CN113730180B - Lower limb exoskeleton robot - Google Patents
Lower limb exoskeleton robot Download PDFInfo
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- CN113730180B CN113730180B CN202110949040.0A CN202110949040A CN113730180B CN 113730180 B CN113730180 B CN 113730180B CN 202110949040 A CN202110949040 A CN 202110949040A CN 113730180 B CN113730180 B CN 113730180B
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- hip
- knee
- joint
- hip joint
- knee joint
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 29
- 210000004394 hip joint Anatomy 0.000 claims abstract description 135
- 210000000629 knee joint Anatomy 0.000 claims abstract description 117
- 210000001624 hip Anatomy 0.000 claims abstract description 115
- 210000002414 leg Anatomy 0.000 claims abstract description 84
- 210000001699 lower leg Anatomy 0.000 claims abstract description 70
- 210000000689 upper leg Anatomy 0.000 claims abstract description 67
- 210000003127 knee Anatomy 0.000 claims description 40
- 230000005540 biological transmission Effects 0.000 claims description 39
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 12
- 210000001698 popliteal fossa Anatomy 0.000 claims description 10
- 244000309466 calf Species 0.000 claims description 4
- 210000003414 extremity Anatomy 0.000 claims description 4
- 210000004417 patella Anatomy 0.000 claims description 4
- 210000002303 tibia Anatomy 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 210000001503 joint Anatomy 0.000 description 14
- 208000006011 Stroke Diseases 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000010428 Muscle Weakness Diseases 0.000 description 1
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 210000002027 skeletal muscle Anatomy 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—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
- 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
- A61H2201/164—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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/50—Control means thereof
-
- 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
Abstract
A lower extremity exoskeleton robot comprising a left leg exoskeleton, a right leg exoskeleton and a hip width adjustable assembly; the left leg exoskeleton and the right leg exoskeleton are symmetrically arranged on the left side and the right side of the hip width adjustable assembly respectively, each of the left leg exoskeleton and the right leg exoskeleton comprises a thigh rod piece, a shank rod piece, a hip joint actuator, a knee joint actuator and a foot pedal, the thigh rod piece is linked with the hip joint actuator, the knee joint actuator is arranged at the tail end of the thigh rod piece, the shank rod piece is fixedly arranged on the knee joint actuator, and the shank rod piece is linked with the rotation output of the knee joint actuator. The invention provides a lower limb exoskeleton robot, which aims to improve body type adaptability and interaction comfort in the wearing process.
Description
Technical Field
The invention relates to the technical fields of robots, medical rehabilitation and the like, in particular to a lower limb exoskeleton robot for load-bearing operators or patients with dyskinesia.
Background
Lower limb motor dysfunction is common in stroke, spinal cord injury, bone/joint trauma, muscle weakness, paraplegic patients, and the like. Taking a cerebral apoplexy patient as an example, aiming at the fact that rehabilitation of the exercise function of the cerebral apoplexy patient is a daily nursing key point after an acute phase, high-frequency and scientific rehabilitation exercise training can help the patient to effectively recover the exercise function, realize life self-care, improve the life quality of the patient and reduce family and social burden.
At present, aiming at the lower limb exercise training of the patient, the lower limb exercise training mainly depends on the exercise assistance of therapists or family members of the patient to help the patient to perform exercise ability training such as leg bending, standing, walking and the like, even a plurality of people are needed to assist simultaneously at the initial stage of rehabilitation, and the problems of insufficient training frequency, poor training consistency and the like often exist due to too little number of therapists and too large labor intensity of assisting exercise, so that the exercise training effect is difficult to be satisfactory. In recent years, researchers have proposed a solution to apply robots to exercise training to partially replace the repetitive heavy physical effort of therapists and patient families in exercise assistance.
The exoskeleton robot is also an effective power assisting device for factory load operators and field long-distance load travelling staff, can increase the weight, reduce the physical consumption and increase the working time and travelling distance.
Exoskeleton robots are wearable devices, and people and robots can frequently or continuously contact and interact in the working process, so that higher requirements on operation flexibility, safety, wearing comfort and the like of the robots are provided.
Disclosure of Invention
In order to overcome the defect of poor body type adaptability and interaction comfort of the existing exoskeleton robot, the invention provides a lower limb exoskeleton robot, and aims to improve the body type adaptability and interaction comfort in the wearing process.
The technical scheme adopted for solving the technical problems is as follows:
a lower extremity exoskeleton robot comprising a left leg exoskeleton, a right leg exoskeleton and a hip width adjustable assembly; the left leg exoskeleton and the right leg exoskeleton are symmetrically arranged on the left side and the right side of the hip width adjustable assembly respectively, each of the left leg exoskeleton and the right leg exoskeleton comprises a thigh rod piece, a shank rod piece, a hip joint actuator and a knee joint actuator, the thigh rod pieces are linked with the hip joint actuators, the knee joint actuators are arranged at the tail ends of the thigh rod pieces, the shank rod pieces are fixedly arranged on the knee joint actuators, and the shank rod pieces are linked with the rotation output of the knee joint actuators.
Further, the hip width adjustable assembly comprises a hip width movable guide rail, a hip width adjustable slide block group and a hip width adjustable screw rod, wherein the hip width adjustable slide block group can slide on the hip width movable guide rail, the left leg exoskeleton and the right leg exoskeleton are respectively arranged on different hip width adjustable slide blocks of the hip width adjustable slide block group, the hip width adjustable screw rod takes the middle point as a boundary thread direction opposite, and the left leg exoskeleton and the right leg exoskeleton can be pushed to do relative movement by driving the hip width adjustable screw rod to rotate so as to realize hip width adjustment. In this scheme, the hip width adjusting slide block group includes at least two hip width adjusting slide blocks, for example, four hip width adjusting slide blocks may be provided, and the left leg exoskeleton and the right leg exoskeleton are respectively installed on two different hip width adjusting slide blocks; of course, other numbers are also possible.
Still further, the thigh rod piece swings on two sides of the thigh of the human body and is not bound with the thigh; the knee joint actuator is vertically arranged with the thigh rod piece, swings along with the thigh rod piece, is transversely arranged behind the popliteal fossa of the human leg and applies force to the popliteal fossa; the shank rod piece is vertically arranged behind the shank of a human body, applies force to calf gastrocnemius, tibia and patella, and swings along with the knee joint actuator while being linked with the rotation output of the knee joint actuator; the distance between knee joint actuators of the left leg exoskeleton and the right leg exoskeleton and the distance between shank rod pieces are the same as the distance between legs when a human body normally walks and do not interfere with each other.
The hip width adjustable assembly further comprises a width adjustable assembly frame, a width adjustable assembly bearing seat, a hip width adjustable distance hand wheel, a hip width adjustable distance screw support frame and a threaded bushing, wherein the hip width movable guide rail is arranged on the width adjustable assembly frame, one end of the hip width adjustable distance screw is arranged on the width adjustable assembly frame through the width adjustable assembly bearing seat, the hip width adjustable distance hand wheel is arranged at the other end of the hip width adjustable distance screw, the threaded bushing is arranged on the hip width adjustable distance screw support frame, the hip width adjustable distance screw is in threaded fit with the threaded bushing, the hip width adjustable distance screw support frame is fixedly connected with the hip joint actuator, and the hip joint actuator is fixedly arranged on the hip width adjustable sliding block. In the scheme, the hip width adjusting sliding block can be driven to do relative motion by rotating the hip width adjusting hand wheel, so that the hip joint actuator is pushed to generate relative motion. Other hip width adjustment schemes may also be employed.
According to the invention, the left leg exoskeleton and the right leg exoskeleton are respectively arranged at the left side and the right side of the hip width adjustable assembly, the hip width adjustable distance hand wheel is rotated to adjust the width between the two leg ectoskeletons so as to adapt to human bodies of different body types, the human shank is bound on the shank rod piece, and the hip joint actuators and the knee joint actuators are controlled to realize the flexion and extension movements and gait of each joint of the exoskeleton.
Still further, the hip joint actuator comprises a hip joint actuator mounting base assembly, a hip joint motor and speed reducer assembly, a hip joint speed reducing synchronous belt, a hip joint small belt pulley, a hip joint big belt pulley, a hip joint torque sensor, a connecting flange, a hip joint synchronous belt, a hip joint lower end belt pulley, a hip joint upper end belt pulley, a hip joint connecting rod base, a hip joint bearing seat, a hip joint limiting rod fixed block, a hip joint limiting screw rod and a thigh member rotating shaft, wherein an output shaft of the hip joint motor and speed reducer assembly is connected with the hip joint small belt pulley through a key, the hip joint speed reducing synchronous belt transmits output torque of the hip joint motor and speed reducer to the hip joint big belt pulley, one end of the hip joint torque sensor is fixedly connected with the connecting flange through a coupling, the other end of the hip joint torque sensor is connected with a belt pulley connecting shaft through a coupling, the belt pulley connecting shaft is connected with the hip joint lower end belt pulley through a key, the joint synchronous belt transmits the torque which is increased through the hip joint speed reducing synchronous belt to the hip joint upper end belt pulley, and the hip joint upper end belt pulley is connected with the thigh member through a key, so that the thigh member can rotate and the thigh member can rotate, and the thigh of a human body can be driven to move; the hip joint bearing seat is arranged on the hip joint connecting rod base and used for supporting the rotating shaft of the thigh rod to rotate relatively, the hip joint limiting rod fixing block is arranged on the hip joint connecting rod base, the hip joint limiting screw rod can be screwed into the screw hole of the hip joint limiting rod fixing block from bottom to top, and the rotating range of the thigh rod is limited by exposing the height above the hip joint limiting rod fixing block.
The left leg exoskeleton and the right leg exoskeleton both further comprise thigh rod piece outer covers, the thigh rod piece outer covers are fixedly connected with the thigh rod pieces, and the thigh rod piece outer covers are used for separating a human body from rigid transmission parts on the thigh rod pieces so as to prevent accidents caused by limb contact.
Preferably, the knee joint actuator comprises a knee joint motor and speed reducer assembly, a knee joint motor fixing flange, a knee joint motor connecting flange, a knee joint torque sensor, a knee joint actuator end cover, a knee joint actuator transmission support, a knee joint actuator transmission sleeve, a hip and knee joint connecting flange, a bearing and a knee joint motor mounting sleeve. The knee joint motor and the reducer assembly are fixedly arranged on a knee joint motor mounting sleeve through a knee joint motor fixing flange, the knee joint motor and the reducer output shaft are connected with one end of a knee joint torque sensor through a knee joint motor connecting flange, the other end of the knee joint torque sensor is fixedly connected with an end cover of a knee joint actuator, one end of a knee joint actuator transmission sleeve is fixedly connected with a knee joint actuator transmission support, the other end of the knee joint actuator transmission sleeve is connected onto a hip knee connecting flange through a bearing, the hip knee connecting flange is arranged at the tail end of a thigh rod piece, the knee joint motor mounting sleeve is fixedly connected with a hip knee connecting flange, an outer ring of the bearing is fixed with the inner wall of the knee joint actuator transmission sleeve, and an inner ring of the bearing is fixed with the hip knee connecting flange, so that the normal output of the knee joint actuator output shaft can be realized. In this scheme, knee joint motor and reduction gear output torque is transmitted to the shank member through knee joint torque sensor and knee joint actuator transmission support, knee joint actuator transmission sleeve, and then drives shank member and rotate, realizes human shank flexion and extension motion.
Further, shank member includes upper bracket, lower carriage, knee joint sheath, sheath solid fixed ring, U type leg pad and shank bandage, upper bracket and knee joint actuator transmission sleeve fixed connection, U type leg pad is fixed on the upper bracket, the knee joint sheath is fixed on the sheath solid fixed ring, sheath solid fixed ring suit is outside at knee joint actuator transmission sleeve, can freely slide outside knee joint actuator transmission sleeve to adapt to different postures, the nested installation of lower carriage is in upper bracket both sides inslot, can slide about the inslot in order to adapt to the human body of different leg lengths, and fixed through the nut, shank bandage is used for tying up the shank on U type leg pad.
The shank rod piece also comprises a foot pedal, wherein the foot pedal is connected with the lower end of the shank rod piece through a bearing shaft and can be turned over around the bearing shaft within a set angle range.
The technical conception of the invention is as follows: the hip wide adjusting screw of the hip wide adjusting assembly is bounded by a middle point, the screw threads on two sides rotate in opposite directions, the hip wide adjusting slide block can be pushed to do relative motion when the hip wide adjusting hand wheel is rotated, the hip joint actuator is fixedly arranged on the hip wide adjusting slide block, the hip joint actuator mainly comprises a hip joint motor and a hip joint speed reducer, the hip joint motor and the speed reducer assembly thereof are fixedly arranged on the hip joint actuator mounting base assembly, two bearing seats of the rotating shaft ends of the thigh rod piece are arranged on the hip joint connecting rod base, the hip joint connecting rod base assembly is arranged on the hip joint actuator mounting base assembly, therefore, the left leg exoskeleton and the right leg exoskeleton are assembled on the hip wide adjusting assembly through the hip joint actuator mounting base assembly, the hip distance of the two leg exoskeleton can be adjusted through rotating the hip wide adjusting hand wheel, and the hip wide adjusting device is suitable for the wearing requirements of human bodies of different body types. The hip joint motor and the speed reducer assembly are driven by the belt wheel, and output torque is transmitted to the thigh rod rotating shaft through the torque sensor and the torque sensor outer cover, so that the thigh rod is driven to swing. The thigh member is positioned outside the thigh of the human body, and the thigh member outer cover is used for shielding the whole thigh member and the transmission part thereof and preventing the limbs from being accidentally contacted with the transmission part.
The knee joint motor and the knee joint torque sensor are both arranged in the knee joint actuator transmission support and the knee joint actuator transmission sleeve, the knee joint actuator is arranged at the tail end of the thigh rod piece and is coaxial with the through hole arranged at the tail end of the thigh rod piece, and the knee joint actuator transmission sleeve is connected with the upper bracket of the shank rod piece and can bear torque and bending moment generated by the shank rod piece. When the utility model is worn, the popliteal fossa at the rear side of the knee joint of a human body is positioned in front of the swing axis of the shank rod piece and also in front of the knee joint actuator, the whole shank rod piece is positioned at the rear of the shank of the human body, the lower bracket of the shank rod piece is embedded in the side slot of the upper bracket, the lower bracket and the upper bracket have a certain overlapping length, the lower bracket and the upper bracket are locked by the locking nut to prevent free sliding, the overlapping length of the lower bracket and the upper bracket is the adjusting length reserved for the human body with different leg lengths, and the U-shaped leg pad is arranged on the upper bracket and is used for improving the comfort and playing a role in positioning when the shank and the exoskeleton contact interaction. The foot pedal is mounted at the end of the lower bracket and can tilt over a range of angles. Binding is carried out at the positions of the lower limbs and the instep by using binding bands respectively, and binding and positioning are carried out at the knee position by using a hollow knee joint sheath.
The beneficial effects of the invention are mainly shown in the following steps:
1) The lower limb exoskeleton robot is provided with the double-leg exoskeleton with adjustable hip width, and can adapt to the wearing requirement of a human body without body type;
2) The shank rod piece is arranged at the rear of the shank of a human body, the knee joint actuator is arranged at the rear of the shank fossa, so that the force application part of man-machine interaction force during hip joint movement is around the shank fossa and the patella, the force application part of man-machine interaction force during knee joint movement is calf gastrocnemius muscle and tibia, compared with side binding, the human body has more comfortable force application experience, the exoskeleton and the lower limb of the human body can be kept at smaller posture error, and even if the problem that the hip joint and the exoskeleton hip joint of the human body are not coaxial exists, the side binding between the thigh and the thigh rod piece can not be used for producing interference.
Drawings
Fig. 1 is an exploded view of a lower extremity exoskeleton robot.
Fig. 2 is an assembly view of a lower extremity exoskeleton robot.
Fig. 3 is a schematic view of the bottom view of the hip width adjustment assembly of the present invention.
Fig. 4 is a schematic top view of the hip width adjustment assembly of the present invention.
Fig. 5 is a schematic view of the structure of the hip joint actuator of the present invention.
Fig. 6 is a schematic view of the knee joint actuator of the present invention.
Fig. 7 is a schematic view of the shank bar and knee joint actuator structure of the present invention.
In the figure, 200 a-right leg exoskeleton, 200 b-left leg exoskeleton, 201-calf shank, 202-hip joint actuator, 203-thigh shank, 204-thigh shank housing, 205-knee joint actuator, 206-hip width adjustment assembly, 301-hip joint motor and reducer assembly, 302-hip joint small pulley, 302-hip joint deceleration synchronous belt, 304-hip joint large pulley, 305-hip joint torque sensor, 306-connection flange, 307-hip joint lower end pulley, 308-hip joint upper end pulley, 309-hip joint synchronous belt, 310-hip joint connecting rod base, 311-hip joint bearing seat, 312-hip joint limit rod fixing block, 313-hip joint limit screw, 314-thigh shank connecting shaft, 315-hip joint actuator mounting base assembly, 401-knee joint actuator transmission bracket, 402-knee joint actuator end cap, 403-knee joint torque sensor, 404-knee joint torque sensor connecting flange, 405-knee joint motor connecting flange, 406-knee joint motor fixing flange, 407-knee joint motor and reducer assembly, 408-bearing, 409-hip knee joint connecting flange, 410-knee joint motor mounting sleeve, 411-knee joint actuator transmission sleeve, 501-lower bracket, 502-upper bracket, 503-knee joint sheath, 504-sheath fixing ring, 505-U-shaped leg pad, 506-foot pedal, 507-bearing shaft, 601-hip width moving guide rail, 602-hip width adjusting hand wheel, 603-hip width adjusting slide block, 604-threaded bushings, 605-hip wide pitch screws, 606-hip wide pitch screw support frames, 607-width adjustment assembly frames, 608-width adjustment assembly bearing blocks.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, a lower limb exoskeleton robot includes a left leg exoskeleton 200a, a right leg exoskeleton 200b, and a hip width adjustable assembly 206, and the left leg exoskeleton 200a and the right leg exoskeleton 200b are symmetrically installed at left and right sides of the hip width adjustable assembly 206, respectively, without structural differences.
The left leg exoskeleton 200a and the right leg exoskeleton 200b both comprise a shank rod 201, a hip joint actuator 202, a thigh rod 203, a thigh rod outer cover 204 and a knee joint actuator 205, wherein the thigh rod 203 is linked with the hip joint actuator 202, swings on two sides of the thigh of a human body and is not bound with the thigh; the knee joint actuator 205 is vertically arranged with the thigh rod 203, swings along with the thigh rod, is transversely arranged behind the popliteal fossa of the human leg and applies force to the popliteal fossa; the shank rod piece 201 is fixedly arranged on the knee joint actuator 205, the shank rod piece 201 is linked with the output of the knee joint actuator 205, the shank rod piece 201 is vertically arranged behind the shank of a human body and applies force to calf gastrocnemius, tibia and patella, and the shank rod piece swings along with the knee joint actuator while being linked with the rotation output of the knee joint actuator; the distance between knee joint actuators of the left leg exoskeleton and the right leg exoskeleton and the distance between shank rod pieces are the same as the distance between legs when a human body normally walks and do not interfere with each other. The thigh bar housing 204 is fixedly connected with the thigh bar 203, and the thigh bar housing 204 is used for separating a human body from a rigid transmission part on the thigh bar so as to prevent unexpected contact of limbs.
Referring to fig. 3 and 4, the hip width adjusting assembly 206 includes a hip width moving rail 601, a hip width adjusting hand wheel 602, a hip width adjusting slider group, a threaded bushing 604, a hip width adjusting screw 605, a hip width adjusting screw support 606, a width adjusting assembly frame 607 and an adjusting assembly bearing block 608, the hip width moving rail 601 is mounted on the width adjusting assembly frame 607, the hip width adjusting slider group is mounted on the hip width moving rail 601 and can slide on the rail, the left leg exoskeleton 200a and the right leg exoskeleton 200b are respectively mounted on different hip width adjusting sliders 603 of the hip width adjusting slider group, one end of the hip width adjusting screw 605 is mounted on the width adjusting assembly frame 607 through the width adjusting assembly bearing block 608, the hip width adjusting hand wheel 602 is mounted on the other end of the hip width adjusting screw 605, and the hip width adjusting slider 603 can be pushed to move relatively by rotating the hip width adjusting hand wheel 602. The threaded bushing 604 is fixedly connected to the hip wide distance adjusting screw support 606 through screws, the hip wide distance adjusting screw support 606 is fixedly connected with the hip joint actuator 202, the hip wide distance adjusting screw 605 is in threaded fit with the inside of the threaded bushing 604, the hip wide distance adjusting screw 605 is limited by the middle point, the threads on the left side and the right side are opposite in rotation direction, and the hip wide distance adjusting hand wheel 602 is rotated to push the hip joint actuators of the two legs to perform relative movement, so that the hip distance of the two legs of the exoskeleton is adjusted. Other hip width adjustment schemes may also be employed. In this scheme, the hip width adjusting slide block group includes at least two hip width adjusting slide blocks, for example, four hip width adjusting slide blocks may be provided, and the left leg exoskeleton and the right leg exoskeleton are respectively installed on two different hip width adjusting slide blocks; of course, other numbers are also possible.
Referring to fig. 5, the hip joint actuator 202 includes a hip joint motor and decelerator assembly 301, a hip joint small pulley 302, a hip joint deceleration synchronous belt 303, a hip joint large pulley 304, a knee joint torque sensor 305, a connection flange 306, a hip joint lower end pulley 307, a hip joint upper end pulley 308, a hip joint synchronous belt 309, a hip joint link base 310, a hip joint bearing housing 311, a hip joint stopper rod fixing block 312, a hip joint stopper screw 313, a thigh rod connecting shaft 314, and a hip joint actuator mounting base assembly 315, the hip joint motor and decelerator assembly 301 is mounted on the hip joint actuator mounting base assembly 315 by screws, the hip joint motor and decelerator assembly output shaft is connected with the hip joint small pulley 302 by keys, the hip joint deceleration synchronous belt 303 transmits the hip joint motor output torque to the hip joint large pulley 304, one end of a knee joint torque sensor 305 is fixedly connected with a hip joint big belt pulley, the other end of the knee joint torque sensor 305 is fixedly connected with a connecting flange 306, the connecting flange 306 is connected with a hip joint lower end belt pulley 307 through a coupler, a hip joint synchronous belt 309 transmits torque which is increased by the hip joint speed reduction synchronous belt to a hip joint upper end belt pulley 308, the hip joint upper end belt pulley 308 is connected with a thigh rod rotating shaft 314 through keys, two hip joint bearing seats 311 are arranged on a hip joint connecting rod base 310 and used for supporting the thigh rod rotating shaft 314 to rotate relatively, a hip joint limiting rod fixing block 312 is arranged on the hip joint connecting rod base 310, and a hip joint limiting screw 313 is in threaded fit with the hip joint connecting rod base 310 and used for limiting the rotation angle of the thigh rod, so that the rotation angle is prevented from exceeding Qu Shenjiao degrees which are suitable for a human body, and the safety of the human body is fully ensured.
Referring to fig. 6, the knee actuator 205 includes a knee actuator transmission bracket 401, a knee actuator end cap 402, a knee torque sensor 403, a knee torque sensor connection flange 404, a knee motor connection flange 405, a knee motor fixing flange 406, a knee motor and decelerator assembly 407, a bearing 408, a hip knee connection flange 409, a knee motor mounting sleeve 410 and a knee actuator transmission sleeve 411, the knee motor and decelerator assembly 407 is fixedly mounted on the knee motor mounting sleeve 410, a knee motor and decelerator output shaft is connected with the knee motor connection flange 405 through a key, one end of the knee torque sensor 403 is fixedly connected with the knee motor connection flange 405 through a screw, the other end is fixedly connected with the knee actuator end cap 402, one end of the knee actuator transmission sleeve 411 is fixedly connected with the knee actuator transmission bracket 401, the other end is mounted on the hip connection flange 409 through a bearing, the hip connection flange 409 is mountable at the end of the thigh member 203, the inside of the knee actuator transmission sleeve 411 is fixedly connected with the bearing outer ring, and the bearing 408 is fixedly connected with the hip connection flange 409. The output torque of the knee joint motor and the speed reducer is transmitted to the shank rod piece 201 through the knee joint torque sensor 403, the knee joint actuator transmission support 401 and the knee joint actuator transmission sleeve 411, and then the shank rod piece 201 is driven to rotate, so that the shank bending and stretching movement of the human body is realized.
Referring to fig. 7, the shank bar 201 includes a lower bracket 501, an upper bracket 502, a knee joint boot 503, a boot fixing ring 504, a U-shaped leg pad 505, shank straps, pedals 506 and a bearing shaft 507, wherein the boot fixing ring 503 is sleeved on the outer circumference of the knee joint actuator transmission sleeve 411, and can freely slide on the outer circumference of the knee joint actuator transmission sleeve 411, the knee joint boot 503 is fixed on the boot fixing ring 504 through an elastic strap, the upper bracket 502 is fixedly connected with the transmission sleeve of the knee joint actuator 204, the U-shaped leg pad 505 is fixed on the upper bracket 502, the lower bracket 501 is nested and installed in grooves on two sides of the upper bracket 502, can slide up and down along the grooves to adapt to human bodies with different leg lengths, and is fixed through nuts, and the shank straps are used for binding the shank on the U-shaped leg pad 505. When in use, the knee joint of a human body can be bound on the upper bracket 502 of the shank rod piece through the knee joint sheath 504, the binding position is positioned in front of the knee joint actuator 205, the popliteal fossa is clung to the knee joint actuator 205, the shank is arranged on the U-shaped leg pad 505, and the shank is bound through the binding belt. The human foot pedal 506 is mounted on the bearing shaft of the lower bracket 501, can turn over around the bearing shaft within a certain angle range, and can place two feet on the foot pedal 506 by the human body, and is bound by pedal binding bands. The foot pedal 506 is connected with the lower end of the shank rod piece through a bearing shaft 507, and can turn around the bearing shaft 507 within a set angle range.
The working process of the embodiment is operated according to the following steps: 1) Measuring hip width of a human body, and then rotating a hip width adjusting handle to adjust the distance between the left leg exoskeleton and the right leg exoskeleton to a proper width; 2) Loosening the locking nut to enable the upper bracket and the lower bracket of the shank rod piece to freely slide, and adjusting the overlapping length of the upper bracket and the lower bracket to enable the knee popliteal fossa part to be in good contact with the knee joint actuator transmission sleeve and tightening the locking nut; 3) The human body approaches to the exoskeleton of the lower limb, the feet stand on the foot pedals, and the lower limb and the exoskeleton are bound by the pedal binding bands, the shank binding bands and the knee joint sheath in sequence until the lower limb and the exoskeleton cannot be freely separated; 4) And starting the exoskeleton robot to start operation.
The lower limb exoskeleton robot can be used for lower limb gait training and assisting and walking of load-bearing operators. In the use process, the interaction moment between the legs and the exoskeleton can be obtained through the torque sensors at the knee joint and the hip joint of the exoskeleton, and the pose of the upper rod and the lower rod can be obtained through the encoder.
The embodiments described in this specification are merely illustrative of the manner in which the inventive concepts may be implemented. The scope of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, but the scope of the present invention and the equivalents thereof as would occur to one skilled in the art based on the inventive concept.
Claims (8)
1. A lower extremity exoskeleton robot, comprising a left leg exoskeleton, a right leg exoskeleton and a hip width adjustable assembly; the left leg exoskeleton and the right leg exoskeleton are symmetrically arranged at the left side and the right side of the hip width adjustable assembly respectively, each of the left leg exoskeleton and the right leg exoskeleton comprises a thigh rod piece, a shank rod piece, a hip joint actuator and a knee joint actuator, the thigh rod pieces are linked with the hip joint actuators, the knee joint actuators are arranged at the tail ends of the thigh rod pieces, the shank rod pieces are fixedly arranged on the knee joint actuators, and the shank rod pieces are linked with the rotation output of the knee joint actuators;
the thigh rod pieces swing on two sides of the thigh of the human body and are not bound with the thigh; the knee joint actuator is vertically arranged with the thigh rod piece, swings along with the thigh rod piece, is transversely arranged behind the popliteal fossa of the human leg and applies force to the popliteal fossa; the shank rod piece is vertically arranged behind the shank of a human body, applies force to calf gastrocnemius, tibia and patella, and swings along with the knee joint actuator while being linked with the rotation output of the knee joint actuator; the spacing between knee joint actuators of the left leg exoskeleton and the right leg exoskeleton and the spacing between shank rod pieces are the same as the leg spacing when a human body normally walks and do not interfere with each other;
the shank member comprises an upper bracket, a lower bracket, a knee joint sheath and a sheath fixing ring, wherein the upper bracket is fixedly connected with a knee joint actuator transmission sleeve, the knee joint sheath is fixed on the sheath fixing ring, the sheath fixing ring is sleeved on the periphery of the knee joint actuator transmission sleeve and can freely slide on the periphery of the knee joint actuator transmission sleeve, a human knee joint is bound on the upper bracket of the shank member through the knee joint sheath, the binding position is positioned in front of the knee joint actuator, and the knee joint sheath is tightly attached to the popliteal fossa so as to adapt to different postures.
2. The lower limb exoskeleton robot of claim 1 wherein the hip width adjustable assembly comprises a hip width moving rail, a hip width adjusting slide block set and a hip width adjusting screw, wherein the hip width adjusting slide block set can slide on the hip width moving rail, the left leg exoskeleton and the right leg exoskeleton are respectively arranged on different hip width adjusting slide blocks of the hip width adjusting slide block set, the hip width adjusting screw is opposite in direction by taking a middle point as a boundary thread, and the hip width adjusting screw is driven to rotate to push the left leg exoskeleton and the right leg exoskeleton to make relative movement so as to realize hip width adjustment.
3. The lower limb exoskeleton robot of claim 2 wherein the hip width adjustable assembly further comprises a width adjustable assembly frame, a width adjustable assembly bearing seat, a hip width adjustable distance hand wheel, a hip width adjustable distance screw support frame and a threaded bushing, wherein the hip width movable guide rail is mounted on the width adjustable assembly frame, one end of the hip width adjustable distance screw is mounted on the width adjustable assembly frame through the width adjustable assembly bearing seat, the hip width adjustable distance hand wheel is mounted on the other end of the hip width adjustable distance screw, the threaded bushing is mounted on the hip width adjustable distance screw support frame, the hip width adjustable distance screw is in threaded fit with the threaded bushing, the hip width adjustable distance screw support frame is fixedly connected with the hip joint actuator, and the hip joint actuator is fixedly mounted on the hip width adjustable sliding block.
4. The lower limb exoskeleton robot of claim 1 or 2, wherein the hip joint actuator comprises a hip joint actuator mounting base assembly, a hip joint motor and reducer assembly, a hip joint deceleration synchronous belt, a hip joint small belt wheel, a hip joint large belt wheel, a hip joint torque sensor, a connecting flange, a hip joint synchronous belt, a hip joint lower end belt wheel, a hip joint upper end belt wheel, a hip joint connecting rod base, a hip joint bearing seat, a hip joint limit rod fixed block, a hip joint limit screw rod and a thigh member rotating shaft, wherein an output shaft of the hip joint motor and reducer assembly is connected with the hip joint small belt wheel through a key, the hip joint deceleration synchronous belt transmits output torque of the hip joint motor and reducer to the hip joint large belt wheel, the hip joint large belt wheel is connected with the connecting flange through a key, one end of the hip joint torque sensor is fixedly connected with the connecting flange, the other end of the hip joint torque sensor is connected with the connecting shaft through a coupling, the belt wheel connecting shaft is connected with the hip joint lower end belt wheel through a key, the hip joint synchronous belt wheel is connected with the hip joint upper end belt wheel through a hip joint rod member rotating shaft, and the hip joint synchronous belt wheel is increased through the hip joint deceleration synchronous belt to the hip joint upper end of the hip joint rod member rotating shaft, thereby realizing rotation of the hip joint large leg and thigh movement; the hip joint bearing seat is arranged on the hip joint connecting rod base and used for supporting the rotating shaft of the thigh rod to rotate relatively, the hip joint limiting rod fixing block is arranged on the hip joint connecting rod base, the hip joint limiting screw rod can be screwed into the screw hole of the hip joint limiting rod fixing block from bottom to top, and the rotating range of the thigh rod is limited by exposing the height above the hip joint limiting rod fixing block.
5. A lower extremity exoskeleton robot as claimed in claim 1 or claim 2 wherein the left and right leg exoskeletons each further comprise a thigh bar housing fixedly attached to the thigh bar for spacing the person from rigid transmission means on the thigh bar to prevent accidental contact of the limbs.
6. A lower extremity exoskeleton robot as claimed in claim 1 or claim 2 wherein said knee actuator comprises a knee motor and reducer assembly, a knee motor mounting flange, a knee motor attachment flange, a knee torque sensor, a knee actuator end cap, a knee actuator drive bracket, a knee actuator drive sleeve, a hip knee attachment flange, a bearing, a knee motor mounting sleeve; the knee joint motor and the reducer assembly are fixedly arranged on a knee joint motor mounting sleeve through a knee joint motor fixing flange, the knee joint motor and the reducer output shaft are connected with one end of a knee joint torque sensor through a knee joint motor connecting flange, the other end of the knee joint torque sensor is fixedly connected with an end cover of a knee joint actuator, one end of a knee joint actuator transmission sleeve is fixedly connected with a knee joint actuator transmission support, the other end of the knee joint actuator transmission sleeve is connected onto a hip knee connecting flange through a bearing, the hip knee connecting flange is arranged at the tail end of a thigh rod piece, the knee joint motor mounting sleeve is fixedly connected with a hip knee connecting flange, an outer ring of the bearing is fixed with the inner wall of the knee joint actuator transmission sleeve, and an inner ring of the bearing is fixed with the hip knee connecting flange, so that the normal output of the knee joint actuator output shaft can be realized.
7. The lower extremity exoskeleton robot of claim 1 wherein said shank bar further comprises a U-shaped leg pad and shank straps, said U-shaped leg pad being secured to the upper bracket, said lower bracket being nested within slots on both sides of the upper bracket, being slidable up and down along the slots to accommodate different leg lengths of the human body, and secured by nuts, said shank straps being used to tie the shank to the U-shaped leg pad.
8. The lower extremity exoskeleton robot of claim 7 wherein said shank bar further comprises a foot pedal connected to the lower end of the shank bar by a bearing shaft, said foot pedal being tiltable about the bearing shaft within a set angular range.
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