CN106264989A - A kind of lower limb exoskeleton power-assisting robot - Google Patents
A kind of lower limb exoskeleton power-assisting robot Download PDFInfo
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- CN106264989A CN106264989A CN201610605710.6A CN201610605710A CN106264989A CN 106264989 A CN106264989 A CN 106264989A CN 201610605710 A CN201610605710 A CN 201610605710A CN 106264989 A CN106264989 A CN 106264989A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 39
- 210000000629 knee joint Anatomy 0.000 claims abstract description 66
- 210000004394 hip joint Anatomy 0.000 claims abstract description 62
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 58
- 210000004744 fore-foot Anatomy 0.000 claims description 8
- 239000010410 layer Substances 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- 210000000548 hind-foot Anatomy 0.000 claims description 4
- 239000011241 protective layer Substances 0.000 claims description 4
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 210000001624 hip Anatomy 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000006742 locomotor activity Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
nullThe invention discloses a kind of lower limb exoskeleton power-assisting robot，Including robot body、Back and pedal，Described robot body is provided with back，Back bottom connects four bar hip joints，Connect below described four bar hip joints and have thick link，Connect below thick link and have four bar knee joints，The side of described thick link is connected by bearing pin hip joint electric cylinder，And the hip joint electric cylinder other end is arranged on four bar hip joints by bearing pin，The opposite side of described thick link is connected by bearing pin knee joint electric cylinder，And the knee joint electric cylinder other end is arranged in four bar knee joints by bearing pin，Connect below described four bar knee joints and have shank link，Connect below shank link and have four bar ankle joint，Described shank link is connected by bearing pin near four bar knee joint one end ankle joint electric cylinder，Described four bar ankle joint bottoms are provided with pedal，Control accuracy of the present invention is higher，Control performance is preferable in real time.
Description
Technical field
The present invention relates to robot device's technical field, be specially a kind of lower limb exoskeleton power-assisting robot.
Background technology
Problem of an aging population mesh benefit has seriously been increasingly becoming many countries inevitably social phenomenon, companion in the world
Along with the decline of the various physiological function of old people and being continuously increased of vehicle accident, the patient such as hemiplegia, apoplexy, paraplegia the most constantly increases
Many, cause this kind of crowd's lower limb that the phenomenon of dyskinesia occurs so that it is life quality drastically declines, make family and society
Bear more and more heavier, according to contemporary medical science is theoretical and clinical medicine practise proves that recovery and the raising to extremity motor function removes
Outside necessary medical procedure, science and correct rehabilitation training be highly effective mechanically-based, biomedicine, sensor
Developing rapidly, for rehabilitation and the booster engine of biomedical engineering field of technology, computer technology and intelligent control technology etc.
Device people there has also been good development platform, promotes the man-machine integration of medical field robot, and robot is passed through in this research
Product has certain practical significance and market prospect, lower limb exoskeleton for the burden improving Quality of rehabilitation with alleviate family social
Power-assisting robot is a kind of wearable power assisting device organically combined with user, according to ergonomics and biology
The thought design that personalizes of medical science, simulates normal human's lower limb gait motion form, helps lower limb to have the people of dyskinesia
Group recovers locomotor activity, by trajectory planning of doing exercises robot responds, thus reaches the purpose of man-machine collaboration.Along with
The development of the technology such as bionics theory of mechanisms, information processing, robotics, control theory and communication and maturation, ectoskeleton helps
Power robot can form human-machine system with operator, improves adaptive capacity to environment, in biomedical, military, rehabilitation
The fields such as treatment, rehabilitation nursing and artificial limb will have and get a good eye value and vast potential for future development.
The most most of lower limb exoskeleton power-assisting robot dress uncomfortable, malfunction, can not maximum limit
The range of activity of people is expanded on degree ground, and safety also can not get effectively ensureing, it is impossible to be really achieved simple and effective power-assisted
Purpose, owing to the physiology of different people ties feature difference, walking there is also individuation difference, and traffic information changes the most in real time
Become, iff using a fixing pattern to describe lower limb walking movement process, be difficult to meet wanting of different users
Asking, this is accomplished by lower limb exoskeleton power-assisting robot when being necessary can make certain adjustment, improves lower limb dermoskeleton
The adaptation ability of bone power-assisting robot system, additionally lower limb exoskeleton power-assisting robot should have lighter weight and less body
Long-pending, must have again enough driving forces or driving torque, for above not enough, now improve.
Summary of the invention
It is an object of the invention to provide a kind of lower limb exoskeleton power-assisting robot, to solve above-mentioned background technology proposes
Problem, had the beneficial effect that by human engineering and personalize thought herein to exoskeleton lower limbs power-assisting robot
Having carried out Degree of Freedom Analysis, exoskeleton lower limbs power-assisting robot body has lightweight, structural safety, the advantage that intensity is high, root
The mode moved according to body gait kinetic characteristic and exoskeleton lower limbs power-assisting robot determines the hip joint of robot, knee joint closes
Joint and ankle joint, carried out optimizing design targetedly to hip joint, knee joint and the ankle joint of robot, added comfortable
Property, on skeleton lower limb power-assisting robot body, additionally it is provided with man-machine connected robot back and pedal, especially at back
Also contemplate hardware space design and wiring, strengthen safety and the intensity of system, utilize four bar hip joints, four bar knee joints
Connect with four bar ankle joint, and then optimize the structure of robot rod member, establish exoskeleton lower limbs power-assisting robot mechanism base
Plinth, the present invention is reasonable in design, simple in construction, easy to operate, practical.
For achieving the above object, the present invention provides following technical scheme: a kind of lower limb exoskeleton power-assisting robot, including machine
Device human body, back and pedal, described robot body is provided with back, and back bottom connects four bar hip joints, described
Connecting below four bar hip joints and have thick link, connecting below thick link has four bar knee joints, the side of described thick link
Connected by bearing pin and have hip joint electric cylinder, and the hip joint electric cylinder other end is arranged on four bar hip joints by bearing pin, institute
The opposite side stating thick link has knee joint electric cylinder by bearing pin connection, and the knee joint electric cylinder other end is installed by bearing pin
In four bar knee joints, connecting and have shank link below described four bar knee joints, connecting below shank link has four bar ankle joint,
Described shank link is connected by bearing pin near four bar knee joint one end ankle joint electric cylinder, and the bottom of ankle joint electric cylinder
Being connected by bearing pin and four bar ankle joint, described four bar ankle joint bottoms are provided with pedal.
Preferably, described back being provided with backrest, backrest middle is provided with back fixation bar, both sides, described backrest bottom
Being mounted on back shell, and back shell is provided with trough near one end of backrest, described back shell base is mounted on
Stretching spring ear, is provided with driver outside back shell.
Preferably, the top of described four bar hip joints is provided with back connecting rod, and described four bar hip joints are away from back connecting rod
One end thick link is installed, described four bar hip joint sides by bearing pin connect have hip joint front rod, described four bar hips
Joint opposite side is connected by bearing pin hip joint back link.
Preferably, described four tops, bar knee joint side are provided with thick link, and described four bar knee joints are away from thigh even
The other end of bar is provided with shank link, and described four bar knee joint sides are connected by bearing pin knee joint front rod, and described four
Bar knee joint opposite side is connected by bearing pin knee joint back link.
Preferably, described four tops, bar ankle joint side are provided with shank link, and described four bar ankle joint are away from shank even
The other end of bar is provided with pedal connecting rod, and described four bar ankle joint sides are connected by bearing pin ankle joint front rod, described
Four bar ankle joint opposite sides are connected by bearing pin ankle joint back link.
Preferably, described hip joint electric cylinder, knee joint electric cylinder and ankle joint electric cylinder are equipped with feed screw nut, silk
Thick stick nut side is provided with motor, and one end of motor is connected with feed screw nut by Timing Belt, and described motor is away from Timing Belt
One end is provided with proximity switch, and proximity switch is fixed on feed screw nut, and the two ends of described feed screw nut are mounted on bearing pin.
Preferably, one end that described hip joint electric cylinder and four bar hip joints connect is provided with the first pressure transducer.
Preferably, one end that described knee joint electric cylinder and four bar knee joints connect is provided with the second pressure transducer.
Preferably, one end that described ankle joint electric cylinder and four bar ankle joint connect is provided with the 3rd pressure transducer.
Preferably, described pedal is provided with front sole and rear sole, and front sole and rear sole are connected by flat spring, institute
Stating and be equipped with protective layer on front sole and rear sole both sides side external surface, described front sole and rear sole are equipped with metal dress
Join layer, metal assembling layer be arranged over rubber boots bottom.
Preferably, described front sole being provided with forefoot pressure transducer, described front sole both sides are mounted on the forward foot in a step
Palm fixed plate.
Preferably, described rear sole is respectively mounted hind paw fixed plate near the both sides of front sole one end, another of rear sole
End is provided with heel fixed plate, and described rear sole is provided with heel pressure sensor near one end of heel fixed plate.
Compared with prior art, the invention has the beneficial effects as follows: by human engineering and personalize thought herein to dermoskeleton
Bone lower limb power-assisting robot has carried out Degree of Freedom Analysis, and exoskeleton lower limbs power-assisting robot body has lightweight, structural safety,
The advantage that intensity is high, determines machine according to the mode that body gait kinetic characteristic and exoskeleton lower limbs power-assisting robot move
The hip joint of people, knee joint and ankle joint, carried out optimizing targetedly setting to hip joint, knee joint and the ankle joint of robot
Meter, adds comfortableness, is additionally provided with man-machine connected robot back on skeleton lower limb power-assisting robot body and rides
Plate, especially also contemplates hardware space design and wiring at back, strengthens safety and the intensity of system, utilizes four bar hips to close
Joint, four bar knee joints and four bar ankle joint connect, and then optimize the structure of robot rod member, establish exoskeleton lower limbs power-assisted
Robot mechanism basis, the present invention is reasonable in design, simple in construction, easy to operate, practical.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the back structural representation of the present invention；
Fig. 3 is the four bar hip joint structural representations of the present invention；
Fig. 4 is the four bar knee joint structure schematic diagrams of the present invention；
Fig. 5 is the four bar ankle joint structure schematic diagrams of the present invention；
Fig. 6 is the hip joint electric cylinder of the present invention, knee joint electric cylinder and ankle joint electric cylinder structural representation；
Fig. 7 is the pedal plate structure schematic diagram of the present invention.
In figure: 1. robot body；2. back；2-1. back connecting rod；3. four bar hip joint；3-1. hip joint front rod 3-
2. hip joint back link；4. hip joint electric cylinder；5. thick link；6. bearing pin；7. knee joint electric cylinder；8. four bar knee joint；
8-1. knee joint front rod；8-2. knee joint back link；9. shank link；10. four bar ankle joint；10-1. pedal front rod；
10-2. pedal back link；11. ankle joint electric cylinders；12. pedals；12-1. pedal connecting rod；13. first pressure sensings
Device；14. second pressure transducers；15. the 3rd pressure transducers；16. backrests；17. back fixation bars；18. back shell；19.
Stretching spring ear；20. drivers；21. troughs；22. feed screw nuts；23. motors；24. proximity switches；25. Timing Belts；26.
Front sole；Sole after 27.；28. flat springs；29. protective layers；30. metal assembling layers；31. rubber boots bottoms；32. forefoot pressures
Force transducer；33. forefoot fixed plates；34. hind paw fixed plates；35. heel pressure sensors.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1-7, a kind of embodiment that the present invention provides: a kind of lower limb exoskeleton power-assisting robot, including machine
Human body 1, back 2 and pedal 12, robot body 1 is provided with back 2, and back 2 bottom connects four bar hip joints 3, and four
Connecting below bar hip joint 3 and have thick link 5, connecting below thick link 5 has four bar knee joints 8, and the side of thick link 5 leads to
Cross bearing pin 6 connection and have hip joint electric cylinder 4, and hip joint electric cylinder 4 other end is arranged on four bar hip joints 3 by bearing pin 6,
The opposite side of thick link 5 is connected by bearing pin 6 knee joint electric cylinder 7, and knee joint electric cylinder 7 other end is by bearing pin 6
Being arranged in four bar knee joints 8, connecting below four bar knee joints 8 has shank link 9, and connecting below shank link 9 has four bar ankles
Joint 10, shank link 9 is connected by bearing pin 6 near four bar knee joint 8 one end ankle joint electric cylinder 11, and ankle joint is electronic
The bottom of cylinder 11 is connected with four bar ankle joint 10 by bearing pin 6, and four bar ankle joint 10 bottoms are provided with pedal 12.
Additionally, back 2 being provided with backrest 16, backrest 16 middle is provided with back fixation bar 17, backrest 16 bottom two
Side is mounted on back shell 18, and back shell 18 is provided with trough 21, back shell 18 base near one end of backrest 16
It is mounted on stretching spring ear 19, driver 20 is installed outside back shell 18.
Additionally, the top of four bar hip joints 3 is provided with back connecting rod 2-1, and four bar hip joints 3 are away from back connecting rod 2-1
One end thick link 5 is installed, four bar hip joint 3 sides are connected by bearing pin 6 a hip joint front rod 3-1, and four bar hips close
Save 3 opposite sides and have hip joint back link 3-2 by bearing pin 6 connection.
Additionally, four tops, bar knee joint 8 side are provided with thick link 5, and four bar knee joints 8 are away from thick link 5
The other end is provided with shank link 9, and four bar knee joint 8 sides are connected by bearing pin 6 knee joint front rod 8-1, and four bar knee joints close
Save 8 opposite sides and have knee joint back link 8-2 by bearing pin 6 connection.
Additionally, four tops, bar ankle joint 10 side are provided with shank link 9, and four bar ankle joint 10 are away from shank link 9
The other end pedal connecting rod 12-1 is installed, four bar ankle joint 10 sides by bearing pin 6 connect have ankle joint front rod 10-1,
Four bar ankle joint 10 opposite sides are connected by bearing pin 6 ankle joint back link 10-2.
Additionally, hip joint electric cylinder 4, knee joint electric cylinder 7 and ankle joint electric cylinder 11 are equipped with feed screw nut 22,
Feed screw nut 22 side is provided with motor 23, and one end of motor 23 is connected with feed screw nut by Timing Belt 25, motor 23 away from
One end of Timing Belt is provided with proximity switch 24, and proximity switch 24 is fixed on feed screw nut 22, and the two ends of feed screw nut 22 are equal
Bearing pin 6 is installed.
Additionally, one end that hip joint electric cylinder 4 is connected with four bar hip joints 3 is provided with the first pressure transducer 13.
Additionally, one end that knee joint electric cylinder 7 is connected with four bar knee joints 8 is provided with the second pressure transducer 14.
Additionally, one end that ankle joint electric cylinder 11 is connected with four bar ankle joint 10 is provided with the 3rd pressure transducer 15.
Additionally, pedal 12 is provided with front sole 26 and rear sole 27, and front sole 26 and rear sole 27 pass through flat spring
28 connect, and front sole 26 and rear sole 27 both sides side external surface are equipped with protective layer 29, bottom front sole 26 and rear sole 27
Be equipped with metal assembling layer 30, metal assembling layer 30 be arranged over rubber boots bottom 31.
Additionally, front sole 26 being provided with forefoot pressure transducer 32, front sole 26 both sides are mounted on forefoot
Fixed plate 33.
Additionally, rear sole 27 is respectively mounted hind paw fixed plate 34 near the both sides of front sole 26 one end, rear sole 27
The other end is provided with heel fixed plate 34, and rear sole 27 is provided with heel pressure sensor near one end of heel fixed plate 34
35。
Operation principle: robot body 1 includes that actively joint, subjoint, back 2 and pedal 12 connect, and actively close
Joint includes the stretching and bend of four bar hip joints 3, the abduction of four bar hip joints 3 and interior receipts, the medial rotation of four bar hip joints 3 and rotation is outer and
By actively joint, stretching and bending of four bar knee joints 8, ensures that robot body 1 has the power of abundance, strength and stiffness simultaneously,
And reduce axial dimension, subjoint include four bar ankle joint 10 stretch bend and pedal 12 bend, connecting rod includes back
Connecting rod 2-1, thick link 5, shank link 9 and pedal connecting rod 12-1, connecting rod not only ensure that rod member rigidity and intensity,
Also reducing the weight of rod member, by the regulation to rod member, be adapted to different dressing, back 2 is firm with human upper limb
Property connect part, mainly bear the hardware system such as industrial computer, battery and load device, back be provided with gyroscope in order to distinguish
The heeling condition of others' body upper body, user in use, is fixed on back 2, back 2 internal cell by the present invention above the waist
Power and connected by wire thus drive mobile robot lower limb to carry out activity, the letter fed back to by the first pressure transducer 13
Number control the output of hip joint electric cylinder 4, drive being synchronized with the movement of hip joint, fed back to by the second pressure transducer 14
Signal controls the output of knee joint electric cylinder 7, drives kneed being synchronized with the movement, and is fed back to by the 3rd pressure transducer 15
Signal control the output of ankle joint electric cylinder 11, drive being synchronized with the movement, by forefoot pressure transducer 32 of ankle joint
The signal fed back to is to control being synchronized with the movement of front sole 26, after the signal fed back to by heel pressure sensor 35 is controlled
Being synchronized with the movement of sole 27, according to the physical condition of user, it is also possible to adjust further back connecting rod 2-1, thick link 5,
Shank link 9 and the stroke of pedal connecting rod 12-1, adjust the spacing between two hip joints, adjusts between two knee joints
Spacing, adjust the spacing between two ankle joint, adjust the size of pedal 12, finally meet the requirement used, really reach
To simple and effective power-assisted purpose.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter
From the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claim
Change is included in the present invention.Should not be considered as limiting involved claim by any reference in claim.
Claims (12)
1. a lower limb exoskeleton power-assisting robot, including robot body 1, back 2 and pedal 12, it is characterised in that: institute
Stating robot body 1 and be provided with back 2, back 2 bottom connects four bar hip joints 3, and connecting below described four bar hip joints 3 has
Thick link 5, connects below thick link 5 and has four bar knee joints 8, and the side of described thick link 5 is connected by bearing pin 6 hip
Joint electric cylinder 4, and hip joint electric cylinder 4 other end is arranged on four bar hip joints 3 by bearing pin 6, described thick link 5
Opposite side is connected by bearing pin 6 knee joint electric cylinder 7, and knee joint electric cylinder 7 other end is arranged on four bar knee joints by bearing pin 6
On joint 8, connecting and have shank link 9 below described four bar knee joints 8, connecting below shank link 9 has four bar ankle joint 10, institute
State shank link 9 and have ankle joint electric cylinder 11, and ankle joint electric cylinder 11 near four bar knee joint 8 one end by bearing pin 6 connection
Bottom be connected with four bar ankle joint 10 by bearing pin 6, described four bar ankle joint 10 bottoms are provided with pedal 12.
A kind of lower limb exoskeleton power-assisting robot the most according to claim 1, it is characterised in that: install on described back 2
Having backrest 16, backrest 16 middle to be provided with back fixation bar 17, both sides, described backrest 16 bottom are mounted on back shell 18, and
Back shell 18 is provided with trough 21 near one end of backrest 16, and described back shell 18 base is mounted on stretching spring ear
19, driver 20 is installed outside back shell 18.
3. according to a kind of lower limb exoskeleton power-assisting robot described in claim 1, it is characterised in that: described four bar hip joints 3
Top is provided with back connecting rod 2-1, and described four bar hip joints 3 are provided with thick link 5, institute away from one end of back connecting rod 2-1
Stating four bar hip joint 3 sides has hip joint front rod 3-1, described four bar hip joint 3 opposite sides to pass through bearing pin by bearing pin 6 connection
6 connections have hip joint back link 3-2.
A kind of lower limb exoskeleton power-assisting robot the most according to claim 1, it is characterised in that: described four bar knee joints 8
Top, side is provided with thick link 5, and described four bar knee joints 8 are provided with shank link 9 away from the other end of thick link 5,
Described four bar knee joint 8 sides are connected by bearing pin 6 has knee joint front rod 8-1, described four bar knee joint 8 opposite sides to pass through pin
Axle 6 connects knee joint back link 8-2.
A kind of lower limb exoskeleton power-assisting robot the most according to claim 1, it is characterised in that: described four bar ankle joint 10
Top, side is provided with shank link 9, and described four bar ankle joint 10 are provided with pedal connecting rod away from the other end of shank link 9
12-1, described four bar ankle joint 10 sides by bearing pin 6 connect have ankle joint front rod 10-1, described four bar ankle joint 10 another
Side is connected by bearing pin 6 ankle joint back link 10-2.
A kind of lower limb exoskeleton power-assisting robot the most according to claim 1, it is characterised in that: described hip joint electric cylinder
4, being equipped with feed screw nut 22 on knee joint electric cylinder 7 and ankle joint electric cylinder 11, feed screw nut 22 side is provided with motor 23, and
One end of motor 23 is connected with feed screw nut by Timing Belt 25, and described motor 23 is provided with proximity switch away from one end of Timing Belt
24, and proximity switch 24 is fixed on feed screw nut 22, the two ends of described feed screw nut 22 are mounted on bearing pin 6.
A kind of lower limb exoskeleton power-assisting robot the most according to claim 1, it is characterised in that: described hip joint electric cylinder
4 one end being connected with four bar hip joints 3 are provided with the first pressure transducer 13.
A kind of lower limb exoskeleton power-assisting robot the most according to claim 1, it is characterised in that: described knee joint electric cylinder
7 one end being connected with four bar knee joints 8 are provided with the second pressure transducer 14.
A kind of lower limb exoskeleton power-assisting robot the most according to claim 1, it is characterised in that: described ankle joint electric cylinder
11 one end being connected with four bar ankle joint 10 are provided with the 3rd pressure transducer 15.
A kind of lower limb exoskeleton power-assisting robot the most according to claim 1, it is characterised in that: described pedal 12 sets
There are front sole 26 and rear sole 27, and front sole 26 and rear sole 27 are connected by flat spring 28, described front sole 26 and rear footwear
It is equipped with protective layer 29 on the end 27 both sides side external surface, bottom described front sole 26 and rear sole 27, is equipped with metal assembling layer
30, metal assembling layer 30 be arranged over rubber boots bottom 31.
11. a kind of lower limb exoskeleton power-assisting robots according to claim 10, it is characterised in that: on described front sole 26
Being provided with forefoot pressure transducer 32, described front sole 26 both sides are mounted on forefoot fixed plate 33.
12. a kind of lower limb exoskeleton power-assisting robots according to claim 10, it is characterised in that: described rear sole 27 leans on
Nearby the both sides of sole 26 one end are respectively mounted hind paw fixed plate 34, and the other end of rear sole 27 is provided with heel fixed plate 34,
Described rear sole 27 is provided with heel pressure sensor 35 near one end of heel fixed plate 34.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610605710.6A CN106264989A (en) | 2016-07-29 | 2016-07-29 | A kind of lower limb exoskeleton power-assisting robot |
Applications Claiming Priority (1)
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| CN107243889A (en) * | 2017-07-21 | 2017-10-13 | 安徽新华学院 | Heavy burden exoskeleton robot |
| CN107322569A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of isomery Wearable load power assisting device and its control method |
| CN107625589A (en) * | 2017-08-28 | 2018-01-26 | 天津大学 | A kind of ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic |
| CN108354788A (en) * | 2018-04-10 | 2018-08-03 | 超微（上海）骨科医院管理股份有限公司 | A kind of four bar parallel connection ankle recovery exercising robot of interactive |
| CN109009866A (en) * | 2018-06-28 | 2018-12-18 | 湘潭大学 | Sitting type lower limb exoskeleton rehabilitation robot |
| CN109199799A (en) * | 2018-09-18 | 2019-01-15 | 内蒙古工业大学 | A kind of knee joint exoskeleton mechanism based on connecting rod driving |
| CN110037891A (en) * | 2019-04-22 | 2019-07-23 | 哈工大机器人（合肥）国际创新研究院 | Lower limb knee ankle recovery training appliance for recovery based on plantar pressure Gait Recognition |
| CN112022637A (en) * | 2020-09-08 | 2020-12-04 | 河南科技大学第一附属医院 | Physiotherapy device capable of assisting movement |
| IT202100029327A1 (en) * | 2021-11-19 | 2023-05-19 | Robosuits Srl | SUPPORT FOOT FOR AN EXOSKELETON FOR CARRYING LOADS, EXOSKELETON INCLUDING SAID SUPPORT FOOT AND METHOD OF CONTROL OF AN EXOSKELETON |
| WO2024097376A1 (en) * | 2022-11-02 | 2024-05-10 | Sarcos Corp. | Adjustable exoskeleton foot-supporting appendage for variable human kinematic compatibility |
| US12172298B2 (en) | 2022-11-04 | 2024-12-24 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction |
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| CN106943282A (en) * | 2017-03-24 | 2017-07-14 | 浙江工业大学 | A kind of polypody power-assisted healing robot |
| CN107243889A (en) * | 2017-07-21 | 2017-10-13 | 安徽新华学院 | Heavy burden exoskeleton robot |
| CN107322569B (en) * | 2017-08-07 | 2023-08-22 | 南京理工大学 | A heterogeneous wearable load assist device and its control method |
| CN107322569A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of isomery Wearable load power assisting device and its control method |
| CN107625589A (en) * | 2017-08-28 | 2018-01-26 | 天津大学 | A kind of ectoskeleton wheelchair integrated multi-functional movement auxiliary robot of telescopic |
| CN107625589B (en) * | 2017-08-28 | 2023-10-27 | 天津大学 | Foldable exoskeleton wheelchair integrated multifunctional mobile auxiliary robot |
| CN108354788A (en) * | 2018-04-10 | 2018-08-03 | 超微（上海）骨科医院管理股份有限公司 | A kind of four bar parallel connection ankle recovery exercising robot of interactive |
| CN109009866A (en) * | 2018-06-28 | 2018-12-18 | 湘潭大学 | Sitting type lower limb exoskeleton rehabilitation robot |
| CN109009866B (en) * | 2018-06-28 | 2024-03-26 | 湘潭大学 | Sitting type lower limb exoskeleton rehabilitation robot |
| CN109199799A (en) * | 2018-09-18 | 2019-01-15 | 内蒙古工业大学 | A kind of knee joint exoskeleton mechanism based on connecting rod driving |
| CN110037891A (en) * | 2019-04-22 | 2019-07-23 | 哈工大机器人（合肥）国际创新研究院 | Lower limb knee ankle recovery training appliance for recovery based on plantar pressure Gait Recognition |
| CN112022637A (en) * | 2020-09-08 | 2020-12-04 | 河南科技大学第一附属医院 | Physiotherapy device capable of assisting movement |
| CN112022637B (en) * | 2020-09-08 | 2022-05-20 | 河南科技大学第一附属医院 | Physiotherapy device capable of assisting movement |
| IT202100029327A1 (en) * | 2021-11-19 | 2023-05-19 | Robosuits Srl | SUPPORT FOOT FOR AN EXOSKELETON FOR CARRYING LOADS, EXOSKELETON INCLUDING SAID SUPPORT FOOT AND METHOD OF CONTROL OF AN EXOSKELETON |
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| WO2024097376A1 (en) * | 2022-11-02 | 2024-05-10 | Sarcos Corp. | Adjustable exoskeleton foot-supporting appendage for variable human kinematic compatibility |
| US12172298B2 (en) | 2022-11-04 | 2024-12-24 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction |
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