CN112847316A

CN112847316A - Supportable lower limb assistance exoskeleton

Info

Publication number: CN112847316A
Application number: CN202110260340.8A
Authority: CN
Inventors: 刘红; 蒋哲琪; 潘丹琦
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2021-05-28
Anticipated expiration: 2041-03-10
Also published as: CN112847316B

Abstract

A supportable lower limb assistance exoskeleton belongs to the technical field of assistance mechanical devices. The waist binding belt is connected with two waist connecting belts, the lower ends of the waist connecting belts are hinged to thigh connecting rods, the thigh connecting rods are connected with the upper ends of the thigh bottom plates through shaft pins, the lower ends of the thigh bottom plates are hinged to the upper ends of the shank supporting plates, and the lower ends of the shank supporting plates are connected with the foot plates through the shank connecting rods. The exoskeleton is worn on the rear side of thighs and calves of a human body, so that the thighs and the calves are driven to move without dislocation, and the gravity of the human body can be borne better; the surface contacting with the human body is arc-shaped, so that the shoe is more attached to the thighs and the calves of the human body, and a wearer feels more comfortable; the supporting rod is arranged at the rear side of the thigh, and the space required by unfolding is extremely small, so that the folding chair can be used in a plurality of narrow spaces; the lower end of the supporting rod is provided with a rubber pad, and the upper end of the supporting rod is provided with a limiting device, so that the supporting rod is more stable.

Description

Supportable lower limb assistance exoskeleton

Technical Field

The invention belongs to the technical field of power-assisted mechanical devices, and particularly relates to a supportable lower limb power-assisted exoskeleton.

Background

Many people with inconvenient legs and feet can not only not stand for a long time, but also need to sit down to have a rest after standing for a period of time, and have difficulty in walking and can not walk too much. Exoskeleton devices are therefore an effective solution to these problems.

The existing exoskeleton devices are generally worn on two sides of a human body to provide power for walking and drive thighs and shanks to move, but cannot provide gravity support for the human body, but a small number of exoskeleton devices are worn on the rear sides of the thighs and the shanks, for example, patent 201720999264.1 discloses a portable sitting and standing device for a lower limb exoskeleton robot, which is connected with support rods through associated mechanisms arranged on the side surfaces of the waist, wherein the support rods are retracted behind the back during walking, and the support rods behind the back are rotated to the lower side to realize support during sitting. But the support rod cannot be rotated to the lower part in some narrow spaces. Patent 201611070001.9 discloses a lower limb assisting exoskeleton mechanism system, which comprises a set of exoskeleton wearing on both sides, and drives the exoskeleton to move by gas-liquid driving. However, the joint moves with the thigh and the shank of the person, so that the comfort cannot be satisfied. Patent CN201710706919.6 'lower limb assistance exoskeleton based on gravity support' is a set of exoskeleton worn on the rear part of lower limbs of a human body, the exoskeleton bends knees and sits down and is supported by a knee joint triangular mechanism, and the center of gravity of a wearer can be behind the support when sitting down, so that the wearer is easy to fall backwards. In the exoskeleton robot described in CN201721139616.2, "lower limb exoskeleton robot and rehabilitation robot", the ankle joint has two degrees of freedom, i.e., front-back and left-right rotation. However, the ankle does not only rotate back and forth and right and left, but also rotates inward and outward, so that both rotations cannot satisfy all the movements of the ankle. The patent CN201711174133.0 discloses a semi-passive light-weight lower limb exoskeleton, which is a light-weight exoskeleton worn on two sides of a body, actively drives hip joints, and achieves the purpose of assisting walking by using passive degrees of freedom of knee joints and ankle joints. But it can not satisfy the use of people of different size statures, can not adjust the size.

Disclosure of Invention

In view of the above problems in the prior art, the present invention provides a supportable lower limb assisting exoskeleton, which is designed for people who have inconvenience in legs and feet and cannot stand for a long time, and solves the problem that a user cannot timely obtain a sitting condition.

