CN215021626U - Lower limb exoskeleton assistor based on rope pulley combination - Google Patents
Lower limb exoskeleton assistor based on rope pulley combination Download PDFInfo
- Publication number
- CN215021626U CN215021626U CN202023157100.5U CN202023157100U CN215021626U CN 215021626 U CN215021626 U CN 215021626U CN 202023157100 U CN202023157100 U CN 202023157100U CN 215021626 U CN215021626 U CN 215021626U
- Authority
- CN
- China
- Prior art keywords
- knee joint
- supporting plate
- auxiliary supporting
- fixed
- hip joint
- 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 description 47
- 210000000629 knee joint Anatomy 0.000 claims abstract description 102
- 210000004394 hip joint Anatomy 0.000 claims abstract description 70
- 210000000689 upper leg Anatomy 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 210000003414 extremity Anatomy 0.000 abstract description 10
- 230000006378 damage Effects 0.000 abstract description 4
- 208000027418 Wounds and injury Diseases 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 201000010099 disease Diseases 0.000 abstract description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a low limbs ectoskeleton assistor based on rope sheave combination. The exoskeleton assistor directly driven by the motor and hydraulically driven can easily cause secondary injury to a patient. The thigh outer auxiliary supporting plate, the hip joint pulley I, the hip joint pulley II and the thigh inner auxiliary supporting plate of the utility model are fixed; the knee joint pulley and the support shaft form a revolute pair; two knee joint traction wheels are fixed at two ends of the supporting shaft, and the two knee joint traction wheels and pulley grooves arranged on the thigh outer auxiliary supporting plate and the thigh inner auxiliary supporting plate respectively form a cylindrical pair; the driving mechanism drives a hip joint wire wheel I through a hip joint traction rope, and the knee joint traction rope drives a knee joint pulley; the top end of the knee joint auxiliary supporting plate is fixed with the knee joint traction wheel, and the bottom end of the knee joint auxiliary supporting plate is fixed with the pedal. The utility model discloses take haulage rope drive low limbs, avoid opening the instantaneous moment who stops the production because of the motor and produce the secondary injury to the disease.
Description
Technical Field
The utility model belongs to the field of medical and health instruments, concretely relates to low limbs ectoskeleton assistor based on rope sheave combination.
Background
The lower limb exoskeleton assistor is an assisting device which integrates sensing, control, information and mobile computing and can guide limbs to do various specified repetitive rehabilitation training through a machine. In recent years, the lower limb exoskeleton assistor is rapidly developed, is widely popularized in the field of medical health, and exerts remarkable advantages in the rehabilitation training process. The auxiliary device can help the whole medical system to vacate most of human resources and allocate the human resources to other medical fields. However, most of the conventional lower extremity exoskeleton assistors consist of various rigid driving mechanisms, each joint is provided with an independent driving unit, the size is large, the weight is heavy, the carrying is inconvenient, and the normal walking gait of a patient can be prevented due to different ergonomics/dynamics. And the exoskeleton assistor generally adopts a mode of directly driving the motor and hydraulically driving the motor, and the patient can be secondarily injured due to the instantly generated super-large moment, so that the comfort and safety of the human body are poor.
Disclosure of Invention
An object of the utility model is to prior art not enough, provide a low limbs ectoskeleton assistor based on rope sheave combination, abandon traditional motor direct drive's form, take the motor to drive the assembly pulley drive indirectly, the rope sheave combination can not produce too big moment at human low limbs part to prevent to produce the secondary injury to human tissue, can satisfy the requirement of patient rehabilitation training integrality and travelling comfort.
The utility model comprises a lower limb walking device and a driving mechanism; the lower limb walking device comprises an outer thigh auxiliary supporting plate, an inner thigh auxiliary supporting plate, a knee joint auxiliary supporting plate, a pedal, a knee joint traction rope, a hip joint line wheel I, a hip joint line wheel II, a knee joint pulley, a hip joint binding piece, a knee joint binding piece and a knee joint traction wheel; the upper ends of the thigh outer auxiliary supporting plate and the thigh inner auxiliary supporting plate are fixed through an upper pivot, and the lower ends of the thigh outer auxiliary supporting plate and the thigh inner auxiliary supporting plate are fixed through a lower pivot; the hip joint pulley I and the hip joint pulley II are both fixed on the upper pivot; the knee joint pulley and the support shaft form a revolute pair; two knee joint traction wheels are fixed at two ends of the supporting shaft, and the two knee joint traction wheels and pulley grooves arranged on the thigh outer auxiliary supporting plate and the thigh inner auxiliary supporting plate respectively form a cylindrical pair; the hip joint traction rope is wound on the hip joint wire wheel I, one end of the hip joint traction rope is fixed with the hip joint wire wheel I, and the other end of the hip joint traction rope is driven by the driving mechanism; the knee joint traction rope bypasses the knee joint pulley, one end of the knee joint traction rope is fixed on the hip joint wire wheel II, and the other end of the knee joint traction rope is driven by the driving mechanism; the top end of the knee joint auxiliary supporting plate is fixed with the knee joint traction wheel, and the bottom end of the knee joint auxiliary supporting plate is fixed with the pedal; the auxiliary supporting plate in the thigh is fixed with a hip joint binding piece, the auxiliary supporting plate of the knee joint is fixed with a knee joint binding piece, and the driving mechanism is fixed with a waistband.
Preferably, the lower limb walking devices are provided with two lower limb walking devices, auxiliary supporting plates in thighs of the two lower limb walking devices are arranged oppositely, and the two lower limb walking devices share one driving mechanism.
More preferably, the driving mechanism comprises a knee joint output motor, an electromagnetic clutch I, an electromagnetic clutch II, a hip joint output motor and a shell; the shells of the hip joint output motor and the knee joint output motor are fixed in the shell through motor bases; the hip joint output motor and the knee joint output motor are both provided with two output shafts; each output shaft of the hip joint output motor is connected with one rotating shaft II through an electromagnetic clutch II, and each output shaft of the knee joint output motor is connected with one rotating shaft I through an electromagnetic clutch I; the rotating shaft I and the rotating shaft II form a rotating pair with the shell; the two rotating shafts II are respectively fixed with hip joint traction ropes of the two lower limb walking devices; the two rotating shafts I are respectively fixed with the knee joint traction ropes of the two lower limb walking devices; the electromagnetic clutch I, the electromagnetic clutch II, the hip joint output motor and the knee joint output motor are all controlled by a controller.
More preferably, an upper cover plate is fixed on the top of the motor base; the battery is fixed on the upper cover plate; the hip joint output motor, the knee joint output motor and the controller are all powered by batteries.
Preferably, in each lower limb walking device, an angle sensor is fixed on the end face of one of the knee joint traction wheels, and the angle sensor detects a corner signal of the knee joint pulley, so as to detect a corner signal of the thigh outer auxiliary supporting plate relative to the knee joint auxiliary supporting plate; the signal output ends of the angle sensors are all connected with the controller.
The utility model has the advantages that:
1. the utility model discloses accord with human engineering's design principle, low limbs running gear obtains fine control with human coupling.
2. The utility model discloses a haulage rope drives the assembly pulley and replaces traditional motor drive, takes haulage rope drive low limbs, the weight of ectoskeleton that has significantly reduced has compact structure, the compliance is good, low cost, safe and reliable, convenient operation's characteristics, satisfies the requirement of low limbs paralysed patient rehabilitation training integrality and travelling comfort, can accomplish under one person's assistance and dress, avoids opening the instantaneous moment who stops the production because of the motor moreover and produces the secondary damage to the disease.
3. The utility model discloses a adapt to different pathological crowd, the contained angle of the outer auxiliary supporting plate of adjustable thigh and vertical line and the contained angle motion law of the outer auxiliary supporting plate of thigh and knee joint auxiliary supporting plate.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
fig. 2 is a schematic diagram of the two-dimensional structure of the present invention;
FIG. 3 is a perspective view of the middle/lower limb walking device of the present invention;
fig. 4 is a schematic structural diagram of the driving mechanism of the present invention;
fig. 5 is a schematic view of the angle between the middle outer thigh supporting plate and the vertical line and the angle between the middle outer thigh supporting plate and the knee joint supporting plate.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the lower limb exoskeleton assisting device based on the rope wheel combination comprises a lower limb walking device 6 and a driving mechanism 7; the lower limb walking device 6 comprises an outer thigh auxiliary supporting plate 1, an inner thigh auxiliary supporting plate 2, a knee joint auxiliary supporting plate 3, a pedal 5, a knee joint traction rope 10, a hip joint traction rope 13, a hip joint reel I9, a hip joint reel II12, a knee joint pulley 11, a hip joint binding piece 14, a knee joint binding piece 17 and a knee joint traction wheel 16; the upper ends of the thigh outer auxiliary supporting plate 1 and the thigh inner auxiliary supporting plate 2 are fixed through an upper pivot, and the lower ends are fixed through a lower pivot; the hip joint pulley I9 and the hip joint pulley II12 are both fixed on the upper pivot; the knee joint pulley 11 and the support shaft form a revolute pair; two knee joint traction wheels 16 are fixed at two ends of the supporting shaft, and the two knee joint traction wheels 16 and pulley grooves 15 arranged on the thigh outer auxiliary supporting plate 1 and the thigh inner auxiliary supporting plate 2 respectively form a cylindrical pair (rolling and sliding); the hip joint traction rope 13 is wound on the hip joint wire wheel I9, one end of the hip joint traction rope is fixed with the hip joint wire wheel I9, and the other end of the hip joint traction rope is driven by the driving mechanism; the drive of the driving mechanism is converted into the rotation of the hip joint traction rope 13 to realize the rotation of the hip joint (the thigh outer auxiliary supporting plate 1 and the thigh inner auxiliary supporting plate 2 rotate around the upper pivot); the knee joint traction rope 10 bypasses the knee joint pulley 11, one end of the knee joint traction rope is fixed on the hip joint line wheel II12, and the other end of the knee joint traction rope is driven by a driving mechanism; the driving of the driving mechanism is converted into climbing movement of the knee joint pulley 11 in the pulley groove 15; the top end of the knee joint auxiliary supporting plate 3 is fixed with a knee joint traction wheel 16, and the bottom end is fixed with a pedal 5; a hip joint binding piece 14 is fixed on the thigh inner auxiliary supporting plate 2, and a knee joint binding piece 17 is fixed on the knee joint auxiliary supporting plate 3; a waistband 8 is fixed on the driving mechanism.
In a preferred embodiment, two lower limb walking apparatuses are provided, the in-thigh auxiliary support plates 2 of the two lower limb walking apparatuses are arranged to face each other, and the two lower limb walking apparatuses share a single drive mechanism.
As a more preferred embodiment, as shown in fig. 4, the drive mechanism 7 includes a knee joint output motor 21, an electromagnetic clutch i 22, an electromagnetic clutch ii 23, a hip joint output motor 24, and a housing 25; the shells of the hip joint output motor 24 and the knee joint output motor 21 are fixed in the shell 25 through motor bases; the hip joint output motor 24 and the knee joint output motor 21 are both provided with two output shafts; each output shaft of the hip joint output motor 24 is connected with one rotating shaft II through an electromagnetic clutch II 23, and each output shaft of the knee joint output motor 21 is connected with one rotating shaft I through an electromagnetic clutch I22; the rotating shaft I and the rotating shaft II and the shell 25 form a rotating pair; the two rotating shafts II are respectively fixed with hip joint traction ropes 13 of the two lower limb walking devices; the two rotating shafts I are respectively fixed with the knee joint traction ropes 10 of the two lower limb walking devices; the electromagnetic clutch I22, the electromagnetic clutch II 23, the hip joint output motor 24 and the knee joint output motor 21 are all controlled by the controller 19.
As a more preferable embodiment, an upper cover plate 20 is fixed on the top of the motor base; the battery 18 is fixed on the upper cover plate 20; the hip joint output motor 24, the knee joint output motor 21 and the controller 19 are all powered by the battery 20.
In each lower limb walking device, an angle sensor 4 is fixed on the end face of one knee joint traction wheel 16, and the angle sensor detects the rotation angle signal of the knee joint pulley 11, so as to detect the rotation angle signal of the thigh outer auxiliary supporting plate 1 relative to the knee joint auxiliary supporting plate 3; the signal output ends of the angle sensors are all connected with the controller 19.
The lower limb exoskeleton assistor based on the rope wheel combination has the working principle as follows:
the waist belt 8 is bound on the waist of a wearer, hip joint binding pieces 14 of the two lower limb walking devices are respectively bound on two thighs of the wearer, knee joint binding pieces 17 of the two lower limb walking devices are respectively bound on two shanks of the wearer, and two feet of the wearer step on pedals 5 of the two lower limb walking devices respectively. The controller 19 is based on the preset theta in the walking process1And theta2The change rule along with time (can collect theta in the walking process of normal people in advance1And theta2The change rule with time is that the preset theta is changed1And theta2The change rule with time is according to theta in the walking process of normal people1And theta2A change law with time), the output shaft rotation angle change law of the hip joint output motor 24 and the knee joint output motor 21 is controlled; wherein, theta1Is the angle theta between the thigh outer auxiliary supporting plate 1 and the vertical line2Is the included angle between the thigh outer auxiliary supporting plate 1 and the knee joint auxiliary supporting plate 3, as shown in fig. 5; since the knee joint auxiliary supporting plate 3 is always in the vertical state during the exercise, θ1And theta2Are always equal, so that the angle theta can be obtained only by measuring the rotation angle of the knee joint pulley 11 through the angle sensor1And theta2The value of (c). When the controller 19 determines θ of a certain lower limb based on the angle signal detected by the angle sensor 41And theta2The angle value when the sole of the lower limb is in the landing state is controlled so that the electromagnetic clutch i 22 and the electromagnetic clutch ii 23 corresponding to the lower limb (the lower limb which does not need to be walked, and the left and right limbs alternately operate during walking) are separated, and the electromagnetic clutch i 22 and the electromagnetic clutch ii 23 of the other lower limb are controlled to be engaged.
When the hip joint output motor 24 and the knee joint output motor 21 rotate, the power of the hip joint output motor 24 is transmitted to the thigh outer auxiliary supporting plate 1 and the thigh inner auxiliary supporting plate 2 through the hip joint traction rope 13, the hip joint pulley I9 and the upper pivot, so that the thigh of a wearer is driven to move; the power of the knee joint output motor 21 drives the knee joint pulley 11, the support shaft and the knee joint traction wheel 16 to move through the knee joint traction rope 10, so that the knee joint traction wheel 16 slides in the pulley groove 15.
Claims (5)
1. Lower limbs ectoskeleton assistor based on rope sheave combination includes lower limbs running gear and actuating mechanism, its characterized in that: the lower limb walking device comprises an outer thigh auxiliary supporting plate, an inner thigh auxiliary supporting plate, a knee joint auxiliary supporting plate, a pedal, a knee joint traction rope, a hip joint line wheel I, a hip joint line wheel II, a knee joint pulley, a hip joint binding piece, a knee joint binding piece and a knee joint traction wheel; the upper ends of the thigh outer auxiliary supporting plate and the thigh inner auxiliary supporting plate are fixed through an upper pivot, and the lower ends of the thigh outer auxiliary supporting plate and the thigh inner auxiliary supporting plate are fixed through a lower pivot; the hip joint pulley I and the hip joint pulley II are both fixed on the upper pivot; the knee joint pulley and the support shaft form a revolute pair; two knee joint traction wheels are fixed at two ends of the supporting shaft, and the two knee joint traction wheels and pulley grooves arranged on the thigh outer auxiliary supporting plate and the thigh inner auxiliary supporting plate respectively form a cylindrical pair; the hip joint traction rope is wound on the hip joint wire wheel I, one end of the hip joint traction rope is fixed with the hip joint wire wheel I, and the other end of the hip joint traction rope is driven by the driving mechanism; the knee joint traction rope bypasses the knee joint pulley, one end of the knee joint traction rope is fixed on the hip joint wire wheel II, and the other end of the knee joint traction rope is driven by the driving mechanism; the top end of the knee joint auxiliary supporting plate is fixed with the knee joint traction wheel, and the bottom end of the knee joint auxiliary supporting plate is fixed with the pedal; the auxiliary supporting plate in the thigh is fixed with a hip joint binding piece, the auxiliary supporting plate of the knee joint is fixed with a knee joint binding piece, and the driving mechanism is fixed with a waistband.
2. The lower extremity exoskeleton assistance device in accordance with claim 1, wherein: the lower limb walking devices are provided with two lower limb walking devices, auxiliary supporting plates in thighs of the two lower limb walking devices are arranged oppositely, and the two lower limb walking devices share one driving mechanism.
3. The lower extremity exoskeleton assistance device in accordance with claim 2 further comprising: the driving mechanism comprises a knee joint output motor, an electromagnetic clutch I, an electromagnetic clutch II, a hip joint output motor and a shell; the shells of the hip joint output motor and the knee joint output motor are fixed in the shell through motor bases; the hip joint output motor and the knee joint output motor are both provided with two output shafts; each output shaft of the hip joint output motor is connected with one rotating shaft II through an electromagnetic clutch II, and each output shaft of the knee joint output motor is connected with one rotating shaft I through an electromagnetic clutch I; the rotating shaft I and the rotating shaft II form a rotating pair with the shell; the two rotating shafts II are respectively fixed with hip joint traction ropes of the two lower limb walking devices; the two rotating shafts I are respectively fixed with the knee joint traction ropes of the two lower limb walking devices; the electromagnetic clutch I, the electromagnetic clutch II, the hip joint output motor and the knee joint output motor are all controlled by a controller.
4. The lower extremity exoskeleton assistance device in accordance with claim 3 further comprising: an upper cover plate is fixed at the top of the motor base; the battery is fixed on the upper cover plate; the hip joint output motor, the knee joint output motor and the controller are all powered by batteries.
5. The lower extremity exoskeleton assistance device based on combination of rope wheels as claimed in any one of claims 1 to 4, wherein: in each lower limb walking device, an angle sensor is fixed on the end face of one knee joint traction wheel and detects a corner signal of a knee joint pulley, so that a corner signal of an outer thigh auxiliary supporting plate relative to a knee joint auxiliary supporting plate is detected; the signal output ends of the angle sensors are all connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023157100.5U CN215021626U (en) | 2020-12-24 | 2020-12-24 | Lower limb exoskeleton assistor based on rope pulley combination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023157100.5U CN215021626U (en) | 2020-12-24 | 2020-12-24 | Lower limb exoskeleton assistor based on rope pulley combination |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215021626U true CN215021626U (en) | 2021-12-07 |
Family
ID=79215975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023157100.5U Active CN215021626U (en) | 2020-12-24 | 2020-12-24 | Lower limb exoskeleton assistor based on rope pulley combination |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215021626U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117462371A (en) * | 2023-12-28 | 2024-01-30 | 中国科学院自动化研究所 | Two-degree-of-freedom motion-assisted knee joint exoskeleton robot |
-
2020
- 2020-12-24 CN CN202023157100.5U patent/CN215021626U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117462371A (en) * | 2023-12-28 | 2024-01-30 | 中国科学院自动化研究所 | Two-degree-of-freedom motion-assisted knee joint exoskeleton robot |
| CN117462371B (en) * | 2023-12-28 | 2024-04-05 | 中国科学院自动化研究所 | Two-degree-of-freedom motion-assisted knee joint exoskeleton robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109172289B (en) | Hip joint rehabilitation exoskeleton based on multifunctional driver and motion control method thereof | |
| JP3530959B2 (en) | Electric assist device for flatland walking and stair walking | |
| KR101327178B1 (en) | Two-belt treadmill and walking traning device having the same | |
| CN107997929B (en) | Portable ankle joint rehabilitation robot based on active intention control | |
| CN211193877U (en) | Wearable lower limb rehabilitation exoskeleton robot | |
| CN112603776B (en) | Half initiative low limbs ectoskeleton assistor based on rope sheave combination | |
| CN107049715A (en) | A kind of assisted walk robot used suitable for medical rehabilitation, correction or training | |
| CN104490563A (en) | Pneumatic muscle based intelligent wearable lower limb | |
| CN214511821U (en) | Rope-pulling type flexible lower limb exoskeleton power-assisted robot | |
| CN109350459A (en) | A kind of auxiliary walking devices and its walk help control method | |
| CN112603752B (en) | Rope-pulling type flexible lower limb exoskeleton power-assisted robot and motion control method thereof | |
| CN110974633A (en) | Intelligent walking aid rehabilitation training robot | |
| CN215021626U (en) | Lower limb exoskeleton assistor based on rope pulley combination | |
| CN106726360A (en) | Traveling lower limb of helping the disabled dress ectoskeleton and its mode of progression of helping the disabled | |
| CN111531523B (en) | Power-assisted walking and auxiliary supporting mechanism | |
| WO2022110111A1 (en) | Foot drop rehabilitation exoskeleton robot and adaptive gait assistance control method | |
| CN113520786B (en) | Wearable lower limb exoskeleton auxiliary walking robot | |
| CN111067764A (en) | Walking aid training device for patients with spinal injuries | |
| CN110559157B (en) | Ankle joint motion auxiliary device | |
| CN211382530U (en) | Intelligent walking aid rehabilitation training robot | |
| CN115245446B (en) | Knee joint exoskeleton with rigidity adjusting and energy recovering functions and training method thereof | |
| CN214232596U (en) | Gait walking aid training mechanism with weight reduction mechanism | |
| CN114642572A (en) | Unilateral lower limb exoskeleton walking-assisting robot and power-assisted control method thereof | |
| CN110787023B (en) | Inhaul cable power device, power system thereof, power assisting equipment and control method thereof | |
| CN112917462A (en) | Lifting line type ankle joint power assisting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |