CN208926953U - The ectoskeleton structure of intelligent exoskeleton robot - Google Patents
The ectoskeleton structure of intelligent exoskeleton robot Download PDFInfo
- Publication number
- CN208926953U CN208926953U CN201820258533.3U CN201820258533U CN208926953U CN 208926953 U CN208926953 U CN 208926953U CN 201820258533 U CN201820258533 U CN 201820258533U CN 208926953 U CN208926953 U CN 208926953U
- Authority
- CN
- China
- Prior art keywords
- arm member
- exoskeleton robot
- upper arm
- ectoskeleton
- human body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 31
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 7
- 210000002683 foot Anatomy 0.000 claims description 37
- 210000000689 upper leg Anatomy 0.000 claims description 22
- 210000001699 lower leg Anatomy 0.000 claims description 20
- 210000000245 forearm Anatomy 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 16
- 238000005452 bending Methods 0.000 abstract description 3
- 210000003414 extremity Anatomy 0.000 description 23
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000003993 interaction Effects 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- GQWNECFJGBQMBO-UHFFFAOYSA-N Molindone hydrochloride Chemical compound Cl.O=C1C=2C(CC)=C(C)NC=2CCC1CN1CCOCC1 GQWNECFJGBQMBO-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- YMTINGFKWWXKFG-UHFFFAOYSA-N fenofibrate Chemical compound C1=CC(OC(C)(C)C(=O)OC(C)C)=CC=C1C(=O)C1=CC=C(Cl)C=C1 YMTINGFKWWXKFG-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000003183 myoelectrical effect Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 229940051832 triglide Drugs 0.000 description 1
Abstract
The utility model relates to medical robot fields, more particularly to the ectoskeleton structure of intelligent exoskeleton robot, including the Arm structure for fixing human upper limb, the back structures for the lower limb structure of fixing human lower limb and for connecting Arm structure and lower limb structure；Arm structure includes shoulder member, big the upper arm member and small the upper arm member, big the upper arm member is equipped with the first raised inwardly fixed part; small the upper arm member is equipped with the second raised inwardly fixed part, and the pallet of the elastic connection for support human body ancon is equipped between the first fixed part and the second fixed part.The ectoskeleton structure of intelligent exoskeleton robot provided by the utility model, the pallet of support human body ancon is used for by increasing, the pallet is elastic connection, human body ancon is set to obtain certain fixation, and since the pallet is flexible fastening, therefore both will not influence the movement of ancon, may also help in ancon do it is after bending stretch reset, it is simple and practical in structure.
Description
[technical field]
The utility model relates to medical robot field more particularly to the ectoskeleton structures of intelligent exoskeleton robot.
[background technique]
Exoskeleton robot is a kind of machine dress that the frame by hard materials such as metals constitutes and people can be allowed to put on
It sets, this equipment, which can provide additional energy, to be come for quadruped locomotion.
For spinal cord injury and cerebral apoplexy (apoplexy) patient, a walking seemingly dream being unable to reach of standing
Think, and the birth of exoskeleton robot, this dream will be made to come true.In addition, aging process in China's aggravates at present, limbs
Disabled person's quantity increases, the more aobvious protrusion of the effect of exoskeleton robot.
However, in the prior art, exoskeleton robot is equipped with Arm structure, the Arm structure is equipped with for fixing
The big the upper arm member of human body large arm and small the upper arm member for fixing human forearm, ectoskeleton structure is worn on human arm
When, it is general that only human body large arm and forearm are fixed, and consider human body comfort, so can't be by human body large arm and small
Arm fetters tension, thus human body be easy to appear human body and the Arm structure during exercise dislocation is generated with respect to sliding, lead
Cause ectoskeleton structure to be difficult to that human body is driven to make more accurate movement, in addition, summer due to hot weather, perspiring, because
To perspire so that the position of ectoskeleton structure and human body constraint rubs and reduces, it is easier to such case be caused to occur.
[summary of the invention]
In order to solve the above technical problems, the purpose of this utility model is to provide the ectoskeleton knots of intelligent exoskeleton robot
Structure is used for the pallet of support human body ancon by increasing, and the pallet is elastic connection, and human body ancon is made to obtain certain consolidate
It is fixed, and since the pallet is flexible fastening, both will not influence the movement of ancon, may also help in ancon do it is after bending
Reset is stretched, it is simple and practical in structure.
