CN115137618A - Wearable lower limb exoskeleton rehabilitation and power-assisted robot - Google Patents
Wearable lower limb exoskeleton rehabilitation and power-assisted robot Download PDFInfo
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- CN115137618A CN115137618A CN202210790613.4A CN202210790613A CN115137618A CN 115137618 A CN115137618 A CN 115137618A CN 202210790613 A CN202210790613 A CN 202210790613A CN 115137618 A CN115137618 A CN 115137618A
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- waist
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- 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
- A61H2205/12—Feet
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
Abstract
The invention relates to the technical field of medical rehabilitation instruments, and discloses a wearable lower limb exoskeleton rehabilitation and power-assisted robot which comprises a waist component, a thigh component, a shank component and a foot component which are sequentially connected from top to bottom. According to the invention, through the modular design of the waist, the legs and the feet, the lower limb exoskeleton robot has a simple structure and is easy to install and disassemble; the power type lower limb exoskeleton robot and the unpowered lower limb exoskeleton robot are used as auxiliary devices for rehabilitation training of patients in different stages or assisting the elderly with insufficient muscle strength to walk; energy in the unpowered wearable walking process is recovered and stored, so that energy is saved; set up length adjustment mode and bandage design, improve size adaptability and mutual travelling comfort among the wearing process.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a wearable lower limb exoskeleton rehabilitation and power-assisted robot.
Background
The number of people with lower limb movement dysfunction caused by traffic accidents and the like is also increasing year by year, and the problems of helping the old (helping to walk) and helping the disabled (rehabilitation training) are not easy. At present, rehabilitation training of the disabled mainly depends on manual work; compared with the traditional manual assistant training, the robot assistant training has better effect and halved cost, and can also reduce the number of medical personnel.
The lower limb exoskeleton robot is a man-machine combined wearable device combining artificial intelligence, a mechanical power device and mechanical energy. The classification can be divided into two categories according to the application: 1. the walking aid is used for enhancing the athletic ability and the load bearing ability of a wearer and is mainly used for helping soldiers and workers to perform load bearing walking tasks; 2. is used for assisting the old and the person with body injury to realize the walking assistance and the rehabilitation training. According to the method, power sources are available: the robot can be divided into a power type (active type) lower limb exoskeleton robot and a non-power type (passive type) lower limb exoskeleton robot; the power type (active) lower limb exoskeleton robot takes a motor, pneumatic drive and hydraulic drive as power sources, transmits the movement intention of a wearer by means of a bioelectrical signal sensor, a mechanical signal sensor and the like, and completes the assistance of the wearer under the guidance of a control strategy; the unpowered (passive) exoskeleton does not need external energy, converts self gravitational potential energy or kinetic energy of limb movement into an elastic element, and assists lower limb movement by means of the energy switching device.
The power type (active type) lower limb exoskeleton robot can obtain larger driving force, but the driving device is heavy in design and not beneficial to wearing; the unpowered type (passive type) suffers from insufficient driving force. In addition, the existing lower limb exoskeleton robot has the problem of single function.
Disclosure of Invention
In view of the above-mentioned shortcomings in the prior art, the present invention provides a wearable lower extremity exoskeleton rehabilitation and power-assisted robot.
In order to realize the purpose, the invention adopts the following technical scheme:
a wearable lower limb exoskeleton rehabilitation and power-assisted robot comprises a waist component, thigh components, shank components and foot components which are sequentially connected from top to bottom, wherein the thigh components, the shank components and the foot components comprise two symmetrically arranged groups; the shank component comprises a shank loop bar, the thigh component and the shank component are connected through a knee joint transmission fixing plate, the knee joint transmission fixing plate is connected to the upper end of the inner side of the shank loop bar, a shank insertion rod is arranged inside the shank loop bar, and the shank insertion rod is clamped tightly through a telescopic adjusting knob arranged at the rear end of the shank loop bar to achieve length adjustment of the shank insertion rod.
Furthermore, the thigh component comprises a hip joint Z-shaped connecting rod and a thigh inserting rod, the adjusting fixing block is connected with the hip joint Z-shaped connecting rod, the lower end of the hip joint Z-shaped connecting rod is sleeved on a rolling bearing and a bearing gasket, and the rolling bearing is connected with the bearing gasket in a sliding manner and sleeved on a hip joint transmission shaft; one end of the hip joint transmission shaft is connected with the first bevel gear II, the other end of the hip joint transmission shaft is hinged with a hinged hole in the top of the hip joint transmission fixing plate, and the tail end of the hip joint transmission shaft clamps the hip joint transmission fixing plate through a nut and a gasket; the hip joint transmission fixing plate is connected with a thigh sleeve rod through a bolt, the inner side of the thigh sleeve rod is connected with a thigh bandage fixing block, and a thigh bandage is connected with the thigh bandage fixing block; the thigh inserted bar is arranged inside the thigh sleeve bar, a hole groove is formed at the matching part of the outer side of the thigh inserted bar and the two fixed supporting plates, the outer side of the upper end of the thigh inserted bar is directly connected with the first fixed supporting plate, and the outer side of the lower end of the thigh inserted bar is directly connected with the second fixed supporting plate; the two fixed supporting plates are connected with a thigh outer fixing plate, and the thigh outer fixing plate is used for fixing a thigh sleeve rod, a thigh inserting rod and the two fixed supporting plates through four bolts at the upper end and the lower end; the upper end and the lower end of the thigh external fixing plate are respectively connected with the first fixing sealing plate and the second fixing sealing plate.
Furthermore, the wearable lower limb exoskeleton rehabilitation and power-assisted robot further comprises a driving and energy storage integrated device, wherein the driving and energy storage integrated device comprises two driving motors, two energy storage units and two generators, the first driving motor is connected with the first energy storage unit, a transmission shaft of the first driving motor is connected with the first generator, the second driving motor is connected with the second energy storage unit, and a transmission shaft of the second driving motor is connected with the second generator; the upper end and the lower end of the driving energy storage integrated device are respectively connected with a first speed reduction output part and a second speed reduction output part, the first speed reduction output part comprises a first speed reducer and a first adapter plate which are connected with each other, the second speed reduction output part comprises a second speed reducer and a second adapter plate which are connected with each other, specifically, the first driving motor is connected with the first adapter plate, and the second driving motor is connected with the second adapter plate; the first bevel gear I is connected with a transmission shaft of the first speed reducer, the first bevel gear II is in right-angle engagement with the first bevel gear I, the second bevel gear I is connected with a transmission shaft of the second speed reducer, and the second bevel gear II is in right-angle engagement with the second bevel gear I.
Furthermore, the lower end of the thigh inserted bar is sleeved on a rolling bearing and a bearing washer, and the rolling bearing and the bearing washer are connected in a sliding manner and sleeved on the knee joint transmission shaft; one end of the knee joint transmission shaft is connected with the second bevel gear II, the other end of the knee joint transmission shaft is hinged to a hinge hole in the top of the knee joint transmission fixing plate, and the tail end of the knee joint transmission shaft is clamped with the knee joint transmission fixing plate through a nut and a gasket.
Furthermore, the shank component also comprises a shank strap, the inner side of the shank loop bar is connected with a shank strap fixing block, and the shank strap is connected with the shank strap fixing block; the lower end of the shank inserted bar is sleeved on an ankle joint rolling bearing and a bearing washer, the rolling bearing and the bearing washer are connected in a sliding mode and sleeved on an ankle joint transmission shaft, and the outer side of the lower end of the shank inserted bar is connected with an ankle joint elastic element in a sliding mode through two connecting pins; one end of the ankle joint transmission shaft is connected with the ankle joint elastic element through a spring, and the other end of the ankle joint transmission shaft is hinged to a hinge hole in the top of the ankle joint transmission fixing plate and fixed through a connecting pin.
Furthermore, the foot component comprises a sole plate, a instep binding band and a heel binding band, the bottom end of the ankle joint transmission fixing plate is connected with the sole plate, and the inner side and the outer side of the sole plate are respectively connected with the inner side arc-shaped supporting plate and the outer side arc-shaped supporting plate; the both ends of the foot surface bandage are connected with a group of buckles on the cambered surfaces of the inner side arc-shaped supporting plate and the outer side arc-shaped supporting plate, and the both ends of the heel bandage are connected with the other group of buckles on the cambered surfaces of the inner side arc-shaped supporting plate and the outer side arc-shaped supporting plate.
Further, the waist subassembly includes that the waist leans on, waist curb plate and waist leans on the backup pad, the waist leans on the backup pad to be connected with the waist to fix in waist curb plate concave surface center department, two bandage fixed plates are installed in waist curb plate left and right sides, and the waist bandage is connected in bandage fixed plate two holes department, and the eye-splice is installed in waist bandage center department.
Furthermore, the wearable lower limb exoskeleton rehabilitation and power-assisted robot further comprises a control box, and the first driving motor, the second driving motor, the first speed reducer, the second speed reducer, the first energy storage unit and the second energy storage unit are all electrically connected with the control box and connected through control signals.
Furthermore, an acceleration sensor, an inclination angle sensor or a gyroscope is arranged on the waist side plate; acceleration sensors are arranged on the inner side of the upper end of the thigh sleeve rod, the outer side of the lower end of the thigh inserted rod, the outer side of the upper end of the shank sleeve rod and the outer side of the lower end of the shank inserted rod; a pressure sensor and an acceleration sensor are arranged on the foot bottom plate; all sensors are in signal connection with the control box.
Furthermore, the waist bandage, the thigh bandage, the calf bandage and the instep bandage are made of soft elastic materials.
Furthermore, the lower ends of the hip joint Z-shaped connecting rod, the thigh inserted link and the shank inserted link are respectively hinged with the hip joint transmission shaft, the knee joint transmission shaft and the ankle joint transmission shaft; two safety pins are arranged on the inner sides of the hinged positions of the lower ends of the hip joint Z-shaped connecting rod, the thigh inserted rod and the shank inserted rod.
Further, two pairs of bevel gears (a first bevel gear II, a first bevel gear I, a second bevel gear I and a second bevel gear II), two fixed sealing plates (a second fixed sealing plate and a first fixed sealing plate), a driving and energy-storing integrated device and two speed-reducing output parts (a first speed-reducing output part and a second speed-reducing output part) are vertically arranged on the outer sides of the thigh external fixing plates.
Furthermore, the waist side plate is U-shaped, connecting holes matched with the hip joint adjusting rods are formed in the two ends of the waist side plate, the hip joint adjusting rods are cylindrical, and the sections of the upper ends of the hip joint adjusting rods are T-shaped and matched with the connecting holes in the two ends of the waist side plate.
Further, the control box comprises a detachable battery, an external interface assembly and a controller, and is connected to the center of the convex surface of the waist side plate.
The driving and energy storage integrated device comprises a driving and energy storage functional dual-purpose module, and the specific principle is as follows:
the power type driving module: the first driving motor drives the first bevel gear I to rotate through the first adapter plate and the first speed reducer, and then drives the first bevel gear II to drive the thigh sleeve rod and the thigh inserted rod through the hip joint transmission shaft and the hip joint transmission fixing plate, so that the motion of the thigh component in the sagittal plane is completed; the second driving motor drives the second bevel gear I to rotate through the second adapter plate and the second speed reducer, and then drives the second bevel gear II to drive the shank sleeve rod and the shank insert rod through the knee joint transmission shaft and the knee joint transmission fixing plate, so that the motion of the shank component in the sagittal plane is completed;
the unpowered energy storage module is as follows: when the thigh component moves in a sagittal plane under the manual control, the hip joint reversely drives the first bevel gear II to rotate, and the energy is stored to the first energy storage unit through the first bevel gear I and the first generator; when the shank component is controlled to move in the sagittal plane by manpower, the knee joint reversely drives the second bevel gear II to rotate, and the energy is stored to the second energy storage unit through the second bevel gear I and the second generator.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through the modular design of the waist, the legs and the feet, the lower limb exoskeleton robot has a simple structure and is easy to install and disassemble; the transmission of the hip joint and the knee joint adopts an integrated design on a thigh component, the ankle joint adopts an unpowered elastic element design, and the accompanying movement is completed by utilizing a shank component driven by a knee joint power source, so that the whole body is light and comfortable; the elderly people with rehabilitation training and insufficient muscle strength can walk with assistance;
2. the two modes of a power type (active type) lower limb exoskeleton robot and a non-power type (passive type) lower limb exoskeleton robot are used as auxiliary devices for rehabilitation training of patients in different stages or assisting the elderly with insufficient muscle strength to walk; energy in the unpowered (passive) wearing and walking process is recovered and stored, so that energy is saved;
3. set up length adjustment mode and bandage design, improve size adaptability and mutual travelling comfort among the wearing process.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1-2 are schematic perspective views of an overall structure of a wearable lower extremity exoskeleton rehabilitation and assistance robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a waist assembly of the wearable lower extremity exoskeleton rehabilitation and assistance robot according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a thigh assembly of an embodiment of the wearable lower extremity exoskeleton rehabilitation and assistance robot provided in the present invention;
fig. 5 is a schematic side view of the overall structure of an embodiment of the wearable lower extremity exoskeleton rehabilitation and assistance robot according to the present invention;
in the figures, 1-waist assembly, 2-thigh assembly (2 a-left thigh exoskeleton, 2 b-right thigh exoskeleton), 3-shank assembly (3 a-left shank exoskeleton, 3 b-right shank exoskeleton), 4-foot assembly (4 a-left foot exoskeleton, 4 b-right foot exoskeleton), 101-lumbar support, 102-lumbar side plate, 103-strap fixing plate, 104-control box, 105-lumbar strap, 106-latch, 107-lumbar support plate, 108-detachable lithium battery, 109-external interface assembly, 201-hip joint adjusting lever, 202-adjusting fixing block, 203-hip joint Z-type connecting rod, 204-rolling bearing, 205-bearing washer, 206-hip joint transmission shaft, 207-first bevel gear ii, 208-first bevel gear i, 209-first deceleration output member, 210-driving energy storage integrator, 211-second deceleration output member, 212-second bevel gear i, 213-second bevel gear ii, 214-thigh joint transmission fixing plate, 215-strap, 216-fixing block, 217-fixing block, 221-fixing plate, 220-supporting plate, 223-driving energy storage motor, 223-first motor fixing plate, 223-second reduction gear, 223-drive plate, 223-first energy storage motor fixing plate, 223-second reduction gear, 223-drive plate, 223-drive motor fixing plate, second motor fixing plate, 223-drive motor fixing plate, second reduction gear drive plate, 223-drive plate, second motor drive unit, 223-drive motor drive plate drive unit, and second drive unit, 230-a second speed reducer, 231-a second fixed sealing plate, 232-a first fixed sealing plate, 233-a thigh inserted bar, 234-a knee joint transmission shaft, 301-a knee joint transmission fixing plate, 302-a calf loop bar, 303-a calf strap fixing block, 304-a calf strap, 305-a calf inserted bar, 306-a telescopic adjusting knob, 307-an ankle joint elastic element, 308-an ankle joint transmission shaft, 309-a spring, 310-an ankle joint rolling bearing, 311-a connecting pin, 401-an ankle joint transmission fixing plate, 402-a sole plate, 403-an outer arc supporting plate, 404-an inner arc supporting plate, 405-a instep strap, 406-a heel strap.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the invention.
As shown in fig. 1 to 5, a wearable lower extremity exoskeleton rehabilitation and assistance robot comprises a waist component 1, a thigh component 2, a shank component 3 and a foot component 4 in sequence from top to bottom; the thigh assembly 2 comprises a left thigh exoskeleton 2a and a right thigh exoskeleton 2b which are respectively and symmetrically arranged at the left end and the right end of the waist assembly; the shank component 3 comprises a left shank exoskeleton 3a and a right shank exoskeleton 3b which are respectively and symmetrically arranged at the left end and the right end of the thigh component; the foot component 4 comprises a left foot exoskeleton 4a and a right foot exoskeleton 4b which are respectively and symmetrically arranged at the left end and the right end of the shank component. The lower limb exoskeleton robot can move in sagittal planes at hip joints, knee joints and ankle joints and has three degrees of freedom;
the front end part of the waist component 1 is connected with the upper end part of the thigh component 2 through a hip joint adjusting rod 201, the thigh component 2 is connected with the shank component 3 through a knee joint transmission fixing plate 301 in a bolt mode, and the shank component 3 is connected with the foot component 4 through an ankle joint transmission fixing plate 401 in a bolt mode.
The thigh assembly 2 comprises a hip joint adjusting rod 201, two pairs of bevel gears, two speed reducing output pieces, a driving and energy storing integrated device 210, a thigh sleeve rod 215, a thigh strap 217 and a thigh inserted rod 233; the hip joint adjusting rod 201 is connected with the adjusting fixing block 202, and the hip joint adjusting rod 201 realizes position fixing and vertical sliding adjustment through the installation and the disassembly of four bolts; the adjusting fixing block (202) is connected with a hip joint Z-shaped connecting rod (203), the lower end of the hip joint Z-shaped connecting rod 203 is sleeved on a rolling bearing 204 and a bearing washer 205, and the rolling bearing 204 and the bearing washer 205 are connected in a sliding manner and sleeved on a hip joint transmission shaft 206; one end of the hip joint transmission shaft 206 is in screw connection with the first bevel gear II 207, the other end of the hip joint transmission shaft is hinged to a hinge hole in the top of the hip joint transmission fixing plate 214 and is fixed through key connection, and the tail end of the hip joint transmission shaft clamps the hip joint transmission fixing plate 214 through a nut and a gasket; the hip joint transmission fixing plate 214 is connected with a thigh sleeve rod 215 through bolts, the inner side of the thigh sleeve rod 215 is connected with a thigh strap fixing block 216, and a thigh strap 217 is connected with the thigh strap fixing block 216 through four screws; the thigh inserted link 233 is arranged inside the thigh sleeve rod 215, the outer side of the thigh inserted link 233 is provided with a hole groove at the matching part with the two fixed supporting plates, the outer side of the upper end is directly connected with the first fixed supporting plate 218, and the outer side of the lower end is directly connected with the second fixed supporting plate 219; the two fixed supporting plates are connected with a thigh external fixing plate 220, and the thigh external fixing plate 220 fixes a thigh sleeve rod 215, a thigh inserted rod 233 and the two fixed supporting plates through four bolts at the upper end and the lower end; the upper end and the lower end of the thigh outer fixing plate 220 are respectively connected with a first fixing sealing plate 232 and a second fixing sealing plate 231 through two bolts by screws, and the included angles are 90 degrees; two pairs of bevel gears, two fixed sealing plates, a driving energy storage integrated device and two speed reduction output parts are all vertically arranged on the outer side of the thigh external fixing plate 220.
The upper end and the lower end of the driving energy storage integrated device 210 are respectively connected with a first speed reduction output member 209 and a second speed reduction output member 211, the first speed reduction output member 209 comprises a first speed reducer 221 and a first adapter plate 222, the first speed reducer 221 is connected with the first adapter plate 222, the second speed reduction output member 211 comprises a second speed reducer 230 and a second adapter plate 229, and the second speed reducer 230 is connected with the second adapter plate 229.
A first bevel gear I208 is connected with a transmission shaft of a first speed reducer 230, a first bevel gear II 207 is in right-angle meshing with the first bevel gear I208, a second bevel gear I212 is connected with a transmission shaft of a second speed reducer 230, and a second bevel gear II 213 is in right-angle meshing with the second bevel gear I212; the driving and energy storage integrated device 210 comprises two driving motors, two energy storage units and two generators, wherein a first driving motor 225 is connected with a first energy storage unit 224, a transmission shaft of the first driving motor 225 is connected with a first generator 223, a second driving motor 226 is connected with a first energy storage unit 227, and a transmission shaft of the first driving motor 226 is connected with the first generator 226; the lower end of the thigh inserted link 233 is sleeved on a rolling bearing and a bearing washer which are connected in a sliding manner and sleeved on the knee joint transmission shaft 234; one end of the knee joint transmission shaft 234 is in screw connection with the second bevel gear II 213, the other end is hinged at a hinge hole at the top of the knee joint transmission fixing plate 301 and is fixed through key connection, and the tail end of the end clamps the knee joint transmission fixing plate 301 through a nut and a gasket.
The lower leg component 3 comprises a knee joint transmission fixing plate 301, a lower leg loop bar 302, a lower leg strap 304 and a lower leg insert bar 305; the knee joint transmission fixing plate 301 is connected to the upper end of the inner side of the shank loop bar 302 through a bolt, the inner side of the shank loop bar 302 is connected with a shank strap fixing block 303, and a shank strap 304 is connected with the shank strap fixing block 303 through four bolts; the shank insert rod 305 is arranged inside the shank sleeve rod 302, and the length of the shank insert rod 305 is adjusted by clamping the shank insert rod 305 through a telescopic adjusting knob 306 arranged at the rear end of the shank sleeve rod 302; the lower end of the shank insert rod 305 is sleeved on an ankle joint rolling bearing 310 and a bearing washer which are connected in a sliding manner and sleeved on an ankle joint transmission shaft 308, and the outer side of the lower end of the shank insert rod 305 is connected with an ankle joint elastic element 307 in a sliding manner through two connecting pins 311; the ankle joint transmission shaft 308 has one end connected to the ankle joint elastic member 307 via a spring 309, and the other end hinged to a hinge hole at the top of the ankle joint transmission fixing plate 401 and fixed via a connecting pin.
The foot component 4 comprises an ankle joint transmission fixing plate 401, a sole plate 402, two arc-shaped supporting plates and two binding bands; the bottom end of the ankle joint transmission fixing plate 401 is in screw connection with a foot bottom plate 402, and the inner side and the outer side of the foot bottom plate 402 are respectively connected with an inner side arc-shaped support plate 404 and an outer side arc-shaped support plate 403; the two ends of the instep strap 405 are connected to one set of buckles on the arc surfaces of the medial arc support plate 404 and the lateral arc support plate 403, and the two ends of the heel strap 406 are connected to the other set of buckles on the arc surfaces of the medial arc support plate 404 and the lateral arc support plate 403. The ankle joint of the invention has no power source, the kinetic energy of the motion of the shank part is converted into an elastic element, and the ankle joint transmission shaft 308 and the ankle joint transmission fixing plate 401 drive the sole plate 402 to complete energy release; the leg bandage and the instep bandage ensure the matching of the lower limbs of the human body and the auxiliary device;
the lower ends of the hip joint Z-shaped connecting rod 203, the thigh inserted link 233 and the shank inserted link 305 are respectively hinged with the hip joint, the knee joint and the ankle joint transmission shaft; two safety pins are arranged on the inner sides of the hinged parts of the lower ends of the hip joint Z-shaped connecting rod 203, the thigh inserting rod 233 and the shank inserting rod 305, so that the thigh component 2 at the hip joint, the shank component 3 at the knee joint and the foot component 4 at the ankle joint are prevented from rotating at an excessive angle, physical limiting is performed, and sufficient safety is guaranteed.
