CN210939247U - Lower limb exoskeleton based on disc type motor - Google Patents

Abstract

A lower extremity exoskeleton based on a disc motor, comprising a foot plate, a foot plate connector, a lower leg rod, a lower support rod, a lower leg bending rod, a disc servo motor, a limit pin, a gas spring, a lower thigh rod, an upper support rod, It consists of upper thigh rod, waist board and control box. The disc servo motor located at the knee joint drives the lower thigh rod and the lower leg bending rod to rotate relatively, simulating the movement of the knee joint and assisting the human body to complete the walking action. The whole device is simple in structure, light in weight, does not interfere with the human body, reduces the burden on the human body, can achieve normal walking on different terrains, can provide a certain amount of assistance, and enhance the user's walking ability, especially suitable for the elderly to use, reduce the burden of long-term walking. of fatigue.

Description

A lower extremity exoskeleton based on disc motor

technical field

The utility model belongs to the technical field of lower limb exoskeletons, in particular to a lower limb exoskeleton based on a disc motor.

Background technique

With the advancement of medical technology and the continuous improvement of living standards, the aging of the social population is becoming more and more serious. The needs of the elderly to enhance their mobility and travel more comfortably and quickly are increasingly strong, but the currently widely used unpowered walking aids have many constraints and are inconvenient to use. It is expensive and not suitable for the elderly.

Utility model content

In view of the above deficiencies, the purpose of the present invention is to provide a lower extremity exoskeleton based on a disc motor, which provides assistance at the position of the knee joint, has a simple structure, is easy to manufacture and has a low cost.

In order to achieve the above purpose, the technical scheme provided by the present utility model is: a lower limb exoskeleton based on a disc motor, which consists of a foot plate, a foot plate connecting piece, a lower leg rod, a lower support rod, a lower leg bending rod, a gas spring, and a disc type exoskeleton. Servo motor, limit pin, lower thigh rod, upper support rod, upper thigh rod, waist plate, and control box; it is characterized in that: the waist plate is U-shaped, and each of the left and right ends has a protruding section, and the protruding upper There are 2 small holes and 1 large hole, the upper support rod is L-shaped, the long end has 5 through holes, the short end has 2 small holes and 1 large hole, and the waist plate is fixedly connected through the small holes, The upper end of the upper thigh rod has a large hole, which is rotatably connected with the waist plate and the upper support rod, and there is a row of small holes at the lower end. The notch is used to install elastic straps and tightly connect with the thigh. The lower end of the circle is densely covered with limit through holes. There are 1 large hole and 4 small holes in the middle of the circle. The limit pin and the lower thigh rod are circular The limit through holes around are selectively and fixedly connected. The disc servo motor has 1 large hole and 4 small holes on both sides, and one side is fixedly connected with the 4 small holes of the lower thigh rod. The large hole is the pre-wire. A through hole is left, and the other side is fixedly connected to the calf bending rod. There are 1 large hole and 4 small holes in the middle protrusion of the upper end of the calf bending rod. The large hole is the motor operation observation hole, and the small hole is connected to the disc servo. The motor is fixedly connected, the protrusions on both sides cooperate with the limit pins to achieve the function of limit, the middle end has a folded angle to make the lower leg lower rod fit the lower leg, the lower end has two square grooves, and there is a row in the middle of the lower leg lower rod The through hole and the calf bending rod are fixedly connected at the square groove. There are 2 notches on both sides of the middle. When in use, the elastic straps are tightly connected with the calf through the notches. There is a large hole at the lower end. , the long end has 4 through holes, and the short end has 2 small holes, which are fixedly connected with the lower rod of the calf through the small holes, the upper end of the gas spring and the upper support rod are connected by rotation through the through holes, and the lower end and the lower support rod The connecting piece of the foot plate has 1 large hole and 2 small holes, which are connected with the lower leg of the lower leg through the large hole. The two sides of the foot plate are respectively provided with a rectangular protrusion and a semi-circular protrusion. The semi-circular protrusion has 2 small holes, which are fixedly connected with the connecting piece of the foot board, and the rectangular protrusion has 2 notches. When in use, the installation strap is closely connected with the foot; the foot board, the foot board connecting piece, the lower leg rod, the lower Support rod, calf bending rod, gas spring, disc servo motor, limit pin, lower thigh rod, upper support rod, upper thigh rod, symmetrically distributed on both sides of the waist plate.

Compared with the prior art, the utility model has the following beneficial effects: simple structure, light weight, easy to manufacture and low cost; no interference with the human body, relatively safe and reliable; Normal walking can enhance the ability of the elderly to walk, and at the same time, it can also help ordinary people to walk and reduce the fatigue caused by long-term walking.

Description of drawings

The utility model will be further described below in conjunction with the accompanying drawings.

Figure 1 is a schematic diagram of the overall structure of the present invention.

Figure 2 is a schematic diagram of the structure of the lower leg bending rod.

Figure 3 is a schematic diagram of the structure of the lower thigh rod.

Figure 4 is a schematic diagram of the structure of the upper thigh rod.

Figure 5 is a schematic diagram of the structure of the lower leg bar.

Figure 6 is a schematic diagram of the structure of the upper support rod.

Figure 7 is a schematic diagram of the structure of the foot plate.

Figure 8 is a schematic diagram of the structure of the waist plate.

FIG. 9 is a schematic diagram of the structure of the lower support rod.

In the picture, 1 foot plate, 2 foot plate connecting piece, 3 lower leg rod, 4 lower support rod, 5 lower leg bending rod, 6 gas spring, 7 disc servo motor, 8 limit pin, 9 thigh lower rod, 10 upper support rod , 11 thigh bar, 12 waist board, 13 control box.

Detailed ways

It can be seen from Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, Figure 8, and Figure 9 that a lower limb exoskeleton based on a disc motor consists of a foot plate 1, a foot plate connector 2, and a lower leg. Lower rod 3, lower support rod 4, lower leg bending rod 5, gas spring 6, disc servo motor 7, limit pin 8, lower thigh rod 9, upper support rod 10, upper thigh rod 11, waist plate 12, control box 13 It is characterized in that: the waist plate 12 is U-shaped, and each of the left and right ends has a protruding section, and there are 2 small holes and 1 large hole on the protrusion, and the upper support rod 10 is L-shaped, The long end has 5 through holes, the short end has 2 small holes and 1 large hole, and is fixedly connected with the waist plate 12 through the small holes. 10. Rotating connection, there is a row of small holes at the lower end, the upper end of the lower thigh rod 9 has a row of small holes, which is fixedly connected with the upper support rod 10, and there are 2 notches in the middle part. Limit through holes are densely distributed around the circle, and there are 1 large hole and 4 small holes in the middle of the circle. The limit pin 8 is selectively fixedly connected to the limit through holes around the circle of the lower thigh rod 9. The disc servo motor 7 has 1 large hole and 4 small holes on both sides, one side is fixedly connected with the 4 small holes of the lower thigh rod 9, the large hole is reserved for the wire through holes, and the other side is connected with the lower leg bending rod 5. Fixed connection. There is a large hole and 4 small holes in the middle bulge at the upper end of the lower leg bending rod 5. The large hole is the motor operation observation hole, and the small hole is fixedly connected with the disc servo motor 7, and the two sides are convex Cooperate with the limit pin 8 to achieve the function of limit, the end has a folded angle so that the lower leg lower rod 3 can fit the lower leg, the lower end has two square grooves, and the lower leg lower rod 3 has a row of through holes and a lower leg bending rod in the middle 5. It is fixedly connected at the square groove. There are 2 notches on both sides in the middle. When in use, the elastic straps are closely connected with the calf through the notches. There is a large hole at the lower end. There are 4 through holes, and the short end has 2 small holes, which are fixedly connected with the lower leg 3 through the small holes, the upper end of the gas spring 6 is connected with the upper support rod 10 through the through holes, and the lower end and the lower support rod 4 are connected through the through holes. The holes are rotated and connected, and the foot plate connector 2 has 1 large hole and 2 small holes, and is connected with the lower leg 3 through the large hole. The convex, the semi-circular convex has 2 small holes, which are fixedly connected with the foot board connector 2, and the rectangular convex has 2 notches, and the installation strap is tightly connected with the foot when in use.

In the specific implementation, the user steps on the foot plate 1, the elastic bandage passes through the rectangular convex notch of the foot plate 1 to fix the foot, and the elastic bandage passes through the notches on the middle two sides of the lower leg lower rod 3, and wraps around the lower leg of the human body. The outer side of the thigh of the human body and the notches on both sides of the middle part of the lower thigh rod 9 are fixed with elastic straps, the waist plate 12 is fixed on the waist of the human body, and the control box 13 has a built-in control board, power supply, communication system, etc., to receive exercise information Then start to drive the disc servo motor 7 to drive the lower thigh rod 9 and the lower leg bending rod 5 to rotate relatively, thereby driving the knee joint movement of the human body, providing a certain power to assist the human body to complete the walking action.

The above are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the patent of the present invention.

Claims (2)

1. A lower extremity exoskeleton based on a disc motor, comprising a foot plate (1), a foot plate connector (2), a lower leg rod (3), a lower support rod (4), a lower leg bending rod (5), a gas spring ( 6), disc servo motor (7), limit pin (8), lower thigh rod (9), upper support rod (10), upper thigh rod (11), waist plate (12), control box (13) It is characterized in that: the waist plate (12) is U-shaped, and each of the left and right ends has a protruding section, and there are 2 small holes and 1 large hole on the protrusion, and the upper support rod (10) is formed. L-shaped, with 5 through holes at the long end, 2 small holes and 1 large hole at the short end, and the waist plate (12) is fixedly connected through the small holes, and the upper thigh rod (11) has a large hole at the upper end, It is rotatably connected with the waist plate (12) and the upper support rod (10), the lower end has a row of small holes, the upper end of the thigh lower rod (9) has a row of small holes, which is fixedly connected with the upper support rod (10), and the middle part has 2 The notch is used to install elastic straps and tightly connect the thigh. The lower end of the circle is densely covered with limit through holes. There are 1 large hole and 4 small holes in the middle of the circle. The limit through holes around the circle of the rod (9) are selectively and fixedly connected, the disc servo motor (7) has one large hole and four small holes on both sides, and one side is connected with the lower thigh rod (9). The 4 small holes are fixedly connected, the large hole is reserved for a through hole for the wire, and the other side is fixedly connected to the lower leg bending rod (5). There are small holes, the big hole is the motor operation observation hole, the small hole is fixedly connected with the disc servo motor (7), the protrusions on both sides cooperate with the limit pins (8) to realize the limit function, and the middle end has a folded angle to make the said The lower calf rod (3) can fit the calf, and has two square grooves at the lower end. There is a row of through holes in the middle of the lower calf rod (3) and the calf bending rod (5) is fixedly connected at the square groove, and the two sides of the middle are fixedly connected. There are 2 notches, the elastic straps are tightly connected with the calf through the notches, and there is a large hole at the lower end. The lower support rod (4) is L-shaped, with 4 through holes at the long end and 2 at the short end. The small hole is fixedly connected with the lower leg rod (3) through the small hole, the upper end of the gas spring (6) and the upper support rod (10) are rotatably connected through the through hole, and the lower end and the lower support rod (4) are rotated through the through hole For connection, the foot plate connector (2) has 1 large hole and 2 small holes, and is connected with the lower leg rod (3) through the large hole. The two sides of the foot plate (1) have a rectangular protrusion and 1. The semi-circular protrusion has 2 small holes, which are fixedly connected with the foot board connecting piece (2), and the rectangular protrusion has 2 notches, and the installation strap is tightly connected with the foot when in use. 2. A lower extremity exoskeleton based on a disc motor according to claim 1, characterized in that: the foot plate (1), the foot plate connector (2), the lower leg rod (3), the lower support rod ( 4), lower leg bending rod (5), gas spring (6), disc servo motor (7), limit pin (8), lower thigh rod (9), upper support rod (10), upper thigh rod (11) ), symmetrically distributed on both sides of the waist plate (12).

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