CN115634126A - Recovered four-wheel-drive lower limb exoskeleton power-assisted walking device - Google Patents

Abstract

The invention relates to the technical field of walking assistance, and discloses a rehabilitation type four-wheel drive lower limb exoskeleton assisting walking device, which is used for solving the problem that an old person with inconvenient legs and feet or a person with dyskinesia cannot walk normally. The power-assisted walking device comprises a backpack, an abdomen binding belt, a waist supporting piece, a thigh outer rod and an inner rod, a shank outer rod and an inner rod, a thigh and shank binding belt, a foot supporting piece, a control system, a driving system and four groups of driving devices; the large and small leg binding bands are made of flexible materials and are respectively fixed with the large and small leg outer rods; the large and small leg outer rods are matched with the large and small leg inner rods through connecting pieces to adjust the length; the foot supporting piece is fixed with the shank outer rod; the control system and the driving system are arranged in the knapsack, and four groups of driving devices are divided into: the pair of hip joint driving devices are arranged on the waist supporting piece and the thigh outer rod, the pair of knee joint driving devices are arranged on the thigh outer rod and the shank outer rod, and the four groups of motors provide power sources to help a wearer finish walking.

Description

Recovered four-wheel-drive lower limb exoskeleton power-assisted walking device

Technical Field

The invention relates to the technical field of walking assistance, in particular to a rehabilitation type four-wheel drive lower limb exoskeleton power-assisted walking device.

Background

With the increasing severity of the aging problem of the population, the society has increased attention to the medical rehabilitation problem, so that the rehabilitation therapy for the people with motor dysfunction to regain the normal walking ability becomes the hot spot of the current medical research. According to the statistics of the world health organization, about 1/3 of the survivors can not recover the normal walking function (commonly called hemiplegia) after 3 months of stroke, and only walk in an asymmetric walking state, and the walking speed and endurance thereof are gradually declined. At present, the rehabilitation therapy for the limb dysfunction caused by the nervous system is mainly realized by one-to-one or many-to-one training of a therapist for patients, and the rehabilitation training requirements of high strength, strong pertinence and repeatability are difficult to realize. Therefore, the walking function of the patient is improved through economic and effective rehabilitation therapy, the self-care ability of the life of the patient is improved, and the rehabilitation therapy has great significance for people with social and functional disorders.

Nowadays, a technology combining intelligent equipment and rehabilitation medical treatment is widely applied to various aspects such as medical treatment and functional rehabilitation, and the research and the development of the exoskeleton rehabilitation robot are an important research direction in the rehabilitation medical treatment. The lower limb exoskeleton can provide effective auxiliary rehabilitation therapy for the old with inconvenient legs and feet or the people with disorder of motion function by virtue of the advantages of convenience, reliability, accurate data measurement and the like, so that the old or the people can return to normal life.

Disclosure of Invention

The invention provides a rehabilitation type four-wheel drive lower limb exoskeleton power-assisted walking device which mainly comprises hip joints, knee joints, ankle joints and sole supports, wherein a control system and a driving system comprise a single chip microcomputer, a servo motor, an encoder and the like and are arranged in a knapsack on the back.

The device can control the hip joint and the knee joint mechanism to act on the leg of a wearer through the servo motor, so that the aim of assisting power is fulfilled. Meanwhile, in order to prevent the phenomenon of over-extension of the knee, a limiting and fixing device is arranged at the knee joint; to prevent inversion or eversion of the foot, the foot is provided with a support device.

In order to achieve the purpose, the rehabilitation type four-wheel drive exoskeleton lower limb power assisting device further comprises parts such as a waist binding belt, a thigh binding belt, a shank binding belt, a foot support, a thigh inner rod, a thigh outer rod, a shank inner rod, a shank outer rod and a connecting piece.

The two waist straps are used for fixing the backpack of the control system and the driving system, the other waist strap is used for fixing the waist supporting component, and the length of the two waist straps can be adjusted;

the waist supporting component is divided into a left part and a right part, and the middle part adopts flexible connection, so that the supporting component can be better attached to the waist of a wearer when the wearer walks;

the thigh bandage and the shank bandage are respectively used for being bound on the thigh and the shank of a wearer, and the rod piece is fixed with the thigh and the shank of a human body in a thread gluing bandage mode;

the thigh outer rod and the shank outer rod are hollow, so that the weight of the equipment is reduced, and the burden of a wearer is reduced; positioning holes are formed in the side faces of the outer skeleton, and are used for being matched with the inner rod to achieve the stretching of the length of the outer skeleton, so that the outer skeleton is suitable for heights of different wearers;

the sole supporting component is used for feet of a wearer and is fixed with shoes of the wearer to provide support, and the bottom of the sole supporting component is provided with a layer of rubber sole to play a role in skid resistance.

