CN106580637B - A kind of exoskeleton robot - Google Patents
A kind of exoskeleton robot Download PDFInfo
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- CN106580637B CN106580637B CN201611192794.1A CN201611192794A CN106580637B CN 106580637 B CN106580637 B CN 106580637B CN 201611192794 A CN201611192794 A CN 201611192794A CN 106580637 B CN106580637 B CN 106580637B
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- exoskeleton robot
- support rod
- return
- power
- shell
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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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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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)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of exoskeleton robots, comprising: power-supply system, control system, trunk restraint system, hip rotary system, lower limb restraint system, shock absorption booster shoes and crutch；Power-supply system includes: main power source system and standby power system；The hip rotary system includes: lumbar support plate, waist connecting plate, hip joint slewing equipment, the finger plate for realizing relative to hip joint slewing equipment pivoting action in a horizontal direction, and the crutch is fixedly connected with finger plate.Through the invention, the product structure for simplifying exoskeleton robot reduces manufacturing cost, and keeps human body attitude after realizing power-off, improves the safety of use and reliability.
Description
Technical field
The present invention relates to wearable device technical field more particularly to a kind of exoskeleton robots.
Background technique
In recent years, the exoskeleton robot that the patient for having dyskinesia for the elderly and lower limb carries out rehabilitation training obtains
It application and promotes, it breaks through Traditional Rehabilitation training method, robot active control technology and artificial limb " helping away " function is combined,
It is worn on extremity disabled persons and carries out gait rehabilitation training.Traditional exoskeleton robot is commonly used in having body disabled
Or the rehabilitation training of fracture patient, have the defects that use has a single function.
The Chinese invention patent of Publication No. CN102670377A discloses a kind of " exoskeleton-wearable lower limb rehabilitation instruction
Practice robot device ", it is only a kind of medical rehabilitation device of human body waist progress rehabilitation training in position below, and foot-operated
Plate can not adapt to human body, and sole and heel will form the characteristic periodically reversed in the process of walking, so as to cause patient's use
It is very uncomfortable and there is a problem of that rehabilitation efficacy is bad；There is also structure is complicated bulky defects simultaneously.Authorization Notice No. is
The Chinese invention patent of CN101810533B discloses " walking aid exoskeleton rehabilitation robot ", although can be realized auxiliary walking
Function, but equally exist mechanism complexity, the higher defect of manufacturing cost.
The above-mentioned prior art is usually being needed by bracket or the biggish auxiliary device of volume to keep total balance of the body
To realize balance.Obvious this technology path can not also adapt to the flexible use of indoor and outdoor.If patient needs to trot out,
Then need more people that the patient for wearing above-mentioned wearable device is moved to outdoor, to equally exist defect inconvenient to use.
In addition, similar exoskeleton robot is usually disabled person or fracture patient design, application in the prior art
There is very big limitation in place with using crowd.In the prior art and to be disclosed as that there is ectoskeleton machine customized in healthy population
People.
Finally, wearable exoskeleton robot described above at present will appear after a loss of power is unable to control human body attitude
The problem of.Wearer is it is possible that the danger toppled over.
In view of this, it is necessary to exoskeleton robot in the prior art be improved, to solve the above problems.
Summary of the invention
It is an object of the invention to disclose a kind of exoskeleton robot, realizing simplified structure, manufacturing cost is reduced, and
Human body attitude is kept after realizing power-off, improves the safety and reliability used.
