技术领域technical field
本发明涉及新型服务与医疗康复训练机器人领域，具体的说是一种可用于下肢助力及康复训练的可穿戴式下肢外骨骼助力行走机器人机构。The invention relates to the field of new service and medical rehabilitation training robots, in particular to a wearable lower limb exoskeleton assisting walking robot mechanism that can be used for lower limb assisting and rehabilitation training.
背景技术Background technique
据有关部门统计，因交通事故而造成肢体损伤或者神经损伤的人数以及因神经系统疾病或心脑血管疾病造成的偏瘫患者的人数一直呈不断上升的趋势，这类患者除了必要的早期药物治疗和早期手术外，合理的康复训练对于肢体运动功能的恢复和提高也具有非常重要的作用。普通的康复训练通常要在专业护理人员的帮助下才能进行，由于医疗费用昂贵，加上护理人员的匮乏，大多数患者都选择在家自我训练，但是因训练方法不尽合理，许多患者会错过肢体康复的最佳时间，甚至肢体的运动功能得不到有效的恢复。因此，为了有效地帮助肢体损伤者和年老体弱者进行下肢助力及康复训练，研发一种可穿戴式的、人机一体化的智能化康复训练器械是非常必要的。现在有些研究机构已经出开发类似产品，但这些产品普遍存在的缺陷是：结构复杂﹑体积大﹑结构性误差大﹑成本高且能耗高。According to the statistics of relevant departments, the number of limb injuries or nerve injuries caused by traffic accidents and the number of patients with hemiplegia caused by nervous system diseases or cardiovascular and cerebrovascular diseases have been on the rise. In addition to the necessary early drug treatment and In addition to early surgery, reasonable rehabilitation training also plays a very important role in the recovery and improvement of limb motor function. Ordinary rehabilitation training can only be carried out with the help of professional nursing staff. Due to the high cost of medical care and the lack of nursing staff, most patients choose to self-train at home. However, due to unreasonable training methods, many patients will miss limbs. The best time for rehabilitation, even the motor function of the limbs cannot be effectively restored. Therefore, in order to effectively help the physically impaired and the elderly and infirm to perform lower limb assisting and rehabilitation training, it is very necessary to develop a wearable, human-machine integrated intelligent rehabilitation training device. Now some research institutions have developed similar products, but the common defects of these products are: complex structure, large volume, large structural errors, high cost and high energy consumption.
发明内容Contents of the invention
本发明的目的在于提供一种可穿戴式下肢外骨骼助力行走机器人机构，适用于病人下肢助力及康复训练，结构简单﹑成本低且可靠性高，并且有效降低能耗。The purpose of the present invention is to provide a wearable lower extremity exoskeleton assisting walking robot mechanism, which is suitable for patients' lower limb assisting and rehabilitation training, has a simple structure, low cost and high reliability, and effectively reduces energy consumption.
本发明的目的是通过以下技术方案来实现的：The purpose of the present invention is achieved through the following technical solutions:
一种可穿戴式下肢外骨骼助力行走机器人机构，包括踝关节﹑膝关节﹑髋关节﹑小腿支撑组件﹑大腿支撑组件和腰部连接件，其中踝关节通过小腿支撑组件与膝关节连接，膝关节通过大腿支撑组件与髋关节连接，左﹑右两侧的髋关节通过腰部连接件连接，所述踝关节上设有既能沿左右方向转动﹑又能沿前后方向摆动的足底压力传感器，所述膝关节上设有驱动所述小腿支撑组件前后摆动的驱动装置，所述髋关节上设有驱动所述大腿支撑组件前后摆动的驱动装置，所述髋关节可上下摆动地安装在所述腰部连接件的端部。A wearable lower extremity exoskeleton assisted walking robot mechanism, including ankle joints, knee joints, hip joints, calf support components, thigh support components and waist connectors, wherein the ankle joints are connected to the knee joints through the calf support components, and the knee joints pass through The thigh support assembly is connected to the hip joint, and the left and right hip joints are connected through the waist joint. The ankle joint is provided with a plantar pressure sensor that can not only rotate in the left and right directions, but also swing in the front and rear directions. The knee joint is provided with a driving device to drive the lower leg support assembly to swing back and forth, the hip joint is provided with a drive device to drive the thigh support assembly to swing back and forth, and the hip joint is installed on the waist joint so that it can swing up and down. end of the piece.
所述踝关节包括底座、翻转轴、铰接板、弹簧、足底压力传感器和连接块，所述足底压力传感器固装在底座下端，所述底座上端通过翻转轴与所述连接块铰接，所述连接块通过铰接板与所述小腿支撑组件铰接，在所述连接块和小腿支撑组件的下端均设有弹簧固定板，两个弹簧分设于所述小腿支撑组件两侧，且每个弹簧的两端分别与不同的弹簧固定板相连。The ankle joint includes a base, a turning shaft, a hinged plate, a spring, a plantar pressure sensor and a connecting block, the plantar pressure sensor is fixed on the lower end of the base, and the upper end of the base is hinged to the connecting block through the turning shaft. The connection block is hinged to the calf support assembly through a hinge plate, a spring fixing plate is provided at the lower end of the connection block and the calf support assembly, and two springs are respectively arranged on both sides of the calf support assembly, and each spring The two ends are respectively connected with different spring fixing plates.
所述小腿支撑组件包括小腿套筒、小腿调节杆和固定件，其中小腿调节杆插装入小腿套筒中，且所述小腿调节杆通过所述固定件与小腿套筒端部扣合相连固定。The calf support assembly includes a calf sleeve, a calf adjustment rod and a fixing piece, wherein the calf adjustment rod is inserted into the calf sleeve, and the calf adjustment rod is fastened and fixed to the end of the calf sleeve through the fixing member .
所述固定件呈半圆筒状，在所述固定件内部设有凸块，在所述小腿调节杆上设有与固定件内部的凸块相配合的凹槽；所述小腿套筒上设有绑缚板。The fixing part is in the shape of a semi-cylindrical, and a protrusion is provided inside the fixing part, and a groove matching the protrusion inside the fixing part is provided on the calf adjustment rod; the calf sleeve is provided with binding board.
所述膝关节包括驱动装置A、摆动板A、滑块A、滚珠丝杠A、连杆A和安装座A，所述安装座A与大腿支撑组件固连，所述驱动装置A和所述滚珠丝杠A均设置于所述安装座A上且所述滚珠丝杠A通过所述驱动装置A驱动旋转，所述滑块A套装在所述滚珠丝杠A上且所述滑块A内设有与所述滚珠丝杠A配合的丝母，所述滑块A与所述连杆A铰接，所述连杆A与所述摆动板A铰接，所述摆动板A与所述小腿支撑组件固连，所述小腿支撑组件与大腿支撑组件铰接。The knee joint includes a driving device A, a swing plate A, a slider A, a ball screw A, a connecting rod A, and a mounting seat A, and the mounting seat A is fixedly connected with the thigh support assembly, and the driving device A and the The ball screw A is arranged on the mounting seat A and the ball screw A is driven to rotate by the driving device A, the slider A is sleeved on the ball screw A and inside the slider A There is a screw nut matched with the ball screw A, the slider A is hinged with the connecting rod A, the connecting rod A is hinged with the swing plate A, and the swing plate A is supported with the lower leg The components are fixedly connected, and the calf support component is hinged with the thigh support component.
所述安装座A内设有导向轴A，所述滑块A的一端设有供所述导向轴A穿过的通孔；所述小腿支撑组件通过屈伸转轴A与大腿支撑组件铰接，所述屈伸转轴A上设有角度传感器A。A guide shaft A is provided inside the mounting seat A, and one end of the slider A is provided with a through hole for the guide shaft A to pass through; the calf support assembly is hinged to the thigh support assembly through the flexion and extension shaft A, and the An angle sensor A is arranged on the flexion-extension rotating shaft A.
所述大腿支撑组件包括大腿套筒、大腿调节杆和固定件，其中大腿调节杆插装入大腿套筒中，且所述大腿调节杆通过所述固定件与大腿套筒端部扣合相连固定。The thigh support assembly includes a thigh sleeve, a thigh adjustment rod and a fixing piece, wherein the thigh adjustment rod is inserted into the thigh sleeve, and the thigh adjustment rod is fastened and fixed to the end of the thigh sleeve through the fixing piece .
所述固定件呈半圆筒状，在所述固定件内部设有凸块，在所述大腿调节杆上设有与固定件内部的凸块相配合的环形槽；所述大腿套筒上设有绑缚板。The fixing part is in the shape of a semi-cylindrical, and a protrusion is provided inside the fixing part, and an annular groove matching with the protrusion inside the fixing part is provided on the thigh adjustment rod; the thigh sleeve is provided with binding board.
所述髋关节包括驱动装置B、导向轴B、摆动板B、滑块B、滚珠丝杠B、连杆B﹑铰接座B和安装座B，所述安装座B与铰接座B固连并与所述腰部连接件铰接，所述驱动装置B和滚珠丝杠B均安装在所述安装座B上，且所述滚珠丝杠B通过所述驱动装置B驱动旋转，所述滑块B套装在所述滚珠丝杠B上，且所述滑块B内设有与所述滚珠丝杠B配合的丝母，所述滑块B与所述连杆B铰接，所述连杆B与所述摆动板B铰接，所述摆动板B与所述大腿支撑组件固连，所述大腿支撑组件与所述铰接座B铰接。The hip joint includes a driving device B, a guide shaft B, a swing plate B, a slider B, a ball screw B, a connecting rod B, an articulation seat B and an installation seat B, and the installation seat B is fixedly connected to the articulation seat B and Hinged with the waist connector, the driving device B and the ball screw B are installed on the mounting seat B, and the ball screw B is driven to rotate by the driving device B, and the slider B is set On the ball screw B, and the slider B is provided with a nut that cooperates with the ball screw B, the slider B is hinged to the connecting rod B, and the connecting rod B is connected to the connecting rod B. The swing plate B is hinged, the swing plate B is fixedly connected to the thigh support assembly, and the thigh support assembly is hinged to the hinge seat B.
所述安装座B内设有导向轴B，所述滑块B的一端设有供所述导向轴B穿过的通孔；所述大腿支撑组件通过屈伸转轴B与所述铰接座B铰接，所述屈伸转轴B上设有角度传感器B；所述安装座B上设有宽度调节板，所述宽度调节板通过一个摆动连接板与所述腰部连接件相连，其中所述摆动连接板一端固装在所述宽度调节板上，另一端与所述腰部连接件铰接，在所述宽度调节板设有多排用于调节摆动连接板安装位置的安装孔；所述腰部连接件上设有绑缚板。The mounting seat B is provided with a guide shaft B, and one end of the slider B is provided with a through hole for the guide shaft B to pass through; An angle sensor B is provided on the flexion and extension shaft B; a width adjustment plate is provided on the mounting base B, and the width adjustment plate is connected with the waist connector through a swing connecting plate, wherein one end of the swing connecting plate is fixed Installed on the width adjusting plate, the other end is hinged with the waist connecting piece, and the width adjusting plate is provided with multiple rows of mounting holes for adjusting the installation position of the swing connecting plate; the waist connecting piece is provided with a binding Binding board.
本发明的优点与积极效果为：Advantage of the present invention and positive effect are:
1﹑本发明效率高﹑成本低且节能。本发明在驱动关节处，利用驱动装置转轴直接连接滚珠丝杠，并无减速器减速，鉴于滚珠丝杠较高的传动效率，可以最大程度将功率输出，减少损失，进而起到节能的效果。另外，驱动装置没有接减速器，就可以减去这部分开支，有效降低成本。1. The present invention has high efficiency, low cost and energy saving. In the present invention, the rotating shaft of the driving device is used to directly connect the ball screw at the drive joint, without deceleration by a reducer. In view of the high transmission efficiency of the ball screw, the power output can be maximized, the loss can be reduced, and energy saving can be achieved. In addition, if the drive unit is not connected to the reducer, this part of the expenditure can be reduced, effectively reducing the cost.
2﹑本发明结构简单。如果使用齿轮传动方式，由于齿轮传动对齿轮组的中心距安装要求较高，所以需要较为复杂的调心机构，如果使用带传动方式，一般还需要皮带张紧装置，这就增加了结构的复杂程度，本机构由于使用滚珠丝杠传动，可以很好地避免这些问题，大大简化结构。2. The structure of the present invention is simple. If the gear transmission method is used, since the gear transmission has high requirements for the installation of the center distance of the gear set, a more complicated centering mechanism is required. If the belt transmission method is used, a belt tensioning device is generally required, which increases the complexity of the structure. To a certain extent, this mechanism can avoid these problems well and greatly simplify the structure due to the use of ball screw transmission.
3﹑本发明结构可靠性高。相比于齿轮或者带传动的传动方式，如果使用调心装置或者皮带张紧装置，会使得结构繁杂，如果不使用，则齿轮的回差或带传动的两边张紧力不同导致的结构误差较大，本机构采用曲柄滑块结构，连接处均为铰接，使机构运行时几乎没有结构性误差和传动不稳定等情况。3. The structure of the present invention has high reliability. Compared with the transmission mode of gear or belt transmission, if the self-aligning device or belt tensioning device is used, the structure will be complicated. If not used, the structural error caused by the difference in the gear's hysteresis or the tension on both sides of the belt transmission will be relatively large. Large, the mechanism adopts a crank slider structure, and the joints are all hinged, so that there are almost no structural errors and transmission instability when the mechanism is running.
附图说明Description of drawings
图1为本发明的结构示意图，Fig. 1 is a structural representation of the present invention,
图2为图1中踝关节的结构示意图，Fig. 2 is the schematic diagram of the structure of the ankle joint in Fig. 1,
图3为图1中小腿支撑组件的结构示意图，Fig. 3 is a structural schematic diagram of the calf support assembly in Fig. 1,
图4为图1中膝关节的结构示意图，Fig. 4 is a schematic diagram of the structure of the knee joint in Fig. 1,
图5为图1中大腿支撑组件的结构示意图。Fig. 5 is a structural schematic diagram of the thigh support assembly in Fig. 1 .
图6为图1中髋关节的结构示意图。FIG. 6 is a schematic structural diagram of the hip joint in FIG. 1 .
其中，1为踝关节，2为膝关节，3为髋关节，4A为驱动装置A，4B为驱动装置B,5为绑缚板，6为小腿支撑组件，7为大腿支撑组件，8为腰部连接件，9为底座，10为翻转轴，11为铰接板，12为屈伸转轴，13为弹簧，14为弹簧固定板，15为足底压力传感器，16为小腿套筒，17为小腿调节杆，18为固定件，19A为导向轴A，20A为摆动板A，21A为滑块A，22A为滚珠丝杠A，23A为连杆A，24A为铰接座A，25A为角度传感器A，19B为导向轴B，20B为摆动板B，21B为滑块B，22B为滚珠丝杠B，23B为连杆B，24B为铰接座B，25B为角度传感器B,26为屈伸转轴A，27为大腿套筒，28为大腿调节杆，29为屈伸转轴B，30为宽度调节板，31为摆动连接板，32为连接块，33为凹槽，34为侧板。Among them, 1 is the ankle joint, 2 is the knee joint, 3 is the hip joint, 4A is the driving device A, 4B is the driving device B, 5 is the binding plate, 6 is the calf support assembly, 7 is the thigh support assembly, and 8 is the waist Connectors, 9 is the base, 10 is the turning shaft, 11 is the hinge plate, 12 is the flexion and extension shaft, 13 is the spring, 14 is the spring fixing plate, 15 is the plantar pressure sensor, 16 is the calf sleeve, 17 is the calf adjustment rod , 18 is the fixing piece, 19A is the guide shaft A, 20A is the swing plate A, 21A is the slider A, 22A is the ball screw A, 23A is the connecting rod A, 24A is the hinge seat A, 25A is the angle sensor A, 19B 20B is the swing plate B, 21B is the slider B, 22B is the ball screw B, 23B is the connecting rod B, 24B is the hinge seat B, 25B is the angle sensor B, 26 is the flexion and extension shaft A, 27 is Thigh sleeve, 28 is a thigh adjustment rod, 29 is a flexion and extension rotating shaft B, 30 is a width adjustment plate, 31 is a swing connecting plate, 32 is a connecting block, 33 is a groove, and 34 is a side plate.
具体实施方式Detailed ways
下面结合附图对本发明作进一步详述。The present invention will be described in further detail below in conjunction with the accompanying drawings.
如图1所示，本发明包括踝关节1﹑膝关节2﹑髋关节3﹑小腿支撑组件6﹑大腿支撑组件7和腰部连接件8，其中踝关节1通过小腿支撑组件6与膝关节2连接，膝关节2通过大腿支撑组件7与髋关节3连接，左﹑右两侧的髋关节3通过腰部连接件8连接，所述踝关节1上设有既可以沿左右方向转动﹑又可以沿前后方向摆动的足底压力传感器15，所述膝关节2上设有驱动所述小腿支撑组件6前后摆动的驱动装置4，所述髋关节3设有驱动所述大腿支撑组件7前后摆动的驱动装置4，所述髋关节3可上下摆动地安装在所述腰部连接件8的端部。As shown in Figure 1, the present invention includes ankle joint 1, knee joint 2, hip joint 3, calf support assembly 6, thigh support assembly 7 and waist connector 8, wherein ankle joint 1 is connected with knee joint 2 through calf support assembly 6 , the knee joint 2 is connected to the hip joint 3 through the thigh support assembly 7, and the hip joints 3 on the left and right sides are connected through the waist connecting piece 8. direction swinging plantar pressure sensor 15, the knee joint 2 is provided with a driving device 4 that drives the calf support assembly 6 to swing back and forth, and the hip joint 3 is provided with a drive device that drives the thigh support assembly 7 to swing back and forth 4. The hip joint 3 is mounted on the end of the waist connecting member 8 so as to swing up and down.
如图2所示，所述踝关节1包括底座9、翻转轴10、铰接板11、屈伸转轴12、弹簧13、弹簧固定板14﹑足底压力传感器15和连接块32，其中足底压力传感器15固装在底座9下端，所述底座9上端通过翻转轴10与连接块32铰接，所述底座9绕所述翻转轴10转动即带动足底压力传感器15沿左右方向转动，所述小腿支撑组件6上设有小腿套筒16，所述连接块32通过铰接板11与所述小腿套筒16相连，其中所述铰接板11的一端通过三个螺钉固装在所述连接块32上，另一端通过屈伸转轴12铰接在所述小腿套筒16的下端部，所述铰接板11绕所述屈伸转轴12旋转即带动所述连接块32﹑底座9和足底压力传感器15一起沿前后方向摆动，在所述连接块32和小腿套筒16的下端均设有弹簧固定板14，两个弹簧13分设于所述小腿套筒16两侧，且每个弹簧13的两端分别与连接块32上的弹簧固定板14以及小腿套筒16上的弹簧固定板14相连，所述弹簧13可以在小腿支撑组件6前后摆动(即屈/伸转动)时缓冲冲击力，所述足底压力传感器15与实时计算机控制系统连接，反馈足底压力变化信号。本实施例中，所述足底压力传感器15的型号为IMS-00005-C40，生产厂家为艾动集团有限公司。As shown in Figure 2, the ankle joint 1 includes a base 9, a turning shaft 10, a hinge plate 11, a flexion and extension shaft 12, a spring 13, a spring fixing plate 14, a plantar pressure sensor 15 and a connecting block 32, wherein the plantar pressure sensor 15 is fixed on the lower end of the base 9, the upper end of the base 9 is hinged with the connecting block 32 through the turning shaft 10, the rotation of the base 9 around the turning shaft 10 drives the plantar pressure sensor 15 to rotate in the left and right direction, and the calf supports The component 6 is provided with a shank sleeve 16, and the connecting block 32 is connected to the shank sleeve 16 through a hinge plate 11, wherein one end of the hinge plate 11 is fixed on the connecting block 32 by three screws, The other end is hinged on the lower end of the calf sleeve 16 through the flexion and extension shaft 12, and the hinge plate 11 rotates around the flexion and extension shaft 12 to drive the connecting block 32, the base 9 and the plantar pressure sensor 15 together in the forward and backward direction. Swing, the lower ends of the connecting block 32 and the lower leg sleeve 16 are provided with a spring fixing plate 14, two springs 13 are respectively arranged on both sides of the lower leg sleeve 16, and the two ends of each spring 13 are connected with the connecting block respectively. The spring fixing plate 14 on the 32 and the spring fixing plate 14 on the calf sleeve 16 are connected, and the spring 13 can buffer the impact force when the calf support assembly 6 swings back and forth (that is, flexion/extension rotation), and the plantar pressure sensor 15 is connected with the real-time computer control system to feed back the plantar pressure change signal. In this embodiment, the model of the plantar pressure sensor 15 is IMS-00005-C40, and the manufacturer is Aidong Group Co., Ltd.
如图3所示，所述小腿支撑组件6包括小腿套筒16、小腿调节杆17和固定件18，其中小腿调节杆17插装入小腿套筒16中，所述小腿调节杆17通过固定件18与所述小腿套筒16固连。所述固定件18呈半圆筒状并可扣合在所述小腿套筒16远离踝关节1的一端，小腿调节杆17插入小腿套筒16内的长度可调，当小腿调节杆17的插入长度确定后，所述固定件18与所述小腿套筒16的端部扣合固定所述小腿调节杆17，其中所述固定件18通过螺钉固定在小腿套筒16上，在所述固定件18内部设有凸块，在所述小腿调节杆17上设有多个可以与固定件18内部的凸块相配合的凹槽33，固定件18内部的凸块嵌入小腿调节杆17上相应的凹槽中限制小腿调节杆17移动。As shown in Figure 3, the shank support assembly 6 includes a shank sleeve 16, a shank adjusting rod 17 and a fixing member 18, wherein the shank adjusting rod 17 is inserted into the shank sleeve 16, and the shank adjusting rod 17 passes through the fixing member 18 is fixedly connected with described shank sleeve 16. The fixing part 18 is semi-cylindrical and can be fastened on the end of the calf sleeve 16 away from the ankle joint 1. The length of the calf adjustment rod 17 inserted into the calf sleeve 16 is adjustable. When the insertion length of the calf adjustment rod 17 is After being determined, the fixing member 18 is fastened with the end of the calf sleeve 16 to fix the calf adjustment rod 17, wherein the fixing member 18 is fixed on the calf sleeve 16 by screws, and the fixing member 18 There are protrusions inside, and a plurality of grooves 33 that can cooperate with the protrusions inside the fixing part 18 are provided on the calf adjustment rod 17, and the protrusions inside the fixing part 18 are embedded in the corresponding concave holes on the calf adjustment rod 17. The movement of the calf adjustment rod 17 is restricted in the groove.
如图4所示，所述膝关节2包括驱动装置A4A、导向轴A19A、摆动板A20A、滑块A21A、滚珠丝杠A22A、连杆A23A、角度传感器A25A、屈伸转轴26和安装座A。其中，驱动装置A4A﹑导向轴A19A、滑块A21A和滚珠丝杠A22A均设置于安装座上，所述安装座A包括两侧的侧板34和上﹑下两块安装板，两侧板34的上﹑下两端分别通过上﹑下侧的两块安装板相连，在大腿支撑组件7上设有大腿套筒27，在所述大腿套筒27与所述膝关节2相连的一端设有铰接座A24A，所述安装座A与所述铰接座A24A固连，所述驱动装置A4A为直流有刷电机，所述驱动装置A4A安装在所述安装座A的上安装板上，所述滚珠丝杠A22A和导向轴A19A平行固设于所述安装座A中，且所述滚珠丝杠A22A通过所述驱动装置A4A驱动旋转，所述滑块A21A上设有两个分别供所述滚珠丝杠A22A和导向轴A19A穿过的通孔，所述滑块A21A即套装在所述滚珠丝杠A22A和导向轴A19A上，且在所述滑块A21A内设有与所述滚珠丝杠A22A配合的丝母，驱动装置A4A驱动滚珠丝杠A22A转动即驱动所述滑块A21A沿所述滚珠丝杠A22A移动，所述导向轴A19A起到平衡所述滚珠丝杠A22A的径向力以及导向的作用，所述滑块A21A靠近所述大腿套筒27一端与所述连杆A23A的一端铰接，所述连杆A23A的另一端与所述摆动板A20A的一端铰接，所述摆动板A20A呈倒放的L型，所述摆动板A20A的另一端与所述小腿支撑组件6上的小腿调节杆17固连，所述小腿调节杆17远离所述踝关节1的一端通过屈伸转轴A26与大腿套筒27上的铰接座A24A铰接，所述滑块A21A沿滚珠丝杠A22A升降滑动，进而通过所述连杆A23A和摆动板A20A驱动所述小腿调节杆17绕所述屈伸转轴A26前后摆动，在所述屈伸转轴A26上设有用来测量小腿支撑组件6摆动角度的角度传感器A25A，本实施例中，所述角度传感器A25A的型号为R24HS，生产厂家为深圳市米诺电子有限公司。As shown in FIG. 4 , the knee joint 2 includes a driving device A4A, a guide shaft A19A, a swing plate A20A, a slider A21A, a ball screw A22A, a connecting rod A23A, an angle sensor A25A, a flexion and extension shaft 26 and a mount A. Among them, the driving device A4A, the guide shaft A19A, the slider A21A and the ball screw A22A are all arranged on the mounting base, and the mounting base A includes side plates 34 on both sides and two upper and lower mounting plates, the two side plates 34 The upper and lower ends of the upper and lower sides are respectively connected by two mounting plates on the upper and lower sides. A thigh sleeve 27 is provided on the thigh support assembly 7, and a thigh sleeve 27 is provided at the end where the thigh sleeve 27 is connected with the knee joint 2. The hinged seat A24A, the mounting seat A is fixedly connected with the hinged seat A24A, the driving device A4A is a DC brushed motor, the driving device A4A is installed on the upper mounting plate of the mounting seat A, and the ball The screw A22A and the guide shaft A19A are fixed in the mounting seat A in parallel, and the ball screw A22A is driven to rotate by the driving device A4A, and the slider A21A is provided with two ball screw shafts for the ball screw A21A. The through hole through which the rod A22A and the guide shaft A19A pass, the slider A21A is set on the ball screw A22A and the guide shaft A19A, and a screw nut, the driving device A4A drives the ball screw A22A to rotate, that is, drives the slider A21A to move along the ball screw A22A, and the guide shaft A19A balances the radial force of the ball screw A22A and guides Function, the end of the slider A21A close to the thigh sleeve 27 is hinged with one end of the connecting rod A23A, the other end of the connecting rod A23A is hinged with one end of the swing plate A20A, and the swing plate A20A is inverted L-shaped, the other end of the swing plate A20A is fixedly connected to the calf adjustment rod 17 on the calf support assembly 6, and the end of the calf adjustment rod 17 away from the ankle joint 1 is connected to the thigh sleeve through the flexion and extension shaft A26. The hinge seat A24A on the cylinder 27 is hinged, and the slider A21A slides up and down along the ball screw A22A, and then drives the calf adjustment rod 17 to swing back and forth around the flexion and extension axis A26 through the connecting rod A23A and the swing plate A20A. The flexion and extension shaft A26 is provided with an angle sensor A25A for measuring the swing angle of the calf support assembly 6. In this embodiment, the model of the angle sensor A25A is R24HS, and the manufacturer is Shenzhen Minuo Electronics Co., Ltd.
如图5所示，所述大腿支撑组件7包括大腿套筒27、大腿调节杆28和固定件18，其中大腿调节杆28插装入大腿套筒27中，且所述大腿调节杆28通过固定件18与大腿套筒27固连。所述大腿调节杆28与大腿套筒27的连接方式和小腿调节杆17与小腿套筒16的连接方式相同，但在所述大腿调节杆(28)上设有与固定件(18)内部的凸块相配合的环形槽，这样固定后大腿调节杆28和大腿套筒27还可以相对转动。As shown in Figure 5, the thigh support assembly 7 includes a thigh sleeve 27, a thigh adjustment rod 28 and a fixing member 18, wherein the thigh adjustment rod 28 is inserted into the thigh sleeve 27, and the thigh adjustment rod 28 is fixed by Part 18 is fixedly connected with thigh sleeve 27. The connection mode of described thigh adjustment rod 28 and thigh sleeve 27 is the same as the connection mode of shank adjustment rod 17 and shank sleeve 16, but is provided with on described thigh adjustment rod (28) and the inside of fixing part (18). The annular groove that the protrusion matches, the thigh adjustment lever 28 and the thigh sleeve 27 can also rotate relatively after being fixed like this.
如图6所示，所述髋关节3包括驱动装置B4B、导向轴B19B、摆动板B20B、滑块B21B、滚珠丝杠B22B、连杆B23B、铰接座B24B、角度传感器B25B、屈伸转轴B29和安装座B，所述安装座B包括两侧的侧板34和上﹑下两块安装板，两侧板34的上﹑下两端分别通过上﹑下侧的两块安装板相连，所述安装座B与铰接座B24B固连，所述驱动装置B4B为直流有刷电机，所述驱动装置B4B安装在所述安装座B的上安装板上，所述导向轴B19B和滚珠丝杠B22B平行固设于所述安装座B中，且所述滚珠丝杠B22B通过所述驱动装置B4B驱动旋转，所述滑块B21B上设有两个分别供所述滚珠丝杠B22B和导向轴B19B穿过的通孔，所述滑块B21B即套装在所述导向轴B19B和滚珠丝杠B22B上，在所述滑块B21B内设有与所述滚珠丝杠B22B配合的丝母，驱动装置B4B驱动滚珠丝杠B22B转动即驱动所述滑块B21B沿所述滚珠丝杠B22B移动，所述导向轴B19B起到平衡所述滚珠丝杠B22B的径向力以及导向的作用，所述滑块B21B靠近所述铰接座B24B的一端与所述连杆B23B的一端铰接，所述连杆B23B的另一端与所述摆动板B20B的一端铰接，所述摆动板B20B呈倒放的L型，所述摆动板B20B的另一端与所述大腿支撑组件7上的大腿调节杆28固连，且所述大腿调节杆28远离所述膝关节2的一端通过屈伸转轴B29与所述铰接座B24B铰接，所述滑块B21B沿滚珠丝杠B22B升降滑动并通过所述连杆B23B和摆动板B20B驱动所述大腿调节杆28绕所述屈伸转轴B29前后摆动，且在所述屈伸转轴B29上设有用来测量大腿支撑组件7摆动角度的角度传感器B25B。在所述安装座B上设有宽度调节板30，所述宽度调节板30通过摆动连接板31与所述腰部连接件8的端部相连，其中所述摆动连接板31一端固装在所述宽度调节板30上，另一端与所述腰部连接件8铰接，在所述宽度调节板30上设有多排用于调节摆动连接板31安装位置(即调节宽度)的安装孔。As shown in Figure 6, the hip joint 3 includes a driving device B4B, a guide shaft B19B, a swing plate B20B, a slider B21B, a ball screw B22B, a connecting rod B23B, a hinged seat B24B, an angle sensor B25B, a flexion and extension shaft B29 and installation Seat B, the installation seat B includes side plates 34 on both sides and two upper and lower installation plates, the upper and lower ends of the two side plates 34 are respectively connected by the upper and lower two installation plates, the installation The seat B is fixedly connected with the hinged seat B24B, the driving device B4B is a DC brushed motor, the driving device B4B is installed on the upper mounting plate of the mounting seat B, and the guide shaft B19B and the ball screw B22B are fixed in parallel. It is arranged in the mounting seat B, and the ball screw B22B is driven to rotate by the driving device B4B, and the slider B21B is provided with two holes through which the ball screw B22B and the guide shaft B19B respectively pass. through holes, the slider B21B is set on the guide shaft B19B and the ball screw B22B, a screw nut matching the ball screw B22B is arranged in the slider B21B, and the driving device B4B drives the ball screw The rotation of the bar B22B drives the slider B21B to move along the ball screw B22B, the guide shaft B19B plays the role of balancing the radial force and guiding of the ball screw B22B, and the slider B21B is close to the One end of the hinge seat B24B is hinged to one end of the connecting rod B23B, and the other end of the connecting rod B23B is hinged to one end of the swinging plate B20B. The swinging plate B20B is L-shaped upside down. The swinging plate B20B The other end of the thigh support assembly 7 is fixedly connected to the thigh adjustment rod 28, and the end of the thigh adjustment rod 28 away from the knee joint 2 is hinged to the hinge seat B24B through the flexion and extension shaft B29, and the slider B21B lifts and slides along the ball screw B22B and drives the thigh adjustment rod 28 to swing back and forth around the flexion and extension shaft B29 through the connecting rod B23B and the swing plate B20B, and a thigh support assembly is installed on the flexion and extension shaft B29 7 Angle sensor B25B for swing angle. A width adjustment plate 30 is provided on the mounting base B, and the width adjustment plate 30 is connected to the end of the waist connecting piece 8 through a swing connecting plate 31, wherein one end of the swing connecting plate 31 is fixed on the On the width adjusting plate 30 , the other end is hinged to the waist connector 8 , and a plurality of rows of mounting holes for adjusting the installation position of the swing connecting plate 31 (ie adjusting the width) are provided on the width adjusting plate 30 .
在所述腰部连接件8﹑小腿套筒16和大腿套筒27上均设有绑缚板5。Binding plates 5 are all provided on the waist connector 8 , the calf sleeve 16 and the thigh sleeve 27 .
本发明的工作原理为：Working principle of the present invention is:
本发明在使用时，使用者的脚底与踝关节1上的足底压力传感器15相抵，然后根据使用者的身体情况，调整小腿调节杆17和大腿调节杆28的伸缩量以及两个髋关节3的间距，之后通过绑缚板5将本发明和人体绑接在一起，人还需借助拐杖维持平衡，接着由电源供电使各个驱动装置4转动，从而带动人体下肢进行活动，并通过角度传感器和足底压力传感器15反馈回的信号来控制各个驱动装置4的输出，达到控制步态的目的。When the present invention is in use, the sole of the user's foot is offset against the plantar pressure sensor 15 on the ankle joint 1, and then according to the physical condition of the user, the expansion and contraction of the calf adjustment rod 17 and the thigh adjustment rod 28 and the two hip joints 3 are adjusted. Afterwards, the present invention and the human body are bound together through the binding plate 5, and the person needs to maintain balance with crutches, and then each driving device 4 is powered by the power supply to rotate, thereby driving the lower limbs of the human body to move, and through the angle sensor and The signal fed back by the plantar pressure sensor 15 controls the output of each driving device 4 to achieve the purpose of controlling the gait.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510970914.5ACN106901947B (en) | 2015-12-22 | 2015-12-22 | Wearable lower limb exoskeleton assisted walking robot mechanism |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510970914.5ACN106901947B (en) | 2015-12-22 | 2015-12-22 | Wearable lower limb exoskeleton assisted walking robot mechanism |
| Publication Number | Publication Date |
|---|---|
| CN106901947A CN106901947A (en) | 2017-06-30 |
| CN106901947Btrue CN106901947B (en) | 2023-08-18 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510970914.5AActiveCN106901947B (en) | 2015-12-22 | 2015-12-22 | Wearable lower limb exoskeleton assisted walking robot mechanism |
| Country | Link |
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| CN (1) | CN106901947B (en) |
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| CN101589983A (en)* | 2009-06-26 | 2009-12-02 | 北京工业大学 | Wearable lower limb exoskeleton device |
| US7628766B1 (en)* | 2003-10-29 | 2009-12-08 | The Regents Of The University Of California | Lower extremity enhancer |
| CN102160839A (en)* | 2011-05-30 | 2011-08-24 | 天津科技大学 | Self-contained lower limb walking aid |
| CN102499859A (en)* | 2011-11-08 | 2012-06-20 | 上海交通大学 | Lower limb exoskeleton walking rehabilitation robot |
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| KR101248046B1 (en)* | 2012-10-16 | 2013-03-27 | 엘아이지넥스원 주식회사 | Ankle joint device and wearable robot including same |
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| CN105105973A (en)* | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN205198395U (en)* | 2015-12-22 | 2016-05-04 | 中国科学院沈阳自动化研究所 | Wearable low limbs ectoskeleton helping hand walking robot mechanism |
| Publication number | Priority date | Publication date | Assignee | Title |
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| US7628766B1 (en)* | 2003-10-29 | 2009-12-08 | The Regents Of The University Of California | Lower extremity enhancer |
| CN101589983A (en)* | 2009-06-26 | 2009-12-02 | 北京工业大学 | Wearable lower limb exoskeleton device |
| CN102160839A (en)* | 2011-05-30 | 2011-08-24 | 天津科技大学 | Self-contained lower limb walking aid |
| CN102499859A (en)* | 2011-11-08 | 2012-06-20 | 上海交通大学 | Lower limb exoskeleton walking rehabilitation robot |
| CN102556199A (en)* | 2011-12-29 | 2012-07-11 | 北京航空航天大学 | Multi-degree-of-freedom flexible foot plate for humanoid robot |
| CN102871822A (en)* | 2012-09-28 | 2013-01-16 | 中国科学院深圳先进技术研究院 | Portable and wearable exoskeleton robot for lower limb recovery and walking aid |
| KR101248046B1 (en)* | 2012-10-16 | 2013-03-27 | 엘아이지넥스원 주식회사 | Ankle joint device and wearable robot including same |
| EP2923685A1 (en)* | 2014-03-27 | 2015-09-30 | Industrial Technology Research Institute | Walking assist device |
| CN105105973A (en)* | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN205198395U (en)* | 2015-12-22 | 2016-05-04 | 中国科学院沈阳自动化研究所 | Wearable low limbs ectoskeleton helping hand walking robot mechanism |
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