The invention provides the following technical scheme: a supportable lower limb assistance exoskeleton, comprising: including waist binding belt, thigh bottom plate, shank backup pad and sole, be connected with two waist connecting bands on the waist binding belt, the lower extreme of waist connecting band articulates there is the thigh connecting rod, the thigh connecting rod is connected with the upper end of thigh bottom plate through the pivot, the lower extreme of thigh bottom plate is connected with the upper end of shank backup pad is articulated, the lower extreme of shank backup pad is connected with the sole through the shank connecting rod.

A lower limbs helping hand ectoskeleton that can support, its characterized in that the upper portion of thigh bottom plate is inserted to the lower extreme of thigh connecting rod, the spacing hole of a plurality of pivot installation of being convenient for is seted up to the lateral part of thigh connecting rod, set up the through-hole corresponding with the spacing hole of a plurality of on the thigh bottom plate, personally submit the arc structure with human contact on the thigh bottom plate, the human thigh curve of laminating, the middle part of thigh bottom plate is equipped with elastic thigh tying band.

The supportable lower limb assistance exoskeleton is characterized in that a supporting rod is hinged to the upper end of the back of a thigh bottom plate, and a bayonet convenient for the supporting rod to be fixed in a rotating mode is arranged in the middle of the back.

The supportable lower limb assistance exoskeleton is characterized in that a limiting structure is arranged at the hinged position of the thigh bottom plate and the supporting rod, and a rubber pad is arranged at the bottom of the supporting rod so as to enhance the stability of the exoskeleton in a sitting posture.

The supportable lower limb assistance exoskeleton is characterized in that the contact surface of the lower leg supporting plate and a human body is of an arc-shaped structure and is attached to a lower leg curve of the human body, and an elastic lower leg binding belt is arranged in the middle of the lower leg supporting plate.

The supportable lower limb assistance exoskeleton is characterized in that a shank supporting plate is connected with a shank connecting rod through a shaft pin, the upper end of the shank connecting rod is inserted into the lower part of the shank supporting plate, a plurality of limiting holes convenient for mounting the shaft pin are formed in the side part of the shank connecting rod, and through holes corresponding to the plurality of limiting holes are formed in the shank supporting plate.

The supportable lower limb assistance exoskeleton is characterized in that a spherical shaft head is arranged at the lower end of a shank connecting rod, a hollow ball capable of enveloping the spherical shaft head is arranged on a foot plate, and the shank connecting rod is connected with the foot plate through the spherical shaft head and the hollow ball to form a ball socket.

The supportable lower limb assistance exoskeleton is characterized in that an elastic foot plate binding belt is arranged in the middle of the foot plate.

By adopting the technology, compared with the prior art, the invention has the following beneficial effects:

1) the exoskeleton is worn on the rear side of thighs and calves of a human body, so that the thighs and the calves are driven to move without dislocation, and the gravity of the human body can be borne better; the surface contacting with the human body is arc-shaped, so that the shoe is more attached to the thighs and the calves of the human body, and a wearer feels more comfortable;

2) in the structure of the invention, the supporting rod is arranged at the rear side of the thigh, and the space required by unfolding is extremely small, so the invention can be used in a plurality of narrow spaces; the lower end of the support rod is provided with a rubber pad, and the upper end of the support rod is provided with a limiting device, so that the support rod is more stable;

3) the invention is provided with the thigh and shank connecting rod, can be adjusted in multiple gears and can adapt to users with different stature parameters;

4) in the structure of the invention, the shank connecting rod is connected with the foot plate through a mechanism imitating a ball-and-socket joint of a human body, so that the foot plate can have a plurality of degrees of freedom.

Drawings

FIG. 1 is a schematic view of the sitting position structure of the present invention;

FIG. 2 is a schematic view of a standing position structure of the present invention;

FIG. 3 is a schematic view of a retracted configuration of the thigh support bar of the present invention;

FIG. 4 is a schematic view of the thigh support bar deployment configuration of the present invention;

FIG. 5 is a schematic view of the thigh link and thigh support plate of the present invention;

FIG. 6 is a schematic view of the structure of the shank link and shank support plate of the present invention;

FIG. 7 is a schematic view of the structure of the shank link and foot plate of the present invention.

In the figure: 1. a waist binding band; 2. a lumbar connecting band; 3. a thigh pan; 4. a thigh binding band; 5. a support bar; 6. a bayonet; 7. a shank support plate; 8. a calf binding band; 9. a foot plate; 10. a shank link; 11. a thigh link.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.

Referring to fig. 1-7, a supportable lower limb assistance exoskeleton includes a waist binding belt 1, a thigh base plate 3, a support rod 5, a shank support plate 7 and a foot plate 9.

Be connected with two lumbar connecting belts 2 on waist binding area 1, the lower extreme of lumbar connecting belt 2 articulates there is thigh connecting rod 11, the mounting hole has been seted up to the upper end of thigh bottom plate 3, the lower extreme of thigh connecting rod 11 inserts in the mounting hole on 3 upper portions of thigh bottom plate, four spacing holes have been seted up to the lateral part of

thigh connecting rod

11, 3 lateral parts of thigh bottom plate correspond and are provided with four through-holes, according to the different stature size of user, relative position between adjustment thigh bottom plate 3 and the thigh connecting rod 11, after the adjustment is accomplished, pass the spacing hole of suitable position and the through-hole that thigh bottom plate 3 corresponds on thigh connecting rod 11 with the round pin axle, fix between thigh bottom plate 3 and the thigh connecting rod 11, through four spacing holes that set up on thigh connecting rod 11 and the through-hole that thigh bottom plate 3 set up, can realize the many.

The lower end of each thigh bottom plate 3 is hinged with a shank supporting plate 7, and the lower end of the shank supporting plate 7 is adjustably connected with a foot plate 9 through a shank connecting rod 10.

Four limit holes are formed in the side portion of the shank connecting rod 10, four through holes are correspondingly formed in the side portion of the shank supporting plate 7, the shank supporting plate 7 and the shank connecting rod 10 are fixedly connected through a pin shaft, the relative position between the shank supporting plate 7 and the shank connecting rod 10 is adjusted according to different body sizes of users, after the adjustment is completed, the pin shaft penetrates through the limit holes in the proper position of the shank connecting rod 10 and the through holes corresponding to the shank supporting plate 7, the shank supporting plate 7 and the shank connecting rod 10 are fixed, and multi-gear adjustment of the relative position between the shank connecting rod 10 and the shank supporting plate 7 can be achieved through the four limit holes formed in the shank connecting rod 10 and the four through holes formed in the shank supporting plate.

The lower end of the shank connecting rod 10 is provided with a spherical shaft head, the foot plate 9 is provided with a hollow ball capable of enveloping the spherical shaft head, the shank connecting rod 10 and the foot plate 9 are connected with each other through the spherical shaft head and the hollow ball to form a ball socket, and the ball socket connecting structure is designed by imitating a ball socket joint of a human body, so that the foot plate 9 can have a plurality of degrees of freedom.

Thigh bottom plate 3 and shank backup pad 7 in this structure all are equipped with and personally submit the arc structure with human contact, laminate human thigh, shank curve respectively for the wearing person is more comfortable. Elastic bandage is arranged on the thigh bottom plate 3, the shank supporting plate 7 and the foot plate 9, so that the user can wear the thigh bottom plate, the shank supporting plate and the foot plate conveniently.

In addition, the upper end of 3 backs on the thigh bottom plate articulates there is bracing piece 5, and the middle part on back is provided with the bayonet socket 6 of the 5 rotatory fixings of bracing piece of being convenient for, and bracing piece 5 sets up in the thigh rear side, and it is minimum to expand required space, is applicable to a lot of narrow and small spaces, and 5 lower extremes of bracing piece are equipped with the rubber pad, have strengthened the stability of ectoskeleton under the sitting posture.

The operation process of the device of the invention is as follows:

the waist binding belt 1 is bound on the waist of a human body by a wearer, and the limiting holes of the thigh connecting rod 11 and the shank connecting rod 10 are selected according to the requirements of the wearer and are fixed by the shaft pins. Then, the thigh binding band 4 and the calf binding band 8 are bound to the leg of the human body, the foot plate 9 is adjusted to fit the sole of the foot, and the binding band on the foot plate 9 is bound to the foot.

When standing or walking, the support rod 5 is folded by rotating inwards until the support rod rotates to contact the bayonet 6, the support rod 5 is pressed into the bayonet 6, the purpose of fixing the support rod 5 is achieved, and the support rod 5 cannot interfere walking and standing.

When sitting down, the support rod 5 is rotated outwards to be separated from the bayonet 6, after the limit device is installed after the support rod 5 is rotated to about 90 degrees, the support rod 5 falls to the ground to support the gravity of a human body, and the sitting down posture is completed.

The invention can make the user quickly switch between the standing walking and sitting actions, has little influence by the space size, is simple to operate and can quickly master the operation method

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A supportable lower limb power assist exoskeleton, characterized in that it comprises a waist binding belt (1), a thigh bottom plate (3), a calf support plate (7) and a foot plate (9), and the waist binding belt ( 1) Two waist connecting belts (2) are connected thereon, and the lower end of the waist connecting belt (2) is hinged with a thigh connecting rod (11), and the thigh connecting rod (11) is connected to the thigh bottom plate (3) through a shaft pin The lower end of the thigh bottom plate (3) is hingedly connected with the upper end of the lower leg support plate (7), and the lower end of the lower leg support plate (7) is connected with the foot plate (9) through the lower leg connecting rod (10). .

2. A supportable lower limb power assist exoskeleton according to claim 1, characterized in that the lower end of the thigh link (11) is inserted into the upper part of the thigh bottom plate (3), and the upper part of the thigh link (11) is inserted. The side part is provided with a number of limit holes for easy installation of the shaft pin, the thigh bottom plate (3) is provided with through holes corresponding to the number of limit holes, and the thigh bottom plate (3) has a contact surface with the human body. The arc-shaped structure fits the curve of the human thigh, and the middle part of the thigh bottom plate (3) is provided with an elastic thigh binding band (4).

3. A supportable lower extremity power-assisted exoskeleton according to claim 1 or 2, characterized in that a support rod (5) is hinged on the upper end of the back of the thigh bottom plate (3), and a support rod is provided in the middle of the back for convenience (5) Rotate the fixed bayonet (6).

4. A supportable lower extremity power-assisted exoskeleton according to claim 1, characterized in that a limit structure is provided at the hinge joint of the thigh bottom plate (3) and the support rod (5), and the bottom of the support rod (5) is provided with a limit structure. There are rubber pads to enhance the stability of the exoskeleton in a seated position.

5. The supportable lower extremity power-assisted exoskeleton according to claim 1, characterized in that the calf support plate (7) has an arc-shaped structure on the contact surface with the human body, which fits the curve of the human calf, and the calf supports An elastic calf binding band (8) is arranged in the middle of the board (7).

6. A supportable lower limb power assist exoskeleton according to claim 1, characterized in that the calf support plate (7) and the calf link (10) are connected by a shaft pin, and the calf link ( The upper end of 10) is inserted into the lower part of the calf support plate (7), the side of the calf link (10) is provided with a number of limit holes for easy installation of the shaft pin, and the calf support plate (7) is provided with Through holes corresponding to several limit holes.

7. A supportable lower limb power assist exoskeleton according to claim 6, characterized in that the lower end of the lower leg connecting rod (10) is provided with a spherical shaft head, and the foot plate (9) is provided with an envelope capable of wrapping A hollow ball with a spherical shaft head, the shank connecting rod (10) and the foot plate (9) form a ball-and-socket connection with the hollow ball through the spherical shaft head.

8 . The supportable lower extremity power assist exoskeleton according to claim 6 , characterized in that the middle part of the foot plate ( 9 ) is provided with an elastic foot plate binding strap. 9 .