A kind of wearable exoskeleton lower limb rehabilitation robotTechnical field
The invention belongs to healing robot field, it is related to a kind of wearable exoskeleton lower limb rehabilitation robot.
Background technology
In recent years, as Aging Problem is gradually protruded, elderly population proportion gradually increases, simultaneously as peopleLiving environment, food security by different degrees of pollution and destruction, hemiplegia, apoplexia disease patient are more and more.ForThese are present on limbs for the crowd of inconvenience, traditional rehabilitation training mode not only a large amount of labor intensives, to rehabilitation's teacherTechnical merit also has very high requirement, therefore, and domestic and international many scholars are progressively exploring wearable exoskeleton rehabilitation robotDesign and manufacture.Wearable exoskeleton rehabilitation robot is that one kind possesses co-operating ability and can realize simulation human body fortuneDynamic machine, the working strength that it can bear is high, and performance is stable, motion is standardized by limb assisting, with regard to that can reachTo the purpose for promoting the locomitivity and control ability of patient to recover.Therefore, wearable exoskeleton rehabilitation robot is in medical healthApplication in terms of refreshment white silk, synkinesia and body-support is widely paid close attention to.With the continuous hair of ectoskeleton technologyExhibition, people are to the wearing comfort of wearable exoskeleton rehabilitation robot and the requirement more and more higher of rehabilitation performance, except needingWant outside lightweight, powerful ectoskeleton, the design of exoskeleton rehabilitation robot should more consider man-machine interactionCan, correctly alignd with the lower limb for ensureing ectoskeleton and people, this be it is not only most important to comfort level, and comparatively safe, becauseSerious pain can be caused during for dislocation, particularly high torque.
The content of the invention
The technical problem to be solved in the present invention：The existing wearable healing robot free degree of most domestic is very few, does not haveThe retractility having in view of human muscle can cause limbs in motion, and limbs and joint can produce certain deviation, also, domesticSimple in construction generally for making in existing design, the driving number used is less, therefore is typically to link between several joints, those joints not driven can only could be moved under the drive in other joint for having a driving, so that when there is single degree of freedomDuring the rehabilitation demands of degree, existing mechanism can not successfully realize the action to specific joint, influence the effect of rehabilitation.This hairBright to provide a kind of wearable exoskeleton lower limb rehabilitation robot, design focuses on the adaptivity of robot, in hip joint andMicro-adjusting mechanism is designed with knee joint, the rehabilitation demands of the single degree of freedom can be met, the action to particular joint is realized so that suffered fromMore adapted to after person's wearing robot, more comfortably, substantially reduce the probability of patient's dislocation in rehabilitation exercise, effectively facilitate troubleThe recovery of person's locomitivity and control ability.
Technical scheme is as follows：
A kind of wearable exoskeleton lower limb rehabilitation robot, including supporting mechanism, frame, hip joint adaptive structure, kneeJoint adaptive structure and ankle joint structure；
The supporting mechanism includes mechanical foot plate support and the support of waist hip；The mechanical foot plate support is a treadmill,For supporting mechanical sole, and ensure that robot is constant relative to the horizontal level of frame when performing walking movement；
The waist hip support includes waling stripe mechanism and frame；Waling stripe mechanism left end is connected with frame, rightEnd is connected with waist crotch, and the waling stripe mechanism is hinged by two parallelogram linkages and formed, and described parallel fourSide shape linkage is up-down structure, and upper structure is a hydraulic stem, and lower structure is two load-bearing connecting rods, the hydraulic stem and instituteState load-bearing connecting rod by being hinged with component left side position to be connected, the component left-hand component is in cuboid strip, right-hand component is inSwallow-tail form, the swallow-tail form part is movably connected on chute；The parallelogram sturcutre can be by controlling the length of hydraulic stemThe horizontal level of waist crotch part is adjusted, to ensure that exoskeleton mechanism coronal-plane keeps flat with frame during rehabilitation exerciseOK, so as to improve man-machine adaptability of the mechanism when body gait is moved；The frame is formed by fixedly connecting by two parts up and down,Bottom is divided into cuboid platy structure, and top is divided into cuboid column structure, and its top is provided with dovetail between medium positionThe chute of shape, for connecting waling stripe mechanism；When patient, which is worn by healing robot, carries out rehabilitation exercise, due to hip jointHeight can change with thigh and bending and stretching for shank, therefore can move up and down to adjust in chute by waling stripe mechanismThe height of whole lower limb rehabilitation robot；
The hip joint adaptive structure is mainly made up of motor, waist hip fixture, mounting seat, connecting rod and link；InstituteWaist hip fixture is stated for hemicycle angular moment shape；The mounting seat is made up of symmetrical two pieces of circular slabs, the circular slabRear end is fixedly connected with the first link, and front end is fixedly connected with the second link；First link and the second linkIt is swallow-tail form, the first link is hinged with waling stripe mechanism, the second link is fixedly connected with waist hip fixture；Two pieces of circlesThe circle centre position of shape plate is also devised with connecting rod and passed through, and the connecting rod is fixed on two circular slabs, and the body of rod of connecting rod is cylinderShape, two ends are tabular, are provided with the first motor and connecting rod, and first motor control realizes bending and stretching and taking down the exhibits for hip joint, instituteState the connecting rod other end and parallelogram micromatic setting is installed, the micromatic setting left-hand component is provided with the second motor, describedSecond motor control micromatic setting, adjusts the error that flexion and extension and outreach adduction campaign are produced in sagittal plane；The fine settingDevice right-hand component is provided with the first portable plate, and first portable plate is right-angled trapezium shape, and it connects hip joint rotating mechanism,The hip joint rotating mechanism is to rotate central authority outside double claw types, and its left-hand component is provided with the 3rd motor, the 3rd electricityMachine controls the error that inward turning and outward turning campaign are produced in hip joint rotating mechanism, adjustment coronal-plane, the hip joint rotating mechanismThe right edge is connected to thigh plate upper end by the second portable plate；
It is usually two knee joint link levers, i.e. one degree of freedom in existing design, in the knee design of healing robotRevolute, knee joint is firmly fixed to a certain position in space by this design, but in actual motion, limbs and machineryThe central shaft of leg can not remain alignment, when people limbs and robot lower limb central shaft produce deviation when, robot meetingA torque rotated against is produced to the joint of human body, pulling for muscle or joint can be even caused when torque is excessive, therefore,Knee design is an adaptive structure by a kind of wearable exoskeleton lower limb rehabilitation robot of the present invention, with two parallel fourSide shape structure replaces two knee joint link levers；
The knee joint adaptive structure is main by thigh plate, thigh fixture, motor, knee joint cushion structure, shankPlate and shank fixture composition；The thigh fixture is fixed on thigh plate lower end close to middle position by pin, describedThigh plate lower end is connected to knee joint cushion structure upper end, and the buffer structure is the side structure of double parallel four, This structure increasesThe kneed free degree so that the space bit of thigh and shank has been equipped with certain cushion space, so that knee joint can be effectiveSuffered impact during kicking motion, adds the kneed free degree, improves the adaptive power of machine human knee joint；The thighThe 4th motor is also equipped with plate lower end connection knee joint cushion structure, the 4th motor is used to control knee joint buffering knotStructure；
The ankle joint structure is the structure of two frees degree, mainly by ankle-joint plate, ankle fixture, ankle swing component and machineTool sole is constituted, and the ankle-joint plate upper end is connected to shank version, and bottom is provided with ankle fixture, and installation place is also associated with ankle pendulumMoving part, the ankle swing component is fixedly connected with mechanical sole；Because healing robot is to carry out rehabilitation training on a treadmill, noCan occur the situation of the impacts such as Uneven road, and range of movement is small, so ankle-joint will not produce raw eccentricity issues, therefore need notDesign is finely adjusted to ankle joint structure.
The beneficial effects of the invention are as follows：A kind of wearable exoskeleton lower limb rehabilitation robot of the present invention, design focuses on machineThe adaptivity of device people, micro-adjusting mechanism is designed with hip joint and knee joint, can meet the rehabilitation demands of the single degree of freedom, realNow to the action of particular joint so that more adapted to after patient's wearing robot, more comfortably, substantially reduce patient in rehabilitation exerciseThe probability of dislocation, effectively facilitates the recovery of patient motion ability and control ability.
Brief description of the drawings
Fig. 1 is a kind of wearable exoskeleton lower limb rehabilitation robot overall structure diagram of the present invention.
Fig. 2 is a kind of wearable exoskeleton lower limb rehabilitation robot waist hip supporting construction schematic diagram of the present invention.
Fig. 3 is a kind of wearable exoskeleton lower limb rehabilitation robot waling stripe mechanism structure schematic diagram of the present invention.
Fig. 4 is a kind of wearable exoskeleton lower limb rehabilitation robot hip joint adaptive structure schematic diagram of the present invention.
Fig. 5 is a kind of wearable exoskeleton lower limb rehabilitation robot knee joint adaptive structure schematic diagram of the present invention.
Fig. 6 is a kind of wearable exoskeleton lower limb rehabilitation robot ankle joint structure schematic diagram of the present invention.
Description of reference numerals：1st, frame；2nd, waling stripe mechanism；3rd, the first link；4th, the second link；5th, hip jointAdaptive structure；6th, knee joint adaptive structure；7th, ankle joint structure；8th, treadmill；9th, chute；10th, hydraulic stem；11st, load-bearingConnecting rod；12nd, component；13rd, circular slab；14th, connecting rod；15th, the first motor；16th, hip joint connecting rod；17th, the second motor；18th,One portable plate；19th, the 3rd motor；20th, hip joint rotating mechanism；21st, the second portable plate；22nd, waist hip fixture；23rd, thigh plate；24th, the 4th motor；25th, calf plate；26th, ankle-joint plate；27th, thigh fixture；28th, knee joint cushion structure；29th, shank is fixedPart；30th, ankle fixture；31st, ankle swing component；32nd, mechanical sole.
Embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description：
The present invention includes supporting mechanism, frame 1, hip joint adaptive structure 5, knee joint adaptive structure 6 and ankle-jointStructure 7；The supporting mechanism includes mechanical foot plate support and the support of waist hip, and the mechanical foot plate support is a treadmill 4, instituteStating the support of waist hip includes waling stripe mechanism 2 and frame 1, and the left end of waling stripe mechanism 2 is installed into chute by component 129, realization is flexibly connected with frame 1, and right-hand member and the first link 3 are hinged fixation, and the first link 3 is fixedly connected on installationSeat, the mounting seat is made up of symmetrical two pieces of circular slabs 13, and the first link 3 is fixedly connected on the rear end of circular slab 13,Realize the connection of waling stripe mechanism 2 and hip joint adaptive structure 5；The front end of the circular slab 13 is fixedly connected on waist hip and consolidatedDetermine part 21, the circle centre position of circular slab 13 has connecting rod 14 to pass through, and be fixed on two circular slabs 13, the two ends of connecting rod 14 peaceEquipped with the first motor 15 and hip joint connecting rod 16, the other end of hip joint connecting rod 16 is provided with parallelogram micromatic setting,The micromatic setting left-hand component is provided with the second motor 17, and right-hand component is provided with the first portable plate 18, and the portable plate is anotherOne end is connected to hip joint rotating mechanism 20, and the left-hand component of hip joint rotating mechanism 20 is provided with the 3rd motor 19, the rightEdge is connected to 23 upper ends of thigh version by the second portable plate 21, and the lower end of thigh plate 23 is provided with close to middle positionThigh fixture 27, lower end is connected to the upper end of knee joint cushion structure 28, and junction is provided with the 4th motor 24, and the knee is closedSection buffer structure 28 lower end is connected to the top of calf plate 25, and following close to junction is provided with shank fixture 29, described smallThe lower end of leg plate 25 is connected to ankle-joint plate 26, and the ankle-joint plate bottom is provided with ankle fixture 30, and installation place is also associated with ankleSwing component 31, the ankle swing component 31 is fixedly connected with mechanical sole 32.
During wearing, waist hip fixture 22 is stuck at waist hip by patient successively, and thigh fixture 27 is stuck at thigh, will be smallLeg fixture 29 is stuck at shank, and ankle fixture 30 is stuck in into ankle can complete robot wearing work.
During training, patient walks on a treadmill, when heel is grounded, the rotation of the human body basin influential point of bone, now robot hip jointAdaptive structure 5 is first driven through the first motor 17, and control thigh is bent at hip joint, then the second motor 17 control fine setting dressPut, adjust the error produced in sagittal plane during patient Qu Yundong, hip joint rotating mechanism 20 is controlled followed by the 3rd motor 19,The error that coronal-plane rotary motion is produced is adjusted, when sole lands, knee joint cushion structure 28 drives through the 4th motor 24, bufferingWhat patient articular misplaced in suffered impact during motion, the kneed adaptive stress of raising robot, reduction rehabilitation exercise is generalRate；In walking process, the horizontal level of waist crotch part can be carried out by the length of hydraulic stem 10 on controlled level linkage 2Adjustment, it is ensured that exoskeleton mechanism coronal-plane keeps opposing parallel with frame during rehabilitation exercise, can also pass through waling stripe machineStructure 2 is moved up and down in chute 9, adjusts the height of whole lower limb rehabilitation robot, is moved so as to improve mechanism in body gaitWhen man-machine adaptability.