CN209316409U - A kind of wearable electricity drive assistance exoskeleton lower limb mechanism - Google Patents
A kind of wearable electricity drive assistance exoskeleton lower limb mechanism Download PDFInfo
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- CN209316409U CN209316409U CN201821314828.4U CN201821314828U CN209316409U CN 209316409 U CN209316409 U CN 209316409U CN 201821314828 U CN201821314828 U CN 201821314828U CN 209316409 U CN209316409 U CN 209316409U
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- 230000005611 electricity Effects 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 title claims abstract description 19
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 18
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 63
- 210000001624 hip Anatomy 0.000 claims abstract description 59
- 210000002414 leg Anatomy 0.000 claims abstract description 45
- 210000004394 hip joint Anatomy 0.000 claims abstract description 41
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 210000000629 knee joint Anatomy 0.000 claims abstract description 18
- 210000001699 lower leg Anatomy 0.000 claims description 81
- 210000000689 upper leg Anatomy 0.000 claims description 79
- 239000002184 metal Substances 0.000 claims description 24
- 210000002683 foot Anatomy 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 8
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- 229920001821 foam rubber Polymers 0.000 claims description 7
- 230000003139 buffering effect Effects 0.000 claims description 2
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- 230000000694 effects Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
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- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 239000010409 thin film Substances 0.000 description 2
- MFRCZYUUKMFJQJ-UHFFFAOYSA-N 1,4-dioxane-2,5-dione;1,3-dioxan-2-one Chemical compound O=C1OCCCO1.O=C1COC(=O)CO1 MFRCZYUUKMFJQJ-UHFFFAOYSA-N 0.000 description 1
- 206010017472 Fumbling Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Abstract
The utility model discloses a kind of wearable electricity to drive assistance exoskeleton lower limb mechanism, it includes left leg, right leg, motor-retarder drive system, power module；The right leg is identical with left leg structure, and is symmetricly set on waist two sides；Motor-retarder drive system is separately positioned on each active drive joint of left leg and right leg, and controls it.The movement of hip joint, knee joint and ankle-joint cooperates to complete to walk, 5 freedom degrees are shared, hip joint has 3 freedom degrees, is moved outside flexion/extension, abduction/adduction and medial rotation/rotation respectively, the freedom degree that knee joint has 1 flexion/extension to move, the freedom degree that ankle-joint has 1 flexion/extension to move.Furthermore, it is contemplated that back exists with ground out of plumb and the case where swing when human body walking, so the freedom degree of 1 flexion/extension movement is arranged again at back.The utility model has the characteristics that mechanism is simple, easy to wear, length is adjustable, is suitble to different people's wearing and ectoskeleton activity freely。
Description
Technical field
The utility model relates to robot field, ectoskeleton field and servomechanism fields, are related to a kind of wearable
Electricity drives assistance exoskeleton lower limb mechanism.
Background technique
In medical industry, for some patients that just rehabilitation comes from lower limb sick and wounded (fracture of lower limb, neurotrosis etc.)
For, autonomous actions also show slightly difficult, in this case it is necessary to develop one kind can identify human body be intended to help patient into
Row rehabilitation training and uninfluenced assistance exoskeleton mechanism.
In addition, contemporary society's Aging Problem is increasingly prominent, the appearance energy of the ectoskeleton with human body intention assessment function
The problem of enough the elderly being helped to solve the problems, such as inconvenient walking, can not walk for a long time due to physical strength.
The characteristics of assistance exoskeleton is to require to cooperate under various external environments with wearer, this requires researcher
It needs to solve the problems, such as the man-machine integration under random environment, including effectively reliable human-computer interaction problem, human motion is intended to
Quick response problem, the biomimetic features design problem of light and flexible, the safety issue of man-machine system etc., these technical problems
Also in the primary stage of fumbling, and it is immature, it is also necessary to carry out in-depth study.
Utility model content
The purpose of this utility model is the deficiency for existing ectoskeleton research field technology, proposes a kind of wearable electricity
Drive assistance exoskeleton lower limb mechanism.
The mechanism includes hip joint, knee joint and ankle-joint three legs joint, and passes through the cooperation in three joints
To realize the power-assisted behavior of ectoskeleton.Wherein, hip joint has outer three freedom of motion of flexion/extension, abduction/adduction and medial rotation/rotation
Degree, knee joint and ankle-joint respectively have a flexion/extension freedom of motion.And in view of back has gently human body in the process of walking
Micro-/layback behavior of leaning forward, thus back add one bow/face upward freedom of motion.The utility model have mechanism it is simple,
Length is adjustable for easy to wear, each position (waist, thigh, shank), people's wearing of different height and weights and ectoskeleton is suitble to respectively to close
Section activity freely the features such as.
In order to achieve the above object, technical solution used by the utility model is as follows:
A kind of wearable electricity drive assistance exoskeleton lower limb mechanism, comprising: waist, left leg, right leg, motor-retarder drive
Dynamic system, power module.Wherein, the left leg and right leg are connect with waist respectively, and are symmetricly set on waist two sides；Motor-
Retarder drive system is separately positioned at each active drive joint (hip joint and knee joint) of left and right leg, and is controlled to it
System；Electric power source pair of module motor-retarder drive system power supply.
The waist includes: back bogie plate, battery bottom plate, waist width adjustment plate, connecting plate, waist swivel plate, waist
Portion's rotary damper, foam-rubber cushion, waist bandage.Wherein, battery bottom plate is mounted on the back lower place of back bogie plate；Two pieces of waists are wide
Degree adjustment plate is connected to back bogie plate two sides；Connecting plate is connected on waist width adjustment plate；Waist swivel plate and company
Fishplate bar cooperation, and limited using waist rotary damper；Waist bandage is fixedly connected on back bogie plate and two pieces of companies
On fishplate bar；Foam-rubber cushion is for buffering.
The motor-retarder drive system includes: motor, retarder, motor and retarder connecting flange.Wherein, electric
The output shaft of machine is connected with the input shaft of retarder；The output device of retarder is fixedly connected on driving part；Motor with subtract
Fast device connecting flange one end is fixed on motor, and the other end is fixed on retarder, for protecting motor during the motion
Output shaft.
The right leg is identical with left leg structure, comprising: hip joint, thigh, knee joint, shank, ankle-joint plate, sole；Its
In, hip joint is fixedly connected in waist rotation and thigh fixed plate；Thigh connects to form knee joint with shank；Shank and ankle close
Section plate, which connects and is subject to ankle-joint damper, to be constrained；Ankle-joint plate is connected by screw to sole；Power sensing is fixed respectively
In thigh fixed plate and shank fixed plate, for acquiring the mechanical information in motion process；Leg strap sheet metal component is fixed on
The two sides of thigh fixed plate and shank fixed plate, for installing bandage to guarantee the obtained accurate information of force snesor.
The hip joint includes: longitudinal column spinner, the second connecting column, hip joint retarder connecting plate, hip joint rotation resistance
Buddhist nun's device.Wherein, longitudinal column spinner matches to merge with waist swivel plate is equipped with bearing；Second connecting column and longitudinal column spinner pass through screw
It is fixedly connected；Hip joint retarder connecting plate and the second connecting column cooperate, and using hip joint rotary damper to hip joint
The mutual rotary motion of retarder connecting plate and the second connecting column applies constraint.
The thigh includes: thigh fixed plate, thigh adjustable-length plate, thigh force snesor, thigh bandage sheet metal component, big
Leg bandage.Wherein, thigh fixed plate is connected with motor-retarder drive system retarder steel wheel；Thigh adjustable-length plate with
Thigh fixed plate is bolted；Big leg strength sensing is fixedly connected in thigh fixed plate；Thigh bandage sheet metal component is fixed to be connected
It connects on the both sides with thigh force snesor with the thigh fixed plate at height.
The knee joint is made of thigh adjustable-length plate, shank fixed plate and motor-retarder drive system
's.Wherein, thigh adjustable-length plate is connect with retarder steel wheel；Shank fixed plate is connect with retarder flexbile gear.
The shank includes: shank fixed plate, shank adjustable-length plate, shank force snesor, shank bandage sheet metal component, small
Leg bandage.Wherein, shank fixed plate is connected with motor-retarder drive system retarder flexbile gear；Shank adjustable-length plate with
Shank fixed plate is bolted；Shank force snesor is fixedly connected in shank fixed plate；Shank bandage sheet metal component is fixed
It is connected to the both sides with shank force snesor with the shank fixed plate at height.
The ankle-joint includes: ankle-joint connecting plate, ankle-joint rotary shaft, ankle-joint rotary damper.Ankle-joint connection
Plate is cooperated with shank adjustable-length plate by ankle-joint rotary shaft；Ankle-joint rotary shaft passes through parallel key and shank adjustable-length plate
It is locked；Ankle-joint rotary damper is fixedly connected on ankle-joint connecting plate and provides passive bound for ankle-joint rotary shaft.
The sole includes: ankle-joint connection sheet, upper layer sole, bottom sole, foot's bandage sheet metal component, sole film power
Sensor.Wherein, ankle-joint connection sheet upper end is fixedly connected with ankle-joint connecting plate, and lower end is fixedly connected with bottom sole；On
Layer sole is fixedly connected with bottom sole；Sole thin film sensor and foot's bandage sheet metal component are fixed on the groove of bottom sole
In.
Compared with the background art, feature is the utility model with advantage: the utility model be mainly used for assist human locomotion,
The walking ability etc. of strengthening part crowd；The waist and leg structure of the utility model all take adjustable-length plate and set
Meter, so that the wearable electricity drives the object that assistance exoskeleton is suitable for various figures；The structure design of the utility model meets
Human physiological structure's construction in the freedom degree design of each joint is conducive to that human body is assisted to carry out walking movement；The utility model
Using motor-retarder drive mode, entire drive system has the spies such as compact-sized, small in size, light-weight, outputting torsion is big
Point；The force snesor setting of the utility model is sensed at thigh and calf and heel, through human body intention assessment algorithm using each power
The action of the collected mechanical information identification wearer of device is intended to, and takes this as a foundation and control the defeated of joint driving motor
Out, to reach more accurate, effective, reliable power-assisted effect.
Detailed description of the invention
Fig. 1 is the global shape structural schematic diagram of the utility model；
Fig. 2 is the waist enlarged structure schematic diagram of the utility model；
Fig. 3 is the motor-retarder drive system enlarged structure schematic diagram of the utility model；
Fig. 4 is the hip joint enlarged structure schematic diagram of the utility model；
Fig. 5 is thigh enlarged structure (by taking left thigh as an example) schematic diagram of the utility model；
Fig. 6 is shank enlarged structure (by taking left leg as an example) schematic diagram of the utility model；
Fig. 7 is the ankle-joint enlarged structure schematic diagram of the utility model；
Fig. 8 is sole enlarged structure (by taking left foot is slapped as an example) schematic diagram of the utility model；
In figure, waist 1, hip joint 2, motor-retarder drive system 3, thigh 4, knee joint 5, shank 6, ankle-joint 7,
Sole 8, battery 9, back bogie plate 10, waist width adjustment plate 11, foam-rubber cushion 12, connecting plate 13, waist rotary damper 14,
Waist bandage 15, waist swivel plate 16, motor 17, motor and retarder connecting flange 18, retarder 19, longitudinal column spinner 20,
Second connecting column 21, hip joint rotary damper 22, hip joint retarder connecting plate 23, thigh fixed plate 24, big leg strength sensing
Device 25, thigh bandage sheet metal component 26, thigh bandage 27, thigh adjustable-length plate 28, shank fixed plate 29, shank force snesor
30, shank bandage sheet metal component 31, shank bandage 32, shank adjustable-length plate 33, ankle-joint connecting plate 34, ankle-joint damping due to rotation
Device 35, ankle-joint rotary shaft 36, foot's bandage 37, upper layer sole 38, foot's bandage sheet metal component 39, ankle-joint connection sheet 40, foot
Slap film force snesor 41, bottom sole 42.
Specific embodiment
As shown in Figure 1, the utility model includes: waist 1, left leg, right leg, motor-retarder drive system 3, battery electricity
Source 9；Wherein, the left leg and right leg are hinged with waist 1 respectively, and are symmetricly set on waist two sides；Motor-retarder driving system
System 3 is separately positioned at each active drive joint (hip joint 2 and knee joint 5) of left and right leg, and is controlled it；Battery electricity
Source 9 powers to motor-retarder drive system 3.
As shown in Fig. 2-Fig. 8, the waist includes: battery, back bogie plate 10, battery bottom plate, waist width adjustment plate
11, foam-rubber cushion 12, connecting plate 13, waist rotary damper 14, waist bandage 15, waist swivel plate 16.Wherein, battery bottom plate is pacified
Mounted in the back lower place of back bogie plate 10；Two blocks of waist width adjustment plates 11 are connected to 10 two sides of back bogie plate；Connection
Plate 13 is connected on waist width adjustment plate 11；Waist swivel plate 16 and connecting plate 13 cooperate, and use waist damping due to rotation
Device 14 is limited；Waist bandage 15 is fixedly connected on back bogie plate 10 and two pieces of connecting plates 13；Foam-rubber cushion 12 is for delaying
Punch through the impact of wearer back.
The motor-retarder drive system includes: motor 17, motor and retarder connecting flange 18, retarder 19.Its
In, the output shaft of motor 17 is connected with the input shaft of retarder 19；The output device of retarder 19 is fixedly connected on driving part
On；Motor and 18 one end of retarder connecting flange are fixed on motor 17, and the other end is fixed on retarder 19, for protecting
17 output shaft of motor in motion process.
The right leg is identical with left leg structure, comprising: hip joint 2, thigh 4, knee joint 5, shank 6, ankle-joint 7 and sole
8；Wherein, hip joint 2 is fixedly connected on waist swivel plate 16 and thigh fixed plate 24；Thigh 4 and the connection of shank 6 form knee pass
Section 5；Shank 6 connect with ankle-joint connecting plate 34 and is subject to ankle-joint rotary damper 35 and constrained；Ankle-joint connecting plate 34
It is connected by screw to sole 8；Force snesor is separately fixed in thigh fixed plate 24 and shank fixed plate 29, for acquiring fortune
Mechanical information during dynamic；Leg strap sheet metal component is fixed on the two sides of thigh fixed plate 24 and shank fixed plate 29, is used for
Bandage is installed to guarantee the obtained accurate information of force snesor.
The hip joint 2 includes: that longitudinal column spinner 20, the second connecting column 21, hip joint rotary damper 22, hip joint subtract
Fast device connecting plate 23.Wherein, longitudinal column spinner 20 matches to merge with waist swivel plate 16 is equipped with bearing；Second connecting column 21 and longitudinal direction
Column spinner 20 is fixedly connected by screw；Hip joint retarder connecting plate 23 and the second connecting column 21 cooperate, and are closed using hip
It saves rotary damper 22 and constraint is applied to the mutual rotary motion of hip joint retarder connecting plate 23 and the second connecting column 21.
The thigh 4 includes: thigh fixed plate 24, thigh force snesor 25, thigh bandage sheet metal component 26, thigh bandage
27, thigh adjustable-length plate 28.Wherein, thigh fixed plate 24 is connected with motor-retarder drive system 3 retarder steel wheel；
Thigh adjustable-length plate 28 is bolted with thigh fixed plate 24；Thigh force snesor 25 is fixedly connected on thigh fixed plate
On 24；Thigh bandage sheet metal component 26 is fixedly connected on the both sides with thigh force snesor 25 with the thigh fixed plate 24 at height.
The knee joint 5 is by thigh adjustable-length plate 28, shank fixed plate 29 and motor-retarder drive system 3
It is composed.Wherein, thigh adjustable-length plate 28 is connect with retarder steel wheel；Shank fixed plate 29 is connect with retarder flexbile gear.
The shank (6) includes: shank fixed plate 29, shank force snesor 30, shank bandage sheet metal component 31, shank bandage
32, shank adjustable-length plate 33.Wherein, shank fixed plate 29 is connected with motor-retarder drive system 3 retarder flexbile gear；
Shank adjustable-length plate 33 is bolted with shank fixed plate 29；Shank force snesor 30 is fixedly connected on shank fixed plate
On 29；Shank bandage sheet metal component 31 is fixedly connected on the both sides with the level shank fixed plate 29 of shank force snesor 30.
The ankle-joint 7 includes: ankle-joint connecting plate 34, ankle-joint rotary damper 35, ankle-joint rotary shaft 36.Ankle closes
Connecting plate 34 and shank adjustable-length plate 33 is saved to cooperate by ankle-joint rotary shaft 36；Ankle-joint rotary shaft 36 by parallel key and
Shank adjustable-length plate 33 is locked；Ankle-joint rotary damper 35 is fixedly connected on ankle-joint connecting plate 34 and revolves for ankle-joint
Shaft 36 provides passive bound.
The sole 8 include: foot's bandage 37, upper layer sole 38, foot's bandage sheet metal component 39, ankle-joint connection sheet 40,
Sole film force snesor 41, bottom sole 42.Wherein, 40 upper end of ankle-joint connection sheet and the fixed company of ankle-joint connecting plate 34
It connects, lower end is fixedly connected with bottom sole 42；Upper layer sole 38 is fixedly connected with bottom sole 42；Sole thin film sensor 41 with
Foot's bandage sheet metal component 39 is fixed in the groove of bottom sole 42.
The product of the adoptable model Maxon EC90 flat of servo motor, but not limited to this；Motor reducer can be adopted
The product of model SHIMPO WPC CN, but not limited to this.
Wearable electricity drives assistance exoskeleton lower limb structure one and shares 6 freedom degrees, and wherein hip joint 3 has flexion/extension, outer
Exhibition/interior receipts and outer 3 freedom of motion of medial rotation/rotation, knee joint 5 have one freedom of motion of flexion/extension, ankle-joint 7 have bend/
Stretch 1 freedom of motion.Furthermore, it is contemplated that back exists with ground out of plumb and the case where swing when human body walking, so
The freedom degree of 1 flexion/extension movement is arranged in back again.In this 6 freedom degrees, the flexion/extension movement of hip joint 3 and knee joint 5 is certainly
Active drive is carried out using motor-retarder drive system by degree, other freedom of motion are passive freedom degree.
In the specific application process, waist bandage 15 is glued the waist location tied up in body, the thigh of left and right leg by wearer
Bandage 27 is viscous to be tied up at left and right leg thigh position, and the shank bandage 32 of left and right leg is viscous to be tied up at left and right leg shank position.Under wearer
In limb motion process, the mechanical information of thigh in motion process is acquired positioned at the thigh force snesor 25 at thigh position, is located at small
The shank force snesor 30 of leg position acquires the mechanical information of shank in motion process, the film force snesor 41 at heel
The mechanical information in motion process at heel is acquired, is known by the collected mechanical information in these positions, using control algolithm
The motion intention of other wearer, and motor output torque is controlled to reach power-assisted effect.Three freedom of motion of hip joint 2 point
It is not: is transported by the flexion/extension that motor-retarder drive system 3, hip joint retarder connecting plate 23 and thigh fixed plate 24 are completed
It is dynamic；Hip joint retarder connecting plate 23 is connected with retarder flexbile gear, and thigh fixed plate 24 is connected with retarder steel wheel, passes through motor
Drive retarder flexbile gear rotation to complete thigh " take a step " flexion/extension movement；In addition, being set on hip joint retarder connecting plate 23
Mechanical position limitation slot is set, in a certain range by 2 flexion/extension of hip joint movement limitation；By hip joint retarder connecting plate 23 and
It is moved outside medial rotation/rotation that two connecting columns 21 are completed；Mechanical position limitation setting is also carried out on the second connecting column 21, to limit hip pass
Save the motion range moved outside 2 medial rotations/rotation；The abduction/adduction movement completed by longitudinally connected column 20 and waist swivel plate 16.Knee
The flexion/extension freedom of motion in joint is by motor-retarder drive system 2, thigh adjustable-length plate 28 and shank fixed plate 29
It completes；Thigh adjustable-length plate 28 is connect with the steel wheel of motor reducer, the flexbile gear of shank fixed plate 29 and motor reducer
Connection, by motor drive retarder flexbile gear rotation to complete shank " take a step " flexion/extension movement；In addition in thigh adjustable-length
Limiting slot is designed on plate 28, to limit the range of 5 flexion/extension of knee joint movement.The flexion/extension movement of ankle-joint is adjustable by shank
What length boards 33, ankle-joint connecting plate 34 and ankle-joint rotary shaft 36 were completed.
Claims (9)
1. a kind of wearable electricity drives assistance exoskeleton lower limb mechanism, which is characterized in that including waist (1), left leg, right leg, electricity
Machine-retarder drive system (3) and power module；The left leg and right leg are connect with waist (1) respectively, and are symmetricly set on waist
Portion (1) two sides；Motor-retarder drive system (3) is separately positioned on each active drive joint of left and right leg, and carries out to it
Control；Electric power source pair of module motor-retarder drive system (3) power supply；
The waist (1) includes battery (9), back bogie plate (10), battery bottom plate, waist width adjustment plate (11), foam-rubber cushion
(12), connecting plate (13), waist rotary damper (14), waist bandage (15) and waist swivel plate (16)；Wherein, battery bottom plate
It is mounted on the back lower place of back bogie plate (10)；Two pieces of waist width adjustment plates (11) are connected to back bogie plate (10) two
Side；Connecting plate (13) is connected on waist width adjustment plate (11)；Waist swivel plate (16) and connecting plate (13) cooperate, and make
It is limited with waist rotary damper (14)；Waist bandage (15) is fixedly connected on back bogie plate (10) and two pieces of connecting plates
(13) on；Foam-rubber cushion (12) is for buffering the impact of wearer back.
2. the wearable electricity of one kind according to claim 1 drives assistance exoskeleton lower limb mechanism, which is characterized in that the right side
Leg is identical with left leg structure, including hip joint (2), thigh (4), knee joint (5), shank (6), ankle-joint (7) and sole (8)；
Wherein, hip joint (2) is fixedly connected on waist swivel plate (16) and thigh fixed plate (24)；Thigh (4) and shank (6) connection
It is formed knee joint (5)；Shank (6) connect with ankle-joint connecting plate (34) and is subject to ankle-joint rotary damper (35) and carries out about
Beam；Ankle-joint connecting plate (34) is connected by screw to sole (8)；Force snesor be separately fixed at thigh fixed plate (24) with it is small
In leg fixed plate (29), for acquiring the mechanical information in motion process；Leg strap sheet metal component is fixed on thigh fixed plate
(24) and the two sides of shank fixed plate (29), for installing bandage to guarantee the obtained accurate information of force snesor.
3. the wearable electricity of one kind according to claim 2 drives assistance exoskeleton lower limb mechanism, which is characterized in that the hip
Joint (2) includes that longitudinal column spinner (20), the second connecting column (21), hip joint rotary damper (22) and hip joint retarder connect
Fishplate bar (23)；Wherein, longitudinal column spinner (20) matches to merge with waist swivel plate (16) is equipped with bearing；Second connecting column (21) and vertical
It is fixedly connected to column spinner (20) by screw；Hip joint retarder connecting plate (23) and the second connecting column (21) cooperate, and
The mutual rotation of hip joint retarder connecting plate (23) and the second connecting column (21) is transported using hip joint rotary damper (22)
It is dynamic to apply constraint.
4. the wearable electricity of one kind according to claim 2 drives assistance exoskeleton lower limb mechanism, which is characterized in that described big
Leg (4) includes thigh fixed plate (24), thigh force snesor (25), thigh bandage sheet metal component (26), thigh bandage (27) and big
Leg adjustable-length plate (28)；Wherein, thigh fixed plate (24) is connected with motor-retarder drive system (3) retarder steel wheel；
Thigh adjustable-length plate (28) is bolted with thigh fixed plate (24)；Thigh force snesor (25) is fixedly connected on thigh
In fixed plate (24)；Thigh bandage sheet metal component (26), which is fixedly connected on, to be fixed with thigh force snesor (25) with the thigh at height
The both sides of plate (24).
5. the wearable electricity of one kind according to claim 4 drives assistance exoskeleton lower limb mechanism, which is characterized in that the knee
Joint (5) is made of thigh adjustable-length plate (28), shank fixed plate (29) and motor-retarder drive system (3)
's；Wherein, thigh adjustable-length plate (28) is connect with retarder steel wheel；Shank fixed plate (29) is connect with retarder flexbile gear.
6. the wearable electricity of one kind according to claim 2 drives assistance exoskeleton lower limb mechanism, which is characterized in that described small
Leg (6) includes shank fixed plate (29), shank force snesor (30), shank bandage sheet metal component (31), shank bandage (32) and small
Leg adjustable-length plate (33)；Wherein, shank fixed plate (29) is connected with motor-retarder drive system (3) retarder flexbile gear；
Shank adjustable-length plate (33) is bolted with shank fixed plate (29)；Shank force snesor (30) is fixedly connected on shank
In fixed plate (29)；Shank bandage sheet metal component (31) is fixedly connected on and the level shank fixed plate of shank force snesor (30)
(29) both sides.
7. the wearable electricity of one kind according to claim 6 drives assistance exoskeleton lower limb mechanism, which is characterized in that the ankle
Joint (7) includes ankle-joint connecting plate (34), ankle-joint rotary damper (35) and ankle-joint rotary shaft (36)；Ankle-joint connection
Plate (34) and shank adjustable-length plate (33) are cooperated by ankle-joint rotary shaft (36)；Ankle-joint rotary shaft (36) passes through parallel key
It is locked with shank adjustable-length plate (33)；Ankle-joint rotary damper (35) is fixedly connected on ankle-joint connecting plate (34) and is
Ankle-joint rotary shaft (36) provides passive bound.
8. the wearable electricity of one kind according to claim 7 drives assistance exoskeleton lower limb mechanism, which is characterized in that the foot
The palm (8) includes that foot's bandage (37), upper layer sole (38), foot's bandage sheet metal component (39), ankle-joint connection sheet (40), sole are thin
Membrane forces sensor (41) and bottom sole (42)；Wherein, ankle-joint connection sheet (40) upper end and ankle-joint connecting plate (34) are fixed
Connection, lower end is fixedly connected with bottom sole (42)；Upper layer sole (38) is fixedly connected with bottom sole (42)；Sole film power
Sensor (41) and foot's bandage sheet metal component (39) are fixed in the groove of bottom sole (42).
9. the wearable electricity of one kind according to any one of claim 1 to 8 drives assistance exoskeleton lower limb mechanism, feature
It is, the motor-retarder drive system (3) includes connecting flange (18), the retarder of motor (17), motor and retarder
(19)；Wherein, the output shaft of motor (17) is connected with the input shaft of retarder (19)；The output device of retarder (19) is fixed to be connected
It connects on driving part；Motor and retarder connecting flange (18) one end are fixed on motor (17), and the other end is fixed on deceleration
On device (19), for protecting motor (17) output shaft during the motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821314828.4U CN209316409U (en) | 2018-08-14 | 2018-08-14 | A kind of wearable electricity drive assistance exoskeleton lower limb mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821314828.4U CN209316409U (en) | 2018-08-14 | 2018-08-14 | A kind of wearable electricity drive assistance exoskeleton lower limb mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209316409U true CN209316409U (en) | 2019-08-30 |
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ID=67706286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821314828.4U Active CN209316409U (en) | 2018-08-14 | 2018-08-14 | A kind of wearable electricity drive assistance exoskeleton lower limb mechanism |
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| Country | Link |
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| CN (1) | CN209316409U (en) |
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| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
| CN110898394A (en) * | 2019-11-26 | 2020-03-24 | 新疆医科大学第四附属医院 | Lower limb rehabilitation device |
| CN111840003A (en) * | 2020-08-14 | 2020-10-30 | 青岛科技大学 | Intelligent mechanical leg device for helping the old and supporting the disabled based on STC12C5A60S2 |
| CN111840006A (en) * | 2019-10-10 | 2020-10-30 | 邳州利康沃智能康复设备有限公司 | Passive walking-aid exoskeleton |
| CN111905346A (en) * | 2020-08-11 | 2020-11-10 | 河南职业技术学院 | Artificial intelligence motion assistance device |
| CN113910203A (en) * | 2021-11-11 | 2022-01-11 | 电子科技大学 | Rehabilitation type exoskeleton device |
| CN115024946A (en) * | 2022-05-17 | 2022-09-09 | 燕山大学 | High-rigidity lower limb rehabilitation exoskeleton system with force feedback |
| WO2023248194A1 (en) * | 2022-06-22 | 2023-12-28 | Ramakrishna Reddy Katukuri | Modular physiotherapy and rehabilitation device |
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2018
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
| CN111840006A (en) * | 2019-10-10 | 2020-10-30 | 邳州利康沃智能康复设备有限公司 | Passive walking-aid exoskeleton |
| CN110898394A (en) * | 2019-11-26 | 2020-03-24 | 新疆医科大学第四附属医院 | Lower limb rehabilitation device |
| CN111905346A (en) * | 2020-08-11 | 2020-11-10 | 河南职业技术学院 | Artificial intelligence motion assistance device |
| CN111840003A (en) * | 2020-08-14 | 2020-10-30 | 青岛科技大学 | Intelligent mechanical leg device for helping the old and supporting the disabled based on STC12C5A60S2 |
| CN111840003B (en) * | 2020-08-14 | 2024-04-12 | 青岛科技大学 | Intelligent aging-assisting and disabled-supporting mechanical leg device based on STC12C5A60S2 |
| CN113910203A (en) * | 2021-11-11 | 2022-01-11 | 电子科技大学 | Rehabilitation type exoskeleton device |
| CN113910203B (en) * | 2021-11-11 | 2023-12-05 | 电子科技大学 | Rehabilitation type exoskeleton device |
| CN115024946A (en) * | 2022-05-17 | 2022-09-09 | 燕山大学 | High-rigidity lower limb rehabilitation exoskeleton system with force feedback |
| WO2023248194A1 (en) * | 2022-06-22 | 2023-12-28 | Ramakrishna Reddy Katukuri | Modular physiotherapy and rehabilitation device |
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