CN107411939B - A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities - Google Patents
A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities Download PDFInfo
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- CN107411939B CN107411939B CN201710607664.8A CN201710607664A CN107411939B CN 107411939 B CN107411939 B CN 107411939B CN 201710607664 A CN201710607664 A CN 201710607664A CN 107411939 B CN107411939 B CN 107411939B
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- 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
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- 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
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Abstract
The invention discloses a kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities, the power-assisted healing robot has three kinds of Passive Mode, aggressive mode and impedance mode steer modes；The power-assisted healing robot includes belt part, thigh lantern ring, shank lantern ring, sole component, thigh parts, lower leg component, knee joint electric machine, ankle-joint electric machine, handle component, handle and connecting rod, Motor with handle device, the first leg link and the second leg link；Core is the multi-connecting-rod mechanism collectively formed by handle component, thigh parts, lower leg component, belt part, sole component, the first leg link and the second leg link in linkage component and fixation member.Low manufacture cost of the present invention, it is light and can be used for taking exercise, it is suitable for more crowds；There are preferable stability and safety in configuration aspects, is equipped with limiting device, unexpected generation can be effectively prevent.
Description
Technical field
The invention belongs to field of medical device, are related to a kind of lower limb rehabilitation articles, especially a kind of single lower limb disabled person
The dedicated power-assisted healing robot of scholar.
Background technique
The external main purpose for initially carrying out ectoskeleton research is to enhance capacity for individual action and weight bearing ability of soldier etc.,
To mitigate the feeling of fatigue etc. of soldier.Gradually there is certain development in fields such as walk help power-assisted, medical assistances later.It is wearable
Lower limb power-assisting robot be it is a kind of merged the multi-disciplinary complication system such as Machine Design, sensing technology and control technology, it
It not only can protect human body, support body, certain task, such as the motion function etc. of enhancing human body can also be completed.With wheel
For chair as just walking-replacing tool difference, power-assisting robot can be used for assisting the trouble with cardiovascular and cerebrovascular disease or the nervous system disease
Person carries out rehabilitation training, them is helped to regain walking ability.It can be used in medical institutions even family, can make patient
The ability lived on one's own life is obtained as early as possible.Wearable power-assisting robot is one kind of assistance exoskeleton, it can make one and ectoskeleton
It cooperates, the coordinated control of the intelligence of human body and machine is combined, the intelligence control of people is added to the power-assisted of ectoskeleton
It in control, is combined by the Power assisted control to ectoskeleton with the consciousness of people, so that it may complete human body itself and be difficult completion or nothing
The movement that method is completed.
Rarely have now for the dedicated wearable lower limb power-assisting robot of single lower limb individuals with disabilities.Simultaneously as can
The mechanical structure of wearable lower limb power-assisting robot has that volume and weight is bigger than normal, this is influenced to a certain extent
The application of wearable lower limb power-assisting robot.Existing wearable lower limb power-assisting robot is often merely using being driven by electricity or liquid
Pressure driving, mode is single, is unable to satisfy the needs of different disabled degree crowds.Therefore, it needs to develop disabled for single lower limb
Personage exclusively with wearable lower limb power-assisting robot.
Summary of the invention
The present invention for above-mentioned power-assisting robot correcting function and security performance and single lower limb disabled person it is urgent
The urgent problems such as demand, it is desirable to provide one kind can pass through the lower limb power-assisted healing robot of various control mode.For
Driving method, which is used, amounts to 3 kinds of driving methods including Passive Mode, aggressive mode and impedance mode, devises one kind
The dedicated power-assisted healing robot of single lower limb individuals with disabilities.
The technical solution adopted by the invention is as follows:
A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities, the power-assisted healing robot have by dynamic model
Three kinds of formula, aggressive mode and impedance mode steer modes；The power-assisted healing robot is made of fixation member and linkage component；
The fixation member includes belt part 1, thigh lantern ring 4, shank lantern ring 7 and sole component 9, and the linkage component includes thigh
Component 3, lower leg component 6, knee joint electric machine 5, ankle-joint electric machine 8, handle component 2, handle and connecting rod 13, Motor with handle
Device 14, the first leg link 11 and the second leg link 12；Core is by the handle in linkage component and fixation member
Component 2, thigh parts 3, lower leg component 6, belt part 1, sole component 9, the first leg link 11 and the second leg link 12
The multi-connecting-rod mechanism collectively formed；
The belt part 1 is hinged hinged in first with one end of handle component 2 and the upper end three of thigh parts 3
Point；The lower end of the thigh parts 3 and the upper end of lower leg component 6 are hinged in the second hinge joint；The lower end of the lower leg component 6
It is hinged with the sole component 9 in third hinge joint；The other end of the handle component 2 and one end of handle and connecting rod 13 are cut with scissors
It connects, the other end of the handle and connecting rod 13 and the second leg link 12 are hinged, and first leg link 11 is nested in the second leg
The bottom of portion's connecting rod 12 constitutes prismatic pair；A slideway is equipped on the inside of the thigh parts 3, second leg link 12 is equipped with
Slideway on one sliding block, with thigh parts 3 constitutes prismatic pair, and the sliding block is articulated with the second leg link 12；First leg
Portion's connecting rod 11, lower leg component 6 and sole component 9 are articulated with third hinge joint；The thigh parts 3 and lower leg component 6 divide above
Not She You thigh lantern ring 4 and shank lantern ring 7 be used to human body lower limbs being fixed on robot thigh parts 3 and lower leg component 6,
The inside of lantern ring is equipped with elastic bands, to provide restraining force.
Further, the position of sliding block hinged in second leg link 12 can be adjusted according to actual needs
To meet the needs of different user.Further, Motor with handle device 14, the handle are provided at first hinge joint
Stator of the electric machine 14 including handle disc type electric machine 14A and handle harmonic speed reducer 14B, the handle disc type electric machine 14A is solid
It is scheduled on handle component 2, rotor is fixed in thigh parts 3, is turned for providing thigh parts 3 and the opposite of handle component 2
It is dynamic；Knee joint electric machine 5 is provided at second hinge joint, the knee joint electric machine 5 includes knee joint disc type
Motor 5A and knee joint harmonic speed reducer 5B, the stator of the knee joint disc type electric machine 5A are fixed in thigh parts 3, rotor
It is fixed on lower leg component 6, for providing the relative rotation of lower leg component 6 Yu thigh parts 3；It is set at the third hinge joint
It is equipped with ankle-joint electric machine 8, the ankle-joint electric machine 8 includes ankle-joint disc type electric machine 8A and ankle-joint harmonic speed reducer
The stator of 8B, the ankle-joint disc type electric machine 8A are fixed in the first leg link 11, and rotor is fixed on lower leg component 6,
For providing the relative rotation of lower leg component 6 and the first leg link 11.
Further, the belt part 1 is connected by waistband fixing piece 1A, the waistband supporting element 1C and waistband for having slideway
Connecting bolt 1B composition；The fixed waistband for being respectively provided with the hole that a row is used to adjust installation site of bolt 1B is connected by waistband to fix
Part 1A and waistband supporting element 1C, and can be adjusted by changing relative position with holes, it is worn with meeting different building shape crowd
It wears；The waistband fixing piece 1A is leathercraft, is connected in a manner of belt fastener.
Further, the handle component 2 includes handle rod piece 2A and handle sensor 2B, and wherein handle sensor 2B pacifies
It sets on the handle of 2 downside of handle component.
Further, the thigh parts 3 are by rod piece 3C is constituted outside rod piece 3A, connection bolt 3B and thigh in thigh, institute
State two be equipped with above the outer rod piece 3C of rod piece 3A and thigh in thigh for adjusting outer rod piece relative to interior rod piece installation site
Round, the inside and outside rod piece of thigh are fixed by connecting bolt 3B, to be suitable for different height users；The lower leg component 6 by
Rod piece 6A, connection bolt 6B and the outer rod piece 6C of shank are constituted in shank, in the shank above the rod piece 6A and outer rod piece 6C of shank
Two rounds for adjusting outer rod piece relative to interior rod piece installation site are equipped with, the inside and outside rod piece of shank passes through connection bolt
6B is fixed, to be suitable for different height users；To prevent the power-assisted healing robot from damaging human body due to overexercise
Spacer pin, the outer rod piece 3C of the thigh and the first leg are equipped in joint, the outer rod piece 6C of the shank and shank above rod piece 6A
Connecting rod 11 is equipped with limit sleeve.
Further, the sole component 9 has torsional spring by rear sole 9A, the forefoot plate 9B and one for being equipped with lantern ring
Shaft composition, connects forward and backward sole 9B, 9A by shaft；Through rod piece 6C outside two springs 10 connection shank of front and back with after
Sole 9A, sole component 9 is unlikely sagging when guaranteeing foot-up, and the substantially vertical lower leg component 6 in position is to guarantee walking process
In correct gait, while playing certain buffer function when walking, the setting of torsional spring and spring 10 guarantees that human body is corresponding and closes
The comfort of section, and have certain protective effect to foot and ankle-joint.
The invention has the following advantages over the prior art:
1, there are three types of operational modes for present invention tool: Passive Mode, aggressive mode and impedance mode, is suitable for different disabled journeys
The single lower limb individuals with disabilities of degree uses, or even can be used for amputation user；Three kinds of operational modes of the invention can be not only used for
Assisted walk can be also used for resuming training, and compared with the prior art function is more perfect.Simultaneously the prior art be mostly directed to both legs into
Row design, and the single lower limb individuals with disabilities that the present invention is suitable for different disabled degrees uses, or even can be used for amputation user and make
With；
2, low manufacture cost of the present invention, it is light and can be used for taking exercise, it is applied widely；The present invention is applicable not only under unilateral side
Limb individuals with disabilities, it may also be used for bilateral lower limb disability personage, for relatively other robots, the mechanical part needed is few, installation
Difficulty also reduces, this makes low manufacture cost of the invention, light portable；
3, the present invention has preferable stability and safety in configuration aspects, is equipped with limiting device, can effectively prevent accident
Occur.Structure of the invention is reliable and secure；In the prior art on the one hand in the structure design of leg mostly using open loop machine
Structure, no leg link guarantee the safety of mechanism, and another aspect mechanism lacks reliable safeguard measure to protect lower limb.This
Invention causes to damage when being provided with many places limiting device in structure to prevent mechanism malfunction to lower limb.
Detailed description of the invention
Fig. 1 is the isometric side view of lower limb power-assisted healing robot；
Fig. 2 is the waistband apparatus of lower limb power-assisted healing robot；
Fig. 3 is the left view of lower limb power-assisted healing robot；
Fig. 4 is the hip joint part of lower limb power-assisted healing robot；
Fig. 5 is the knee joint part of lower limb power-assisted healing robot；
Fig. 6 is the ankle portion of lower limb power-assisted healing robot；
Fig. 7 is the thigh parts of lower limb power-assisted healing robot；
Fig. 8 is the lower leg component of lower limb power-assisted healing robot.
Wherein:
1-belt part；1A-waistband fixing piece；1B-waistband connects bolt；1C-waistband supporting element；2-handle portions
Part；2A-handle rod piece；2B-handle sensor；3-thigh parts；Rod piece in 3A-thigh；3B-connection bolt；3C—
The outer rod piece of thigh；4-thigh lantern rings；5-knee joint electric machines；5A-knee joint disc type electric machine；5B-knee joint harmonic wave subtracts
Fast device；6-lower leg components；Rod piece in 6A-shank；6B-connection bolt；The outer rod piece of 6C-shank；7-shank lantern rings；8-ankles
Joint motor device；8A-ankle-joint disc type electric machine；8B-ankle-joint harmonic speed reducer；9-sole components；The rear sole of 9A-；
9B-forefoot plate；10-springs；11-the first leg link；12-the second leg link；13-handle and connecting rods；14-handles
Electric machine；14A-handle disc type electric machine；14B-handle harmonic speed reducer.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
As shown in figures 1 and 3, the power-assisted healing robot is with Passive Mode, aggressive mode and three kinds of impedance mode
Steer mode；The power-assisted healing robot is made of fixation member and linkage component；The fixation member includes belt part
1, thigh lantern ring 4, shank lantern ring 7 and sole component 9, the linkage component include thigh parts 3, lower leg component 6, knee joint electricity
Machine device 5, ankle-joint electric machine 8, handle component 2, handle and connecting rod 13, Motor with handle device 14,11 and of the first leg link
Second leg link 12；Core is by the handle component 2 in linkage component and fixation member, thigh parts 3, lower leg component
6, the multi-connecting-rod mechanism that belt part 1, sole component 9, the first leg link 11 and the second leg link 12 collectively form；
The belt part 1 is hinged hinged in first with one end of handle component 2 and the upper end three of thigh parts 3
Point；Motor with handle device 14 is provided at first hinge joint, the Motor with handle device 14 includes handle disc type electric machine
14A and handle harmonic speed reducer 14B, the stator of the handle disc type electric machine 14A are fixed on handle component 2, and rotor is fixed
In thigh parts 3, for providing the relative rotation of thigh parts 3 Yu handle component 2；The lower end of the thigh parts 3 with it is small
The upper end of pin components 6 is hinged in the second hinge joint；Knee joint electric machine 5 is provided at second hinge joint, it is described
Knee joint electric machine 5 includes knee joint disc type electric machine 5A and knee joint harmonic speed reducer 5B, the knee joint disc type electric machine 5A
Stator be fixed in thigh parts 3, rotor is fixed on lower leg component 6, for providing lower leg component 6 and thigh parts 3
Relative rotation；The lower end of the lower leg component 6 and the sole component 9 are hinged in third hinge joint；It is cut with scissors in the third
Junction is provided with ankle-joint electric machine 8, and the ankle-joint electric machine 8 includes that ankle-joint disc type electric machine 8A and ankle-joint are humorous
Wave retarder 8B, the stator of the ankle-joint disc type electric machine 8A are fixed in the first leg link 11, and rotor is fixed on shank
On component 6, for providing the relative rotation of lower leg component 6 and the first leg link 11；The other end and hand of the handle component 2
One end of handle connecting rod 13 is hinged, and the other end of the handle and connecting rod 13 and the second leg link 12 are hinged, and first leg connects
The bottom that bar 11 is nested in the second leg link 12 constitutes prismatic pair；On the inside of the thigh parts 3 be equipped with a slideway, described second
Leg link 12 is equipped with the slideway on a sliding block, with thigh parts 3 and constitutes prismatic pair, and the sliding block is articulated with the second leg company
Bar 12, first leg link 11, lower leg component 6 and sole component 9 are articulated with third hinge joint；3 He of thigh parts
Lower leg component 6 is respectively equipped with thigh lantern ring 4 above and shank lantern ring 7 is used to human body lower limbs being fixed on robot thigh parts 3
On lower leg component 6, elastic bands are equipped in the inside of lantern ring, to provide restraining force.
The position of hinged sliding block can be adjusted according to actual needs to meet not in second leg link 12
With the needs of user；
As shown in figure 4, the Motor with handle device 14 includes handle disc type electric machine 14A and handle harmonic speed reducer 14B, institute
The stator for stating handle disc type electric machine 14A is fixed on handle component 2, and rotor is fixed in thigh parts 3, for providing thigh
The relative rotation of component 3 and handle component 2；As shown in figure 5, the knee joint electric machine 5 includes knee joint disc type electric machine 5A
It is fixed in thigh parts 3 with the stator of knee joint harmonic speed reducer 5B, the knee joint disc type electric machine 5A, rotor is fixed on
On lower leg component 6, for providing the relative rotation of lower leg component 6 Yu thigh parts 3；As shown in fig. 6, the ankle-joint motor dress
Setting 8 includes that ankle-joint disc type electric machine 8A and ankle-joint harmonic speed reducer 8B, the stator of the ankle-joint disc type electric machine 8A are fixed on
In first leg link 11, rotor is fixed on lower leg component 6, for providing lower leg component 6 and the first leg link 11
It relatively rotates.
As shown in Fig. 2, the belt part 1 is connected by waistband fixing piece 1A, the waistband supporting element 1C and waistband for having slideway
Connecting bolt 1B composition；The fixed waistband for being respectively provided with the hole that a row is used to adjust installation site of bolt 1B is connected by waistband to fix
Part 1A and waistband supporting element 1C, and can be adjusted by changing relative position with holes, it is worn with meeting different building shape crowd
It wears；The waistband fixing piece 1A is leathercraft, is connected in a manner of belt fastener.
As shown in figure 4, the handle component 2 includes handle rod piece 2A and handle sensor 2B, wherein handle sensor 2B
It is placed in above the handle of 2 downside of handle component.
As shown in fig. 7, the thigh parts 3 are made of rod piece 3C outside rod piece 3A in thigh, connection bolt 3B and thigh, institute
State two be equipped with above the outer rod piece 3C of rod piece 3A and thigh in thigh for adjusting outer rod piece relative to interior rod piece installation site
Round, the inside and outside rod piece of thigh are fixed by connecting bolt 3B, to be suitable for different height users；As shown in figure 8, described
Lower leg component 6 is made of rod piece 6C outside rod piece 6A in shank, connection bolt 6B and shank, in the shank outside rod piece 6A and shank
Two rounds for adjusting outer rod piece relative to interior rod piece installation site are equipped with above rod piece 6C, the inside and outside rod piece of shank is logical
It crosses connection bolt 6B to fix, to be suitable for different height users；To prevent the power-assisted healing robot due to overexercise
And human synovial is damaged, spacer pin, the outer rod piece 3C of the thigh are equipped with above rod piece 6A in the outer rod piece 6C of the shank and shank
Limit sleeve is equipped with the first leg link 11.
As shown in fig. 6, the sole component 9 has torsional spring by rear sole 9A, the forefoot plate 9B and one for being equipped with lantern ring
Shaft composition, connects forward and backward sole 9B, 9A by shaft；Through rod piece 6C outside two springs 10 connection shank of front and back with after
Sole 9A, sole component 9 is unlikely sagging when guaranteeing foot-up, and the substantially vertical lower leg component 6 in position is to guarantee walking process
In correct gait, while playing certain buffer function when walking, the setting of torsional spring and spring 10 guarantees that human body is corresponding and closes
The comfort of section, and have certain protective effect to foot and ankle-joint.
The application method that the invention will now be described in detail with reference to the accompanying drawings:
FIG. 1 to FIG. 8 is the structure chart of lower limb rehabilitation power-assisting robot disclosed by the invention.It uses in the direction that the present invention is previously mentioned
Language, such as "upper", "lower", "front", "rear", "left", "right" etc. are only the directions with reference to drawing illustration.Therefore, used side
It is intended merely to illustrate to term, and is not intended to limit the invention.Next, we will carry out in detail the present invention in conjunction with attached drawing
Explanation.
It referring to Fig. 1, Fig. 2 and Fig. 6, is described briefly for its application method, the wearing mode of equipment are as follows: need root in wearing
According to the length of human dimension parameter the adjustment thigh parts 3 and lower leg component 6 of user, and adjusts and fix waistband fixing piece
The relative position of 1A and waistband supporting element 1C；User foot is placed on the sole 9 of robot, after being passed through by elastic bands
The fixed sole of lantern ring on sole 9A；User's shank and thigh are passed through into the elastic bands of shank lantern ring 7 and thigh lantern ring 4 point
It is not fixed on lower leg component 6 and thigh parts 3；Waist is fixed on belt part 1 again, passes through the waistband fixing piece 1A
Two-side elastic bandage is connected and fixed waist.
Referring to FIG. 1 to FIG. 8, there are three types of operational modes for the dedicated power-assisted healing robot tool of single lower limb individuals with disabilities:
Passive Mode, aggressive mode and impedance mode；The Passive Mode, which refers to, controls handle sensor 2B, each motor dress by manpower
It sets and rotation direction and speed is determined according to present present position and control, human body lower limbs is driven to press desired trajectory to front/rear
It takes a step；The aggressive mode refers specifically to that people's lower limb is needed to go to go to drive using certain strength under the desired trajectory set
Entire power-assisted healing robot, each electric machine determine rotation direction and speed according to present present position and the lower limb dynamics of kicking one's legs
Degree, auxiliary human body lower limbs are realized takes a step to act to front/rear；The impedance mode is opposite with aggressive mode, refers to and people's lower limb is needed to go
It goes to drive entire power-assisted healing robot using certain strength, each electric machine is kicked one's legs according to present present position and lower limb
Dynamics determines rotation direction and speed, hinders human body lower limbs to realize and takes a step to act to front/rear.The Three models are instructed for rehabilitation
When practicing, it is not limited only to user's standing walking posture, user also can carry out rehabilitation training with sitting posture.The handle component 2
In right side of body, it can realize that certain power-assisted is provided in the Three models to be acted on by pushing.
Referring to FIG. 1 to FIG. 3, there are two rows of use respectively on the waistband fixing piece 1A and waistband supporting element 1C of the belt part 1
In the hole for adjusting installation site, bolt 1B is connected by waistband, the two links together, it can be with holes opposite by changing
Position is adjusted to adapt to the user of different body sizes, and the waistband fixing piece 1A is leathercraft, with the side of belt fastener
Formula is attached, to adapt to the user of different waistlines.
Referring to Fig. 1, Fig. 3, Fig. 4, Fig. 7 and Fig. 8, there is the thigh set for being fixed on user's leg in the thigh parts 3
Ring 4, there is the shank lantern ring 7 for being fixed on user's leg on the lower leg component 6, the thigh lantern ring 4, shank lantern ring 7
Two sides are equipped with elastic bands and leg and the lower limb rehabilitation power-assisting robot are fixed together to provide restraining force, drive
Human body lower limbs and the lower limb rehabilitation power-assisting robot realize synchronization action.
Referring to Fig. 3, Fig. 4, Fig. 7 and Fig. 8, to use for different users, according to human thigh's dimensional parameters, thigh is adjusted
The relative position in hole, is fixed with connection bolt 3B, thereby determines that 3 length of thigh parts on the interior rod piece 3A and outer rod piece 3C of thigh；
According to human calf's dimensional parameters, the relative position in hole on the rod piece 6A and outer rod piece 6C of shank in shank is adjusted, with connection bolt
6B is fixed, and thereby determines that 6 length of lower leg component；The spacer pin of the outer rod piece 6C of the shank and the limit sleeve of leg link 1 are matched
It closes, the limit sleeve cooperation of rod piece 6A spacer pin and the outer rod piece 3C of thigh make two joint allow angular range activity in shank, protect
Card wearing training of safety；The leg link one 11 and 2 12 constitutes prismatic pair, can free extension in a certain range.
Referring to Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the handle sensor 2B is placed in the handbar of handle component 2, uses
It detects the power and torque of hand, learns that user is intended to, output signal after signal is handled, driving disc type electric machine 5A, 8A,
14A is rotated, and then realizes the mass motion of the lower limb rehabilitation power-assisting robot；Described motor 5A, 8A, 14A and harmonic wave
Retarder is combined, and reduces noise, reduces volume and weight.
Referring to Fig. 1, Fig. 3 and Fig. 6, the sole component 9 being made of the forefoot plate 9B and rear sole 9A adapts to when on foot
The bending of sole guarantees that the posture of human body normal walking is comfortable, the position of sole component 9 when the spring 10 is to guarantee foot-up
Substantially vertical lower leg component 6 plays certain buffer function to guarantee the correct gait in walking process when walking, right
Effect is effectively protected in foot.
The above, the only present invention are directed to right side lower limb disability personage's preferred embodiment, symmetrical structure
It is the design for the dedicated power-assisted healing robot of left side lower limb disability personage, protection scope of the present invention is not merely limited to
It is similarly within the technical scope of the present invention for anyone skilled in the art, according to the present invention in this
Technical solution and its inventive concept are subject to equivalent replacement or polishing, should all be included within the scope of the present invention.
Claims (8)
1. a kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities, it is characterised in that: the power-assisted healing robot tool
There are three kinds of Passive Mode, aggressive mode and impedance mode steer modes；The power-assisted healing robot is by fixation member and connecting rod
Component composition；The fixation member includes belt part (1), thigh lantern ring (4), shank lantern ring (7) and sole component (9), institute
Stating linkage component includes thigh parts (3), lower leg component (6), knee joint electric machine (5), ankle-joint electric machine (8), hand
Shank part (2), handle and connecting rod (13), Motor with handle device (14), the first leg link (11) and the second leg link (12)；Core
Center portion point is by handle component (2), thigh parts (3), the lower leg component (6), belt part in linkage component and fixation member
(1), the multi-connecting-rod mechanism that sole component (9), the first leg link (11) and the second leg link (12) collectively form；
The upper end three of one end and thigh parts (3) of the belt part (1) and handle component (2) is hinged in the first hinge
Contact；The lower end of the thigh parts (3) and the upper end of lower leg component (6) are hinged in the second hinge joint；The lower leg component
(6) lower end and the sole component (9) is hinged in third hinge joint；The other end and handle of the handle component (2) connect
One end of bar (13) is hinged, the other end and the second leg link (12) of the handle and connecting rod (13) hingedly, first leg
The bottom that connecting rod (11) is nested in the second leg link (12) constitutes prismatic pair；A slideway is equipped on the inside of the thigh parts (3),
Second leg link (12) is equipped with the slideway on a sliding block, with thigh parts (3) and constitutes prismatic pair, and the sliding block is hinged
In the second leg link (12)；First leg link (11), lower leg component (6) and sole component (9) are articulated with third hinge
Contact；The thigh parts (3) and lower leg component (6) are respectively equipped with thigh lantern ring (4) above and shank lantern ring (7) is used for people
Body lower limb are fixed in robot thigh parts (3) and lower leg component (6), elastic bands are equipped in the inside of lantern ring, to mention
For restraining force.
2. the dedicated power-assisted healing robot of a kind of single lower limb individuals with disabilities according to claim 1, it is characterised in that: institute
The position for stating sliding block hinged on the second leg link (12) can be adjusted according to actual needs to meet different user
It needs.
3. the dedicated power-assisted healing robot of a kind of single lower limb individuals with disabilities according to claim 1, it is characterised in that:
It is provided at first hinge joint Motor with handle device (14), the Motor with handle device (14) includes handle disc type electric machine
The stator of (14A) and handle harmonic speed reducer (14B), the handle disc type electric machine (14A) is fixed on handle component (2),
Rotor is fixed on thigh parts (3), for providing the relative rotation of thigh parts (3) Yu handle component (2)；Described second
Be provided at hinge joint knee joint electric machine (5), the knee joint electric machine (5) include knee joint disc type electric machine (5A) and
The stator of knee joint harmonic speed reducer (5B), the knee joint disc type electric machine (5A) is fixed on thigh parts (3), and rotor is solid
It is scheduled on lower leg component (6), for providing the relative rotation of lower leg component (6) Yu thigh parts (3)；In the third hinge joint
Place is provided with ankle-joint electric machine (8), and the ankle-joint electric machine (8) includes ankle-joint disc type electric machine (8A) and ankle-joint
The stator of harmonic speed reducer (8B), the ankle-joint disc type electric machine (8A) is fixed on the first leg link (11), and rotor is solid
It is scheduled on lower leg component (6), for providing the relative rotation of lower leg component (6) Yu the first leg link (11).
4. the dedicated power-assisted healing robot of a kind of single lower limb individuals with disabilities according to claim 1, it is characterised in that: institute
Belt part (1) is stated to be connected bolt (1B) by waistband fixing piece (1A), waistband supporting element (1C) with slideway with waistband and formed；
Pass through the fixed waistband fixing piece (1A) and waist for being respectively provided with a row and being used to adjust the hole of installation site of waistband connection bolt (1B)
Band supporting element (1C), and can be adjusted by changing relative position with holes, to meet different building shape crowd wearing；It is described
Waistband fixing piece (1A) is leathercraft, is connected in a manner of belt fastener.
5. the dedicated power-assisted healing robot of a kind of single lower limb individuals with disabilities according to claim 1, it is characterised in that: institute
Stating handle component (2) includes handle rod piece (2A) and handle sensor (2B), and wherein handle sensor (2B) is placed in handle portion
Above handle on the downside of part (2).
6. the dedicated power-assisted healing robot of a kind of single lower limb individuals with disabilities according to claim 1, it is characterised in that: institute
It states thigh parts (3) to be made of rod piece in thigh (3A), connection bolt (3B) and the outer rod piece (3C) of thigh, rod piece in the thigh
The outer rod piece (3C) of (3A) and thigh is equipped with two rounds for adjusting outer rod piece relative to interior rod piece installation site, thigh above
Inside and outside rod piece it is fixed by connection bolt (3B), to be suitable for different height users；The lower leg component (6) is by shank
Interior rod piece (6A), connection bolt (6B) and the outer rod piece (6C) of shank are constituted, rod piece (6A) and the outer rod piece of shank in the shank
(6C) is equipped with two rounds for adjusting outer rod piece relative to interior rod piece installation site above, and the inside and outside rod piece of shank passes through
It connects bolt (6B) to fix, to be suitable for different height users；To prevent the power-assisted healing robot due to overexercise
And human synovial is damaged, rod piece (6A) is equipped with spacer pin, the thigh outer bar above in the outer rod piece (6C) of the shank and shank
Part (3C) and the first leg link (11) are equipped with limit sleeve.
7. the dedicated power-assisted healing robot of a kind of single lower limb individuals with disabilities according to claim 1, it is characterised in that: institute
It states sole component (9) to be made of the rear sole (9A), forefoot plate (9B) and a shaft with torsional spring for being equipped with lantern ring, by turning
The forward and backward sole of axis connection (9B, 9A)；The outer rod piece (6C) of shank and rear sole (9A) are connected by two springs (10) of front and back,
Sole component (9) is unlikely sagging when guaranteeing foot-up, and the substantially vertical lower leg component in position (6) is to guarantee in walking process
Correct gait, while certain buffer function is played when walking, the setting of torsional spring and spring (10) guarantees human body corresponding joint
Comfort, and have certain protective effect to foot and ankle-joint.
8. the dedicated power-assisted healing robot of a kind of single lower limb individuals with disabilities according to claim 1, it is characterised in that: institute
It states Passive Mode and refers to that each electric machine is according to present present position and control by manpower control handle sensor (2B)
It determines rotation direction and speed, human body lower limbs is driven to take a step by desired trajectory to front/rear；The aggressive mode refers specifically to setting
Under good desired trajectory, people's lower limb is needed to go to remove to drive entire power-assisted healing robot, each motor dress using certain strength
It sets and rotation direction and speed is determined according to present present position and the lower limb dynamics of kicking one's legs, auxiliary human body lower limbs are realized to be stepped to front/rear
Step movement；The impedance mode is opposite with aggressive mode, refers to and people's lower limb is needed to go to go to drive entire power-assisted using certain strength
Healing robot, each electric machine determine rotation direction and speed according to present present position and the lower limb dynamics of kicking one's legs, and hinder
Human body lower limbs are realized takes a step to act to front/rear.
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| CN201710607664.8A CN107411939B (en) | 2017-07-24 | 2017-07-24 | A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities |
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| CN201710607664.8A CN107411939B (en) | 2017-07-24 | 2017-07-24 | A kind of dedicated power-assisted healing robot of single lower limb individuals with disabilities |
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| CN107411939B true CN107411939B (en) | 2019-09-27 |
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Effective date of registration: 20210929 Address after: 050000 6th floor, building 11, Runjiang international headquarters, 139 Changjiang Avenue, high tech Zone, Shijiazhuang City, Hebei Province Patentee after: SHIJIAZHUANG DU KANG MEDICAL DEVICES Co.,Ltd. Address before: 066004 No. 438 west section of Hebei Avenue, seaport District, Hebei, Qinhuangdao Patentee before: Yanshan University |