CN209734461U - Exoskeleton robot for leg rehabilitation training and body building - Google Patents
Exoskeleton robot for leg rehabilitation training and body building Download PDFInfo
- Publication number
- CN209734461U CN209734461U CN201820878176.0U CN201820878176U CN209734461U CN 209734461 U CN209734461 U CN 209734461U CN 201820878176 U CN201820878176 U CN 201820878176U CN 209734461 U CN209734461 U CN 209734461U
- Authority
- CN
- China
- Prior art keywords
- exoskeleton
- knee joint
- thigh
- joint
- rope
- 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
Abstract
The utility model provides an exoskeleton robot for leg rehabilitation training and body building, which comprises a hip supporting part, a hip joint, a thigh supporting part, a knee joint, a shank supporting part and a driving system; wherein the hip support part is connected with the upper end of the thigh support part through a hip joint; the lower end of the thigh supporting part is connected with the upper end of the shank supporting part through a knee joint; the drive system is secured to the hip support, the drive system comprising: the hip joint driving system is connected with the hip joint and is used for driving the hip joint to move; and the knee joint driving system is connected with the knee joint and is used for driving the knee joint to move so as to drive the coordinated movement of the thigh supporting part and the shank supporting part. The lower limb strength training device is simple in structure, can help recovery of lower limb movement functions after trauma, and can also be used for lower limb strength training or fitness of normal people.
Description
Technical Field
the utility model belongs to the technical field of the ectoskeleton robot that helps capable, in particular to ectoskeleton robot is used in leg rehabilitation training and body-building.
Background
The exoskeleton robot is a comprehensive technology based on sensing, control, signal processing, information fusion and electromechanical integration, and is wearable equipment closer to the daily production and life of human beings. As the name suggests, the exoskeleton robot is a set of robots which are worn on the body and play a role in skeleton, and can play a role in providing additional power for a wearer by combining control system hardware and a control algorithm. The assisting positions can be divided into upper limb type assisting exoskeleton robots and lower limb type assisting exoskeleton robots. The exoskeleton robot can be divided into a negative heavy type exoskeleton robot and an assistance type exoskeleton robot from the aspect of functions. The application is divided into two types, namely civil use and military use: the civil exoskeleton robot is mainly used for medical treatment, old-age assistance, disabled assistance, transportation and the like; the military exoskeleton robot mainly plays a role in loading, such as helping soldiers carry more equipment to fight the sustainable capability and the battlefield survivability, and improving the endurance and the battlefield maneuverability under the condition of loading.
At present, equipment for recovering after trauma and equipment for body building in a medical system can be used in a sitting, standing or supine position, and only partial requirements of patients and body building enthusiasts are met, but the requirements of recovery training and body building in the exercise process cannot be met.
Disclosure of Invention
In order to solve the problems, the utility model provides an exoskeleton robot for leg rehabilitation training and body building; the device has a simple structure, and weights such as the driving motor and the like are arranged at the position of the hip joint, so that the weight of a knee joint driving system is reduced, the rotational inertia of the whole leg is reduced, and the statics and dynamics performance of the whole system are improved.
in order to achieve the above purpose, the utility model adopts the following technical scheme:
An exoskeleton robot for leg rehabilitation training and fitness, the exoskeleton robot comprising a hip support, a hip joint, a thigh support, a knee joint, a shank support and a drive system; wherein the content of the first and second substances,
The hip support part is connected with the upper end of the thigh support part through a hip joint;
The lower end of the thigh supporting part is connected with the upper end of the shank supporting part through a knee joint;
the drive system is secured to the hip support, the drive system comprising:
The hip joint driving system is connected with the hip joint and is used for driving the hip joint to move; and the knee joint driving system is connected with the knee joint and is used for driving the knee joint to move so as to drive the coordinated movement of the thigh supporting part and the shank supporting part.
In the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, the hip support part comprises a fixing plate, a mounting splint and a waist strap; the waist bandage is fixed on one side of the fixing plate through the mounting clamping plate, and the driving system is fixed on the other side of the fixing plate.
in the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, the number of the mounting splints is two, and the number is respectively as follows: when in use, the first installation splint is trapezoidal and is far away from the waist, and the second installation splint is arc and is close to the waist; the waist binding band comprises two sub-bands, one end of each sub-band is a sticking end, and the other end of each sub-band is a mounting end; the mounting ends of the two sub-belts are respectively clamped between the first mounting clamp plate and the second mounting clamp plate and fixed together in a threaded connection mode.
In the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, the hip joint is in a ring shape.
In the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, the hip joint driving system comprises a hip joint motor, a motor mounting seat and a hip joint harmonic reducer, wherein the hip joint motor is mounted on the motor mounting seat, an output end of the hip joint motor is connected with an input end of the hip joint harmonic reducer, and an output end of the hip joint harmonic reducer is connected with the hip joint; when the exoskeleton is operated, the hip joint motor directly drives the hip joint to contract and extend after being decelerated by the hip joint harmonic reducer, so that the exoskeleton thigh can swing; and a first flange plate is arranged at the joint of the hip joint motor and the motor mounting seat.
in the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, the knee joint driving system comprises a knee joint motor, a motor mounting seat, a knee joint harmonic speed reducer and a rope pulley mechanism; the knee joint motor is arranged on the motor mounting seat, the output end of the knee joint motor is connected with the input end of the knee joint harmonic speed reducer, the output end of the knee joint harmonic speed reducer is connected with the rope wheel mechanism, and the rope wheel mechanism is connected with the knee joint through a driving rope; when the knee joint motor runs, the knee joint motor drives the knee joint to rotate through the rope pulley mechanism after being decelerated by the knee joint harmonic speed reducer; and a second flange plate is arranged at the joint of the knee joint motor and the motor mounting seat.
in the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, the rope wheel structure comprises a driving rope, a rope winding wheel and a fixed pulley; wherein the content of the first and second substances,
One end of the driving rope is fixed in a rope groove of the rope winding wheel and is lapped in a rope groove of the fixed pulley, and the other end of the driving rope is fixed on the knee joint;
The rope winding wheel is connected with the output end of the knee joint harmonic speed reducer and used for tensioning or releasing the driving rope;
the fixed pulley is fixed on the fixed plate and used for guiding the driving rope;
more preferably, the drive rope is a steel wire.
