CN204121372U - A kind of wearable lower limb exoskeleton walk help decompression robot device - Google Patents
A kind of wearable lower limb exoskeleton walk help decompression robot device Download PDFInfo
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- CN204121372U CN204121372U CN201420144856.1U CN201420144856U CN204121372U CN 204121372 U CN204121372 U CN 204121372U CN 201420144856 U CN201420144856 U CN 201420144856U CN 204121372 U CN204121372 U CN 204121372U
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- lower limb
- decompression
- ectoskeleton
- robot device
- joint
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 41
- 230000006837 decompression Effects 0.000 title claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 210000003127 knee Anatomy 0.000 claims abstract description 11
- 210000000689 upper leg Anatomy 0.000 claims description 26
- 210000002414 leg Anatomy 0.000 claims description 11
- 210000000629 knee joint Anatomy 0.000 claims description 5
- 210000001624 hip Anatomy 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 3
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 210000003423 ankle Anatomy 0.000 claims 1
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000001681 protective effect Effects 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 244000309466 calf Species 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Abstract
The utility model discloses a kind of exoskeleton robot device with auxiliary walking decompression.This device mainly comprises left and right ectoskeleton pedipulator, inner support lower limb, flexible belt, force-measuring shoes, motorized motions cylinder, controller, accumulator, bearing pin, tight fixed bolt, spring etc.It is characterized in that, under control of the control system, the driving cylinder being arranged on left and right ectoskeleton pedipulator hip and knee can drive hip and knee to rotate, and inner support lower limb can bear anthropolith pressure, thus alleviates the pressure of knee.Especially can work as seat when people stands still for a long while to use, the old man being applicable to very much walking for a long time, people with disability or rheumatisant.This device adopts motor to drive, and response accuracy is high and can regulate height according to human body oneself requirement, is applicable to dressing.
Description
Technical field
The present invention relates to a kind of ectoskeleton power-assisting robot, be specifically related to a kind of for auxiliary human body walking can be dressed and the ectoskeleton power-assisting robot of having a rest that can reduce pressure for human body, belong to robotics.
Background technology
All in lower limb exoskeleton power assisting device, done large quantifier elimination both at home and abroad at present, wherein a lot of rehabilitation for auxiliary people with disability, patient, also expands large quantifier elimination in fields such as medical auxiliary apparatus, also achieves a lot of achievement significantly.But the cost of these exoskeleton robots is extremely expensive, and complex structure, maintenance cost are high.It may be noted that a bit, these exoskeleton robots are auxiliary human body walking just, but can not alleviate the pressure of knee.
Ectoskeleton assistant robot has passive type and active, and active is rely on outside to provide power drive human body lower limbs move, wherein requires that ectoskeleton can reach man-machine coordination, does not produce resistance interference.But main research is all be placed on ectoskeleton to drive, and does not focus in decompression, old man, people with disability and suffer from the patient of rheumatism, knee often can not bear excessive power, and the pressure how alleviated above patient knees has important researching value.
The exoskeleton robot with auxiliary walking decompression is according to a collaborative robot principle, imitates human body walking, and can bear a part of pressure to realize walk help decompression by external motivating force.
Utility model content
The purpose of this utility model is to overcome prior art deficiency, provides a kind of walk help decompression exoskeleton robot, meets human body lower limbs actual walking pattern movement needs, structure is simple, height adjustable.Be applicable to crowd's scope wide.A whole set of robot mechanism is compact, and stability and safety can realize the function of auxiliary walking decompression.
Object of the present invention can be achieved through the following technical solutions: a kind of exoskeleton robot with walk help decompression of the present invention comprises controlling organization and driving mechanism and exoskeleton mechanism.Control system is connected with drive system, and drive system is connected with ectoskeleton support.Control system control-driven system, the walking of drive system specific implementation exoskeleton mechanism simulation human body.Wherein, two, left and right ectoskeleton pedipulator drives as active by electric cylinder, and inner four supporting legs are passive type, namely form external drive, the general layout of inner support.During human body walking, outer portion two legs drives, and when standing, four lower limbs support close to the inner portion.
Described ectoskeleton support comprises left and right ectoskeleton lower limb, inner support lower limb, flexible belt, electric drive cylinder, force-measuring shoes, flexible belt, back support frame.Wherein ectoskeleton lower limb comprises thigh support frame and little leg support, wherein thigh connecting rod admittedly overlaps and can be inserted on thigh lower connecting rod, is bolted, and the length of such thigh bar just can realize regulating, can different height wearer be adapted to, strengthen the versatility of dressing.Equally, the connecting rod of shank is also divided into upper and lower two joints, and upper joint connecting rod can insert next joint, is bolted and realizes stretching.Thigh and calf and donning system, drive system can realize dismounting, are convenient to transport and deposit.Inner support lower limb comprises thigh support frame and little leg support is also made up of upper and lower two joints, wherein thigh support frame saves and is connected with seat frame, and under little leg support, joint is connected with force-measuring shoes.Wherein, thigh and calf is also be divided into upper and lower two joints, and principle is consistent with left and right ectoskeleton lower limb, by upper and lower two save flexible regulate height.Flexible belt back is connected with cell support frame, and both sides are connected with left and right ectoskeleton lower limb thigh saves respectively.Flexible belt has and all around can regulate everywhere, realizes the flexible of belt, to meet the needs of fat or thin crowd.Wherein back cell support frame is connected by electric drive cylinder with left and right ectoskeleton lower limb.Back support frame is fixed on belt, is born by human body.Battery and controller link together, and are fixed on back support frame.
Two springs are installed at the knee joint place of inner four supporting legs respectively, are used for firm inner support lower limb.Left and right ectoskeleton lower limb is equipped with respectively bandage can to tie the thigh and calf of human body and ectoskeleton pedipulator, realizes man-machine coordination campaign.
Inner four supporting legs support seat frame, and the height of seat frame just in time can be adjusted to human body crotch, above people can ride over.Seat frame is connected by bearing pin with four supporting legs.Inner four supporting leg lower ends are respectively by the two ends of pinned connection force-measuring shoes.
Control system is connected with force-measuring shoes and electric cylinder by data wire.Force-measuring shoes by the sensor collection installed above to pressure signal by data line transfer to control system, then control system makes a response according to pressure signal, by control signal by data line transfer to electric cylinder, electric cylinder drives the motion of left and right ectoskeleton lower limb.
Described knee joint drive motors and hip joint bend and stretch motor and adopt accumulator as driving power.Accumulator can provide goods long power supply, and it is all very convenient to carry installation.
Hinge structure of the present invention has the following advantages:
To compare other like products, increase by four inner support lower limbs, can alleviate old man, people with disability, rheumatisant in the process of walking or stand still for a long while time pressure suffered by knee;
Left and right ectoskeleton thigh, inner support lower limb all adopt class loop bar to design, and in conjunction with screw stepless adjusting length, make each joint ectoskeleton can good fit patient articular, weight reduction simultaneously, relieve patient ' s burden;
Adopt motorized motions cylinder as power source, respond sensitive, be easy to control.Adopt storage battery power supply, stable output, the power of longer time can be provided;
This device overall structure is simple, easy and simple to handle, is easy to dress, and cost is low, is suitable for crowd wide;
Accompanying drawing explanation
Fig. 1 is the exoskeleton robot structural representation with auxiliary walking decompression;
Fig. 2 is mechanical exoskeleton external support lower limb and inner support lower limb structural representation.
Fig. 3 is ectoskeleton hip drive system schematic diagram
Detailed description of the invention
As shown in Figure 1, the exoskeleton robot described in auxiliary walking decompression comprises: left and right mechanical exoskeleton lower limb (2,5,6,8); Inner support lower limb (14,15,17,18); Flexible belt 11; Wherein force-measuring shoes 1 is directly through on foot.Left and right ectoskeleton shank lower limb 2 are connected with force-measuring shoes, can drive ankle joint degree of freedom.Shank upper limb 5 is connected with lower limb 2, can pass through set screw stepless adjusting length, be bound the shank of wearer by bandage 4.Shank upper limb 5 with save 6 under thigh and be connected by bearing pin, there is one degree of freedom.Save 6 under the ectoskeleton thigh of left and right to be connected with upper joint 8, can set screw stepless adjusting length be passed through, save 6 under thigh by bandage binding wearer thigh.Ectoskeleton thigh saves 8 to be connected with belt 11.Belt 11 all around four central points can regulate the length of belt, to adapt to the build of wearer by bolt.Belt 11 and back support frame 9 are bolted, and back support frame is used for fixing accumulator and controlling organization 10.Ectoskeleton thigh saves 8 to be connected by motorized motions cylinder with back support frame 9.Bending and stretching of ectoskeleton thigh is driven by the bending and stretching of motorized motions cylinder be fixed on back support frame.
As Fig. 2 shows, the external drive lower limb system of exoskeleton robot is made up of joint 5, connector 14, motorized motions cylinder 14 on joint 6, shank under thigh.When motorized motions cylinder receives the signal that single-chip microcomputer sends, the expansion link of driving cylinder extends, and like this, the rectilinear motion of extension rod to make under thigh joint 5 on joint 6 and shank rotate, and namely completes the action of going down on one's knees.
Inner support lower limb system shank 18 is connected with force-measuring shoes 1, and this is to drive ankle joint degree of freedom.Inner support lower limb shank saves and 17 to be connected with lower joint 18, can set screw stepless adjusting length be passed through, under inner support lower limb thigh joint 15 with shank saves 17 and is connected by bearing pin, there is one degree of freedom.Save under thigh 15 with thigh saves 13 and is connected, can set screw stepless adjusting length be passed through.Save under inner support lower limb thigh 15 save 17 with on shank between be connected a spring 16, being used for firm inner support lower limb prevents from vacillating now to the left, now to the right.
As Fig. 2 shows, inner support lower limb thigh saves 13 and be connected with seat 12.Above wearer can ride in, alleviate the pressure of knee.Seat can be played when wearer stands still for a long while.
As Fig. 3 shows, back support frame 9 fixes the accumulator of 24V as power supply, drive motors, makes this device have portable feature.What be fixed together with accumulator is single-chip microcomputer, and the signal that can transmit according to the sensor on force-measuring shoes controls motorized motions cylinder.
Work process: the program finished be input in single-chip microcomputer 10 in advance, wearer has dressed this device on request.The height of ectoskeleton lower limb and the elasticity of belt 11 can be reconciled according to the requirement of oneself health.When wearer is walked, force-measuring shoes 1 can collect human foot to the pressure of sensor, the distribution situation of judgment, and by Signal transmissions to single-chip microcomputer 10.Single-chip microcomputer, according to the signal transmitted, controls electric cylinder 7 amount of bending and stretching on the ectoskeleton lower limb of left and right respectively, thus reaches the angle controlling each articulation.Control the motion of hip and knee.Meanwhile, wearer, according to the height of the good inner support lower limb of the altitude mixture control of self (14,15,17,18), makes human body can ride on seat 12, and can share a part of pressure.Inner support lower limb is passive type, its motion and the synchronized movement of left and right ectoskeleton lower limb.
Be more than the description that this utility model is carried out, but this utility model is not limited to the example of above announcement, but contains the various amendment carried out according to essence of the present utility model, equivalent combinations.
Claims (6)
1. a wearable lower limb exoskeleton walk help decompression robot device, it comprises left and right ectoskeleton supporting leg (1,5,6,8), inner support lower limb (13,15,17,18), hip drive system, knee drive system, control system; It is characterized in that left and right ectoskeleton bracing frame and flexible belt (11) affixed, lower end Bonding pressure force-measuring shoes (1); The thigh that one group of driving cylinder (7) is bolted on supporting leg is connected with the brace be fixed on shank (14) by the telescopic end of driving cylinder (7); Ectoskeleton support motion is driven by the stretching motion of driving cylinder; Another group driving cylinder is fixedly connected with belt rear support stand (9) one end, and the other end is connected with ectoskeletal hip; Interior shelf is saved by pinned connection upper and lower two, two ends, coupling part fixing spring (16), and upper joint bracing frame and seat (12) are bolted lower end and force-measuring shoes (1) passes through pinned connection; Package unit is risen by inner support lower limb to support decompression, and by control system controls external support lower limb, driving is used for realizing the power-assisted decompression of wearer.
2. wearable lower limb exoskeleton walk help decompression robot device according to claim 1, it is characterized in that there are six ectoskeleton pedipulators, i.e. inner two, four outsides, every bar pedipulator all includes hip joint, knee joint and ankle joint three joints, there is one degree of freedom in each joint, is and is rotationally connected; At hip joint and knee joint place, motorized motions cylinder (7) is all installed; Ankle and force-measuring shoes (1) are rotationally connected, and (1) is provided with pressure transducer to force-measuring shoes.
3. wearable lower limb exoskeleton walk help decompression robot device according to claim 1, it is characterized in that inner four pedipulator (13,15,17,18) tops and seat frame (12) are bolted, pinned connection is passed through in lower end and force-measuring shoes (1) inner side.
4. wearable lower limb exoskeleton walk help decompression robot device according to claim 1, is characterized in that six ectoskeleton pedipulators are all connected and adjustment height by tight fixed bolt.
5. wearable lower limb exoskeleton walk help decompression robot device according to claim 1, is characterized in that two springs (16) are installed at inner four pedipulator knee joint places respectively, plays fixing protective effect.
6. wearable lower limb exoskeleton walk help decompression robot device according to claim 1, be is characterized in that belt (11) and two, outside pedipulator are bolted, is stretched simultaneously by adjusting bolt; Belt (11) is also connected by bolt with cell support frame (9) below, and battery and controller (10) link together and be fixed on rear support stand.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420144856.1U CN204121372U (en) | 2014-03-28 | 2014-03-28 | A kind of wearable lower limb exoskeleton walk help decompression robot device |
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| CN201420144856.1U CN204121372U (en) | 2014-03-28 | 2014-03-28 | A kind of wearable lower limb exoskeleton walk help decompression robot device |
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| CN204121372U true CN204121372U (en) | 2015-01-28 |
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| CN201420144856.1U Expired - Fee Related CN204121372U (en) | 2014-03-28 | 2014-03-28 | A kind of wearable lower limb exoskeleton walk help decompression robot device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105055125A (en) * | 2015-07-24 | 2015-11-18 | 黄河科技学院 | Power control rotatable supporting mechanism of power-driven lower limb joint decompression device |
| CN105250117A (en) * | 2015-07-03 | 2016-01-20 | 山东理工大学 | Sitting walking lower limb exoskeleton |
| CN105342050A (en) * | 2015-11-25 | 2016-02-24 | 金华职业技术学院 | Parallel shoes with spring sheet |
| CN105708469A (en) * | 2016-01-18 | 2016-06-29 | 北京工业大学 | Wearing-type human body walking movement capturing system |
| CN106943276A (en) * | 2017-03-15 | 2017-07-14 | 深圳市奇诺动力科技有限公司 | Power exoskeleton |
| CN107223044A (en) * | 2015-02-09 | 2017-09-29 | 圣安娜高等学校 | Hip joint KAFO drive system |
| WO2018098895A1 (en) * | 2016-12-01 | 2018-06-07 | 北京理工大学 | Self-driven and adaptive-gait wearable knee-joint walking assistance device |
| WO2018098848A1 (en) * | 2016-12-02 | 2018-06-07 | 广东思谷智能技术有限公司 | Exoskeleton apparatus for reducing loads of lower limb joints and measuring supporting force |
| PL423040A1 (en) * | 2017-10-03 | 2019-04-08 | Politechnika Warszawska | Lower extremity turning module in the orthotic robot |
| CN109676585A (en) * | 2018-12-19 | 2019-04-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of hip based on booster, knee joint assistance exoskeleton mechanism |
| CN110478191A (en) * | 2019-08-28 | 2019-11-22 | 哈尔滨理工大学 | A kind of non-anthropomorphic type exoskeleton rehabilitation robot of Novel leg |
| CN111358672A (en) * | 2020-03-25 | 2020-07-03 | 中南大学湘雅三医院 | Old person uses walking auxiliary device |
| CN111544264A (en) * | 2020-05-22 | 2020-08-18 | 王明明 | Waist-wearing type energy storage rehabilitation walking aid |
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2014
- 2014-03-28 CN CN201420144856.1U patent/CN204121372U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107223044B (en) * | 2015-02-09 | 2019-11-01 | 圣安娜高等学校 | Hip joint orthoses drive system |
| CN107223044A (en) * | 2015-02-09 | 2017-09-29 | 圣安娜高等学校 | Hip joint KAFO drive system |
| CN105250117A (en) * | 2015-07-03 | 2016-01-20 | 山东理工大学 | Sitting walking lower limb exoskeleton |
| CN105055125B (en) * | 2015-07-24 | 2017-04-26 | 黄河科技学院 | Power control rotatable supporting mechanism of power-driven lower limb joint decompression device |
| CN105055125A (en) * | 2015-07-24 | 2015-11-18 | 黄河科技学院 | Power control rotatable supporting mechanism of power-driven lower limb joint decompression device |
| CN105342050A (en) * | 2015-11-25 | 2016-02-24 | 金华职业技术学院 | Parallel shoes with spring sheet |
| CN105708469A (en) * | 2016-01-18 | 2016-06-29 | 北京工业大学 | Wearing-type human body walking movement capturing system |
| US11633319B2 (en) | 2016-12-01 | 2023-04-25 | Beijing Institute Of Technology | Unpowered wearable walking assistance knee equipment with gait self-adaptivity |
| WO2018098895A1 (en) * | 2016-12-01 | 2018-06-07 | 北京理工大学 | Self-driven and adaptive-gait wearable knee-joint walking assistance device |
| WO2018098848A1 (en) * | 2016-12-02 | 2018-06-07 | 广东思谷智能技术有限公司 | Exoskeleton apparatus for reducing loads of lower limb joints and measuring supporting force |
| CN106943276A (en) * | 2017-03-15 | 2017-07-14 | 深圳市奇诺动力科技有限公司 | Power exoskeleton |
| PL423040A1 (en) * | 2017-10-03 | 2019-04-08 | Politechnika Warszawska | Lower extremity turning module in the orthotic robot |
| CN109676585A (en) * | 2018-12-19 | 2019-04-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of hip based on booster, knee joint assistance exoskeleton mechanism |
| CN110478191A (en) * | 2019-08-28 | 2019-11-22 | 哈尔滨理工大学 | A kind of non-anthropomorphic type exoskeleton rehabilitation robot of Novel leg |
| CN111358672A (en) * | 2020-03-25 | 2020-07-03 | 中南大学湘雅三医院 | Old person uses walking auxiliary device |
| CN111358672B (en) * | 2020-03-25 | 2022-04-22 | 中南大学湘雅三医院 | Old person uses walking auxiliary device |
| CN111544264A (en) * | 2020-05-22 | 2020-08-18 | 王明明 | Waist-wearing type energy storage rehabilitation walking aid |
| CN111544264B (en) * | 2020-05-22 | 2022-02-15 | 王明明 | Waist-wearing type energy storage rehabilitation walking aid |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150128 Termination date: 20160328 |
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| CF01 | Termination of patent right due to non-payment of annual fee |