CN209092058U - A kind of portable wearable lower limb exoskeleton robot - Google Patents
A kind of portable wearable lower limb exoskeleton robot Download PDFInfo
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- CN209092058U CN209092058U CN201820741842.6U CN201820741842U CN209092058U CN 209092058 U CN209092058 U CN 209092058U CN 201820741842 U CN201820741842 U CN 201820741842U CN 209092058 U CN209092058 U CN 209092058U
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- support plate
- support bar
- thigh
- retarder
- flange disk
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Abstract
The utility model discloses a kind of portable wearable lower limb exoskeleton robot, including lumbar support plate, hip joint component, thigh support bar, knee components, leg support bar, vola support plates；Hip joint component includes the first driving motor, first flange disk, the first retarder；Support plate lower end two sides are connected with first flange disk；Lumbar support plate and first flange disk are connected；First driving motor is connected with connected first driving motor of first flange disk outer end face with the first retarder；First retarder is fixed in first flange disk；Thigh support bar upper end is fixed with the first turntable, and the first turntable is connected with the first retarder；First driving motor drives thigh support bar to swing by the first retarder；Knee components connection and working method are similar to hip joint component；Binding mechanism is equipped on thigh support bar, leg support bar；Leg support bar lower end is connected by first rotating shaft with vola support plate, and leg support bar, which is swung, drives step to swing.The utility model good portability, functional.
Description
Technical field
The invention belongs to medical rehabilitation image training robot field, especially a kind of portable wearable lower limb exoskeleton machine
People.
Background technique
China human mortality Aging Problem is got worse, it has also become the most country of the aged and aging of population speed
Spend most fast one of country, counted according to the United Nations, until the middle of this century will have 500,000,000 Chinese populations more than 60 years old, Chinese family with
Government will face the endowment and medical treatment and nursing pressure of unprecedented sternness.Elderly patients are due to function aging, the decline of lower limb walking ability,
It brings inconvenience to daily life, the diseases such as hemiplegia, apoplexy also result in the elderly's walking disorder.It is theoretical and clinical from contemporary medical science
Medical practice proves that the recovery and raising to extremity motor function give science correct health other than necessary medical procedure
Renaturation training is quite important.Lower limb exoskeleton mechanism can effectively assist the patient with the above disease to carry out rehabilitation instruction
Practice, while also can provide power-assisted for the handicapped the elderly of lower limb.
However structure is complicated mostly and device is heavy for existing lower limb exoskeleton robot, while its power source for using and
Sensor device is numerous, causes control difficulty big, wearing is inconvenient, and not portable, and marketing is poor.Number of patent application:
201710405910.1 disclose a kind of wearable lower limb exoskeleton robot, which takes up space larger and not after unloading
It easily places, can not independently support, portability is poor.Number of patent application: 201620012709.8 disclose a kind of foldable portable
Formula lower limb exoskeleton, since the device uses hydraulic driving mode, and hydraulic cylinder has the shortcomings that be easy leakage, while part
More, assembly is complicated, is unfavorable for the elderly's use, and the foldable ectoskeleton is mainly designed for individual combat rather than day
Chang Zhuli, therefore be unsuitable for putting goods on the market.
Summary of the invention
Technical problem solved by the invention is to provide a kind of portable wearable lower limb exoskeleton robot, to solve
Existing robot architecture is complicated, be not easy to wearing, can not independently support and not Portable belt the problem of.
The technical solution for realizing the aim of the invention is as follows:
A kind of portable wearable lower limb exoskeleton robot, including lumbar support plate, hip joint component, thigh support
Bar, knee components, leg support bar, vola support plate；
The hip joint component includes the first driving motor, first flange disk, the first retarder；The support plate lower end two
Side is symmetrically connected with first flange disk；The lumbar support plate and first flange disk are connected；First driving motor and first
Ring flange outer end face is connected；First driving motor is connected with the first retarder；First retarder is fixed on the first method
In blue disk；Thigh support bar upper end is fixed with the first turntable, and first turntable is connected with the first retarder；Described first
Driving motor drives thigh support bar to swing by the first retarder；
The knee components include the second driving motor, second flange disk, the second retarder；Under the thigh support bar
End is connected with second flange disk；Second driving motor and second flange disk outer end face are connected；Second driving motor with
Second retarder is connected；Second retarder is fixed in second flange disk；Leg support bar upper end is fixed with second
Turntable, second turntable are connected with the second retarder；Second driving motor drives leg support by the second retarder
Bar is swung；
Binding mechanism is equipped on the thigh support bar, leg support bar；Leg support bar lower end passes through first
Shaft is connected with vola support plate, and leg support bar is swung, and step is driven to swing.
Compared with prior art, the present invention its remarkable advantage:
(1) portable wearable lower limb exoskeleton robot of the invention, support frame is equipped with mounting hole, so as to will be entire
Robot is fixed with external fixed frame, is played a supportive role, while can also carry out rehabilitation training convenient for patient erect's state.
(2) structure of the invention design is succinct, and have the characteristics that it is modular, thigh and shank component it is independently detachable simultaneously
Wearing, it is lighter in structure compared to existing exoskeleton robot, and be easier to motor independent control.
(3) portable wearable lower limb exoskeleton robot of the invention, design has folding means at knee joint, so that
The device facilitates daily carrying and transport by that can be put into the confined space after simple folding operation.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of portable wearable lower limb exoskeleton robot of the invention.
Fig. 2 is hip joint component connection schematic diagram.
Fig. 3 is knee components connection schematic diagram.
Fig. 4 is fold mechanism connection schematic diagram.
Fig. 5 is that fold mechanism is folded up status diagram.
Fig. 6 is thigh support rod structure schematic diagram.
Fig. 7 is vola support plate connection schematic diagram.
Fig. 8 is leg support bar and vola support plate connection schematic diagram.
Specific embodiment
In order to illustrate technical solution of the present invention and technical purpose, with reference to the accompanying drawing and specific embodiment is the present invention
It is further to introduce.
In conjunction with Fig. 1-Fig. 3, a kind of portable wearable lower limb exoskeleton robot of the invention, including lumbar support plate 1,
Hip joint component, thigh support bar 4, knee components, leg support bar 10, vola support plate 11；
The hip joint component includes the first driving motor 14, first flange disk 2, the first retarder 3；The support plate 1
Lower end two sides are symmetrically connected with first flange disk 2；The lumbar support plate 1 is connected with first flange disk 2；The first driving electricity
Machine 14 and 2 outer end face of first flange disk are connected；First driving motor 14 is connected with the first retarder 3；Described first slows down
Device 3 is fixed in first flange disk 2；4 upper end of thigh support rod sleeve is fixed with the first turntable 41；First turntable
41 are connected with the first retarder 3；First driving motor 14 drives thigh support rod sleeve 4 to swing by the first retarder 3；
The thigh support rod sleeve 4 is nested on thigh support bar 6；The thigh support rod sleeve 4 is passed when swinging by nested
It is dynamic that thigh support bar 6 is driven to swing.
The knee components include the second driving motor 15, second flange disk 8, the second retarder 9；The thigh support
6 lower end of bar and second flange disk 8 are connected；Second driving motor 15 is connected with 8 outer end face of second flange disk；Described second drives
Dynamic motor 15 is connected with the second retarder 9；Second retarder 9 is fixed in second flange disk 8；The leg support bar 10
Upper end is fixed with the second turntable 101, and second turntable 101 is connected with the second retarder 9；Second driving motor 15 passes through
Second retarder 9 drives leg support bar 10 to swing；
10 lower end of leg support bar of stating is connected by first rotating shaft 16 with vola support plate 11, leg support bar 10
It swings, foot is driven to swing.It is equipped with binding mechanism 5 on the thigh support rod sleeve 4, leg support bar 10, so as to respectively
It is fixed with the thigh and shank of human body.
Preferably, the binding mechanism is bandage, to be flexibly connected.It, can also be in other embodiment
Using some bandages etc.
Further, 1 transverse ends of lumbar support plate further respectively have support frame 12, and support frame 12 is equipped with installation
Hole plays a supportive role to fix entire robot and external fixed frame, while can also carry out health convenient for patient erect's state
Refreshment is practiced.
Further, in conjunction with Fig. 4, Fig. 5, be additionally provided between the thigh support bar 4 and second flange disk 8 fold mechanism into
Row connection, the fold mechanism include the first support plate 71, the second support plate 72, the second shaft 73；Under the thigh support bar 4
End is connected with the first support plate 71, and first support plate 71 is connected with the second support plate 72 by the second shaft 73, and second turn
The axial direction for being axially perpendicular to the first turntable 41 of axis 73；Second support plate, 72 lower end and second flange disk 8 are connected；Described
The fixation hole 74 being connected is equipped in one support plate 71 and the second support plate 72；When fixed, first support plate 71 and the
Two support plates 72 are bolted, when stored collapsed, the disassembling bolts of first support plate 71 and the second support plate 72, and
Two support plates 72 can be rotated up by the second shaft 73, and leg support bar 10 and thigh support bar 6 are folded, in order to
It carries.
Further, the thigh support bar 6 is telescopic rod, in order to adjust the length of support rod, to adapt to difference
The old man or patient of height.
In some embodiments, the thigh support bar 4 and leg support bar 10 are tubular structure, and tubular structure can
Mitigate the weight of support rod, it is easy to carry.
Further, in conjunction with Fig. 6, the big leg assembly includes thigh support rod sleeve 4, thigh support bar 6；The thigh
6 sets of support rod in thigh support rod sleeve 4, form nested structure, cross on the thigh support rod sleeve 4, thigh support bar 6
Multiple location holes 45 are equipped with upwards to position, pass through by location hole 45 after thigh support rod sleeve 4, thigh support bar 6 adjust
Positioning pin or bolt are by the fixed position of location hole 45 on thigh support rod sleeve 4, thigh support bar 6.
In other embodiment, the lower end of the thigh support bar 4 and leg support bar 10 is slab construction,
Plate structure is equipped with multiple location holes, to realize the fixation after thigh support bar 4 or leg support bar 10 are flexible.
Further, in conjunction with Fig. 7, Fig. 8,10 lower end of leg support bar is fixed with the rotation seat 103 of an arc, described
Support plate 11 upper end in vola is fixed with fixing seat 111, and 111 upper end of fixing seat is equipped with arc groove 112, and rotation seat 103 passes through
Second shaft 16 is connected in arc groove 112, and arc groove 112 limits the rotational angle of rotation seat 103, avoids angle of rotation
It spends greatly, secondary damage is caused to model of human ankle.
Preferably, the rotation seat 103 is with the front and back relative angle of vola support plate 11 no more than 60 degree.
Further, it is additionally provided with mounting groove 113 in the vola support plate 11, to connect bandage for human body step and foot
Bottom support plate 11 is fixed.
The working principle of the invention is: before use, user, which combines, itself sets gait when using using reality,
And the length of thigh support bar 6, leg support bar 10 is manually adjusted, to be applicable in the practical leg length of user, keeps each
Driving joint is with actual human body joint in identical horizontal position to guarantee to drive effect.When wearing, whole ectoskeleton machine
People's structure is bundled in the waist of user by lumbar support plate 1, and thigh, shank respectively pass through binding mechanism 5 and the support of leg
Bar is fixed, and is bound by the foot of bandage and user in vola support plate 11.Driving motor rotation is controlled by controller,
Under the premise of guaranteeing known retarder deceleration ratio, can accurately cooperate makes hip joint component, knee components reach reason
Think the rotates effe under state, to drive the movement of user's lower limb, achievees the purpose that invention.
Claims (10)
1. a kind of portable wearable lower limb exoskeleton robot, which is characterized in that including lumbar support plate (1), hip joint group
Part, thigh support rod sleeve (4), thigh support bar (6), knee components, leg support bar (10), vola support plate (11)；
The hip joint component includes the first driving motor (14), first flange disk (2), the first retarder (3)；The support plate
(1) lower end two sides are symmetrically connected with first flange disk (2)；The lumbar support plate (1) and first flange disk (2) are connected；It is described
First driving motor (14) and first flange disk (2) outer end face are connected；First driving motor (14) and the first retarder (3)
It is connected；First retarder (3) is fixed in first flange disk (2)；Thigh support rod sleeve (4) upper end is fixed with
One turntable (41)；First turntable (41) is connected with the first retarder (3)；First driving motor (14) subtracts by first
Fast device (3) drives thigh support rod sleeve (4) to swing；The thigh support rod sleeve (4) is nested on thigh support bar (6)；
The thigh support rod sleeve (4) drives thigh support bar (6) to swing when swinging by nested transmission；
The knee components include the second driving motor (15), second flange disk (8), the second retarder (9)；The thigh branch
Strut (6) lower end and second flange disk (8) are connected；Second driving motor (15) and second flange disk (8) outer end face are connected；
Second driving motor (15) is connected with the second retarder (9)；Second retarder (9) is fixed on second flange disk (8)
It is interior；Leg support bar (10) upper end is fixed with the second turntable (101), second turntable (101) and the second retarder (9)
It is connected；Second driving motor (15) drives leg support bar (10) to swing by the second retarder (9)；
Binding mechanism (5) are equipped on the thigh support rod sleeve (4), leg support bar (10)；The leg support bar
(10) lower end is connected by first rotating shaft (16) with vola support plate (11), and leg support bar (10) is swung, and foot is driven to swing.
2. a kind of portable wearable lower limb exoskeleton robot according to claim 1, which is characterized in that the waist
Support plate (1) transverse ends further respectively have support frame (12).
3. a kind of portable wearable lower limb exoskeleton robot according to claim 1, which is characterized in that the thigh
It is additionally provided with fold mechanism between support rod (6) and second flange disk (8) to be attached, the fold mechanism includes the first support plate
(71), the second support plate (72), the second shaft (73)；Thigh support bar (6) lower end and the first support plate (71) are connected, institute
It states the first support plate (71) and is connected with the second support plate (72) by the second shaft (73), the second shaft (73) are axially perpendicular to
The axial direction of first turntable (41)；Second support plate (72) lower end and second flange disk (8) are connected；First support plate
(71) with the fixation hole (74) being connected is equipped on the second support plate (72).
4. a kind of portable wearable lower limb exoskeleton robot according to claim 1, which is characterized in that the thigh
Support rod (6) is telescopic rod.
5. a kind of portable wearable lower limb exoskeleton robot according to claim 4, which is characterized in that the thigh
Support rod (6) and leg support bar (10) are tubular structure.
6. a kind of portable wearable lower limb exoskeleton robot according to claim 5, which is characterized in that the thigh
Rod sleeve (4), thigh support bar (6) are supported to form nested structure, transverse direction on thigh support rod sleeve (4), thigh support bar (6)
Multiple location holes (45) are equipped with to be positioned.
7. a kind of portable wearable lower limb exoskeleton robot according to claim 4, which is characterized in that the thigh
Support rod (6) and leg support bar (10) are slab construction.
8. a kind of portable wearable lower limb exoskeleton robot according to claim 1, which is characterized in that the shank
Support rod (10) lower end is fixed with the rotation seat (103) of an arc, and vola support plate (11) upper end is fixed with fixing seat
(111), fixing seat (111) upper end is equipped with arc groove (112), and rotation seat (103) is connected to arc by first rotating shaft (16)
In shape slot (112), arc groove (112) limits the rotational angle of rotation seat (103).
9. a kind of portable wearable lower limb exoskeleton robot according to claim 8, which is characterized in that the rotation
Seat (103) and the front and back relative angle of vola support plate (11) are no more than 60 degree.
10. a kind of portable wearable lower limb exoskeleton robot according to claim 9, which is characterized in that the foot
Mounting groove (113) are additionally provided in bottom support plate (11), it is to connect bandage that human body step and vola support plate (11) is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820741842.6U CN209092058U (en) | 2018-05-18 | 2018-05-18 | A kind of portable wearable lower limb exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820741842.6U CN209092058U (en) | 2018-05-18 | 2018-05-18 | A kind of portable wearable lower limb exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209092058U true CN209092058U (en) | 2019-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820741842.6U Expired - Fee Related CN209092058U (en) | 2018-05-18 | 2018-05-18 | A kind of portable wearable lower limb exoskeleton robot |
Country Status (1)
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|---|---|
| CN (1) | CN209092058U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108578174A (en) * | 2018-05-18 | 2018-09-28 | 南京理工大学 | A kind of portable wearable lower limb exoskeleton robot |
-
2018
- 2018-05-18 CN CN201820741842.6U patent/CN209092058U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108578174A (en) * | 2018-05-18 | 2018-09-28 | 南京理工大学 | A kind of portable wearable lower limb exoskeleton robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20190712 Termination date: 20210518 |