技术领域technical field
本实用新型涉及下肢康复助行设备技术领域，特别是涉及一种可穿戴仿生液压下肢康复助行机械装置。The utility model relates to the technical field of lower limb rehabilitation walking aid equipment, in particular to a wearable bionic hydraulic lower limb rehabilitation walking aid mechanical device.
背景技术Background technique
随着社会的发展，下肢瘫痪病人的逐渐得到社会的关注，他们对康复助行设备的需求越发迫切。下肢康复训练机械装置作为治疗并解决日常活动的机械设备在这种条件下迅速发展。With the development of society, patients with lower limb paralysis have gradually received social attention, and their demand for rehabilitation walking aids is becoming more and more urgent. The lower extremity rehabilitation training mechanical device has developed rapidly under this condition as a mechanical device for treating and solving daily activities.
此外，在工业生产中，辅助运动的机械装置可以提高人体的耐力极限以提高一些体力工作者的生产效率。In addition, in industrial production, mechanical devices that assist movement can increase the endurance limit of the human body to improve the productivity of some manual workers.
目前市场上同类产品中多采用电机驱动，电机驱动的缺点是腿部重量较大，与人体的运动协调度较差，该结构有较大的修改和提升空间。At present, most of the similar products on the market are driven by motors. The disadvantage of motor drives is that the legs are heavy and the coordination with the human body is poor. This structure has a lot of room for modification and improvement.
市场上仿生腿多用于人体假肢领域且多采用被动式驱动，仅能适用于截肢患者进行轻缓的运动，因此难以解决身体完整的残疾人康复和运动的需求。Most of the bionic legs on the market are used in the field of human prosthetics and are mostly driven passively. They are only suitable for amputees to perform gentle movements, so it is difficult to meet the rehabilitation and exercise needs of disabled people with complete bodies.
实用新型内容Utility model content
针对现有技术存在的问题，依据人体形态与仿生技术，本实用新型提供一种可穿戴的仿生液压助行装置，以解决人机运动协调性差，运动不连贯等问题，进一步提高康复助行设备的流畅性和适用性。Aiming at the problems existing in the prior art, the utility model provides a wearable bionic hydraulic walking aid device based on the human body shape and bionic technology, so as to solve the problems of poor human-machine movement coordination and incoherent movement, and further improve rehabilitation walking aid equipment. fluency and applicability.
为了实现上述目的，本实用新型采用如下技术方案：In order to achieve the above object, the utility model adopts the following technical solutions:
一种可穿戴仿生液压下肢康复助行机械装置，包括背板1、腰板 2、三轴髋关节3、第一双作用液压缸4、大腿机构5、仿生连杆膝关节6、小腿机构7、两轴踝关节8、脚底板9；A wearable bionic hydraulic lower limb rehabilitation walking aid mechanical device, comprising a backboard 1, a waistboard 2, a three-axis hip joint 3, a first double-acting hydraulic cylinder 4, a thigh mechanism 5, a bionic link knee joint 6, a calf mechanism 7, Two-axis ankle joint 8, sole plate 9;
所述三轴髋关节包括髋关节内收/外展机构、髋关节屈/伸机构及髋关节旋内/旋外机构；The three-axis hip joint includes a hip joint adduction/abduction mechanism, a hip joint flexion/extension mechanism and a hip joint internal/external rotation mechanism;
所述髋关节内收/外展机构包括腰板2、左右腿的连接件3.4，L 型连接板3.6，关节轴承；其中左右腿的连接件3.4固定在腰板2两侧的旋转中心上，腰板的侧面设置斜坡3.7伸入左右腿的连接件3.4 的凹槽3.8中作为限位结构，L型连接板通过螺栓及槽孔固定在连接件的滑道内；The adduction/abduction mechanism of the hip joint includes the connecting piece 3.4 of the waist plate 2, the left and right legs, the L-shaped connecting plate 3.6, and joint bearings; The slope 3.7 is set on the side and extends into the groove 3.8 of the connecting piece 3.4 of the left and right legs as a limit structure, and the L-shaped connecting plate is fixed in the slideway of the connecting piece through bolts and slotted holes;
