CN214596419U - Exoskeleton robot for helping disabled lower limbs - Google Patents
Exoskeleton robot for helping disabled lower limbs Download PDFInfo
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- CN214596419U CN214596419U CN202023107869.6U CN202023107869U CN214596419U CN 214596419 U CN214596419 U CN 214596419U CN 202023107869 U CN202023107869 U CN 202023107869U CN 214596419 U CN214596419 U CN 214596419U
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Abstract
The utility model belongs to the technical field of the ectoskeleton robot, concretely relates to low limbs disabled helping ectoskeleton robot. The utility model comprises a binding component arranged on the upper trunk of the patient, a hip component arranged on the binding component, and a lower limb rehabilitation mechanism and a leg supporting mechanism which are symmetrically arranged on the hip component; the lower limb rehabilitation mechanism comprises a hip joint component, a thigh training component, a shank training component and a foot component which are connected in sequence. The hip joint assembly, the big leg training assembly, the small leg training assembly and the foot assembly of the robot adopt parallel mechanisms, the leg supporting mechanism is arranged on the inner side of the thigh training mechanism, a wearer can walk independently without leaning on a crutch or a single hand, and joint dislocation corresponding to the patient due to long-time wearing of the patient is avoided. Each movable joint of the robot corresponds to each joint of a human body, and each main joint part is limited by angle, so that the phenomenon that the overall stability is poor due to the fact that the joints of the robot are too flexible is avoided.
Description
Technical Field
The utility model belongs to the technical field of the ectoskeleton robot, concretely relates to low limbs disabled helping ectoskeleton robot.
Background
In recent years, as stroke, spinal injuries, aging population, and the like have increased year by year, exoskeleton robots for elderly people or people with mobility disorders in their lower limbs, which are worn on the bodies of people with mobility disorders in their lower limbs for rehabilitation training, have been applied and widely popularized. Traditional rehabilitation training nurses and family members repeatedly pull the patient, and the workload is large, and huge manpower and low efficiency are needed.
Most of the joint drives of the exoskeleton robots appearing in the market are disc-type motor drives, the generated torque can drive legs to move, and the torque generated by the gravity center of a human body is difficult to balance, so that the exoskeleton robots wearing the exoskeleton can walk stably by leaning on a crutch. When the exoskeleton robot is worn, the human body thighs and crus are fixed with the exoskeleton robot by using flexible binding bands, so that the human body joints correspond to the exoskeleton robot joints; because human self weight, dressing for a long time can lead to corresponding joint dislocation, and the too tight of flexible bandage tying up can influence the flow of human lower limbs blood, causes the secondary injury to the patient.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the wearing ectoskeleton robot that exists among the prior art and need leaning on the defect that the walking just can be stabilized to the turning, dresses for a long time and can lead to the joint dislocation that corresponds, provide one kind and need not to support or the one-hand support and can independently stabilize the lower limbs disabled ectoskeleton robot of walking.
The utility model provides a technical scheme that its technical problem adopted is:
a lower limb disability assisting exoskeleton robot comprises a restraining assembly arranged on the upper trunk of a patient, a hip assembly arranged on the restraining assembly, and a lower limb rehabilitation mechanism and a leg support mechanism which are symmetrically arranged on the hip assembly; the hip assembly including a hip mount, a hip connector mounted on the hip mount, and a crotch support pad mounted on the hip mount and the hip connector;
the lower limb rehabilitation mechanism comprises a hip joint component, a thigh training component, a shank training component and a foot component which are connected in sequence;
the hip joint component comprises a hip joint support and at least one hip joint hydraulic cylinder which is arranged on the hip joint support through a limiter; the output end of the hip joint hydraulic cylinder is rotationally connected to the hip support;
the thigh training component comprises a front thigh hydraulic cylinder and a rear thigh hydraulic cylinder of which the fixed ends are connected with the hip joint support and a thigh main supporting mechanism fixedly arranged on the hip joint support; the main thigh supporting mechanism is symmetrically and rotatably connected with a first auxiliary thigh supporting rod and a second auxiliary thigh supporting rod, and the first auxiliary thigh supporting rod and the second auxiliary thigh supporting rod are rotatably connected; the output end of the front thigh hydraulic cylinder is rotatably connected to a corner of one first auxiliary thigh supporting rod, and the output end of the rear thigh hydraulic cylinder is rotatably connected to a corner of the other first auxiliary thigh supporting rod;
the lower leg training assembly comprises a lower leg main supporting mechanism, a leg guard, a first lower leg auxiliary supporting rod and a second lower leg auxiliary supporting rod, wherein the lower leg main supporting mechanism is rotatably connected to the thigh main supporting mechanism through a connecting block; the first shank auxiliary supporting rod is rotatably connected with the second shank auxiliary supporting rod; a thigh adjusting hydraulic cylinder, a forefoot hydraulic cylinder and a rearfoot hydraulic cylinder are mounted on the leg guard, and the output end of the thigh adjusting hydraulic cylinder is rotatably connected to a corner of the second thigh auxiliary supporting rod; the forefoot hydraulic cylinder and the hindfoot hydraulic cylinder are both arranged on the sole through universal joints;
the foot component comprises a sole, a heel joint support column arranged on the sole and a heel joint adjusting piece arranged on the heel joint support column; the lower end of the lower leg main supporting mechanism is rotatably connected with the heel joint adjusting piece through a universal joint.
Further, the leg supporting mechanism comprises a supporting hydraulic cylinder with a fixed end mounted on the leg guard through a leg guard connecting piece and a crotch support connected with an output end of the supporting hydraulic cylinder; when the patient wears the hip pad, the crotch support is in contact with the crotch support pad.
Further, the restraint assembly comprises a shoulder back plate, a diamond-shaped spine support mounted on the shoulder back plate, armpit supports symmetrically mounted on the shoulder back plate, and spine adjusting pieces mounted on the diamond-shaped spine support; the spine adjusting piece is fixedly connected with the hip connecting piece; a waist side supporting rod is rotatably arranged on the armpit support and is arranged on the hip support through a waist side connecting piece; the two side corners of the rhombic spine support piece and the shoulder back plate are connected with a back chest bandage respectively, and at least two back bandages are arranged between the hip connecting piece and the shoulder back plate; the rhombic spine support piece is provided with a chest bandage, and the spine adjusting piece is provided with a waist bandage.
Further, the spine adjusting piece comprises a spine fixing plate arranged on the hip connecting piece and a spine adjusting plate fixedly arranged on the rhombic spine supporting piece; the spine adjusting plate is far away from one end of the rhombic spine supporting piece is arranged in the spine fixing plate in a penetrating mode, and an adjusting hole used for screw tightening and adjusting is formed in the spine fixing plate.
Further, the hip connecting piece comprises a first hip connecting plate and a second hip connecting plate which are fixedly connected to the hip bracket; the first hip connecting plate and the second hip connecting plate are arranged on the hip connecting block in a penetrating mode, and a plurality of adjusting holes used for screw tightening adjustment are formed in the hip connecting block.
Furthermore, a foot front supporting column and a foot rear supporting column are further mounted on the foot sole, wherein the foot front supporting column is rotatably connected with the fixed end of the foot front hydraulic cylinder, and the foot rear supporting column is rotatably connected with the fixed end of the foot rear hydraulic cylinder.
Furthermore, the thigh main supporting mechanism comprises a thigh upper supporting rod rotatably arranged on the hip joint support and a thigh lower supporting rod sleeved in the thigh upper supporting rod; the upper thigh supporting rod and the lower thigh supporting rod are both provided with adjusting holes for adjusting the height; the upper end of the first thigh auxiliary supporting rod is rotatably connected with the thigh upper supporting rod, and the lower end of the second thigh auxiliary supporting rod is rotatably connected with the thigh lower supporting rod.
Furthermore, the main shank support mechanism comprises an upper shank support rod rotatably connected to the leg guard and a lower shank support rod sleeved in the upper shank support rod; the upper shank support rod and the lower shank support rod are both provided with adjusting holes for adjusting the height; the lower end of the second shank auxiliary supporting rod is rotatably connected with the shank lower supporting rod.
Furthermore, an adjusting hole for screw tightening adjustment is formed in the heel joint adjusting piece.
The utility model discloses a low limbs disabled exoskeleton robot's beneficial effect is:
1. the utility model discloses a hip joint subassembly, thigh training subassembly, shank training subassembly and foot subassembly adopt parallel mechanism, are provided with shank supporting mechanism in the inboard of thigh training subassembly, can realize that the person of dress need not to lean on to turn or single hand to lean on to turn can independently walk when the walking, avoid the patient to dress for a long time and lead to the joint dislocation that the patient corresponds. The utility model discloses an each movable joint is corresponding with each joint of human body, and each main joint position all has angle restriction, and its drive power is great, has avoided exoskeleton robot joint too nimble to lead to the relatively poor phenomenon of overall stability.
2. The utility model discloses a set up adjustable main supporting mechanism in thigh training subassembly and the shank training subassembly, can realize different height wearers 'rehabilitation training, and many positions adopt high elasticity bandage, and crotch portion is provided with the crotch supporting pad, has improved wearers' comfort level and man-machine harmony. The sensors and the encoders are arranged on the waist, the hip joints and the soles to acquire and process information, so that the physical condition of a wearer can be conveniently known, and the gait suitable for the wearer can be planned.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a front perspective view of an embodiment of the present invention;
fig. 2 is a rear perspective view of an embodiment of the present invention;
fig. 3 is a schematic structural view of a lower limb rehabilitation mechanism according to an embodiment of the present invention;
figure 4 is a front perspective view of a tie down assembly of an embodiment of the present invention;
figure 5 is a rear perspective view of a tie down assembly according to an embodiment of the present invention;
FIG. 6 is a schematic view of the hip assembly of an embodiment of the present invention;
fig. 7 is a schematic structural view of a hip joint assembly according to an embodiment of the present invention;
fig. 8 is a schematic structural view of a thigh training assembly according to an embodiment of the present invention;
FIG. 9 is a schematic structural view of a lower leg training assembly according to an embodiment of the present invention;
fig. 10 is a schematic view of a foot component according to an embodiment of the invention.
In the figure, 1, a binding component, 11, a shoulder-back plate, 12, a diamond-shaped spine support component, 13, an armpit support, 14, a spine adjusting component, 141, a spine fixing plate, 142, a spine adjusting plate, 15, a waist-side support rod, 16, a waist-side connecting component, 17, a chest-back binding band, 18, a back binding band, 19, a chest binding band, 110, a waist binding band, 2, a hip component, 21, a hip bracket, 22, a hip connecting component, 221, a first hip connecting plate, 222, a second hip connecting plate, 223, a hip connecting block, 23, a hip supporting pad, 3, a lower limb rehabilitation mechanism, 31, a hip joint component, 311, a hip joint bracket, 312, a limiter, 313, a hip joint hydraulic cylinder, 32, a thigh training component, 321, a front thigh hydraulic cylinder, 322, a rear thigh hydraulic cylinder, 323, a main thigh support mechanism, 3231, an upper thigh support rod, 3232, a lower thigh support rod, 324, a lower thigh support rod, a hip joint component, a hip joint component, a hip joint, A first thigh auxiliary support rod 325, a second thigh auxiliary support rod 326, a thigh adjusting hydraulic cylinder 33, a shank training component 331, a connecting block 332, a forefoot hydraulic cylinder 333, a hindfoot hydraulic cylinder 334, a shank main support mechanism 3341, an upper shank support rod 3342, a lower shank support rod 335, a leg guard 336, a first shank auxiliary support rod 337, a second shank auxiliary support rod 34, a foot component 341, a sole 342, a heel joint support column 343, a heel joint adjusting member 344, a forefoot support column 345, a hindfoot support column 4, a leg support mechanism 41, a leg guard connecting member 42, a crotch support 43, a support hydraulic cylinder.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
Fig. 1-10 show a specific embodiment of the exoskeleton robot for helping the disabled lower limbs, which comprises a tethering assembly 1 disposed on the upper torso of a patient, a hip assembly 2 mounted on the tethering assembly 1, and a lower limb rehabilitation mechanism 3 and a leg support mechanism 4 symmetrically mounted on the hip assembly 2; the hip assembly 2 comprises a hip bracket 21, a hip connector 22 mounted on the hip bracket 21, and a crotch support pad 23 mounted on the hip bracket 21 and the hip connector 22; the lower limb rehabilitation mechanism 3 includes a hip joint unit 31, a thigh training unit 32, a lower leg training unit 33, and a foot unit 34, which are connected in this order. The hip joint assembly 31 of the embodiment of the present invention includes a hip joint support 311 and at least one hip joint hydraulic cylinder 313 installed on the hip joint support 311 through a stopper 312; the output end of the hip joint hydraulic cylinder 313 is rotatably connected to the hip bracket 21. The hip hydraulic cylinder 313 is controlled to control the abduction-adduction and the rotation-supination-internation of the leg through the given gait and walking process adaptability of the system. Wherein the hip joint part 22 as shown in fig. 6 and 7 includes a first hip joint plate 221 and a second hip joint plate 222 fixedly coupled to the hip frame 21; first buttock connecting plate 221 and second buttock connecting plate 222 all wear to establish on buttock connecting block 223, offer a plurality of regulation holes that are used for screw fastening to adjust on the buttock connecting block 223, wear to establish the length in buttock connecting block 223 through adjusting first buttock connecting plate 221 and second buttock connecting plate 222, come according to patient's buttock size, waistline size, adjust.
Referring to fig. 3 and 8, thigh training assembly 32 includes a front thigh hydraulic cylinder 321 and a rear thigh hydraulic cylinder 322 fixedly connected to hip joint support 311, and a main thigh support mechanism 323 fixedly mounted to hip joint support 311; the thigh main supporting mechanism 323 is symmetrically and rotatably connected with a first thigh auxiliary supporting rod 324 and a second thigh auxiliary supporting rod 325, and the first thigh auxiliary supporting rod 324 and the second thigh auxiliary supporting rod 325 are rotatably connected; the output end of the front thigh hydraulic cylinder 321 is rotatably connected to the corner of one first thigh auxiliary support rod 324, and the output end of the rear thigh hydraulic cylinder 322 is rotatably connected to the corner of the other first thigh auxiliary support rod 324; the front thigh hydraulic cylinder 321 and the rear thigh hydraulic cylinder 322 are controlled to control the thigh bending and stretching actions.
Referring to fig. 9, the lower leg training assembly 33 includes a lower leg main support mechanism 334 rotatably connected to the upper leg main support mechanism 323 through a connection block 331, a leg protector 335 installed on an upper portion of the lower leg main support mechanism 334, and a first lower leg auxiliary support bar 336 and a second lower leg auxiliary support bar 337 rotatably installed on the lower leg main support mechanism 334; the first lower leg auxiliary support rod 336 is rotatably connected with the second lower leg auxiliary support rod 337; a thigh adjusting hydraulic cylinder 326, a forefoot hydraulic cylinder 332 and a rearfoot hydraulic cylinder 333 are arranged on the leg guard 335, and the output end of the thigh adjusting hydraulic cylinder 326 is rotatably connected to the corner of the second thigh auxiliary support rod 325; both forefoot hydraulic cylinder 332 and rearfoot hydraulic cylinder 333 are mounted on sole 341 via universal joints. Wherein the main shank support mechanism 334 comprises an upper shank support bar 3341 rotatably connected to the leg guard 335 and a lower shank support bar 3342 sleeved in the upper shank support bar 3341; the upper shank support rod 3341 and the lower shank support rod 3342 are both provided with adjusting holes for adjusting the height; the lower end of the second lower leg auxiliary supporting rod 337 is rotatably connected with the lower leg supporting rod 3342. The control of the forefoot hydraulic cylinder 332 and the hindfoot hydraulic cylinder 333 controls the eversion and plantar flexion and dorsiflexion actions of the ankle joint.
As shown in fig. 10, the foot component 34 includes a sole 341, a heel joint support column 342 mounted on the sole 341, and a heel joint adjustment member 343 mounted on the heel joint support column 342; the lower end of the lower leg main support mechanism 334 is rotatably connected to the heel joint adjusting piece 343 via a universal joint. Wherein, the heel joint adjusting piece 343 is provided with an adjusting hole for adjusting the screw tightening, which is used for adjusting the position distance between the crus main supporting mechanism 334 and the sole 341.
Referring to fig. 4 and 5, the tie down assembly 1 includes a shoulder back plate 11, a diamond-shaped spinal support 12 mounted on the shoulder back plate 11, an underarm support 13 symmetrically mounted on the shoulder back plate 11, and a spinal adjuster 14 mounted on the diamond-shaped spinal support 12; the spine adjusting part 14 is fixedly connected with the hip connecting part 22; the armpit support 13 is rotatably provided with a waist side support rod 15, and the waist side support rod 15 is arranged on a hip support 21 through a waist side connecting piece 16; the two side corners of the rhombic spine support piece 12 and the shoulder back plate 11 are connected with a back chest bandage 17, and at least two back bandages 18 are arranged between the hip connecting piece 22 and the shoulder back plate 11; the rhombic spine support 12 is provided with a chest strap 19 for fixing a patient, and the spine adjusting piece 14 is provided with a waist strap 110 for fixing the patient. Wherein the bandage be high elasticity bandage, can not be because of fixed tension, and bring the secondary injury for the patient, the embodiment of the utility model provides an in many parts the bandage of high elasticity is adopted, crotch portion is provided with crotch heeling pad 23, has improved wearer's comfort level and the harmony of man-machine.
The spine adjusting member 14 according to the embodiment of the present invention includes a spine fixing plate 141 mounted on the hip connecting member 22 and a spine adjusting plate 142 fixedly mounted on the diamond-shaped spine supporting member 12; the spine adjusting plate 142 is arranged in the spine fixing plate 141 in a penetrating manner at the end far away from the rhombic spine supporting member 12, the spine fixing plate 141 is provided with adjusting holes for screw tightening and adjusting, and the height of the spine adjusting member 14 is adjusted by adjusting the distance of the spine adjusting plate 142 in the spine fixing plate 141 so as to be suitable for patients with different spine heights.
The leg support means 4 comprises a support hydraulic cylinder 43 having a fixed end mounted on the leg guard 335 through a leg guard attachment 41 and a crotch support 42 connected to an output end of the support hydraulic cylinder 43; when worn by the patient, the crotch support 42 contacts the crotch support pad 23. The utility model discloses all install shank supporting mechanism 4 on two low limbs rehabilitation mechanism 3 about the robot, can effectively avoid the patient to dress for a long time and the joint dislocation problem that causes.
The upper body of the person is placed under the armpit supports 13 and secured to the restraint assembly 1 by means of the waist straps 110 and chest straps 19. The crotch support 42 is brought into contact with the crotch support pad 23 by adjusting the length of the support hydraulic cylinder 43 by adjusting the lengths of the first and second hip attachment plates 221 and 222 on the hip joint 22 inserted into the hip joint block 223 to fit the human body seated on the crotch support pad 23. The lengths between the upper thigh support rod 3231 and the lower thigh support rod 3232 and between the upper calf support rod 3241 and the lower calf support rod 3242 are adjusted to conform to the length of the wearer's lower limb. The hip joint hydraulic cylinder 313 is controlled to control two actions of abduction and adduction of the leg part and rotation and supination through the given gait and walking process adaptability of the system, the front thigh hydraulic cylinder 321 and the rear thigh hydraulic cylinder 322 are controlled to control the thigh bending and stretching action, and the front foot hydraulic cylinder 332 and the rear foot hydraulic cylinder 333 are controlled to control the ankle joint inversion and eversion and plantar flexion and dorsiflexion actions. The utility model discloses a low limbs help disabled ectoskeleton robot is under the regulation of each joint department, the utility model discloses a set up adjustable main supporting mechanism in thigh training subassembly 32 and the shank training subassembly 33 and can be applicable to the crowd that the height is 155cm-185 cm.
The utility model discloses a hip joint subassembly 31, thigh training subassembly 32, shank training subassembly 33 and foot subassembly 34 adopt parallel mechanism, are provided with shank supporting mechanism 4 in thigh training subassembly 32's inboard, can realize that the wearing person can need not to lean on an inflection or a single hand to lean on an inflection can independently walk when the walking, avoid the patient to dress for a long time and lead to the joint dislocation that the patient corresponds. The utility model discloses an each movable joint is corresponding with each joint of human body, and each main joint position all has angle restriction, and its drive power is great, has avoided exoskeleton robot joint too nimble to lead to the relatively poor phenomenon of overall stability. The embodiment of the utility model provides an in all be equipped with sensor and encoder at waist, hip joint and sole, carry out the collection and the processing of information, conveniently know the health condition of wearing person to plan out the gait that is fit for wearing person.
It should be understood that the above description of the specific embodiments is only for the purpose of explanation and not for the purpose of limitation. Obvious changes or variations caused by the spirit of the present invention are within the scope of the present invention.
Claims (9)
1. A lower limb disabled assisting exoskeleton robot is characterized in that: comprises a restraint component (1) arranged on the upper trunk of a patient, a hip component (2) arranged on the restraint component (1), and a lower limb rehabilitation mechanism (3) and a leg supporting mechanism (4) which are symmetrically arranged on the hip component (2); the hip assembly (2) comprising a hip bracket (21), a hip joint (22) mounted on the hip bracket (21), and a crotch support pad (23) mounted on the hip bracket (21) and the hip joint (22); the lower limb rehabilitation mechanism (3) comprises a hip joint component (31), a thigh training component (32), a shank training component (33) and a foot component (34) which are connected in sequence;
the hip joint assembly (31) comprises a hip joint support (311) and at least one hip joint hydraulic cylinder (313) mounted on the hip joint support (311) by a stopper (312); the output end of the hip joint hydraulic cylinder (313) is rotationally connected to the hip support (21);
the thigh training assembly (32) comprises a front thigh hydraulic cylinder (321) and a rear thigh hydraulic cylinder (322) which are fixedly connected to the hip joint support (311) and a main thigh supporting mechanism (323) fixedly arranged on the hip joint support (311); the thigh main supporting mechanism (323) is symmetrically and rotatably connected with a first thigh auxiliary supporting rod (324) and a second thigh auxiliary supporting rod (325), and the first thigh auxiliary supporting rod (324) and the second thigh auxiliary supporting rod (325) are rotatably connected; the output end of the front thigh hydraulic cylinder (321) is rotatably connected to the corner of one first thigh auxiliary supporting rod (324), and the output end of the rear thigh hydraulic cylinder (322) is rotatably connected to the corner of the other first thigh auxiliary supporting rod (324);
the lower leg training component (33) comprises a lower leg main supporting mechanism (334) which is rotatably connected to the thigh main supporting mechanism (323) through a connecting block (331), a leg guard (335) which is arranged at the upper part of the lower leg main supporting mechanism (334), and a first lower leg auxiliary supporting rod (336) and a second lower leg auxiliary supporting rod (337) which are rotatably arranged on the lower leg main supporting mechanism (334); the first shank auxiliary supporting rod (336) is rotatably connected with the second shank auxiliary supporting rod (337); a thigh adjusting hydraulic cylinder (326), a front foot hydraulic cylinder (332) and a rear foot hydraulic cylinder (333) are arranged on the leg guard (335), and the output end of the thigh adjusting hydraulic cylinder (326) is rotatably connected to the corner of the second thigh auxiliary supporting rod (325); the forefoot hydraulic cylinder (332) and the hindfoot hydraulic cylinder (333) are both mounted on the sole (341) through universal joints;
the foot component (34) includes a sole (341), a heel joint support post (342) mounted on the sole (341), and a heel joint adjustment member (343) mounted on the heel joint support post (342); the lower end of the lower leg main supporting mechanism (334) is rotatably connected with the heel joint adjusting piece (343) through a universal joint.
2. The lower extremity disability assistance exoskeleton robot of claim 1, wherein: the leg support mechanism (4) comprises a support hydraulic cylinder (43) with a fixed end mounted on the leg guard (335) through a leg guard connecting piece (41) and a crotch support (42) connected with an output end of the support hydraulic cylinder (43); the crotch support (42) contacts the crotch support pad (23) when worn by a patient.
3. The lower extremity disability assistance exoskeleton robot of claim 1, wherein: the restraint assembly (1) comprises a shoulder backboard (11), a diamond-shaped spine support (12) arranged on the shoulder backboard (11), armpit supports (13) symmetrically arranged on the shoulder backboard (11) and a spine adjusting piece (14) arranged on the diamond-shaped spine support (12); the spine adjusting piece (14) is fixedly connected with the hip connecting piece (22); the armpit support (13) is rotatably provided with a waist side support rod (15), and the waist side support rod (15) is arranged on the hip support (21) through a waist side connecting piece (16); a back chest bandage (17) is connected between two side corners of the rhombic spine support piece (12) and the shoulder back plate (11), and at least two back bandages (18) are arranged between the hip connecting piece (22) and the shoulder back plate (11); the rhombic spine support piece (12) is provided with a chest bandage (19), and the spine adjusting piece (14) is provided with a waist bandage (110).
4. The lower extremity disability assistance exoskeleton robot of claim 3, wherein: the spine adjustment member (14) includes a spine fixation plate (141) mounted on the hip joint member (22) and a spine adjustment plate (142) fixedly mounted on the diamond-shaped spine support member (12); one end, far away from the rhombic spine support piece (12), of the spine adjusting plate (142) is arranged in the spine fixing plate (141) in a penetrating mode, and adjusting holes for screw tightening adjustment are formed in the spine fixing plate (141).
5. The lower extremity disability assistance exoskeleton robot of claim 3, wherein: the hip connecting piece (22) comprises a first hip connecting plate (221) and a second hip connecting plate (222) which are fixedly connected to the hip bracket (21); the first hip connecting plate (221) and the second hip connecting plate (222) are arranged on the hip connecting block (223) in a penetrating mode, and a plurality of adjusting holes used for screw tightening adjustment are formed in the hip connecting block (223).
6. The lower extremity disability assistance exoskeleton robot of claim 3, wherein: the sole (341) is further provided with a front foot supporting column (344) rotatably connected with the fixed end of the front foot hydraulic cylinder (332) and a rear foot supporting column (345) rotatably connected with the fixed end of the rear foot hydraulic cylinder (333).
7. The lower extremity disability assistance exoskeleton robot of claim 1, wherein: the thigh main supporting mechanism (323) comprises a thigh upper supporting rod (3231) rotatably arranged on the hip joint support (311) and a thigh lower supporting rod (3232) sleeved in the thigh upper supporting rod (3231); the upper thigh supporting rod (3231) and the lower thigh supporting rod (3232) are respectively provided with an adjusting hole for adjusting the height; the upper end of the first thigh auxiliary supporting rod (324) is rotatably connected with the thigh upper supporting rod (3231), and the lower end of the second thigh auxiliary supporting rod (325) is rotatably connected with the thigh lower supporting rod (3232).
8. The lower extremity disability assistance exoskeleton robot of claim 1, wherein: the lower leg main supporting mechanism (334) comprises a lower leg upper supporting rod (3341) which is rotatably connected to the leg guard (335) and a lower leg supporting rod (3342) which is sleeved in the lower leg upper supporting rod (3341); the upper shank support rod (3341) and the lower shank support rod (3342) are both provided with adjusting holes for adjusting the height; the lower end of the second lower leg auxiliary supporting rod (337) is rotatably connected with the lower leg supporting rod (3342).
9. The lower extremity disability assistance exoskeleton robot of any one of claims 1-8, wherein: the heel joint adjusting piece (343) is provided with an adjusting hole for screw tightening adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202023107869.6U CN214596419U (en) | 2020-12-22 | 2020-12-22 | Exoskeleton robot for helping disabled lower limbs |
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| CN202023107869.6U CN214596419U (en) | 2020-12-22 | 2020-12-22 | Exoskeleton robot for helping disabled lower limbs |
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