CN209332629U - Exoskeleton rehabilitation power assisting device and exoskeleton rehabilitation force aid system - Google Patents
Exoskeleton rehabilitation power assisting device and exoskeleton rehabilitation force aid system Download PDFInfo
- Publication number
- CN209332629U CN209332629U CN201820438231.4U CN201820438231U CN209332629U CN 209332629 U CN209332629 U CN 209332629U CN 201820438231 U CN201820438231 U CN 201820438231U CN 209332629 U CN209332629 U CN 209332629U
- Authority
- CN
- China
- Prior art keywords
- plate
- shoulder
- pneumatic muscles
- waist
- bracket
- 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.)
- Active
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model provides a kind of exoskeleton rehabilitation power assisting device, it include: back bracket, two single armeds, lumbar unit and two huckles, back bracket includes back crossbeam, the back support plate of adjustable in length and the shoulder pneumatic muscles that are mounted on back support plate, wherein described two single armeds pass through the upper end that shoulder joint component is connected to the back bracket respectively, the upper end of back support plate is fixedly attached to back crossbeam, lower end is fixedly attached to lumbar unit, and two huckles pass through hip joint component respectively and are connected to lumbar unit；Wherein shoulder joint component includes shoulder joint connecting plate, shoulder traction wheel, shoulder draught line, the first linkwork and the second linkwork, one end of shoulder joint connecting plate by the first linkwork is connected to single armed to form the flexion-extension revolute pair of shoulder joint, revolute pair outside the interior receipts revolute pair of outreach-and medial rotation-rotation that the other end of shoulder joint connecting plate is connected to back crossbeam to form shoulder joint by the second linkwork.
Description
Technical field
The utility model relates in general to the ectoskeleton health of technical field of bio-simulation machinery more particularly to a kind of driving of pneumatic muscles
Multiple power assisting device.
Background technique
The mankind in social life, can encounter age-care, Post disaster relief, the various problems such as daily manual labor, frequency
The manual labor of numerous excess load, which will cause, is short of physical strength and muscle damage.For example, the quantity of modern the elderly is being continuously increased,
It is also increasing for the nursing demand of the elderly.Modern society, which is highly desirable to, develops a kind of assistance exoskeleton device, in nurse
When carrying the elderly or patient, can they be carried out with limbs power-assisted service, in this way in the case where guaranteeing both sides' safety, energy
Enough physical labor intensities for greatly mitigating nurse, make nurses can relatively easily, work is effectively performed.For muscle machine
The elderly that can be degenerated, ectoskeleton power assisting device can also help them to complete Self-Service in daily life.And for having
The patient of arm damage, it is also desirable to which a kind of exoskeleton device can help itself to complete daily rehabilitation training function, keep it fast
The recovery physical function of speed.
Exoskeleton rehabilitation power assisting device be it is a kind of merged the technologies such as sensing, control, acquisition of information, mobile computing, can
It is set to complete the typical human-machine system of certain function and task under the control of wearer.It is existing most of outer
Bone is driven using traditional motor, hydraulic cylinder, pneumatic cylinder etc., and this traditional driving method has cost
The disadvantages of high, power/quality is than small, oil leak, poor flexibility so that ectoskeleton product overall weight is big, be unable to satisfy portability,
The requirement of flexibility, and it is expensive, it is unable to get extensive use.
Pneumatic muscles are that one kind can be with the next-generation drive of mimic biology contraction of muscle, since flexibility is high, light-weight, makes for it
With convenience, fast response time, it is low in cost the advantages that, be widely used in the drive areas such as various bionic mechanicals.
Compared to rigid drivers such as traditional motor, hydraulic cylinder, pneumatic cylinders, pneumatic muscles have high power/mass ratio,
Good flexibility and safety, lightweight, it is flexible the advantages that, and draw materials conveniently, be easy to make, cost is relatively low.Therefore, with gas
Dynamic muscle driving exoskeleton rehabilitation power assisting device can under the premise of guaranteeing compared with large driving force, realize its with preferable portability,
Flexibility, safety, moreover it is possible to cost be greatly reduced, be easy to be widely used.
It is relatively fewer for the exoskeleton rehabilitation device of upper limb at present, it is more the rehabilitation power assisting device for lower limb
Research is relatively more, also has the research of the exoskeleton rehabilitation equipment of whole body, while the correlation for having done power-assisted rehabilitation to arm part is set
Meter.Such as the EKSO exoskeleton device in the U.S. designs a kind of product aiming at the bionic exoskeleton of lower limb paralysis patient；Japan
HAL exoskeleton rehabilitation device the patient of lower limb disability can be helped to complete normal walking, Arm structure in outfit, Ke Yiwei
The elderly handicapped, muscle is powerless completes self-care daily life；New Zealand's REX convalescence device is a lower limb exoskeleton health
Apparatus for coating, it is therefore an objective to the patient of leg deformity be helped to complete daily walking function.But with similar in the utility model just for
The utility model that the movement of human upper limb carries out power-assisted rehabilitation is relatively seldom, and the purpose of this utility model is that muscle function is moved back
The elderly of change, and have arm damage patient, can they itself can complete daily life power-assisted and rehabilitation training function
Can, so that it is quickly restored physical function.
Summary of the invention
It is simple with structure, safety is good the purpose of the utility model is to provide a kind of exoskeleton rehabilitation power assisting device
And flexibility it is strong the advantages that.
For this purpose, the utility model provides a kind of exoskeleton rehabilitation power assisting device comprising: back bracket, two single armeds, waists
Portion's unit and two huckles, the back bracket include back crossbeam, adjustable in length back support plate and be mounted on
Shoulder pneumatic muscles on back support plate, wherein described two single armeds pass through shoulder joint component respectively is connected to the back bracket
Upper end, the upper end of the back support plate is fixedly attached to the back crossbeam, and lower end is fixedly attached to the lumbar unit, and
Described two huckles pass through hip joint component respectively and are connected to the lumbar unit；Wherein the shoulder joint component includes the shoulder of arc
Articular link plate, shoulder traction wheel, shoulder draught line, the first linkwork and the second linkwork, the shoulder joint connecting plate
One end the upper end of the single armed is connected to form the flexion-extension revolute pair of shoulder joint, the shoulder joint by first linkwork
The other end for saving connecting plate is connected to the back crossbeam by second linkwork and is turned with interior receive of the outreach-for forming shoulder joint
The dynamic outer revolute pair of secondary and medial rotation-rotation, and the shoulder traction wheel is fixed to the upper end of the single armed；The shoulder draught line one
End is connected to the shoulder traction wheel, and the other end is connected to the shoulder pneumatic muscles.
In an advantageous scheme, the lumbar unit includes the waist for being fixedly attached to the lower end of the back support plate
Portion's transverse slat and the waist pneumatic muscles being mounted on the huckle, the hip joint component include being fixedly attached to waist cross
The waist connecting plate of plate, articulated shaft, the first directive wheel fixed to the waist connecting plate, fixed to the second guiding on huckle
Wheel and lumbar traction line, wherein the waist connecting plate is connected to the huckle to form hip joint by the articulated shaft
Flexion-extension revolute pair, one end of the lumbar traction line extend past the second directive wheel and the first directive wheel and are fixed to the waist
Portion's connecting plate, the other end are connected to the waist pneumatic muscles.
In a preferred embodiment, the huckle includes thigh plate and thigh retaining frame, wherein being equipped on the thigh plate
Waist pneumatic muscles bracket offers protecting band link slot in the thigh retaining frame, for connecting for installing the waist pneumatic muscles
Connect the huckle protecting band.
In the present invention, each single armed includes upper arm, elbow joints, forearm, wrist joints and hand,
In the upper end of the upper arm shoulder joint connecting plate is connected to by first linkwork, lower end is connected to this by elbow joints
Forearm formed elbow joint flexion-extension revolute pair, and the forearm further through the wrist joints be connected to the hand formed it is carpal
Flexion-extension revolute pair.
In a preferred embodiment, the both ends of the back crossbeam offer sliding slot respectively, which includes
Articulated shaft and hinged seat, the hinged seat are configured to one end as cylinder, and the other end is with being adapted to the shoulder joint connecting plate
Concave part, the two sidewalls of the concave part are equipped with aperture, which is matched by the articulated shaft and the aperture
Conjunction is connected to the hinged seat, forms the interior receipts revolute pair of outreach-of shoulder joint；The cylinder-shaped end of the hinged seat rotatably accommodates
It carries out in the sliding slot and by positioning bolt being positioned to prevent hinged seat linear movement in the sliding slot, to form shoulder joint
The outer revolute pair of medial rotation-rotation of section.
In a specific scheme, each upper arm includes outer upper arm plate, interior upper arm plate and consolidates them each other
Surely the upper arm retaining frame connected, each forearm include outer forearm plate, interior forearm plate and are fixedly secured to one another them small
Arm retaining frame, the hand include the hand retaining frame that they are fixedly secured to one another by interior supporting plate, outer supporting plate；Wherein in the outer upper arm
It is equipped with first ancon pneumatic muscles bracket in plate and the interior upper arm plate, on the outer forearm plate and the interior forearm plate
Equipped with the second ancon pneumatic muscles bracket and the first wrist pneumatic muscles bracket, is equipped on the interior supporting plate and outer supporting plate
Two wrist pneumatic muscles brackets, ancon pneumatic muscles are mounted on the first ancon pneumatic muscles bracket and the pneumatic flesh of the second ancon
On meat bracket, for drive the elbow joint move pivotally, wrist pneumatic muscles be mounted on the first wrist pneumatic muscles bracket and
On the second wrist pneumatic muscles bracket, for driving the wrist joint to move pivotally.
In an advantageous scheme, upper arm protecting band company is offered respectively in the outer upper arm plate and the interior upper arm plate
Access slot is used to connect upper arm protecting band；Offer forearm protecting band link slot use respectively on the outer forearm plate and the interior forearm plate
To connect forearm protecting band；Hand protecting band link slot is offered respectively on the interior supporting plate and the outer supporting plate to be used to connect hand
Protecting band also offers the groove for being suitable for hanging weight respectively on the interior supporting plate and the outer supporting plate.
In an arrangement, the exoskeleton rehabilitation power assisting device is additionally provided with shoulder traction wire conduit, described for guiding
Shoulder draught line；Also, it is equipped with lumbar traction line bracket, on the waist connecting plate for fixing the lumbar traction line.
Advantageously, the back support plate includes two back support plates, each back support plate has can phase
To the first section and the second section of sliding, so that the length of the back support plate is adjustable, so as to adjust waist
Position；And positioning runner, first section and described second are equipped on first section and second section
Section can cooperate to be fixed against their opposite slidings with lock screw by the positioning runner.
The utility model also provides a kind of exoskeleton rehabilitation force aid system, including control system and above-mentioned exoskeleton rehabilitation help
Power device, the control system include air source generator, controller, and pneumatic pressure-release valve is connected respectively to shoulder pneumatic muscles, waist
The solenoid valve block of portion's pneumatic muscles, ancon pneumatic muscles and wrist pneumatic muscles, and be arranged in controller and solenoid valve block
Between drive circuit board, wherein the controller for control the pneumatic pressure-release valve to the gas from the air source generator into
Row decompression, the signal input part of the solenoid valve block is connected to the drive circuit board, and the drive circuit board is used to receive to come from
The control instruction of the controller pre-set.
Exoskeleton rehabilitation power assisting device according to the present utility model, altogether have 12 freedom degrees, two shoulder joint all have it is in the wrong-
Stretch, outreach-it is interior receive, 3 freedom degrees outside medial rotation-rotation, elbow joint and wrist joint respectively have 1 flexion-extension freedom degree；Back bracket
It can slide up and down to adjust waist location；Waist includes the identical hip joint of two structures, all has a rotary freedom, can
Realize that exoskeleton rehabilitation power-assisted clothes follow wearer to bend over and uprighting movement.It is bright have structure is simple, power density ratio is high,
The advantages that safety is good, flexibility is strong can be substantially improved physical function strength when wearer lifts weight, can be widely applied
In fields such as rehabilitation medical, home services, disaster relief and material handlings.
Detailed description of the invention
The exemplary embodiment of the utility model is described with reference to the accompanying drawings.
Fig. 1 is the overall structure diagram according to the exoskeleton rehabilitation power assisting device of one embodiment of the utility model；
Fig. 2 is the superstructure schematic diagram of exoskeleton rehabilitation power assisting device shown in FIG. 1；
Fig. 3 is the back structures schematic diagram of exoskeleton rehabilitation power assisting device shown in FIG. 1；
Fig. 4 is the waist and huckle structural schematic diagram of exoskeleton rehabilitation power assisting device shown in FIG. 1；
Fig. 5 is the huckle structural schematic diagram of exoskeleton rehabilitation power assisting device shown in FIG. 1；
Fig. 6 is the partial structural diagram of the outer upper arm of exoskeleton rehabilitation power assisting device shown in FIG. 1；
Fig. 7 a and Fig. 7 b are the structural schematic diagram of the back crossbeam of exoskeleton rehabilitation power assisting device shown in FIG. 1；
Fig. 8 is the structural schematic diagram of the hinged seat in the shoulder joint component in the utility model；
Fig. 9 is that the structure of the shoulder traction wheel in the shoulder joint component in the utility model is intended to；
Figure 10 is the structural schematic diagram of pneumatic muscles；
Figure 11 is the schematic diagram of the pneumatic muscles control system for the utility model.
Specific embodiment
The exemplary embodiment of the utility model is described below in detail.Exemplary implementation shown in described below and attached drawing
Example is intended to instruct the principles of the present invention, enables those skilled in the art in several varying environments and for several differences
Application implementation and use the utility model.
First the technical principle of pneumatic muscles is illustrated before describing the utility model, it is practical new that Figure 10 shows this
The structural schematic diagram of pneumatic muscles used in type.Pneumatic muscles are a kind of next-generation drive, and main body is rubber tube D,
The mesh grid C of one layer of PET material, the both ends of rubber tube D are respectively fitted over the blocking at its both ends on the outer sheath of rubber tube
On, the wherein not set stomata of blocking F of one end, blocking rubber tube completely prevents gas leakage, is provided with gas inside the blocking E of the other end
Hole, for pneumatic muscles inside to be inflated and is deflated, then with adhesive tape rubber tube D and mesh grid C both ends blocking E,
The female parts winding 2-3 circle of F, main purpose is that rubber tube and mesh grid are tightly pasted onto one in the interior recess of blocking
It rises.In the one circle copper wire A of edge winding of the indent of the blocking at both ends, prevent mesh grid C from disengaging under high pressure, then mesh grid
C fold, copper wire are arranged in mesh grid C in the bending place of end, and the mesh grid after fold extends to the position of blocking tail portion, with card
Hoop B tightly block recess in blocking E, F, on the one hand prevent pneumatic muscles gas leakage, on the other hand prevent under internal high pressure state,
Pneumatic muscles collapse out, and the design of blocking E, F very flexibility can design different types of attachment according to the needs of connection type.
Requirement to rubber tube D is that have certain toughness and elasticity, can be expanded in the state of inflatable and deflatable and
It shrinks, and there is good fatigue resistance, the requirement to mesh grid C is that have very high non-extensible, intensity and toughness
It is fabulous, but there is no stretcher strain, blocking E, F material can be the very high rigid nonmetallic materials of compactness, be also possible to strong
Degree is high, and the small metal material of density, clip B can be the stainless steel lathe dog part usually used, be also possible to the strong of designed, designed
Spend higher Al-alloy parts.
Pneumatic muscles can be radially expanded, axial shrinkage during to inner inflatable, be generated using its axial shrinkage
Axial driving force drives external load.And pneumatic muscles increasing with internal pressure, rigidity constantly becomes larger, with inside
The reduction of pressure, rigidity constantly reduce.According to the characteristic of pneumatic muscles, a kind of novel linear actuator use can be used as,
The drivers such as relatively traditional hydraulic cylinder, pneumatic cylinder, motor, weight is very light, and can be tied according to the needs of driving trip
The length for closing the shrinking percentage design pneumatic muscles of pneumatic muscles itself, in this way can be to avoid danger caused by overtravel, Er Qiezao
Valence is very cheap, it is most important that pneumatic muscles have good flexibility, and safety can be widely used in rehabilitation medical neck
Domain.
Below in conjunction with the exoskeleton rehabilitation power assisting device of one embodiment of the utility model, carry out emphasis description this is practical
It is novel.
As shown in Figure 1, in one embodiment, exoskeleton rehabilitation power assisting device includes the identical single armed 1 of two structures, back
Portion's bracket 2, lumbar unit 3 and the identical huckle 4 of two structures.Each single armed 1 is connected to back by shoulder joint component
Bracket 2, and have elbow joint and wrist joint, wherein each single armed have 5 freedom degrees, each shoulder joint component have bend-
Stretch, outreach-it is interior receive, 3 freedom degrees outside medial rotation-rotation, elbow joint and wrist joint are respectively provided with 1 flexion-extension freedom degree.And it is every
A huckle 4 is connected to lumbar unit 3 by hip joint component, has 1 flexion-extension freedom degree.Therefore, entire exoskeleton rehabilitation
Power assisting device has 12 freedom degrees.
Fig. 2 and Fig. 3 respectively illustrates the superstructure and back knot of the exoskeleton rehabilitation power assisting device in above-described embodiment
Structure schematic diagram.It can be seen from the figure that each single armed 1 include upper arm 11, elbow joints 12, forearm 13, wrist joints 14 and
Hand 15.Back bracket 2 includes back crossbeam 21 and two back support plates 22, is set on back crossbeam 21 there are two first
Shoulder pneumatic muscles bracket 211 is fixedly attached to back crossbeam 21 in one end of each back support plate 22, sets on the other end
There is a second shoulder pneumatic muscles bracket 220.One shoulder pneumatic muscles 5, one end are installed on each back support plate 22
It is fixedly attached to the first shoulder pneumatic muscles bracket 211, the other end is fixedly attached to the second shoulder pneumatic muscles bracket 220, uses
It moves pivotally in drive shoulder joint.It will be appreciated by those skilled in the art that the number of back support plate and shoulder pneumatic muscles here
Mesh is only exemplary.As needed, other suitable numbers also can be set.
Advantageously, the length of back support plate 22 be it is adjustable, for adjusting the position of waist.Referring more particularly to
Fig. 3, each back support plate 22 have the first section 221 and the second section 222 that can be slided relatively, such as the first section can be slided
It is contained in the second section dynamicly, and is equipped with positioning runner, the first section on the first section 221 and the second section 222
It can be locked by positioning runner with the cooperation of locking bolt with the second section to prevent their opposite slidings.When needing to adjust waist
When portion position, can unlock bolt, so that the first section and the second section relatively slide to the position of needs to adjust
The length of back support plate.
As shown in figs. 7 a and 7b, harness link slot 212, back-supported plate location hole are also provided on back crossbeam 21
213, sliding slot 214 and locating slot 215 are connected.The harness link slot 212 for connecting back protecting band (not shown), with wear
The back of wearer is connected.
In addition, by taking left arm as an example, each upper arm 11 includes outer upper arm plate 111, interior upper arm plate referring more particularly to Fig. 6
112 and the upper arm retaining frame 113 that is fixedly secured to one another them, and also distinguish in outer upper arm plate 111 and interior upper arm plate 112
It offers upper arm protecting band link slot 114 to be used to connect upper arm protecting band (not shown), to be connected with the human body large arm of wearer.Separately
Outside, first ancon pneumatic muscles bracket 115 is equipped in outer upper arm plate 111 and interior upper arm plate 112.
Also, each forearm 13 includes outer forearm plate 131, interior forearm plate 132 and is fixedly secured to one another them small
Arm retaining frame 133, and offer forearm protecting band link slot 134 respectively on outer forearm plate 131 and interior forearm plate 132 and be used to connect
Forearm protecting band (not shown), to be connected with the human body forearm of wearer.In addition, on outer forearm plate 131 and interior forearm plate 132
It is equipped with the second ancon pneumatic muscles bracket 135 and the first wrist pneumatic muscles bracket 136.
In addition, the hand retaining frame that they are fixedly secured to one another by each hand 15 including outer supporting plate 151, interior supporting plate 152
153, and offer hand protecting band link slot 154 respectively on outer supporting plate 151 and interior supporting plate 152 and be used to connect hand protecting band
(not shown), to be connected with the human body wrist of wearer.In addition, it is pneumatic to be equipped with the second wrist on interior supporting plate and outer supporting plate
Muscle bracket 155 and the groove 156 suitable for hanging weight.
Herein, one end of ancon pneumatic muscles 6 is fixedly attached to first ancon pneumatic muscles bracket 115, and the other end is solid
Surely it is connected to the second ancon pneumatic muscles bracket 135, for driving elbow joint to move pivotally.One end of wrist pneumatic muscles 7 is solid
Surely it is connected to the first wrist pneumatic muscles bracket 136, the other end is fixedly attached to the second wrist pneumatic muscles bracket 155, is used to
Wrist joint is driven to move pivotally.
In this embodiment, shoulder joint component includes the shoulder connecting plate 8, shoulder traction wheel 9, shoulder draught line of arc
10, the first linkwork and the second linkwork.Herein, the first linkwork is articulated shaft 81, the second articulated structure packet
The hinged seat 83 (referring to Fig. 8) for including articulated shaft 82 and being rotatably received in the connection sliding slot 214 of back crossbeam 12, should
Hinged seat is configured to one end as cylinder, and the other end is with the concave part 84 for being adapted to the shoulder joint connecting plate 8, the groove
The two sidewalls in portion are equipped with aperture 85, and one end of the shoulder connecting plate 8 is pivotally connected by articulated shaft 82 and the cooperation of aperture 85
It is connected to the hinged seat 83, forms the interior receipts revolute pair of outreach-of shoulder joint, the other end of the shoulder connecting plate 8 passes through articulated shaft 81
It is pivotally connected to the outer upper arm plate 111 of upper arm 11, to form the flexion-extension revolute pair of shoulder joint.
In addition, setting connection sliding slot 214 is advantageous in back crossbeam 21, it as needed, can be by being slided in connection
The position of hinged seat 83 is moved left and right in slot to adjust the width of shoulder.When needing the position of fixed hinge seat, pass through locking
Bolt with the cooperation of locating slot 215 so that hinged seat 83 is rotatable and can not be located in linear movement and connect in sliding slot 214,
To the width of fixed shoulder.Also, it cannot be along the connection sliding slot since hinged seat 83 can rotate in connection sliding slot 214
214 linear movements, therefore the outer revolute pair of medial rotation-rotation for forming shoulder joint.
As shown in figure 9, shoulder traction wheel 9 has the connecting shaft 90 being integral with, and shoulder traction wheel 9 at center
Outer peripheral surface be equipped with fixation hole 91.Shoulder traction wheel 9 is cooperated solid by the connecting hole of connecting shaft 90 and outer upper arm plate 111
Surely the outer upper arm plate is arrived, wherein 10 one end of shoulder draught line is connected to the shoulder traction wheel 9 by fixation hole 91, and the other end connects
It is connected to shoulder pneumatic muscles 5.Shoulder draught line 10 is oriented to advantageously, being additionally provided with shoulder traction wire conduit 101, shoulder
Draught line 10 can be wound on shoulder traction wheel with some.In this embodiment, shoulder traction wire conduit 101 and bicycle
The casing of brake cable is similar, not only has certain rigidity, but also have certain flexibility, is not only able to complete to be oriented to well, and
And do not interfere the movement of shoulder joint.When human arm naturally droops, so that shoulder pneumatic muscles 5 are maintained at tension-free state,
When shoulder pneumatic muscles 5, which are inflated, to be shunk, shoulder draught line 10 drives shoulder traction wheel 9 to rotate, so that upper arm 11 be driven to pivot
Movement.
As shown in Figure 4 and Figure 5, lumbar unit 3 includes the waist transverse slat 31 for being fixedly attached to the lower end of back support plate 22
With waist pneumatic muscles 32.Huckle 4 includes thigh plate 41 and thigh retaining frame 42, wherein being equipped on thigh plate 41 for pacifying
The waist pneumatic muscles bracket 43 of waist pneumatic muscles 32 is filled, and offers protecting band link slot 44 in thigh retaining frame 42, is used
In connecting the huckle protecting band (not shown), to be connected with the human thigh of wearer.Hip joint component includes being fixedly connected
To the waist connecting plate 38 of waist transverse slat 31, articulated shaft 34, the first directive wheel 35 fixed to waist connecting plate 33, it is fixed to greatly
The second directive wheel 36 and lumbar traction line 37 on leg 4 connect wherein the articulated shaft 34 pivots the waist connecting plate 38
Thigh plate 41 is connected to form the flexion-extension revolute pair of hip joint.Lumbar traction line fixing piece is additionally provided on waist connecting plate 38
39, one end of lumbar traction line 37 extends past the second directive wheel 36 and the first directive wheel 35 and is fixed to waist connecting plate 38
Lumbar traction line fixing piece 39, the other end is connected to waist pneumatic muscles 32.
Due to the identical hip joint of two structures all have a rotational freedom, it can be achieved that exoskeleton rehabilitation power-assisted clothes with
It bends over wearer and uprighting movement.When wearer's waist is upright, so that waist pneumatic muscles 32 are retracted to most short position
It sets, preload installation is carried out to lumbar traction line 37, in the bending of wearer's waist, deflate, make to waist pneumatic muscles 32
It obtains hip joint to rotate together with human body waist, realizes that flexure operation fills waist pneumatic muscles 32 during person upright
Gas drives hip joint rotation, and then completes the assist function to human body waist.
As shown in Figure 1, the exoskeleton rehabilitation power assisting device of the utility model is designed with bionic principle, for left and right pair
The structure of title, for convenience's sake, now by taking right side as an example, to illustrate the pneumatic muscles for exoskeleton rehabilitation power assisting device
Control system.As shown in figure 11, which includes air source generator 1a, controller 1b, pneumatic pressure-release valve 1c,
It is connected respectively to the solenoid valve of shoulder pneumatic muscles 5, waist pneumatic muscles 32, ancon pneumatic muscles 6 and wrist pneumatic muscles 7
Group 1d, and the drive circuit board 1e being arranged between controller and solenoid valve block, wherein the controller is for controlling the gas
Dynamic pressure reducing valve depressurizes the gas from the air source generator, and the signal input part of the solenoid valve block is connected to the driving
Circuit board, and the drive circuit board is used to receive the control instruction pre-set from the controller.
Air source generator 1a can generate enough gas sources, such as be stored in storage cylinder, and gas can be set in air source generator
Source maximal pressure force value, automatic start-stop supplement gas source.Gas source body comes out from air source generator, is controlled by pneumatic pressure-release valve 1c
Into the highest air pressure of pneumatic muscles, under normal circumstances, the gas pressure value that air source generator comes out will be higher than operating pressure
Value, so pneumatic pressure-release valve is needed to carry out reduced pressure treatment, the gas by decompression, which comes out, enters solenoid valve block 1d, and solenoid valve block goes out
The gas come is connected on the gas-charging connection on corresponding pneumatic muscles by gas pipeline, inside solenoid valve block, each gas
Dynamic muscle can control the inflation of pneumatic muscles with the sub- solenoid valve of two 2/2-ways, deflation, keep three kinds of states,
The sub- solenoid valve that can be a 3-position-3-way individually controls the inflation of pneumatic muscles, deflation, keeps three kinds of states, right half branch
It is divided into wrist pneumatic muscles 7, ancon pneumatic muscles 6, shoulder pneumatic muscles 5, waist pneumatic muscles 32.For wrist pneumatic muscles
For 6, after controller issues the instruction of inflation, the air inlet that solenoid valve block corresponds to the branch of wrist pneumatic muscles will be opened
It opening, gas will be entered inside pneumatic muscles by gas pipeline, after wrist reaches specified bending angle angle value, controller hair
Power off command out, solenoid valve block branch corresponding with wrist pneumatic muscles is all closed at this time, the gas quilt inside pneumatic muscles
It is enclosed in inside pneumatic muscles, keeps original position constant, when instruction occurs to deflate for controller, solenoid valve block and the pneumatic flesh of wrist
The corresponding gas vent of meat 7 is opened, and the gas inside wrist pneumatic muscles 7 is released, and pneumatic muscles restPose.Ancon is pneumatic
The working principle of muscle and shoulder pneumatic muscles and waist pneumatic muscles is identical, also, left-half principle and right half part
It is identical, it repeats no more herein.
When wearer puts on exoskeleton rehabilitation power assisting device according to the present utility model, shoulders of human body back flexibility back
Band, realizes the flexible connection of back bracket and wearer back, and upper arm 11, forearm 13 and hand 15 pass through corresponding protecting band
It realizes and is flexibly connected with the arm of wearer, and human arm is put into exoskeleton rehabilitation power assisting device, huckle 4 passes through leg
Portion's retaining frame 42 and huckle protecting band and the flexible connection of two legs of wearer are together；When wearer holds up weight, wrist gas is given
Dynamic muscle 7, ancon pneumatic muscles 6, shoulder pneumatic muscles 5 are inflated, and each pneumatic muscles inflation is shunk, wherein wrist pneumatic muscles
7 drive wrist joint rotation, and ancon pneumatic muscles 6 drive elbow joint rotation, and shoulder pneumatic muscles 5 are bypassed by shoulder draught line
Shoulder traction wheel drives upper arm 11 to rotate, and forearm retaining frame is tightly attached on wearer's forearm at this time, and large arm retaining frame is tightly attached to wearer
In large arm, human arm is driven to move upwards, completes the process for lifting weight, when wearer needs to put down weight, Ge Geqi
Dynamic muscle is deflated, and is moved downward under the action of weight gravity by the two-arm of exoskeleton rehabilitation power assisting device power-assisted, is completed to put down
The process of weight, the course of work change arm motion speed by adjusting inflatable and deflatable speed；When wearer holds up weight
When waist is bent during object, waist pneumatic muscles 32 are deflated, so that the hip joint of exoskeleton rehabilitation power-assisted clothes is with human lumbar
The bending in portion and rotate, when wearer's waist is upright, waist pneumatic muscles 32 are inflated, and drive exoskeleton rehabilitation power assisting device
Hip joint rotation is further driven to human body back movement, realizes the assist function to wearer's waist；In whole work process,
The impetus of exoskeleton rehabilitation power assisting device has concentrated on two shoulders and the leg of wearer of wearer, so that human arm flesh
The strength that meat and waist muscle undertake has been transformed by human skeleton and has undertaken.
The elderly that the utility model can not only weaken the people for having muscle damage or muscle performance completes power-assisted clothes
Business can also help the patient of arm damage or waist injury to complete daily rehabilitation training, make its fast quick-recovery body machine
Energy.
It should be pointed out that explanation above is merely exemplary, those skilled in the art can be according to the above description to this reality
Various modifications and variations are made with new embodiment, these modifications and variations both are within the protection scope of the present invention.
Claims (10)
1. a kind of exoskeleton rehabilitation power assisting device, which is characterized in that the exoskeleton rehabilitation power assisting device includes: back bracket, two
A single armed, lumbar unit and two huckles, the back bracket include back crossbeam, adjustable in length back support plate with
And the shoulder pneumatic muscles on back support plate are mounted on, wherein described two single armeds pass through shoulder joint component respectively is connected to this
The upper end of back bracket, the upper end of the back support plate are fixedly attached to the back crossbeam, and lower end is fixedly attached to the waist
Unit, and described two huckles pass through hip joint component respectively and are connected to the lumbar unit；The wherein shoulder joint component packet
Shoulder joint connecting plate, shoulder traction wheel, shoulder draught line, the first linkwork and the second linkwork of bracket, the shoulder
One end of articular link plate is rotated by the flexion-extension that first linkwork is connected to the upper end of the single armed to form shoulder joint
Pair, the other end of the shoulder joint connecting plate are connected to the back crossbeam by second linkwork to form the outer of shoulder joint
Exhibition-interior receipts revolute pair and the outer revolute pair of medial rotation-rotation, and the shoulder traction wheel is fixed to the upper end of the single armed；The shoulder
Portion draught line one end is connected to the shoulder traction wheel, and the other end is connected to the shoulder pneumatic muscles.
2. exoskeleton rehabilitation power assisting device according to claim 1, which is characterized in that the lumbar unit includes fixed connects
The waist transverse slat of the lower end of the back support plate and the waist pneumatic muscles being mounted on the huckle are connected to, the hip closes
Section component includes the waist connecting plate for being fixedly attached to the waist transverse slat, articulated shaft, first fixed to the waist connecting plate leads
To wheel, fixed to the second directive wheel and lumbar traction line on huckle, wherein the articulated shaft connects the waist connecting plate
The huckle is connected to form the flexion-extension revolute pair of hip joint, one end of the lumbar traction line extends past second and leads
To wheel and the first directive wheel and it is fixed to the waist connecting plate, the other end is connected to the waist pneumatic muscles.
3. exoskeleton rehabilitation power assisting device according to claim 2, which is characterized in that the huckle include thigh plate and
Thigh retaining frame, wherein being equipped with waist pneumatic muscles bracket on the thigh plate for installing the waist pneumatic muscles, the thigh
Protecting band link slot is offered in retaining frame, for connecting the huckle protecting band.
4. exoskeleton rehabilitation power assisting device according to any one of claim 1 to 3, which is characterized in that each list
Arm includes upper arm, elbow joints, forearm, wrist joints and hand, and wherein the upper end of the upper arm passes through first linkwork
It is connected to the shoulder joint connecting plate, lower end is connected to the forearm by elbow joints and forms the flexion-extension revolute pair of elbow joint, and is somebody's turn to do
Forearm is connected to the hand further through the wrist joints and forms carpal flexion-extension revolute pair.
5. exoskeleton rehabilitation power assisting device according to any one of claim 1 to 3, which is characterized in that the back is horizontal
The both ends of beam offer sliding slot respectively, which includes articulated shaft and hinged seat, which is configured to one end and is
Cylinder, the other end are equipped with aperture for the two sidewalls with the concave part for being adapted to the shoulder joint connecting plate, the concave part,
For the shoulder joint connecting plate by the mating connection of the articulated shaft and the aperture to the hinged seat, the outreach-for forming shoulder joint is interior
Receive revolute pair；The cylinder-shaped end of the hinged seat is rotatably received in the sliding slot and carries out being positioned to hinder by positioning bolt
Only hinged seat linear movement in the sliding slot, revolute pair outside medial rotation-rotation to form shoulder joint.
6. exoskeleton rehabilitation power assisting device according to claim 4, which is characterized in that each upper arm includes outer upper arm
Plate, interior upper arm plate and the upper arm retaining frame for being fixedly secured to one another them, each forearm include outer forearm plate, interior forearm plate
And the forearm retaining frame for being fixedly secured to one another them, the hand include that they are fixedly secured to one another by interior supporting plate, outer supporting plate
Hand retaining frame；It wherein is equipped with first ancon pneumatic muscles bracket in the outer upper arm plate and the interior upper arm plate, in institute
It states and is equipped with the second ancon pneumatic muscles bracket and the first wrist pneumatic muscles bracket on outer forearm plate and the interior forearm plate,
The second wrist pneumatic muscles bracket is equipped on the interior supporting plate and outer supporting plate, ancon pneumatic muscles are mounted on the first ancon gas
On dynamic muscle bracket and the second ancon pneumatic muscles bracket, for driving the elbow joint to move pivotally, wrist pneumatic muscles peace
On the first wrist pneumatic muscles bracket and the second wrist pneumatic muscles bracket, for driving the wrist joint to pivot fortune
It is dynamic.
7. exoskeleton rehabilitation power assisting device according to claim 6, which is characterized in that in the outer upper arm plate and described interior
Upper arm protecting band link slot is offered in upper arm plate respectively to be used to connect upper arm protecting band；In the outer forearm plate and the interior forearm plate
The upper forearm protecting band link slot that offers respectively is used to connect forearm protecting band；It is opened up respectively on the interior supporting plate and the outer supporting plate
There is hand protecting band link slot to be used to connect hand protecting band, is also offered respectively on the interior supporting plate and the outer supporting plate and be suitable for hanging
Hang the groove of weight.
8. exoskeleton rehabilitation power assisting device according to claim 3, which is characterized in that it is additionally provided with shoulder traction wire conduit,
For guiding the shoulder draught line；Also, it is equipped with lumbar traction line fixing piece, on the waist connecting plate for fixing
State lumbar traction line.
9. exoskeleton rehabilitation power assisting device according to claim 1, which is characterized in that the back support plate includes two
Support plate, each support plate has the first section and the second section that can be slided relatively, so that being adjustable the support plate
Length, and then adjust waist location；And it is equipped with positioning runner on first section and second section, it is described
First section and second section can be cooperated by the positioning runner with lock screw to fix.
10. a kind of exoskeleton rehabilitation force aid system, which is characterized in that including control system and according to claim 1 to any in 9
Exoskeleton rehabilitation power assisting device described in, the control system include air source generator, controller, pneumatic pressure-release valve, difference
It is connected to the solenoid valve block of shoulder pneumatic muscles, waist pneumatic muscles, ancon pneumatic muscles and wrist pneumatic muscles, Yi Jishe
The drive circuit board between the controller and the solenoid valve block is set, wherein the controller is for controlling the Pneumatic decompression
Valve depressurizes the gas from the air source generator, and the signal input part of the solenoid valve block is connected to the driving circuit
Plate, and the drive circuit board is used to receive the control instruction pre-set from the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820438231.4U CN209332629U (en) | 2018-03-29 | 2018-03-29 | Exoskeleton rehabilitation power assisting device and exoskeleton rehabilitation force aid system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820438231.4U CN209332629U (en) | 2018-03-29 | 2018-03-29 | Exoskeleton rehabilitation power assisting device and exoskeleton rehabilitation force aid system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209332629U true CN209332629U (en) | 2019-09-03 |
Family
ID=67743032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820438231.4U Active CN209332629U (en) | 2018-03-29 | 2018-03-29 | Exoskeleton rehabilitation power assisting device and exoskeleton rehabilitation force aid system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209332629U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110314065A (en) * | 2018-03-29 | 2019-10-11 | 京东方科技集团股份有限公司 | Exoskeleton rehabilitation power assisting device |
| CN110897830A (en) * | 2019-12-13 | 2020-03-24 | 武汉理工大学 | Pneumatic muscle driven modular exoskeleton elbow and wrist rehabilitation robot |
| CN110946739A (en) * | 2019-12-13 | 2020-04-03 | 寿光市人民医院 | Neural hemiplegia rehabilitation daily exercise auxiliary device |
| CN112006891A (en) * | 2020-09-09 | 2020-12-01 | 王洪涛 | Postoperative rehabilitation training device for patient in thoracic surgery |
| CN114227650A (en) * | 2022-01-06 | 2022-03-25 | 华中科技大学鄂州工业技术研究院 | Hip joint assistance exoskeleton |
| CN115107004A (en) * | 2022-07-14 | 2022-09-27 | 东北大学 | Lifting type upper limb assistance exoskeleton |
-
2018
- 2018-03-29 CN CN201820438231.4U patent/CN209332629U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110314065A (en) * | 2018-03-29 | 2019-10-11 | 京东方科技集团股份有限公司 | Exoskeleton rehabilitation power assisting device |
| CN110897830A (en) * | 2019-12-13 | 2020-03-24 | 武汉理工大学 | Pneumatic muscle driven modular exoskeleton elbow and wrist rehabilitation robot |
| CN110946739A (en) * | 2019-12-13 | 2020-04-03 | 寿光市人民医院 | Neural hemiplegia rehabilitation daily exercise auxiliary device |
| CN110897830B (en) * | 2019-12-13 | 2020-11-17 | 武汉理工大学 | Pneumatic muscle driven modular exoskeleton elbow and wrist rehabilitation robot |
| CN112006891A (en) * | 2020-09-09 | 2020-12-01 | 王洪涛 | Postoperative rehabilitation training device for patient in thoracic surgery |
| CN114227650A (en) * | 2022-01-06 | 2022-03-25 | 华中科技大学鄂州工业技术研究院 | Hip joint assistance exoskeleton |
| CN114227650B (en) * | 2022-01-06 | 2023-10-13 | 华中科技大学鄂州工业技术研究院 | Hip joint assistance exoskeleton |
| CN115107004A (en) * | 2022-07-14 | 2022-09-27 | 东北大学 | Lifting type upper limb assistance exoskeleton |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110314065A (en) | Exoskeleton rehabilitation power assisting device | |
| CN209332629U (en) | Exoskeleton rehabilitation power assisting device and exoskeleton rehabilitation force aid system | |
| US8968220B2 (en) | Wearable robotic system for rehabilitation training of the upper limbs | |
| CN102088933B (en) | Device and method for decreasing energy consumption of a person by use of a lower extremity exoskeleton | |
| JP4573798B2 (en) | Lumbar support device | |
| EP3083158B1 (en) | Optimal design of a lower limb exoskeleton or orthosis | |
| Agrawal et al. | Design of gravity balancing leg orthosis using non-zero free length springs | |
| Kobayashi et al. | Development of muscle suit for upper limb | |
| CN112641598B (en) | Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions | |
| Wei et al. | Design on the bowden cable-driven upper limb soft exoskeleton | |
| WO2012039365A1 (en) | Apparatus for muscle strength training and method for muscle strength training | |
| JP6495128B2 (en) | Work assist device | |
| CN108852740A (en) | A kind of pneumatic upper limb rehabilitation robot | |
| Allemand et al. | Design of a new lower extremity orthosis for overground gait training with the WalkTrainer | |
| CN112022618B (en) | Rigid-flexible coupling wearable walking assisting exoskeleton system | |
| CN212940468U (en) | Rigid-flexible coupling wearable walking-aid exoskeleton system | |
| CN110123496A (en) | Upper extremity exercise function compensation equipment | |
| Zhang et al. | Design and kinematic analysis of a novel metamorphic mechanism for lower limb rehabilitation | |
| Veale et al. | Realizing soft high torque actuators for complete assistance wearable robots | |
| CN111568704A (en) | Lower limb rehabilitation exoskeleton based on rope transmission | |
| CN207492924U (en) | Power exoskeleton | |
| Kardofaki et al. | Mechanical development of a scalable structure for adolescent exoskeletons | |
| Zhou et al. | Concept and prototype design of a soft knee exoskeleton with continuum structure (SoftKEX) | |
| Kobayashi et al. | Development of support system for forward tilting of the upper body | |
| JP6698835B2 (en) | Motion assist device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |