supporting frame is in a claw-shaped structure, the upper end of the supporting frame is pivotally connected to the supporting node, the lower end of the supporting frame is fixed to the foot plate, a binding belt is connected to the bifurcation of the supporting frame, and the ankle of a user is fixedly connected with the foot plate through the binding belt.
6. The rigid-flexible coupled wearable walking aid exoskeleton system of claim 2, wherein the main body fixing plate and the auxiliary fixing plate are of arc-shaped thin plate structures, the main body fixing plate and the auxiliary fixing plate are connected through a waistband, and the length of the waistband is adjustable; the waist wearing mechanism further comprises two braces, the two braces are respectively connected to two sides of the waist fixing plate, the braces are of a strip-shaped structure and made of flexible materials, the length of each brace is adjustable, one end of each brace is fixed on the main fixing plate, and the other end of each brace is fixed on the auxiliary fixing plate.
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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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| CN112842830B (en) * | 2020-12-30 | 2023-03-10 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Exoskeleton knee joint driving structure and method based on flexible cam system |
| CN113101150B (en) * | 2021-04-09 | 2022-05-17 | 河北工业大学 | Flexible transmission walking aid rehabilitation exoskeleton system considering individual difference |
| CN114474020B (en) * | 2022-03-14 | 2024-06-07 | 山东大学 | Wearing device of exoskeleton and exoskeleton |
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