CN103735386B - Wearable lower limb exoskeleton rehabilitation robot - Google Patents
Wearable lower limb exoskeleton rehabilitation robot Download PDFInfo
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- CN103735386B CN103735386B CN201310572075.2A CN201310572075A CN103735386B CN 103735386 B CN103735386 B CN 103735386B CN 201310572075 A CN201310572075 A CN 201310572075A CN 103735386 B CN103735386 B CN 103735386B
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Abstract
The invention discloses a kind of exoskeleton robot structural design, the waist structure parts mainly having comprised supplemental support effect, the thigh parts having the hip joint components of driving force, adjustable length, have the lower leg component of the knee components of driving force, adjustable length, lockable ankle joint structure parts.Described hip knee joint driving joint parts, mainly comprise articular branches support member, decelerator, motor, bearing, output shaft, coding disk.The described waist structure parts playing supplemental support effect, mainly comprise electric cabinet bracket, adjustable-width waist connecting rod, automatically regulate the construction package of hip abduction/adduction.The Retractive leg parts of described adjustable length, mainly comprise interior bar, outer bar, bandage fixture, nut, attachment screw.Described lockable ankle joint structure parts, mainly comprise lockable end cap, ankle support part, bearing, connecting rod, support sole.
Description
One. technical field
The present invention relates to medical instruments field, be specifically related to a kind of Wearable lower limb exoskeleton rehabilitation robot
Two. background technology
The present invention to recover, to promote chronic joint disease patient, the locomotor activity of Patients of Spinal and brain injury patients is target.At present in lower limb disorder patient, major part is caused by joint disease, and all the other cause primarily of spinal cord injury and brain injury.
For the lower limb disorder patient of the overwhelming majority, there is no effective clinical rehabilitation scheme at present.Although also there are relevant clinical rehabilitation means to propose, but do not have at present and well equipment and scheme can realize these requirements, urgent need will utilize new technique, new method and advanced means, studies, realizes a kind ofly helping these patient safeties, in time, rationally quantitatively, effectively, can carrying out the intelligent rehabilitation exercise equipment of repetition training.Therefore, the Wearable lower limb exoskeleton rehabilitation robot of the present invention emerging intelligent rehabilitation exercise equipment that can effectively solve the problem just.
Current healing robot mainly contains two kinds: auxiliary type healing robot and recovery exercising robot.Complementary healing robot mainly helps the inconvenient patient of limb motion to complete various action, this series products organic device people wheelchair, bionic nurse, robot artificial limb, robotic exoskeleton etc.The major function of recovery exercising robot helps patient to complete resuming training of various motor function; Divide by type of drive, exoskeleton robot is generally divided into hydraulic-driven, air pressure drive and electrically drive.These three kinds of type of drive respectively have pluses and minuses.
Three. summary of the invention
Wearable lower limb exoskeleton rehabilitation robot of the present invention adopts electric type of drive, and namely adopt brshless DC motor in conjunction with the direct-coupled type of drive of decelerator and joint, structure is simple, and weight is less, is easy to operation.
A kind of Wearable lower limb exoskeleton rehabilitation robot, comprise connect successively the waist structure parts playing supplemental support effect, have the thigh parts of the hip joint components of driving force, adjustable length, have the lower leg component of the knee components of driving force, adjustable length, lockable ankle joint structure parts.It is characterized in that: described waist structure parts and the hip joint components having driving force, transmit the thigh parts of body weight to described adjustable length, described thigh parts are connected with the described knee components of driving force that has, transmit the lower leg component of gravity to described adjustable length, finally be delivered to described ankle joint parts, with earth surface, realize the effect of auxiliary walking.
The described waist structure parts playing supplemental support effect, comprise electric cabinet bracket, adjustable-width waist connecting rod, automatically regulate the construction package of hip abduction/adduction.
The construction package of described automatic adjustment hip abduction/adduction, comprises revolute pair, scalable waist bar, piston rod, spring, piston/cylinder, piston cap.It is characterized in that described the second support member of the hip joint of driving force that has is connected with scalable waist bar by revolute pair.Have described in described piston rod is fixed on the second support member of the hip joint of driving force, and insert described piston/cylinder, described piston/cylinder loads spring, forms the abduction/adduction passive freedom degree of hip joint.
Described hip driving joint parts, mainly comprise hip joint protection enclosing cover, hip joint first support member, motor support enclosing cover, motor, decelerator, decelerator support enclosing cover, bearings plate, bearing, output shaft, coding disk, hip joint second support member.Described motor is fixed in hip joint first support member and motor support enclosing cover, and is connected with decelerator; The deceleration end of decelerator is connected with output shaft and loads decelerator and supports enclosing cover; Bearing loads bearings plate, decelerator supports between enclosing cover and output shaft, so that output shaft exports rotate acting; Output shaft is connected with hip joint second support member; Coding disk is connected to outside hip joint second support member, detects joint position information; The complete hip joint components finally formed.
The thigh parts of described adjustable length, comprise interior bar, outer bar, bandage fixture, connecting bolt.
The described knee components having driving force, comprises knee joint protection enclosing cover, motor first supports enclosing cover, motor second supports enclosing cover, motor, decelerator, decelerator support enclosing cover, knee joint first support member, bearing, output shaft, coding disk, knee joint second support member.It is characterized in that, described motor is fixed on motor first and supports enclosing cover and motor second supports in enclosing cover, and is connected with decelerator; The deceleration end of decelerator is connected with output shaft and loads decelerator and supports enclosing cover; Bearing loads knee joint first support member, decelerator supports between enclosing cover and output shaft, so that output shaft exports rotate acting; Output shaft is connected with knee joint second support member; Coding disk is connected to outside knee joint second support member, detects joint position information; The complete knee components finally formed.
The lower leg component of described adjustable length, comprises interior bar, outer bar, bandage fixture, connecting bolt.
Described lockable ankle joint structure parts, comprise exoskeleton robot foot, ankle support part, revolute, lockable end cap.It is characterized in that, described lockable end cap can be tightened with screw by the needs according to assisting patients's walking and rehabilitation, and ankle joint is namely locked.
For realizing position-force control, rotary encoder is installed as position sensor in one end of described hip joint and knee axis.
The present invention has the following advantages and particularity effect: described brshless DC motor is in conjunction with the direct-coupled type of drive of decelerator and joint, make quality and the small volume of servo drive system, structure is simple, output torque is large, start braking relatively easy, be swift in response sensitive, dynamic response capability is good.Designed the waist connecting rod of adjustable width, the thigh assembly of adjustable length and shank component, make exoskeleton robot adapt to the wearing of different crowd, regulate height and the width of robot, wearing comfort according to the fat or thin different people of height.Designed hip joint and knee components limited location function, ensure walking safety.Described ankle joint has lockable function, can unblank or locked according to assisting patients's walking and the needs of rehabilitation to ankle joint, improves Rehabilitation training effect.
Four. accompanying drawing explanation
Fig. 1 is the structural representation of Wearable lower limb exoskeleton rehabilitation robot of the present invention;
Fig. 2 is the waist structure member segmentation structural representation playing supplemental support effect in the present invention;
Fig. 3 is the described exploded view playing the waist structure parts of supplemental support effect.
Fig. 4 is the hip joint components structural profile schematic diagram having driving force in the present invention;
Fig. 5 is the described hip joint components structure overall schematic having driving force;
Fig. 6 is the thigh parts STRUCTURE DECOMPOSITION schematic diagram of adjustable length in the present invention;
Fig. 7 is the knee components structural profile schematic diagram having driving force in the present invention;
Fig. 8 is the described knee components structure overall schematic having driving force;
Fig. 9 is the lower leg component STRUCTURE DECOMPOSITION schematic diagram of adjustable length in the present invention;
Figure 10 is ankle joint structure modular construction decomposing schematic representation lockable in the present invention;
Five. detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as a limitation of the invention.
See Fig. 1, a kind of Wearable lower limb exoskeleton rehabilitation robot, the thigh parts 3 of the waist structure parts 1 mainly having comprised supplemental support effect, the hip joint components 2 having driving force, adjustable length, has the lower leg component 5 of the knee components 4 of driving force, adjustable length, lockable ankle joint structure parts 6.
See Fig. 2, Fig. 3, the waist structure parts 1 playing supplemental support effect comprise electric cabinet bracket 1.1, automatically regulate the waist connecting rod 1.3 of the construction package 1.2 of hip abduction/adduction, adjustable-width.Electric cabinet bracket 1.1 comprises electric cabinet 1.11 and supporting back board 1.12; The construction package 1.2 of automatic adjustment hip abduction/adduction comprises piston cap 1.21, spring 1.22, piston/cylinder 1.23, piston rod 1.24, waist first support member 1.25; The waist connecting rod 1.3 of adjustable-width comprises outer bar 1.31, supports floor 1.32, interior bar 1.33; Assembled relation between each element is described in detail in detail below.
Electric cabinet 1.11 is fixed in supporting back board 1.12, and connects outer bar 1.31; Interior bar 1.33 inserts outer bar 1.31, by its length of screw scalable, supports floor 1.32 and is fixed on outer bar 1.31, and be connected with supporting back board 1.12; Spring 1.22 loads piston/cylinder 1.23, and piston cap 1.21 is fixed on piston/cylinder 1.23, and piston rod 1.24 inserts piston/cylinder 1.23 and is connected with waist first support member 1.25, forms the abduction/adduction passive freedom degree of hip joint.Supporting back board 1.12 connects knapsack, and ties up at people's shoulder and waist, and carrying human body weight is passed on the hip joint components 2 of driving force by the waist connecting rod 1.3 of adjustable-width.
See Fig. 4, Fig. 5; the described hip joint components 2 having driving force, mainly comprises hip joint protection enclosing cover 2.1, hip joint first support member 2.2, support enclosing cover 2.3, motor 2.4, decelerator 2.5, decelerator support enclosing cover 2.6, bearings plate 2.7, bearing 2.8, output shaft 2.9, coding disk 2.10, hip joint second support member 2.11.Assembled relation between each element is described in detail in detail below.
Motor 2.4 is fixed on hip joint first support member 2.2 and supports in enclosing cover 2.3; Motor 2.4 is connected with decelerator 2.5; The deceleration end of decelerator 2.5 is connected with output shaft 2.9 and loads decelerator and supports enclosing cover 2.6; Bearing 2.8 loads bearings plate 2.7, decelerator supports between enclosing cover 2.6 and output shaft 2.9, so that output shaft 2.9 exports rotate acting; Output shaft 2.9 is connected with hip joint second support member 2.11; Coding disk 2.10 is connected to outside hip joint second support member 2.11, detects joint position information; The complete hip joint components finally formed, is connected waist first support member 1.25 of hip joint first support member 2.2 with the waist structure parts 1 playing supplemental support effect simultaneously; Hip joint second support member 2.11 is connected with the outer bar 3.3 of thigh parts 3.
The advantage of the hip joint components 2 of driving force that has of the present embodiment is that motor 2.4 is connected with decelerator 2.5, driver output axle 2.9, make motor 2.4 can slow down more than 100 times, substantially increase Driving Torque, motor and decelerator are on a central shaft simultaneously, reduce the width of cooperation, robot driving joint volume is reduced greatly.
Be appreciated that hip joint components 2 can be applied on the joint drive of the exoskeleton robot of various ways, the performance of its function can not be affected.
See Fig. 6, the thigh parts 3 of described adjustable length, comprise attaching nut 3.1, interior bar 3.2, outer bar 3.3, thigh bandage fixture 3.4, attachment screw 3.5.It is characterized in that interior bar 3.2 inserts in outer bar 3.3, with attaching nut and attachment screw 3.5, fixture is fixed on outer bar 3.3.The outer bar 3.3 of thigh parts 3 of the adjustable length of assembling is connected with the second support member 2.12 of hip joint components 2.
The advantage of the thigh parts 3 of described adjustable length is that these parts form by dismountable interior bar, outer bar and screw, and disassembly and assembly are convenient, can regulate arbitrarily the length of thigh parts, make exoskeleton robot can adapt to various wearing crowd.
See Fig. 7, Fig. 8; the described knee components 4 having driving force, mainly comprises knee joint protection enclosing cover 4.1, motor first supports enclosing cover 4.2, motor second supports enclosing cover 4.3, motor 4.4, decelerator 4.5, decelerator support enclosing cover 4.6, knee joint first support member 4.7, bearing 4.8, output shaft 4.9, coding disk 4.10, knee joint second support member 4.11.Assembled relation between each element is described in detail in detail below.
Motor 4.4 is fixed on motor first and supports enclosing cover 4.2 and motor second supports in enclosing cover 4.3; Motor 4.4 is connected with decelerator 4.5; The deceleration end of decelerator 4.5 is connected with output shaft 4.9 and loads decelerator and supports enclosing cover 4.6; Bearing 4.8 loads knee joint first support member 4.7, decelerator supports between enclosing cover 4.6 and output shaft 4.9, so that output shaft 4.9 exports rotate acting; Output shaft 4.9 is connected with knee joint second support member 4.11; Coding disk 4.10 is connected to outside knee joint second support member 4.11, detects joint position information; The complete knee components finally formed, is connected knee joint first support member 4.7 with bar 3.2 in thigh parts 3 simultaneously.
See Fig. 9, the lower leg component 5 of described adjustable length and thigh parts 3 similar of adjustable length, comprise attaching nut 5.1, interior bar 5.2, outer bar 5.3, shank bandage fixture 5.4, attachment screw 5.5.It is characterized in that interior bar 5.2 inserts in outer bar 5.3, with attaching nut and attachment screw 5.5, fixture is fixed on outer bar 5.3.The outer bar 5.3 of thigh parts 5 of the adjustable length of assembling is connected with the second support member 4.12 of knee components 4.
See Figure 10, described lockable ankle joint structure parts 6, comprise lockable end cap 6.1, ankle support part 6.2, bearing 6.3, connecting rod 6.4, support sole 6.5.It is characterized in that, connecting rod 6.4 loads bearing 6.3 and is connected with support sole 6.5, assembly is loaded ankle support part 6.2, described lockable end cap 6.1 can be tightened on ankle support part 6.2 and connecting rod 6.4 with screw according to the needs of assisting patients's walking and rehabilitation, ankle joint is namely locked, ankle support part 6.2 is fixed together with the interior bar 5.2 of the lower leg component 5 of adjustable length simultaneously, plays the effect of support.
The advantage of the Wearable lower limb exoskeleton rehabilitation robot of the present embodiment is: the waist structure parts 1 1) playing supplemental support effect can pass through knapsack back plate support human body weight, waist structure simultaneously comprises the Degree of Structure Freedom automatically regulating hip abduction/adduction, abduction or adduction can be swung according to producing when human body lower limbs or walking when manned walking, people is not walked and produce restriction, safe and reliable; 2) driving mechanism of hip joint components 2, knee components 4 all have employed motor by decelerator Direct driver articulation, hip joint components 2 and knee components 4 all add the absolute angular position that coding disk measures joint simultaneously, formed Close loop servo control, control easy, accuracy is high; 3) dismountable compound mode such as bar, outer bar, screw in adopting between all parts forming leg mechanism, installs, convenient disassembly, is easy to carry; 4) ankle joint described in has lockable function, can unblank or locked according to assisting patients's walking and the needs of rehabilitation to ankle joint, improves Rehabilitation training effect.
This above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (3)
1. a Wearable lower limb exoskeleton rehabilitation robot, it is characterized in that, comprised supplemental support effect and there are the passive waist structure parts realizing outreach adduction function, there is the hip joint components of driving force, the thigh parts of adjustable length, there is the knee components of driving force, the lower leg component of adjustable length, lockable ankle joint structure parts, wherein, the described hip joint components having driving force, mainly comprise hip joint protection enclosing cover, hip joint first support member, motor support enclosing cover, motor, decelerator, decelerator supports enclosing cover, bearings plate, bearing, output shaft, coding disk, hip joint second support member, described in have the knee components of driving force, mainly comprise knee joint protection enclosing cover, motor first support enclosing cover, motor second supports enclosing cover, motor, decelerator, decelerator support enclosing cover, knee joint first support member, bearing, output shaft, coding disk, knee joint second support member, the described waist structure parts playing supplemental support effect, comprise electric cabinet bracket, adjustable-width waist connecting rod, automatically regulate the construction package of hip abduction/adduction, the construction package of described automatic adjustment hip abduction/adduction, comprises revolute pair, scalable waist bar, piston rod, spring, piston/cylinder, piston cap, introduces spring, forms hip abduction/adduction passive freedom degree, described lockable ankle joint structure parts, comprise lockable end cap, ankle support part, bearing, connecting rod, support sole, can unblank or locked according to assisting patients's walking and the needs of rehabilitation to ankle joint.
2. Wearable lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that: described hip joint and knee components, motor is by described decelerator deceleration hip joint and knee joint, and connect thigh, shank link by described hip joint, knee brace part, described encoder measures hip joint and the change of kneed angle pose, described hip joint support is connected with the described waist structure parts playing supplemental support effect, grantee's body weight.
3. Wearable lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that: the Retractive leg parts of described adjustable length, comprise interior bar, outer bar, bandage fixture, nut, attachment screw, structure is simple, easy to operate, can the length of free adjustment thick link and shank link.
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| CN201310572075.2A CN103735386B (en) | 2013-11-15 | 2013-11-15 | Wearable lower limb exoskeleton rehabilitation robot |
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Denomination of invention: Wearable lower limb exoskeleton rehabilitation robot Effective date of registration: 20220325 Granted publication date: 20151118 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: BEIJING AI-ROBOTICS TECHNOLOGY Co.,Ltd. Registration number: Y2022990000174 |