CN112057297A - Lightweight long-endurance lower limb walking-aid exoskeleton robot - Google Patents
Lightweight long-endurance lower limb walking-aid exoskeleton robot Download PDFInfo
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- CN112057297A CN112057297A CN202010993477.XA CN202010993477A CN112057297A CN 112057297 A CN112057297 A CN 112057297A CN 202010993477 A CN202010993477 A CN 202010993477A CN 112057297 A CN112057297 A CN 112057297A
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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 in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/043—Wheeled walking aids for disabled persons with a drive mechanism
-
- 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
- A61H2201/1623—Back
- A61H2201/1626—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
- A61H2201/164—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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a light-weight long-endurance lower limb walking-aid exoskeleton robot which comprises a support frame, a walking mechanism, a power supply mechanism, a width adjusting mechanism and a control mechanism, wherein the support frame comprises two cross rods, two first handrails and two second handrails, the walking mechanism comprises sleeves, electric push rods and universal wheels, and the sleeves are fixedly arranged on the outer sides of the cross rods through connecting blocks. The robot has light weight, meets the design requirement of light weight, can be suitable for users with different heights and leg lengths, has a large application range, can achieve the purpose of long endurance by adopting the lithium iron phosphate storage battery to store electric energy, can help the users to recover the possibility of walking after long-term use, creates favorable conditions for the users to recover free walking, can support the back of the users, can relieve the fatigue of the users, and can also improve the comfort of the robot.
Description
Technical Field
The invention relates to the technical field of photoelectric detector production, in particular to a light-weight long-endurance lower limb walking-aid exoskeleton robot.
Background
A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots were found in puppet robots built by the institute of workers, who have institutional, seating, standing, worship, lodging, and the like. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
The lower limbs among the prior art help capable ectoskeleton robot, its weight is heavier, is not conform to the light-weighted design requirement, can not be used for the user of different heights and leg length to use, and application scope is less, and the electric quantity duration is short, is difficult to let the user resume the walking, can not support user's back simultaneously, not only makes the user tired more, can also reduce the travelling comfort of this robot simultaneously.
Therefore, the light-weight long-endurance lower limb walking-assisting exoskeleton robot is provided.
Disclosure of Invention
The invention aims to provide a light-weight long-endurance lower limb walking-aid exoskeleton robot which is light in weight, meets the design requirement of light weight, can be suitable for users with different heights and leg lengths, has a large application range, can achieve the purpose of long endurance by adopting a lithium iron phosphate storage battery to store electric energy, can help the users to recover the walking possibility after long-term use, creates favorable conditions for the users to recover free walking, can support the backs of the users, can relieve the fatigue of the users, and can increase the comfort of the robot so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a lightweight long endurance lower limb walking aid exoskeleton robot, comprising:
the support frame is used for supporting the whole light-weight long-endurance lower limb walking-aid exoskeleton robot;
the walking mechanism is arranged at the bottom of the support frame and is used for assisting the whole light-weight long-endurance lower limb walking-aid exoskeleton robot to walk;
the power supply mechanism is arranged on the support frame and used for supplying power to the whole light-weight long-endurance lower limb walking-aid exoskeleton robot;
the width adjusting mechanism is used for adjusting the distance between the two groups of lower limb walking assisting exoskeleton mechanisms;
the two groups of lower limb walking assisting exoskeleton mechanisms are in transmission connection with the width adjusting mechanism, and are used for assisting a user to walk;
the control mechanism is respectively electrically connected with the two groups of lower limb walking assisting exoskeleton mechanisms, the power supply mechanism and the walking mechanism, and is used for respectively controlling the two groups of lower limb walking assisting exoskeleton mechanisms and the walking mechanism to work.
Preferably, the support frame comprises two cross bars, two first handrails and two second handrails, the two cross bars are horizontally arranged, the two cross bars are parallel to each other, the two first handrails are vertically and fixedly mounted on the upper portions of the two cross bars respectively, the two first handrails are symmetrically arranged, the two second handrails are vertically and fixedly mounted on the upper portions of the two first handrails respectively, and the two second handrails are symmetrically arranged.
Preferably, the two cross rods, the two first handrails and the two second handrails are all made of hollow pipes, and plastic protective sleeves are sleeved at the end parts of the two ends of each cross rod.
Preferably, running gear is provided with four groups, four groups running gear symmetric distribution is in the bottom both sides of support frame, and every group running gear all includes sleeve, electric putter and universal wheel, the sleeve passes through connecting block fixed mounting in the outside of horizontal pole, electric putter is vertical and install fixedly telescopic inside, universal wheel fixed mounting in electric putter's flexible end portion, just the universal wheel is located under electric putter, the universal wheel is from locking-type universal wheel.
Preferably, the power supply mechanism comprises two fixing sleeves, a box body, a lithium iron phosphate storage battery, a cover plate and a charging interface, the two fixing sleeves are respectively and fixedly installed on the two first handrails through first bolts, the box body is horizontally and fixedly installed between the two fixing sleeves, one side surface of the box body is of an opening structure, the lithium iron phosphate storage battery is arranged in the box body, the lithium iron phosphate storage battery is connected with the electric push rod in series through a lead, a lug is fixedly arranged on one side surface of the sealing cover plate, the lug is arranged on one side surface of the box body with an opening structure in an interference fit manner, and the lug is inconsistent with the lithium iron phosphate storage battery, the charging interface is embedded on the outer side surface of the box body, and the charging interface is connected with the lithium iron phosphate storage battery in series through a wire.
Preferably, the width adjustment mechanism includes L shape spout, threaded rod, handle and two L shape sliders, L shape spout is seted up the box dorsad on a side of closing cap board, the threaded rod passes through antifriction bearing and rotates to be installed on the both ends cell wall of L shape spout, just the one end of threaded rod extends to the outside of L shape spout, two sections screw thread portions that spiral opposite direction have been seted up on the threaded rod, handle fixed mounting be in the threaded rod is located the outside one end tip of L shape spout, two the L shape slider all slides and installs the inside of L shape spout, and two the L shape slider all with threaded rod threaded connection, two L shape slider symmetric distribution is at two sections on the screw thread portion.
Preferably, the two groups of lower limb walking assisting exoskeleton mechanisms are respectively arranged on the two L-shaped sliders, each group of lower limb walking assisting exoskeleton mechanism comprises a cross beam, a first connecting arm, a first motor, a second connecting arm, a third connecting arm, a second motor, a fourth connecting arm, a foot supporting plate and shoe covers, the cross beam is horizontally and fixedly arranged on the L-shaped sliders, one end of the first connecting arm is hinged with one end, far away from the L-shaped sliders, of the cross beam, the first motor is fixedly arranged on the cross beam, a rotating shaft of the first motor is in transmission connection with the first connecting arm, the second connecting arm is fixedly arranged inside one end, far away from the cross beam, of the first connecting arm through a second bolt, one end of the third connecting arm is hinged with one end, far away from the first connecting arm, of the second connecting arm, second motor fixed mounting be in on the third linking arm, just the axis of rotation activity of second motor runs through the third linking arm and with second linking arm fixed connection, the fourth linking arm passes through the third bolt suit and is in the third linking arm is kept away from the one end outside of second linking arm, foot's backup pad fixed mounting be in on the fourth linking arm, just the foot backup pad aligns the fourth linking arm dorsad the one end setting of third linking arm, shoe cover fixed mounting is in the upper portion of foot's backup pad, just the shoe cover is hollow out construction.
Preferably, the first connecting arm and the fourth connecting arm are fixedly provided with a binding band and a limiting sleeve, the same side surface of the binding band is fixedly provided with a hair side magic tape and a thorn side magic tape, the thorn side magic tape and the hair side magic tape are arranged at intervals, and the limiting sleeve and the binding band are matched.
Preferably, the control mechanism comprises a box body, a side cover plate, a controller, a status indicator lamp, a touch display screen and a power switch, the box body is fixedly installed on the upper portion of the box body, the side cover plate is fixedly installed on one side face of the box body through screws, the controller is fixedly installed inside the box body, the controller is respectively electrically connected with the electric push rod, the lithium iron phosphate storage battery, the first motor and the second motor, the status indicator lamp is fixedly installed on the upper portion of the box body, the status indicator lamp is electrically connected with the controller, the touch display screen is embedded on one side face of the box body and is electrically connected with the controller, the power switch is fixedly installed on one side face of the box body, and the power switch is connected with the lithium iron phosphate storage battery in series, the inside of box body still an organic whole is equipped with the installation ear, the inside of installation ear seted up with screw hole that the screw phase-match.
Preferably, light-weight long-endurance lower limb walking-assisting exoskeleton robot further comprises a backrest mechanism, wherein the backrest mechanism is installed on the upper portion of the box body, the backrest mechanism is close to the lower limb walking-assisting exoskeleton mechanism, the backrest mechanism comprises an outer sleeve, a supporting rod, a backup plate and a liner, the outer sleeve is vertically and fixedly installed on the upper portion of the box body, the supporting rod is vertically and fixedly installed inside the upper end of the outer sleeve through a fourth bolt, the backup plate is vertically and fixedly installed at the upper end of the supporting rod, and the liner is fixedly installed on the backup plate towards the lower limb walking-assisting exoskeleton mechanism.
Compared with the prior art, the invention has the beneficial effects that:
1. the light-weight long-endurance lower limb walking-aid exoskeleton robot is light in weight, meets the design requirement of light weight, can be suitable for users with different heights and leg lengths, is wide in application range, can achieve the purpose of long endurance by adopting the lithium iron phosphate storage battery to store electric energy, can help the users to recover the possibility of walking after long-term use, and creates favorable conditions for the users to recover free walking;
2. the backrest mechanism comprises the outer sleeve, the supporting rod, the backup plate and the liner, the backup plate can be used for supporting the back of a user using the robot, fatigue of the user can be relieved, comfort of the robot can be improved, in addition, the height of the backup plate can be adjusted under the mutual matching of the outer sleeve, the supporting rod and the fourth bolt, and therefore the backrest mechanism can also be suitable for users with different heights.
Drawings
FIG. 1 is a schematic structural view of a lightweight long-endurance lower limb walking-aid exoskeleton robot;
FIG. 2 is one of the schematic structural diagrams of the lightweight long-endurance lower limb walking-aid exoskeleton robot of the present invention;
FIG. 3 is an enlarged schematic view of a portion A of FIG. 2;
fig. 4 is a second schematic structural view of the lightweight long-endurance lower limb walking-aid exoskeleton robot of the present invention;
FIG. 5 is a third schematic structural view of the lightweight long-endurance lower limb walking-aid exoskeleton robot of the present invention;
FIG. 6 is a schematic partial structure view of the lightweight long-endurance lower limb walking-aid exoskeleton robot according to the present invention;
FIG. 7 is an enlarged schematic view of the detail view B of FIG. 6;
FIG. 8 is an enlarged schematic view of the detail view C of FIG. 6;
FIG. 9 is a schematic diagram of a partial explosion structure of the lightweight long-endurance lower limb walking-aid exoskeleton robot;
fig. 10 is a second partial schematic structural view of the lightweight long-endurance lower limb walking-aid exoskeleton robot of the present invention;
fig. 11 is a schematic structural view of another perspective view of the lightweight long-endurance lower limb walking-assisting exoskeleton robot.
FIG. 12 is an enlarged schematic view of detail D of FIG. 11;
fig. 13 is an exploded view of the control mechanism of the present invention.
In the figure: 1. a support frame; 101. a cross bar; 102. a first armrest; 103. a second handrail; 104. a plastic protective sleeve; 2. a power supply mechanism; 201. fixing a sleeve; 202. a box body; 203. sealing the cover plate; 204. a bump; 205. a lithium iron phosphate battery; 206. a charging interface; 207. a first bolt; 3. a width adjustment mechanism; 301. an L-shaped chute; 302. a threaded rod; 303. a rolling bearing; 304. an L-shaped slider; 305. a handle; 4. a lower limb walking aid exoskeleton mechanism; 401. a cross beam; 402. a first motor; 403. a first connecting arm; 404. a second bolt; 405. a second connecting arm; 406. a second motor; 407. a third connecting arm; 408. a third bolt; 409. a fourth connecting arm; 410. a foot support plate; 411. shoe covers; 412. binding bands; 413. a limiting sleeve; 414. a rough surface magic tape; 415. a thorn face magic tape; 5. a traveling mechanism; 501. a sleeve; 502. connecting blocks; 503. an electric push rod; 504. a universal wheel; 6. a control mechanism; 601. a box body; 602. a power switch; 603. a touch display screen; 604. a status indicator light; 605. a side cover plate; 606. a screw; 607. mounting lugs; 608. a controller; 7. a backrest mechanism; 701. an outer sleeve; 702. a support bar; 703. a fourth bolt; 704. a backup plate; 705. a liner.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-13, the present invention provides a technical solution:
example 1
A light-weight long-endurance lower limb walking-aid exoskeleton robot comprises a support frame 1, a walking mechanism 5, a power supply mechanism 2, a width adjusting mechanism 3 and a control mechanism 6.
The support frame 1 is used for supporting the whole light-weight long-endurance lower limb walking-aid exoskeleton robot, and comprises two cross bars 101, two first handrails 102 and two second handrails 103, wherein the two cross bars 101 are horizontally arranged, the two cross bars 101 are parallel to each other, the two first handrails 102 are respectively vertically and fixedly arranged on the upper parts of the two cross bars 101, the two first handrails 102 are symmetrically arranged, the two second handrails 103 are respectively vertically and fixedly arranged on the upper parts of the two first handrails 102, the two second handrails 103 are symmetrically arranged, the two cross bars 101, the two first handrails 102 and the two second handrails 103 are made of hollow pipes, and two end parts of each cross bar 101 are sleeved with plastic protective sleeves 104; through adopting above-mentioned technical scheme for support frame 1's simple structure, weight is lighter, accords with the light-weighted design requirement, and plastics lag 104 not only can prevent that the inside of horizontal pole 101 from entering into the foreign matter, still can prevent that the legs of user from breaking with the both ends of horizontal pole 101 accident collision.
The walking mechanism 5 is installed at the bottom of the support frame 1, and the walking mechanism 5 is used for assisting the whole light-weight long-endurance lower limb walking-aid exoskeleton robot to walk; the four groups of travelling mechanisms 5 are symmetrically distributed on two sides of the bottom of the support frame 1, each group of travelling mechanism 5 comprises a sleeve 501, an electric push rod 503 and a universal wheel 504, the sleeve 501 is fixedly installed on the outer side of the cross rod 101 through a connecting block 502, the electric push rod 503 is vertically and fixedly installed inside the sleeve 501, the universal wheel 504 is fixedly installed at the end part of the telescopic end of the electric push rod 503, the universal wheel 504 is located right below the electric push rod 503, and the universal wheels 504 are all self-locking universal wheels; through adopting above-mentioned technical scheme for every group running gear 5 comprises sleeve 501, electric putter 503 and universal wheel 504, makes this robot walk more convenient, makes the whole height of this robot can increase under electric putter 503's effect simultaneously, thereby makes this robot can be applicable to the user use of different heights, and then makes the application scope of this robot great.
The power supply mechanism 2 is mounted on the support frame 1, and the power supply mechanism 2 is used for supplying power to the whole light-weight long-endurance lower limb walking-aid exoskeleton robot; the power supply mechanism 2 comprises two fixing sleeves 201, a box 202, a lithium iron phosphate storage battery 205, a cover sealing plate 203 and a charging interface 206, the two fixing sleeves 201 are respectively and fixedly installed on the two first handrails 102 through first bolts 207, the box 202 is horizontally and fixedly installed between the two fixing sleeves 201, and one side surface of the box body 202 is of an open structure, the lithium iron phosphate storage battery 205 is installed inside the box body 202, and the lithium iron phosphate storage battery 205 is connected in series with the electric push rod 503 through a lead, a lug 204 is fixedly arranged on one side surface of the cover plate 203, the lug 204 is arranged on one side surface of the box body 202 which is in an open structure in an interference fit manner, the lug 204 is abutted against the lithium iron phosphate storage battery 205, the charging interface 206 is embedded on the outer side surface of the box body 202, and the charging interface 206 is connected in series with the lithium iron phosphate storage battery 205 through a lead. Through adopting above-mentioned technical scheme, the power supply mechanism 2 that sets up comprises two fixed covers 201, box 202, lithium iron phosphate battery 205, closing cap board 203 and the interface 206 that charges for power supply mechanism 2 is convenient for install, and the position of power supply mechanism 2 is convenient for adjust, can satisfy user's operation requirement better, in addition, adopts lithium iron phosphate battery 205 storage electric energy, can reach the purpose of long duration.
The width adjusting mechanism 3 is used for adjusting the distance between the two groups of lower limb walking assisting exoskeleton mechanisms 4; the width adjusting mechanism 3 comprises an L-shaped sliding groove 301, a threaded rod 302, a handle 305 and two L-shaped sliding blocks 304, the L-shaped sliding groove 301 is arranged on a side surface of the box 202 facing away from the sealing cover plate 203, the threaded rod 302 is rotatably mounted on groove walls at two ends of the L-shaped sliding groove 301 through a rolling bearing 303, one end of the threaded rod 302 extends to the outside of the L-shaped sliding groove 301, two sections of threaded portions with opposite spiral directions are formed in the threaded rod 302, the handle 305 is fixedly mounted at one end portion of the threaded rod 302 positioned at the outside of the L-shaped sliding groove 301, the two L-shaped sliding blocks 304 are slidably mounted inside the L-shaped sliding groove 301, the two L-shaped sliding blocks 304 are in threaded connection with the threaded rod 302, and the two L-shaped sliding blocks 304 are symmetrically distributed on the two sections of the; by adopting the technical scheme, the arranged width adjusting mechanism 3 is composed of the L-shaped sliding groove 301, the threaded rod 302, the handle 305 and the two L-shaped sliding blocks 304, and the two L-shaped sliding blocks 304 can do linear motion which is close to or far away from each other along the L-shaped sliding groove 301 by rotating the threaded rod 302 through the handle 305, so that the purpose of adjusting the width is achieved.
The two groups of lower limb walking assisting exoskeleton mechanisms 4 are in transmission connection with the width adjusting mechanism 3, and the two groups of lower limb walking assisting exoskeleton mechanisms 4 are used for assisting a user in walking; the two groups of lower limb walking assisting exoskeleton mechanisms 4 are respectively arranged on the two L-shaped sliders 304, each group of lower limb walking assisting exoskeleton mechanism 4 comprises a cross beam 401, a first connecting arm 403, a first motor 402, a second connecting arm 405, a third connecting arm 407, a second motor 406, a fourth connecting arm 409, a foot supporting plate 410 and shoe covers 411, the cross beam 401 is horizontally and fixedly arranged on the L-shaped sliders 304, one end of the first connecting arm 403 is hinged with one end of the cross beam 401 far away from the L-shaped sliders 304, the first motor 402 is fixedly arranged on the cross beam 401, a rotating shaft of the first motor 402 is in transmission connection with the first connecting arm, the second connecting arm 405 is fixedly arranged inside one end of the first connecting arm 403 far away from the cross beam 401 through a second bolt 404, one end of the third connecting arm 407 is hinged with one end of the second connecting arm 405 far away from the first connecting arm 403, the second motor 406 is fixedly installed on the third connecting arm 407, a rotating shaft of the second motor 406 penetrates through the third connecting arm 407 and is fixedly connected with the second connecting arm 405, the fourth connecting arm 409 is sleeved on the outer portion of one end, away from the second connecting arm 405, of the third connecting arm 407 through a third bolt 408, the foot supporting plate 410 is fixedly installed on the fourth connecting arm 409, the foot supporting plate 410 is aligned with the end, away from the third connecting arm 407, of the fourth connecting arm 409, the shoe cover 411 is fixedly installed on the upper portion of the foot supporting plate 410, and the shoe cover 411 is of a hollow structure. By adopting the technical scheme, the two groups of lower limb walking assisting exoskeleton mechanisms 4 are composed of the cross beam 401, the first connecting arm 403, the first motor 402, the second connecting arm 405, the third connecting arm 407, the second motor 406, the fourth connecting arm 409, the foot supporting plate 410 and the shoe cover 411, the cross beam 401, the first connecting arm 403, the first motor 402, the second connecting arm 405, the third connecting arm 407, the second motor 406 and the fourth connecting arm 409 can be utilized to match with each other to simulate the walking action of a person, when the walking assisting device is used, the feet of a user can penetrate into the shoe cover 411, and then the first motor 402 and the second motor 406 are matched with each other to drive the foot supporting plate 410 to take the legs and the feet of the user to walk, so that the walking assisting device can help the user to walk. In addition, under the action of the width adjusting mechanism 3, the distance between the two groups of lower limb walking assisting exoskeleton mechanisms 4 can be adjusted, so that the robot can be suitable for users with different body types. In addition, the total length of the lower limb walking assisting exoskeleton mechanism 4 can be adjusted by the installation mode of the second connecting arm 405 and the first connecting arm 403 and the fourth connecting arm 409 and the third connecting arm 407, so that the robot can be suitable for users with different leg lengths.
Wherein the control mechanism 6 is electrically connected to the two sets of lower limb walking assisting exoskeleton mechanisms 4, the power supply mechanism 2 and the walking mechanism 5, and the control mechanism 6 is used for controlling the two sets of lower limb walking assisting exoskeleton mechanisms 4 and the walking mechanism 5 to work, the control mechanism 6 comprises a box 601, a side cover plate 605, a controller 608, a status indicator lamp 604, a touch display screen 603 and a power switch 602, the box 601 is fixedly installed on the upper portion of the box 202, the side cover plate 605 is fixedly installed on one side surface of the box 601 through a screw 606, the controller 608 is fixedly installed inside the box 601, the controller 608 is electrically connected to the electric push rod 503, the lithium iron phosphate battery 205, the first motor 402 and the second motor 406, and the status indicator lamp 604 is fixedly installed on the upper portion of the box 601, just status indicator lamp 604 with controller 608 electric connection, touch display screen 603 inlays the dress on a side of box body 601, just touch display screen 603 with controller 608 electric connection, switch 602 fixed mounting is in on a side of box body 601, just switch 602 with lithium iron phosphate battery 205 concatenates the connection, the inside of box body 601 still integrative is equipped with installation ear 607, the inside of installation ear 607 seted up with screw 606 assorted screw hole. By adopting the technical scheme, the arranged control mechanism 6 mainly comprises a box body 601, a side cover plate 605, a controller 608, a status indicator lamp 604, a touch display screen 603 and a power switch 602, the robot can be turned on and off through the power switch 602, the robot can be interacted with through the touch display screen 603, the working state of the robot can be known through the status indicator lamp 604, and the intelligent operation of the robot can be controlled through the controller 608.
In conclusion, the light-weight long-endurance lower limb walking-aid exoskeleton robot is light in weight, meets the design requirement of light weight, can be suitable for users with different heights and leg lengths, is wide in application range, can achieve the purpose of long endurance by adopting the lithium iron phosphate storage battery 205 to store electric energy, can help the users to recover the walking possibility after long-term use of the robot, and creates favorable conditions for the users to recover free walking.
Example 2
As shown in fig. 1, the present embodiment is different from embodiment 1 in that a strap 412 and a position-limiting sleeve 413 are fixedly mounted on both the first connecting arm 403 and the fourth connecting arm 409, a matte magic tape 414 and a matte magic tape 415 are fixedly mounted on the same side of the strap 412, the matte magic tape 415 and the matte magic tape 414 are arranged at an interval, and the position-limiting sleeve 413 and the strap 412 are arranged in a matching manner. Through adopting above-mentioned technical scheme, usable bandage 412, stop collar 413, hair side magic subsides 414 and thorn side magic subsides 415 cooperate and fix user's shank, so as to avoid user's foot to drop from foot backup pad 410 and lead to the user to take place the accident of falling down, when specifically using, tie up bandage 412 in user's shank, then pass stop collar 413 and fifty percent discount with the one end of bandage 412, usable thorn side magic subsides 415 with hair side magic subsides 414 fixes bandage 412 this moment, thereby make user's shank fix on two sets of low limbs help capable ectoskeleton mechanisms 4 steadily, and then improve this robot help capable effect.
Example 3
As shown in fig. 1, the present embodiment is different from embodiment 2 in that the light-weight long-endurance lower-limb walking-assisting exoskeleton robot further includes a backrest mechanism 7, the backrest mechanism 7 is installed on the upper portion of the box 202, the backrest mechanism 7 is disposed adjacent to the lower-limb walking-assisting exoskeleton mechanism 4, the backrest mechanism 7 includes an outer sleeve 701, a support rod 702, a backup plate 704 and a pad 705, the outer sleeve 701 is vertically and fixedly installed on the upper portion of the box 202, the support rod 702 is vertically and fixedly installed inside the upper end of the outer sleeve 701 through a fourth bolt 703, the backup plate 704 is vertically and fixedly installed on the upper end of the support rod 702, and the pad 705 is fixedly installed on a side surface of the backup plate 704 facing the lower-limb walking-assisting exoskeleton mechanism 4. Through adopting above-mentioned technical scheme, the back mechanism 7 that sets up comprises outer tube 701, bracing piece 702, backup plate 704 and liner 705, and usable backup plate 704 supports the back of the user who uses this robot, can alleviate user's fatigue, can increase the travelling comfort of this robot simultaneously, and in addition, backup plate 704 can height-adjusting under the mutually supporting of outer tube 701, bracing piece 702 and fourth bolt 703 to make this back mechanism 7 also can be adapted to the user of different heights.
It should be noted that in the above embodiment, the controller 608 may be a PLC controller of siemens s7-300 series, and both the first motor 402 and the second motor 406 may be stepper motors.
The working principle is as follows: this light-weighted long continuation of journey low limbs helps capable ectoskeleton robot, during the use, let user's both feet penetrate in the shoe cover 411, then through the operation of touch-control display screen 603 control first motor 402 and second motor 406, first motor 402 and second motor 406 cooperate drive foot backup pad 410 and take user's both legs and both feet to walk, thereby realize the purpose of helping the user walking, use this robot for a long time, can help the user to resume the possibility of walking, create the advantage for the user resumes free walking.
The parts not involved in the present invention are the same as or can be implemented by the prior art. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a long continuation of journey low limbs of lightweight helps capable ectoskeleton robot which characterized in that: the method comprises the following steps:
the support frame (1) is used for supporting the whole light-weight long-endurance lower limb walking-aid exoskeleton robot;
the walking mechanism (5) is installed at the bottom of the support frame (1), and the walking mechanism (5) is used for assisting the whole light-weight long-endurance lower limb walking-aid exoskeleton robot to walk;
the power supply mechanism (2) is installed on the support frame (1), and the power supply mechanism (2) is used for supplying power to the whole light-weight long-endurance lower limb walking-aid exoskeleton robot;
the width adjusting mechanism (3) is used for adjusting the distance between the two groups of lower limb walking assisting exoskeleton mechanisms (4);
the two groups of lower limb walking assisting exoskeleton mechanisms (4) are in transmission connection with the width adjusting mechanism (3), and the two groups of lower limb walking assisting exoskeleton mechanisms (4) are used for assisting a user in walking;
the control mechanism (6) is respectively connected with the lower limb walking assisting exoskeleton mechanisms (4), the power supply mechanism (2) and the walking mechanism (5) in an electric connection mode, and the control mechanism (6) is used for respectively controlling the lower limb walking assisting exoskeleton mechanisms (4) and the walking mechanism (5) to work.
2. The lightweight long-endurance lower limb walking-aid exoskeleton robot according to claim 1, is characterized in that: the supporting frame (1) comprises two cross rods (101), two first handrails (102) and two second handrails (103), wherein the two cross rods (101) are arranged horizontally, the two cross rods (101) are parallel to each other, the two first handrails (102) are vertically and fixedly arranged on the upper portions of the two cross rods (101) respectively, the two first handrails (102) are symmetrically arranged, the two second handrails (103) are vertically and fixedly arranged on the upper portions of the two first handrails (102) respectively, and the two second handrails (103) are symmetrically arranged.
3. The lightweight long-endurance lower limb walking-aid exoskeleton robot according to claim 2, wherein: the two cross rods (101), the two first handrails (102) and the two second handrails (103) are all made of hollow pipes, and plastic protective sleeves (104) are sleeved at the end parts of the two ends of each cross rod (101).
4. The lightweight long-endurance lower limb walking-aid exoskeleton robot according to claim 2, wherein: running gear (5) are provided with four groups, four groups running gear (5) symmetric distribution is in the bottom both sides of support frame (1), and every group running gear (5) all include sleeve (501), electric putter (503) and universal wheel (504), sleeve (501) are in through connecting block (502) fixed mounting the outside of horizontal pole (101), electric putter (503) are vertical and install fixedly the inside of sleeve (501), universal wheel (504) fixed mounting be in the flexible end portion of electric putter (503), just universal wheel (504) are located under electric putter (503), universal wheel (504) are from locking-type universal wheel.
5. The lightweight long-endurance lower limb walking-aid exoskeleton robot according to claim 4, wherein: power supply mechanism (2) includes two fixed covers (201), box (202), lithium iron phosphate battery (205), closing plate (203) and charge interface (206), two fixed cover (201) is respectively through first bolt (207) fixed mounting two on first handrail (102), box (202) level and fixedly install two between fixed cover (201), just a side of box (202) is open structure, lithium iron phosphate battery (205) are installed the inside of box (202), just lithium iron phosphate battery (205) pass through the wire with electric putter (503) series connection, fixed mounting has lug (204) on a side of closing plate (203), lug (204) interference fit is installed on a side that box (202) are open structure, just lug (204) with lithium iron phosphate battery (205) are inconsistent, the charging interface (206) is embedded on the outer side surface of the box body (202), and the charging interface (206) is connected with the lithium iron phosphate storage battery (205) in series through a lead.
6. The lightweight long-endurance lower limb walking-aid exoskeleton robot according to claim 5, wherein: the width adjusting mechanism (3) comprises an L-shaped sliding groove (301), a threaded rod (302), a handle (305) and two L-shaped sliding blocks (304), the L-shaped sliding groove (301) is arranged on the box body (202) back to one side face of the sealing cover plate (203), the threaded rod (302) is rotatably installed on two end groove walls of the L-shaped sliding groove (301) through a rolling bearing (303), one end of the threaded rod (302) extends to the outside of the L-shaped sliding groove (301), two threaded parts with opposite spiral directions are arranged on the threaded rod (302), the handle (305) is fixedly installed at one end part of the threaded rod (302) positioned at the outside of the L-shaped sliding groove (301), the two L-shaped sliding blocks (304) are slidably installed in the L-shaped sliding groove (301), and the two L-shaped sliding blocks (304) are in threaded connection with the threaded rod (302), two L-shaped sliding blocks (304) are symmetrically distributed on the two sections of the threaded parts.
7. The lightweight long-endurance, lower-limb walking-aid exoskeleton robot according to claim 6, wherein: two sets of low limbs help capable ectoskeleton mechanism (4) are installed respectively on two L shape slider (304), and every group low limbs help capable ectoskeleton mechanism (4) all include crossbeam (401), first connecting arm (403), first motor (402), second connecting arm (405), third connecting arm (407), second motor (406), fourth connecting arm (409), foot backup pad (410) and shoe cover (411), crossbeam (401) level and fixedly install on L shape slider (304), the one end of first connecting arm (403) with crossbeam (401) is kept away from the articulated connection of the one end of L shape slider (304), first motor (402) fixed mounting be in on crossbeam (401), just the axis of rotation of first motor (402) with first connecting arm (403) transmission is connected, second connecting arm (405) through second bolt (404) fixed mounting in first connecting arm (403) is kept away from crossbeam (403) (403) ("W)", "first connecting arm (401) 401) Inside, the one end of third linking arm (407) with keep away from second linking arm (405) the one end of first linking arm (403) is articulated to be connected, second motor (406) fixed mounting be in on third linking arm (407), just the axis of rotation activity of second motor (406) runs through third linking arm (407) and with second linking arm (405) fixed connection, fourth linking arm (409) pass through third bolt (408) suit in third linking arm (407) keeps away from the one end outside of second linking arm (405), foot backup pad (410) fixed mounting be in on fourth linking arm (409), and foot backup pad (410) align fourth linking arm (409) dorsad the one end setting of third linking arm (407), shoe cover (411) fixed mounting be in the upper portion of foot backup pad (410), and the shoe cover (411) is of a hollow structure.
8. The lightweight long-endurance, lower-limb walking-aid exoskeleton robot according to claim 7, wherein: all fixed mounting has bandage (412) and stop collar (413) on first linking arm (403) and on fourth linking arm (409), fixed mounting has matte magic subsides (414) and thorn face magic subsides (415) on the same side of bandage (412), thorn face magic subsides (415) with matte magic subsides (414) interval sets up, stop collar (413) with bandage (412) cooperation setting.
9. The lightweight long-endurance, lower-limb walking-aid exoskeleton robot according to claim 7, wherein: the control mechanism (6) comprises a box body (601), a side cover plate (605), a controller (608), a status indicator lamp (604), a touch display screen (603) and a power switch (602), wherein the box body (601) is fixedly arranged at the upper part of the box body (202), the side cover plate (605) is fixedly arranged on one side surface of the box body (601) through a screw (606), the controller (608) is fixedly arranged in the box body (601), the controller (608) is respectively and electrically connected with the electric push rod (503), the lithium iron phosphate storage battery (205), the first motor (402) and the second motor (406), the status indicator lamp (604) is fixedly arranged at the upper part of the box body (601), the status indicator lamp (604) is electrically connected with the controller (608), and the touch display screen (603) is embedded on one side surface of the box body (601), and touch-control display screen (603) with controller (608) electric connection, switch (602) fixed mounting be in on a side of box body (601), just switch (602) with lithium iron phosphate battery (205) series connection, the inside of box body (601) still an organic whole is equipped with installation ear (607), the inside of installation ear (607) seted up with screw (606) assorted screw hole.
10. The lightweight long-endurance lower limb walking-aid exoskeleton robot according to claim 5, wherein: still include back mechanism (7), install back mechanism (7) the upper portion of box (202), just back mechanism (7) are close to lower limbs help capable ectoskeleton mechanism (4) setting, back mechanism (7) include outer tube (701), bracing piece (702), backup plate (704) and liner (705), outer tube (701) are vertical and fixedly install the upper portion of box (202), bracing piece (702) are vertical and fixedly install through fourth bolt (703) inside the upper end of outer tube (701), backup plate (704) are vertical and fixedly install the upper end tip of bracing piece (702), liner (705) fixed mounting backup plate (704) orientation on a side of lower limbs help capable ectoskeleton mechanism (4).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113230096A (en) * | 2021-05-11 | 2021-08-10 | 刘延鹏 | Exoskeleton rehabilitation robot |
| WO2022188605A1 (en) * | 2021-03-10 | 2022-09-15 | 王继荣 | Multifunctional intelligent walking assistance robot for lower-limb rehabilitation |
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| CN113230096A (en) * | 2021-05-11 | 2021-08-10 | 刘延鹏 | Exoskeleton rehabilitation robot |
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Application publication date: 20201211 |