An acceleration sensor, an inclination angle sensor or a gyroscope is arranged on the waist side plate 102, and the change rule of the gravity center of the patient in the operation process is detected; acceleration sensors are arranged on the inner side of the upper end of the thigh sleeve rod 215, the outer side of the lower end of the thigh insertion rod 233, the outer side of the upper end of the shank sleeve rod 302 and the outer side of the lower end of the shank insertion rod 305, and in the walking process, the accurate movement speed of each joint cannot be acquired by means of a motor encoder, and an accelerator sensor is additionally arranged to acquire real-time movement parameters of each joint; the foot bottom plate 402 is provided with a pressure sensor and an acceleration sensor; the sensors are connected with the control box through signals, and the overall coordination stability of the auxiliary device is controlled more accurately.
The first driving motor 225, the second driving motor 226, the first speed reducer 221, the second speed reducer 230, the first energy storage unit 224 and the second energy storage unit 229 are all electrically connected with the control box 104 and connected through control signals.
The waist bandage 105, the thigh bandage 217, the calf bandage 304 and the foot surface bandage are made of soft elastic materials, such as TPU materials, and the prepared TPU elastic belts have the characteristics of environmental protection, no toxicity, mildew resistance, antibiosis, good elasticity, soft hand feeling, wear resistance, water washing resistance, yellowing resistance and the like.
The driving and energy storage integrated device 210 comprises a driving and energy storage functional dual-purpose module:
when in a driving mode, the device is in a power type (active type) mode, a first driving motor 225 drives a first bevel gear I208 to rotate through a first adapter 222 and a first speed reducer 221, and then drives a first bevel gear II 207 to drive a thigh sleeve rod 215 and a thigh inserted rod 233 through a hip joint transmission shaft 206 and a hip joint transmission fixing plate 214, so that the motion of the thigh component 2 in the sagittal plane is completed; the second driving motor 226 drives the second bevel gear I212 to rotate through the second adapter 229 and the second reducer 230, and then drives the second bevel gear II 213 to drive the shank loop bar 302 and the shank inserted bar 305 through the knee joint transmission shaft 234 and the knee joint transmission fixing plate 301, thereby completing the motion of the shank component 3 in the sagittal plane; the motor drive and the stored energy are used as power sources, the movement intention of a wearer is transmitted by means of a bioelectricity signal sensor, a mechanical signal sensor and the like, and the assistance to the wearer is completed under the guidance of a control strategy; the mode is mainly used for rehabilitation and medical treatment and helps people with lower limbs with motor dysfunction to perform rehabilitation training.
In the energy storage mode, the device is in an unpowered (passive) mode, the thigh component 2 is controlled to move in the sagittal plane through manpower, meanwhile, the hip joint reversely drives the first bevel gear II 207 to rotate, and the energy is stored in the first energy storage unit 224 through the first bevel gear I208 and the first generator 223; the lower leg component 3 is dominated by manpower to move in the sagittal plane, meanwhile, the knee joint reversely drives the second bevel gear II 213 to rotate, and the energy is stored to the second energy storage unit 229 through the second bevel gear I212 and the second generator 228; the gravity potential energy of the human body or the kinetic energy of the limb movement is stored without external energy, and the lower limb movement is assisted by an energy switching device; the mode is mainly used for assisting in walking, helping the lower limbs of patients recovering certain motion functions in the later stage of rehabilitation training, or helping the old with insufficient muscle strength to walk.
According to different characteristics of the thigh part and the shank part, the invention designs the adjusting mode in a targeted manner, thereby improving the matching with the height of the patient; through the modular design of the waist, the legs and the feet, the lower limb exoskeleton robot has a simple structure and is easy to install and disassemble; the transmission of the hip joint and the knee joint adopts an integrated design on a thigh component, and the ankle joint adopts an unpowered elastic element design, so that the whole body is light and comfortable; the power type (active type) lower limb exoskeleton robot and the unpowered type (passive type) lower limb exoskeleton robot are used as auxiliary devices for rehabilitation training of patients at different stages or assisting old people with insufficient muscle strength to walk; and energy in the unpowered (passive) wearing and walking process is recovered and stored, so that energy is saved.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A wearable lower limb exoskeleton rehabilitation and power-assisted robot is characterized by comprising a waist component (1), a thigh component (2), a shank component (3) and a foot component (4) which are sequentially connected from top to bottom, wherein the thigh component (2), the shank component (3) and the foot component (4) respectively comprise two groups which are symmetrically arranged, the front end part of the waist component (1) is connected with the upper end part of the thigh component (2) through a hip joint adjusting rod (201), the hip joint adjusting rod (201) is connected with an adjusting fixing block (202), and the hip joint adjusting rod (201) vertically slides up and down and is fixed in position through the installation and the disassembly of four bolts; the shank component comprises a shank loop bar (302), the thigh component (2) and the shank component (3) are connected through a knee joint transmission fixing plate (301), the knee joint transmission fixing plate (301) is connected to the upper end of the inner side of the shank loop bar (302), a shank insert rod (305) is installed inside the shank loop bar (302), and the length of the shank insert rod (305) is adjusted by clamping the shank insert rod (305) through a telescopic adjusting knob (306) installed at the rear end of the shank loop bar (302).
2. The wearable lower extremity exoskeleton rehabilitation and assistance robot according to claim 1, wherein the thigh assembly (2) comprises a hip joint Z-shaped connecting rod (203) and a thigh inserting rod (233), the adjusting fixing block (202) is connected with the hip joint Z-shaped connecting rod (203), the lower end of the hip joint Z-shaped connecting rod (203) is sleeved on a rolling bearing (204) and a bearing washer (205), and the rolling bearing (204) and the bearing washer (205) are slidably connected and sleeved on a hip joint transmission shaft (206); one end of the hip joint transmission shaft (206) is connected with a first bevel gear II (207), the other end of the hip joint transmission shaft is hinged to a hinged hole in the top of the hip joint transmission fixing plate (214), and the tail end of the hip joint transmission shaft clamps the hip joint transmission fixing plate (214) through a nut and a gasket; the hip joint transmission fixing plate (214) is in bolt connection with a thigh sleeve rod (215), the inner side of the thigh sleeve rod (215) is connected with a thigh strap fixing block (216), and a thigh strap (217) is connected with the thigh strap fixing block (216); the thigh inserted bar (233) is arranged inside the thigh sleeve bar (215), a hole groove is formed at the matching part of the outer side of the thigh inserted bar (233) and the two fixed supporting plates, the outer side of the upper end is directly connected with the first fixed supporting plate (218), and the outer side of the lower end is directly connected with the second fixed supporting plate (219); the two fixed supporting plates are connected with a thigh external fixing plate (220), and the thigh external fixing plate (220) is used for fixing a thigh sleeve rod (215), a thigh inserted rod (233) and the two fixed supporting plates through four bolts at the upper end and the lower end; the upper end and the lower end of the thigh external fixing plate (220) are respectively connected with a first fixing sealing plate (232) and a second fixing sealing plate (231).
3. The wearable lower extremity exoskeleton rehabilitation and assistance robot according to claim 1, further comprising a drive energy storage integrator (210), wherein the drive energy storage integrator (210) comprises two drive motors, two energy storage units and two generators, the first drive motor (225) is connected to the first energy storage unit (224), the transmission shaft of the first drive motor (225) is connected to the first generator (223), the second drive motor (226) is connected to the second energy storage unit (227), and the transmission shaft of the second drive motor (226) is connected to the second generator (228); the upper end and the lower end of the driving energy storage integrated device (210) are respectively connected with a first speed reduction output piece (209) and a second speed reduction output piece (211), the first speed reduction output piece (209) comprises a first speed reducer (221) and a first adapter plate (222) which are connected with each other, the second speed reduction output piece (211) comprises a second speed reducer (230) and a second adapter plate (229) which are connected with each other, specifically, the first driving motor (225) is connected with the first adapter plate (222), and the second driving motor (226) is connected with the second adapter plate (229); the first bevel gear I (208) is connected with a transmission shaft of a first speed reducer (221), the first bevel gear II (207) is in right-angle meshing with the first bevel gear I (208), the second bevel gear I (212) is connected with a transmission shaft of a second speed reducer (230), and the second bevel gear II (213) is in right-angle meshing with the second bevel gear I (212).
4. The wearable lower extremity exoskeleton rehabilitation and assistance robot according to claim 2, wherein the lower end of the thigh link (233) is sleeved on a rolling bearing and a bearing washer, the rolling bearing and the bearing washer are slidably connected and sleeved on the knee joint transmission shaft (234); one end of the knee joint transmission shaft (234) is connected with the second bevel gear II (213), the other end of the knee joint transmission shaft is hinged to a hinged hole in the top of the knee joint transmission fixing plate (301), and the tail end of the knee joint transmission shaft is clamped on the knee joint transmission fixing plate (301) through a nut and a gasket.
5. The wearable lower extremity exoskeleton rehabilitation and assistance robot according to claim 1, wherein the lower leg assembly (3) further comprises a lower leg strap (304), a lower leg strap fixing block (303) is connected to the inner side of the lower leg loop bar (302), and the lower leg strap (304) is connected with the lower leg strap fixing block (303); the lower end of the shank insert rod (305) is sleeved on an ankle joint rolling bearing (310) and a bearing washer, the rolling bearing and the bearing washer are connected in a sliding mode and sleeved on an ankle joint transmission shaft (308), and the outer side of the lower end of the shank insert rod (305) is connected with an ankle joint elastic element (307) in a sliding mode through two connecting pins (311); one end of the ankle joint transmission shaft (308) is connected with an ankle joint elastic element (307) through a spring (309), and the other end of the ankle joint transmission shaft is hinged to a hinge hole in the top of the ankle joint transmission fixing plate (401) and fixed through a connecting pin.
6. The wearable lower extremity exoskeleton rehabilitation and assistance robot according to claim 1, wherein the foot component (4) comprises a foot base plate (402), a foot surface strap (405) and a heel strap (406), the bottom end of the ankle joint transmission fixing plate (401) is connected with the foot base plate (402), and the inner side and the outer side of the foot base plate (402) are respectively connected with the inner arc-shaped support plate (404) and the outer arc-shaped support plate (403); two ends of the foot surface binding band (405) are connected with one group of buckles on the cambered surfaces of the inner side cambered support plate (404) and the outer side cambered support plate (403), and two ends of the heel binding band (406) are connected with the other group of buckles on the cambered surfaces of the inner side cambered support plate (404) and the outer side cambered support plate (403).
7. The wearable lower extremity exoskeleton rehabilitation and assistance robot according to claim 1, wherein the waist assembly (1) comprises a waist support (101), a waist side plate (102) and a waist support plate (107), the waist support plate (107) is connected with the waist support (101) and fixed at the center of the concave surface of the waist side plate (102), two strap fixing plates (103) are installed at the left side and the right side of the waist side plate (102), a waist strap (105) is connected at two holes of the strap fixing plate (103), and a buckle (106) is installed at the center of the waist strap (105).
8. The wearable lower extremity exoskeleton rehabilitation and assistance robot according to claim 3, further comprising a control box (104), wherein the first driving motor (225), the second driving motor (226), the first decelerator (221), the second decelerator (230), the first energy storage unit (224), and the second energy storage unit (229) are electrically connected with the control box (104) and are connected through control signals.
9. The wearable lower extremity exoskeleton rehabilitation and assistance robot according to claim 8, wherein the waist side plate (102) is equipped with an acceleration sensor, a tilt sensor or a gyroscope; acceleration sensors are arranged on the inner side of the upper end of the thigh sleeve rod (215), the outer side of the lower end of the thigh inserted rod (233), the outer side of the upper end of the shank sleeve rod (302) and the outer side of the lower end of the shank inserted rod (305); a pressure sensor and an acceleration sensor are arranged on the foot bottom plate (402); all sensors are in signal connection with the control box.
10. The wearable lower extremity exoskeleton rehabilitation and assistance robot according to claim 7, wherein the waist strap (105), the thigh strap (217), the calf strap (304) and the instep strap (405) are made of soft elastic materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210790613.4A CN115137618A (en) | 2022-07-06 | 2022-07-06 | Wearable lower limb exoskeleton rehabilitation and power-assisted robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210790613.4A CN115137618A (en) | 2022-07-06 | 2022-07-06 | Wearable lower limb exoskeleton rehabilitation and power-assisted robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116061156A (en) * | 2023-03-20 | 2023-05-05 | 昆明东电科技有限公司 | Intelligent exoskeleton robot |
| CN116492204A (en) * | 2023-03-13 | 2023-07-28 | 深圳睿瀚医疗科技有限公司 | Portable bionic knee joint exoskeleton and gait recognition system for cerebral palsy children |
-
2022
- 2022-07-06 CN CN202210790613.4A patent/CN115137618A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116492204A (en) * | 2023-03-13 | 2023-07-28 | 深圳睿瀚医疗科技有限公司 | Portable bionic knee joint exoskeleton and gait recognition system for cerebral palsy children |
| CN116492204B (en) * | 2023-03-13 | 2023-08-29 | 深圳睿瀚医疗科技有限公司 | Portable bionic knee joint exoskeleton and gait recognition system for cerebral palsy children |
| CN116061156A (en) * | 2023-03-20 | 2023-05-05 | 昆明东电科技有限公司 | Intelligent exoskeleton robot |
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