In the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, the thigh support part includes: the exoskeleton thigh, the first guide rail and the thigh strap; wherein the upper end of the exoskeleton thigh is connected with the hip joint, and the lower end of the exoskeleton thigh is connected with the knee joint;
The first guide rail comprises a first fixing rod and a first sliding block arranged on the first fixing rod, the first fixing rod is fixed on the exoskeleton thigh body, and the first sliding block is fixedly connected with the thigh binding band.
In the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, the lower leg support part comprises: the exoskeleton crus, the second guide rail and the crus part binding band; wherein the content of the first and second substances,
the upper end of the exoskeleton shank is connected with the knee joint;
the second guide rail comprises a second fixing rod and a second sliding block arranged on the second fixing rod, the second fixing rod is fixed on the exoskeleton shank body, and the second sliding block is fixedly connected with the shank part binding band.
In the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, the knee joint is a rotary hinge type knee joint; preferably, the knee joint comprises:
The knee base is arranged at the upper end of the exoskeleton shank;
A boss provided at a rear portion of the knee base, the boss being connected to the driving rope of the knee joint driving system;
the groove is arranged at the front part of the knee base, the side surface and the top surface of the groove, which are close to the boss, are openings, two side surfaces adjacent to the side surfaces of the openings are provided with opposite through holes, and the lower end of the exoskeleton thigh is inserted into the groove;
A link disposed through said through hole in said groove side and through hole provided in said exoskeleton thigh lower end for connecting said exoskeleton thigh to said knee joint;
the exoskeleton thigh and the exoskeleton shank can rotate relative to each other by taking the connecting piece as a pivot.
in the exoskeleton robot for leg rehabilitation training and fitness, as a preferred embodiment, a cross bar perpendicular to the exoskeleton thigh body is further arranged at the lower part of the exoskeleton thigh, a through hole is formed at a suspended end of the cross bar, and the driving rope is fixed on the top surface of the knee joint boss through the through hole at the suspended end of the cross bar;
the rope wheel structure further comprises an elastic piece, and the elastic piece is sleeved outside the driving rope and is abutted between the top surface of the boss of the knee joint and the cross bar of the exoskeleton thigh.
The utility model provides a beneficial effect that technical scheme brought is:
1) The exoskeleton robot for leg rehabilitation training and body building belongs to a lower limb assistance exoskeleton robot in the assistance form, is simple in structure, can help to recover the lower limb movement function after trauma, can also be used for lower limb strength training or body building of normal people, can be used for strength training in a static state, can also be used for strength training and coordination training of movement postures in the movement process, and fills the blank of the existing medical treatment and construction equipment.
2) According to the exoskeleton robot for leg rehabilitation training and fitness, the driving systems (including the hip joint driving system and the knee joint driving system) are arranged at the waist in a centralized manner, so that the weight of the lower limbs of the exoskeleton robot is reduced, and a knee joint motor and a transmission mechanism cannot swing along with the swing of thighs; the driving pressure of the hip joint motor is reduced, the energy consumption of the whole system is reduced, and the endurance time of the battery is prolonged.
Drawings
FIG. 1: the whole structure of the exoskeleton robot for leg rehabilitation training and body building of the utility model is schematically shown;
FIG. 2: is a schematic diagram of the decomposition structure of the exoskeleton robot for leg rehabilitation training and body building;
Description of reference numerals: 1-waist bandage, 2-installation splint, 3-fixing plate, 4-fixed pulley, 5-rope winding wheel, 6-hip joint harmonic reducer, 7-knee joint harmonic reducer, 8-motor mounting seat, 91-first flange, 92-second flange, 10-hip joint motor, 11-knee joint motor, 12-exoskeleton thigh, 13-driving rope, 14-spring, 15-exoskeleton shank, 161-thigh bandage, 162-shank bandage, 171-first guide rail, 172-second guide rail, 18-hip joint and 19-knee joint.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
In the present invention, for convenience of description, one side close to the body of the user is called as the inside, one side away from the body of the user is called as the outside, one side facing the user is defined as the front side, one side opposite to the user is defined as the back side, and the above description is not used for limitation. For example, with respect to fig. 1 and 2, the user faces the paper when wearing the exoskeleton robot, that is, the direction pointing to the paper is front, and the direction away from the paper is back.
the utility model provides a shank rehabilitation training and body-building are with an preferred embodiment of ectoskeleton robot, as shown in fig. 1 and 2, mainly include: the hip joint driving system comprises a hip joint driving system and a knee joint driving system, and the driving system is fixed on the hip joint supporting part and is used for driving the thigh supporting part and the calf supporting part (namely the hip joint and the knee joint) to move coordinately. The above parts will be described one by one.
The hip support part is one of the wearing parts of the exoskeleton robot, is used for fixing the waist of the exoskeleton robot and a human body, and is also used for fixing a driving system with larger weight, and comprises a fixing plate 3, a mounting splint 2 and a waist belt 1, wherein the waist belt 1 is fixed on one side of the fixing plate 3 through the mounting splint 2, and the driving system is fixed on the other side of the fixing plate 3. Specifically, the waist bandage 1 comprises two sub-belts, one end of each sub-belt is provided with an adhesive, and the other end of each sub-belt is provided with a through hole; two one ends that set up the through-hole in the branch area link together through installation splint 2, and the other end that is provided with to paste can paste so that two branch areas link together mutually, will through waist bandage 1 the utility model discloses a when exoskeleton robot fixes at human waist, two branch areas are provided with the opening of the other end formation waist bandage 1 of pasting, surround human waist with waist bandage 1 through this opening, paste mutually the lapping together with pasting of two branch areas under the condition of suitable elasticity to realize that waist bandage 1 is fixed at human waist. Through holes are arranged at both ends of the mounting splint 2, and one ends of the two sub-belts provided with the through holes are respectively connected and fixed with both ends of the mounting splint 2 through rivets or bolts; through holes are also formed in the middle of the plate surface of the mounting splint 2 and the plate surface of the fixing plate 3, and a rivet or a bolt penetrates through the through holes formed in the plate surfaces of the mounting splint and the fixing plate to connect and fix the mounting splint and the fixing plate; the shape of the mounting splint 2 may be a cambered plate, or may be a deformation form of a cambered plate, such as a trapezoidal plate formed by splicing three plane plates, or a similar arc plate formed by splicing two plane plates and an arc plate in the middle of the plane plates, in order to increase the comfort of the user, the mounting splint 2 is an integrally formed arc plate, in the embodiment of the present invention, referring to fig. 1 and 2, the mounting splint 2 adopts a trapezoidal plate formed by splicing three plane plates or integrally formed; when the splint is installed and used, the concave surface of the installation splint 2 is adjacent to the human body, and the convex surface is connected with the fixing plate 3. In order to form two sub-bands of bandage 1 and install and guarantee user's comfort level with firm, convenient mode, it is tight to adopt the interior outer installation splint of general to take two sub-bands of dress usefulness the utility model discloses an in the concrete embodiment, the total two of quantity of installation splint 2, be respectively: when in use, the first installation splint is trapezoidal and is far away from the waist, and the second installation splint is arc and is close to the waist; the waist bandage 1 comprises two sub-belts, one end of each of the two sub-belts is a sticking end, and the other end of each of the two sub-belts is a mounting end; the mounting ends of the two sub-belts are respectively clamped between the first mounting clamp plate and the second mounting clamp plate and fixed together in a threaded manner. In other words, the mounting clips 2 are two, namely, an arc-shaped inner mounting clip located inside the waist band and a trapezoidal outer mounting clip located outside the waist band, which are respectively: when in use, the waist binding belt 1 is arranged between the first mounting splint and the second mounting splint, and the two ends of the waist binding belt 1 provided with the through holes are respectively clamped between the first mounting splint and the second mounting splint; the two ends of the first mounting splint are provided with through holes, the two ends of the second mounting splint are also provided with through holes, one ends of the two sub-belts forming the waist bandage 1 are also respectively provided with through holes, one end of one sub-belt provided with the through holes is clamped between the end part of the first mounting splint and the end part of the second mounting splint, and rivets pass through the through holes of the three to connect and fix the three. The first installation clamping plate and the second installation clamping plate can be the same in shape or different in shape, and preferably, the second installation clamping plate is an arc-shaped plate, so that the comfort level of a user can be improved. Specifically, the other side of the fixing plate 3 is connected with a driving system, and the connection mode can be riveting, screwing and the like. In order to reduce the influence on the waist of the human body during the operation of the driving system, the fixing plate 3 is preferably divided into: an upper part connected with the mounting splint 1 and a lower part connected with the driving system. In the embodiment of the present invention, referring to fig. 1, the shape is L-shaped, the vertical part is used for connecting the fixed mounting splint 1, and the horizontal part is used for fixing the driving system.
the thigh support portion includes: exoskeleton thigh 12, first rail 171 and thigh strap 161; wherein, the upper end of the exoskeleton thigh 12 is connected with the hip joint 18, the hip joint 18 can be in a solid cake shape or a circular ring shape, and the hip joint 18 is preferably in a circular ring shape from the perspective of reducing the weight of the robot of the present invention, see fig. 1; the hip joint 18 may be integrally formed with the exoskeleton thigh 12 or may be welded to the upper end of the exoskeleton thigh 12. The hip joint 18 is connected to the hip joint drive system, the lower end of the exoskeleton thigh 12 is connected to the knee joint 19, and the knee joint 19 is disposed at the upper end of the exoskeleton shank 15, and may be integrally formed with the exoskeleton shank 15 or may be fixed to the upper end of the exoskeleton shank 15 by welding. The first guide rail 171 comprises a first fixing rod and a first sliding block which is arranged on the first fixing rod and can freely slide on the first fixing rod, the first fixing rod is fixed on the inner side of the exoskeleton thigh 12, and the first sliding block is fixedly connected with the thigh strap 161, so that the position of the thigh strap 161 on the thigh can be adjusted according to the height or personal habits of a user; in use, the first slide block of the first rail 171 can slide relative to the first fixed bar as desired, and correspondingly, the thigh strap 161 can slide relative to the exoskeleton thigh 12. In the preferred embodiment of the present invention, the body of the exoskeleton thigh 12 is a rod-like member, wherein the upper end of the rod-like member is connected to the circular hip joint 18; the lower part of the rod-shaped part is also provided with a cross rod vertical to the rod-shaped part body, namely a horizontal cross rod extends from the position of the lower part of the rod-shaped part, which has a certain distance with the lower end surface of the rod-shaped part, to the back of a user, and the suspended end of the cross rod is provided with a through hole for a driving rope 13 in the rope pulley structure to pass through; the exoskeleton thigh 12 has a body with a through hole for fixing the first rail 171.
The shank support portion includes: exoskeleton lower leg 15, second rail 172 and lower leg strap 162; the upper end of the exoskeleton shank 15 is connected with a knee joint, the knee joint is provided with only one revolute pair, and the knee joint is connected with a knee joint driving system; the second guide rail 172 comprises a second fixed rod and a second sliding block which is arranged on the second fixed rod and can freely move along the second fixed rod, the second fixed rod is fixed on the inner side of the exoskeleton lower leg 15, and the second sliding block is fixedly connected with the lower leg part binding band 162; in use, the second slide block of the second rail 172 can slide relative to the second stationary bar as needed, and correspondingly, the lower leg strap 162 can slide relative to the exoskeleton lower leg 15. Thus, the position of the lower leg strap 162 on the lower leg can be adjusted according to the height or personal habit of the user. In the preferred embodiment of the present invention, the body of the exoskeleton leg 15 is a rod-shaped member, and the upper end thereof is connected to the knee joint.
A knee joint 19, preferably a rotary hinged knee joint, is connected to a knee joint drive system to effect articulation of the knee joint. In an embodiment of the present invention, the knee joint comprises: the knee base is arranged at the upper end of an exoskeleton crus 15, a boss is arranged at the rear part of the knee base, a groove with an opening close to the side face and the top face of the boss is arranged at the front part of the knee base, namely, the groove is arranged in a protruding manner along the vertical direction (the extension direction of the exoskeleton crus) and is cuboid, the top face and one side face of the knee base are open, two side faces (namely, the inner side face and the outer side face) adjacent to the opening side face are provided with through holes, the boss and the opening side face of the groove are oppositely arranged; when the exoskeleton thigh 12 is installed, the lower end of the exoskeleton thigh 12 is inserted into the groove, the through hole at the lower end of the exoskeleton thigh 12 is aligned with the through hole on the inner side and the outer side of the groove, and the connecting pieces are inserted through the four through holes and fixed, so that the exoskeleton thigh 12 and the knee joint are connected through the connecting pieces (such as bolts, screws and the like), and the exoskeleton thigh 12 and the exoskeleton shank 15 can rotate (pivot) relative to each other by taking the connecting pieces as pivots. In addition, the cross bar of the exoskeleton thigh 12 is arranged opposite to the top surface of the boss of the knee joint, and an elastic part such as a spring 14 in the knee joint driving system is arranged between the cross bar and the top surface of the boss of the knee joint.
The driving system comprises a hip joint driving system and a knee joint driving system which are fixed on the hip supporting part and are used for respectively driving the movement of the hip joint and the knee joint.
Specifically, the hip joint driving system comprises a hip joint motor 10, a motor mounting seat 8 and a hip joint harmonic speed reducer 6, wherein the hip joint motor 10 is mounted on one side of the motor mounting seat 8, the hip joint harmonic speed reducer 6 is mounted on the other side of the motor mounting seat 8, the output end of the hip joint motor 10 is connected with the hip joint harmonic speed reducer 6, and the hip joint harmonic speed reducer 6 is connected with a hip joint; when the exoskeleton is in operation, the hip joint motor 10 directly drives the hip joint to contract and extend after being decelerated by the hip joint harmonic speed reducer 6, and then the swinging of the exoskeleton thigh 12 is realized. Preferably, a first flange 91 is arranged at the joint of the hip joint motor 10 and the motor mounting seat 8, that is, the hip joint motor 10 is fixed on the motor mounting seat 8 through the first flange 91; the motor mounting seat 8 is preferably a mounting seat with a circular through hole; the hip joint harmonic speed reducer 6 includes: the flexible gear output end is used for outputting movement, and the flexible gear is directly attached to the hip joint and fixed together in a screwing mode; the steel wheel is fixed on the motor mounting seat 8 and can be fixed on the motor mounting seat 8 through bolts and the like; and a harmonic generation wheel (as a harmonic input element) connected to an output end of the hip joint motor 10. When the hip joint motor 10 drives the hip joint harmonic speed reducer 6 to rotate, the flexible gear of the hip joint harmonic speed reducer 6 outputs the reduced motion to the hip joint, so that the rotation of the thigh is generated. The hip joint of the utility model is not provided with a special revolute pair, has simple structural design and reduces the burden of the human body.
specifically, the knee joint driving system comprises a knee joint motor 11, a motor mounting seat 8, a knee joint harmonic speed reducer 7 and a rope pulley mechanism; the knee joint motor 11 is arranged on one side of the motor mounting seat 8, the knee joint harmonic speed reducer 7 is arranged on the other side of the motor mounting seat 8, the output end of the knee joint motor 11 is connected with the input end of the knee joint harmonic speed reducer 7, the output end of the knee joint harmonic speed reducer 7 is connected with the rope wheel mechanism, and the rope wheel mechanism is connected with a boss of a knee joint through a driving rope; during operation, the knee joint motor 11 drives the knee joint to rotate through the rope pulley mechanism after being decelerated by the knee joint harmonic speed reducer 7. Preferably, a second flange plate 92 is arranged at the joint of the knee joint motor 11 and the motor mounting seat 8.
Specifically, the utility model discloses a motor mount pad 8 is the mount pad that has circular through-hole, and in order to save space and reduce weight, motor mount pad 8 is for having the mount pad of two circular through-holes, and one is used for installing hip joint motor 10, and another is used for installing knee joint motor 11. The knee joint motor 11 is fixed on the motor mounting seat 8 through a second flange plate 92; the knee joint harmonic speed reducer 7 includes: the flexible gear output end is used for outputting movement, and the flexible gear is directly attached to a rope winding wheel 5 in the rope wheel mechanism and fixed together in a screw connection mode; the steel wheel is fixed on the motor mounting seat 8 and can be fixed on the motor mounting seat 8 through bolts and the like; and a harmonic generation wheel (as a harmonic input element) connected to an output end of the knee joint motor 11. When the knee joint motor 11 drives the knee joint harmonic speed reducer 7 to rotate, the flexible gear of the knee joint harmonic speed reducer 7 outputs the motion after speed reduction to the rope winding wheel, and the driving rope is tensioned. The utility model discloses a knee joint has set up a revolute pair, and structural design is simple, has alleviateed human burden.
More specifically, the sheave structure includes a drive rope 13, a rope winding sheave 5, a fixed sheave 4; one end of a driving rope 13 is fixed in a rope groove of the rope winding wheel 5 and is lapped in a rope groove of the fixed pulley 4, and the other end of the driving rope is fixed on a lug boss of the knee joint; the rope winding wheel 5 is fixed on a flexible wheel (a wheel for outputting motion) of the harmonic speed reducer 7 in a screw connection mode and is used for tensioning or releasing a driving rope 13; the fixed pulley 4 is fixed on the fixed plate 3 by a pin or a shaft, preferably, the fixed pulley 4 and the fixed plate 3 are connected by a hinged hole bolt, the circular hip joint 18 is fixed on a flexible gear of the harmonic reducer 6, the fixed pulley 4 is opposite to the circular hip joint 18, preferably, the end surface between the fixed pulley 4 and the circular hip joint 18 keeps a little distance, such as a distance of 1mm, and the fixed pulley 4 is used for guiding the driving rope 13; the rotation of the rope winding wheel 5 can realize the extension and the shortening of the driving rope 13, and further realize the extension (rotation) of the knee joint. The driving rope 13 may be made of steel wire or the like. The axes of the fixed pulley 4 and the circular ring-shaped hip joint 18 are nearly on the same straight line in the structural design. Preferably, the pulley structure further includes an elastic member, such as a spring 14, disposed around the drive rope 13 and abutting between the top surface of the boss of the knee joint 19 and the cross bar at the lower end of the exoskeleton thigh 12. When the exoskeleton leg contraction device is used, if the exoskeleton leg 15 is required to contract, namely the exoskeleton leg moves towards the outer skeleton thigh 12, the knee joint motor 11 is started to do positive work (the motor drives a load to do the positive work), the rope winding wheel 5 rotates to tension the driving rope 13 to shorten the driving rope, so that the knee joint rotates, the exoskeleton leg 15 moves towards the outer skeleton thigh 12, and the spring 14 is in a compressed state; if the extension of the knee joint is to be realized, namely the exoskeleton leg 15 moves away from the exoskeleton leg 12, the spring 14 extends to drive the driving rope 13 to extend, the rope winding wheel 5 rotates reversely, at the moment, the knee joint motor 11 performs negative work (namely, the load drives the motor to move or is negative), and when the spring 14 extends, the knee joint motor 11 still applies pulling force to the driving rope 13, so that the moment and the rotating speed during the extension can be better controlled, and the knee joint can be extended under the controlled condition.
According to the analysis, the driving system (including the hip joint driving system and the knee joint driving system) of the exoskeleton robot for leg rehabilitation training and body building is intensively arranged at the waist, so that the weight of the lower limbs of the exoskeleton robot is reduced, the knee joint motor and the transmission mechanism can not swing along with the swing of the thighs, the weight of the knee joint driving system is reduced, the rotational inertia of the whole leg is reduced, and the statics and dynamics performance of the whole system is improved; the driving pressure of the hip joint motor is reduced, the energy consumption of the whole system is reduced, and the endurance time of the battery is prolonged.
During lower limb function recovery and lower limb muscle strength training, the exoskeleton robot is fixed to the waist of a person by a waist strap 1, and is fixed to the thighs and the calves of the person by thigh straps 161 and calf straps 162. Different recovery training and body-building purposes can be achieved by applying different torques to the hip joint and the knee joint through program control. This procedure is roughly two functions: or working in a torque control mode to apply positive or reverse torque to the joint; or to output a specific leg swing angle and frequency for operation in the position mode. These two modes are used for two corresponding training modes for patients and healthy persons, respectively.
the exoskeleton robot for leg rehabilitation training and body building can use one set or two sets according to the requirements of leg rehabilitation training and body building; if the two legs need to be trained simultaneously, the two sets of exoskeleton robots for leg rehabilitation training and body building are respectively arranged at the outer sides of the left leg and the right leg of the human body, and the exoskeleton robots at each side are mutually symmetrical.
The robot of the utility model can have two working modes, the first is to the patient who loses the active movement function, at this moment, the active moment (positive power) is applied, so that the robot drives the leg to move, for example, the leg of the rehabilitation trainer does not need to be forced, the exoskeleton of the robot can drive the leg of the rehabilitation trainer to swing when exerting force; the second is that the rehabilitation training person recovers almost, when needing to carry out strength training, to make the leg drive the exoskeleton to rotate, the backward force of the robot hinders you from swinging forward when the training person swings forward, and the robot applies forward force (driven force, doing negative work) when the training person swings backward to hinder the leg of the training person from swinging, so that the muscle and movement training effect can be achieved.
examples
The exoskeleton robot for leg rehabilitation training and fitness of the present embodiment, as shown in fig. 1 and 2, mainly includes a hip support part, a hip joint 18, a thigh support part, a shank support part, a knee joint 19 and a driving system, wherein the hip support part is connected with the upper end of the thigh support part through the hip joint, and the lower end of the thigh support part is connected with the upper end of the shank support part through the knee joint; the driving system is fixed on the hip supporting part and comprises a hip joint driving system and a knee joint driving system which are respectively used for driving the hip joint and the knee joint to move so as to drive the thigh supporting part and the shank supporting part to move coordinately.
The hip supporting part comprises a fixing plate 3, a mounting splint 2 and a waist bandage 1, wherein the waist bandage 1 is fixed on one side of the fixing plate 3 through the mounting splint 2, and a driving system is fixed on the other side of the fixing plate 3. The shape of installation splint 2 adopts the trapezoidal groove structure (see fig. 1 and fig. 2) that top and both sides are all planar, and the concave surface is adjacent with the human body, and quantity is totally two, is respectively: comparatively keep away from the first installation splint of waist and comparatively be close to the second installation splint of waist during the use, waist bandage 1's two tip settings that set up the through-hole are installed between splint in first installation splint and second, connect the three and fix through the rivet.
the thigh support portion comprises the exoskeleton thigh 12, first rail 171 and thigh strap 161; the upper end of the exoskeleton thigh 12 is connected with a circular hip joint, a through hole is formed in the circular hip joint and used for connecting the circular hip joint with a flexible gear of a hip joint harmonic speed reducer 6 through a bolt, so that the rotation of the hip joint is realized, and the lower end of the exoskeleton thigh 12 is connected with the upper end of the exoskeleton shank 15 through a knee joint; the first guide rail 171 comprises a first fixing rod and a first sliding block arranged on the first fixing rod, the first fixing rod is fixedly connected with the exoskeleton thigh 12, and the sliding block is fixedly connected with the thigh strap 161; in use, the first slide block of the first rail 171 can slide relative to the first fixed bar as desired, and correspondingly, the thigh strap 161 can slide relative to the exoskeleton thigh 12. The lower part of the exoskeleton thigh 12 is also provided with a cross bar which has a certain distance with the end surface of the lower end and is vertical to the rod-shaped body of the exoskeleton thigh 12, and the suspension end of the cross bar is provided with a through hole for the driving rope 13 in the rope wheel structure to pass through; corresponding through holes are distributed on the body of the exoskeleton thigh 12 and the first guide rail 171, and bolts pass through the through holes to fixedly connect the exoskeleton thigh 12 with the first guide rail 171.
The shank support portion includes: exoskeleton lower leg 15, second rail 172 and lower leg strap 162; the upper end of the exoskeleton shank 15 is connected with the lower end of the exoskeleton thigh 12 through a knee joint, the knee joint is in a hinge form and is only provided with one revolute pair, and the knee joint is connected with a knee joint driving system; the second guide rail 172 comprises a fixed rod and a sliding block arranged on the fixed rod, the fixed rod is fixedly connected with the exoskeleton shank 15, and the sliding block is fixedly connected with the shank part binding band 162; in use, the slide blocks of the second rail 172 can slide relative to the fixed bar as needed, and correspondingly, the lower leg strap 162 can slide relative to the exoskeleton lower leg 15. The body of the exoskeleton shank 15 is a rod-shaped member.
The knee joint includes: the knee base is arranged at the upper end of an exoskeleton crus 15, a boss is arranged at the rear part of the knee base, a groove with an opening close to the side face and the top face of the boss is arranged at the front part of the knee base, namely, the groove is arranged in a protruding manner along the vertical direction (the extension direction of the exoskeleton crus) and is cuboid, the top face and one side face of the knee base are open, two side faces (namely, the inner side face and the outer side face) adjacent to the opening side face are provided with through holes, the boss and the opening side face of the groove are oppositely arranged; when the exoskeleton thigh 12 is installed, the lower end of the exoskeleton thigh 12 is inserted into the groove, the through hole at the lower end of the exoskeleton thigh 12 is aligned with the through hole on the inner side and the outer side of the groove, and the connecting pieces are inserted through the four through holes and fixed, so that the exoskeleton thigh 12 and the knee joint are connected through the connecting pieces (such as bolts, screws and the like), and the exoskeleton thigh 12 and the exoskeleton shank 15 can rotate (pivot) relative to each other by taking the connecting pieces as pivots.
the hip joint driving system comprises a hip joint motor 10, a motor mounting seat 8 and a hip joint harmonic speed reducer 6, wherein the hip joint motor 10 is mounted on the motor mounting seat 8 through a first flange plate 91, the output end of the hip joint motor is connected with the hip joint harmonic speed reducer 6, and the output end of the hip joint harmonic speed reducer 6 is connected with a hip joint; when the exoskeleton is in operation, the hip joint motor 10 directly drives the hip joint to contract and extend after being decelerated by the hip joint harmonic speed reducer 6, so that the exoskeleton thigh 12 swings.
The knee joint driving system comprises a knee joint motor 11, a motor mounting seat 8, a knee joint harmonic speed reducer 7 and a rope pulley mechanism; the knee joint motor 11 is mounted on the motor mounting seat 8 through a second flange 92, the output end of the knee joint motor is connected with the knee joint harmonic speed reducer 7, the output end of the knee joint harmonic speed reducer 7 is connected with the rope wheel mechanism, and the rope wheel mechanism is connected with a boss of the knee joint through a driving rope 13; during operation, the knee joint motor 11 drives the knee joint to rotate through the rope pulley mechanism after being decelerated by the knee joint harmonic speed reducer 7. In this embodiment, the rope pulley structure includes a driving rope 13 (made of steel wire), a rope winding pulley 5, a fixed pulley 4 and a spring 14; one end of the driving rope 13 is fixed in the rope groove of the rope winding wheel 5 and is placed in the rope groove (namely the driving rope 13 is guided by the fixed pulley 4), and the other end is fixed on the top surface of the lug boss of the knee joint; the rope winding wheel 5 is fixed with a flexible wheel of the knee joint harmonic speed reducer 7 in a screwing mode and is used for tensioning the driving rope 13; the fixed pulley 4 is fixed on the fixed plate 3 in a screw connection mode and used for guiding the driving rope 13; the rope winding wheel 5 rotates to realize the extension and the shortening of the driving rope 13, thereby realizing the extension (rotation) of the knee joint; the spring 14 is sleeved outside the driving rope 13 and is abutted between the top surface of the knee joint boss and the cross bar at the lower end of the exoskeleton thigh 12. If the contraction of the exoskeleton shank 15, namely the movement of closing to the exoskeleton thigh 12 is to be realized, the knee joint motor 11 is started to do positive work, the rope winding wheel 5 rotates to tension the driving rope 13 to shorten the driving rope, so that the knee joint rotates, the movement of closing the exoskeleton shank 15 to the exoskeleton thigh 12 is realized, and at the moment, the spring 14 is in a compressed state; if the extension of the knee joint is to be realized, namely the exoskeleton shank 15 moves away from the exoskeleton thigh 12, the spring 14 extends to drive the driving rope 13 to extend, the rope winding wheel 5 rotates reversely, at the moment, the knee joint motor 11 does negative work, and when the spring 14 extends, the knee joint motor 11 still applies pulling force to the driving rope 13, so that the moment and the rotating speed during extension can be better controlled, and the knee joint can be extended under the controlled condition.
the use method of the exoskeleton robot is roughly as follows:
Firstly, the exoskeleton robot is fixed on the waist of a user by a waist strap 1, and is respectively fixed on the thigh and the calf of the user by a thigh strap 161 and a calf strap 162, so that the exoskeleton robot and the user are completely fixed;
Secondly, the motor is started as required, and the following simple introduction is made according to different purposes of users:
1) The exoskeleton robot can be used for recovering lower limb skills of trauma patients. During the recovery process, two functions will be possible: the first is that when a patient initially trains, a control system gives out the torque of two motors, so that the hip joint and the knee joint of the exoskeleton robot are active driving joints and are ahead of the hip joint and the knee joint of the patient, therefore, the exoskeleton can guide the patient to move, and the motion feeling of the lower limbs of the patient is reestablished; the second function is that when the patient needs to do lower limb strength training after the motion function is recovered, the control system makes the moment of the knee joint and the hip joint of the exoskeleton a passive joint, namely, the moment does negative work, and the hip joint and the knee joint of the patient carry the exoskeleton robot to rotate, so that the lower limb strength of the patient, the force generated during the motion process and the like can be exercised. The two functions can be used for finishing training by sitting on the chair when the chair is static, and can also be used for doing exercises while walking in the walking process, thereby finishing the coordination training of movement and strength.
2) The exoskeleton robot can be used for body building training of normal people. When a normal person uses the exoskeleton robot to perform fitness training, two fitness modes are provided: the first method is that the control system enables the motor to do positive work, and the exoskeleton robot drives the thighs and the shanks of the user to move, so that when the user climbs a building, climbs a mountain or walks for a long distance, the thighs and the shanks of the user can be relieved from fatigue; the second is the situation that the motor applies reverse torque to do negative work, the thigh of the user overcomes the torque of the motor to drive the exoskeleton robot to swing, so that the leg muscle strength of the user can be exercised, and under the training mode, the user can not only sit for training, but also lie for training, and can also walk and train the strength of the lower limbs.
it will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of the invention or which are equivalent to the scope of the invention are embraced by the invention.
in the description of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention and do not require that the present invention must be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. The terms "connected", "connected" and "disposed" used in the present invention should be understood in a broad sense, and may be, for example, either fixedly connected or detachably connected; can be directly connected or indirectly connected through intermediate components; the communication terminal may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
Claims (11)
1. an exoskeleton robot for leg rehabilitation training and fitness, which is characterized by comprising a hip support part, a hip joint, a thigh support part, a knee joint, a shank support part and a driving system; wherein the content of the first and second substances,
The hip support part is connected with the upper end of the thigh support part through a hip joint;
the lower end of the thigh supporting part is connected with the upper end of the shank supporting part through a knee joint;
The drive system is secured to the hip support, the drive system comprising:
The hip joint driving system is connected with the hip joint and is used for driving the hip joint to move; and the knee joint driving system is connected with the knee joint and is used for driving the knee joint to move so as to drive the coordinated movement of the thigh supporting part and the shank supporting part.
2. An exoskeleton robot for leg rehabilitation and fitness according to claim 1, wherein the hip support portion comprises a fixing plate, a mounting splint and a waist strap; the waist bandage is fixed on one side of the fixing plate through the mounting clamping plate, and the driving system is fixed on the other side of the fixing plate.
3. An exoskeleton robot for leg rehabilitation and fitness according to claim 2, wherein the number of the mounting cleats is two, respectively: when in use, the first installation splint is trapezoidal and is far away from the waist, and the second installation splint is arc and is close to the waist; the waist binding band comprises two sub-bands, one end of each sub-band is a sticking end, and the other end of each sub-band is a mounting end; the mounting ends of the two sub-belts are respectively clamped between the first mounting clamp plate and the second mounting clamp plate and fixed together in a threaded connection mode.
4. the exoskeleton robot for leg rehabilitation and fitness according to claim 2, wherein the hip joint is in the shape of a ring.
5. The exoskeleton robot for leg rehabilitation training and fitness according to claim 2, wherein the hip joint driving system comprises a hip joint motor, a motor mounting seat and a hip joint harmonic reducer, wherein the hip joint motor is mounted on the motor mounting seat, an output end of the hip joint motor is connected with an input end of the hip joint harmonic reducer, and an output end of the hip joint harmonic reducer is connected with the hip joint; when the exoskeleton is operated, the hip joint motor directly drives the hip joint to contract and extend after being decelerated by the hip joint harmonic reducer, so that the exoskeleton thigh can swing; and a first flange plate is arranged at the joint of the hip joint motor and the motor mounting seat.
6. the exoskeleton robot for leg rehabilitation training and fitness according to claim 2, wherein the knee joint drive system comprises a knee joint motor, a motor mount, a knee joint harmonic reducer and a rope pulley mechanism; the knee joint motor is arranged on the motor mounting seat, the output end of the knee joint motor is connected with the input end of the knee joint harmonic speed reducer, the output end of the knee joint harmonic speed reducer is connected with the rope wheel mechanism, and the rope wheel mechanism is connected with the knee joint through a driving rope; when the knee joint motor runs, the knee joint motor drives the knee joint to rotate through the rope pulley mechanism after being decelerated by the knee joint harmonic speed reducer; and a second flange plate is arranged at the joint of the knee joint motor and the motor mounting seat.
7. The exoskeleton robot for leg rehabilitation and fitness according to claim 6, wherein the rope pulley mechanism comprises a driving rope, a rope winding pulley and a fixed pulley; wherein the content of the first and second substances,
One end of the driving rope is fixed in a rope groove of the rope winding wheel and is lapped in a rope groove of the fixed pulley, and the other end of the driving rope is fixed on the knee joint;
the rope winding wheel is connected with the output end of the knee joint harmonic speed reducer and used for tensioning or releasing the driving rope;
The fixed pulley is fixed on the fixed plate and used for guiding the driving rope.
8. An exoskeleton robot for leg rehabilitation and fitness according to claim 7, wherein the thigh support portion comprises: the exoskeleton thigh, the first guide rail and the thigh strap; wherein the content of the first and second substances,
the upper end of the exoskeleton thigh is connected with the hip joint, and the lower end of the exoskeleton thigh is connected with the knee joint;
the first guide rail comprises a first fixing rod and a first sliding block arranged on the first fixing rod, the first fixing rod is fixed on the exoskeleton thigh body, and the first sliding block is fixedly connected with the thigh binding band.
9. An exoskeleton robot for leg rehabilitation and fitness according to claim 8, wherein the lower leg support portion comprises: the exoskeleton crus, the second guide rail and the crus part binding band; wherein the content of the first and second substances,
the upper end of the exoskeleton shank is connected with the knee joint;
the second guide rail comprises a second fixing rod and a second sliding block arranged on the second fixing rod, the second fixing rod is fixed on the exoskeleton shank body, and the second sliding block is fixedly connected with the shank part binding band.
10. An exoskeleton robot for leg rehabilitation and fitness according to claim 9, wherein the knee joint comprises:
the knee base is arranged at the upper end of the exoskeleton shank;
a boss provided at a rear portion of the knee base, the boss being connected to the driving rope of the knee joint driving system;
The groove is arranged at the front part of the knee base, the side surface and the top surface of the groove, which are close to the boss, are openings, two side surfaces adjacent to the side surfaces of the openings are provided with opposite through holes, and the lower end of the exoskeleton thigh is inserted into the groove;
a link disposed through said through hole in said groove side and through hole provided in said exoskeleton thigh lower end for connecting said exoskeleton thigh to said knee joint;
The exoskeleton thigh and the exoskeleton shank can rotate relative to each other by taking the connecting piece as a pivot.
11. the exoskeleton robot for leg rehabilitation training and fitness according to claim 10, wherein a cross bar perpendicular to the exoskeleton thigh body is further arranged at the lower part of the exoskeleton thigh, a through hole is formed at a hanging end of the cross bar, and the driving rope is fixed on the top surface of the knee joint boss through the through hole at the hanging end of the cross bar;
the rope wheel mechanism further comprises an elastic piece, and the elastic piece is sleeved outside the driving rope and is abutted between the top surface of the boss of the knee joint and the cross bar of the exoskeleton thigh.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820878176.0U CN209734461U (en) | 2018-06-07 | 2018-06-07 | Exoskeleton robot for leg rehabilitation training and body building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820878176.0U CN209734461U (en) | 2018-06-07 | 2018-06-07 | Exoskeleton robot for leg rehabilitation training and body building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209734461U true CN209734461U (en) | 2019-12-06 |
Family
ID=68699568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820878176.0U Active CN209734461U (en) | 2018-06-07 | 2018-06-07 | Exoskeleton robot for leg rehabilitation training and body building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209734461U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108743224A (en) * | 2018-06-07 | 2018-11-06 | 中国电子科技集团公司第二十研究所 | Leg rehabilitation training and body-building exoskeleton robot |
| CN111068184A (en) * | 2019-12-31 | 2020-04-28 | 哈尔滨嗨菲特健康管理有限公司 | Medical nerve relaxing device |
-
2018
- 2018-06-07 CN CN201820878176.0U patent/CN209734461U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108743224A (en) * | 2018-06-07 | 2018-11-06 | 中国电子科技集团公司第二十研究所 | Leg rehabilitation training and body-building exoskeleton robot |
| CN111068184A (en) * | 2019-12-31 | 2020-04-28 | 哈尔滨嗨菲特健康管理有限公司 | Medical nerve relaxing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107811805B (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN107411939B (en) | A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities | |
| CN111110519B (en) | Multi-sensing intelligent wearable lower limb exoskeleton robot | |
| CN111070187B (en) | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method | |
| KR101146112B1 (en) | Power-driven walking supporting device | |
| CN108743224A (en) | Leg rehabilitation training and body-building exoskeleton robot | |
| CN112472523A (en) | Elbow joint exoskeleton rehabilitation training robot | |
| CN108969310A (en) | A kind of lower limb booster type exoskeleton robot | |
| CN110666783A (en) | Hip joint exoskeleton assistance mechanism | |
| CN219230587U (en) | Hip joint exoskeleton rehabilitation device with adjustable flexibility | |
| CN209734461U (en) | Exoskeleton robot for leg rehabilitation training and body building | |
| EP3954351A1 (en) | Ankle-assisted exoskeleton device | |
| CN111671624B (en) | Wearable metatarsophalangeal joint walking power assisting device | |
| CN115300864A (en) | Hip joint exoskeleton for transverse walking rehabilitation | |
| CN214511821U (en) | Rope-pulling type flexible lower limb exoskeleton power-assisted robot | |
| CN212940468U (en) | Rigid-flexible coupling wearable walking-aid exoskeleton system | |
| CN109968339B (en) | Unpowered bendable waist booster | |
| CN213218751U (en) | Recovered ectoskeleton robot | |
| Sargsyan et al. | Robotic rehabilitation devices of human extremities: design concepts and functional particularities | |
| WO2024011836A1 (en) | Lower limb exoskeleton for lateral walking rehabilitation | |
| CN111281739A (en) | Recovered ectoskeleton robot | |
| CN114845680A (en) | Walking assisting exoskeleton device | |
| CN112022618B (en) | Rigid-flexible coupling wearable walking assisting exoskeleton system | |
| US20230381947A1 (en) | Appendage work sharing apparatus | |
| CN114848390B (en) | Horizontal lower limb rehabilitation robot based on lasso driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220824 Address after: 16th Floor, No. 647, East Longhua Road, Huangpu District, Shanghai, 200023 Patentee after: China Electronics Technology robot Co.,Ltd. Address before: 200233, No. 30 Rainbow Road, Shanghai, Xuhui District Patentee before: NO.21 RESEARCH INSTITUTE OF CHINA ELECTRONICS TECHNOLOGY Group Corp. |