The utility model is achieved through the following technical solutions:
The ectoskeleton structure of intelligent exoskeleton robot, including for fixing human upper limb Arm structure, for fixing
The lower limb structure of human body lower limbs and back structures for connecting the Arm structure and the lower limb structure；
The Arm structure includes shoulder member, big the upper arm member and small the upper arm member, and the shoulder member hinge is located at the back knot
The upper end of structure, the shoulder member are being equipped with the first driving motor far from described back structures one end, first driving motor
Output end is fixedly connected with one end of the big the upper arm member, and the other end of the big the upper arm member is equipped with the second driving motor, described
The output end of second driving motor is fixedly connected with one end of the small the upper arm member, and the big the upper arm member is equipped with protrusion inwardly
First fixed part, the small the upper arm member are equipped with the second raised inwardly fixed part, and first fixed part is solid with described second
Determine to be equipped with the pallet for support human body ancon between portion, described pallet one end is equipped with for connecting with the first fixed part elasticity
The first elastic component connect, the pallet other end are equipped with for the second elastic component with the second fixed part elastic connection.
Optionally, the ectoskeleton structure of intelligent exoskeleton robot as described above, first elastic component and described
Two elastic components are extension spring.
Optionally, the ectoskeleton structure of intelligent exoskeleton robot as described above, the big the upper arm member and the forearm
Component is hollow rod-like structure.
Optionally, the ectoskeleton structure of intelligent exoskeleton robot as described above, the big the upper arm member and the forearm
The material of component is aluminium alloy.
Optionally, the ectoskeleton structure of intelligent exoskeleton robot as described above, the lower limb structure include hip component,
Thigh parts, lower leg component and foot fixing device, the hip component are mounted on the lower end of the back structures, the hip component
Third driving motor, the output end and the huckle of the third driving motor are equipped in one end far from the back structures
Part upper end is fixedly connected, and the thigh parts lower end is equipped with the 4th driving motor, the output end of the 4th driving motor and institute
The upper end for stating lower leg component is fixedly connected, and the lower end of the lower leg component and the foot fixing device are hinged.
Optionally, the ectoskeleton structure of intelligent exoskeleton robot as described above, the hip component include described in connection
The interconnecting piece of thigh parts, the interconnecting piece extend upwards and adjust around the transverse direction rearward connecting with the back structures lower end
Section portion is horizontally arranged with several adjustment holes in the lateral adjustments portion, and the back structures lower end is equipped with and the adjustment hole phase
It is adapted to adjust the location hole of the hip component lateral position, is equipped between the adjustment hole and the location hole for passing through
Location hole and the single adjustment hole are stated with the pin shaft of the fixation hip component.
Optionally, the ectoskeleton structure of intelligent exoskeleton robot as described above, the Arm structure or lower limb structure
It is equipped with for the ectoskeleton structure to be worn on the object wearing device on human body.
Optionally, the ectoskeleton structure of intelligent exoskeleton robot as described above, the object wearing device include that arc connects
Fitting and flexible bandage, the inside of the arc connector are mutually fixed with the flexible bandage.
Optionally, the ectoskeleton structure of intelligent exoskeleton robot as described above, the object wearing device is ring-type, described
Around the annular air-pocket of human body large arm, forearm, thigh or shank, the annular gas when object wearing device inner ring is equipped with for dressing
Capsule is equipped with the inflating port for inflation.
Optionally, the ectoskeleton structure of intelligent exoskeleton robot as described above is also set on the exoskeleton robot
There is controller, the controller is equipped with for controlling the electric inflating pump being electrically connected with the controller to the annular air-pocket
The inflation button of interior inflation, the interior baroceptor being equipped with for detecting the annular air-pocket air pressure inside of the annular air-pocket,
The baroceptor be electrically connected with the controller be recorded in the barometric information for detecting the baroceptor it is described
In controller.
Compared with prior art, the utility model has the following advantages:
1, the pallet of support human body ancon is used for by increasing, the pallet to be elastic connection, and human body ancon is made to obtain one
Fixed fixation, and since the pallet is flexible fastening, both will not influence the movement of ancon, may also help in ancon do it is curved
Reset is stretched after song, it is simple and practical in structure.
2, the annular air-pocket that setting is inflated with electric air pump on the object wearing device, and grasped by human-computer interaction
Make so that the wearing of exoskeleton robot it is more comfortable, it is reliable with it is humanized.
[Detailed description of the invention]
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of ectoskeleton structure described in the utility model embodiment；
Fig. 2 is structural representation Fig. 1 of Arm structure described in the utility model embodiment；
Fig. 3 is structural representation Fig. 1 of lower limb structure component described in the utility model embodiment；
Structural representation Fig. 2 of lower limb structure component described in Fig. 4 the utility model embodiment；
Fig. 5 is the structural schematic diagram of the long stretching structure of limb described in the utility model embodiment；
Fig. 6 is the decomposition texture schematic diagram of the long stretching structure of limb described in the utility model embodiment；
Fig. 7 is structural representation Fig. 1 of foot fixing device described in the utility model embodiment；
Fig. 8 is structural representation Fig. 2 of foot fixing device described in the utility model embodiment；
Fig. 9 is the structural schematic diagram of the first locking buckle described in the utility model embodiment；
Figure 10 is that the first locking buckle described in the utility model embodiment hides the structural schematic diagram after first Ka Gai；
Figure 11 is the decomposition texture schematic diagram of the first locking buckle described in the utility model embodiment；
Figure 12 is the cross-sectional view of the first locking buckle described in the utility model embodiment；
Figure 13 is the structural schematic diagram of object wearing device described in the utility model embodiment.
[specific embodiment]
The technical issues of in order to keep the utility model solved, technical solution and beneficial effect are more clearly understood, below
In conjunction with accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific implementation described herein
Example is only used to explain the utility model, is not used to limit the utility model.
It is as shown in Figure 1 the structural schematic diagram of ectoskeleton structure described in the utility model embodiment, the utility model is implemented
Example propose intelligent exoskeleton robot ectoskeleton structure, including for fixing human upper limb Arm structure 1, for fixing people
The lower limb structure 2 of body lower limb and back structures 3 for connecting the Arm structure 1 and the lower limb structure 2.
The Arm structure component of ectoskeleton structure described in the present embodiment, including being worn on the back structures 3 of human body back, wearing
It is worn over the Arm structure of human body left-hand side and is worn on the Arm structure of right human hand side, be worn on the upper limb knot of human body left-hand side
Structure and the Arm structure for being worn on right human hand side have basically same structure and relative to each other bilateral symmetry.Below with regard to institute
The one of Arm structure for the Arm structure component stated is illustrated the Arm structure 1 of the present embodiment.
The Arm structure 1 includes shoulder member 11, big the upper arm member 12, small the upper arm member 13 and palm component 14, the shoulder
Part 11 cuts with scissors the upper end for being located at the back structures 3, and the shoulder member 11 is being equipped with the first driving far from described 3 one end of back structures
Motor, the output end of first driving motor are fixedly connected with one end of the big the upper arm member 12, the big the upper arm member 12
The other end is equipped with the second driving motor, the fixed company in one end of the output end of second driving motor and the small the upper arm member 13
It connects, the other end of the small the upper arm member 13 and the palm component 14 are hinged.Specifically, first driving motor, described
Two driving motors can be used cooperatively for servo motor with harmonic speed reducer.
Still as shown in Fig. 2, the big the upper arm member 12 is equipped with the first raised inwardly fixed part 121, the small the upper arm member
13 are equipped with the second raised inwardly fixed part 132, are equipped between first fixed part 121 and second fixed part 132
For the pallet 6 of support human body ancon, described 6 one end of pallet is equipped with for the with 121 elastic connection of the first fixed part
One elastic component 61,6 other end of pallet are equipped with for the second elastic component 62 with 132 elastic connection of the second fixed part.
Specifically, first elastic component 61 and second elastic component 62 are extension spring.In the prior art, by the upper limb knot
It is general that only human body large arm and forearm are fixed when structure 1 is worn on human arm, and consider human body comfort, so
Human body large arm and forearm can't be fettered tension, therefore human body is easy to appear human body and the Arm structure 1 during exercise
Dislocation is generated with respect to sliding, causes ectoskeleton structure to be difficult to that human body is driven to make more accurate movement, summer is due to weather
Heat, perspiring cause a possibility that such case occur higher.The joint position that the pallet 6 is mounted on human body is then that will close
Section is set also close to the turned position of the Arm structure 1, in order to enable the pallet 6 and the motion tension of human body more accord with
It closes, is also provided with the first elastic component 61 connected to it and the second elastic component 62 resets.Support human body ancon is used for by increasing
Pallet, the pallet be elastic connection, so that human body ancon is obtained certain fixation, and since the pallet is flexible fastening,
Therefore both will not influence the movement of ancon, may also help in ancon do it is after bending stretch reset, it is simple and practical in structure.Certainly,
It may be provided for the sucker for making the pallet 6 close to human skin on the pallet 6.
It is as shown in Figure 3 and Figure 4 the lower limb structure component of ectoskeleton structure described in the present embodiment, the lower limb structure component
Including the lower limb structure for being worn on the left leg side of human body and the lower limb structure for being worn on the right leg side of human body, it is worn on the left leg side of human body
Lower limb structure and the lower limb structure for being worn on the right leg side of human body have basically same structure and relative to each other bilateral symmetry.Under
Face is illustrated the lower limb structure 2 of the present embodiment with regard to one of lower limb structure of the lower limb structure component.
The lower limb structure 2 includes hip component 21, thigh parts 22, lower leg component 23 and foot fixing device 24, described
Hip component 21 is mounted on the lower end of the back structures 3, and the hip component 21 is equipped with the in one end far from the back structures 3
Three driving motors, the output end of the third driving motor are fixedly connected with 22 upper end of thigh parts, the thigh parts
22 lower ends are equipped with the 4th driving motor, the fixed company of the output end of the 4th driving motor and the upper end of the lower leg component 23
It connects, the lower end of the lower leg component 23 and the foot fixing device 24 are hinged.The hip component 21 includes connecting the thigh
The interconnecting piece 211 of component 22, the interconnecting piece 211 extend upwards and around rearward connecting with 3 lower end of back structures
Lateral adjustments portion 212 is horizontally arranged with several adjustment hole 212a in the lateral adjustments portion 212, and 3 lower end of back structures is set
Have and be adapted with the adjustment hole 212a to adjust the location hole 31 of 21 lateral position of hip component, the adjustment hole 212a and
It is equipped between the location hole 31 for passing through the location hole 31 and the single adjustment hole 212a with the fixation hip component
21 pin shaft.Specifically, the third driving motor, the 4th driving motor can match for servo motor and harmonic speed reducer
It closes and uses.It when wearing, can be adjusted according to the body width of different human body, i.e., by passing through location hole 31 and corresponding with pin shaft
The lateral position of the lower limb structure 2 is adjusted in adjustment hole 212a, it is of course also possible to process on the adjustment hole 212a
Internal screw thread, and change the pin shaft into bolt and initially pass through location hole 31 and be locked on adjustment hole 212a again and fasten.Above-mentioned use
The target user of the lower limb structure 2 is expanded in the structure of adjusting, keeps it general between different fat or thin individuals.
Preferably, the big the upper arm member 12 is equipped with for adjusting the long stretching structure of limb of 12 length of big the upper arm member such as
Shown in Fig. 5 and Fig. 6, the long stretching structure of limb includes the first limb part 122 and the second limb part 123, is set on the first limb part 122
There is the first connecting pin connecting with the second limb part 123, the second limb part 123 is equipped with to be connected with the first limb part 122
The second connection end connect, first connecting pin are equipped with described in the screw rod 124 being threadedly coupled with the second connection end, driving
What screw rod 124 rotated adjusted motor 125 and the fixed motor cabinet 126 for adjusting motor 125, the motor cabinet 126 is to institute
It states the first limb part 122 and the second limb part 123 connection direction extend out to few one for guiding the second limb part 123 to institute
The guide post 127 of big 12 length direction of the upper arm member movement is stated, first connecting pin is additionally provided in end for limiting described second
The block 128 of connecting pin movement travel.Certainly, the long stretching structure of the limb is also applied for small the upper arm member 13,22 and of thigh parts
Lower leg component 23, in use, the motor 125 that adjusts drives the screw rod 124 being threadedly coupled with the second connection end to rotate, institute
It states second connection end to move in a straight line under the guiding of guide post 127, to drive the second limb part 123 remote towards the first limb part 122
From or close direction it is mobile, realize long flexible of limb, the big the upper arm member 12 using the long stretching structure of the limb, forearm can be made
Component 13, thigh parts 22 or lower leg component 23 can adapt to the individual of different flange by stepless adjustment telescopic.Wherein one
Kind embodiment is that the exoskeleton robot is equipped with the operation panel being electrically connected with the adjusting motor 125, and operator is logical
The limb for crossing the input parameter such as human body different parts on operation panel is long, and the adjusting motor 125 is automatic according to the parameter of input
Adjust the length of big the upper arm member 12, small the upper arm member 13, thigh parts 22 or lower leg component 23.Another embodiment is, described
Exoskeleton robot is equipped with the operation panel being electrically connected with the adjusting motor 125, and operator on operation panel by setting
" adding " for setting, " subtracting " button control the positive and negative rotation for adjusting motor 125, finely tune the elongation or contracting of the long stretching structure of the limb
The short crowd to adapt to different flange.The long stretching structure of limb has greatly reinforced the versatility and intelligence of exoskeleton robot.
Preferably, the big the upper arm member 12, the small the upper arm member 13, the thigh parts 22 and the lower leg component 23 are equal
For hollow rod-like structure.And the big the upper arm member 12, the small the upper arm member 13, the thigh parts 22 and the lower leg component 23
Material be aluminium alloy.The weight bearing for greatly reducing ectoskeleton structure further reduces exoskeleton robot at work
Weight bearing loss, extend the cruise duration of battery.
As shown in Fig. 7 to Figure 12, the foot fixing device 24 includes foot pad 241, and front end is equipped with the arc being upturned
Shape portion 41a, the front and rear of 241 upper surface of foot pad are respectively provided with one group of detection switch 41b acted for detecting sole,
Every group of detection switch 41b is at least provided with a microswitch；The 241 top two sides of foot pad are respectively equipped with bionic curved surface
First patch foot 242 and the second patch foot 243, the first patch foot 242 and second patch foot 243 are oppositely arranged simultaneously court
Top forms the first opening, and the first patch foot 242 and second patch foot 243 are equipped with described for adjusting between upward
The upper puller strap 244 of first openings of sizes, described upper 244 one end of puller strap are hinged with first patch foot 242, and described the
Two patch foots 243 are equipped with the first locking buckle 245, and upper 244 other end of puller strap passes through first locking buckle 245
Be locked at it is described second patch foot 243 on, first locking buckle 245 include the first block button base 45a, first card lid 45b,
It is equipped in first rotating shaft 45c and third elastic component 45d, the first block button base 45a for by the upper puller strap 244
First card slot, first card slot are equipped on the surface close to second patch foot 243 for upper puller strap 244 described in clamping
First latching tooth section 246, the upper puller strap 244 towards it is described second patch foot 243 surface be equipped with and it is described first card
Second latch section 247 of the mutual clamping of tooth section 246, the first card lid 45b are connected to described the by the first rotating shaft 45c
Seesaw type movement, described first card lid one end 45b are done above one block button base 45a and by fulcrum of the first rotating shaft 45c
It is tilted by being located at the third elastic component 45d of the first block button base 45a by fulcrum of the first rotating shaft 45c, described the
The one card lid 45b other end compresses the upper puller strap 244 so that 247 clamping of the second latch section is bonded the first latching tooth section
246；The first patch foot 242 and second patch foot 243, which are oppositely arranged and form second towards the rear, to be open, and described first
Patch foot 242 and second patch foot 243 are equipped with the rear puller strap for adjusting second openings of sizes between backwards
248, described rear 248 one end of puller strap is hinged with first patch foot 242, and second patch foot 243 is equipped with second
Locking buckle 249, rear 248 other end of puller strap pass through second locking buckle 249 and are locked at second patch foot
On 243, second locking buckle 249 includes the second block button base, the second Ka Gai, the second shaft and the 4th elastic component, described
It is equipped in second block button base for the second card slot by puller strap 248 after described, second card slot is close to described the
The surface of two patch foots 243 is equipped with the third latch section for rear puller strap 248 described in clamping, and the rear puller strap 248 is in face
The 4th latch section with the mutual clamping of third latch section, second card are equipped with to the surface of second patch foot 243
Lid is connected to above second block button base by second shaft and does seesaw type using second shaft as fulcrum
Movement, the one end second Ka Gai is by being located at the 4th elastic component of second block button base using second shaft as fulcrum
It tilts, the second card lid other end compresses the rear puller strap 248 so that the 4th latch section clamping is bonded the third
Latch section.By the way that the above-mentioned foot fixing device of fixed elasticity is adjusted, human foot dexterously can be fixed on institute
It states on foot fixing device, and adjustability is strong, it is simple and reliable for structure and high with shoes fitness.In addition, on the foot pad 241
The front and rear on surface is respectively provided with one group for detecting the detection switch 41b of sole movement, wears shoes when human body and falls completely
When ground, before at sole detection switch be in normally off, behind at heel detection switch be in normally open, system detection is
Person upright, shoes land completely, on the contrary sole at detection switch be in normally open, behind heel be in normally off, be
System is detected as lifting foot, and exoskeleton robot is equipped with controller, and detection switch is electrically connected with the controller to transmit data,
On the one hand the action data of human body can be collected convenient for post analysis, on the one hand provide basis of signals for intelligentized control method.
Preferably, the big the upper arm member 12, the small the upper arm member 13, the thigh parts 22 and the lower leg component 23 divide
Not She You at least one be used to for the exoskeleton robot to be worn on the object wearing device 7 on human body it is as shown in figure 13.Specifically,
The object wearing device 7 includes arc connector 71 and flexible bandage 72, the fixed flexibility in the inside of the arc connector 71
Bandage 72, the outside of the arc connector 71 and the big the upper arm member 12, the small the upper arm member 13, the thigh parts 22 or
23 phase of lower leg component is fixed.Preferably, the flexible bandage 72 is that velcro is called magic tape or tri-glide, it might even be possible to
It is wide shape rope, and the flexible bandage has elasticity.Preferably, the object wearing device 7 is ring-type, in the object wearing device 7
It is set in the annular air-pocket 73 of human body large arm, forearm, thigh or shank, the annular air-pocket 73 when ring is equipped with for dressing
There is the baroceptor for detecting 73 air pressure inside of annular air-pocket, the annular air-pocket 73 is equipped with filling for inflation
Port and gas vent for deflation.Certainly, the annular air-pocket 73 is not totally enclosed ring structure, the annular air-pocket 73
It is equipped with convenient for putting the notch of human upper limb or lower limb into.73 outer surface of annular air-pocket is fixed on described in a manner of being bonded etc.
On object wearing device 7, air bag surrounds human body large arm, forearm, thigh or shank in a ring when use, can make object wearing device 7 and people
Cladding face between body is bigger, pressure is smaller, dresses more comfortable.Using electric air pump and by exoskeleton robot when inflation
It is inflated operation after wearing again, a kind of embodiment is that controller, the controller are additionally provided on the exoskeleton robot
It is equipped with for controlling the inflation button that the electric inflating pump being electrically connected with the controller is inflated into the annular air-pocket 73,
The baroceptor for detecting 73 air pressure inside of annular air-pocket, the baroceptor are equipped in the annular air-pocket 73
It is electrically connected with the controller and is recorded in the controller with the barometric information for detecting the baroceptor.With dermoskeleton
The gas outlet of the electric air pump for the controller electrical connection being arranged in bone robot is connect with the inflating port on the annular air-pocket 73,
Operator is inflated by pressing the control electric air pump of the inflation button on controller to the annular air-pocket 73, the inflation button
For a dynamic formula, operator one side button press, wearer is determined whether by the pressure size of autonomous induction annular air-pocket 73
Inflation is completed, and stops inflation, the baroceptor sense when feeling that the air pressure in annular air-pocket 73 reaches certain comfort level
Should comfort level air pressure and by the data transfer record on the controller, be additionally provided with display screen on the exoskeleton robot
Curtain, on the display screen, certainly, the controller can also be remembered for the air pressure meeting instant playback that the baroceptor senses
The barometric information can control when inflation next time and stop inflation when electric air pump is inflated to the air pressure.By this man-machine
Interaction so that the wearing of exoskeleton robot it is more comfortable, it is reliable with it is humanized.
It should be noted that the route that the exoskeleton robot can both have been set according to plan is acted, can also adopt
The movement tendency of human body is incuded with myoelectric sensor, so that the driving element such as first controlled on the exoskeleton robot drives
Motor, second driving motor etc. are acted, and realize good human-computer interaction, and the crowd of limbs inconvenience is helped to realize walking, lift
The movement such as hand, and assist rehabilitation.
In conclusion the utility model is had the advantages that by the improvement in structure
1, the pallet of support human body ancon is used for by increasing, the pallet to be elastic connection, and human body ancon is made to obtain one
Fixed fixation, and since the pallet is flexible fastening, both will not influence the movement of ancon, may also help in ancon do it is curved
Reset is stretched after song, it is simple and practical in structure.
2, the annular air-pocket that setting is inflated with electric air pump on the object wearing device, and grasped by human-computer interaction
Make so that the wearing of exoskeleton robot it is more comfortable, it is reliable with it is humanized.
It is the one or more embodiments provided in conjunction with particular content as described above, does not assert the tool of the utility model
Body implementation is only limited to these instructions.It is all approximate with the method for the utility model, structure etc., identical or practical new for this
It makes several technologies under type concept thereof to deduce, or replacement all should be considered as the protection scope of the utility model.
Claims (10)
1. the ectoskeleton structure of intelligent exoskeleton robot, which is characterized in that including the Arm structure for fixing human upper limb
(1), for the lower limb structure (2) of fixing human lower limb and for connecting the Arm structure (1) and the lower limb structure (2)
Back structures (3)；
The Arm structure (1) includes shoulder member (11), big the upper arm member (12) and small the upper arm member (13), shoulder member (11) hinge
It is located at the upper end of the back structures (3), the shoulder member (11) is being equipped with the first driving far from the back structures (3) one end
Motor, the output end of first driving motor are fixedly connected with one end of the big the upper arm member (12), the big the upper arm member
(12) the other end is equipped with the second driving motor, one end of the output end of second driving motor and the small the upper arm member (13)
It is fixedly connected, the big the upper arm member (12) is equipped with the first fixed part (121) raised inwardly, and the small the upper arm member (13) is equipped with
Raised the second fixed part (132) inwardly, is equipped between first fixed part (121) and second fixed part (132)
For the pallet (6) of support human body ancon, described pallet (6) one end is equipped with for connecting with the first fixed part (121) elasticity
The first elastic component (61) connect, pallet (6) other end are equipped with for the with the second fixed part (132) elastic connection
Two elastic components (62).
2. the ectoskeleton structure of intelligent exoskeleton robot according to claim 1, which is characterized in that first elasticity
Part (61) and second elastic component (62) are extension spring.
3. the ectoskeleton structure of intelligent exoskeleton robot according to claim 1, which is characterized in that the big the upper arm member
(12) and the small the upper arm member (13) is hollow rod-like structure.
4. the ectoskeleton structure of intelligent exoskeleton robot according to claim 1, which is characterized in that the big the upper arm member
(12) and the material of the small the upper arm member (13) is aluminium alloy.
5. the ectoskeleton structure of intelligent exoskeleton robot according to claim 1, which is characterized in that the lower limb structure
It (2) include hip component (21), thigh parts (22), lower leg component (23) and foot fixing device (24), the hip component (21)
It is mounted on the lower end of the back structures (3), the hip component (21) is equipped with third in one end far from the back structures (3)
The output end of driving motor, the third driving motor is fixedly connected with the thigh parts (22) upper end, the thigh parts
(22) lower end is equipped with the 4th driving motor, and the upper end of the output end and the lower leg component (23) of the 4th driving motor is fixed
Connection, the lower end and the foot fixing device (24) of the lower leg component (23) are hinged.
6. the ectoskeleton structure of intelligent exoskeleton robot according to claim 5, which is characterized in that the hip component
It (21) include the interconnecting piece (211) for connecting the thigh parts (22), the interconnecting piece (211) extends upwards and around rearward
The lateral adjustments portion (212) being connect with the back structures (3) lower end, the lateral adjustments portion (212) if on be horizontally arranged with
Dry adjustment hole (212a), back structures (3) lower end are equipped with and are adapted with the adjustment hole (212a) to adjust the hip
The location hole (31) of part (21) lateral position is equipped between the adjustment hole (212a) and the location hole (31) for passing through
Location hole (31) and the single adjustment hole (212a) are stated with the pin shaft of the fixation hip component (21).
7. the ectoskeleton structure of intelligent exoskeleton robot according to claim 1-6, which is characterized in that described
Arm structure (1) or lower limb structure (2) are equipped with the object wearing device (7) for being worn on the ectoskeleton structure on human body.
8. the ectoskeleton structure of intelligent exoskeleton robot according to claim 7, which is characterized in that the object wearing device
It (7) include arc connector (71) and flexible bandage (72), the inside of the arc connector (71) and the flexible bandage
(72) it mutually fixes.
9. the ectoskeleton structure of intelligent exoskeleton robot according to claim 7, which is characterized in that the object wearing device
It (7) is ring-type, around the ring of human body large arm, forearm, thigh or shank when object wearing device (7) inner ring is equipped with for dressing
Shape air bag (73), the annular air-pocket (73) are equipped with the inflating port for inflation.
10. the ectoskeleton structure of intelligent exoskeleton robot according to claim 9, which is characterized in that exist including setting
Controller on exoskeleton robot, the controller are equipped with for controlling the electric inflating pump being electrically connected with the controller
The inflation button inflated into the annular air-pocket (73), the annular air-pocket (73) is interior to be equipped with for detecting the annular air-pocket
(73) baroceptor of air pressure inside, the baroceptor are electrically connected to examine the baroceptor with the controller
The barometric information measured is recorded in the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820258533.3U CN208926953U (en) | 2018-02-13 | 2018-02-13 | The ectoskeleton structure of intelligent exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820258533.3U CN208926953U (en) | 2018-02-13 | 2018-02-13 | The ectoskeleton structure of intelligent exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208926953U true CN208926953U (en) | 2019-06-04 |
Family
ID=66713725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820258533.3U Expired - Fee Related CN208926953U (en) | 2018-02-13 | 2018-02-13 | The ectoskeleton structure of intelligent exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208926953U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110772401A (en) * | 2019-12-02 | 2020-02-11 | 苏州好博医疗器械有限公司 | Upper limb rehabilitation training device and using method thereof |
| CN110977961A (en) * | 2019-11-07 | 2020-04-10 | 郑州大学 | Motion information acquisition system of self-adaptive power-assisted exoskeleton robot |
| CN111975750A (en) * | 2020-07-30 | 2020-11-24 | 上海交通大学 | Two-foot and four-foot switchable variable topology robot |
| CN112605979A (en) * | 2020-12-14 | 2021-04-06 | 何学谦 | Exoskeleton |
| CN112933533A (en) * | 2021-01-26 | 2021-06-11 | 济南市中心医院 | Integrated rehabilitation device after limb burn |
| CN113799100A (en) * | 2021-09-10 | 2021-12-17 | 迈宝智能科技(苏州)有限公司 | Upper limb multi-joint active power assisting exoskeleton with load conduction function |
| CN114288073A (en) * | 2022-01-12 | 2022-04-08 | 中国人民解放军总医院第一医学中心 | Intelligent auxiliary enhancing device for limb muscle strength |
| CN117338570A (en) * | 2023-11-23 | 2024-01-05 | 潍坊医学院 | Wearable upper limb rehabilitation auxiliary training device |
-
2018
- 2018-02-13 CN CN201820258533.3U patent/CN208926953U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977961A (en) * | 2019-11-07 | 2020-04-10 | 郑州大学 | Motion information acquisition system of self-adaptive power-assisted exoskeleton robot |
| CN110772401A (en) * | 2019-12-02 | 2020-02-11 | 苏州好博医疗器械有限公司 | Upper limb rehabilitation training device and using method thereof |
| CN111975750A (en) * | 2020-07-30 | 2020-11-24 | 上海交通大学 | Two-foot and four-foot switchable variable topology robot |
| CN111975750B (en) * | 2020-07-30 | 2022-10-14 | 上海交通大学 | Two-foot and four-foot switchable topology-variable robot |
| CN112605979A (en) * | 2020-12-14 | 2021-04-06 | 何学谦 | Exoskeleton |
| CN112933533A (en) * | 2021-01-26 | 2021-06-11 | 济南市中心医院 | Integrated rehabilitation device after limb burn |
| CN113799100A (en) * | 2021-09-10 | 2021-12-17 | 迈宝智能科技(苏州)有限公司 | Upper limb multi-joint active power assisting exoskeleton with load conduction function |
| CN114288073A (en) * | 2022-01-12 | 2022-04-08 | 中国人民解放军总医院第一医学中心 | Intelligent auxiliary enhancing device for limb muscle strength |
| CN114288073B (en) * | 2022-01-12 | 2023-09-19 | 中国人民解放军总医院第一医学中心 | Intelligent auxiliary enhancement device for muscle strength of limbs |
| CN117338570A (en) * | 2023-11-23 | 2024-01-05 | 潍坊医学院 | Wearable upper limb rehabilitation auxiliary training device |
| CN117338570B (en) * | 2023-11-23 | 2024-03-26 | 潍坊医学院 | Wearable upper limb rehabilitation auxiliary training device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208926953U (en) | The ectoskeleton structure of intelligent exoskeleton robot | |
| US10736810B2 (en) | Control system for exoskeleton apparatus | |
| US10420695B2 (en) | Exoskeleton apparatus driven by pneumatic artificial muscle with functions of upper limb assist and rehabilitation training | |
| KR101099521B1 (en) | Wearable walking assistance robot suit | |
| CN108186295A (en) | Meet the lower limb structure component of the exoskeleton robot of simulation of human body design | |
| CN108127647A (en) | Long continuation of the journey and light-weighted intelligent exoskeleton robot | |
| CN109452933B (en) | A multi-functional recovered trousers for severe hemiplegia patient | |
| CN208942499U (en) | A kind of spondyle appliance being conveniently adjusted | |
| CN113082635A (en) | Multi-functional patient rehabilitation and nursing auxiliary device | |
| CN110251372A (en) | Walk-aiding exoskeleton gait adjusting method based on intelligent crutch | |
| CN208926954U (en) | Light-weighted intelligent exoskeleton robot | |
| CN207953848U (en) | Long continuation of the journey and light-weighted intelligent exoskeleton robot | |
| CN208926966U (en) | The long stretching structure of limb for intelligent exoskeleton robot | |
| CN208641208U (en) | Meet the lower limb structure component of the exoskeleton robot of simulation of human body design | |
| CN113230094A (en) | Single-leg exoskeleton robot and control method thereof | |
| CN107753246A (en) | Falling-resistant servicing unit | |
| CN113001521A (en) | Exoskeleton auxiliary device of intervention protective clothing and control method thereof | |
| CN205198401U (en) | Fracture rehabilitation and nursing device | |
| CN204863872U (en) | Intelligent low limbs rehabilitation training device | |
| CN103948497B (en) | The wearable Heart-lung restoring instrument of intelligence | |
| CN218247747U (en) | Wearable lower limb rehabilitation auxiliary walking device | |
| CN110393618A (en) | A kind of portable intelligent reversed tractor of pseudo- Thoracolumbar disk in vitro | |
| CN208926848U (en) | Meet the Arm structure component of the exoskeleton robot of simulation of human body design | |
| CN109700653A (en) | A kind of medical rehabilitation instrument | |
| CN207953847U (en) | The intelligent exoskeleton robot of long continuation of the journey |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 528400 Zhongshan, Guangdong Torch Development Zone Central Town, Xiang Hing Road 6, number of trade tower 6 meters south 642 card. Patentee after: Zhongshan Wabet Intelligent Medical Devices Co.,Ltd. Address before: 528400 Zhongshan, Guangdong Torch Development Zone Central Town, Xiang Hing Road 6, number of trade tower 6 meters south 642 card. Patentee before: ZHONGSHAN WOBEITE INTELLIGENT MEDICAL ROBOT CO.,LTD. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190604 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |