CN110584954A - Flexible continuous body driving type exoskeleton robot - Google Patents
Flexible continuous body driving type exoskeleton robot Download PDFInfo
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- CN110584954A CN110584954A CN201910962615.5A CN201910962615A CN110584954A CN 110584954 A CN110584954 A CN 110584954A CN 201910962615 A CN201910962615 A CN 201910962615A CN 110584954 A CN110584954 A CN 110584954A
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- knee joint
- hip joint
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- hip
- air inlet
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- 210000000629 knee joint Anatomy 0.000 claims abstract description 99
- 210000004394 hip joint Anatomy 0.000 claims abstract description 91
- 239000000725 suspension Substances 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 239000004744 fabric Substances 0.000 claims description 17
- 210000001624 hip Anatomy 0.000 claims description 11
- 210000003127 knee Anatomy 0.000 claims description 8
- 210000003437 trachea Anatomy 0.000 claims description 8
- 239000013585 weight reducing agent Substances 0.000 claims description 6
- 210000003141 lower extremity Anatomy 0.000 claims description 5
- 230000003584 silencer Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000005452 bending Methods 0.000 abstract description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 208000020431 spinal cord injury Diseases 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 206010061225 Limb injury Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000007101 Muscle Cramp Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- 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
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2205/08—Trunk
- A61H2205/088—Hip
-
- 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
- A61H2205/102—Knee
Landscapes
- Health & Medical Sciences (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a flexible continuous body driving type exoskeleton robot, which comprises a walking platform, a weight reducing support and an exoskeleton body mechanism, wherein the weight reducing support is suspended above the walking platform through a suspension arm, a pair of lifting hooks are suspended above the walking platform through a cantilever of the weight reducing support, and the exoskeleton body mechanism comprises a hip joint wearing assembly, a pair of knee joint wearing assemblies and a backpack assembly; the hip joint flexible actuator of the hip joint wearing assembly and the knee joint flexible actuator of the knee joint wearing assembly are respectively composed of corresponding upper and lower supporting rings and an elastic air tube bundle group, the air pressure in the tube is adjusted through an air pressure servo valve, and then pressure difference is generated in the tube bundle, so that 2-degree-of-freedom bending motion of the continuum flexible joint is realized. The robot is in full flexible contact with a wearer, and the wearing comfort and safety of the robot are effectively improved.
Description
Technical Field
The invention relates to the technical field of exoskeleton rehabilitation robots, in particular to a flexible continuous body driving type exoskeleton robot.
Background
Stroke or spinal cord injury can cause permanent motor dysfunction in the patient. Clinical research shows that the exoskeleton rehabilitation robot can well promote the recovery of the motor function of lower limbs of patients with stroke and spinal cord injury by auxiliary treatment. The exoskeleton rehabilitation robot technology is used for recovering the motion abilities of two types of patients, and has important strategic significance for effectively relieving the social service pressure of the old and disabled people and accelerating the cultivation of emerging industries. However, the existing exoskeleton robot mechanism has strong rigidity with transmission, small impact resistance of materials, heavy structure and inconvenient wearing, and limits the comfort and flexibility of the movement of a wearer.
Disclosure of Invention
The invention aims to solve the technical problems to a certain extent at least, and provides a flexible continuous body driving type exoskeleton robot which is light in structure and comfortable to wear for recovering the lower limb movement function of a patient with nervous limb injury caused by stroke and spinal cord injury.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flexible continuous body driving type exoskeleton robot is structurally characterized in that:
the exoskeleton trunk comprises a walking platform, a weight reducing support and an exoskeleton body mechanism, wherein the weight reducing support is suspended above the walking platform through a suspension arm, a pair of suspension rings are suspended above the walking platform through a suspension arm of the weight reducing support, and the exoskeleton body mechanism comprises a hip joint wearing assembly, a pair of knee joint wearing assemblies and a backpack assembly;
the hip joint wearing assembly is worn on the hip of a user, and is tightly coated outside the hip joint flexible actuator by a hip joint elastic cloth layer, four hip joint elastic trachea bundle groups of the hip joint flexible actuator are opposite in pairs to form a pair in a front-back direction, and are symmetrically arranged at the left end and the right end of the hip in a left-right direction by two pairs of hip joint elastic trachea bundle groups; a plurality of hip joint elastic air pipes of each hip joint elastic air pipe bundle group vertically cling to the hip, extend downwards to the upper end part of the lower limb and are distributed at equal intervals along the circumferential direction, and the two pipe ends are respectively exposed at the top end and the bottom end of the hip joint wearing component and correspondingly serve as an air inlet hole and an air outlet hole of the hip joint; a plurality of hip joint air inlet holes of each group of hip joint elastic air tube bundle group are converged through corresponding hip joint air inlet branch pipes to form a hip joint main air inlet, and a plurality of hip joint air outlet holes are converged through corresponding hip joint air outlet branch pipes to form a hip joint main air outlet;
the knee joint wearing components are worn on a pair of knees of a user, the knee joint wearing components are coated outside the knee joint flexible actuator by a knee joint elastic cloth layer, the knee joint flexible actuator is attached to the front side and the rear side of the knee in a front-back symmetrical mode by two knee joint elastic air tube bundle groups, a plurality of knee joint elastic air tubes of the knee joint elastic air tube bundle groups are vertical and are distributed at equal intervals along the circumferential direction, and two tube ends are respectively exposed at the top end and the bottom end of the knee joint wearing components and correspondingly serve as knee joint air inlet holes and air outlet holes; a plurality of knee joint air inlet holes of each knee joint elastic air tube bundle group are converged through corresponding knee joint air inlet branch pipes to form a knee joint main air inlet, and a plurality of knee joint air outlet holes are converged through corresponding knee joint air outlet branch pipes to form a knee joint main air outlet;
the backpack assembly comprises a backpack, a control module arranged in the backpack, and a pressure source, a one-way valve, a pneumatic triple piece, a stop valve, eight pressure servo valves, an air inlet pipe group, an air outlet pipe group and a silencer which are connected with each other and controlled by the control module, wherein the pressure source provides an air source, the air source is output through a main air inlet pipe of the air inlet pipe group, eight branch air inlet pipes of the air inlet pipe group are input to four groups of hip joint main air inlets and four groups of knee joint main air inlets through eight pressure servo valves respectively, air flows output through four groups of hip joint main air outlets and four groups of knee joint main air outlets are output through the eight pressure servo valves respectively, eight branch air pipes of the air outlet pipe group converge to a main air outlet pipe of the air outlet pipe group.
The invention also has the structural characteristics that:
the hip joint flexible actuator takes a long circular first upper support ring and a pair of circular first lower support rings which are bilaterally symmetrical and are respectively positioned under semicircular ring sections on two sides of the first upper support ring as a support frame, any one first lower support ring is communicated with the first upper support ring through two hip joint elastic air tube bundle groups which are symmetrically arranged in front and back, and each hip joint air inlet hole and each hip joint air outlet hole are correspondingly formed on the first upper support ring and the first lower support ring;
the knee joint flexible actuator takes a circular second upper support ring and a circular second lower support ring which are arranged in an up-down opposite mode as a support frame, the two circular second upper support rings and the circular second lower support rings are communicated through two knee joint elastic air tube bundle groups which are symmetrically arranged in a front-back mode, and each knee joint air inlet hole and each knee joint air outlet hole are formed in the second upper support ring and the second lower support ring respectively.
The check valve, the pneumatic triple piece and the stop valve are sequentially arranged on the main air inlet pipe behind the air pressure source along the air flow direction.
The hip joint elastic cloth layer is sleeved outside the hip joint flexible actuator through a first opening, and the opening is packaged by a first zipper; the knee joint elastic cloth layer is sleeved outside the knee joint flexible actuator through a second opening, and the opening is packaged by a second zipper.
The backpack is characterized in that a backpack plate is arranged on the backpack, and a pair of vertical hooks are arranged on the backpack plate and matched with the hanging rings.
The walking platform is characterized in that handrail rails are arranged on the left side and the right side of the walking platform, the weight reduction support is fixedly connected to the rear ends of the handrail rails through a pair of vertical rods respectively, and the top ends of the vertical rods are connected through the suspension arm which is in a U-shaped horizontal state.
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to an exoskeleton robot by adopting flexible materials, has a light and convenient whole structure and is easy to wear, the eight air pressure servo valves are utilized to correspondingly adjust the pressure in four groups of hip joint elastic air tube bundle groups and four groups of knee joint elastic air tube bundle groups, so that the elastic deformation of each elastic air tube drives the human body joint to move, the robot is completely in flexible contact with a wearer, the wearing comfort and the safety of the robot are enhanced, and the problems of complicated structure, heaviness, inconvenience in wearing and the like of the existing rigid exoskeleton are solved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a hip wear assembly;
FIG. 3 is a schematic structural view of the hip joint flexible actuator in an undeformed state;
FIG. 4 is a schematic view of the structure of FIG. 3 from another perspective;
FIG. 5 is a schematic diagram of a deformation of the hip joint flexible actuator;
FIG. 6 is a schematic view of a knee wearing assembly;
FIG. 7 is a schematic structural view of a knee joint flexible actuator in an undeformed state;
FIG. 8 is a schematic view of the structure of FIG. 7 from another perspective;
FIG. 9 is a schematic diagram of a deformation of a knee joint flexible actuator;
FIG. 10 is a schematic diagram of the pneumatic system of the present invention.
In the figure, 1 is a walking platform; 11 a handrail; 2 a weight-reducing bracket; 21 vertical rods; 22 a boom; 23 hoisting rings; 3 a backpack assembly; 31 a backpack; 32 a carabiner; 33 a source of air pressure; 34 a one-way valve; 35 pneumatic triplet; 36 a stop valve; 37 pneumatic servo valve; 38 a main intake duct; 39 air inlet pipes; 310, a main air outlet pipe; 311 an air pipe; 312 a muffler; 4 a hip-wearing component; 41 hip joint elastic cloth layer; 42 hip joint flexible actuators; 43 a first upper support ring; 44 a first lower support ring; 45. 46, 47, 48 hip joint elastic tracheal tube bundle group; 49 hip joint air inlet holes; 410 hip joint air outlet holes; 5 a knee joint wearing component; 51 knee joint elastic cloth layer; 52 knee joint flexible actuators; 53 a second upper support ring; 54 a second lower support ring; 55. 56, 57, 58 knee joint elastic tracheal tube bundle group; 59 knee joint air intake holes; 510 knee joint air outlet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 10, the flexible continuous body driven exoskeleton robot of the present embodiment includes a walking platform 1, a weight reduction bracket 2 suspended above the walking platform 1 by a suspension arm 22, and an exoskeleton body mechanism, wherein the suspension arm of the weight reduction bracket 2 suspends a pair of suspension rings 23 above the walking platform 1, and the exoskeleton body mechanism includes a hip joint wearing assembly 4, a pair of knee joint wearing assemblies 5 and a backpack assembly 3;
the hip joint wearing assembly 4 is worn on the hip of a user, the hip joint flexible actuator 42 is tightly coated with the hip joint elastic cloth layer 41, four hip joint elastic trachea bundle groups 45/46/47/48 of the hip joint flexible actuator 42 are opposite in pairs to form a pair in front and back, and two pairs of hip joint elastic trachea bundle groups (45 and 46 are a pair, and 47 and 48 are a pair in fig. 3) are symmetrically arranged at the left end and the right end of the hip; a plurality of hip joint elastic air pipes of each hip joint elastic air pipe bundle group vertically cling to the hip, extend downwards to the upper end part of the lower limb and are distributed at equal intervals along the circumferential direction, and the two pipe ends are respectively exposed at the top end and the bottom end of the hip joint wearing component 4 and correspondingly serve as a hip joint air inlet hole 49 and an air outlet hole; a plurality of hip joint air inlet holes 49 of each group of hip joint elastic air tube bundle group are converged by corresponding hip joint air inlet branch pipes to form a hip joint main air inlet, and a plurality of hip joint air outlet holes 410 are converged by corresponding hip joint air outlet branch pipes to form a hip joint main air outlet;
the pair of knee joint wearing components 5 are worn on a pair of knees of a user, the knee joint wearing components 5 are coated outside the knee joint flexible actuator 52 through knee joint elastic cloth layers 51, the knee joint flexible actuator 52 is attached to the front side and the rear side of the knees in a front-back symmetrical mode through two knee joint elastic air tube bundle groups, a plurality of knee joint elastic air tubes of the knee joint elastic air tube bundle groups are vertically distributed at equal intervals along the circumferential direction, and two tube ends are respectively exposed at the top end and the bottom end of the knee joint wearing component 5 and correspondingly serve as knee joint air inlet holes 59 and air outlet holes; a plurality of knee joint air inlet holes 59 of each knee joint elastic air tube bundle group are converged through corresponding knee joint air inlet branch pipes to form a knee joint main air inlet, and a plurality of knee joint air outlet holes 510 are converged through corresponding knee joint air outlet branch pipes to form a knee joint main air outlet;
the backpack assembly 3 comprises a backpack 31, a control module arranged in the backpack 31, an air pressure source 33, a one-way valve 34, a pneumatic triple piece 35, a stop valve 36, eight air pressure servo valves 37, an air inlet pipe group, an air outlet pipe group and a silencer 312, wherein the air pressure source 33, the one-way valve 34, the pneumatic triple piece 35, the stop valve 36 and the eight air pressure servo valves are respectively connected with and controlled by the control module; as shown in fig. 10, the air source is supplied by the air pressure source 33, and is output through the main air inlet pipe 38 of the air inlet pipe group, and is input to the four sets of hip joint main air inlets and the four sets of knee joint main air inlets through the eight branch air inlet pipes 39 of the air inlet pipe group respectively through the eight air pressure servo valves 37, and the air flows output through the four sets of hip joint main air outlets and the four sets of knee joint main air outlets are output through the eight air pressure servo valves 37 respectively, and are converged to the main air outlet pipe 310 of the air outlet pipe group through the eight branch air pipes 311 of the air outlet pipe group.
In specific implementation, the corresponding structural arrangement also includes:
the hip joint flexible actuator 42 takes an oblong first upper support ring 43 and a pair of circular first lower support rings 44 which are bilaterally symmetrical and are positioned under semicircular ring segments on two sides of the first upper support ring 43 as a support frame, any one of the first lower support rings 44 is communicated with the first upper support ring 43 through two hip joint elastic trachea bundle groups which are symmetrically arranged in front and back, and each hip joint air inlet hole 49 and air outlet hole are correspondingly formed on the first upper support ring 43 and the first lower support ring 44;
the knee joint flexible actuator 52 uses a circular second upper support ring 53 and a circular second lower support ring 54 which are arranged in an up-down opposite manner as a support frame, and are communicated with each other through two knee joint elastic trachea bundle groups which are symmetrically arranged in a front-back manner, and each knee joint air inlet hole 59 and each air outlet hole are respectively formed on the second upper support ring 53 and the second lower support ring 54. Therefore, the eight groups of elastic air tube bundle groups are uniformly distributed on the circumference of the corresponding support ring to play the roles of supporting and driving.
Or, as another optional scheme, air chambers communicated with the corresponding elastic air pipe bundle groups can be processed in the upper and lower support rings, an air inlet is formed at the top end of each upper support ring air chamber, an air outlet is formed at the bottom end of each lower support ring air chamber, and each elastic air pipe of the elastic air pipe bundle group is communicated with the air chambers of the upper and lower support rings.
The check valve 34, the pneumatic triple 35 and the stop valve 36 are sequentially installed on a main air inlet pipe 38 behind the air pressure source 33 along the air flow direction.
Optionally, the hip joint elastic cloth layer 41 is sleeved outside the hip joint flexible actuator 42 through a first opening, and the opening is sealed by a first zipper; the knee joint elastic cloth material layer 51 is sleeved outside the knee joint flexible actuator 52 through a second opening, and the opening is sealed by a second zipper. This part is easy to understand and easy to realize for those skilled in the art, the position of the opening can be set as required, and the present invention is not shown in the figures and will not be described in detail.
The backpack 31 has a backpack 31 plate, and the backpack 31 plate has a pair of hooks 32, which are matched with the pair of hanging rings 23.
The left side and the right side of the walking platform 1 are provided with hand rails 11, the weight reduction support 2 is fixedly connected with the rear ends of the hand rails 11 through a pair of vertical rods 21, and the top ends of the vertical rods 21 are connected through a U-shaped horizontal suspension arm 22.
The invention adopts the structural design mode of the flexible exoskeleton suit, namely hips and knees of the exoskeleton robot are wrapped by the flexible actuators, and the flexible actuators are embedded in high-elasticity cloth. The hip joint elastic cloth layer 41 and the knee joint elastic cloth layer 51 can be fixed with the upper and lower legs of the user in the form of woven belts or zippers, and the parts are conventional technical means and are not described in detail.
In order to prevent muscle spasm caused by excessive gravity at the initial stage of a patient and safety in the walking process, the invention adopts a mode of combining a flexible exoskeleton robot and an auxiliary weight-losing bracket 2; a patient stands on the walking platform 1, holds the handrail 11, and is hooked on a pair of shackles on the backpack 31 by using a pair of lifting hooks, so as to play a role in assisting weight reduction; the gas with a certain pressure is generated by the gas pressure source 33, and the gas with the pressure regulated by the pressure servo valve enters the gas chamber. The air pressure in the corresponding elastic air tube bundle group is adjusted through each air pressure servo valve 37, so that pressure difference is generated in each elastic air tube bundle group, and 2-degree-of-freedom bending motion of the continuous flexible joint is realized, and the method specifically comprises the following steps:
four hip joint elastic tracheal tube bundle groups 45/46/47/48 and four knee joint elastic tracheal tube bundle groups 55/56/57/58 are provided, and eight pneumatic servo valves 37 are correspondingly arranged. Each pneumatic servo valve 37 adjusts the pressure in a respective set of elastic tracheal tubes. Taking the knee joint elastic tracheal bundle group as an example, in an initial state as shown in fig. 7 and 8, when the pressure in the knee joint elastic tracheal bundle group 55 is higher than the pressure in the knee joint elastic tracheal bundle group 56, the knee joint flexible actuator 52 bends toward the knee joint elastic tracheal bundle group 56 having a lower pressure, as shown in fig. 9. When the pressure in the knee joint elastic tracheal bundle group 55 is lower than the pressure in the knee joint elastic tracheal bundle group 56, the knee joint flexible actuator 52 is bent in the opposite direction.
Similarly, a 2 degree of freedom bending motion of the hip joint flexible actuator 42 may be achieved, as shown in fig. 3, 4, 5.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A flexible continuous body driving type exoskeleton robot is characterized in that:
the exoskeleton trunk comprises a walking platform, a weight reducing support and an exoskeleton body mechanism, wherein the weight reducing support is suspended above the walking platform through a suspension arm, a pair of suspension rings are suspended above the walking platform through a suspension arm of the weight reducing support, and the exoskeleton body mechanism comprises a hip joint wearing assembly, a pair of knee joint wearing assemblies and a backpack assembly;
the hip joint wearing assembly is worn on the hip of a user, and is tightly coated outside the hip joint flexible actuator by a hip joint elastic cloth layer, four hip joint elastic trachea bundle groups of the hip joint flexible actuator are opposite in pairs to form a pair in a front-back direction, and are symmetrically arranged at the left end and the right end of the hip in a left-right direction by two pairs of hip joint elastic trachea bundle groups; a plurality of hip joint elastic air pipes of each hip joint elastic air pipe bundle group vertically cling to the hip, extend downwards to the upper end part of the lower limb and are distributed at equal intervals along the circumferential direction, and the two pipe ends are respectively exposed at the top end and the bottom end of the hip joint wearing component and correspondingly serve as an air inlet hole and an air outlet hole of the hip joint; a plurality of hip joint air inlet holes of each group of hip joint elastic air tube bundle group are converged through corresponding hip joint air inlet branch pipes to form a hip joint main air inlet, and a plurality of hip joint air outlet holes are converged through corresponding hip joint air outlet branch pipes to form a hip joint main air outlet;
the knee joint wearing components are worn on a pair of knees of a user, the knee joint wearing components are coated outside the knee joint flexible actuator by a knee joint elastic cloth layer, the knee joint flexible actuator is attached to the front side and the rear side of the knee in a front-back symmetrical mode by two knee joint elastic air tube bundle groups, a plurality of knee joint elastic air tubes of the knee joint elastic air tube bundle groups are vertical and are distributed at equal intervals along the circumferential direction, and two tube ends are respectively exposed at the top end and the bottom end of the knee joint wearing components and correspondingly serve as knee joint air inlet holes and air outlet holes; a plurality of knee joint air inlet holes of each knee joint elastic air tube bundle group are converged through corresponding knee joint air inlet branch pipes to form a knee joint main air inlet, and a plurality of knee joint air outlet holes are converged through corresponding knee joint air outlet branch pipes to form a knee joint main air outlet;
the backpack assembly comprises a backpack, a control module arranged in the backpack, and a pressure source, a one-way valve, a pneumatic triple piece, a stop valve, eight pressure servo valves, an air inlet pipe group, an air outlet pipe group and a silencer which are connected with each other and controlled by the control module, wherein the pressure source provides an air source, the air source is output through a main air inlet pipe of the air inlet pipe group, eight branch air inlet pipes of the air inlet pipe group are input to four groups of hip joint main air inlets and four groups of knee joint main air inlets through eight pressure servo valves respectively, air flows output through four groups of hip joint main air outlets and four groups of knee joint main air outlets are output through the eight pressure servo valves respectively, eight branch air pipes of the air outlet pipe group converge to a main air outlet pipe of the air outlet pipe group.
2. The flexible continuous volume driven exoskeleton robot of claim 1, wherein:
the hip joint flexible actuator takes a long circular first upper support ring and a pair of circular first lower support rings which are bilaterally symmetrical and are respectively positioned under semicircular ring sections on two sides of the first upper support ring as a support frame, any one first lower support ring is communicated with the first upper support ring through two hip joint elastic air tube bundle groups which are symmetrically arranged in front and back, and each hip joint air inlet hole and each hip joint air outlet hole are correspondingly formed on the first upper support ring and the first lower support ring;
the knee joint flexible actuator takes a circular second upper support ring and a circular second lower support ring which are arranged in an up-down opposite mode as a support frame, the two circular second upper support rings and the circular second lower support rings are communicated through two knee joint elastic air tube bundle groups which are symmetrically arranged in a front-back mode, and each knee joint air inlet hole and each knee joint air outlet hole are formed in the second upper support ring and the second lower support ring respectively.
3. The flexible continuous volume driven exoskeleton robot of claim 1, wherein: the check valve, the pneumatic triple piece and the stop valve are sequentially arranged on the main air inlet pipe behind the air pressure source along the air flow direction.
4. The flexible continuous volume driven exoskeleton robot of claim 1, wherein: the hip joint elastic cloth layer is sleeved outside the hip joint flexible actuator through a first opening, and the opening is packaged by a first zipper; the knee joint elastic cloth layer is sleeved outside the knee joint flexible actuator through a second opening, and the opening is packaged by a second zipper.
5. The flexible continuous volume driven exoskeleton robot of claim 1, wherein: the backpack is characterized in that a backpack plate is arranged on the backpack, and a pair of vertical hooks are arranged on the backpack plate and matched with the hanging rings.
6. The flexible continuous volume driven exoskeleton robot of claim 1, wherein: the walking platform is characterized in that handrail rails are arranged on the left side and the right side of the walking platform, the weight reduction support is fixedly connected to the rear ends of the handrail rails through a pair of vertical rods respectively, and the top ends of the vertical rods are connected through the suspension arm which is in a U-shaped horizontal state.
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| CN201910962615.5A CN110584954A (en) | 2019-10-11 | 2019-10-11 | Flexible continuous body driving type exoskeleton robot |
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| CN201910962615.5A CN110584954A (en) | 2019-10-11 | 2019-10-11 | Flexible continuous body driving type exoskeleton robot |
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| CN110559163A (en) * | 2019-09-06 | 2019-12-13 | 山东中医药大学附属医院 | Gait walking rehabilitation training device |
| CN111267071A (en) * | 2020-02-14 | 2020-06-12 | 上海航天控制技术研究所 | Multi-joint combined control system and method for exoskeleton robot |
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