To achieve the above object, the present invention provides a kind of exoskeleton robots, comprising: power-supply system, control system, body
Dry restraint system, hip rotary system, lower limb restraint system, shock absorption booster shoes and crutch；
The power-supply system includes: main power source system and standby power system；
The hip rotary system include: lumbar support plate, waist connecting plate, hip joint slewing equipment, relative to hip close
Section slewing equipment realizes that the finger plate of pivoting action, the crutch are fixedly connected with finger plate in a horizontal direction；
The trunk restraint system includes: back-supported plate, chest restraining, shoulder restraining and back connecting plate；Institute
It states back-supported plate and back connecting plate is an integral structure, and connect with knapsack；One end of the shoulder restraining connects back
Portion's connecting plate, the other end connect chest restraining；The back-supported plate is connect with lumbar support plate, in-built electrical in the knapsack
Source system；
The lower limb restraint system include: several support rods being separated from each other, be movably connected in support rod joint portion from
Lock joint and several leg restrainings connecting with support rod, the shock absorption booster shoes are vertical with support rod to be fixedly connected；
The shock absorption booster shoes include: backplate, upper sole, lower sole, anti-slip layer and servomechanism；The lower sole
Plate is hingedly formed by the foot palm part that can be pivoted relative to each other with heel portion；The servomechanism includes two motors being arranged symmetrically, defeated
The box body of gear and fixed motor, the box body are embedded in upper sole out, and the first hinge, the foot is arranged in the foot palm part
The second hinge is arranged in heel, and first hinge and the second hinge open up the hole portion of arranged coaxial, first hinge
The hole portion in portion is equipped with the internal gear engaged with output gear, the electric machine built-in angular transducer, the control system acceptance angle
The detection signal that sensor is sent is spent, motor intermittently outputting torsion is controlled, to drive heel portion to pivot relative to foot palm part.
As a further improvement of the present invention, the control system includes computer system, single-chip microcontroller or programmable patrols
Collect controller.
As a further improvement of the present invention, the crutch by the first pipeline section of movable telescopic and the second pipeline section socket and
At offering several limit holes on first pipeline section；The chest restraining and leg restraining are elastic material, and are used
Nylon adherent buckle, which encloses, to be fixed.
As a further improvement of the present invention, the support rod include the inner bracing piece that mutually accommodates and outer support bar and
Lock-nut；The outer support bar offers the groove that lengthwise extends and has locking hole, and the lock-nut extends vertically into
It offsets in locking hole and with inner bracing piece, it is mobile with the opposite direction for limiting inner bracing piece and outer support bar.
As a further improvement of the present invention, the self-locking joint includes: cylindrical and inner hollow shell, and
Pivot part relative to shell rotation；Curved opening is offered on the arc surface of the shell, in the two sides of the curved opening
Fixed block, the driving spring, sliding block, non-return bullet block, non-return pedestal, reset spring, magnetic for being distributed symmetrically setting and being accommodated by shell
Property part and relay；The inside of the rounded ends of the shell offers the sliding slot of two parallel arrangements for clamping slider；
The non-return bullet block and non-return pedestal are hinged, and pivot part is connect with the support rod being located at below self-locking joint, and support rod is from arc
The outside of opening stretching shell；The fixed block is arranged by driving spring connection sliding block, the reset spring in non-return bullet
Between block and non-return pedestal, to provide radical elasticity to non-return bullet block；To the of short duration energization of relay to form magnetic pole and attract magnetic
Property part, using drive non-return bullet block using pivot part as axis rotate, so that sliding block is slided and is clamped along the chute under the driving of driving spring
Support rod；After stopping to relay power, relay demagnetization, so that non-return bullet block resets under the driving of reset spring, with
It limits sliding of the sliding block in sliding slot and passes through non-return bullet block clamping brace bar.
As a further improvement of the present invention, the shock absorption booster shoes further include: be set to support rod and upper sole it
Between anti-crawl agentdefiection mechanism, first pivoting portion, second pivoting portion and the universal joint that the anti-crawl agentdefiection mechanism is arranged by square crossing form；Institute
The first transmission shaft of grafting in first pivoting portion, grafting second driving shaft in second pivoting portion are stated, first transmission shaft, second pass
Moving axis is rigidly connected with the universal joint being set on first pivoting portion and second pivoting portion crosspoint.
As a further improvement of the present invention, the sliding block coats buffer layer towards the side of curved opening.
Compared with prior art, the beneficial effects of the present invention are: through the invention, simplifying the product of exoskeleton robot
Structure reduces manufacturing cost, and keeps human body attitude after realizing power-off, improves the safety of use and reliability.
