WO2023024143A1 - 一种外骨骼增强辅助系统 - Google Patents

一种外骨骼增强辅助系统 Download PDF

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Publication number
WO2023024143A1
WO2023024143A1 PCT/CN2021/116182 CN2021116182W WO2023024143A1 WO 2023024143 A1 WO2023024143 A1 WO 2023024143A1 CN 2021116182 W CN2021116182 W CN 2021116182W WO 2023024143 A1 WO2023024143 A1 WO 2023024143A1
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WO
WIPO (PCT)
Prior art keywords
leg
exoskeleton
rod
fixed
waist
Prior art date
Application number
PCT/CN2021/116182
Other languages
English (en)
French (fr)
Inventor
朱瀚琦
王铸
Original Assignee
深圳市英汉思动力科技有限公司
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Application filed by 深圳市英汉思动力科技有限公司 filed Critical 深圳市英汉思动力科技有限公司
Publication of WO2023024143A1 publication Critical patent/WO2023024143A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests

Definitions

  • the application belongs to the field of exoskeleton robots, and in particular relates to an exoskeleton reinforcement auxiliary system.
  • An exoskeleton robot is a device that assists human walking or other movements through an external mechanical assist structure or increases the force applied. It is often used for movement improvement or rehabilitation training of hemiplegic patients or other muscle weakness patients.
  • the waist ring frame needs to be fixed to the operator's waist, and then the driving mechanism on the waist ring frame drives the relative movement of the operator's thigh and waist, thereby achieving the purpose of assisting. Effect.
  • the waist ring frame of exoskeleton robots is mostly a rigid ring frame structure. This structure cannot adapt to users of different sizes, and large users may not be able to wear it or be squeezed by the ring frame. Press the waist and hip joints to cause discomfort. At the same time, smaller patients cannot wear it properly, making the position of the exoskeleton robot unstable during use, causing discomfort in use, and even a certain degree of unloading force.
  • the purely flexible ring frame structure although excellent in wearing fit and self-adaptation, has fatal flaws in force transmission, and usually needs to be supplemented by rigid structures elsewhere in the structure, so the existing rigid ring frame cannot meet the requirements at the same time. Suitable for people of different body types, good comfort and good bearing capacity and other conditions.
  • the purpose of this application is to provide an exoskeleton reinforcement auxiliary system, which aims to solve the technical problems that the existing rigid ring frame cannot meet the needs of people of different body types, and has good comfort and bearing capacity.
  • an exoskeleton reinforcement auxiliary system comprising: a lumbar support ring frame, the lumbar support ring frame includes a connecting belt and a driving mechanism, the driving mechanism is connected with the connecting belt, and the connecting belt Enclosing and forming a space for surrounding the waist of the user, the connecting belt includes a plurality of tiny rigid bodies rotatably connected to each other, and the tiny rigid bodies can bend toward or away from the waist;
  • a main control structure the main control structure is connected to the tiny rigid body, a control board is arranged in the main control structure, and the control board is connected to the driving mechanism by communication;
  • a leg connecting piece the leg connecting piece includes a fixed rod connected to the driving mechanism in transmission, the fixed rod is used to be fixed on the user's leg, and the tiny rigid body can withstand the conduction of the leg force.
  • the exoskeleton reinforcement auxiliary system also includes a waist connection part, the waist connection part includes a fitting part and a third connecting part, the fitting part is connected with the tiny rigid body, and the fitting part is arranged on In the space, the third connecting portion is fixedly connected to the fitting portion for adjusting the size of the space.
  • the main control structure is connected to the tiny rigid body close to the back of the user, and the lumbar support ring frame also includes a back support part, and the back support part is rotatably connected to the main control structure.
  • the lumbar support ring frame also includes an inflatable inner liner, an inflatable cavity is arranged in the inflatable inner liner, the inflatable inner liner is fixed on the tiny rigid body, and the inflatable inner liner is located in the space .
  • the leg connector also includes a rotating rod connected to the fixed rod, the rotating rod is in transmission connection with the driving mechanism, and the driving mechanism drives the rotating rod and the fixed rod to rotate, thereby drive the legs to move.
  • the rotating rod includes a fourth connecting portion and a bending portion, the fourth connecting portion is in transmission connection with the driving mechanism, the bending portion is connected with the fixed rod, and the bending portion moves away from The direction of the leg is bent and arranged on the fourth connecting part, so that the user's leg is prevented from abutting against the end of the bent part when the user's leg moves.
  • the leg connector also includes a transmission rod, the rotating rod is connected to the fixed rod through the transmission rod, the transmission rod includes at least one tiny rigid body, the tiny rigid body is connected to the rotating The rod is connected to the fixed rod.
  • the fixed rod is fixed to the leg through the leg fixing device, the fixed rod is provided with a first rotating body, the leg fixing device is provided with a second rotating body, and the first rotating body The body and the second rotating body rotate relative to each other, thereby adjusting the length between the fixing rod and the leg fixing device.
  • the fixed rod is fixed to the leg through the leg fixing device, the fixed rod is provided with a first connecting piece, the leg fixing device is provided with a second connecting piece, and the first connecting The piece is detachably connected to the second connecting piece.
  • the fixing rod is fixed to the leg through a leg fixing device
  • the leg fixing device is a flexible belt
  • the outer surface of the flexible belt is provided with Velcro
  • one end of the flexible belt is provided with a connection buckle, the other end of the flexible belt is passed through the connecting buckle and connected with the Velcro.
  • the connecting belt in the exoskeleton reinforcement auxiliary system of the present application includes a plurality of tiny rigid bodies, and the number of the small rigid bodies can be adjusted according to the needs to adapt to users of different sizes. Bending in a direction away from the waist can ensure the fitting effect between the connecting belt and the user's waist and improve comfort. At the same time, the tiny rigid body can withstand the force transmitted by the user's legs and provide support through the user's waist and back. The stiffness required for torque transmission of the legs is guaranteed.
  • the exoskeleton enhanced auxiliary system can meet the requirements of being suitable for people of different sizes, good comfort and good bearing capacity.
  • Fig. 1 is a schematic structural diagram of the exoskeleton reinforcement auxiliary system provided by the present application.
  • Fig. 2 is an exploded view of the exoskeleton enhanced auxiliary system provided by the present application
  • Fig. 3 is the schematic structural diagram of the lumbar support ring frame in the exoskeleton reinforcement auxiliary system provided by the present application;
  • Fig. 4 is a structural schematic diagram of the micro rigid body in the exoskeleton enhanced auxiliary system provided by the present application.
  • Fig. 5 is a schematic structural view of the backboard in the exoskeleton augmented auxiliary system provided by the present application;
  • Fig. 6 is a schematic structural view of the waist connector in the exoskeleton augmented auxiliary system provided by the present application.
  • Fig. 7 is a schematic structural view of the rotating rod in the exoskeleton augmented auxiliary system provided by the present application.
  • Fig. 8 is a structural schematic diagram of the first rotating body and the second rotating body in the exoskeleton augmented auxiliary system provided by the present application;
  • Fig. 9 is a schematic structural view of the first connecting part and the second connecting part in the exoskeleton augmentation auxiliary system provided by the present application.
  • 31-miniature rigid body 311-rigid body, 312-first connecting part, 313-second connecting part, 3121-connecting hole, 321-first rotating shaft, 322-nut,
  • orientation terms such as left, right, up, and down in this embodiment are only relative concepts or refer to the normal use state of the product, and should not be regarded as limiting.
  • a kind of exoskeleton reinforcement auxiliary system 1 includes: a lumbar support ring frame 100, a main control structure 11 and a leg connector 50; the lumbar support ring frame includes a connection Belt 30 and driving mechanism 21, and driving mechanism 21 is connected with connecting belt 30, and connecting belt 30 encircles and forms the space for surrounding the waist of user, and connecting belt 30 comprises a plurality of tiny rigid bodies 31 that are mutually rotatably connected, and tiny rigid bodies 31 can Bend towards or away from the waist; the main control structure 11 is connected with the tiny rigid body 31, and a control board is arranged inside the main control structure 11, and the control board communicates with the driving mechanism 21; The fixed rod 53 is used to be fixed on the user's leg, and the tiny rigid body 31 can bear the power transmitted by the leg.
  • control board in the main control structure 11 can send a control signal to the driving mechanism 21 after receiving instructions, and can control the driving mechanism 21.
  • a battery 90 can also be arranged in the main control structure 11, and the battery 90 and the driving mechanism 21 Electrically connected, the driving mechanism 21 is a motor, and the fixed rod 53 is connected to the output shaft of the motor.
  • the driving mechanism 21 is arranged near the user's hip joint.
  • the connecting belt 30 includes a plurality of tiny rigid bodies 31, and the number of tiny rigid bodies 31 can be adjusted according to requirements to suit users of different shapes.
  • the tiny rigid bodies 31 can be bent toward or away from the waist, ensuring that the connecting belt The fitting effect between 30 and the user's waist improves the comfort.
  • the tiny rigid body 31 can bear the force transmitted by the user's legs and provide support through the user's waist and back, ensuring the rigidity required for the torque transmission of the legs.
  • the tiny rigid body includes a rigid body 311, one side of the rigid body 311 is provided with a first connecting portion 312, and the other side of the rigid body 311 is provided with a second connecting portion 313, and the first connecting portion 312 is connected to the adjacent second connecting portion 313 rotating connection.
  • the tiny rigid body also includes a first rotating shaft 321, and the adjacent first connecting portion 312 and the second connecting portion 313 are rotationally connected through the first rotating shaft 321, and the axial direction of the first rotating shaft 321 is the same as the direction of the force transmitted by the legs.
  • the second connecting part 313 is provided with a connecting hole 3121, one end of the first rotating shaft 321 is fixedly connected to the first connecting part 312, and the other end of the first rotating shaft 321 passes through the connecting hole 3121 and is connected to the limiting member, and the limiting The component is used to limit the movement of the second connecting portion 313 along the axial direction of the first rotating shaft 321 .
  • the second connecting portion 313 is provided with a connecting hole 3121 matching the first rotating shaft 321, and the setting of the limiting member can prevent the second connecting portion 313 from falling off from the first rotating shaft 321 on the first connecting portion 312.
  • the component can limit the second connecting portion 313 and prevent the second connecting portion 313 from moving in the vertical direction in FIG. 2 .
  • the stopper is a nut 322, and the first rotating shaft 321 is provided with an external thread matched with the nut 322.
  • the number of the first connecting part 312 and the second connecting part 313 are both two, and an accommodation cavity is formed between the two first connecting parts 312, and the rotating connecting parts of the two second connecting parts 313 are located in the adjacent small rigid in the body cavity.
  • the number of the first connecting parts 312 is two, and the two first connecting parts 312 are respectively arranged on the top and the bottom of the rigid body 311, and an accommodation cavity is formed between the two first connecting parts 312, and the two second connecting parts 312
  • the part 313 can just be accommodated in the receiving cavity of the adjacent tiny rigid body 31
  • the second connecting part 313 is attached to the first connecting part 312 .
  • the two second connecting parts 313 and the two first connecting parts 312 are rotationally connected through two first rotating shafts 321 respectively. Providing two first connecting parts 312 and second connecting parts 313 can increase the connection strength of adjacent tiny rigid bodies 31 .
  • the mounting parts are arranged on both sides of the main control structure 11.
  • the mounting parts are used to connect with the main control structure 11.
  • the mounting parts are connected to the adjacent tiny rigid body 31 in rotation. 313 are consistent in shape.
  • the driving installation part 20 is provided with a second connecting part 8221 , and the second connecting part 8221 is used for connecting with the main control structure 11 .
  • One side of the second connecting piece 8221 is in the same shape as the first connecting portion 312 of the tiny rigid body 31 .
  • the exoskeleton augmentation auxiliary system 1 also includes a waist connection part 40, which is connected with the tiny rigid body 31, and the waist connection part 40 is used to adjust the size of the space.
  • the waist connecting member 40 is provided to drive the tiny rigid body 31 to move, thereby adjusting the size of the space and making the exercise assistance device suitable for users of different body shapes.
  • the waist connector 40 includes a fitting part 42 and a third connecting part 43, the fitting part 42 is connected with the tiny rigid body 31, the fitting part 42 is arranged in the space, and the third connecting part 43 is fixedly connected with the fitting part 42 for adjustment the size of the space.
  • two third connecting parts 43 may be provided at both ends of the bonding part 42 , a tongue is provided on one third connecting part 43 , and a socket matching the tongue is provided on the other third connecting part 43 .
  • fitting portion 42 is provided with a connecting buckle 41
  • the third connecting portion 43 includes a connecting unit and an adjustment segment
  • the connecting unit is connected to the fitting portion 42
  • the adjusting section is provided with a fixing piece, and the adjusting section passes through the connecting buckle 41 and is fixed to the connecting unit through the fixing piece.
  • the fixing member may be a magnetic attracting member, and a magnetic attracting portion fixed to the magnetic attracting member is provided outside the connecting unit.
  • the bonding portion 42 is fixedly connected with the tiny rigid body 31 .
  • the fixing part is a Velcro hook, and a Velcro sticker is provided outside the connecting unit.
  • the adjustment section passes through the connecting buckle 41 and is bent until the Velcro hook is fixed on the Velcro sticker, thereby adjusting the size of the space.
  • the fitting part 42 is provided with fixing holes, and the fitting part 42 can be fixed on the main control structure 11 and the tiny rigid body 31 through the fixing holes.
  • the main control structure 11 is connected to the tiny rigid body 31 close to the back of the user, and the lumbar support ring frame also includes a back support part 60 , which is rotatably connected to the main control structure 11 .
  • the connecting belt 30 is divided into two sections, and the main control structure 11 is located between the two sections of connecting belt 30.
  • the waist can be adjusted adaptively relative to the waist ring frame, avoiding the waist in the process of moving. Interacts with the waist ring frame.
  • the back supporting part 60 rotates relative to the main control structure 11 through the second rotating shaft, wherein the second rotating shaft is fixedly connected with the casing of the main controlling structure 11, and the back supporting part 60 rotates relative to the second rotating shaft, wherein the back supporting The part 60 has a curved surface, and setting the curved surface facilitates the back support part 60 to better fit the user's waist and back.
  • the second rotating shaft is fixed on the main control structure 11 , the second rotating shaft and the main control structure 11 form an integral structure, and the back supporting part 60 is provided with a mounting hole 62 .
  • the second rotating shaft can also be fixed on the back supporting part 60 , the second rotating shaft and the back supporting part 60 form an integral structure, and the main control structure 11 is provided with a mounting hole 62 .
  • the second rotating shaft is rotatably disposed in the installation hole 62 , and under the action of an external force, the back support part 60 drives the second rotating shaft to rotate relative to the main control structure 11 .
  • the back support part 60 is a back plate 61, and when the back support part 60 is provided with a mounting hole 62, the back plate 61 and the housing of the main control structure 11 are respectively provided with a mounting hole 62, and the second rotating shaft passes through the rear of the mounting hole 62. Connected with the limiter, the limiter can prevent the back plate 61 from falling off from the casing of the main control structure 11 .
  • the lumbar support ring frame also includes an inflatable inner liner 70, and an inflatable cavity is arranged in the inflatable inner liner 70, and the inflatable inner liner 70 is fixed on the tiny rigid body 31, and the inflatable inner liner 70 is located in the space.
  • the inflatable cavity of the inflatable inner liner 70 is filled with gas and fitted to the waist of the user, and the gap between the waist ring frame and the waist is filled by the inflatable inner liner 70 to meet the wearing requirements of users of different sizes.
  • the inflatable cavity includes a single or multiple inflatable units.
  • the multiple inflatable units have different shapes and inflated heights, and the inflatable units are used to fit different parts of the waist.
  • the inflatable inner liner 70 includes a base body and an air bag layer arranged on the base body. On the rigid body 31. The base is the bonding portion 42 described above.
  • the exoskeleton enhanced auxiliary system 1 also includes an inflation device (not shown in the figure).
  • the preferred inflation device in this embodiment is an air pump, which can be fixed on the main control structure 11, and the air pump inflates the inflation unit through the inflation pipeline.
  • the leg connector 50 also includes a rotating rod 51 connected to the fixed rod 53 , the rotating rod 51 is in transmission connection with the driving mechanism 21 , and the driving mechanism 21 drives the rotating rod 51 and the fixed rod 53 to rotate, thereby driving the legs to move.
  • the driving mechanism 21 drives the rotating rod 51 to rotate, and the rotating rod 51 drives the fixed rod 53 to rotate.
  • the rotating rod 51 includes a fourth connecting portion 511 and a bending portion 512, the fourth connecting portion 511 is in transmission connection with the driving mechanism 21, the bending portion 512 is connected with the fixed rod 53, and the bending portion 512 faces away from the leg.
  • the bend is arranged on the fourth connecting portion 511 so as to prevent the user's leg from abutting against the end of the bend portion when the user's leg moves.
  • the bending part 512 is bent away from the leg so that a receiving space is formed between the fourth connecting part 511 , the bending part 512 and the fixing rod 53 , and the receiving space is used to accommodate the user's leg after squatting.
  • the legs after squatting will change greatly in the width direction, and the accommodation space can accommodate the legs of the user after squatting, which can reduce the pressure on the side of the user's legs by the rotating rod 51 of the legs of the exoskeleton robot. Thereby improving user experience.
  • the leg connector 50 also includes a transmission rod 52 through which the rotation rod 51 and the fixed rod 53 are connected.
  • the transmission rod 52 includes at least one tiny rigid body 31, and the tiny rigid body 31 is connected with the rotation rod and the fixed rod.
  • tiny rigid bodies 31 when there are multiple tiny rigid bodies 31, a plurality of adjacent tiny rigid bodies 31 are rotatably connected to each other, and the tiny rigid bodies 31 are rotatably connected to the rotating rod and the fixed rod. connecting part. Setting the transmission rod 52 can respond to changes in the profile of the legs of different users.
  • the fixed rod 53 is fixed to the leg through the leg fixing device 54, the fixed rod 53 is provided with a first rotating body 531, the first rotating body 531 is connected to the fixing rod 53 through the first bearing body, and the leg fixing device 54 A second rotating body 541 is disposed on the top, and the first rotating body 531 and the second rotating body 541 rotate relative to each other, so as to adjust the length between the fixing rod 53 and the leg fixing device 54 .
  • the two second rotating bodies 541 are arranged at intervals, and the first rotating body 531 is arranged between the two second bearing bodies.
  • the second rotating body 541 is located on the flexible belt, and the first rotating body 531 is disposed at the end of the fixing rod 53 .
  • the fixed rod 53 and the leg fixing device 54 can be rotatably connected through the first rotating body 531 and the second rotating body 541, so that when the exoskeleton augmented auxiliary system 1 assists the user to walk, it can
  • the active length changes the overall length of the adaptive fixing rod 53 and the leg fixing device 54 .
  • the fixed rod 53 is fixed to the leg through the leg fixing device 54, the fixed rod 53 is provided with a first connecting piece 81, the leg fixing device 54 is provided with a second connecting piece 82, and the first connecting piece 81 is connected to the second connecting piece 81.
  • the two connecting pieces 82 are detachably connected.
  • the leg fixing device 54 can be disassembled from the fixing part first, effectively avoiding the disadvantage that the user is hindered by other mechanisms of the exoskeleton augmentation auxiliary system 1 when wearing or taking off the leg fixing device 54, and improving the user's ability to wear the exoskeleton. Enhance the convenience of the auxiliary system 1.
  • the second connecting piece 82 is a card seat 813, and a first installation groove 821 is formed on the card seat 813.
  • the first connecting piece 81 is a snap-fit assembly, and the snap-fit assembly includes a snap-fit part 811, and the snap-fit part 811 The spring can move relative to the card seat 813 , so that part of the clamping member 811 can be engaged with the card seat 813 .
  • the clamping assembly further includes a bottom case 812 connected to the fixing rod 53 , at least part of the clamping member 811 is inserted into the groove of the bottom case 812 , and the bottom case 812 is disposed in the installation groove 821 of the card seat 813 .
  • the engaging member 811 can move relative to the bottom case 812 , so that at least part of the engaging member 811 passes through the engaging slot 822 of the engaging seat 813 .
  • the engaging member 811 can move relative to the bottom case 812 , so that part of the engaging member 811 can engage with the inner wall of the holder 813 when extending out of the bottom case 812 .
  • the second connecting piece can also be a matching plate
  • the first connecting piece is a clamping piece for clamping the matching plate
  • the clamping piece is a clip
  • the clip includes two clamping pieces, which can be fixed on the matching plate after being rotated superior.
  • the fixed rod 53 is fixed to the leg through the leg fixing device 54
  • the leg fixing device 54 is a flexible belt
  • the outer surface of the flexible belt is provided with a Velcro
  • one end of the flexible belt is provided with a connecting buckle 41
  • the other end of the flexible belt One end is passed through the connecting buckle 41 and connected with the Velcro.
  • the length of the connecting buckle 41 through the other end of the flexible belt can adjust the size of the cavity for accommodating the legs, so as to adapt to more leg shapes to the greatest extent, thereby improving the leg fixation device of the exoskeleton reinforcement auxiliary system 1 54 applicability;
  • the Velcro structure makes the fixing structure of the leg fixing device 54 of the exoskeleton augmentation auxiliary system 1 tied to the human leg more simplified and lighter.
  • an anti-slip layer is provided inside the flexible belt, and the anti-slip layer includes a plurality of silicone pads arranged side by side, and gaps are formed between adjacent silicone pads to facilitate outward deformation of the silicone pads.
  • the main control structure 11 is installed on the connecting belt 30, the driving mechanism 21 is installed on the end of the connecting belt 30, and the leg connector 50 is connected to the driving mechanism 21 and is used to be worn with the thigh of the human body. fixed.
  • the tiny rigid waist ring frame can be fixed on the operator's waist, and the two leg connectors 50 can be respectively fixed on the two thighs of the operator.
  • the main control structure 11 Control the action of the driving mechanism 21, and then drive the operator's legs to move through the lumbar support of the tiny rigid lumbar ring frame, forming the effect of sports assistance.
  • the connecting belt 30 in the exoskeleton augmentation auxiliary system of the present application includes a plurality of tiny rigid bodies 31, and the number of tiny rigid bodies 31 can be adjusted according to needs to suit users of different shapes.
  • the tiny rigid bodies 31 can move closer to or away from the waist Bending in the direction of the user's waist can ensure the fitting effect between the connecting belt 30 and the user's waist, and improve comfort. Stiffness required for torque transmission.
  • the exoskeleton enhanced auxiliary system can meet the requirements of being suitable for people of different sizes, good comfort and good bearing capacity.

Abstract

一种外骨骼增强辅助系统(1)，适用于外骨骼机器人领域，该外骨骼增强辅助系统(11)包括：腰部支持环架(100)，主控结构(11)和腿部连接件(50)；腰部支撑环架(100)包括连接带(30)和驱动机构(21)，驱动机构(21)与连接带(30)连接，连接带(30)围合形成用于环绕使用者的腰部的空间，连接带(30)包括多个相互转动连接的微小刚体(31)，微小刚体(31)能够向靠近或远离腰部的方向弯曲；主控结构(11)与微小刚体(31)连接，主控结构(11)内设置有控制板，控制板与驱动机构(21)通讯连接；腿部连接件(50)包括与驱动机构(21)传动连接的固定杆(53)，固定杆(53)用于固定于使用者的腿部，微小刚体(31)能够承受腿部传导的力。该外骨骼增强辅助系统调整微小刚体(31)的个数以适应不同体型的使用者，能够保证连接带(30)与使用者腰部的贴合效果，同时微小刚体(31)能够承受使用者腿部传导的力。

Description

一种外骨骼增强辅助系统 技术领域
本申请属于外骨骼机器人领域，尤其涉及一种外骨骼增强辅助系统。
 背景技术
外骨骼机器人是通过外部的机械助力结构对人体的行走或其他动作进行辅助支撑或提高施力的装置，常用于偏瘫患者或其他肌肉无力患者的行动改善或康复训练。对于下肢助力的外骨骼机器人来说，通过需要设置腰部环架以固定于操作者的腰部，进而通过腰部环架上设置的驱动机构施力带动操作者大腿和腰部的相对运动，进而达到助力的效果。为了达到力传导的作用，目前已知外骨骼机器人腰部环架多为刚性环架结构，此结构无法自适应各种不同体型的用户，会发生体型大的用户穿不进去，或者被环架挤压腰部以及髋关节从而造成使用不适。同时体型较小的病人无法贴合的穿戴，使得使用过程中外骨骼机器人位置不稳定，造成使用不适，甚至会造成一定程度的卸力。
而纯柔性环架结构，虽然在穿戴贴合以及自适应上表现出色，但是在传力上有致命缺陷，通常需要通过结构其他地方的刚性结构进行补充，因此现有的刚性环架不能同时满足适用不同体型的人、舒适性好及承力性好等条件。
 技术问题
本申请的目的在于提供一种外骨骼增强辅助系统，旨在解决现有的刚性环架不能同时满足适用不同体型的人、舒适性好及承力性好等的技术问题。
 技术解决方案
本申请是这样实现的：一种外骨骼增强辅助系统，包括：腰部支持环架，所述腰部支撑环架包括连接带和驱动机构，所述驱动机构与所述连接带连接，所述连接带围合形成用于环绕使用者的腰部的空间，所述连接带包括多个相互转动连接的微小刚体，所述微小刚体能够向靠近或远离所述腰部的方向弯曲；
主控结构，所述主控结构与所述微小刚体连接，所述主控结构内设置有控制板，所述控制板与所述驱动机构通讯连接；
腿部连接件，所述腿部连接件包括与所述驱动机构传动连接的固定杆，所述固定杆用于固定于所述使用者的腿部，所述微小刚体能够承受所述腿部传导的力。
进一步的，所述外骨骼增强辅助系统还包括腰部连接件，所述腰部连接件包括贴合部和第三连接部，所述贴合部与所述微小刚体连接，所述贴合部设置于所述空间内，所述第三连接部与所述贴合部固定连接用于调整所述空间的大小。
进一步的，所述主控结构靠近所述使用者背部与所述微小刚体连接，所述腰部支撑环架还包括背部支撑部，所述背部支撑部转动连接于所述主控结构上。
进一步的，所述腰部支撑环架还包括充气内衬，所述充气内衬内设置有充气腔，所述充气内衬固定于所述微小刚体上，且所述充气内衬位于所述空间内。
进一步的，所述腿部连接件还包括与所述固定杆连接的转动杆，所述转动杆与所述驱动机构传动连接，所述驱动机构带动所述转动杆和所述固定杆转动，从而带动所述腿部移动。
进一步的，所述转动杆包括第四连接部和弯折部，所述第四连接部与所述驱动机构传动连接，所述弯折部与所述固定杆连接，所述弯折部向远离腿部的方向弯折设置于所述第四连接部上，以使所述使用者的腿部进行运动时避免所述腿部与所述弯折部的端部相抵顶。
进一步的，所述腿部连接件还包括传动杆，所述转动杆与所述固定杆通过所述传动杆连接，所述传动杆包括至少一个所述微小刚体，所述微小刚体与所述转动杆和所述固定杆连接。
进一步的，所述固定杆通过腿部固定装置与所述腿部固定，所述固定杆上设置有第一转动本体，所述腿部固定装置上设置有第二转动本体，所述第一转动本体与所述第二转动本体相对转动，从而调节所述固定杆与所述腿部固定装置之间的长度。
进一步的，所述固定杆通过腿部固定装置与所述腿部固定，所述固定杆上设置有第一连接件，所述腿部固定装置上设置有第二连接件，所述第一连接件与所述第二连接件可拆卸连接。
进一步的，所述固定杆通过腿部固定装置与所述腿部固定，所述腿部固定装置为柔性带，所述柔性带的外表面设置有魔术贴，所述柔性带的一端设置有连接扣，所述柔性带的另一端穿设于所述连接扣并与所述魔术贴连接。
 有益效果
本申请的有益效果是：本申请的外骨骼增强辅助系统中的连接带包括多个微小刚体，可以根据需求调整微小刚体的个数以适应不同体型的使用者，所述微小刚体能够向靠近或远离所述腰部的方向弯曲，能够保证连接带与使用者腰部的贴合效果，提高舒适性，同时所述微小刚体能够承受使用者腿部传导的力，通过使用者的腰背部提供支撑效果，保证了腿部力矩传导所需的刚度。外骨骼增强辅助系统能同时满足适用不同体型的人、舒适性好及承力性好等条件。
 附图说明
图1是本申请提供的外骨骼增强辅助系统的结构示意图；
图2是本申请提供的外骨骼增强辅助系统的爆炸图；
图3是本申请提供的外骨骼增强辅助系统中腰部支撑环架的结构示意图；
图4是本申请提供的外骨骼增强辅助系统中的微小刚体的结构示意图；
图5是本申请提供的外骨骼增强辅助系统中背板的结构示意图；
图6是本申请提供的外骨骼增强辅助系统中腰部连接件的结构示意图；
图7是本申请提供的外骨骼增强辅助系统中转动杆的结构示意图；
图8是本申请提供的外骨骼增强辅助系统中第一转动本体和第二转动本体的结构示意图；
图9是本申请提供的外骨骼增强辅助系统中第一连接件和第二连接件的结构示意图。
1-外骨骼增强辅助系统、
100-腰部支持环架、
11-主控结构、21-驱动机构、30-连接带、40-腰部连接件、50-腿部连接件、60-背部支撑部、70-充气内衬、81-第一连接件、82-第二连接件、90-电池、
31-微小刚体、311-刚性本体、312-第一连接部、313-第二连接部、3121-连接孔、321-第一转轴、322-螺母、
41-连接扣、42-贴合部、43-第三连接部、
51-转动杆、52-传动杆、53-固定杆、511-第四连接部、512-弯折部、54-腿部固定装置、531-第一转动本体、541-第二转动本体、
61-背板、62-安装孔、
811-卡接件、812-底壳、823-卡座、821-安装槽、822-卡槽。
 本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者可能同时存在居中元件。当一个元件被称为“连接于”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
还需要说明的是，本实施例中的左、右、上、下等方位用语，仅是互为相对概念或是以产品的正常使用状态为参考的，而不应该认为是具有限制性的。
如附图1至图9所示，为本实施例提供的一种外骨骼增强辅助系统1，包括：腰部支持环架100，主控结构11和腿部连接件50；腰部支撑环架包括连接带30和驱动机构21，驱动机构21与连接带30连接，连接带30围合形成用于环绕使用者的腰部的空间，连接带30包括多个相互转动连接的微小刚体31，微小刚体31能够向靠近或远离腰部的方向弯曲；主控结构11与微小刚体31连接，主控结构11内设置有控制板，控制板与驱动机构21通讯连接；腿部连接件50包括与驱动机构21传动连接的固定杆53，固定杆53用于固定于使用者的腿部，微小刚体31能够承受腿部传导的力。
具体地，主控结构11内的控制板能够接收指令后将控制信号发送至驱动机构21，能够对驱动机构21进行控制，主控结构11内还可以设置有电池90，电池90与驱动机构21电连接，驱动机构21为电机，固定杆53与电机的输出轴传动连接，驱动机构21靠近使用者的髋关节设置，驱动机构21的数量为两个，分别位于连接带30的两端。
需要说明的是，连接带30包括多个微小刚体31，可以根据需求调整微小刚体31的个数以适应不同体型的使用者，微小刚体31能够向靠近或远离腰部的方向弯曲，能够保证连接带30与使用者腰部的贴合效果，提高舒适性，同时微小刚体31能够承受使用者腿部传导的力，通过使用者的腰背部提供支撑效果，保证了腿部力矩传导所需的刚度。
微小刚性体包括刚性本体311，刚性本体311的一侧设置有第一连接部312，刚性本体311的另一侧设置有第二连接部313，第一连接部312与相邻的第二连接部313转动连接。
微小刚性体还包括第一转轴321，相邻的第一连接部312与第二连接部313通过第一转轴321转动连接，第一转轴321的轴线方向与腿部传导的力的方向相同。
进一步的，第二连接部313上设置有连接孔3121，第一转轴321的一端与第一连接部312固定连接，第一转轴321的另一端穿过连接孔3121与限位件连接，限位件用于限制第二连接部313沿第一转轴321的轴线方向移动。
具体地，第二连接部313的上设置有与第一转轴321匹配的连接孔3121，设置限位件能够防止第二连接部313从第一连接部312上的第一转轴321脱落，限位件能够对第二连接部313起到限位作用，防止第二连接部313沿图2的上下方向移动。限位件为螺母322，在第一转轴321上设置有与螺母322匹配的外螺纹，在安装或拆卸微小刚体31时拆除螺母322将第一转轴321穿过连接孔3121后再将螺母322拧上。
进一步的，第一连接部312和第二连接部313的数量均为两个，两个第一连接部312之间形成容纳腔，两个第二连接部313的转动连接部位于相邻微小刚性体的容纳腔内。
具体地，第一连接部312的数量为两个，两个第一连接部312分别设置于刚性本体311的顶部和底部，两个第一连接部312之间形成容纳腔，两个第二连接部313刚好能够容纳于相邻的微小刚体31的容纳腔内，第二连接部313与第一连接部312贴合。两个第二连接部313和两个第一连接部312分别通过两个第一转轴321进行转动连接。设置两个第一连接部312和第二连接部313能够增加相邻的微小刚体31的连接强度。
在主控结构11的两侧设置两个安装部件，安装部件用于与主控结构11连接，安装部件与相邻的微小刚体31转动连接，安装部件一侧与微小刚体31的第二连接部313形状一致。驱动安装件20上设置有第二连接件8221，第二连接件8221用于与主控结构11连接。第二连接件8221一侧与微小刚体31的第一连接部312形状一致。
进一步的，外骨骼增强辅助系统1还包括腰部连接件40，腰部连接件40与微小刚体31连接，腰部连接件40用于调整空间的大小。
具体地，设置腰部连接件40能够带动微小刚体31移动，从而调整空间的大小，使运动辅助设备适用于不同体型的使用者。
腰部连接件40包括贴合部42和第三连接部43，贴合部42与微小刚体31连接，贴合部42设置于空间内，第三连接部43与贴合部42固定连接用于调整空间的大小。
具体地，可在贴合部42两端设置两个第三连接部43，一个第三连接部43上设置插舌，另一个第三连接部43上设置与插舌匹配的插座。
也可以只设置一个贴合部42和一个第三连接部43，其中贴合部42上设置有连接扣41，第三连接部43包括连接单元和调节段，连接单元与贴合部42连接，调节段设置有固定件，调节段穿过连接扣41通过固定件与连接单元固定。
具体地，固定件可以为磁吸件，在连接单元外侧设置与磁吸件固定的磁吸部。
具体地，贴合部42与微小刚体31固定连接。固定件为魔术钩，在连接单元外侧设置魔术贴，调节段穿过连接扣41后弯折至魔术钩固定在魔术贴上，从而调整空间大小。贴合部42上设置有固定孔，通过固定孔能够将贴合部42固定在主控结构11和微小刚体31上。
进一步的，主控结构11靠近使用者背部与微小刚体31连接，腰部支撑环架还包括背部支撑部60，背部支撑部60转动连接于主控结构11上。
具体地，连接带30分为两段，主控结构11位于两段连接带30之间，通过背部支撑部60的转动使腰部相对腰部环架作自适应的调整，避免了腰部在移动过程中与腰部环架相互影响。
需要说明的是，背部支撑部60通过第二转轴相对于主控结构11转动，其中第二转轴与主控结构11的壳体固定连接，背部支撑部60相对于第二转轴转动，其中背部支撑部60具有曲面，设置曲面便于背部支撑部60能够与使用者的腰背部更好的贴合。
第二转轴固定于主控结构11上，第二转轴与主控结构11形成一体结构，背部支撑部60上设有安装孔62。第二转轴也可固定于背部支撑部60上，第二转轴与背部支撑部60形成一体结构，主控结构11上设有安装孔62。第二转轴转动设置于安装孔62内，在外力作用下，背部支撑部60带动第二转轴，相对于主控结构11转动。
背部支撑部60为背板61，背部支撑部60上设有安装孔62时，背板61与主控结构11的壳体上分别设置有安装孔62，第二转轴穿设于安装孔62后与限位件连接，限位件能够防止背板61从主控结构11的壳体上脱落。
进一步的，腰部支撑环架还包括充气内衬70，充气内衬70内设置有充气腔，充气内衬70固定于微小刚体31上，且充气内衬70位于空间内。
充气内衬70的充气腔填充气体后与使用者的腰部贴合，通过充气内衬70填充腰部环架与腰部之间的缝隙，以满足不同体型的使用者的穿戴需求。
具体地，充气腔包括单个或多个充气单元，充气腔包括多个充气单元时，多个充气单元具有不同的形状和充气高度，充气单元用于与腰部的不同部位贴合。
需要说明的是，充气内衬70包括基体和设置于基体上的气囊层，气囊层设置于基体靠近腰部的一侧，气囊层与基体之间形成充气腔，基体固定于主控结构11和微小刚体31上。基体为上述贴合部42。
外骨骼增强辅助系统1还包括充气装置（图中未示），本实施例优选的充气装置为充气泵，充气泵可以固定在主控结构11上，充气泵通过充气管道向充气单元充气。
进一步的，腿部连接件50还包括与固定杆53连接的转动杆51，转动杆51与驱动机构21传动连接，驱动机构21带动转动杆51和固定杆53转动，从而带动腿部移动。
具体地，驱动机构21带动转动杆51转动，转动杆51再带动固定杆53转动。
进一步的，转动杆51包括第四连接部511和弯折部512，第四连接部511与驱动机构21传动连接，弯折部512与固定杆53连接，弯折部512向远离腿部的方向弯折设置于第四连接部511上，以使使用者的腿部进行运动时避免腿部与弯折部的端部相抵顶。
弯折部512向远离腿部的方向弯折使第四连接部511、弯折部512和固定杆53之间形成容纳空间，容纳空间用于容纳使用者下蹲后的腿部。
具体地，下蹲后的腿部会发生宽度方向较大的变化，容纳空间能够容纳使用者下蹲后的腿部，能够减少外骨骼机器人腿部的转动杆51对用户腿部侧面的压迫，进而提高用户使用体验。
进一步的，腿部连接件50还包括传动杆52，转动杆51与固定杆53通过传动杆52连接，传动杆52包括至少一个微小刚体31，微小刚体31与转动杆和固定杆连接。
具体地，微小刚体31为多个时，多个相邻的微小刚体31相互转动连接，微小刚体31与转动杆和固定杆可转动连接，转动杆和固定杆上设置有与微小刚体31匹配的连接部。设置传动杆52能够应不同用户腿部侧面轮廓的变化。
进一步的，固定杆53通过腿部固定装置54与腿部固定，固定杆53上设置有第一转动本体531，第一转动本体531通过第一轴承本体与固定杆53连接，腿部固定装置54上设置有第二转动本体541，第一转动本体531与第二转动本体541相对转动，从而调节固定杆53与腿部固定装置54之间的长度。
具体地，第二转动本体541的数量为两个，两个第二转动本体541间隔设置，第一转动本体531设于两个第二轴承本体之间。第二转动本体541位于柔性带上，第一转动本体531设置于固定杆53的端部。固定杆53与腿部固定装置54之间可通过第一转动本体531和第二转动本体541转动连接，以使该外骨骼增强辅助系统1在辅助用户行走时，能根据用户行走时腿部的活动长度变化适应性固定杆53与腿部固定装置54的总体长度。
进一步的，固定杆53通过腿部固定装置54与腿部固定，固定杆53上设置有第一连接件81，腿部固定装置54上设置有第二连接件82，第一连接件81与第二连接件82可拆卸连接。
具体地，可先将腿部固定装置54从固定件上拆卸下来，有效避免用户在穿戴或脱卸腿部固定装置54时被外骨骼增强辅助系统1的其他机构妨碍的弊端，提高用户穿戴外骨骼增强辅助系统1的便利性。
需要说明的是，第二连接件82为卡座813，卡座813上形成有第一安装槽821，第一连接件81为卡接组件，卡接组件包括卡接件811，卡接件811通过弹簧能与卡座813相对移动，以使部分卡接件811能与卡座813卡接配合。
设置卡座813和卡接件811能够快速的将腿部固定装置54与固定杆53快速安装或拆卸。
卡接组件还包括与固定杆53连接的底壳812，至少部分卡接件811插设于底壳812的槽内，底壳812设于卡座813的安装槽821内。卡接件811能与底壳812相对移动，从而使得至少部分卡接件811穿设于卡座813的卡槽822。
卡接件811能与底壳812相对移动，以使部分卡接件811伸出底壳812外时能与卡座813的内壁卡接配合。
第二连接件也可以为配合板，第一连接件为用于夹持配合板的夹持件，夹持件为夹子，夹子包括两个夹持片，夹持片转动后能够固定在配合板上。
进一步的，固定杆53通过腿部固定装置54与腿部固定，腿部固定装置54为柔性带，柔性带的外表面设置有魔术贴，柔性带的一端设置有连接扣41，柔性带的另一端穿设于连接扣41并与魔术贴连接。
具体地，通过柔性带的另一端穿设连接扣41的长短能够调整容纳腿部的容腔大小，以在最大程度上适应更多腿型，进而提升外骨骼增强辅助系统1的腿部固定装置54的适用性；通过魔术贴的结构使得外骨骼增强辅助系统1的腿部固定装置54绑在人体腿部的固定结构更加简化，更加轻量化。
需要说明的是，柔性带内设置有防滑层，防滑层包括多个并排设置的硅胶垫，且相邻硅胶垫之间形成有间隙，便于硅胶垫向外变形。
本申请的外骨骼增强辅助系统1使用时，主控结构11安装于连接带30上，驱动机构21安装于连接带30的端部，腿部连接件50连接驱动机构21并用于与人体大腿穿戴固定。下肢助力装置在进行操作者的行走助力时，可将微小刚性腰部环架固定于操作者的腰部，将两个腿部连接件50分别固定于操作者的两个大腿上，通过主控结构11控制驱动机构21动作，进而通过微小刚性腰部环架的腰部支撑带动操作者的腿部运动，形成运动助力的作用。
综上，本申请的外骨骼增强辅助系统中的连接带30包括多个微小刚体31，可以根据需求调整微小刚体31的个数以适应不同体型的使用者，微小刚体31能够向靠近或远离腰部的方向弯曲，能够保证连接带30与使用者腰部的贴合效果，提高舒适性，同时微小刚体31能够承受使用者腿部传导的力，通过使用者的腰背部提供支撑效果，保证了腿部力矩传导所需的刚度。外骨骼增强辅助系统能同时满足适用不同体型的人、舒适性好及承力性好等条件。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换或改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种外骨骼增强辅助系统，其特征在于：包括：
    腰部支持环架，所述腰部支撑环架包括连接带和驱动机构，所述驱动机构与所述连接带连接，所述连接带围合形成用于环绕使用者的腰部的空间，所述连接带包括多个相互转动连接的微小刚体，所述微小刚体能够向靠近或远离所述腰部的方向弯曲；
    主控结构，所述主控结构与所述微小刚体连接，所述主控结构内设置有控制板，所述控制板与所述驱动机构通讯连接；
    腿部连接件，所述腿部连接件包括与所述驱动机构传动连接的固定杆，所述固定杆用于固定于所述使用者的腿部，所述微小刚体能够承受所述腿部传导的力。
  2. 如权利要求1所述的外骨骼增强辅助系统，其特征在于：所述外骨骼增强辅助系统还包括腰部连接件，所述腰部连接件包括贴合部和第三连接部，所述贴合部与所述微小刚体连接，所述贴合部设置于所述空间内，所述第三连接部与所述贴合部固定连接用于调整所述空间的大小。
  3. 如权利要求1所述的外骨骼增强辅助系统，其特征在于：所述主控结构靠近所述使用者背部与所述微小刚体连接，所述腰部支撑环架还包括背部支撑部，所述背部支撑部转动连接于所述主控结构上。
  4. 如权利要求1所述的外骨骼增强辅助系统，其特征在于：所述腰部支撑环架还包括充气内衬，所述充气内衬内设置有充气腔，所述充气内衬固定于所述微小刚体上，且所述充气内衬位于所述空间内。
  5. 如权利要求1所述的外骨骼增强辅助系统，其特征在于：所述腿部连接件还包括与所述固定杆连接的转动杆，所述转动杆与所述驱动机构传动连接，所述驱动机构带动所述转动杆和所述固定杆转动，从而带动所述腿部移动。
  6. 如权利要求5所述的外骨骼增强辅助系统，其特征在于：所述转动杆包括第四连接部和弯折部，所述第四连接部与所述驱动机构传动连接，所述弯折部与所述固定杆连接，所述弯折部向远离腿部的方向弯折设置于所述第四连接部上，以使所述使用者的腿部进行运动时避免所述腿部与所述弯折部的端部相抵顶。
  7. 如权利要求5所述的外骨骼增强辅助系统，其特征在于：所述腿部连接件还包括传动杆，所述转动杆与所述固定杆通过所述传动杆连接，所述传动杆包括至少一个所述微小刚体，所述微小刚体与所述转动杆和所述固定杆连接。
  8. 如权利要求5所述的外骨骼增强辅助系统，其特征在于：所述固定杆通过腿部固定装置与所述腿部固定，所述固定杆上设置有第一转动本体，所述腿部固定装置上设置有第二转动本体，所述第一转动本体与所述第二转动本体相对转动，从而调节所述固定杆与所述腿部固定装置之间的长度。
  9. 如权利要求5所述的外骨骼增强辅助系统，其特征在于：所述固定杆通过腿部固定装置与所述腿部固定，所述固定杆上设置有第一连接件，所述腿部固定装置上设置有第二连接件，所述第一连接件与所述第二连接件可拆卸连接。
  10. 如权利要求1所述的外骨骼增强辅助系统，其特征在于：所述固定杆通过腿部固定装置与所述腿部固定，所述腿部固定装置为柔性带，所述柔性带的外表面设置有魔术贴，所述柔性带的一端设置有连接扣，所述柔性带的另一端穿设于所述连接扣并与所述魔术贴连接。
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