髋关节旋内/旋外机构中，L型连接板另一端使用螺栓压紧在一对合页铰接3.5、3.2的凹槽内，靠前侧的合页铰接3.2的外形为一边平面3.2.1，一边斜面3.2.2的形状，作为限位结构控制展开的范围；In the internal/external rotation mechanism of the hip joint, the other end of the L-shaped connecting plate is pressed into the groove of a pair of hinge hinges 3.5 and 3.2 with bolts, and the shape of the hinge hinge 3.2 on the front side is one side plane 3.2.1 , the shape of one side slope 3.2.2 is used as a limit structure to control the range of expansion;
髋关节屈/伸机构中，靠前侧的合页铰接3.2通过马蹄形的连接板3.3与大腿主体3.1相连，马蹄形的连接板3.3上部分延伸出来与髋关节的合页铰接3.2连接；In the hip joint flexion/extension mechanism, the hinge hinge 3.2 on the front side is connected to the thigh main body 3.1 through the horseshoe-shaped connecting plate 3.3, and the upper part of the horseshoe-shaped connecting plate 3.3 extends out to connect with the hinge hinge 3.2 of the hip joint;
膝关节屈伸机构包括大腿连接件6.1、前摇杆6.3、后摇杆6.4、小腿连接件6.2、第二双作用液压缸6.5、限位机构6.8；大腿连接件、小腿连接件分别与大腿主体、小腿主体相连，前摇杆6.3、后摇杆6.4分别铰接在大腿连接件与小腿连接件间，将大腿主体、小腿主体连接在一起；第二双作用液压缸的一端固定于小腿连接件后侧转轴处，另一端固定在大腿的铰接处，作为动力元件控制大小腿的开合；限位机构6.8位于大腿连接件的前端，限制前摇杆的位置，以保证小腿不会反方向屈伸；Knee flexion and extension mechanism includes thigh connector 6.1, front rocker 6.3, rear rocker 6.4, calf connector 6.2, second double-acting hydraulic cylinder 6.5, limit mechanism 6.8; The calf main body is connected, and the front rocker 6.3 and the rear rocker 6.4 are respectively hinged between the thigh connecting piece and the calf connecting piece, connecting the thigh main body and the lower leg main body together; one end of the second double-acting hydraulic cylinder is fixed on the rear side of the lower leg connecting piece At the rotating shaft, the other end is fixed at the hinge of the thigh, which is used as a power element to control the opening and closing of the thigh; the limit mechanism 6.8 is located at the front end of the thigh connector, and limits the position of the front rocker to ensure that the calf will not bend and extend in the opposite direction;
大腿机构包括大腿主体3.1，大腿支撑板6.6，铰接件6.7.1；大腿支撑板6.6陷于大腿主体3.1的T型槽内；大腿支撑板6.6前面开有一排螺栓孔，中间螺栓孔与大腿主体3.1连接，通过螺栓压紧，前面的螺栓孔与铰接件6.7.1相连；铰接件6.7.1另一端与髋关节液压缸6.7相连；调整长度的时候两排螺栓孔配合调整，将液压缸的行程控制在合适的范围内；The thigh mechanism includes a thigh main body 3.1, a thigh support plate 6.6, and a hinge 6.7.1; the thigh support plate 6.6 is sunk in the T-shaped groove of the thigh main body 3.1; a row of bolt holes is opened in the front of the thigh support plate 6.6, and the middle bolt hole is connected to the thigh main body 3.1. Connection, through bolt compression, the front bolt hole is connected with the hinge 6.7.1; the other end of the hinge 6.7.1 is connected with the hip joint hydraulic cylinder 6.7; when adjusting the length, the two rows of bolt holes are adjusted to adjust the stroke of the hydraulic cylinder controlled within an appropriate range;
小腿机构包括小腿连接件6.2和小腿支撑板6.10；支撑板中间有一排螺栓孔，陷在T型槽内，由螺栓固定压紧，用来调整小腿的使用有效长度；The calf mechanism includes a calf connecting piece 6.2 and a calf support plate 6.10; there is a row of bolt holes in the middle of the support plate, which are sunk in a T-shaped slot, fixed and pressed by bolts, and used to adjust the effective length of the calf;
两轴踝关节包括屈/伸转轴8.1、外展/内收转轴8.2，屈/伸转轴外层压有一条弹性钢板8.3，钢板的另一侧开有槽孔与脚底板相连，运动中钢板的弹性力逐渐平衡身体重力，将自由度限制在一定范围内，开有的槽孔适应弯曲产生的形变；踝关节液压缸8.5连接在小腿支撑板与外展/内收转轴8.2之间，控制脚底板摆动。The two-axis ankle joint includes a flexion/extension shaft 8.1 and an abduction/adduction shaft 8.2. An elastic steel plate 8.3 is laminated on the outer layer of the flexion/extension shaft. The elastic force gradually balances the gravity of the body and limits the degree of freedom within a certain range. The slotted hole is adapted to the deformation caused by bending; the ankle joint hydraulic cylinder 8.5 is connected between the calf support plate and the abduction/adduction shaft 8.2 to control the sole of the foot The board swings.
大腿连接件6.1的前端陷于小腿连接件6.2的凹陷6.9处，类似人体骨骼结构且凹陷深度控制小腿后摆的角度，使其外骨骼膝盖运动范围处于人体正常角度之内。The front end of the thigh connector 6.1 is sunken in the depression 6.9 of the calf connector 6.2, which is similar to the human bone structure and the depth of the depression controls the angle of the back swing of the calf so that the range of motion of the exoskeleton knee is within the normal angle of the human body.
髋关节的内收/外展旋转轴位于人体臀部后侧，实现了与人体关节中心轴一致，不会影响坐立。The adduction/abduction rotation axis of the hip joint is located on the rear side of the human buttocks, which is consistent with the central axis of the human joints and will not affect sitting and standing.
本实用新型的优点：解决人机运动协调性差，运动不连贯等问题，进一步提高康复助行设备的流畅性和适用性。The utility model has the advantages of solving the problems of poor human-machine movement coordination and incoherent movement, and further improving the fluency and applicability of the walking aid device for rehabilitation.
附图说明Description of drawings
图1为本实用新型的整体结构示意图；Fig. 1 is the overall structural representation of the utility model;
图2为中髋关节三个自由度的示意图；Fig. 2 is the schematic diagram of three degrees of freedom of middle hip joint;
图3为四杆膝关节伸展以及大腿状态示意图；Fig. 3 is a schematic diagram of the extension of the four-bar knee joint and the state of the thigh;
图4为四杆膝关节屈缩以及小腿示意图；Figure 4 is a schematic diagram of the flexion of the four-bar knee joint and the lower leg;
图5为踝关节两个自由度的示意图。Figure 5 is a schematic diagram of two degrees of freedom of the ankle joint.
具体实施方式Detailed ways
下面结合附图具体说明本实用新型，如图所示，本实用新型包括背板1、腰板2、三轴髋关节3、第一双作用液压缸4、大腿机构5、仿生连杆膝关节6、小腿机构7、两轴踝关节8、脚底板9；The utility model is described in detail below in conjunction with the accompanying drawings. As shown in the figure, the utility model includes a backboard 1, a waistboard 2, a three-axis hip joint 3, a first double-acting hydraulic cylinder 4, a thigh mechanism 5, and a bionic link knee joint 6. , calf mechanism 7, two-axis ankle joint 8, sole plate 9;
所述三轴髋关节包括髋关节内收/外展机构、髋关节屈/伸机构及髋关节旋内/旋外机构；The three-axis hip joint includes a hip joint adduction/abduction mechanism, a hip joint flexion/extension mechanism and a hip joint internal/external rotation mechanism;
所述髋关节内收/外展机构包括腰板2、左右腿的连接件3.4，L 型连接板3.6，关节轴承；其中左右腿的连接件3.4固定在腰板2两侧的旋转中心上，腰板的侧面设置斜坡3.7伸入左右腿的连接件3.4 的凹槽3.8中作为限位结构，L型连接板通过螺栓及槽孔固定在连接件的滑道内；The adduction/abduction mechanism of the hip joint includes the connecting piece 3.4 of the waist plate 2, the left and right legs, the L-shaped connecting plate 3.6, and joint bearings; The slope 3.7 is set on the side and extends into the groove 3.8 of the connecting piece 3.4 of the left and right legs as a limit structure, and the L-shaped connecting plate is fixed in the slideway of the connecting piece through bolts and slotted holes;
髋关节旋内/旋外机构中，L型连接板另一端使用螺栓压紧在一对合页铰接3.5、3.2的凹槽内，靠前侧的合页铰接3.2的外形为一边平面3.2.1，一边斜面3.2.2的形状，作为限位结构控制展开的范围；In the internal/external rotation mechanism of the hip joint, the other end of the L-shaped connecting plate is pressed into the groove of a pair of hinge hinges 3.5 and 3.2 with bolts, and the shape of the hinge hinge 3.2 on the front side is one side plane 3.2.1 , the shape of one side slope 3.2.2 is used as a limit structure to control the range of expansion;
髋关节屈/伸机构中，靠前侧的合页铰接3.2通过马蹄形的连接板3.3与大腿主体3.1相连，马蹄形的连接板3.3上部分延伸出来与髋关节的合页铰接3.2连接；In the hip joint flexion/extension mechanism, the hinge hinge 3.2 on the front side is connected to the thigh main body 3.1 through the horseshoe-shaped connecting plate 3.3, and the upper part of the horseshoe-shaped connecting plate 3.3 extends out to connect with the hinge hinge 3.2 of the hip joint;
膝关节屈伸机构包括大腿连接件6.1、前摇杆6.3、后摇杆6.4、小腿连接件6.2、第二双作用液压缸6.5、限位机构6.8；大腿连接件、小腿连接件分别与大腿主体、小腿主体相连，前摇杆6.3、后摇杆6.4分别铰接在大腿连接件与小腿连接件间，将大腿主体、小腿主体连接在一起；第二双作用液压缸的一端固定于小腿连接件后侧转轴处，另一端固定在大腿的铰接处，作为动力元件控制大小腿的开合；限位机构6.8位于大腿连接件的前端，限制前摇杆的位置，以保证小腿不会反方向屈伸；Knee flexion and extension mechanism includes thigh connector 6.1, front rocker 6.3, rear rocker 6.4, calf connector 6.2, second double-acting hydraulic cylinder 6.5, limit mechanism 6.8; The calf main body is connected, and the front rocker 6.3 and the rear rocker 6.4 are respectively hinged between the thigh connecting piece and the calf connecting piece, connecting the thigh main body and the lower leg main body together; one end of the second double-acting hydraulic cylinder is fixed on the rear side of the lower leg connecting piece At the rotating shaft, the other end is fixed at the hinge of the thigh, which is used as a power element to control the opening and closing of the thigh; the limit mechanism 6.8 is located at the front end of the thigh connector, and limits the position of the front rocker to ensure that the calf will not bend and extend in the opposite direction;
大腿机构包括大腿主体3.1，大腿支撑板6.6，铰接件6.7.1；大腿支撑板6.6陷于大腿主体3.1的T型槽内；大腿支撑板6.6前面开有一排螺栓孔，中间螺栓孔与大腿主体3.1连接，通过螺栓压紧，前面的螺栓孔与铰接件6.7.1相连；铰接件6.7.1另一端与髋关节液压缸6.7相连；调整长度的时候两排螺栓孔配合调整，将液压缸的行程控制在合适的范围内；The thigh mechanism includes a thigh main body 3.1, a thigh support plate 6.6, and a hinge 6.7.1; the thigh support plate 6.6 is sunk in the T-shaped groove of the thigh main body 3.1; a row of bolt holes is opened in the front of the thigh support plate 6.6, and the middle bolt hole is connected to the thigh main body 3.1. Connection, through bolt compression, the front bolt hole is connected with the hinge 6.7.1; the other end of the hinge 6.7.1 is connected with the hip joint hydraulic cylinder 6.7; when adjusting the length, the two rows of bolt holes are adjusted to adjust the stroke of the hydraulic cylinder controlled within an appropriate range;
小腿机构包括小腿连接件6.2和小腿支撑板6.10；支撑板中间有一排螺栓孔，陷在T型槽内，由螺栓固定压紧，用来调整小腿的使用有效长度；The calf mechanism includes a calf connecting piece 6.2 and a calf support plate 6.10; there is a row of bolt holes in the middle of the support plate, which are sunk in a T-shaped slot, fixed and pressed by bolts, and used to adjust the effective length of the calf;
两轴踝关节包括屈/伸转轴8.1、外展/内收转轴8.2，屈/伸转轴外层压有一条弹性钢板8.3，钢板的另一侧开有槽孔与脚底板相连，运动中钢板的弹性力逐渐平衡身体重力，将自由度限制在一定范围内，开有的槽孔适应弯曲产生的形变；踝关节液压缸8.5连接在小腿支撑板与外展/内收转轴8.2之间，控制脚底板摆动。The two-axis ankle joint includes a flexion/extension shaft 8.1 and an abduction/adduction shaft 8.2. An elastic steel plate 8.3 is laminated on the outer layer of the flexion/extension shaft. The elastic force gradually balances the gravity of the body and limits the degree of freedom within a certain range. The slotted hole is adapted to the deformation caused by bending; the ankle joint hydraulic cylinder 8.5 is connected between the calf support plate and the abduction/adduction shaft 8.2 to control the sole of the foot The board swings.
大腿连接件6.1的前端陷于小腿连接件6.2的凹陷6.9处，类似人体骨骼结构且凹陷深度控制小腿后摆的角度，使其外骨骼膝盖运动范围处于人体正常角度之内。The front end of the thigh connector 6.1 is sunken in the depression 6.9 of the calf connector 6.2, which is similar to the human bone structure and the depth of the depression controls the angle of the back swing of the calf so that the range of motion of the exoskeleton knee is within the normal angle of the human body.
髋关节的内收/外展旋转轴位于人体臀部后侧，实现了与人体关节中心轴一致，不会影响坐立。The adduction/abduction rotation axis of the hip joint is located on the rear side of the human buttocks, which is consistent with the central axis of the human joints and will not affect sitting and standing.
本实用新型的工作过程如下：The working process of the present utility model is as follows:
使用者穿戴外骨骼，根据穿戴者的身体尺寸，调整髋关节的宽度，大小腿的长度，保证人体的关节轴线节正对外骨骼的关节轴线。腰板至于人体后腰部，背板通过绑带背于背部，脚底板与人体足部相连接。The user wears the exoskeleton, and adjusts the width of the hip joint and the length of the thigh and thigh according to the body size of the wearer to ensure that the joint axis of the human body is aligned with the joint axis of the exoskeleton. As for the back waist of the human body, the backboard is carried on the back by straps, and the soles of the feet are connected with the feet of the human body.
当使用者进行下肢康复运动时，髋关节液压缸控制髋关节屈/伸机构，完成大腿前后摆动，膝盖液压缸控制膝盖屈/伸机构，完成膝盖的摆动。使用者行走时腿部需要侧向抬腿时，髋关节的内收/外展机构随人体运动，当需要转弯时，髋关节旋内/旋外机构随人体运动。当遇到不平整倾斜的地面时，踝关节外外展/内收机构轻微旋转以适应地面的角度，弹性钢板起到辅助支撑作用。脚板处的合页贴合运动中弯曲的脚掌。When the user performs lower limb rehabilitation exercise, the hip joint hydraulic cylinder controls the hip joint flexion/extension mechanism to complete the thigh swing back and forth, and the knee hydraulic cylinder controls the knee flexion/extension mechanism to complete the knee swing. When the user needs to lift the leg sideways when walking, the adduction/abduction mechanism of the hip joint moves with the human body, and when it is necessary to turn, the internal/external rotation mechanism of the hip joint moves with the human body. When encountering uneven and inclined ground, the ankle abduction/adduction mechanism rotates slightly to adapt to the angle of the ground, and the elastic steel plate acts as an auxiliary support. Hinges at the foot plate conform to the flexing of the foot during movement.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720239145.6UCN207341906U (en) | 2017-03-13 | 2017-03-13 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720239145.6UCN207341906U (en) | 2017-03-13 | 2017-03-13 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
| Publication Number | Publication Date |
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| CN207341906Utrue CN207341906U (en) | 2018-05-11 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201720239145.6UActiveCN207341906U (en) | 2017-03-13 | 2017-03-13 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
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| CN106726363A (en)* | 2017-03-13 | 2017-05-31 | 东北大学 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
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| CN110465924A (en)* | 2019-08-12 | 2019-11-19 | 山东省科学院自动化研究所 | A kind of lower limb exoskeleton robot of four bar linkage knee joint |
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| CN106726363A (en)* | 2017-03-13 | 2017-05-31 | 东北大学 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
| CN106726363B (en)* | 2017-03-13 | 2023-11-17 | 东北大学 | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device |
| CN112334117A (en)* | 2018-10-09 | 2021-02-05 | 株式会社Ｕｃｈｉｄａ | Walking assistance mechanism and walking assistance device |
| CN109464264A (en)* | 2018-11-30 | 2019-03-15 | 内蒙古工业大学 | A human lower limb assist device |
| CN109464264B (en)* | 2018-11-30 | 2020-09-18 | 内蒙古工业大学 | A human lower limb assist device |
| CN110465924A (en)* | 2019-08-12 | 2019-11-19 | 山东省科学院自动化研究所 | A kind of lower limb exoskeleton robot of four bar linkage knee joint |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |