A kind of lower limb exoskeleton power-assisting robotTechnical field
The present invention relates to robot device's technical field, be specially a kind of lower limb exoskeleton power-assisting robot.
Background technology
Problem of an aging population mesh benefit has seriously been increasingly becoming many countries inevitably social phenomenon, companion in the worldAlong with the decline of the various physiological function of old people and being continuously increased of vehicle accident, the patient such as hemiplegia, apoplexy, paraplegia the most constantly increasesMany, cause this kind of crowd's lower limb that the phenomenon of dyskinesia occurs so that it is life quality drastically declines, make family and societyBear more and more heavier, according to contemporary medical science is theoretical and clinical medicine practise proves that recovery and the raising to extremity motor function removesOutside necessary medical procedure, science and correct rehabilitation training be highly effective mechanically-based, biomedicine, sensorDeveloping rapidly, for rehabilitation and the booster engine of biomedical engineering field of technology, computer technology and intelligent control technology etc.Device people there has also been good development platform, promotes the man-machine integration of medical field robot, and robot is passed through in this researchProduct has certain practical significance and market prospect, lower limb exoskeleton for the burden improving Quality of rehabilitation with alleviate family socialPower-assisting robot is a kind of wearable power assisting device organically combined with user, according to ergonomics and biologyThe thought design that personalizes of medical science, simulates normal human's lower limb gait motion form, helps lower limb to have the people of dyskinesiaGroup recovers locomotor activity, by trajectory planning of doing exercises robot responds, thus reaches the purpose of man-machine collaboration.Along withThe development of the technology such as bionics theory of mechanisms, information processing, robotics, control theory and communication and maturation, ectoskeleton helpsPower robot can form human-machine system with operator, improves adaptive capacity to environment, in biomedical, military, rehabilitationThe fields such as treatment, rehabilitation nursing and artificial limb will have and get a good eye value and vast potential for future development.
The most most of lower limb exoskeleton power-assisting robot dress uncomfortable, malfunction, can not maximum limitThe range of activity of people is expanded on degree ground, and safety also can not get effectively ensureing, it is impossible to be really achieved simple and effective power-assistedPurpose, owing to the physiology of different people ties feature difference, walking there is also individuation difference, and traffic information changes the most in real timeBecome, iff using a fixing pattern to describe lower limb walking movement process, be difficult to meet wanting of different usersAsking, this is accomplished by lower limb exoskeleton power-assisting robot when being necessary can make certain adjustment, improves lower limb dermoskeletonThe adaptation ability of bone power-assisting robot system, additionally lower limb exoskeleton power-assisting robot should have lighter weight and less bodyLong-pending, must have again enough driving forces or driving torque, for above not enough, now improve.
Summary of the invention
It is an object of the invention to provide a kind of lower limb exoskeleton power-assisting robot, to solve above-mentioned background technology proposesProblem, had the beneficial effect that by human engineering and personalize thought herein to exoskeleton lower limbs power-assisting robotHaving carried out Degree of Freedom Analysis, exoskeleton lower limbs power-assisting robot body has lightweight, structural safety, the advantage that intensity is high, rootThe mode moved according to body gait kinetic characteristic and exoskeleton lower limbs power-assisting robot determines the hip joint of robot, knee joint closesJoint and ankle joint, carried out optimizing design targetedly to hip joint, knee joint and the ankle joint of robot, added comfortableProperty, on skeleton lower limb power-assisting robot body, additionally it is provided with man-machine connected robot back and pedal, especially at backAlso contemplate hardware space design and wiring, strengthen safety and the intensity of system, utilize four bar hip joints, four bar knee jointsConnect with four bar ankle joint, and then optimize the structure of robot rod member, establish exoskeleton lower limbs power-assisting robot mechanism basePlinth, the present invention is reasonable in design, simple in construction, easy to operate, practical.
For achieving the above object, the present invention provides following technical scheme: a kind of lower limb exoskeleton power-assisting robot, including machineDevice human body, back and pedal, described robot body is provided with back, and back bottom connects four bar hip joints, describedConnecting below four bar hip joints and have thick link, connecting below thick link has four bar knee joints, the side of described thick linkConnected by bearing pin and have hip joint electric cylinder, and the hip joint electric cylinder other end is arranged on four bar hip joints by bearing pin, instituteThe opposite side stating thick link has knee joint electric cylinder by bearing pin connection, and the knee joint electric cylinder other end is installed by bearing pinIn four bar knee joints, connecting and have shank link below described four bar knee joints, connecting below shank link has four bar ankle joint,Described shank link is connected by bearing pin near four bar knee joint one end ankle joint electric cylinder, and the bottom of ankle joint electric cylinderBeing connected by bearing pin and four bar ankle joint, described four bar ankle joint bottoms are provided with pedal.
Preferably, described back being provided with backrest, backrest middle is provided with back fixation bar, both sides, described backrest bottomBeing mounted on back shell, and back shell is provided with trough near one end of backrest, described back shell base is mounted onStretching spring ear, is provided with driver outside back shell.
Preferably, the top of described four bar hip joints is provided with back connecting rod, and described four bar hip joints are away from back connecting rodOne end thick link is installed, described four bar hip joint sides by bearing pin connect have hip joint front rod, described four bar hipsJoint opposite side is connected by bearing pin hip joint back link.
Preferably, described four tops, bar knee joint side are provided with thick link, and described four bar knee joints are away from thigh evenThe other end of bar is provided with shank link, and described four bar knee joint sides are connected by bearing pin knee joint front rod, and described fourBar knee joint opposite side is connected by bearing pin knee joint back link.
Preferably, described four tops, bar ankle joint side are provided with shank link, and described four bar ankle joint are away from shank evenThe other end of bar is provided with pedal connecting rod, and described four bar ankle joint sides are connected by bearing pin ankle joint front rod, describedFour bar ankle joint opposite sides are connected by bearing pin ankle joint back link.
Preferably, described hip joint electric cylinder, knee joint electric cylinder and ankle joint electric cylinder are equipped with feed screw nut, silkThick stick nut side is provided with motor, and one end of motor is connected with feed screw nut by Timing Belt, and described motor is away from Timing BeltOne end is provided with proximity switch, and proximity switch is fixed on feed screw nut, and the two ends of described feed screw nut are mounted on bearing pin.
Preferably, one end that described hip joint electric cylinder and four bar hip joints connect is provided with the first pressure transducer.
Preferably, one end that described knee joint electric cylinder and four bar knee joints connect is provided with the second pressure transducer.
Preferably, one end that described ankle joint electric cylinder and four bar ankle joint connect is provided with the 3rd pressure transducer.
Preferably, described pedal is provided with front sole and rear sole, and front sole and rear sole are connected by flat spring, instituteStating and be equipped with protective layer on front sole and rear sole both sides side external surface, described front sole and rear sole are equipped with metal dressJoin layer, metal assembling layer be arranged over rubber boots bottom.
Preferably, described front sole being provided with forefoot pressure transducer, described front sole both sides are mounted on the forward foot in a stepPalm fixed plate.
Preferably, described rear sole is respectively mounted hind paw fixed plate near the both sides of front sole one end, another of rear soleEnd is provided with heel fixed plate, and described rear sole is provided with heel pressure sensor near one end of heel fixed plate.
Compared with prior art, the invention has the beneficial effects as follows: by human engineering and personalize thought herein to dermoskeletonBone lower limb power-assisting robot has carried out Degree of Freedom Analysis, and exoskeleton lower limbs power-assisting robot body has lightweight, structural safety,The advantage that intensity is high, determines machine according to the mode that body gait kinetic characteristic and exoskeleton lower limbs power-assisting robot moveThe hip joint of people, knee joint and ankle joint, carried out optimizing targetedly setting to hip joint, knee joint and the ankle joint of robotMeter, adds comfortableness, is additionally provided with man-machine connected robot back on skeleton lower limb power-assisting robot body and ridesPlate, especially also contemplates hardware space design and wiring at back, strengthens safety and the intensity of system, utilizes four bar hips to closeJoint, four bar knee joints and four bar ankle joint connect, and then optimize the structure of robot rod member, establish exoskeleton lower limbs power-assistedRobot mechanism basis, the present invention is reasonable in design, simple in construction, easy to operate, practical.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the back structural representation of the present invention；
Fig. 3 is the four bar hip joint structural representations of the present invention；
Fig. 4 is the four bar knee joint structure schematic diagrams of the present invention；
Fig. 5 is the four bar ankle joint structure schematic diagrams of the present invention；
Fig. 6 is the hip joint electric cylinder of the present invention, knee joint electric cylinder and ankle joint electric cylinder structural representation；
Fig. 7 is the pedal plate structure schematic diagram of the present invention.
In figure: 1. robot body；2. back；2-1. back connecting rod；3. four bar hip joint；3-1. hip joint front rod 3-2. hip joint back link；4. hip joint electric cylinder；5. thick link；6. bearing pin；7. knee joint electric cylinder；8. four bar knee joint；8-1. knee joint front rod；8-2. knee joint back link；9. shank link；10. four bar ankle joint；10-1. pedal front rod；10-2. pedal back link；11. ankle joint electric cylinders；12. pedals；12-1. pedal connecting rod；13. first pressure sensingsDevice；14. second pressure transducers；15. the 3rd pressure transducers；16. backrests；17. back fixation bars；18. back shell；19.Stretching spring ear；20. drivers；21. troughs；22. feed screw nuts；23. motors；24. proximity switches；25. Timing Belts；26.Front sole；Sole after 27.；28. flat springs；29. protective layers；30. metal assembling layers；31. rubber boots bottoms；32. forefoot pressuresForce transducer；33. forefoot fixed plates；34. hind paw fixed plates；35. heel pressure sensors.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, completeDescribe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based onEmbodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premiseEmbodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1-7, a kind of embodiment that the present invention provides: a kind of lower limb exoskeleton power-assisting robot, including machineHuman body 1, back 2 and pedal 12, robot body 1 is provided with back 2, and back 2 bottom connects four bar hip joints 3, and fourConnecting below bar hip joint 3 and have thick link 5, connecting below thick link 5 has four bar knee joints 8, and the side of thick link 5 leads toCross bearing pin 6 connection and have hip joint electric cylinder 4, and hip joint electric cylinder 4 other end is arranged on four bar hip joints 3 by bearing pin 6,The opposite side of thick link 5 is connected by bearing pin 6 knee joint electric cylinder 7, and knee joint electric cylinder 7 other end is by bearing pin 6Being arranged in four bar knee joints 8, connecting below four bar knee joints 8 has shank link 9, and connecting below shank link 9 has four bar anklesJoint 10, shank link 9 is connected by bearing pin 6 near four bar knee joint 8 one end ankle joint electric cylinder 11, and ankle joint is electronicThe bottom of cylinder 11 is connected with four bar ankle joint 10 by bearing pin 6, and four bar ankle joint 10 bottoms are provided with pedal 12.
Additionally, back 2 being provided with backrest 16, backrest 16 middle is provided with back fixation bar 17, backrest 16 bottom twoSide is mounted on back shell 18, and back shell 18 is provided with trough 21, back shell 18 base near one end of backrest 16It is mounted on stretching spring ear 19, driver 20 is installed outside back shell 18.
Additionally, the top of four bar hip joints 3 is provided with back connecting rod 2-1, and four bar hip joints 3 are away from back connecting rod 2-1One end thick link 5 is installed, four bar hip joint 3 sides are connected by bearing pin 6 a hip joint front rod 3-1, and four bar hips closeSave 3 opposite sides and have hip joint back link 3-2 by bearing pin 6 connection.
Additionally, four tops, bar knee joint 8 side are provided with thick link 5, and four bar knee joints 8 are away from thick link 5The other end is provided with shank link 9, and four bar knee joint 8 sides are connected by bearing pin 6 knee joint front rod 8-1, and four bar knee joints closeSave 8 opposite sides and have knee joint back link 8-2 by bearing pin 6 connection.
Additionally, four tops, bar ankle joint 10 side are provided with shank link 9, and four bar ankle joint 10 are away from shank link 9The other end pedal connecting rod 12-1 is installed, four bar ankle joint 10 sides by bearing pin 6 connect have ankle joint front rod 10-1,Four bar ankle joint 10 opposite sides are connected by bearing pin 6 ankle joint back link 10-2.
Additionally, hip joint electric cylinder 4, knee joint electric cylinder 7 and ankle joint electric cylinder 11 are equipped with feed screw nut 22,Feed screw nut 22 side is provided with motor 23, and one end of motor 23 is connected with feed screw nut by Timing Belt 25, motor 23 away fromOne end of Timing Belt is provided with proximity switch 24, and proximity switch 24 is fixed on feed screw nut 22, and the two ends of feed screw nut 22 are equalBearing pin 6 is installed.
Additionally, one end that hip joint electric cylinder 4 is connected with four bar hip joints 3 is provided with the first pressure transducer 13.
Additionally, one end that knee joint electric cylinder 7 is connected with four bar knee joints 8 is provided with the second pressure transducer 14.
Additionally, one end that ankle joint electric cylinder 11 is connected with four bar ankle joint 10 is provided with the 3rd pressure transducer 15.
Additionally, pedal 12 is provided with front sole 26 and rear sole 27, and front sole 26 and rear sole 27 pass through flat spring28 connect, and front sole 26 and rear sole 27 both sides side external surface are equipped with protective layer 29, bottom front sole 26 and rear sole 27Be equipped with metal assembling layer 30, metal assembling layer 30 be arranged over rubber boots bottom 31.
Additionally, front sole 26 being provided with forefoot pressure transducer 32, front sole 26 both sides are mounted on forefootFixed plate 33.
Additionally, rear sole 27 is respectively mounted hind paw fixed plate 34 near the both sides of front sole 26 one end, rear sole 27The other end is provided with heel fixed plate 34, and rear sole 27 is provided with heel pressure sensor near one end of heel fixed plate 3435。
Operation principle: robot body 1 includes that actively joint, subjoint, back 2 and pedal 12 connect, and actively closeJoint includes the stretching and bend of four bar hip joints 3, the abduction of four bar hip joints 3 and interior receipts, the medial rotation of four bar hip joints 3 and rotation is outer andBy actively joint, stretching and bending of four bar knee joints 8, ensures that robot body 1 has the power of abundance, strength and stiffness simultaneously,And reduce axial dimension, subjoint include four bar ankle joint 10 stretch bend and pedal 12 bend, connecting rod includes backConnecting rod 2-1, thick link 5, shank link 9 and pedal connecting rod 12-1, connecting rod not only ensure that rod member rigidity and intensity,Also reducing the weight of rod member, by the regulation to rod member, be adapted to different dressing, back 2 is firm with human upper limbProperty connect part, mainly bear the hardware system such as industrial computer, battery and load device, back be provided with gyroscope in order to distinguishThe heeling condition of others' body upper body, user in use, is fixed on back 2, back 2 internal cell by the present invention above the waistPower and connected by wire thus drive mobile robot lower limb to carry out activity, the letter fed back to by the first pressure transducer 13Number control the output of hip joint electric cylinder 4, drive being synchronized with the movement of hip joint, fed back to by the second pressure transducer 14Signal controls the output of knee joint electric cylinder 7, drives kneed being synchronized with the movement, and is fed back to by the 3rd pressure transducer 15Signal control the output of ankle joint electric cylinder 11, drive being synchronized with the movement, by forefoot pressure transducer 32 of ankle jointThe signal fed back to is to control being synchronized with the movement of front sole 26, after the signal fed back to by heel pressure sensor 35 is controlledBeing synchronized with the movement of sole 27, according to the physical condition of user, it is also possible to adjust further back connecting rod 2-1, thick link 5,Shank link 9 and the stroke of pedal connecting rod 12-1, adjust the spacing between two hip joints, adjusts between two knee jointsSpacing, adjust the spacing between two ankle joint, adjust the size of pedal 12, finally meet the requirement used, really reachTo simple and effective power-assisted purpose.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er QieIn the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matterFrom the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended powerProfit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claimChange is included in the present invention.Should not be considered as limiting involved claim by any reference in claim.