The control system and the driving system are fixed in a knapsack of the back, and the driving device is used for driving thigh elevation and shank flexion and extension.

Preferably, the waist bandage is provided with a safety buckle, so that the waist bandage can keep a relative position and cannot rotate relatively to play a role in fixing;

preferably, the backpack and the lumbar support part are provided with sponge back cushions on the surfaces contacting with the wearer, so that the comfort of the wearer in long-term use is ensured;

preferably, the leg inner and outer rods are made of carbon fiber rods, and the length of the leg inner and outer rods can be freely adjusted according to the height and the leg length of a wearer through the positioning pins; the carbon fiber rod can adapt to the leg characteristics of a wearer, the adaptability is improved, the portable material cannot increase the burden of the wearer, and the fixing effect is enhanced;

preferably, the foot supporting part is provided with a lace, which can be freely adjusted according to the size of the foot of the wearer.

The walking assisting device is simple in overall structure, compact in structure, small in overall thickness, light in weight and convenient to wear, and can be adjusted according to the requirements of a wearer, so that the walking assisting effect is realized.

Drawings

Fig. 1 is a structural diagram of a rehabilitation type lower limb exoskeleton assisting walking device;

FIG. 2 is a left side exploded view of a rehabilitation lower limb exoskeleton-assisted walking device;

FIG. 3 is a part diagram of an outer thigh rod and an inner thigh rod of the rehabilitation type lower limb exoskeleton assisted walking device;

fig. 4 is a working principle block diagram of a control system of the rehabilitation type lower limb exoskeleton-assisted walking device.

Reference numerals are as follows:

1-knapsack; 2-abdominal bandage; 3-lumbar support; 4-hip joint drive means; 5-thigh external rod; 6-inner and outer rod connecting pieces; 7-thigh strap; 8-thigh inner rod; 9-knee joint drive; 10-shank outer bar; 11-calf strap; 12-shank inner rod; 13-foot fixing support; 14-waist strap; 15-rolling bearings; 16-a drive shaft; 17-a retarder; 18-a motor; 19-a nut; 20-stud bolts; 21-positioning blocks; 22-rolling bearings; 23-a drive shaft; 24-a reducer; 25-motor.

Detailed description of the invention

The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.

A rehabilitation type four-wheel drive lower limb exoskeleton assistance walking device is used for solving the problem that old people with inconvenient legs and feet, people with impaired motion function and the like are inconvenient to walk.

Kang Fuxing four-wheel drive lower limb exoskeleton power-assisted walking device is structurally shown in fig. 1;

the power-assisted walking device comprises a knapsack 1, an abdomen binding belt 2, a waist binding belt 14, a waist support 3, a hip joint driving device 4, an outer thigh rod 5, an inner and outer rod connecting piece 6, a thigh binding belt 7, an inner thigh rod 8, a knee joint driving device 9, an outer shank rod 10, a shank binding belt 11, an inner shank rod 12, a foot fixing support 13 and other parts as well as a control system and a driving system in the knapsack;

the backpack 1 is made of aluminum alloy and is matched with the back curve of a wearer, and the side, which is in contact with the wearer, of the backpack is designed to be arc-shaped and provided with a sponge cushion, so that the comfort level of the wearer during long-term use is ensured; the backpack is hollow inside, so that control system parts of the device can be conveniently placed;

the lengths of the abdomen bandage 2 and the waist bandage 14 can be adjusted according to the waist circumference and the abdomen circumference of a wearer, and a safety buckle is arranged; the wearer can better fit with the backpack 1 and the lumbar support 3 through the two binding bands, and the device is convenient for the wearer to use;

the structure of the lumbar support 3 can be divided into a left symmetrical part and a right symmetrical part, and the middle parts are connected by a connecting piece with certain flexibility, so that the body of a wearer can be better matched with the lumbar support 3 when moving; the lumbar support 3 is designed to be similar to the crotch of a human body and is provided with a sponge cushion on the side in contact with the wearer, thereby ensuring the comfort of the wearer when using the device; the lumbar support 3 is hollow, so that on one hand, the control system for the exoskeleton to move according to a preset angle can be conveniently wired, and on the other hand, the hollow design can reduce the whole weight of the device and reduce the burden of a wearer;

the hip joint driving device 4 connects the waist support 3 and the thigh outer rod 5, so that the waist support and the thigh outer rod can realize the relative rotation of a preset angle of the hip joint when a wearer is helped to realize leg lifting action, and walking action is finished;

the thigh outer rod 5 is made of carbon fiber, and is hollow inside, so that the thigh outer rod and the thigh inner rod 6 are matched for use to realize the function of adjusting the length of the thigh of the device according to the length of the thigh of a wearer; the back of the thigh outer rod 5 is provided with a plurality of limiting holes which are matched with the inner and outer rod connecting pieces 6 to realize the fixation of the inner and outer rods;

the thigh strap 7 is fixed with the thigh outer rod and used for wearing the device on the outer side of the thigh of the wearer; the binding belt is designed into a thread gluing form, so that a wearer can fix the binding belt according to the thigh circumference of the wearer;

the thigh inner rod 8 is made of carbon fiber, the rod piece is hollow, and a limiting hole in the side surface is matched with the thigh outer rod 5 and the connecting piece 6 to adjust the length of the thigh part of the device;

the knee joint driving device 9 connects the thigh inner rod 8 and the shank outer rod 10, and ensures that the two parts can realize the relative rotation of the preset angle of the knee joint when a wearer lifts the leg, thereby completing the walking action;

the structure of the shank outer rod 10 is similar to that of the thigh outer rod 5, and the shank outer rod is matched with the shank inner rod 12 to realize the function of adjusting the shank length according to the shank length of a wearer; the back of the shank outer rod 10 is provided with a plurality of limiting holes which are matched with the inner and outer rod connecting pieces to realize the fixation of the inner and outer rods;

the thigh strap 11 is fixed with the shank outer rod and used for wearing the device on the outer side of the shank of a wearer; the binding band is designed into a thread gluing mode, so that a wearer can fix the binding band according to the girth of the lower leg of the wearer;

the thigh inner rod 12 is similar to the thigh inner rod 8 in structure, and a limiting hole on the side surface is matched with the shank outer rod 10 and the connecting piece to adjust the length of the shank part of the device;

the foot fixing support 13 is connected with the shank inner rod 12, and when a wearer lifts the leg, the foot fixing support 13 rotates downwards along with the foot by a smaller radian due to gravity; the design of foot fixed bolster 13 has the shoelace, and convenient and the wearer's foot is fixed, and the radian is designed at the steel sheet simulation sole of bottom, and has the bottom of one deck rubber to guarantee wearer's use comfort under the steel sheet.

5363A exploded view of a Kang Fuxing lower extremity exoskeleton walker is shown in fig. 2.

The back bag 1 is rigidly connected with the lumbar support 2, and the lumbar support 2 provides support for the back bag 1 to ensure the stability of the back bag 1;

the abdomen binding belt 2 and the waist binding belt 14 are respectively connected with the backpack 1 and the waist support 3 through two pairs of small handles, so that the two pairs of small handles keep a relative position and cannot rotate relatively to play a role in fixing;

the hip joint driving device 4 is divided into four parts, namely a rolling bearing 15, a transmission shaft 16, a speed reducer 17 and a motor 18; a preset rotation signal is transmitted to a motor 18 by a singlechip control system in the knapsack 1, a large torque output by the motor 18 is reduced by a speed reducer 17 and then transmitted to a transmission shaft 16, the transmission shaft 16 is fixed with an outer thigh rod to transmit the torque to an exoskeleton device, the rotation of hip joints of a human body during walking is simulated to finish walking action, and an outer ring of a rolling bearing 15 is fixed with a round hole at the tail end of a lumbar support 3;

the inner and outer rod connecting piece 6 is divided into three parts, and the nuts 19, the stud bolts 20 and the positioning blocks 21 are matched to realize the adjustment of the use lengths of the inner and outer rods of the large and small legs; the nut 19 is provided with a handle, so that the wearer can conveniently detach the rod piece to adjust the length; the stud 20 is sleeved with a spring to play a role in buffering;

the knee joint driving device 9 is similar to the hip joint driving device 4 in structure and comprises four parts, namely a rolling bearing 22, a transmission shaft 23, a speed reducer 24 and a motor 25, but the control system has different preset rotation angles for the hip joint and the knee joint.

Kang Fuxing parts of an outer thigh rod and an inner thigh rod of the lower extremity exoskeleton walk device are shown in fig. 3;

a square groove is formed in the inner side of the thigh outer rod 5, so that the thigh inner rod can conveniently stretch; the outer side surface of the thigh outer rod is provided with a limiting hole which is matched with the connecting piece 6 to realize the locking of the thigh inner rod and the thigh outer rod; a circular hole at the top of the thigh outer rod is matched with the hip joint driving device 4, so that the rotation angle of the hip joint when a wearer lifts the leg is realized;

a plurality of locating holes with equal intervals are designed on the side surface of the thigh inner rod 8, the thigh inner rod 8 is inserted into the square groove of the thigh outer rod 5 and matched with the connecting piece 6, the length of the thigh of the device can be adjusted according to the height of a wearer, and the use is convenient; the round hole at the bottom of the thigh inner rod 8 is matched with a rolling bearing 22 in the knee joint driving device 9, so that the bending action of the knee joint of the wearer during walking is realized.

Kang Fuxing control system working schematic diagram of lower extremity exoskeleton walking device is shown in fig. 4;

because the hip joint and the knee joint rotate at different angles when a wearer walks, the single chip microcomputer control system outputs two groups of signals, namely a hip joint rotation signal and a knee joint rotation signal, for the driving device;

because the torque output by the motor is larger, the reducer is arranged, the hip joint motor is directly connected with the reducer, and the torque is output through the transmission shaft;

the transmission shaft is fixed with the thigh outer rod and rotates along with the transmission shaft to simulate the rotation of hip joints when a wearer walks and lifts legs;

the rolling bearing sleeve is sleeved on the transmission shaft, and the outer ring is fixed with the round hole at the tail end of the lumbar support, so that the abrasion of parts is reduced;

the single chip microcomputer control system outputs knee joint rotation signals to the knee joint servo motor, small torque is transmitted to the transmission shaft through the speed reducer, the transmission shaft is connected with the shank outer rod to drive the shank outer rod to rotate, and the rolling bearing is installed in a round hole in the tail end of the shank inner rod to reduce part abrasion.

Claims (5)

1. The utility model provides a recovered type four-wheel drive low limbs ectoskeleton helping hand running gear which characterized in that includes:

the device comprises a backpack, an abdomen bandage, a waist support, a group of thigh outer rods, a group of thigh inner rods, a group of shank outer rods, a group of shank inner rods, a group of thigh bandage, a group of shank bandage, a pair of foot supports, a control system, a driving system and four groups of driving devices; the abdomen bandage is connected with the backpack to ensure the stability of the backpack; the waist bandage is connected with the waist support piece, so that the waist connecting piece is attached to a human body when a wearer walks, and walking action is finished; sponge cushions are arranged on the contact surfaces of the knapsack and the waist supporting piece with people, so that the comfort of a wearer in use is ensured; the shoelaces of the thigh bandage, the calf bandage, the abdomen bandage, the waist bandage and the foot supporting piece are made of flexible materials, so that the use comfort is improved.

2. The rehabilitation type four-wheel drive lower limb exoskeleton assisting walking device as claimed in claim 1, wherein the inner thigh rod and the outer thigh rod are matched through a connecting piece, so that the length of the thigh part of the assisting walking device can be adjusted according to the height of a wearer; the thigh binding bands are fixed on the thigh outer rods in a thread gluing mode, so that the comfort level is high, and a wearer can conveniently put on and take off the thigh binding bands; the structure of the shank inner rod and the shank outer rod is similar to that of the thigh outer rod, the assisting force can be realized by the extension and contraction of the shank inner rod and the shank outer rod, and the length of the shank part of the walking device can be adjusted according to the height of a wearer; the shank bandage is fixed on the shank external rod in a thread gluing mode; the foot support piece is fixed with the shank, and provides support for the foot of a wearer when walking and lifting the leg, and meanwhile, the foot support piece is provided with the shoelace in a thread gluing mode, so that the device is convenient to fix with the foot of the wearer and is convenient to put on and take off.

3. The rehabilitation type four-wheel drive exoskeleton assisting walking device as claimed in claim 1, wherein the thigh outer rod and the shank outer rod are provided with a square groove for matching with the thigh inner rod and the shank inner rod; the side surface of the square groove is provided with a positioning hole which is fixedly connected with the thigh inner rod and the shank inner rod in a matching way to lock the lengths of the thigh inner rod and the shank inner rod; the side surfaces of the thigh inner rod and the shank inner rod are provided with a plurality of positioning holes, and the length of the rod piece is adjusted through the connecting piece, the thigh inner rod and the shank outer rod.

4. The rehabilitation type four-wheel drive exoskeleton assistance walking device as claimed in claim 1, wherein the control system and the driving system are placed in a knapsack, and the single chip microcomputer outputs different driving signals to the pair of hip joint driving devices and the pair of knee joint driving devices so as to lift up the thigh rod piece and the shank rod piece and help a wearer complete leg lifting walking action.

5. A rehabilitation type four-wheel drive exoskeleton force-assisted walking device as claimed in claim 1, wherein the four sets of driving devices correspond to a pair of hip joint driving devices and a pair of knee joint driving devices respectively; each group of driving devices comprises a driving motor, a speed reducer, a transmission shaft and a rolling bearing; the hip joint driving device is arranged at the joint of the waist support part and the thigh outer rod; the knee joint driving device is arranged at the joint of the thigh inner rod and the shank outer rod.

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