CN209270245U - A kind of lower limb booster type exoskeleton robot - Google Patents
A kind of lower limb booster type exoskeleton robot Download PDFInfo
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- CN209270245U CN209270245U CN201821433199.7U CN201821433199U CN209270245U CN 209270245 U CN209270245 U CN 209270245U CN 201821433199 U CN201821433199 U CN 201821433199U CN 209270245 U CN209270245 U CN 209270245U
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Abstract
A kind of lower limb booster type exoskeleton robot, including waist bandage, crotch's support plate, huckle and compliant mechanism, crotch's support plate is hard structure, waist bandage is fixedly connected with the top of crotch's support plate, the lower part of crotch's support plate extends forward and obliquely, and its underpart end is equipped with hip joint；Big leg joint is equipped with above huckle, big leg joint is connect with hip joint by rotatable parts, and big leg joint is rotated by rotatable parts relative to hip joint in a certain range, and compliant mechanism includes the first elastomeric element, and one end connects the hip joint；The other end is connected on big leg joint；First elastomeric element rotates forward the direction that namely huckle lifts forward relative to hip joint for big leg joint and provides torque.By reasonably designing the pretightning force of the first elastomeric element, the Muscle tensility for lifting thigh needs is saved for wearer, provides any strength even without wearer, and lift leg movement directly can be completed by the flexible force of first elastomeric element.
Description
Technical field
The utility model relates to a kind of exoskeleton robots, belong to human body auxiliary robot field, and in particular under a kind of
Limb booster type exoskeleton robot.
Background technique
In daily life, normal someone such as apoplexy cause leg paralysis etc. due to can not normal walking, or due to
Age, which increases, causes leg power insufficient, or to bear weight overweight, can not walk for a long time, walking assistance is needed to cooperate with people
Body movement, current existing walking assistance, joint of ectoskeleton equipment etc. mostly uses greatly motor, hydraulic to wait driving, this
Structure is complicated for a little driving methods, weight is big, wearing is very inconvenient, and needs complicated control algolithm to cooperate with human body dynamic
Make, is not easy very much manufacture assembly.And existing walking assistance is stiff in the movements, discontinuous when taking a step, and mobility is poor, step
State flatness and stability are poor.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides the lower limb of a kind of small volume and less weight, gait smooth steady
Booster type exoskeleton robot can be used to normal person's power-assisted, it can also be used to which the hemiplegic patient that apoplexy causes leg to be benumbed obtains
Normal gait, or be used to help obtain due to the above the average age for marriage crowd that age growth causes leg power deficiency not walk for a long time
Must walk power-assisted.
The utility model is achieved through the following technical solutions:
A kind of lower limb booster type exoskeleton robot, including waist bandage, crotch's support plate, huckle and flexible machine
Structure, crotch's support plate are hard structure plate, and the position fitting that the waist bandage corresponds to human body waist side is fixed
The top of crotch's support plate is connected, the lower part of crotch's support plate extends forward and obliquely, crotch's branch
The lower end of fagging part is equipped with hip joint；Big leg joint is equipped with above the huckle, the big leg joint and the hip close
Section is connected by rotatable parts, and the big leg joint is rotated by rotatable parts relative to the hip joint in a certain range,
The compliant mechanism includes the first elastomeric element, and one end of first elastomeric element connects the hip joint；Other end connection
Onto the big leg joint, first elastomeric element rotates forward relative to the hip joint for the big leg joint and provides torsion
Square, the direction of the torque are the direction that the huckle lifts forward.
Preferably, the compliant mechanism further includes for fixing first elastomeric element and being first elastomeric element
Flexible offer expansion rail fixing piece.
Preferably, first elastomeric element connects the position in the hip joint in the center of rotation for deviateing the hip joint
Front side and position obliquely close to human body, the fixing piece are fixed on the big leg joint and deviate turning for the big leg joint
The position of dynamic center simultaneously close to the front side of human body and obliquely, and the center line of the expansion rail turns in the big leg joint
Dynamic center and the fixing piece are on the big leg joint on the extended line of bearing.
Preferably, the compliant mechanism further include positioned at the big leg joint center of rotation with the fixing piece described
Pulley on big leg joint on the line of bearing, first elastomeric element are connected to by the pulley with handle described
On hip joint.
Preferably, first elastomeric element connects the position of the big leg joint in the rotation for deviateing the big leg joint
Front side and position obliquely of the center close to human body, the fixing piece are fixed on the hip joint and deviate turning for the hip joint
Front side and position obliquely of the dynamic center close to human body, and the center line of the expansion rail is in the rotation in the hip joint
The heart and the fixing piece are on the hip joint on the extended line of bearing.
Preferably, the compliant mechanism further includes positioned at the center of rotation in the hip joint and the fixing piece in the hip
Pulley on joint on the line of bearing, first elastomeric element are connected to the thigh with handle by the pulley
On joint.
Preferably, the compliant mechanism further includes fixing the end of first elastomeric element positioned at the fixing piece and being used for
Control the soft readjustment device of the first elastomeric element pretightning force size.
Preferably, the huckle further include upper end be fixed on the big leg joint U-shaped length adjustment bar and can be along institute
State the leg adjuster that length adjustment bar is slided up and down and positioned.
It preferably, further include calf, the calf includes calf joint and shank bandage, and the shank bandage is set to
The lower section of the calf joint, the calf joint are rotated by rotatable parts around the leg adjuster；The leg is adjusted
The second elastomeric element is equipped with along the direction that it is slided up and down in device and provides track for second elastomeric element is flexible up and down
Groove, second elastomeric element one end is fixed on the groove uppermost position, and the other end connects the calf joint
At a certain position of the connecting line of center of rotation and the groove, and second elastomeric element is the calf and the leg
Adjuster holding in portion's point-blank provides torque.
Preferably, the leg adjuster is positioned and secured on the length adjustment bar by locking nut.
Preferably, the rotatable parts are bearing, and the elastomeric element is tension spring or buffer bar or rubber item.
Preferably, the lower limb booster type exoskeleton robot can single leg use or can both legs be symmetrically used cooperatively.
The utility model is relative to existing lower limb booster type exoskeleton robot advantage:
Lower limb booster type exoskeleton robot described in the utility model, by each cradle head, setting structure
Simple flexible apparatus realizes the assisted walk of lower limb exoskeleton robot, saves a large amount of power mechanism and control equipment,
Realize smooth continuously unpowered assisted walk.And lower limb booster type exoskeleton robot structure letter described in the utility model
It is single, it is easy to wear, it is small in size, it is light-weight, it is easy to carry.And lower limb booster type exoskeleton robot described in the utility model
The scope of application is not only limited to paraplegia, and hemiptegic is more conducive to the walking power-assisted of normal person.
Detailed description of the invention:
Fig. 1 is a kind of a kind of axonometric drawing of embodiment of lower limb booster type exoskeleton robot；
Fig. 2 is a kind of a kind of main view of embodiment of lower limb booster type exoskeleton robot；
Fig. 3 is a kind of a kind of left view of embodiment of lower limb booster type exoskeleton robot；
Fig. 4 is the left view and partial sectional view of a kind of a kind of embodiment of lower limb booster type exoskeleton robot；
Fig. 5 is calf when a kind of a kind of huckle of embodiment of lower limb booster type exoskeleton robot rotates forward 30 °
Main view under slight hang.
Each label in figure are as follows:
1- waist bandage；2- crotch support plate, 21- hip joint, 22- pulley, 23- handle；3- huckle, 31- are big
Leg joint, 32- rotatable parts, 33- length adjustment bar；4- compliant mechanism, the first elastomeric element of 41-, 42- fixing piece, 43-
Two elastomeric elements, 44- soft readjustment device；The leg 5- adjuster；6- calf, 61- calf joint, 62- shank bandage.
Specific embodiment
Lower limb booster type exoskeleton robot described in the utility model can single leg using can also both legs symmetrically cooperate and make
With in the present embodiment, as shown in Figs. 1-5, being symmetrically used cooperatively for both legs, and pass through its respective waist bandage 1 and corresponding
The component snaps such as buckle together.In the present embodiment, upper and lower, front, rear, left and right are to dress the lower limb with human body to help
After power formula exoskeleton robot, the description that carries out in the state of upright.
A kind of lower limb booster type exoskeleton robot, as shown in Figure 1, including waist bandage 1, crotch's support plate 2, thigh
Portion 3, compliant mechanism 4 and calf 6, crotch's support plate 2 are hard structure plate.The corresponding human body of the waist bandage 1
The position fitting of waist side is fixedly connected with the top of crotch's support plate 2, and the lower part of crotch's support plate 2 is forward
And extend obliquely, the lower end of crotch's support plate 2 is equipped with hip joint 21；Thigh is equipped with above the huckle 3
Joint 31, the big leg joint 31 are connect with the hip joint 21 by rotatable parts 32, and the big leg joint 31 is by turning
Dynamic component 32 rotates in a certain range relative to the hip joint 21, and the compliant mechanism 4 includes the first elastomeric element 41, institute
The one end for stating the first elastomeric element 41 connects the hip joint 21；The other end is connected on the big leg joint 31, and described first
Elastomeric element 41 rotates forward relative to the hip joint 21 for the big leg joint 31 and provides torque, and the direction of the torque is institute
State the direction that huckle 3 lifts forward.Specifically, the rotatable parts 32 can be bearing, the hip joint 21 is fixed on described
The outer ring of bearing, the big leg joint 31 are fixed on the inner ring of the bearing, or vice versa, the hip joint 21 is fixed on the axis
The inner ring held, the big leg joint 31 are fixed on the outer ring of the bearing.
After being worn by the lower limb booster type exoskeleton robot, human body is in stance, at this point, first elastic portion
Part 41 be in stretch or compression close to its limit critical state, that is, energy storage state.As illustrated in figures 4-5, the thigh
Joint 31 and hip joint 21 are under pulling force or the pressure effect of the first elastomeric element 41, the relatively described hip joint 21 of big leg joint 31
The opposite torque that it is rotated up of generation, the pulling force or pressure of the first elastomeric element 41 act on all parts, and transmission generates
Torque drive huckle 3 to generate the trend power that is lifted up, by the pretension for reasonably designing the first elastomeric element 41
Or the size of pre-pressing force, the Muscle tensility for lifting thigh needs is saved for wearer, it might even be possible to it is any not have to wearer's offer
Strength, directly providing flexible force by first elastomeric element 41 can be completed lift leg movement；When the huckle 3 is from opening
When beginning is raised to the angle for being suitble to take a step, first elastomeric element 41 assists people by energy storage state to the state to release energy
The thigh of body is raised to the state of taking a step by upright state together with the huckle 3.And wearer is due to the thigh of human body and small
The power of very little can be used even without the huckle for making power that can make lower limb booster type exoskeleton robot in the gravity of leg
3 are restored to standing state.At this point, on the huckle 3 settable thigh bandage or other by the thigh of human body be fixed to thigh
Component in portion, to guarantee that the huckle 3 can drive the thigh of human body to take a step.
The huckle 3 further include upper end be fixed on the big leg joint 31 U-shaped length adjustment bar 33 and can be along described
The leg adjuster 5 that length adjustment bar 33 is slided up and down and positioned.The leg adjuster 5 is positioned and fixed by locking nut
Onto the length adjustment bar 33.
As a preferred option, a kind of lower limb booster type exoskeleton robot further includes calf 6, and the calf 6 is wrapped
Calf joint 61 and shank bandage 62 are included, the lower section that the shank bandage 62 is set to the calf joint 61 is used for calf
It is bonded on the shank of right body, the calf joint 61 is rotated by rotatable parts around the leg adjuster 5；The rotatable parts
It can be bearing；The leg adjuster 5 is fixed on the outer ring of the bearing, and the calf joint 31 is fixed on the interior of the bearing
Circle, or vice versa, the leg adjuster 5 is fixed on the inner ring of the bearing, and the calf joint 31 is fixed on the bearing
Outer ring.Along the direction that it is slided up and down the second elastomeric element 43 is equipped in the leg adjuster 5 and for second elasticity
The groove of the upper and lower flexible offer track of component 43, described second elastomeric element, 43 one end is fixed on the groove the top position
It sets, the other end connects at a certain position of the center of rotation of the calf joint 61 and the connecting line of the groove, and described
Two elastomeric elements 43 are that the calf 6 keeps point-blank providing torque with the leg adjuster 6.
Specifically, being in stance, at this point, described after human body is worn by the lower limb booster type exoskeleton robot
Second elastomeric element 43 is in free form, neither energy storage nor releases energy, or store suitable pretightning force slightly.When opening
Beginning, the shank of the calf 6 and human body was under gravity, naturally sagging when taking a step, and was unfavorable for human body and small in this way
Leg 6 is taken a step forward with the rotation of huckle 3, at this point, second elastomeric element 43 is in the calf 6 due to gravity
Effect rotated down relative to huckle 3 in the case where, start to store energy, generate pull the calf 6 to it is described
Huckle 3 is maintained at the torque of the rotation of the direction on same straight line, so that the shank for human body is lifted up and with described big
Leg 3 takes a step to provide flexible force forward, and the muscle tone for saving human calf provides any power even without the shank of human body
Amount need to only comprehensively consider, rationally design the trend power of the flexible force generation of the first elastomeric element 41 and the second elastomeric element 43
Size and Orientation, so that it may up to making human body reach perfect walking with the lower limb assistant teacher ectoskeleton.
As a preferred option, first elastomeric element 41 and second elastomeric element 43 can be tension spring or buffer bar
Or rubber item etc. is using pulling force or pressure as the flexible apparatus of elastic source.In the present embodiment by taking tension spring as an example, when described first
Elastomeric element 41 is when generating corresponding trend power by its pulling force, and first elastomeric element 41 connects the hip joint 21
In the center of rotation for deviateing the hip joint 21 close to the front side of human body and when position obliquely, the fixing piece 42 is solid for position
It is scheduled on the big leg joint 31 and deviates the front side and position obliquely of the center of rotation of the big leg joint 31 close to human body, and
The center line of the expansion rail is in the center of rotation of the big leg joint 31 and the fixing piece 42 in the big leg joint 31
On the extended line of upper bearing, specifically, the compliant mechanism 4 further includes center of rotation and the institute positioned at the big leg joint 31
Pulley 22 of the fixing piece 42 on the big leg joint 31 on the line of bearing is stated, first elastomeric element 41 passes through described
The handle 23 of pulley 22 is connected on the hip joint 21.This kind of structure is very cleverly by the drawing of first elastomeric element 41
Power is converted into the torque of the rotation of huckle 3, and structure is simple, and material is light, eliminates control unit and other complicated mechanisms.
As another implementation of above-described embodiment, first elastomeric element 41 is generated accordingly by its pulling force
Trend power when, first elastomeric element 41 connects the position of the big leg joint 31 and is deviateing turning for the big leg joint 31
Front side and position obliquely of the dynamic center close to human body, the fixing piece 42 are fixed on the hip joint 21 and deviate the hip
Front side and position obliquely of the center of rotation in joint 21 close to human body, and the center line of the expansion rail is closed in the hip
The center of rotation of section 21 and the fixing piece 42 are on the hip joint 21 on the extended line of bearing, specifically, the flexibility
Mechanism 4 further includes the company of the center of rotation and the fixing piece 42 bearing on the hip joint 21 positioned at the hip joint 21
Pulley 22 on line, first elastomeric element 41 are connected to the big leg joint 21 by the pulley 22 handle 23
On.
As a preferred option, the compliant mechanism 4 further includes being located at fixed first elastic portion of the fixing piece 42
The end of part 41 and the soft readjustment device 44 for being used to control the 41 pretension size of the first elastomeric element.Further, described
It may also set up size of the identical soft readjustment device for adjuster pretension at second elastomeric element 43.
As a preferred option, crotch's support plate 2 be can not only be able to be human body with the hard structure plate of slight deformation
Standing certain support force is provided；Also certain deformation can be provided for the steering of human body.
It should be pointed out that those skilled in the art can be made to be more fully understood is practical for specific embodiment described above
It is novel, but the utility model is not limited in any way.Therefore, although this specification is practical new to this referring to drawings and examples
Type has been carried out detailed description, it will be understood by those skilled in the art, however, that still can modify to the utility model
Or equivalent replacement, in short, the technical solution and its change of all spirit and scope for not departing from the utility model, should all contain
It covers in the protection scope of the utility model patent.
Claims (20)
1. a kind of lower limb booster type exoskeleton robot, which is characterized in that including waist bandage, crotch's support plate, huckle
And compliant mechanism, crotch's support plate are hard structure plate, the waist bandage corresponds to the position of human body waist side
Fitting is fixedly connected with the top of crotch's support plate, and the lower part of crotch's support plate extends forward and obliquely, institute
The lower end for stating crotch's support plate is equipped with hip joint；Be equipped with big leg joint above the huckle, the big leg joint with
The hip joint is connected by rotatable parts, and the big leg joint passes through the relatively described hip joint of rotatable parts in a certain range
Interior rotation, the compliant mechanism include the first elastomeric element, and one end of first elastomeric element connects the hip joint；It is another
End is connected on the big leg joint, and first elastomeric element is rotated forward relative to the hip joint for the big leg joint and mentioned
For torque, the direction of the torque is the direction that the huckle lifts forward.
2. a kind of lower limb booster type exoskeleton robot as described in claim 1, which is characterized in that the compliant mechanism also wraps
It includes for fixing first elastomeric element and providing the fixing piece of expansion rail for the flexible of first elastomeric element.
3. a kind of lower limb booster type exoskeleton robot as claimed in claim 2, which is characterized in that first elastomeric element
The position in the hip joint is connected in front side of the center of rotation for deviateing the hip joint close to human body and position obliquely, institute
It states fixing piece and is fixed on the big leg joint and deviate the center of rotation of the big leg joint and the front side and obliquely close to human body
Position, and the center line of the expansion rail is closed in the center of rotation of the big leg joint and the fixing piece in the thigh
On the extended line of Jie Shang bearing.
4. a kind of lower limb booster type exoskeleton robot as claimed in claim 3, which is characterized in that the compliant mechanism also wraps
The center of rotation and pulley of the fixing piece on the big leg joint on the line of bearing positioned at the big leg joint are included,
First elastomeric element is connected on the hip joint by the pulley with handle.
5. a kind of lower limb booster type exoskeleton robot as claimed in claim 2, which is characterized in that first elastomeric element
The position of the big leg joint is connected in front side of the center of rotation for deviateing the big leg joint close to human body and portion obliquely
Position, the fixing piece are fixed on the front side and obliquely that the center of rotation in the hip joint is deviateed close to human body in the hip joint
Position, and the center line of the expansion rail is solid on the hip joint in the center of rotation in the hip joint and the fixing piece
Surely on the extended line located.
6. a kind of lower limb booster type exoskeleton robot as claimed in claim 5, which is characterized in that the compliant mechanism also wraps
The center of rotation and pulley of the fixing piece on the hip joint on the line of bearing positioned at the hip joint are included, it is described
First elastomeric element is connected on the big leg joint by the pulley with handle.
7. a kind of lower limb booster type exoskeleton robot as described in one of claim 2-6, which is characterized in that the flexible machine
Structure further includes the end positioned at fixed first elastomeric element of the fixing piece and pre-tightens for controlling first elastomeric element
The soft readjustment device of power size.
8. a kind of lower limb booster type exoskeleton robot as described in one of claim 1-6, which is characterized in that the huckle
It further include that upper end is fixed on the U-shaped length adjustment bar of the big leg joint and can slide up and down and position along the length adjustment bar
Leg adjuster.
9. a kind of lower limb booster type exoskeleton robot as claimed in claim 7, which is characterized in that the huckle further includes
Upper end be fixed on the big leg joint U-shaped length adjustment bar and can be along the leg that the length adjustment bar is slided up and down and positioned
Adjuster.
10. a kind of lower limb booster type exoskeleton robot as claimed in claim 8, which is characterized in that it further include calf, institute
Stating calf includes calf joint and shank bandage, and the shank bandage is set to the lower section of the calf joint, and the shank closes
Section is rotated by rotatable parts around the leg adjuster；Second is equipped with along the direction that it is slided up and down in the leg adjuster
Elastomeric element and the groove of track is provided for second elastomeric element is flexible up and down, second elastomeric element one end is fixed
In the groove uppermost position, the other end connects a certain of the center of rotation of the calf joint and the connecting line of the groove
At position, and second elastomeric element is that the calf and leg adjuster holding point-blank provide torsion
Square.
11. a kind of lower limb booster type exoskeleton robot as claimed in claim 9, which is characterized in that it further include calf, institute
Stating calf includes calf joint and shank bandage, and the shank bandage is set to the lower section of the calf joint, and the shank closes
Section is rotated by rotatable parts around the leg adjuster；Second is equipped with along the direction that it is slided up and down in the leg adjuster
Elastomeric element and the groove of track is provided for second elastomeric element is flexible up and down, second elastomeric element one end is fixed
In the groove uppermost position, the other end connects a certain of the center of rotation of the calf joint and the connecting line of the groove
At position, and second elastomeric element is that the calf and leg adjuster holding point-blank provide torsion
Square.
12. a kind of lower limb booster type exoskeleton robot as claimed in claim 8, which is characterized in that the leg adjuster
It is positioned and secured on the length adjustment bar by locking nut.
13. a kind of lower limb booster type exoskeleton robot as described in one of claim 9-11, which is characterized in that the leg
Adjuster is positioned and secured on the length adjustment bar by locking nut.
14. a kind of lower limb booster type exoskeleton robot as described in one of claim 10-12, which is characterized in that described turn
Dynamic component is bearing, and the elastomeric element is tension spring or buffer bar or rubber item.
15. a kind of lower limb booster type exoskeleton robot as claimed in claim 13, which is characterized in that the rotatable parts are
Bearing, the elastomeric element are tension spring or buffer bar or rubber item.
16. a kind of lower limb booster type exoskeleton robot as described in one of claim 1-6,9-12,15, which is characterized in that
The lower limb booster type exoskeleton robot can single leg use or can both legs be symmetrically used cooperatively.
17. a kind of lower limb booster type exoskeleton robot as claimed in claim 7, which is characterized in that the lower limb booster type
Exoskeleton robot can single leg use or can both legs be symmetrically used cooperatively.
18. a kind of lower limb booster type exoskeleton robot as claimed in claim 8, which is characterized in that the lower limb booster type
Exoskeleton robot can single leg use or can both legs be symmetrically used cooperatively.
19. a kind of lower limb booster type exoskeleton robot as claimed in claim 13, which is characterized in that the lower limb booster type
Exoskeleton robot can single leg use or can both legs be symmetrically used cooperatively.
20. a kind of lower limb booster type exoskeleton robot as claimed in claim 14, which is characterized in that the lower limb booster type
Exoskeleton robot can single leg use or can both legs be symmetrically used cooperatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821433199.7U CN209270245U (en) | 2018-09-03 | 2018-09-03 | A kind of lower limb booster type exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821433199.7U CN209270245U (en) | 2018-09-03 | 2018-09-03 | A kind of lower limb booster type exoskeleton robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108969310A (en) * | 2018-09-03 | 2018-12-11 | 杭州程天科技发展有限公司 | A kind of lower limb booster type exoskeleton robot |
| CN111544264A (en) * | 2020-05-22 | 2020-08-18 | 王明明 | Waist-wearing type energy storage rehabilitation walking aid |
| CN113771002A (en) * | 2021-08-12 | 2021-12-10 | 重庆交通大学 | Active bionic multi-rod virtual wearable hip joint |
-
2018
- 2018-09-03 CN CN201821433199.7U patent/CN209270245U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108969310A (en) * | 2018-09-03 | 2018-12-11 | 杭州程天科技发展有限公司 | A kind of lower limb booster type exoskeleton robot |
| CN111544264A (en) * | 2020-05-22 | 2020-08-18 | 王明明 | Waist-wearing type energy storage rehabilitation walking aid |
| CN111544264B (en) * | 2020-05-22 | 2022-02-15 | 王明明 | Waist-wearing type energy storage rehabilitation walking aid |
| CN113771002A (en) * | 2021-08-12 | 2021-12-10 | 重庆交通大学 | Active bionic multi-rod virtual wearable hip joint |
| CN113771002B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Active bionic multi-rod virtual wearable hip joint |
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