CN207886415U - A kind of wearable exoskeleton lower limb rehabilitation robot - Google Patents
A kind of wearable exoskeleton lower limb rehabilitation robot Download PDFInfo
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- CN207886415U CN207886415U CN201721030870.9U CN201721030870U CN207886415U CN 207886415 U CN207886415 U CN 207886415U CN 201721030870 U CN201721030870 U CN 201721030870U CN 207886415 U CN207886415 U CN 207886415U
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- lower limb
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Abstract
The utility model belongs to healing robot field, is related to a kind of wearable exoskeleton lower limb rehabilitation robot, including support mechanism, rack, hip joint adaptive structure, knee joint adaptive structure and ankle joint structure；Design focuses on the adaptivity of robot, it is designed with micro-adjusting mechanism at hip joint and knee joint, the rehabilitation demands of the single degree of freedom can be met, realize the action to particular joint, so that patient more adapts to after dressing robot, is more comfortable, the probability for substantially reducing patient's dislocation in rehabilitation exercise effectively facilitates the recovery of patient motion ability and control ability.
Description
Technical field
The utility model belongs to healing robot field, is related to a kind of wearable exoskeleton lower limb rehabilitation robot.
Background technology
In recent years, as Aging Problem gradually protrudes, elderly population proportion gradually increases, simultaneously as people
Living environment, food security by different degrees of pollution and destruction, hemiplegia, apoplexia disease patient are more and more.For
These exist on limbs for inconvenient crowd, traditional rehabilitation training mode not only a large amount of labor intensives, to rehabilitation's teacher
Technical merit also has very high requirement, and therefore, domestic and international many scholars are gradually exploring wearable exoskeleton rehabilitation robot
Design and manufacture.Wearable exoskeleton rehabilitation robot is that one kind having co-operating ability and simulation human body fortune may be implemented
Dynamic machine, the working strength that it can bear is high, and performance is stablized, and is standardized movement by limb assisting, can reach
The purpose restored to the locomitivity and control ability that promote patient.Therefore, wearable exoskeleton rehabilitation robot is in medical health
The application of refreshment white silk, synkinesia and body-support etc. is widely paid close attention to.With the continuous hair of ectoskeleton technology
Exhibition, people are higher and higher to the wearing comfort of wearable exoskeleton rehabilitation robot and the requirement of rehabilitation performance, in addition to needing
Want lightweight, outside powerful ectoskeleton, exoskeleton rehabilitation robot design should more consideration is given to man-machine interactions
Can, to ensure that the lower limb of ectoskeleton and people are correctly aligned, this be it is not only most important to comfort level, but also comparatively safe, because
For serious pain can be caused when dislocation, especially high torque.
Utility model content
The technical problems to be solved in the utility model：The existing wearable healing robot of most domestic is freely spent
Few, limbs can be made during exercise by not accounting for the retractility of human muscle, and limbs and joint will produce certain deviation, and
And it is simple in structure generally for making in domestic existing design, used driving number is less, therefore between several joints usually
It is linkage, those joints not driven could can only move under the drive in other joint for having a driving, to ought have list
When the rehabilitation demands of single-degree-of-freedom, existing mechanism cannot successfully realize the action to specific joint, influence the effect of rehabilitation
Fruit.The utility model provides a kind of wearable exoskeleton lower limb rehabilitation robot, and design focuses on the adaptivity of robot,
It is designed with micro-adjusting mechanism at hip joint and knee joint, the rehabilitation demands of the single degree of freedom can be met, is realized to particular joint
Action so that patient more adapts to after dressing robot, is more comfortable, substantially reduce patient in rehabilitation exercise dislocation it is general
Rate effectively facilitates the recovery of patient motion ability and control ability.
The technical solution of the utility model is as follows：
A kind of wearable exoskeleton lower limb rehabilitation robot, including supporting mechanism, rack, hip joint adaptive structure, knee
Joint adaptive structure and ankle joint structure；
The supporting mechanism includes mechanical foot plate support and the support of waist hip；The machinery foot plate support is a treadmill,
It is used to support mechanical sole, and ensures that robot is constant relative to the horizontal position of rack when executing walking movement；
The waist hip support includes waling stripe mechanism and rack；Waling stripe mechanism left end is connected with rack, right
End is connected with waist crotch position, and the waling stripe mechanism is hingedly formed by two parallelogram linkages, and described parallel four
Side shape link mechanism is up-down structure, and upper structure is a hydraulic stem, and lower structure is two load-bearing connecting rods, the hydraulic stem and institute
It states load-bearing connecting rod by hinged to be connected with component left side position, the component left-hand component is in cuboid strip, and right-hand component is in
Swallow-tail form, the swallow-tail form part are movably connected on sliding slot；The parallelogram sturcutre can pass through the length of control hydraulic stem
The horizontal position of waist crotch point is adjusted, to ensure that exoskeleton mechanism coronal-plane keeps flat with rack during rehabilitation exercise
Row, to improve man-machine adaptability of the mechanism when body gait moves；The rack is formed by fixedly connecting by upper and lower two parts,
Lower part is divided into cuboid platy structure, and top is divided into cuboid column structure, and top is provided between medium position in dovetail
The sliding slot of shape, for connecting waling stripe mechanism；When patient, which is worn by healing robot, carries out rehabilitation exercise, due to hip joint
Height can change with thigh and bending and stretching for shank, therefore can be moved up and down in sliding slot by waling stripe mechanism to adjust
The height of whole lower limb rehabilitation robot；
The hip joint adaptive structure is mainly made of motor, waist hip fixing piece, mounting base, connecting rod and link；Institute
It is hemicycle angular moment shape to state waist hip fixing piece；The mounting base is made of symmetrical two pieces of circular slabs, the circular slab
Rear end is fixedly connected with the first link, and front end is fixedly connected with the second link；First link and the second link
It is swallow-tail form, the first link is hinged with waling stripe mechanism, and the second link is fixedly connected with waist hip fixing piece；Two pieces of circles
The circle centre position of shape plate is also devised with connecting rod and passes through, and the connecting rod is fixed on two circular slabs, and the body of rod of connecting rod is cylinder
Shape, both ends are plate, are equipped with first motor and connecting rod, and bending and stretching and taking down the exhibits for hip joint, institute are realized in the first motor control
It states the connecting rod other end and parallelogram micromatic setting is installed, the micromatic setting left-hand component is equipped with the second motor, described
Second motor controls micromatic setting, adjusts the error that flexion and extension and outreach adduction campaign generate in sagittal plane；The fine tuning
Device right-hand component is equipped with the first movable plate, and first movable plate is right-angled trapezium shape, connects hip joint rotating mechanism,
The hip joint rotating mechanism is that central authority is rotated outside double claw types, and left-hand component is equipped with third motor, the third electricity
Machine controls hip joint rotating mechanism, adjusts the error that inward turning and outward turning campaign generate in coronal-plane, the hip joint rotating mechanism
The right edge is connected to thigh plate upper end by the second movable plate；
It is usually two knee joint link levers, i.e. one degree of freedom in existing design, in the knee design of healing robot
Revolute, knee joint is firmly fixed to a certain position in space by this design, however in actual motion, limbs and machinery
The central shaft of leg cannot remain alignment, when the central shaft of the limbs of people and robot lower limb generates deviation, robot meeting
The torque that a relative rotation is generated to the joint of human body can even cause pulling for muscle or joint when torque is excessive, therefore,
Knee design is an adaptive structure by a kind of wearable exoskeleton lower limb rehabilitation robot of the utility model, flat with two
Row quadrilateral structure replaces two knee joint link levers；
The knee joint adaptive structure is mainly by thigh plate, thigh fixing piece, motor, knee joint cushion structure, shank
Plate and shank fixing piece composition；The thigh fixing piece is fixed on thigh plate lower end close to middle position by pin, described
Thigh plate lower end is connected to knee joint cushion structure upper end, and the buffer structure is four side structure of double parallel, This structure increases
Kneed degree of freedom so that the space bit of thigh and shank has been equipped with certain cushion space, to keep knee joint effective
Suffered impact when kicking motion increases kneed degree of freedom, improves the adaptive power of machine human knee joint；The thigh
The 4th motor is also equipped at plate lower end connection knee joint cushion structure, the 4th motor is for controlling knee joint buffering knot
Structure；
The ankle joint structure is the structure of two degree of freedom, mainly by ankle-joint plate, ankle fixing piece, ankle swing component and machine
Tool sole forms, and ankle-joint plate upper end is connected to shank version, and bottom end is equipped with ankle fixing piece, and installation place is also associated with ankle pendulum
Moving part, the ankle swing component are fixedly connected with mechanical sole；Since healing robot is to carry out rehabilitation training on a treadmill, no
The situation of the impacts such as Uneven road can occur, and motion range is small, so ankle-joint not will produce raw eccentricity issues, there is no need to
Design is finely adjusted to ankle joint structure.
The utility model has the beneficial effects that：A kind of wearable exoskeleton lower limb rehabilitation robot of the utility model, design
The adaptivity for focusing on robot is designed with micro-adjusting mechanism at hip joint and knee joint, can meet the health of the single degree of freedom
Multiple demand, realizes the action to particular joint so that patient more adapts to after dressing robot, is more comfortable, substantially reduces patient and exists
The probability of dislocation in rehabilitation exercise, effectively facilitates the recovery of patient motion ability and control ability.
Description of the drawings
Fig. 1 is a kind of wearable exoskeleton lower limb rehabilitation robot overall structure diagram of the utility model.
Fig. 2 is a kind of wearable exoskeleton lower limb rehabilitation robot waist hip support construction schematic diagram of the utility model.
Fig. 3 is a kind of wearable exoskeleton lower limb rehabilitation robot waling stripe mechanism structure schematic diagram of the utility model.
Fig. 4 is a kind of wearable exoskeleton lower limb rehabilitation robot hip joint adaptive structure schematic diagram of the utility model.
Fig. 5 is a kind of wearable exoskeleton lower limb rehabilitation robot knee joint adaptive structure schematic diagram of the utility model.
Fig. 6 is a kind of wearable exoskeleton lower limb rehabilitation robot ankle joint structure schematic diagram of the utility model.
Reference sign：1, rack；2, waling stripe mechanism；3, the first link；4, the second link；5, hip joint
Adaptive structure；6, knee joint adaptive structure；7, ankle joint structure；8, treadmill；9, sliding slot；10, hydraulic stem；11, load-bearing
Connecting rod；12, component；13, circular slab；14, connecting rod；15, first motor；16, hip joint connecting rod；17, the second motor；18,
One movable plate；19, third motor；20, hip joint rotating mechanism；21, the second movable plate；22, waist hip fixing piece；23, thigh plate；
24, the 4th motor；25, calf plate；26, ankle-joint plate；27, thigh fixing piece；28, knee joint cushion structure；29, shank is solid
Determine part；30, ankle fixing piece；31, ankle swing component；32, mechanical sole.
Specific implementation mode
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments：
The utility model includes supporting mechanism, rack 1, hip joint adaptive structure 5, knee joint adaptive structure 6 and ankle
Joint structure 7；The supporting mechanism includes mechanical foot plate support and the support of waist hip, and the machinery foot plate support is a treadmill
4, the waist hip support includes waling stripe mechanism 2 and rack 1, and 2 left end of waling stripe mechanism is installed by component 12
Sliding slot 9, realization are flexibly connected with rack 1, and right end and the first link 3 are hingedly fixed, and the first link 3 is fixedly connected on
Mounting base, the mounting base is made of symmetrical two pieces of circular slabs 13, after the first link 3 is fixedly connected on circular slab 13
The connection of waling stripe mechanism 2 and hip joint adaptive structure 5 is realized at end；The front end of the circular slab 13 is fixedly connected on waist
The circle centre position of hip fixing piece 21, circular slab 13 has connecting rod 14 to pass through, and is fixed on two circular slabs 13,14 liang of the connecting rod
End is equipped with first motor 15 and hip joint connecting rod 16, and 16 other end of hip joint connecting rod is equipped with parallelogram fine tuning dress
It sets, the micromatic setting left-hand component is equipped with the second motor 17, and right-hand component is equipped with the first movable plate 18, the movable plate
The other end is connected to hip joint rotating mechanism 20, and 20 left-hand component of hip joint rotating mechanism is equipped with third motor 19, right
Side edge is connected to 23 upper end of thigh plate by the second movable plate 21, and 23 lower end of thigh plate is installed close to middle position
There are thigh fixing piece 27, lower end to be connected to the upper end of knee joint cushion structure 28, junction is equipped with the 4th motor 24, the knee
Buffer structure 28 lower end in joint is connected to 25 top of calf plate, and following close to junction is equipped with shank fixing piece 29, described
25 lower end of calf plate is connected to ankle-joint plate 26, and ankle-joint board bottom end is equipped with ankle fixing piece 30, and installation place is also associated with
Ankle swing component 31, the ankle swing component 31 are fixedly connected with mechanical sole 32.
When wearing, waist hip fixing piece 22 is stuck at waist hip by patient successively, and thigh fixing piece 27 is stuck at thigh, will be small
Leg fixing piece 29 is stuck at shank, and ankle fixing piece 30, which is stuck in ankle, can be completed robot wearing work.
When training, patient walks on a treadmill, and when heel is grounded, human body pelvis can rotate, at this time robot hip joint
Adaptive structure 5 first drives through first motor 17, and control thigh is bent at hip joint, then the second motor 17 control fine tuning dress
It sets, adjusts the error generated when patient Qu Yundong in sagittal plane, hip joint rotating mechanism 20 is controlled followed by third motor 19,
The error that coronal-plane rotary motion generates is adjusted, when sole lands, knee joint cushion structure 28 drives through the 4th motor 24, buffering
Suffered impact when movement improves robot kneed adaptive stress, reduce patient articular in rehabilitation exercise misplace it is general
Rate；In walking process, the horizontal position of waist crotch point can be carried out by the length of hydraulic stem 10 on controlled level link mechanism 2
Adjustment, exoskeleton mechanism coronal-plane keeps relatively parallel with rack during ensureing rehabilitation exercise, can also pass through waling stripe machine
Structure 2 moves up and down in sliding slot 9, adjusts the height of entire lower limb rehabilitation robot, is moved in body gait to improve mechanism
When man-machine adaptability.
Claims (6)
1. a kind of wearable exoskeleton lower limb rehabilitation robot, including supporting mechanism, rack (1), hip joint adaptive structure
(5), knee joint adaptive structure (6) and ankle joint structure (7), it is characterised in that：The supporting mechanism includes mechanical sole branch
Support and the support of waist hip, the machinery foot plate support is a treadmill (4), and the waist hip support includes waling stripe mechanism (2)
With rack (1)；
Waling stripe mechanism (2) left end is installed into sliding slot (9) by component (12), and realization is flexibly connected with rack (1), right end
Hingedly fixed with the first link (3), the first link (3) is fixedly connected on mounting base；
The mounting base is made of symmetrical two pieces of circular slabs (13), and the first link (3) is fixedly connected on circular slab
(13) connection of waling stripe mechanism (2) and hip joint adaptive structure (5) is realized in rear end；The front end of the circular slab (13)
It is fixedly connected on waist hip fixing piece (22), the circle centre position of circular slab (13) has connecting rod (14) to pass through, and is fixed on two circles
Plate (13)；Connecting rod (14) both ends are equipped with first motor (15) and hip joint connecting rod (16), the hip joint connecting rod
(16) other end is equipped with parallelogram micromatic setting, and the micromatic setting left-hand component is equipped with the second motor (17), right
Rim portion is equipped with the first movable plate (18), and the first movable plate other end is connected to hip joint rotating mechanism (20), described
Hip joint rotating mechanism (20) left-hand component is equipped with third motor (19), is driven by third motor (19), adjusts in sagittal
The error that flexion and extension and outreach adduction campaign generate in face, the right edge is connected to thigh plate by the second movable plate (21)
(23) upper end, thigh plate (23) lower end are equipped with thigh fixing piece (27) close to middle position, and lower end is connected to knee pass
The upper end of buffer structure (28) is saved, junction is equipped with the 4th motor (24), is driven by the 4th motor (24), when kicking motion
Suffered impact, knee joint cushion structure (28) lower end are connected to calf plate (25) top, close to the following of junction
Shank fixing piece (29) is installed, calf plate (25) lower end is connected to ankle-joint plate (26), ankle-joint plate (26) bottom
End is equipped with ankle fixing piece (30), and installation place is also associated with ankle swing component (31), the ankle swing component (31) and mechanical sole
(32) it is fixedly connected.
2. a kind of wearable exoskeleton lower limb rehabilitation robot according to claim 1, it is characterised in that：The rack
(1) it being formed by fixedly connecting by upper and lower two parts, lower part is divided into cuboid platy structure, and top is divided into cuboid column structure,
Top is between medium position, being provided with dovetail-shape sliding slot (9).
3. a kind of wearable exoskeleton lower limb rehabilitation robot according to claim 1, it is characterised in that：The level is even
Linkage (2) is hingedly formed by two parallelogram linkages, and the parallelogram linkage is up-down structure, on
Structure is a hydraulic stem (10), and lower structure is two load-bearing connecting rods (11), and hydraulic stem (10) and load-bearing connecting rod (11) pass through hinge
It connects and is connected with component (12) left side position.
4. a kind of wearable exoskeleton lower limb rehabilitation robot according to claim 1, it is characterised in that：The component
(12) left-hand component is in cuboid strip, and right-hand component is dovetail-shape, and the swallow-tail form part is movably connected on sliding slot (9).
5. a kind of wearable exoskeleton lower limb rehabilitation robot according to claim 1, it is characterised in that：The hip joint
Rotating mechanism (20) is to rotate central authority outside double claw types.
6. a kind of wearable exoskeleton lower limb rehabilitation robot according to claim 1, it is characterised in that：The knee joint
Buffer structure (28) is four side structure of double parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721030870.9U CN207886415U (en) | 2017-08-17 | 2017-08-17 | A kind of wearable exoskeleton lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721030870.9U CN207886415U (en) | 2017-08-17 | 2017-08-17 | A kind of wearable exoskeleton lower limb rehabilitation robot |
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| Publication Number | Publication Date |
|---|---|
| CN207886415U true CN207886415U (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721030870.9U Expired - Fee Related CN207886415U (en) | 2017-08-17 | 2017-08-17 | A kind of wearable exoskeleton lower limb rehabilitation robot |
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| CN (1) | CN207886415U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
| CN110960403A (en) * | 2019-12-31 | 2020-04-07 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN112089580A (en) * | 2020-05-13 | 2020-12-18 | 滨州医学院 | Lower limb skeleton rehabilitation robot motion control method based on interference compensation |
| CN113226243A (en) * | 2019-07-01 | 2021-08-06 | 株式会社海科识 | Extended wearable robot system |
-
2017
- 2017-08-17 CN CN201721030870.9U patent/CN207886415U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260496A (en) * | 2017-08-17 | 2017-10-20 | 四川汇智众创科技有限公司 | A kind of wearable exoskeleton lower limb rehabilitation robot |
| CN113226243A (en) * | 2019-07-01 | 2021-08-06 | 株式会社海科识 | Extended wearable robot system |
| CN113226243B (en) * | 2019-07-01 | 2023-09-22 | 株式会社海科识 | Extension type wearable robot system |
| CN110960403A (en) * | 2019-12-31 | 2020-04-07 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN110960403B (en) * | 2019-12-31 | 2021-08-24 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN112089580A (en) * | 2020-05-13 | 2020-12-18 | 滨州医学院 | Lower limb skeleton rehabilitation robot motion control method based on interference compensation |
| CN112089580B (en) * | 2020-05-13 | 2023-02-28 | 滨州医学院 | Lower limb skeleton rehabilitation robot motion control method based on interference compensation |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190910 Address after: 610015 Sichuan China (Sichuan) Free Trade Pilot Zone Co-patentee after: Emeishan Simin Innovation Technology Co., Ltd. Patentee after: Zhongde Yunling (Chengdu) Technology Co., Ltd. Address before: 614000 Sixth Floor, Building 2, National Inspection Center, No. 20 Nanxin Road, Leshan High-tech Zone, Leshan City, Sichuan Province Patentee before: Sichuan multi-creation Huizhi Technology Co. Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180921 Termination date: 20190817 |