Detailed description of the invention
Fig. 1 is the perspective view of exoskeleton robot of the present invention；
Fig. 2 is the side view of exoskeleton robot of the present invention；
Fig. 3 is the front view of exoskeleton robot of the present invention；
Fig. 4 is by the perspective view of the shock absorption booster shoes assembled in exoskeleton robot shown in figure 1；
Fig. 5 is the explosive view of shock absorption booster shoes illustrated in fig. 4；
The perspective view for the self-locking joint that Fig. 6 is assembled in the exoskeleton robot shown in Fig. 1；
Fig. 7 is the cross-sectional view at the curved opening in the self-locking joint of the exoskeleton robot gone out along Fig. 6；
Fig. 8 is in Fig. 7 marked as the enlarged drawing at A；
Fig. 9 be sliding block clamp standoff bar when along Fig. 8 the direction visual angle B structural schematic diagram.
Specific embodiment
The present invention is described in detail for each embodiment shown in reference to the accompanying drawing, but it should be stated that, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiments made by function, method,
Or equivalent transformation or substitution in structure, all belong to the scope of protection of the present invention within.
It please join a kind of specific embodiment of Fig. 1 to exoskeleton robot of the present invention illustrated in fig. 9 a kind of.Join Fig. 1 extremely
Shown in Fig. 4, the exoskeleton robot, comprising: power-supply system, control system, trunk restraint system, hip rotary system, lower limb
Restraint system, shock absorption booster shoes 60 and crutch 30.
Power-supply system includes: main power source system and standby power system.Power-supply system can be both placed in knapsack 101,
It can also be placed on inside shock absorption booster shoes 60.Main power source system uses ferric phosphate lithium cell, nickel-metal hydride battery or lithium battery.It is standby
It can be used button cell or alkaline battery with power-supply system, and provide for self-locking joint 40 and/or shock absorption booster shoes 60 of short duration
Power supply.
Hip rotary system include: lumbar support plate 200, waist connecting plate 201, hip joint slewing equipment 203, relative to
Hip joint slewing equipment 203 realizes that the finger plate 202 of pivoting action, the crutch 30 and finger plate 202 are solid in a horizontal direction
Fixed connection.
The support of hip joint slewing equipment 203 moves in the front-back direction, the movement in 202 support level direction of finger plate, and
It is further limited to realize the horizontal hunting amplitude of 180 degree in the horizontal direction.Specifically, the hip of the exoskeleton robot returns
Transfering from one department to another system includes two waist connecting plates 201, and is separately positioned on the two sides of lumbar support plate 200, and turns round and fill with hip joint
Set 203 connections.
Trunk restraint system includes: back-supported plate 102, chest restraining 106, shoulder restraining 103 and back connection
Plate 107.Back-supported plate 102 and back connecting plate 107 are an integral structure, and are connect with knapsack 101.In present embodiment
In, including two back connecting plates 107, back-supported plate 102 is arranged between two back connecting plates 107, and in T shape.
One end of shoulder restraining 103 connects back connecting plate 107, and the other end connects chest restraining 106.Back connecting plate 107 with
Lumbar support plate 200 connects, integrated power in the knapsack 101.Chest of the chest restraining 106 to enclose user
Portion, and wrapped up jointly with shoulder restraining 103, back-supported plate 102 and back connecting plate 107 and wind the trunk of user.
The top of back connecting plate 107 is equipped with a hook-holding part 117, and shoulder restraining 103 is across back-supported plate 102
Top, and realize that activity button-fold is connect with the female thread 105 being connected on chest restraining 106 by pin thread 104.Meanwhile back
The top of connecting plate 107 is additionally provided with a female thread 109, and a tool pin thread 108 is extended at the top of another back connecting plate 107
Restraining effectively fixed with connect with the oblique activity button-fold of female thread 109 by pin thread 108 with the neck progress to user.
Lower limb restraint system 50 includes: several support rods 501 being separated from each other, is movably connected in 501 joint portion of support rod
Self-locking joint 40 and several leg restrainings 504 for being connect with support rod 501, the shock absorption booster shoes 60 and support rod
501 are vertically fixedly connected.
In the present embodiment, which is socketed to form by the first pipeline section 301 and the second pipeline section 302 of movable telescopic,
First pipeline section, 301 longitudinally-moving accommodates the second pipeline section 302.Several limit holes 311 are offered on first pipeline section 301.Limit hole 311
In can be inserted into spacer pin (not shown), to adjust the length of crutch 30 composed by the first pipeline section 301 and the second pipeline section 302.The
The end of two pipeline sections 302 is provided with the anti-skid ball 312 made of the anti-slip materials such as rubber.
Specifically, the chest restraining 106 and leg restraining 504 are elastic material, and are enclosed admittedly using nylon adherent buckle
It is fixed.Preferably, chest restraining 106 and leg restraining 504 can be used ox-hide and be made.Leg restraining 504 is at joining
Inside is provided with several air bags 5041.Inside setting of the chest restraining 106 at joining equally may also set up several air bags
1061, thus comfort when improving to chest and leg binding and constraint.
Support rod 501 includes the inner bracing piece and outer support bar and lock-nut 502 mutually accommodated.Outer support bar opens up
There is lengthwise to extend and there is the groove 5011 of locking hole, the lock-nut 502 extends vertically into locking hole, and and inner support
Bar offsets, mobile with the opposite direction for limiting inner bracing piece and outer support bar, so that the adjustment to 501 length of support rod is realized, with
It realizes to the adaptability with the long crowd of different heights, leg.Join shown in Fig. 1, in the joint of inner bracing piece and outer support bar
It is provided with the mounting base 503 of installation lock-nut 502, mounting base 503 is fixedly connected with outer support bar.It is opened up in mounting base 503
There is through-hole to accommodate lock-nut 502, so that it is solid that the locking hole realization opened up in lock-nut 502 and groove 5011 is spirally connected
It is fixed, to adjust the length of outer support bar receiving inner bracing piece, so as to adjust the length of support rod 501.In the present embodiment, it props up
Strut 501 is whole to be made of almag.Also can while guaranteeing the structural strength of support rod 501 by above structure
The dosage for reducing almag to greatest extent, reduces the manufacturing cost of the exoskeleton robot.
Join shown in Fig. 6, the self-locking joint 40 of the exoskeleton robot, which is installed in exoskeleton robot, to be relatively rotatable to each other
Artis.Specifically, in figs. 1 to 3, one can be installed respectively at the hip joint and knee joint of the exoskeleton robot
Self-locking joint 40 passes through the self-locking of the self-locking joint 40 to realize after the main power source accident power-off of the exoskeleton robot
It is in upright state that function, which keeps leg, so that it is guaranteed that entire exoskeleton robot does not topple, improve the safety that uses with
Reliability.
Specifically, in the present embodiment, the self-locking joint 40 of the exoskeleton robot, comprising: cylindrical and internal
Hollow shell 401, and the pivot part 427 rotated relative to shell 401, pivot part 427 are set to the inside of shell 401.
Shell 401 is fixedly connected with the support rod 501 being located above or is in integral structure, is provided with shaft in pivot part 427
426, the extending direction of the extending direction and the arc surface of shell 401 of shaft 426 is arranged in parallel, and the vertical support rod 501.
Curved opening 425 is offered on the arc surface of shell 401, is distributed symmetrically and is set in the two sides of the curved opening 425
Fixed block 413, driving spring 414, sliding block 420, non-return bullet block 415, non-return pedestal 410, the reset bullet set and accommodated by shell
Spring 416, magnetic part 418 and relay K1(relay K2).Support rod 501 and pivot part positioned at 40 lower section of self-locking joint
427 be in integral structure.Pivot part 427 is rotation axle portion with shaft 426, to realize the phase in curved opening 425 of support rod 501
The realization of self-locking joint 40 is freely rotated.The fixed block 413 and non-return pedestal 410 be all set in the inside of shell 401 and with
Shell 401 is fixedly installed.Iron can be selected for the magnetic part 418 or nickel is made.
Meanwhile the central angle of the curved opening 425 is 20 ~ 270 degree, and further preferably 90 degree ~ 180 degree.Arc is opened
The width of mouth 425 is greater than the support rod 501 and the width in direction is freely rotated in curved opening 425, and is formed about in two sides
The gap of 1mm, so that it is guaranteed that the flexibility that support rod 501 is rotated in curved opening 425.
Join shown in Fig. 7 to Fig. 9, the inside of the rounded ends of the shell 401 offers flat for two of clamping slider 420
The sliding slot 402 of row arrangement.Specifically, the circle of two parallel arrangements of shell 401 as illustrated in FIG. 1 is arranged in the sliding slot 402
The inside of shape end face.
Non-return bullet block 415 and non-return pedestal 410 realized hingedly by pin shaft 4151, pin shaft 4151 with positioned at self-locking joint 40
The support rod 501 of lower section connects.Support rod 501 stretches out the outside of shell 401 from curved opening 425.Fixed block 413 passes through drive
It moves 414 connection sliding block 420 of spring.
Specifically, the fin 421 matched with the cross-sectional shape of sliding slot 402 is arranged in the both lateral sides of the sliding block 420, it is convex
It is free to slide in sliding slot 402 that rib 421 can be controlled by driving spring 414.Preferably, the cross section of the fin 421 and sliding slot 402
Shape can be semicircle, can also be rectangle or other shapes, as long as can be realized sliding block 420 clamped by shell 401 and energy
Enough make arc-shaped free to slide.
Reset spring 416 is arranged between non-return bullet block 415 and non-return pedestal 410, to provide radial direction to non-return bullet block 415
Elastic force.The exoskeleton robot is configured with two sets of power-supply systems, and a set of is main power-supply system, and another set of is standby power system.
Relay K1(relay K2) it is in normally off, so that the output end 419 of relay K1 does not form magnetism, thus can not
Attract magnetic part 418.Non-return bullet block 415 radially-inwardly opens under the action of reset spring 416, to utilize its surface institute
The inclined-plane of configuration resists non-return bullet block 415 and 402 moves along the chute to the direction of support rod 501.
Standby power system to relay K1(relay K2) it is of short duration energization to form magnetic pole and attract magnetic part 418, with
It drives non-return bullet block 415 with pin shaft 4151 for axis rotation, makes 402 sliding along the chute under the driving of driving spring 414 of sliding block 420
And clamping brace bar 501；After stopping to relay power, relay K1 demagnetization, so that non-return bullet block 415 is in reset spring
It is resetted under 416 driving, to limit sliding of the sliding block 420 in sliding slot 402, and passes through 415 clamping brace bar of non-return bullet block
501。
After main power source system cut-off, standby power system can power in moment to relay K1, make that relay K1's is defeated
Outlet 419 forms magnetism, to attract magnetic part 418, so that the elastic force of reset spring 416 is overcome, so that 415 edge of non-return bullet block
Sliding slot 402 moved to the direction of support rod 501.
After sliding block 420 crosses the vertex of non-return bullet block 415, standby power system stops the power supply to relay K1, from
And the output end 419 of relay K1 is made to fall magnetic, separate non-return bullet block 415 with magnetic part 418, and in the drive of reset spring 416
Under dynamic, non-return bullet block 415 is radially-inwardly rotated, and to withstand sliding block 420 by abutment face 4171, sliding block 420 withstands support rod
501.To pass through above-mentioned symmetrically arranged fixed block 413, driving spring 414, sliding block 420, non-return bullet block 415, non-return pedestal
410, reset spring 416, magnetic part 418 and relay K1(relay K2), it realizes in exoskeleton robot in main power source system
After power down, support rod 501 is clamped by the self-locking joint 40, to prevent toppling over for exoskeleton robot, to improve outer
The safety and reliability of bone robot.
In the present embodiment, which coats buffer layer towards the side of curved opening 425, which is hair
Felt or rubber.Buffer layer can be coated on abutment face 4171, be moved toward one another simultaneously to eliminate symmetrically arranged two sliding blocks 420
To impact caused by support rod 501 and noise when stepping up support rod 501, the self lock of the exoskeleton robot is further increased
The comfort of section 40 and safety.
Join Fig. 4 and Fig. 5 shown in, the shock absorption booster shoes 60, comprising: control system, power supply, backplate 601, upper sole 604,
Lower sole, anti-slip layer and servomechanism.
Lower sole is hingedly formed by the foot palm part 608 that can be pivoted relative to each other with heel portion 609.Servomechanism includes symmetrical cloth
The box body of two motors 605, output gear 6051 and the fixed motor 605 set.The box body includes the upper cartridge body 607 mutually fastened
And lower box body 606 forms, tray interior is hollow and for accommodating two motors 605, the power output direction phase of two motors 605
Instead.
Two fixing ends 6071 are arranged in the edge of upper cartridge body 607, and two fixing ends 6061 are arranged in the edge of lower box body 606,
And fixing end 6061 and fixing end 6071 can be continuous through by fixing piece (such as bolt), to realize upper cartridge body 607 and lower box
Body 606 is fixedly connected.Certainly, the mode that elasticity fastening can also be used with lower box body 606 in upper cartridge body 607 is assembled.Such as Fig. 2
Shown, the bottom of upper sole 604 opens up the recessed portion 614 for complete receptacle box, and box body is embedded in upper sole 604
In.
The first hinge 618 is arranged in the foot palm part 608, and the second hinge 619, first hinge is arranged in heel portion 609
Portion 618 offers the hole portion 6181 of arranged coaxial, and second hinge 619 offers the hole portion 6191 of arranged coaxial.Hole portion
6181 with 6191 arranged coaxial of hole portion, and the first hinge 618 is installed on the inside of the second hinge 619.First hinge 618
Hole portion 6181 be equipped with the internal gear that engages with output gear 6051, to pass through output by the torque for exporting motor 605
Gear 6051 passes to the second hinge 619, is pivoted with driving heel portion 609 to realize relative to foot palm part 608, so that playing makes
User in the process of walking, during heel portion 609 lifts, plays the role of power-assisted to the heel of user, reduces and use
When wearable device (a kind of exoskeleton robot gone out as shown in Figure 1 to Figure 3) of person's wearing assembly shock absorption booster shoes 60
Burden improves comfort level when user's walking.
As shown in Figures 4 and 5, which includes the sole anti-slip layer 611 for being bonded in 608 bottom of foot palm part, and viscous
Close the heel anti-slip layer 610 in 609 bottom of heel portion.The bottom of sole anti-slip layer 611 and heel anti-slip layer 610 is respectively formed pawl
The anti-slip part of shape, and rubber can be used and be made.
Meanwhile in the present embodiment, motor 605 is built-in for detecting foot palm part 608 relative to 609 angle of pivot of heel portion
The angular transducer of degree, and control system and power supply can be placed in inside heel portion 609 and/or foot palm part 608.Power supply is electricity
Relay K1, relay K2 and control system in machine 605, self-locking joint 40 provide power supply, and are by the control
The detection signal that receiving angle sensor of uniting is sent controls the intermittently outputting torsion of motor 605, to drive 609 phase of heel portion
Foot palm part 608 is pivoted.
It specifically, control system includes computer system, single-chip microcontroller or programmable logic controller (PLC), and is most preferably single
Piece machine.Alkaline battery, button cell can be selected in power supply.
In order to improve the comfort of the shock absorption booster shoes, in the present embodiment, in the foot palm part 608 and heel portion 609
Portion is hollow, so as to accommodate control system and power supply, and is respectively provided with elastic element.Specifically, the elastic element includes spring, gas
Pad or rubber.Motor 605 includes servo motor or stepper motor.
In conjunction with shown in Fig. 4 and Fig. 5, heel portion 609 is vertically arranged several positioning columns 6081, and the upper sole 604 opens up
With the location hole 6281 of receiving positioning column 6081, heel portion 609 and upper sole 604 are assembled.The shock absorption booster shoes 60
It is mounted on a kind of foot of exoskeleton robot illustrated in fig. 3, and is assembled by support rod 501 with shock absorption booster shoes 60
Connection.
Positioned at the setting of the outside of backplate 601, there are two through-holes 624 in upper sole 604.The shock absorption booster shoes 60 further include
The elastic bands 602 of fixed foot portion.Elastic bands 602 include to the elastic bands 6021 of fixed ankle and to fixed sole
Elastic bands 6022.Specifically, the backplate 601 forms the space 6121 of receiving ankle, and elastic bands are set on backplate 601
6021.Elastic bands 6022 are set on upper sole 604, to form the space 6122 of receiving sole by the elastic bands 6022.
Anti-crawl agentdefiection mechanism is additionally provided between support rod 501 and upper sole 604.The anti-crawl agentdefiection mechanism arranged by square crossing
One articulated section 505, second pivoting portion 506 and universal joint 507 form.The first transmission shaft of grafting 5051 in the first pivoting portion 505,
Grafting second driving shaft 5061 in second pivoting portion 506.First transmission shaft 5051, second driving shaft 5061 and it is set to the first pivot
Universal joint 507 in socket part 505 and 506 crosspoint of second pivoting portion is rigidly connected.To prevent from supporting by the anti-crawl agentdefiection mechanism
There is the shaking of four direction all around in bar 501, to improve the support of the shock absorption booster shoes 60 to exoskeleton robot.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of exoskeleton robot characterized by comprising power-supply system, control system, trunk restraint system, hip return
Transfer from one department to another system, lower limb restraint system, shock absorption booster shoes and crutch；
The power-supply system includes: main power source system and standby power system；
The hip rotary system include: lumbar support plate, waist connecting plate, hip joint slewing equipment, relative to hip joint return
Rotary device realizes that the finger plate of pivoting action, the crutch are fixedly connected with finger plate in a horizontal direction；
The trunk restraint system includes: back-supported plate, chest restraining, shoulder restraining and back connecting plate；The back
Portion's support plate and back connecting plate are an integral structure, and are connect with knapsack；One end connection back of the shoulder restraining connects
Fishplate bar, the other end connect chest restraining；The back-supported plate is connect with lumbar support plate, built-in power system in the knapsack
System；
The lower limb restraint system includes: several support rods being separated from each other, the self lock for being movably connected in support rod joint portion
Section and several leg restrainings connecting with support rod, the shock absorption booster shoes are vertical with support rod to be fixedly connected；
The shock absorption booster shoes include: backplate, upper sole, lower sole, anti-slip layer and servomechanism；The lower sole by
The foot palm part that can be pivoted relative to each other hingedly is formed with heel portion；The servomechanism includes two motors, output gears being arranged symmetrically
The box body of wheel and fixed motor, the box body are embedded in upper sole, and the first hinge, the heel portion is arranged in the foot palm part
Second hinge is set, and first hinge and the second hinge open up the hole portion of arranged coaxial, first hinge
Hole portion is equipped with the internal gear engaged with output gear, the electric machine built-in angular transducer, and the control system receiving angle passes
The detection signal that sensor is sent controls motor intermittently outputting torsion, to drive heel portion to pivot relative to foot palm part.
2. exoskeleton robot according to claim 1, which is characterized in that the control system include computer system,
Single-chip microcontroller or programmable logic controller (PLC).
3. exoskeleton robot according to claim 1, which is characterized in that the crutch by movable telescopic the first pipeline section
And second pipeline section be socketed to form, offer several limit holes on first pipeline section；The chest restraining and leg restraining
For elastic material, and is enclosed and fixed using nylon adherent buckle.
4. exoskeleton robot according to claim 1, which is characterized in that the support rod includes the interior branch mutually accommodated
Strut and outer support bar and lock-nut；The outer support bar offers the groove that lengthwise extends and has locking hole, described
Lock-nut is extended vertically into locking hole and is offseted with inner bracing piece, is moved with limiting inner bracing piece and the opposite of outer support bar
It is dynamic.
5. exoskeleton robot according to claim 1, which is characterized in that the self-locking joint include: it is cylindrical and
The shell of inner hollow, and the pivot part relative to shell rotation；Curved opening is offered on the arc surface of the shell,
The two sides of the curved opening are distributed symmetrically the fixed block for being arranged and being accommodated by shell, driving spring, sliding block, non-return bullet block, stop
Return pedestal, reset spring, magnetic part and relay；The inside of the rounded ends of the shell offers two for clamping slider
The sliding slot of a parallel arrangement；The non-return bullet block and non-return pedestal are hinged, pivot part and the support rod being located at below self-locking joint
Connection, support rod stretch out the outside of shell from curved opening；The fixed block passes through driving spring connection sliding block, the reset
Spring is arranged between non-return bullet block and non-return pedestal, to provide radical elasticity to non-return bullet block；To relay it is of short duration energization with
It forms magnetic pole and attracts magnetic part, to drive non-return bullet block to rotate by axis of pivot part, make sliding block under the driving of driving spring
Sliding and clamping brace bar along the chute；After stopping to relay power, relay demagnetization, so that non-return bullet block is in reset spring
Driving under reset, to limit sliding of the sliding block in sliding slot and by non-return bullet block clamping brace bar.
6. exoskeleton robot according to claim 1, which is characterized in that the shock absorption booster shoes further include: be set to
Anti-crawl agentdefiection mechanism between support rod and upper sole, first pivoting portion that the anti-crawl agentdefiection mechanism is arranged by square crossing, the second pivot
Socket part and universal joint composition；The first transmission shaft of grafting in the first pivoting portion, grafting second driving shaft in second pivoting portion, institute
It states the first transmission shaft, second driving shaft and is set to first pivoting portion and rigidly connects with the universal joint on second pivoting portion crosspoint
It connects.
7. exoskeleton robot according to claim 5, which is characterized in that the sliding block is wrapped towards the side of curved opening
Cover buffer layer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611192794.1A CN106580637B (en) | 2016-12-21 | 2016-12-21 | A kind of exoskeleton robot |
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| CN201611192794.1A CN106580637B (en) | 2016-12-21 | 2016-12-21 | A kind of exoskeleton robot |
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| CN106580637A CN106580637A (en) | 2017-04-26 |
| CN106580637B true CN106580637B (en) | 2018-12-28 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107150335A (en) * | 2017-07-19 | 2017-09-12 | 深圳龙海特机器人科技有限公司 | Wearable robot |
| CN108743248A (en) * | 2018-05-28 | 2018-11-06 | 佛山市三水区希望火炬教育科技有限公司 | A kind of war wearable running gear of the residual dedicated artificial intelligence of soldier's rehabilitation physical therapy |
| CN108904214B (en) * | 2018-08-14 | 2024-06-07 | 上海荣泰健康科技股份有限公司 | Automatic reset controller for power-off of massage armchair |
| CN109316731B (en) * | 2018-08-28 | 2019-09-24 | 中国地质大学（武汉） | A kind of long-range ectoskeleton is given lessons robot |
| CN109223450B (en) * | 2018-08-30 | 2020-12-01 | 佛山市顺德区孝德嘉医疗科技有限公司 | Robot convenient to patient's installation |
| CN110236755A (en) * | 2019-07-08 | 2019-09-17 | 毕云龙 | A hip joint traction fixator |
| CN112571400B (en) * | 2019-09-28 | 2024-04-23 | 深圳市迈步机器人科技有限公司 | Locking device |
| CN112545845B (en) * | 2020-12-25 | 2022-08-16 | 青岛大学附属医院 | Exoskeleton for medical rehabilitation |
| CN113001521B (en) * | 2021-03-25 | 2021-09-28 | 华中科技大学同济医学院附属协和医院 | Exoskeleton auxiliary device of intervention protective clothing and control method thereof |
| CN115990866B (en) * | 2021-10-20 | 2024-08-09 | 得圆外骨驰有限公司 | Auxiliary weight supporting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB0720706D0 (en) * | 2007-10-23 | 2007-12-05 | Shadowfax Medical Ltd | Improvements in or relating to footwear |
| CN201510472U (en) * | 2009-06-26 | 2010-06-23 | 北京工业大学 | Wearable lower extremity exoskeleton device |
| KR101099521B1 (en) * | 2009-12-24 | 2011-12-27 | 한국산재의료원 | Wearable walking assistance robot suit |
| US20130158445A1 (en) * | 2010-08-23 | 2013-06-20 | The Regents Of The University Of California | Orthesis system and methods for control of exoskeletons |
| CN103054692B (en) * | 2013-01-29 | 2015-03-04 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CA2928873A1 (en) * | 2013-11-12 | 2015-05-21 | Ekso Bionics, Inc. | Machine to human interfaces for communication from a lower extremity orthotic |
| CN103908392B (en) * | 2014-02-25 | 2017-09-08 | 北京航空航天大学 | A kind of lumbar device with hip joint parameter measurement suitable for ectoskeleton Auxiliary support robot |
| CN105411813A (en) * | 2015-12-29 | 2016-03-23 | 华南理工大学 | Wearable bionic exoskeleton mechanical leg rehabilitation device |
| CN106109186B (en) * | 2016-08-31 | 2018-08-14 | 中国科学院深圳先进技术研究院 | Wearable lower limb exoskeleton robot |
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