技术领域technical field
本发明属于医疗设备领域，涉及一种下肢康复用品，尤其是一种单侧下肢残疾人士专用助力康复机器人。The invention belongs to the field of medical equipment, and relates to a lower limb rehabilitation product, in particular to a special power-assisted rehabilitation robot for persons with unilateral lower limb disabilities.
背景技术Background technique
国外最初进行外骨骼研究的主要目的是增强士兵的单兵作战能力及负重能力等，以便减轻士兵的疲劳感等。后来逐渐在助行助力、辅助医疗等领域有了一定的发展。穿戴式下肢助力机器人是一种融合了机械设计、传感技术以及控制技术等多学科的复杂系统，它不仅可以保护人体、支撑身体，还可以完成一定的任务，比如增强人体的运动机能等。与轮椅仅仅作为代步工具不同，助力机器人可用于辅助患有心脑血管疾病或神经系统疾病的患者进行康复训练，帮助他们重新获得步行能力。它可以在医疗机构甚至家中使用，能使患者尽早获得独立生活的能力。穿戴式助力机器人是助力外骨骼的一种，它可以使人和外骨骼协同工作，将人体的智力和机器的协调控制相结合，将人的智力控制加入到外骨骼的助力控制中，通过对外骨骼的助力控制与人的意识相结合，就可以完成人体自身很难完成或无法完成的动作。The main purpose of the initial exoskeleton research abroad is to enhance the soldier's individual combat capability and weight-bearing capacity, so as to reduce the fatigue of the soldier. Later, it gradually developed to a certain extent in the fields of walking aids and auxiliary medical care. Wearable lower limb assisting robot is a complex system that integrates mechanical design, sensing technology and control technology. It can not only protect and support the human body, but also complete certain tasks, such as enhancing the human body's motor function. Unlike wheelchairs that are only used as a means of transportation, assistive robots can be used to assist patients with cardiovascular and cerebrovascular diseases or neurological diseases in rehabilitation training and help them regain the ability to walk. It can be used in medical institutions or even at home, enabling patients to gain the ability to live independently as early as possible. Wearable power-assisted robot is a kind of power-assisted exoskeleton. It can make people and exoskeleton work together, combine the intelligence of the human body with the coordinated control of the machine, and add human intelligence control to the power-assisted control of the exoskeleton. Combining the power-assisted control of bones with human consciousness can complete actions that are difficult or impossible for the human body itself.
现在鲜有针对单侧下肢残疾人士专用的可穿戴式下肢助力机器人。同时，由于可穿戴式下肢助力机器人的机械结构存在着体积和重量均偏大的问题，这在一定程度上影响了穿戴式下肢助力机器人的应用。现有穿戴式下肢助力机器人往往单纯采用电力驱动或液压驱动，模式单一，无法满足不同残疾程度人群的需要。因此，亟需研制用于单侧下肢残疾人士专门使用的穿戴式下肢助力机器人。At present, there are few wearable lower limb assisting robots for people with unilateral lower limb disabilities. At the same time, because the mechanical structure of the wearable lower limb assisting robot has the problem of large volume and weight, this affects the application of the wearable lower limb assisting robot to a certain extent. Existing wearable lower limb assisting robots are often driven solely by electricity or hydraulic pressure, with a single mode, which cannot meet the needs of people with different disabilities. Therefore, there is an urgent need to develop a wearable lower limb assisting robot specially used for persons with unilateral lower limb disabilities.
发明内容Contents of the invention
本发明针对上述助力机器人的矫正功能和安全性能以及单侧下肢残疾人的迫切需求等急需解决的问题，旨在提供一种可通过多种控制模式的下肢助力康复机器人。针对驱动方法采用了包括被动模式、主动模式和阻抗模式在内的共计3种驱动方式，设计了一种单侧下肢残疾人士专用助力康复机器人。The present invention aims to provide a lower limb assisting rehabilitation robot that can be controlled through multiple control modes, aiming at the urgent needs of the correction function and safety performance of the above-mentioned assisting robot and the urgent needs of unilateral lower limb disabled persons. Aiming at the driving method, a total of three driving modes including passive mode, active mode and impedance mode are adopted, and a special power-assisted rehabilitation robot for people with unilateral lower limb disabilities is designed.
本发明采用的技术方案如下：The technical scheme that the present invention adopts is as follows:
一种单侧下肢残疾人士专用助力康复机器人，所述助力康复机器人具有被动模式、主动模式和阻抗模式三种操控模式；所述助力康复机器人由固定部件和连杆部件组成；所述固定部件包括腰带部件1、大腿套环4、小腿套环7和脚板部件9，所述连杆部件包括大腿部件3、小腿部件6、膝关节电机装置5、踝关节电机装置8、手柄部件2、手柄连杆13、手柄电机装置14、第一腿部连杆 11和第二腿部连杆12；核心部分是由连杆部件和固定部件中的手柄部件2、大腿部件3、小腿部件6、腰带部件1、脚板部件9、第一腿部连杆11和第二腿部连杆12共同构成的一多连杆机构；A power-assisted rehabilitation robot for persons with unilateral lower limb disabilities, the power-assisted rehabilitation robot has three control modes: passive mode, active mode and impedance mode; the power-assisted rehabilitation robot is composed of a fixed part and a connecting rod part; the fixed part includes Waist belt part 1, thigh collar 4, calf collar 7 and foot plate part 9, described link part comprises thigh part 3, calf part 6, knee joint motor device 5, ankle joint motor device 8, handle part 2, handle connection Bar 13, handle motor device 14, first leg link 11 and second leg link 12; 1. A multi-link mechanism composed of the foot plate part 9, the first leg link 11 and the second leg link 12;
所述腰带部件1与手柄部件2的一端以及大腿部件3的上端三者相铰接于第一铰接点；所述大腿部件3的下端与小腿部件6的上端相铰接于第二铰接点；所述小腿部件6的下端与所述脚板部件9相铰接于第三铰接点；所述手柄部件2 的另一端与手柄连杆13的一端铰接，所述手柄连杆13的另一端和第二腿部连杆12铰接，所述第一腿部连杆11嵌套在第二腿部连杆12的底部构成移动副；所述大腿部件3内侧设有一滑道，所述第二腿部连杆12上设有一滑块，与大腿部件3上的滑道构成移动副，所述滑块铰接于第二腿部连杆12；所述第一腿部连杆11、小腿部件6和脚板部件9铰接于第三铰接点；所述大腿部件3和小腿部件6上面分别设有大腿套环4和小腿套环7用于将人体下肢固定在机器人大腿部件3和小腿部件6上，在套环的内侧设有弹性绑带，用以提供约束力。The waist belt part 1 and one end of the handle part 2 and the upper end of the thigh part 3 are hinged at a first hinge point; the lower end of the thigh part 3 and the upper end of the calf part 6 are hinged at a second hinge point; The lower end of the lower leg part 6 is hinged at the third hinge point with the foot part 9; the other end of the handle part 2 is hinged with one end of the handle link 13, and the other end of the handle link 13 is connected to the second leg The connecting rod 12 is hinged, and the first leg connecting rod 11 is nested in the bottom of the second leg connecting rod 12 to form a moving pair; the inner side of the thigh part 3 is provided with a slideway, and the second leg connecting rod 12 There is a slider on the top, which forms a moving pair with the slideway on the thigh part 3. The slider is hinged to the second leg link 12; the first leg link 11, the lower leg part 6 and the foot part 9 are hinged At the third hinge point; the thigh part 3 and the calf part 6 are respectively provided with a thigh collar 4 and a calf collar 7 for fixing the lower limbs of the human body on the robot thigh part 3 and the calf part 6, on the inner side of the collar Features elastic straps for restraint.
进一步的，所述第二腿部连杆12上铰接的滑块的位置可以根据实际需要进行调整以满足不同用户的需要。进一步地，在所述第一铰接点处设置有手柄电机装置14，所述手柄电机装置14包括手柄盘式电机14A和手柄谐波减速器14B，所述手柄盘式电机14A的定子固定在手柄部件2上，其转子固定在大腿部件3 上，用于提供大腿部件3与手柄部件2的相对转动；在所述第二铰接点处设置有膝关节电机装置5，所述膝关节电机装置5包括膝关节盘式电机5A和膝关节谐波减速器5B，所述膝关节盘式电机5A的定子固定在大腿部件3上，其转子固定在小腿部件6上，用于提供小腿部件6与大腿部件3的相对转动；在所述第三铰接点处设置有踝关节电机装置8，所述踝关节电机装置8包括踝关节盘式电机8A和踝关节谐波减速器8B，所述踝关节盘式电机8A的定子固定在第一腿部连杆11上，其转子固定在小腿部件6上，用于提供小腿部件6与第一腿部连杆11的相对转动。Further, the position of the slider hinged on the second leg link 12 can be adjusted according to actual needs to meet the needs of different users. Further, a handle motor device 14 is provided at the first hinge point, and the handle motor device 14 includes a handle disc motor 14A and a handle harmonic reducer 14B, and the stator of the handle disc motor 14A is fixed on the handle On the part 2, its rotor is fixed on the thigh part 3, which is used to provide the relative rotation between the thigh part 3 and the handle part 2; a knee joint motor device 5 is arranged at the second hinge point, and the knee joint motor device 5 Including a knee joint disc motor 5A and a knee joint harmonic reducer 5B, the stator of the knee joint disc motor 5A is fixed on the thigh part 3, and its rotor is fixed on the lower leg part 6, for providing the lower leg part 6 and the upper leg The relative rotation of parts 3; an ankle joint motor device 8 is provided at the third hinge point, and the ankle joint motor device 8 includes an ankle joint disc motor 8A and an ankle joint harmonic reducer 8B, and the ankle joint disc The stator of the type motor 8A is fixed on the first leg link 11 , and its rotor is fixed on the lower leg part 6 for providing relative rotation between the lower leg part 6 and the first leg link 11 .
进一步地，所述腰带部件1由带有滑道的腰带固定件1A、腰带支撑件1C 和腰带连接螺栓1B组成；通过腰带连接螺栓1B固定分别带有一排用于调节安装位置的孔的腰带固定件1A与腰带支撑件1C，并可通过改变带孔的相对位置来进行调节，以满足不同体型人群穿戴；所述腰带固定件1A为皮制品，以皮带扣的方式连接。Further, the waist belt part 1 is composed of a belt fixing part 1A with a slideway, a belt supporting part 1C and a belt connecting bolt 1B; the belt fixing with a row of holes for adjusting the installation position is respectively fixed by the belt connecting bolt 1B. Part 1A and belt supporting part 1C can be adjusted by changing the relative positions of the belt holes to meet the needs of people of different body types; the waist belt fixing part 1A is made of leather and is connected by a belt buckle.
进一步地，所述手柄部件2包括手柄杆件2A和手柄传感器2B，其中手柄传感器2B安置在手柄部件2下侧的把手上面。Further, the handle part 2 includes a handle bar 2A and a handle sensor 2B, wherein the handle sensor 2B is arranged on the handle on the lower side of the handle part 2 .
进一步地，所述大腿部件3由大腿内杆件3A、连接螺栓3B和大腿外杆件 3C构成，所述大腿内杆件3A和大腿外杆件3C上面均设有用于调节外杆件相对于内杆件安装位置的两排孔，大腿的内、外杆件通过连接螺栓3B固定，以适用于不同身高使用者；所述小腿部件6由小腿内杆件6A、连接螺栓6B和小腿外杆件6C构成，所述小腿内杆件6A和小腿外杆件6C上面均设有用于调节外杆件相对于内杆件安装位置的两排孔，小腿的内、外杆件通过连接螺栓6B固定，以适用于不同身高使用者；为防止所述助力康复机器人由于过度运动而损伤人体关节，所述小腿外杆件6C和小腿内杆件6A上面设有限位销，所述大腿外杆件3C和第一腿部连杆11设有限位套。Further, the thigh member 3 is composed of a thigh inner rod 3A, a connecting bolt 3B and an outer thigh rod 3C, and the upper thigh inner rod 3A and the thigh outer rod 3C are provided with an inner rod for adjusting the relative position of the outer rod. There are two rows of holes in the installation position of the inner rod, and the inner and outer rods of the thigh are fixed by connecting bolts 3B, so as to be suitable for users of different heights; 6C, the calf inner rod 6A and the calf outer rod 6C are provided with two rows of holes for adjusting the installation position of the outer rod relative to the inner rod, and the inner and outer rods of the calf are fixed by connecting bolts 6B , to be suitable for users of different heights; in order to prevent the power-assisted rehabilitation robot from injuring human joints due to excessive movement, limit pins are arranged on the outer leg member 6C and the inner rod member 6A of the calf, and the outer leg member 3C And the first leg connecting rod 11 is provided with a limit sleeve.
更进一步地，所述脚板部件9由设有套环的后脚板9A、前脚板9B和一根带有扭簧的转轴组成，通过转轴连接前、后脚板9B、9A；通过前后的两个弹簧 10连接小腿外杆件6C和后脚板9A，用以保证抬脚时脚板部件9不至下垂，且位置基本垂直小腿部件6以保证行走过程中的正确步态，同时在行走时起到一定的缓冲作用，扭簧和弹簧10的设置保证人体对应关节的舒适感，并对脚部和踝关节有一定的保护作用。Furthermore, the foot plate part 9 is composed of a rear foot plate 9A provided with a collar, a front foot plate 9B and a rotating shaft with a torsion spring, and the front and rear foot plates 9B and 9A are connected through the rotating shaft; 10 connect the calf outer rod 6C and the rear foot plate 9A, in order to ensure that the foot plate part 9 does not sag when the foot is lifted, and the position is basically vertical to the calf part 6 to ensure the correct gait in the walking process, and play a certain role in walking simultaneously. Buffering effect, the setting of the torsion spring and the spring 10 ensure the comfort of the corresponding joints of the human body, and have a certain protective effect on the feet and ankle joints.
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
1、本发明具有三种运行模式：被动模式、主动模式和阻抗模式，适用于不同残疾程度的单侧下肢残疾人士使用，甚至可用于截肢用户；本发明的三种运行模式不仅可以用于助力行走，还可以用于恢复训练，相较现有技术功能更完善。同时现有技术大都针对双腿进行设计，而本发明适用于不同残疾程度的单侧下肢残疾人士使用，甚至可用于截肢用户使用；1. The present invention has three operating modes: passive mode, active mode and impedance mode, which are suitable for people with unilateral lower limb disabilities with different degrees of disability, and can even be used for amputee users; the three operating modes of the present invention can not only be used to assist Walking can also be used for recovery training, which is more perfect than the existing technology. At the same time, most of the existing technologies are designed for both legs, but the present invention is suitable for use by people with unilateral lower limb disabilities with different degrees of disability, and can even be used by amputee users;
2、本发明制作成本低，轻便并可用于锻炼，适用范围广；本发明不仅适用于单侧下肢残疾人士，还可用于双侧下肢残疾人士，相对其它机器人来说，需要的机械部件少，安装难度也降低了，这使得本发明的制作成本低，轻便易携带；2. The invention is low in production cost, light and can be used for exercise, and has a wide range of applications; the invention is not only suitable for people with unilateral lower limb disabilities, but also for people with bilateral lower limb disabilities. Compared with other robots, it requires fewer mechanical parts. The installation difficulty is also reduced, which makes the present invention low in production cost, light and easy to carry;
3、本发明在结构方面有较好的稳定性和安全性，设有限位装置，可有效防止意外发生。本发明结构可靠安全；现有技术中一方面在腿部的结构设计上大多采用的是开环机构，没有腿部连杆来保证机构的安全性，另一方面机构缺少可靠的保护措施来保护下肢。本发明在结构上设置了多处限位装置来防止机构发生故障时对下肢造成损伤。3. The present invention has better stability and safety in terms of structure, and is equipped with a limit device, which can effectively prevent accidents from happening. The structure of the present invention is reliable and safe; on the one hand, in the prior art, the structural design of the legs mostly adopts an open-loop mechanism, and there is no leg connecting rod to ensure the safety of the mechanism; on the other hand, the mechanism lacks reliable protection measures to protect lower limbs. The present invention is structurally provided with a plurality of limit devices to prevent damage to the lower limbs when the mechanism breaks down.
附图说明Description of drawings
图1为下肢助力康复机器人的等轴侧视图；Fig. 1 is an isometric side view of a lower limb assisting rehabilitation robot;
图2为下肢助力康复机器人的腰带装置；Fig. 2 is the waist belt device of the lower limb assisted rehabilitation robot;
图3为下肢助力康复机器人的左视图；Fig. 3 is the left view of the lower limb assist rehabilitation robot;
图4为下肢助力康复机器人的髋关节部分；Fig. 4 is the hip joint part of the lower limb assisted rehabilitation robot;
图5为下肢助力康复机器人的膝关节部分；Fig. 5 is the knee joint part of the lower limb assisted rehabilitation robot;
图6为下肢助力康复机器人的踝关节部分；Fig. 6 is the ankle joint part of the lower limb assisted rehabilitation robot;
图7为下肢助力康复机器人的大腿部件；Fig. 7 is the thigh part of the lower limb assisting rehabilitation robot;
图8为下肢助力康复机器人的小腿部件。Figure 8 is the calf part of the lower limb assist rehabilitation robot.
其中：in:
1—腰带部件；1A—腰带固定件；1B—腰带连接螺栓；1C—腰带支撑件；2—手柄部件；2A—手柄杆件；2B—手柄传感器；3—大腿部件；3A—大腿内杆件； 3B—连接螺栓；3C—大腿外杆件；4—大腿套环；5—膝关节电机装置；5A—膝关节盘式电机；5B—膝关节谐波减速器；6—小腿部件；6A—小腿内杆件；6B—连接螺栓；6C—小腿外杆件；7—小腿套环；8—踝关节电机装置；8A—踝关节盘式电机；8B—踝关节谐波减速器；9—脚板部件；9A—后脚板；9B—前脚板； 10—弹簧；11—第一腿部连杆；12—第二腿部连杆；13—手柄连杆；14—手柄电机装置；14A—手柄盘式电机；14B—手柄谐波减速器。1—Belt part; 1A—Belt fixing part; 1B—Belt connecting bolt; 1C—Belt support; 2—Handle part; 2A—Handle bar; 2B—Handle sensor; 3—Thigh part; 3A—Thigh inner rod ; 3B—connecting bolt; 3C—outer thigh member; 4—thigh collar; 5—knee joint motor device; 5A—knee joint disc motor; 5B—knee joint harmonic reducer; Calf inner rod; 6B—connecting bolt; 6C—calf outer rod; 7—calf collar; 8—ankle motor device; 8A—ankle disc motor; 8B—ankle harmonic reducer; 9—foot plate Components; 9A—rear foot plate; 9B—front foot plate; 10—spring; 11—first leg link; 12—second leg link; 13—handle link; 14—handle motor device; 14A—handle plate type motor; 14B—handle harmonic reducer.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
如图1和图3所示，所述助力康复机器人具有被动模式、主动模式和阻抗模式三种操控模式；所述助力康复机器人由固定部件和连杆部件组成；所述固定部件包括腰带部件1、大腿套环4、小腿套环7和脚板部件9，所述连杆部件包括大腿部件3、小腿部件6、膝关节电机装置5、踝关节电机装置8、手柄部件2、手柄连杆13、手柄电机装置14、第一腿部连杆11和第二腿部连杆12；核心部分是由连杆部件和固定部件中的手柄部件2、大腿部件3、小腿部件6、腰带部件1、脚板部件9、第一腿部连杆11和第二腿部连杆12共同构成的一多连杆机构；As shown in Figures 1 and 3, the power-assisted rehabilitation robot has three control modes: passive mode, active mode and impedance mode; the power-assisted rehabilitation robot is composed of a fixed part and a connecting rod part; , thigh collar 4, calf collar 7 and foot plate part 9, described link part comprises thigh part 3, calf part 6, knee joint motor device 5, ankle joint motor device 8, handle part 2, handle link 13, Handle motor device 14, the first leg link 11 and the second leg link 12; A multi-link mechanism jointly formed by the component 9, the first leg link 11 and the second leg link 12;
所述腰带部件1与手柄部件2的一端以及大腿部件3的上端三者相铰接于第一铰接点；在所述第一铰接点处设置有手柄电机装置14，所述手柄电机装置 14包括手柄盘式电机14A和手柄谐波减速器14B，所述手柄盘式电机14A的定子固定在手柄部件2上，其转子固定在大腿部件3上，用于提供大腿部件3与手柄部件2的相对转动；所述大腿部件3的下端与小腿部件6的上端相铰接于第二铰接点；在所述第二铰接点处设置有膝关节电机装置5，所述膝关节电机装置5包括膝关节盘式电机5A和膝关节谐波减速器5B，所述膝关节盘式电机5A的定子固定在大腿部件3上，其转子固定在小腿部件6上，用于提供小腿部件6 与大腿部件3的相对转动；所述小腿部件6的下端与所述脚板部件9相铰接于第三铰接点；在所述第三铰接点处设置有踝关节电机装置8，所述踝关节电机装置8包括踝关节盘式电机8A和踝关节谐波减速器8B，所述踝关节盘式电机8A 的定子固定在第一腿部连杆11上，其转子固定在小腿部件6上，用于提供小腿部件6与第一腿部连杆11的相对转动；所述手柄部件2的另一端与手柄连杆13 的一端铰接，所述手柄连杆13的另一端和第二腿部连杆12铰接，所述第一腿部连杆11嵌套在第二腿部连杆12的底部构成移动副；所述大腿部件3内侧设有一滑道，所述第二腿部连杆12上设有一滑块，与大腿部件3上的滑道构成移动副，所述滑块铰接于第二腿部连杆12，所述第一腿部连杆11、小腿部件6和脚板部件9铰接于第三铰接点；所述大腿部件3和小腿部件6上面分别设有大腿套环4和小腿套环7用于将人体下肢固定在机器人大腿部件3和小腿部件6 上，在套环的内侧设有弹性绑带，用以提供约束力。The belt part 1, one end of the handle part 2 and the upper end of the thigh part 3 are hinged at a first hinge point; a handle motor device 14 is provided at the first hinge point, and the handle motor device 14 includes a handle Disc motor 14A and handle harmonic reducer 14B, the stator of the handle disc motor 14A is fixed on the handle part 2, and its rotor is fixed on the thigh part 3, for providing the relative rotation between the thigh part 3 and the handle part 2 The lower end of the thigh part 3 and the upper end of the calf part 6 are hinged at a second hinge point; a knee joint motor device 5 is provided at the second hinge point, and the knee joint motor device 5 includes a knee joint disc type The motor 5A and the knee joint harmonic reducer 5B, the stator of the knee joint disc motor 5A is fixed on the thigh part 3, and its rotor is fixed on the lower leg part 6 for providing the relative rotation between the lower leg part 6 and the thigh part 3 The lower end of the lower leg part 6 and the foot plate part 9 are hinged at a third hinge point; an ankle joint motor device 8 is provided at the third hinge point, and the ankle joint motor device 8 includes an ankle joint disc type Motor 8A and ankle joint harmonic reducer 8B, the stator of said ankle joint disc motor 8A is fixed on the first leg link 11, and its rotor is fixed on the lower leg part 6, for providing the lower leg part 6 and the first The relative rotation of the leg link 11; the other end of the handle part 2 is hinged with one end of the handle link 13, the other end of the handle link 13 is hinged with the second leg link 12, and the first leg The bottom connecting rod 11 is nested in the bottom of the second leg connecting rod 12 to form a moving pair; the inner side of the thigh part 3 is provided with a slideway, and the second leg connecting rod 12 is provided with a slider, which is connected with the thigh part 3 The slideway on the top constitutes a moving pair, the slider is hinged to the second leg link 12, the first leg link 11, the calf part 6 and the foot plate part 9 are hinged to the third hinge point; the thigh part 3 and the calf part 6 are respectively provided with a thigh collar 4 and a calf collar 7 for fixing the lower limbs of the human body on the robot thigh part 3 and the calf part 6, and an elastic strap is provided on the inner side of the collar to provide restraint force.
所述第二腿部连杆12上铰接的滑块的位置可以根据实际需要进行调整以满足不同用户的需要；The position of the slider hinged on the second leg link 12 can be adjusted according to actual needs to meet the needs of different users;
如图4所示，所述手柄电机装置14包括手柄盘式电机14A和手柄谐波减速器14B，所述手柄盘式电机14A的定子固定在手柄部件2上，其转子固定在大腿部件3上，用于提供大腿部件3与手柄部件2的相对转动；如图5所示，所述膝关节电机装置5包括膝关节盘式电机5A和膝关节谐波减速器5B，所述膝关节盘式电机5A的定子固定在大腿部件3上，其转子固定在小腿部件6上，用于提供小腿部件6与大腿部件3的相对转动；如图6所示，所述踝关节电机装置8包括踝关节盘式电机8A和踝关节谐波减速器8B，所述踝关节盘式电机8A 的定子固定在第一腿部连杆11上，其转子固定在小腿部件6上，用于提供小腿部件6与第一腿部连杆11的相对转动。As shown in Figure 4, the handle motor device 14 includes a handle disc motor 14A and a handle harmonic reducer 14B, the stator of the handle disc motor 14A is fixed on the handle part 2, and its rotor is fixed on the thigh part 3 , used to provide the relative rotation of the thigh part 3 and the handle part 2; The stator of motor 5A is fixed on thigh part 3, and its rotor is fixed on calf part 6, is used for providing the relative rotation of calf part 6 and thigh part 3; As shown in Figure 6, described ankle joint motor device 8 comprises ankle joint Disc motor 8A and ankle joint harmonic reducer 8B, the stator of said ankle joint disc motor 8A is fixed on the first leg link 11, and its rotor is fixed on the lower leg part 6, for providing the lower leg part 6 and Relative rotation of the first leg link 11.
如图2所示，所述腰带部件1由带有滑道的腰带固定件1A、腰带支撑件1C 和腰带连接螺栓1B组成；通过腰带连接螺栓1B固定分别带有一排用于调节安装位置的孔的腰带固定件1A与腰带支撑件1C，并可通过改变带孔的相对位置来进行调节，以满足不同体型人群穿戴；所述腰带固定件1A为皮制品，以皮带扣的方式连接。As shown in Figure 2, the belt part 1 is composed of a belt fixing part 1A with a slideway, a belt support part 1C and a belt connection bolt 1B; the belt connection bolt 1B is fixed with a row of holes for adjusting the installation position respectively The waist belt fixing part 1A and the waist belt supporting part 1C can be adjusted by changing the relative positions of the belt holes to meet the needs of people of different body types; the waist belt fixing part 1A is a leather product and is connected by a belt buckle.
如图4所示，所述手柄部件2包括手柄杆件2A和手柄传感器2B，其中手柄传感器2B安置在手柄部件2下侧的把手上面。As shown in FIG. 4 , the handle part 2 includes a handle bar 2A and a handle sensor 2B, wherein the handle sensor 2B is arranged on the handle on the lower side of the handle part 2 .
如图7所示，所述大腿部件3由大腿内杆件3A、连接螺栓3B和大腿外杆件3C构成，所述大腿内杆件3A和大腿外杆件3C上面均设有用于调节外杆件相对于内杆件安装位置的两排孔，大腿的内、外杆件通过连接螺栓3B固定，以适用于不同身高使用者；如图8所示，所述小腿部件6由小腿内杆件6A、连接螺栓6B和小腿外杆件6C构成，所述小腿内杆件6A和小腿外杆件6C上面均设有用于调节外杆件相对于内杆件安装位置的两排孔，小腿的内、外杆件通过连接螺栓6B固定，以适用于不同身高使用者；为防止所述助力康复机器人由于过度运动而损伤人体关节，所述小腿外杆件6C和小腿内杆件6A上面设有限位销，所述大腿外杆件3C和第一腿部连杆11设有限位套。As shown in Figure 7, the thigh member 3 is composed of a thigh inner rod 3A, a connecting bolt 3B, and a thigh outer rod 3C, and the upper thigh inner rod 3A and the thigh outer rod 3C are provided with an outer rod for adjusting The inner and outer rods of the thigh are fixed by connecting bolts 3B, so as to be suitable for users of different heights; 6A, connecting bolt 6B and calf outer rod 6C, both of which are provided with two rows of holes for adjusting the installation position of the outer rod relative to the inner rod, the inner rod of the calf 1. The outer rod is fixed by the connecting bolt 6B to be suitable for users of different heights; in order to prevent the power-assisted rehabilitation robot from damaging the human joints due to excessive movement, the outer rod 6C of the calf and the inner rod 6A of the calf are provided with a limit The pin, the outer thigh member 3C and the first leg connecting rod 11 are provided with limiting sleeves.
如图6所示，所述脚板部件9由设有套环的后脚板9A、前脚板9B和一根带有扭簧的转轴组成，通过转轴连接前、后脚板9B、9A；通过前后的两个弹簧 10连接小腿外杆件6C和后脚板9A，用以保证抬脚时脚板部件9不至下垂，且位置基本垂直小腿部件6以保证行走过程中的正确步态，同时在行走时起到一定的缓冲作用，扭簧和弹簧10的设置保证人体对应关节的舒适感，并对脚部和踝关节有一定的保护作用。As shown in Figure 6, the foot plate part 9 is composed of a rear foot plate 9A provided with a collar, a front foot plate 9B and a rotating shaft with a torsion spring, and the front and rear foot plates 9B and 9A are connected through the rotating shaft; A spring 10 connects the calf outer bar 6C and the rear foot plate 9A to ensure that the foot plate part 9 does not sag when the foot is lifted, and the position is basically vertical to the calf part 6 to ensure the correct gait in the walking process, and simultaneously play a role in walking. With a certain buffering effect, the arrangement of the torsion spring and the spring 10 ensures the comfort of the corresponding joints of the human body, and has a certain protective effect on the feet and ankle joints.
下面结合附图详细说明本发明的使用方法：Use method of the present invention in detail below in conjunction with accompanying drawing:
图1～图8为本发明公开的下肢康复助力机器人的结构图。本发明所提到的方向用语，例如「上」、「下」、「前」、「后」、「左」、「右」等，仅是参考附图图示的方向。因此，所使用的方向用语仅是用来说明，而并非用来限制本发明。接下来，我们将结合附图对本发明进行详细说明。1 to 8 are structural diagrams of the lower limb rehabilitation assisting robot disclosed in the present invention. The direction terms mentioned in the present invention, such as "up", "down", "front", "rear", "left", "right", etc., are only referring to the directions shown in the drawings. Accordingly, the directional terms used are for illustration only and not for limitation of the present invention. Next, we will describe the present invention in detail with reference to the accompanying drawings.
参见图1、图2和图6，为其使用方法做简要说明，设备的穿戴方式为：在穿戴时需根据使用者的人体尺寸参数调整大腿部件3和小腿部件6的长度，以及调整并固定腰带固定件1A与腰带支撑件1C的相对位置；将使用者脚部放在机器人的脚板9上，通过弹性绑带穿过后脚板9A上的套环固定脚掌；将使用者小腿和大腿通过小腿套环7和大腿套环4的弹性绑带分别固定在小腿部件6和大腿部件3上；再将腰部固定在腰带部件1上，通过所述腰带固定件1A两侧弹性绑带连接固定腰部。Refer to Figure 1, Figure 2 and Figure 6 for a brief description of its use. The wearing method of the device is as follows: the length of the thigh part 3 and the calf part 6 needs to be adjusted according to the user's body size parameters, and adjusted and fixed. The relative position of the belt fixing part 1A and the belt supporting part 1C; the user's foot is placed on the foot plate 9 of the robot, and the sole of the foot is fixed through the collar on the rear foot plate 9A through the elastic strap; the user's calf and thigh are passed through the calf cover The elastic straps of ring 7 and thigh collar 4 are respectively fixed on calf part 6 and thigh part 3; then the waist is fixed on the waist part 1, and the waist is connected and fixed by the elastic straps on both sides of the waistband fixing part 1A.
参见图1～图8，所述单侧下肢残疾人士专用助力康复机器人具有三种运行模式：被动模式、主动模式和阻抗模式；所述被动模式指通过人手控制手柄传感器2B，各个电机装置根据现在所处位置及控制力度确定运转方向和速度，带动人体下肢按预定轨迹向前/后迈步；所述主动模式具体指在设定好的预定轨迹下，需要人下肢去使用一定的力气去带动整个助力康复机器人，各个电机装置根据现在所处位置及下肢蹬腿力度确定运转方向和速度，辅助人体下肢实现向前/后迈步动作；所述阻抗模式与主动模式相对，指需要人下肢去使用一定的力气去带动整个助力康复机器人，各个电机装置根据现在所处位置及下肢蹬腿力度确定运转方向和速度，阻碍人体下肢实现向前/后迈步动作。所述三种模式用于康复训练时，不仅限于使用者站立行走姿态，使用者亦可以坐姿进行康复训练。所述手柄部件2位于身体右侧，可通过推压实现在所述三种模式中提供一定的助力作用。Referring to Figures 1 to 8, the power-assisted rehabilitation robot for persons with unilateral lower limb disabilities has three operating modes: passive mode, active mode and impedance mode; the passive mode means that the handle sensor 2B is controlled by human hands, and each motor device The position and control strength determine the running direction and speed, and drive the lower limbs of the human body to move forward/backward according to the predetermined trajectory; the active mode specifically refers to the need for the lower limbs to use a certain amount of strength to drive the entire body under the predetermined trajectory. In the power-assisted rehabilitation robot, each motor device determines the running direction and speed according to the current position and the kicking force of the lower limbs, and assists the lower limbs of the human body to realize forward/backward stepping; the impedance mode is opposite to the active mode, which means that the lower limbs are required to use a certain Power drives the entire power-assisted rehabilitation robot. Each motor device determines the running direction and speed according to the current position and the kicking force of the lower limbs, and hinders the lower limbs of the human body from realizing forward/backward stepping movements. When the three modes are used for rehabilitation training, the user is not limited to standing and walking postures, and the user can also perform rehabilitation training in a sitting posture. The handle part 2 is located on the right side of the body, and can be pushed to provide certain assisting effects in the three modes.
参见图1～图3，所述腰带部件1的腰带固定件1A与腰带支撑件1C上分别有两排用于调节安装位置的孔，通过腰带连接螺栓1B将二者连接在一起，可以通过改变带孔的相对位置来进行调节以适应不同身体尺寸的用户，所述腰带固定件1A为皮制品，以皮带扣的方式进行连接，来适应不同腰围的用户。Referring to Figures 1 to 3, the belt fixing part 1A and the belt supporting part 1C of the belt part 1 have two rows of holes for adjusting the installation position respectively, and the two are connected together by the belt connecting bolt 1B, which can be changed by changing The relative positions of the belt holes are adjusted to suit users of different body sizes. The waist belt fixing part 1A is made of leather and is connected in the form of a belt buckle to suit users of different waist sizes.
参见图1、图3、图4、图7和图8，所述大腿部件3上有用来固定在用户腿上的大腿套环4，所述小腿部件6上有用来固定在用户腿上的小腿套环7，所述大腿套环4、小腿套环7的两侧设有弹性绑带，用以提供约束力，将腿部与所述下肢康复助力机器人固定在一起，带动人体下肢与所述下肢康复助力机器人实现同步动作。Referring to Fig. 1, Fig. 3, Fig. 4, Fig. 7 and Fig. 8, the thigh collar 4 for fixing on the user's leg is arranged on the described thigh part 3, and the shank for fixing on the user's leg is arranged on the described calf part 6 The collar 7, the two sides of the thigh collar 4 and the calf collar 7 are provided with elastic straps to provide binding force, fix the legs with the lower limb rehabilitation assisting robot, and drive the lower limbs of the human body to connect with the lower limbs. Lower limb rehabilitation assists robots to achieve synchronized movements.
参见图3、图4、图7和图8，为供不同使用者使用，根据人体大腿尺寸参数，调整大腿内杆件3A和大腿外杆件3C上孔的相对位置，用连接螺栓3B固定，由此确定大腿部件3长度；根据人体小腿尺寸参数，调整小腿内杆件6A和小腿外杆件6C上孔的相对位置，用连接螺栓6B固定，由此确定小腿部件6长度；所述小腿外杆件6C的限位销与腿部连杆一11的限位套配合，小腿内杆件 6A限位销与大腿外杆件3C的限位套配合使两关节在允许角度范围活动，保证穿戴训练安全；所述腿部连杆一11和二12构成移动副，可以在一定范围内自由伸缩。Referring to Fig. 3, Fig. 4, Fig. 7 and Fig. 8, in order to be used by different users, adjust the relative positions of the upper holes of the thigh inner rod 3A and the upper thigh outer rod 3C according to the size parameters of the human thigh, and fix them with connecting bolts 3B. Thus determine the length of the thigh part 3; according to the size parameters of the human body's calf, adjust the relative positions of the holes on the inner rod part 6A and the outer rod part 6C of the calf, and fix it with the connecting bolt 6B, thereby determining the length of the calf part 6; The limit pin of the rod 6C cooperates with the limit sleeve of the leg link 11, and the limit pin of the inner rod 6A of the calf cooperates with the limit sleeve of the outer rod 3C of the thigh so that the two joints can move within the allowable angle range to ensure wearing Training is safe; the first 11 and second 12 of the leg connecting rods constitute a moving pair, which can be freely stretched within a certain range.
参见图1、图3、图4、图5和图6，所述手柄传感器2B安置在手柄部件2 的握把处，用来检测手的力和扭矩，得知使用者意图，将信号进行处理后输出信号，驱动盘式电机5A、8A、14A进行转动，进而实现所述下肢康复助力机器人的整体运动；所述电机5A、8A、14A与谐波减速器进行组合，降低了噪音，减小了体积和重量。Referring to Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the handle sensor 2B is arranged at the grip of the handle part 2, and is used to detect the force and torque of the hand, know the intention of the user, and process the signal Finally output signals to drive the disc motors 5A, 8A, 14A to rotate, and then realize the overall motion of the lower limb rehabilitation assisting robot; the motors 5A, 8A, 14A are combined with a harmonic reducer to reduce noise and reduce size and weight.
参见图1、图3和图6，由所述前脚板9B和后脚板9A组成的脚板部件9，在走路时适应脚掌的弯曲，保证人体正常行走的姿态舒适，所述弹簧10用以保证抬脚时脚板部件9的位置基本垂直小腿部件6以保证行走过程中的正确步态，同时在行走时起到一定的缓冲作用，对脚部具有有效的保护作用。Referring to Fig. 1, Fig. 3 and Fig. 6, the foot plate part 9 that is made up of described front foot plate 9B and rear foot plate 9A adapts to the bending of the sole of the foot when walking to ensure that the posture of the normal walking of the human body is comfortable, and the spring 10 is used to ensure the lifting The position of the foot plate part 9 is substantially vertical to the calf part 6 to ensure correct gait in the walking process, while playing a certain buffering effect when walking, and effectively protecting the feet.
以上所述，仅为本发明针对右侧下肢残疾人士优选的具体实施方式，其对称结构即是针对左侧下肢残疾人士专用助力康复机器人的设计，本发明的保护范围并不仅仅局限于此，同样的对于任何熟悉本技术领域的技术人员在本发明的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或润色，都应当涵盖在本发明的保护范围之内。The above is only the preferred embodiment of the present invention for persons with disabilities of the lower limbs of the right side. Its symmetrical structure is the design of a dedicated power-assisted rehabilitation robot for persons with disabilities of the left lower limbs. The scope of protection of the present invention is not limited thereto. Similarly, for any person familiar with the technical field within the technical scope of the present invention, any equivalent replacement or modification according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.
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| CN201710607664.8ACN107411939B (en) | 2017-07-24 | 2017-07-24 | A special power-assisted rehabilitation robot for people with unilateral lower limb disabilities |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710607664.8ACN107411939B (en) | 2017-07-24 | 2017-07-24 | A special power-assisted rehabilitation robot for people with unilateral lower limb disabilities |
| Publication Number | Publication Date |
|---|---|
| CN107411939A CN107411939A (en) | 2017-12-01 |
| CN107411939Btrue CN107411939B (en) | 2019-09-27 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710607664.8AActiveCN107411939B (en) | 2017-07-24 | 2017-07-24 | A special power-assisted rehabilitation robot for people with unilateral lower limb disabilities |
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| CN (1) | CN107411939B (en) |
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