CN214511821U - Rope-pulling type flexible lower limb exoskeleton power-assisted robot - Google Patents
Rope-pulling type flexible lower limb exoskeleton power-assisted robot Download PDFInfo
- Publication number
- CN214511821U CN214511821U CN202022821918.6U CN202022821918U CN214511821U CN 214511821 U CN214511821 U CN 214511821U CN 202022821918 U CN202022821918 U CN 202022821918U CN 214511821 U CN214511821 U CN 214511821U
- Authority
- CN
- China
- Prior art keywords
- steel rope
- driving device
- knee joint
- hip joint
- fixed
- 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
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 17
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 202
- 239000010959 steel Substances 0.000 claims abstract description 202
- 210000004394 hip joint Anatomy 0.000 claims abstract description 133
- 210000000629 knee joint Anatomy 0.000 claims abstract description 132
- 210000000689 upper leg Anatomy 0.000 claims abstract description 104
- 210000001624 hip Anatomy 0.000 claims abstract description 34
- 210000003414 extremity Anatomy 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 7
- 210000002414 leg Anatomy 0.000 abstract description 11
- 230000007547 defect Effects 0.000 abstract description 3
- 244000309466 calf Species 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 208000017667 Chronic Disease Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a rope draws formula flexible low limbs ectoskeleton helping hand robot. The existing flexible lower limb exoskeleton robot has the defects of insufficient driving precision and poor active power assisting performance. The utility model discloses a wear to tie up the piece, the waist control box, right side thigh inclination sensor, left side thigh inclination sensor, right side shank inclination sensor, left side hip joint drive arrangement, right side hip joint drive arrangement, left side hip joint helping hand steel cable, right side hip joint helping hand steel cable, left side thigh position is dressed and is tied up the piece, right side shank position is dressed and is tied up the piece, left side shank position is dressed and is tied up the piece, right side knee joint drive arrangement, left side knee joint drive arrangement, right side knee joint helping hand steel cable and left side knee joint helping hand steel cable. The utility model discloses can accurate judgement wearer lift the leg wish and supplementary lift the leg, control leg independent control, bring better experience for the wearer.
Description
Technical Field
The utility model belongs to the field of medical equipment, concretely relates to novel flexible low limbs ectoskeleton helping hand robot of formula is drawn to driven rope.
Background
The number of the aged, disabled and chronic diseases in the world increases year by year, and according to the world population prediction report of 2019, the number of the aged over 60 years in China is about 2 hundred million, accounting for 17.3%; the proportion is expected to rise to 28.4% by the year 2035. The second national handicapped sampling survey shows that the number of the domestic handicapped reaches 8296 thousands in 2006, and the physical disability accounts for 29.07 percent. A large number of stroke patients generally have the problem of residual motor dysfunction, such as asymmetric gait, hip joint dyskinesia and reduced knee joint support stability. The lower limb exoskeleton robot is one of rehabilitation robots, can assist a patient in rehabilitation training, prevent muscular atrophy, exercise the mobility of joints and promote the patient to recover the motor function of a normal person, so that the social burden is reduced, the social development is improved, and the exoskeleton robot has very important practical significance for the research of the exoskeleton robot.
Compared with the defects of multiple rigid structures, large volume, large weight, poor comfort, difficulty in carrying, high cost and the like of the rigid lower limb exoskeleton robot, the flexible lower limb exoskeleton robot is made of flexible materials, can be more attached to leg parts of a human body, more effectively imitates the operation of muscle groups, enables the body feeling comfort of a wearer to be better, and is small in volume, so that the psychological burden of the wearer can be effectively relieved; however, the existing flexible lower limb exoskeleton robot generally has the defects of insufficient driving precision and poor active power assistance performance, and the research on a novel driving flexible lower limb exoskeleton robot is very necessary.
Disclosure of Invention
The utility model discloses it is not enough to current flexible low limbs ectoskeleton robot drive precision, the poor shortcoming of initiative helping hand nature, according to human muscle joint motion characteristic, a novel driven rope draws formula flexible low limbs ectoskeleton helping hand robot is provided, the combination that adopts steering wheel connecting rod and drum is core drive element, can realize accurate control robot helping hand, reduce the robot motion hysteresis quality, and less volume and weight have, effectively reduce the heavy burden of person of dressing and improve the travelling comfort, effectively promote the action integration degree of human motion and low limbs ectoskeleton robot.
The utility model adopts the technical scheme as follows:
the utility model discloses a wear to tie up the piece, the waist control box, right side thigh inclination sensor, left side thigh inclination sensor, right side shank inclination sensor, left side hip joint drive arrangement, right side hip joint drive arrangement, left side hip joint helping hand steel cable, right side hip joint helping hand steel cable, left side thigh position is dressed and is tied up the piece, right side shank position is dressed and is tied up the piece, left side shank position is dressed and is tied up the piece, right side knee joint drive arrangement, left side knee joint drive arrangement, right side knee joint helping hand steel cable and left side knee joint helping hand steel cable. The front part of the waist wearing binding piece is fixed with a left hip joint driving device and a right hip joint driving device, and the rear part is fixed with a waist control box; the left hip joint driving device drives the left hip joint boosting steel rope, and the right hip joint driving device drives the right hip joint boosting steel rope; the left hip joint assisting steel rope and the left thigh part are fixed by a dressing and binding piece, and the right hip joint assisting steel rope and the right thigh part are fixed by a dressing and binding piece; a left knee joint driving device is fixed at the rear part of the wearing and binding piece of the thigh part on the left side, and a right knee joint driving device is fixed at the rear part of the wearing and binding piece of the thigh part on the right side; the left knee joint driving device drives the left knee joint power-assisted steel rope, and the right knee joint driving device drives the right knee joint power-assisted steel rope; the left knee joint power-assisted steel rope and the left shank part are fixed by a dressing piece, and the right knee joint power-assisted steel rope and the right shank part are fixed by a dressing piece; the left hip joint driving device, the right hip joint driving device, the left knee joint driving device and the right knee joint driving device are all connected with a controller in the waist control box, the controller is powered by an external power supply, and the left hip joint driving device, the right hip joint driving device, the left knee joint driving device and the right knee joint driving device are powered by the controller or powered by the external power supply; a left thigh inclination angle sensor is fixed on the left thigh wearing binding piece, a right thigh inclination angle sensor is fixed on the right thigh wearing binding piece, a left shank inclination angle sensor is fixed on the left shank wearing binding piece, and a right shank inclination angle sensor is fixed on the right shank wearing binding piece; the left thigh tilt angle sensor, the left shank tilt angle sensor, the right thigh tilt angle sensor and the right shank tilt angle sensor transmit signals to a controller in the waist control box through wireless communication.
Preferably, the waist is worn the both ends of tying up the piece and is used the magic to paste the connection, and left side thigh position is dressed the both ends that tie up the piece and the right side thigh position is dressed and is all used the magic to paste the connection, and left side shank position is dressed the both ends that tie up the piece and the right side shank position is dressed and is all used the magic to paste the connection.
Preferably, the left hip joint assisting steel rope and the left thigh wearing binding piece are fixed through a first steel rope connecting piece, and the right hip joint assisting steel rope and the right thigh wearing binding piece are fixed through a second steel rope connecting piece; the left knee joint assisting steel rope and the left shank wearing binding piece are fixed through a second steel rope connecting piece, and the right knee joint assisting steel rope and the right shank wearing binding piece are fixed through a second steel rope connecting piece.
Preferably, the left thigh tilt angle sensor, the left shank tilt angle sensor, the right thigh tilt angle sensor and the right shank tilt angle sensor are all connected with a digital-to-analog converter through a signal conditioner, and the digital-to-analog converter is in wireless communication with a controller arranged in the waist control box.
Preferably, the left hip joint driving device, the right knee joint driving device and the left knee joint driving device respectively comprise a shell, a steering engine, a pull rod, a wire coil and a bearing; the steering engine is connected with the controller; the base of the steering engine is fixed on the shell; an output shaft of the steering engine is fixed with one end of a swing rod, the other end of the swing rod is hinged with one end of a pull rod, and the other end of the pull rod is hinged at the eccentric position of the wire coil; the central hole of the wire coil is supported on the shell through a bearing; the shells of the left hip joint driving device and the right hip joint driving device are fixed on the waist wearing binding piece, the shell of the right knee joint driving device is fixed on the right thigh wearing binding piece, and the shell of the left knee joint driving device is fixed on the left thigh wearing binding piece; the left hip joint power-assisted steel rope is wound on a wire coil of the left hip joint driving device, and one end of the left hip joint power-assisted steel rope is fixed with the wire coil of the left hip joint driving device; the right hip joint power-assisted steel rope is wound on a wire coil of the right hip joint driving device, and one end of the right hip joint power-assisted steel rope is fixed with the wire coil of the right hip joint driving device; the left knee joint assisting steel rope is wound on a wire coil of the left knee joint driving device, and one end of the left knee joint assisting steel rope is fixed with the wire coil of the left knee joint driving device; the right knee joint assisting steel rope is wound on a wire coil of the right knee joint driving device, and one end of the right knee joint assisting steel rope is fixed with the wire coil of the right knee joint driving device; the central axes of the output shafts of the steering engines of the right knee joint driving device and the left knee joint driving device are all arranged at equal heights with the steel rope connecting piece.
Preferably, the left hip joint driving device, the right knee joint driving device and the left knee joint driving device further comprise steel wire guides; the steel rope guide is fixed on the shell; the steel rope guide piece is provided with a steel rope guide hole; the left hip joint assisting steel rope passes through a steel rope guide hole of a steel rope guide piece in the left hip joint driving device, the right hip joint assisting steel rope passes through a steel rope guide hole of a steel rope guide piece in the right hip joint driving device, the left knee joint assisting steel rope passes through a steel rope guide hole of a steel rope guide piece in the left knee joint driving device, and the right knee joint assisting steel rope passes through a steel rope guide hole of a steel rope guide piece in the right knee joint driving device.
Preferably, the left hip joint assisting steel rope comprises a left main steel rope, a left pressing piece and a left branch steel rope; one end of the left main steel rope is driven by the left hip joint driving device, the other end of the left main steel rope and one end of each of the two left branch steel ropes are fixed through a left pressing piece, the other ends of the two left branch steel ropes are fixed with rollers on the first two steel rope connecting pieces respectively, and the rollers and the first steel rope connecting pieces form a revolute pair; the right hip joint assisting steel rope comprises a right main steel rope, a right pressing piece and a right branch steel rope; one end of the right main steel rope is driven by a right hip joint driving device, the other end of the right main steel rope and one end of each of the two right branch steel ropes are fixed through a right pressing piece, and the other ends of the two right branch steel ropes are respectively fixed with the rollers on the first two steel rope connecting pieces; the first steel rope connecting piece connected with the left branch steel rope is fixed on the left thigh wearing and binding piece, and the first steel rope connecting piece connected with the right branch steel rope is fixed on the right thigh wearing and binding piece.
Preferably, the left hip joint assisting steel rope, the right hip joint assisting steel rope, the left knee joint assisting steel rope and the right knee joint assisting steel rope are wrapped with rubber sleeves.
Compared with the prior art, the utility model discloses the beneficial effect who has as follows:
1. when the wearing person walks, the utility model discloses a motion state of inclination sensor feedback shank to confirm human motion state, and control the leg and receive the leg lifting trend signal that the wearing person just started through inclination sensor respectively and give the controller, the controller gives motion signal to controlling both sides hip joint drive arrangement and left and right sides knee joint drive arrangement. Therefore, the utility model discloses can accurate judgement wearer's the will of raising the leg and supplementary raising the leg, can accomplish a feedback-order periodic cycle in short time, reduce the reaction time of robot, reduce the motion hysteresis quality of robot, and control the leg respectively independent control about, each other does not influence, and the wearer wants to lift that leg just can assist automatically which leg of lifting, has brought better man-machine combination effect and more comfortable experience for the wearer.
2. The utility model discloses rope draws formula flexible low limbs ectoskeleton helping hand robot compares with rigidity ectoskeleton robot and has small, light in weight, the structure is reliable, easily dress, the lower characteristics of cost, effectively alleviates the person's of dress health burden, and the rope draws formula more to accord with human biomechanics, and has higher flexibility and travelling comfort.
3. Compare in other underactuated flexible low limbs ectoskeleton robot or unpowered flexible low limbs ectoskeleton robot, the utility model discloses rope draws formula flexible low limbs ectoskeleton helping hand robot adopts the steering wheel to combine the drum pull rod to form quadrilateral mechanism, can tensile length of accurate control steel cable and power, improves the accuracy nature of helping hand action, can accurate control the motion time and the corner of steering wheel, and more the adaptation human change at real walking in-process shank motion parameter.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view showing the assembly of the left thigh-wearing binding and the left hip joint power-assisted steel cable and the right thigh-wearing binding and the right hip joint power-assisted steel cable of the present invention;
FIG. 3 is an assembly view of the present invention showing the left thigh wearing and left calf wearing and the right thigh wearing and right calf wearing;
fig. 4 is a schematic structural view of any one of the driving devices of the present invention;
fig. 5 is an exploded view of any one of the driving devices of the present invention.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the rope-pulling type flexible lower limb exoskeleton assisting robot comprises a waist wearing binding piece 2, a waist control box 1, a right thigh tilt sensor 10, a left thigh tilt sensor 29, a right shank tilt sensor 16, a left shank tilt sensor 30, a left hip joint driving device 4, a right hip joint driving device 5, a left hip joint assisting steel rope 6, a right hip joint assisting steel rope 7, a left thigh wearing binding piece 8, a right thigh wearing binding piece 9, a right shank wearing binding piece 14, a left shank wearing binding piece 15, a right knee joint driving device 11, a left knee joint driving device 21, a right knee joint assisting steel rope 12 and a left knee joint assisting steel rope 13. The front part of the waist wearing binding piece is fixed with a left hip joint driving device 4 and a right hip joint driving device 5, and the rear part is fixed with a waist control box 1; the left hip joint driving device 4 drives the left hip joint power-assisted steel rope 6, and the right hip joint driving device 5 drives the right hip joint power-assisted steel rope 7; the left hip joint assisting steel rope 6 is fixed with a left thigh wearing binding 8, and the right hip joint assisting steel rope 7 is fixed with a right thigh wearing binding 9; a left knee joint driving device 21 is fixed at the rear part of the left thigh wearing binding 8, and a right knee joint driving device 11 is fixed at the rear part of the right thigh wearing binding 9; the left knee joint driving device 21 drives the left knee joint power-assisted steel rope 13, and the right knee joint driving device 11 drives the right knee joint power-assisted steel rope 12; the left knee joint assisting steel rope 13 is fixed with a left shank wearing binding piece 15, and the right knee joint assisting steel rope 12 is fixed with a right shank wearing binding piece 14; the left hip joint driving device 4, the right hip joint driving device 5, the left knee joint driving device 21 and the right knee joint driving device 11 are all connected with (i.e. electrically connected with) a controller in the waist control box 1 through a data line 3, the controller is powered by an external power supply, and the left hip joint driving device 4, the right hip joint driving device 5, the left knee joint driving device 21 and the right knee joint driving device 11 are powered by the controller or the external power supply; a left thigh tilt angle sensor 29 is fixed on the left thigh wearing binding 8, a right thigh tilt angle sensor 10 is fixed on the right thigh wearing binding 9, a left shank tilt angle sensor 30 is fixed on the left shank wearing binding 15, and a right shank tilt angle sensor 16 is fixed on the right shank wearing binding 14; the left thigh tilt angle sensor 29, the left shank tilt angle sensor 30, the right thigh tilt angle sensor 10 and the right shank tilt angle sensor 16 all transmit signals to a controller in the waist control box through wireless communication.
As a preferred embodiment, both ends of the waist wearing band 2 are connected using velcro tapes for wearing and binding at the waist of the wearer; both ends of the left thigh wearing and binding piece 8 and the right thigh wearing and binding piece 9 are connected by magic tapes; the left shank wearing part 15 and the right shank wearing part 14 are connected at both ends thereof by hook and loop fasteners.
In a preferred embodiment, the left hip joint assisting steel cable 6 and the left thigh wearing binding 8 are fixed by one cable connection member one 19, and the right hip joint assisting steel cable 7 and the right thigh wearing binding 9 are fixed by the other cable connection member one 19; the left knee joint assisting steel rope 13 and the left shank wearing binding piece 15 are fixed through a second steel rope connecting piece 22, and the right knee joint assisting steel rope 12 and the right shank wearing binding piece 14 are fixed through a second steel rope connecting piece 22.
As a preferred embodiment, the left thigh tilt angle sensor 29, the left shank tilt angle sensor 30, the right thigh tilt angle sensor 10 and the right shank tilt angle sensor 16 are all connected with a digital-to-analog converter through a signal conditioner, and the digital-to-analog converter is in wireless communication with a controller arranged in the waist control box.
As a preferred embodiment, as shown in fig. 4 and 5, the left hip joint driving device 4, the right hip joint driving device 5, the right knee joint driving device 11 and the left knee joint driving device 21 each comprise a housing 24, a steering gear 23, a pull rod 25, a wire coil 26 and a bearing 31; the steering engine 23 is connected with the controller through a data line 3; the base of the steering engine 23 is fixed on the shell 24 through a bolt 28; an output shaft of the steering engine 23 is fixed with one end of a swing rod, the other end of the swing rod is hinged with one end of a pull rod 25, and the other end of the pull rod 25 is hinged at the eccentric position of a wire coil 26 (through a hinged shaft 27); the central bore of the coil 26 is supported on the housing 24 by means of bearings 31. The shells 24 of the left hip joint driving device 4 and the right hip joint driving device 5 are both fixed on the waist wearing binding 2, the shell 24 of the right knee joint driving device 11 is fixed on the right thigh wearing binding 9, and the shell 24 of the left knee joint driving device 21 is fixed on the left thigh wearing binding 8; the left hip joint power-assisted steel rope 6 is wound on the wire coil 26 of the left hip joint driving device 4, and one end of the wire coil is fixed with the wire coil 26 of the left hip joint driving device 4; the right hip joint power-assisted steel rope 7 is wound on the wire coil 26 of the right hip joint driving device 5, and one end of the wire coil is fixed with the wire coil 26 of the right hip joint driving device 5; the left knee joint assisting steel rope 13 is wound on a wire coil 26 of the left knee joint driving device 21, and one end of the left knee joint assisting steel rope is fixed with the wire coil 26 of the left knee joint driving device 21; the right knee joint assisting steel rope 12 is wound on a wire coil 26 of the right knee joint driving device 11, and one end of the right knee joint assisting steel rope is fixed with the wire coil 26 of the right knee joint driving device 11; the central axes of the output shafts of the steering gears 23 of the right knee joint driving device 11 and the left knee joint driving device 21 are arranged at the same height as the first steel rope connecting piece 19.
As a more preferred embodiment, the left hip joint drive device 4, the right hip joint drive device 5, the right knee joint drive device 11 and the left knee joint drive device 21 each further comprise a wire rope guide 32; the cable guide 32 is fixed to the housing 24; the steel rope guide 32 is provided with a steel rope guide hole; the left hip joint assistance wire 6 is passed through a wire guide hole of the wire guide 32 in the left hip joint drive device 4, the right hip joint assistance wire 7 is passed through a wire guide hole of the wire guide 32 in the right hip joint drive device 5, the left knee joint assistance wire 13 is passed through a wire guide hole of the wire guide 32 in the left knee joint drive device 21, and the right knee joint assistance wire 12 is passed through a wire guide hole of the wire guide 32 in the right knee joint drive device 11.
As a preferred embodiment, as shown in fig. 2, the left hip joint assisting steel cable 6 includes a left main steel cable, a left pressing member 20 and a left branch steel cable; one end of the left main steel rope is driven by the left hip joint driving device 4, the other end of the left main steel rope and one end of each of the two left branch steel ropes are fixed through a left pressing piece 20, the other ends of the two left branch steel ropes are fixed with rollers 18 on two first steel rope connecting pieces 19 respectively, and the rollers and the first steel rope connecting pieces 19 form a revolute pair; the right hip joint power-assisted steel rope 7 comprises a right main steel rope, a right pressing piece 17 and a right branch steel rope; one end of the right main steel rope is driven by the right hip joint driving device 5, the other end of the right main steel rope and one end of the two right branch steel ropes are fixed through a right pressing piece 17, and the other ends of the two right branch steel ropes are respectively fixed with rollers 18 on two steel rope connecting pieces I19; the first steel cable connecting piece 19 connected with the left branch steel cable is fixed on the left thigh wearing binding piece 8, and the first steel cable connecting piece 19 connected with the right branch steel cable is fixed on the right thigh wearing binding piece 9.
As a preferred embodiment, the waist wearing binding 2 is made of flexible material, and the tightness of the waist wearing binding can be adjusted according to the waist circumference and body type of a wearer; the left thigh wearing binding 8 and the right thigh wearing binding 9 are made of flexible materials, and the tightness of the left thigh wearing binding 8 and the tightness of the right thigh wearing binding 9 can be adjusted according to the thickness of thighs of a wearer; the left shank part wearing binding piece 15 and the right shank part wearing binding piece 14 are made of flexible materials, and the tightness of the left shank part wearing binding piece 15 and the right shank part wearing binding piece 14 can be adjusted according to the thickness of the shank of a wearer.
In a preferred embodiment, the left hip joint assisting steel cable 6, the right hip joint assisting steel cable 7, the left knee joint assisting steel cable 13 and the right knee joint assisting steel cable 12 are all wrapped with rubber sleeves.
The rope-pulling type flexible lower limb exoskeleton power-assisted robot has the working principle as follows:
left thigh tilt sensor 29 on left thigh position wearing binding 8 gathers the inclination change signal that left thigh position was worn binding 8, right thigh tilt sensor 10 on right thigh position was worn binding 9 gathers the inclination change signal that right thigh position was worn binding 9, left side shank tilt sensor 30 on left side shank position was worn binding 15 gathers the inclination change signal that left side shank position was worn binding 15, right side shank tilt sensor 16 on right side shank position was worn binding 14 gathers the inclination change signal that right side shank position was worn binding 14, all inclination change signals are after signal conditioner conditioning and digital-to-analog converter conversion, the controller of transmitting to the waist control box through wireless communication handles.
If the controller detects that the inclination angle output by the left thigh inclination angle sensor 29 is increased (it indicates that the left thigh of the wearer starts to actively lift, the inclination angle output by the left thigh inclination angle sensor 29 is 0 when the left thigh is in an upright state, and the inclination angle output by the left thigh inclination angle sensor 29 is negative when the left thigh leans back), the left hip joint driving device 4 on the waist wearing binding 2 is controlled to pull the left hip joint assisting steel wire 6, so that the left thigh wearing binding 8 is driven to lift upwards, and the left knee joint driving device 21 on the left thigh wearing binding 8 is controlled to pull the left knee joint steel wire assisting 13, so that the left calf wearing binding 15 is driven to lift. When the controller detects that the inclination angle outputted from the left thigh inclination angle sensor 29 reaches a preset maximum value (the left thigh wearing binding 8 is lifted to a limit position), the left hip joint driving device 4 and the left knee joint driving device 21 are controlled to stop supplying the driving force, and the left thigh wearing binding 8 and the left calf wearing binding 15 are lowered and reset under the action of gravity (the gravity of the left thigh and the left calf of the wearer). If the controller detects that the inclination angle output by the right thigh inclination angle sensor 10 is increased, the right hip joint driving device 5 on the waist wearing binding piece 2 is controlled to pull the right hip joint power-assisted steel rope 7, so that the right thigh part wearing binding piece 9 is driven to be lifted upwards, and the right knee joint driving device 11 on the right thigh part wearing binding piece 9 is controlled to pull the right knee joint power-assisted steel rope 12, so that the right shank part wearing binding piece 14 is driven to be lifted. When the controller detects that the inclination angle output by the right thigh inclination angle sensor 10 reaches a preset maximum value (the right thigh wearing binding 9 is lifted to a limit position), the right hip joint driving device 5 and the right knee joint driving device 11 are controlled to stop providing driving force, and the right thigh wearing binding 9 and the right calf wearing binding 14 are lowered and reset under the action of gravity (the gravity of the right thigh and the right calf of the wearer).
Claims (8)
1. The utility model provides a flexible low limbs ectoskeleton helping hand robot of rope formula, wears to tie up piece, waist control box, left side hip joint drive arrangement, right side hip joint drive arrangement, left side thigh position and dresses and tie up piece, right side shank position and dress and tie up piece, left side shank position and dress and tie up piece, right side knee joint drive arrangement and left side knee joint drive arrangement, its characterized in that including the waist: the left thigh part angle sensor, the right shank part angle sensor, the left hip joint power-assisted steel rope, the right knee joint power-assisted steel rope and the left knee joint power-assisted steel rope are also included; the front part of the waist wearing binding piece is fixed with a left hip joint driving device and a right hip joint driving device, and the rear part is fixed with a waist control box; the left hip joint driving device drives the left hip joint boosting steel rope, and the right hip joint driving device drives the right hip joint boosting steel rope; the left hip joint assisting steel rope and the left thigh part are fixed by a dressing and binding piece, and the right hip joint assisting steel rope and the right thigh part are fixed by a dressing and binding piece; a left knee joint driving device is fixed at the rear part of the wearing and binding piece of the thigh part on the left side, and a right knee joint driving device is fixed at the rear part of the wearing and binding piece of the thigh part on the right side; the left knee joint driving device drives the left knee joint power-assisted steel rope, and the right knee joint driving device drives the right knee joint power-assisted steel rope; the left knee joint power-assisted steel rope and the left shank part are fixed by a dressing piece, and the right knee joint power-assisted steel rope and the right shank part are fixed by a dressing piece; the left hip joint driving device, the right hip joint driving device, the left knee joint driving device and the right knee joint driving device are all connected with a controller in the waist control box, the controller is powered by an external power supply, and the left hip joint driving device, the right hip joint driving device, the left knee joint driving device and the right knee joint driving device are powered by the controller or powered by the external power supply; a left thigh inclination angle sensor is fixed on the left thigh wearing binding piece, a right thigh inclination angle sensor is fixed on the right thigh wearing binding piece, a left shank inclination angle sensor is fixed on the left shank wearing binding piece, and a right shank inclination angle sensor is fixed on the right shank wearing binding piece; the left thigh tilt angle sensor, the left shank tilt angle sensor, the right thigh tilt angle sensor and the right shank tilt angle sensor transmit signals to a controller in the waist control box through wireless communication.
2. The rope-pulling type flexible lower limb exoskeleton power-assisted robot of claim 1, characterized in that: the both ends that tie up the binding are worn to the waist use the magic to paste the connection, and left side thigh position is dressed and is tied up the binding and the both ends that tie up the binding are dressed to right side thigh position and all use the magic to paste the connection, and left side shank position is dressed and is tied up the binding and the both ends that tie up the binding are dressed to right side shank position and all use the magic to paste the connection.
3. The rope-pulling type flexible lower limb exoskeleton power-assisted robot of claim 1, characterized in that: the left hip joint assisting steel rope and the left thigh wearing binding piece are fixed through a first steel rope connecting piece, and the right hip joint assisting steel rope and the right thigh wearing binding piece are fixed through a second steel rope connecting piece; the left knee joint assisting steel rope and the left shank wearing binding piece are fixed through a second steel rope connecting piece, and the right knee joint assisting steel rope and the right shank wearing binding piece are fixed through a second steel rope connecting piece.
4. The rope-pulling type flexible lower limb exoskeleton power-assisted robot of claim 1, characterized in that: the left thigh tilt angle sensor, the left shank tilt angle sensor, the right thigh tilt angle sensor and the right shank tilt angle sensor are all connected with a digital-to-analog converter through a signal conditioner, and the digital-to-analog converter is in wireless communication with a controller arranged in the waist control box.
5. The rope-pulling type flexible lower limb exoskeleton power-assisted robot of claim 1, characterized in that: the left hip joint driving device, the right knee joint driving device and the left knee joint driving device respectively comprise a shell, a steering engine, a pull rod, a wire coil and a bearing; the steering engine is connected with the controller; the base of the steering engine is fixed on the shell; an output shaft of the steering engine is fixed with one end of a swing rod, the other end of the swing rod is hinged with one end of a pull rod, and the other end of the pull rod is hinged at the eccentric position of the wire coil; the central hole of the wire coil is supported on the shell through a bearing; the shells of the left hip joint driving device and the right hip joint driving device are fixed on the waist wearing binding piece, the shell of the right knee joint driving device is fixed on the right thigh wearing binding piece, and the shell of the left knee joint driving device is fixed on the left thigh wearing binding piece; the left hip joint power-assisted steel rope is wound on a wire coil of the left hip joint driving device, and one end of the left hip joint power-assisted steel rope is fixed with the wire coil of the left hip joint driving device; the right hip joint power-assisted steel rope is wound on a wire coil of the right hip joint driving device, and one end of the right hip joint power-assisted steel rope is fixed with the wire coil of the right hip joint driving device; the left knee joint assisting steel rope is wound on a wire coil of the left knee joint driving device, and one end of the left knee joint assisting steel rope is fixed with the wire coil of the left knee joint driving device; the right knee joint assisting steel rope is wound on a wire coil of the right knee joint driving device, and one end of the right knee joint assisting steel rope is fixed with the wire coil of the right knee joint driving device; the central axes of the output shafts of the steering engines of the right knee joint driving device and the left knee joint driving device are all arranged at equal heights with the steel rope connecting piece.
6. The rope-pulling type flexible lower limb exoskeleton power-assisted robot of claim 5, wherein: the left hip joint driving device, the right knee joint driving device and the left knee joint driving device also comprise steel rope guide pieces; the steel rope guide is fixed on the shell; the steel rope guide piece is provided with a steel rope guide hole; the left hip joint assisting steel rope passes through a steel rope guide hole of a steel rope guide piece in the left hip joint driving device, the right hip joint assisting steel rope passes through a steel rope guide hole of a steel rope guide piece in the right hip joint driving device, the left knee joint assisting steel rope passes through a steel rope guide hole of a steel rope guide piece in the left knee joint driving device, and the right knee joint assisting steel rope passes through a steel rope guide hole of a steel rope guide piece in the right knee joint driving device.
7. The rope-pulling type flexible lower limb exoskeleton power-assisted robot of claim 1, characterized in that: the left hip joint power-assisted steel rope comprises a left main steel rope, a left pressing piece and a left branch steel rope; one end of the left main steel rope is driven by the left hip joint driving device, the other end of the left main steel rope and one end of each of the two left branch steel ropes are fixed through a left pressing piece, the other ends of the two left branch steel ropes are fixed with rollers on the first two steel rope connecting pieces respectively, and the rollers and the first steel rope connecting pieces form a revolute pair; the right hip joint assisting steel rope comprises a right main steel rope, a right pressing piece and a right branch steel rope; one end of the right main steel rope is driven by a right hip joint driving device, the other end of the right main steel rope and one end of each of the two right branch steel ropes are fixed through a right pressing piece, and the other ends of the two right branch steel ropes are respectively fixed with the rollers on the first two steel rope connecting pieces; the first steel rope connecting piece connected with the left branch steel rope is fixed on the left thigh wearing and binding piece, and the first steel rope connecting piece connected with the right branch steel rope is fixed on the right thigh wearing and binding piece.
8. The rope-pulling type flexible lower limb exoskeleton power-assisted robot of claim 1, characterized in that: rubber sleeves are wrapped outside the left hip joint power-assisted steel rope, the right hip joint power-assisted steel rope, the left knee joint power-assisted steel rope and the right knee joint power-assisted steel rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022821918.6U CN214511821U (en) | 2020-11-30 | 2020-11-30 | Rope-pulling type flexible lower limb exoskeleton power-assisted robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022821918.6U CN214511821U (en) | 2020-11-30 | 2020-11-30 | Rope-pulling type flexible lower limb exoskeleton power-assisted robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214511821U true CN214511821U (en) | 2021-10-29 |
Family
ID=78288739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022821918.6U Active CN214511821U (en) | 2020-11-30 | 2020-11-30 | Rope-pulling type flexible lower limb exoskeleton power-assisted robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214511821U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114099256A (en) * | 2021-12-10 | 2022-03-01 | 上海理工大学 | Wearable flexible lower limb assistance exoskeleton |
| CN114392131A (en) * | 2022-02-17 | 2022-04-26 | 华中科技大学 | Passive ectoskeleton booster unit of hip knee joint based on energy storage |
| CN118453346A (en) * | 2024-05-13 | 2024-08-09 | 宁波健行智能科技有限公司 | Control method and system for lower limb exercise rehabilitation training device |
-
2020
- 2020-11-30 CN CN202022821918.6U patent/CN214511821U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114099256A (en) * | 2021-12-10 | 2022-03-01 | 上海理工大学 | Wearable flexible lower limb assistance exoskeleton |
| CN114099256B (en) * | 2021-12-10 | 2023-08-25 | 上海理工大学 | Wearable flexible lower limb assistance exoskeleton |
| CN114392131A (en) * | 2022-02-17 | 2022-04-26 | 华中科技大学 | Passive ectoskeleton booster unit of hip knee joint based on energy storage |
| CN114392131B (en) * | 2022-02-17 | 2023-01-06 | 华中科技大学 | Passive ectoskeleton booster unit of hip knee joint based on energy storage |
| CN118453346A (en) * | 2024-05-13 | 2024-08-09 | 宁波健行智能科技有限公司 | Control method and system for lower limb exercise rehabilitation training device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107811805B (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN109172289B (en) | Hip joint rehabilitation exoskeleton based on multifunctional driver and motion control method thereof | |
| CN112603752B (en) | Rope-pulling type flexible lower limb exoskeleton power-assisted robot and motion control method thereof | |
| CN111821143B (en) | Lower limb rehabilitation robot based on semi-direct drive driver and control method thereof | |
| CN106420203B (en) | The ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic | |
| CN211193877U (en) | Wearable lower limb rehabilitation exoskeleton robot | |
| CN107468487A (en) | Wearable lower limb exoskeleton based on the driving of lasso trick artificial-muscle | |
| CN214511821U (en) | Rope-pulling type flexible lower limb exoskeleton power-assisted robot | |
| CN112370305B (en) | Exoskeleton robot for lower limb rehabilitation training | |
| CN107174490B (en) | A kind of movable type device for healing and training | |
| CN212940468U (en) | Rigid-flexible coupling wearable walking-aid exoskeleton system | |
| CN110074949A (en) | A kind of lower limb exoskeleton robot and application method | |
| CN112022618B (en) | Rigid-flexible coupling wearable walking assisting exoskeleton system | |
| CN109620652B (en) | Tandem elastic hip joint walking aid | |
| CN108743224A (en) | Leg rehabilitation training and body-building exoskeleton robot | |
| CN115300864B (en) | Hip joint exoskeleton for transverse walking rehabilitation | |
| CN113712744A (en) | Wheelchair and walking assisting exoskeleton integrated structure and control method thereof | |
| CN112473080A (en) | Multifunctional lower limb rehabilitation training bed | |
| CN209734461U (en) | Exoskeleton robot for leg rehabilitation training and body building | |
| Sargsyan et al. | Robotic rehabilitation devices of human extremities: design concepts and functional particularities | |
| CN114642567B (en) | Multi-posture open type lower limb rehabilitation robot | |
| CN110947158A (en) | Walking aid training device based on elliptical motion | |
| CN114642572A (en) | Unilateral lower limb exoskeleton walking-assisting robot and power-assisted control method thereof | |
| CN211934771U (en) | Mechanical virtual walking training walking aid device | |
| CN112353638A (en) | Vertical rhythm rehabilitation training device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |