CN104398368B - Walking assistance outer skeleton robot with transversely-arranged motors - Google Patents
Walking assistance outer skeleton robot with transversely-arranged motors Download PDFInfo
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- CN104398368B CN104398368B CN201410750101.0A CN201410750101A CN104398368B CN 104398368 B CN104398368 B CN 104398368B CN 201410750101 A CN201410750101 A CN 201410750101A CN 104398368 B CN104398368 B CN 104398368B
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Abstract
The invention relates to a walking assistance outer skeleton robot with transversely-arranged motors. The walking assistance outer skeleton robot comprises a waist fixing device (1), thigh fixing devices (3), thigh driving mechanisms (4), knee fixing devices (9), shank fixing devices (5), shank driving mechanisms (6), elastic ankle joints (7) and shoe soles (8). Human body thickness adjustment mechanisms (12) are arranged at the two ends of the waist fixing device (1). A thigh connection rod rotating fixing base (10) is hinged to one end of each human body thickness adjustment mechanism (12). The upper end of each thigh fixing device (3) is arranged outside the corresponding thigh connection rod rotating fixing base (10). The thigh driving mechanisms (4) are connected with the thigh connection rod rotating fixing bases (10). The shank driving mechanisms (6) are connected with the lower ends of the thigh fixing devices (3). The upper ends of the elastic ankle joints (7) are arranged on the shank fixing devices (5), and the lower ends of the elastic ankle joints (7) are connected with the shoe soles (8). The walking assistance outer skeleton robot has the advantages of being small in size, high in output torque, convenient to operate and high in reliability.
Description
Technical field
The present invention relates to technical field of medical rehabilitation machinery, the horizontal walk-aiding exoskeleton robot of particularly a kind of motor.
Background technology
The arrangement of the commonly used motor shaft of ectoskeleton and human synovial coaxial at present, this mode necessarily makes
Obtaining joint has a huge decelerator and motor, makes ectoskeleton be not easy to people's wearing.Additionally, if necessary to bigger power
Amount, joint can be bigger.
Chinese Patent Application No. is 201310572075.2, discloses hip described in Wearable lower limb exoskeleton rehabilitation robot
Knee joint drives joint component, main inclusion articular branches support member, decelerator, motor, bearing, output shaft, coding disk, and combines its accompanying drawing
1 as can be seen that electric machine main shaft is coaxial with joint rotation axis, in order to provide bigger output torque, then will necessarily expanded motor
Power, its volume also increases therewith, leads to motor to take up room in the horizontal direction too big, so that the entirety of robot takies
Space increases, and takes up room to reduction, then output torque is necessarily restricted.
Though having minority exoskeleton robot to adopt bevel gear at present, it is nearly all the Bevel Gear Transmission of open type.This scheme
There is no Practical significance completely, reason is as follows: (1), ectoskeleton are behaved and dressed, gear is exposed to outside, can not meet completely
Safety need are asked, once certain location contacts gear of human body, consequence is serious；(2), open type Bevel Gear Transmission inefficiency；(3) open
Formula Bevel Gear Transmission is not suitable for ectoskeletal applied environment it is easy to stir into foreign body.
Content of the invention
It is an object of the invention to overcoming the shortcoming of prior art, provide a kind of small volume and output torque height, operation side
Just the horizontal walk-aiding exoskeleton robot of the motor high with reliability.
The purpose of the present invention is achieved through the following technical solutions: a kind of horizontal walk-aiding exoskeleton robot of motor, it
Drive including waist fixing device, thigh holding device, thigh drive mechanism, knee fixing device, shank holding device, shank
Mechanism, elastic ankle joint and sole, the middle part of described waist fixing device is provided with human body width adjustment mechanism, and waist is fixed
The two ends of device are provided with human body thickness adjusting mechanism, and the end of human body thickness adjusting mechanism is hinged with thick link by hinge pin
Rotate fixed seat, the outside that human body thickness adjusting mechanism rotates fixed seat hinged place with thick link is connected by elastic steel sheet,
The upper end of described thigh holding device is rotatably installed in the outside that thick link rotates fixed seat, the fixing peace of thigh drive mechanism
It is loaded on the outside of thigh holding device, and rotates fixed seat with thick link and be in transmission connection, it is solid that thigh drive mechanism carries over thigh
Determine the length direction setting of device, the lower end inside of thigh holding device is provided with knee fixing device, and described shank is fixed
Device is arranged at the lower section of knee fixing device, and shank drive mechanism is fixedly mounted on the outside of shank holding device, and with big
The lower end of lower limb fixing device is in transmission connection, and shank drive mechanism carries over the length direction setting of shank holding device, described bullet
Property ankle joint upper end is fixedly mounted on shank holding device, and lower end is connected with sole.
The both sides of described waist fixing device are additionally provided with waist bondage device respectively.
The upper end of described thigh drive mechanism and shank drive mechanism has been respectively arranged with joint limited step.
Described thigh drive mechanism and shank drive mechanism all include shell and the motor being arranged at enclosure,
Decelerator, drive bevel gear and driven wheel of differential, the output shaft of motor is in transmission connection with the input shaft of decelerator, slows down
The output shaft of device and drive bevel gear are in transmission connection, and drive bevel gear is engaged with driven wheel of differential.
Described elastic ankle joint includes adjusting connecting rod, rotating shaft, ankle connecting rod, spacing shell and spring, adjusts the upper end of connecting rod
It is fixed on shank holding device, lower end is connected with ankle connecting rod by rotating shaft, the side setting limited location shell of ankle connecting rod, spacing shell
Inside it is provided with and can make the automatically reset spring of ankle connecting rod.
The afterbody of described driven wheel of differential is additionally provided with encoder.
The invention has the advantages that
1st, drive mechanism is respectively adopted bevel gear structure, and thigh drive mechanism and shank drive mechanism are carried over thigh respectively
The length direction setting of fixing device and shank holding device, and by drive mechanism and thigh holding device or shank holding device
Make integral, the volume of robot not only can be reduced, also allow ectoskeleton to select more powerful motor to reach more
Big strength, in the case of size leg connecting rod thickness no more than 65mm, using the teaching of the invention it is possible to provide the up to rated output of 120n m is turned round
Square, and being capable of reduces cost.
2nd, the present invention is respectively arranged with human body width adjustment mechanism and human body thickness adjusting mechanism, is applicable to different building shape
User, and it is all to insert, by bolt, the function that different screwed holes are realized adjusting, simple to operate so that user's is suitable
Speed is answered to accelerate.
3rd, by the setting of motor, decelerator, drive bevel gear and driven wheel of differential with enclosure it is ensured that user
Safety, and more in hgher efficiency than open type Bevel Gear Transmission, more can increase reliable transmission.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the side structure schematic diagram of the present invention；
Fig. 3 is b-b cross section structure diagram in Fig. 2；
Fig. 4 is the structural representation of waist fixing device；
Fig. 5 is the cross section structure diagram of drive mechanism；
Fig. 6 is the structural representation of drive mechanism；
Fig. 7 is the structural representation of elastic ankle joint
In figure: 1- waist fixing device, 2- waist bondage device, 3- thigh holding device, 4- thigh drive mechanism, 5- is little
Lower limb fixing device, 6- shank drive mechanism, 7- elasticity ankle joint, 8- sole, 9- knee fixing device, 10- thick link rotates
Fixed seat, 11- human body width adjustment mechanism, 12- human body thickness adjusting mechanism, 13- elastic steel sheet, 14- motor, 15- subtracts
Fast device, 16- drive bevel gear, 17- driven wheel of differential, 18- shell, 19- adjusts connecting rod, 20- rotating shaft, 21- ankle connecting rod, and 22- limits
Position shell, 23- spring, 24- encoder, 25- joint limited step.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to following institute
State.
As shown in Figure 1, Figure 2 and Figure 3, the horizontal walk-aiding exoskeleton robot of a kind of motor, it includes waist fixing device
1st, thigh holding device 3, thigh drive mechanism 4, knee fixing device 9, shank holding device 5, shank drive mechanism 6, elasticity
Ankle joint 7 and sole 8, the middle part of described waist fixing device 1 is provided with human body width adjustment mechanism 11, waist fixing device
1 two ends are provided with human body thickness adjusting mechanism 12, and human body width adjusting device 11 and human body thickness adjusting apparatus 12 are all logical
Cross the different screwed hole of bolt insertion to realize the function of adjusting, the end of human body thickness adjusting mechanism 12 is hinged with by hinge pin
Thick link rotates fixed seat 10, and thick link rotates and arranges breach hinge in fixed seat 10, completes to rotate and spacing, human body is thick
The outside that degree governor motion 12 rotates fixed seat 10 hinged place with thick link is connected by elastic steel sheet 13, and elastic steel sheet 13 is real
Existing automatic reset function, the upper end of described thigh holding device 3 is rotatably installed in the outside that thick link rotates fixed seat 10,
Thigh drive mechanism 4 is fixedly installed in the outside of thigh holding device 3, and is in transmission connection with thick link rotation fixed seat 10,
Thigh drive mechanism 4 carries over the length direction setting of thigh holding device 3, and the lower end inside of thigh holding device 3 is provided with knee joint
Lid fixing device 9, described shank holding device 5 is arranged at the lower section of knee fixing device 9, the fixing peace of shank drive mechanism 6
It is contained in the outside of shank holding device 5, and is in transmission connection with the lower end of thigh holding device 3, shank drive mechanism 6 carries over shank
The length direction setting of fixing device 5, described elastic ankle joint 7 upper end is fixedly mounted on shank holding device 5, lower end and
Sole 8 connects.
Further, as shown in Figure 1 and Figure 4, the both sides of described waist fixing device 1 are additionally provided with waist bondage respectively
Device 2, fixing human together with waist fixing device 1, drive for thigh provides support force simultaneously.
Further, as shown in Figure 5 and Figure 6, described thigh drive mechanism 4 and shank drive mechanism 6 all include shell
18 and be arranged at motor 14 shell 18 within, decelerator 15, drive bevel gear 16 and driven wheel of differential 17, drive electric
Machine 14 is direct current generator, and the output shaft of motor 14 is in transmission connection with the input shaft of decelerator 15, the output shaft of decelerator 15
It is in transmission connection with drive bevel gear 16, drive bevel gear 16 is engaged with driven wheel of differential 17, changes rotational angle by bevel gear
Exported by driven wheel of differential 17 after gear ratio with increasing, the afterbody of driven wheel of differential 17 is additionally provided with encoder 24.Thigh drives
The upper end of mechanism 4 and shank drive mechanism 6 has been respectively arranged with joint limited step 25, the joint limit in thigh drive mechanism 4
Position step 25 and thick link rotate fixed seat 10 collective effect and limit the super angular turn of thigh, the pass in shank drive mechanism 6
Section limited step 25 and thigh holding device 3 collective effect limit the super angular turn of shank, improve the work of robot further
Reliability.
Further, as shown in fig. 7, described elastic ankle joint 7 includes adjusting connecting rod 19, rotating shaft 20, ankle connecting rod 21, limit
Position shell 22 and spring 23, the upper end adjusting connecting rod 19 is fixed on shank holding device 5, and rotating shaft 20 and ankle connecting rod 21 are passed through in lower end
Connect, the side setting limited location shell 22 of ankle connecting rod 21, being provided with spacing shell 22 to make the automatically reset spring of ankle connecting rod 21
23.
Claims (3)
1. a kind of horizontal walk-aiding exoskeleton robot of motor it is characterised in that: it is solid that it includes waist fixing device (1), thigh
Determine device (3), thigh drive mechanism (4), knee fixing device (9), shank holding device (5), shank drive mechanism (6), bullet
Property ankle joint (7) and sole (8), the middle part of described waist fixing device (1) is provided with human body width adjustment mechanism (11), waist
The two ends of portion's fixing device (1) are provided with human body thickness adjusting mechanism (12), and the end of human body thickness adjusting mechanism (12) is passed through
Hinge pin is hinged with thick link and rotates fixed seat (10), and human body thickness adjusting mechanism (12) rotates fixed seat (10) with thick link
The outside of hinged place is passed through elastic steel sheet (13) and is connected, and the upper end of described thigh holding device (3) is rotatably installed in thigh even
Bar rotates the outside of fixed seat (10), and thigh drive mechanism (4) is fixedly installed in the outside of thigh holding device (3), and with big
Leg connecting rod rotates fixed seat (10) and is in transmission connection, and the length direction that thigh drive mechanism (4) carries over thigh holding device (3) sets
Put, the lower end inside of thigh holding device (3) is provided with knee fixing device (9), and described shank holding device (5) is arranged at
The lower section of knee fixing device (9), shank drive mechanism (6) is fixedly mounted on the outside of shank holding device (5), and and thigh
The lower end of fixing device (3) is in transmission connection, and shank drive mechanism (6) carries over the length direction setting of shank holding device (5), institute
Elastic ankle joint (7) upper end stated is fixedly mounted on shank holding device (5), and lower end is connected with sole (8)；
Described thigh drive mechanism (4) and shank drive mechanism (6) all include shell (18) and are arranged at shell (18) inside
Motor (14), decelerator (15), drive bevel gear (16) and driven wheel of differential (17), the output of motor (14)
Axle is in transmission connection with the input shaft of decelerator (15), and the output shaft of decelerator (15) is in transmission connection with drive bevel gear (16), main
Dynamic bevel gear (16) is engaged with driven wheel of differential (17)；
Described elastic ankle joint (7) includes adjusting connecting rod (19), rotating shaft (20), ankle connecting rod (21), spacing shell (22) and spring
(23) upper end, adjusting connecting rod (19) is fixed on shank holding device (5), and rotating shaft (20) is passed through with ankle connecting rod (21) even in lower end
Connect, side setting limited location shell (22) of ankle connecting rod (21), being provided with spacing shell (22) to make ankle connecting rod (21) automatically reset
Spring (23)；
The upper end of thigh drive mechanism (4) and shank drive mechanism (6) has been respectively arranged with joint limited step (25), and thigh drives
Joint limited step (25) on motivation structure (4) and thick link rotate fixed seat (10) the collective effect restriction super angle of thigh and turn
Dynamic, the joint limited step (25) in shank drive mechanism (6) limits the super angle of shank with thigh holding device (3) collective effect
Rotate.
2. a kind of horizontal walk-aiding exoskeleton robot of motor according to claim 1 it is characterised in that: described waist
The both sides of fixing device (1) are additionally provided with waist bondage device (2) respectively.
3. a kind of horizontal walk-aiding exoskeleton robot of motor according to claim 1 it is characterised in that: described is driven
The afterbody of bevel gear (17) is additionally provided with encoder (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410750101.0A CN104398368B (en) | 2014-12-10 | 2014-12-10 | Walking assistance outer skeleton robot with transversely-arranged motors |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410750101.0A CN104398368B (en) | 2014-12-10 | 2014-12-10 | Walking assistance outer skeleton robot with transversely-arranged motors |
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| CN104398368B true CN104398368B (en) | 2017-02-01 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104758142B (en) * | 2015-04-10 | 2017-06-27 | 电子科技大学 | A kind of assistance exoskeleton robot |
| CN104770941B (en) * | 2015-04-27 | 2016-08-17 | 电子科技大学 | The Antiskid sole that a kind of ectoskeleton uses |
| CN105030485B (en) * | 2015-09-18 | 2017-06-13 | 中国科学院自动化研究所 | It is a kind of to can be used for the leg mechanism of lower limb rehabilitation training |
| TWI564129B (en) * | 2015-11-27 | 2017-01-01 | 財團法人工業技術研究院 | Method for estimating posture of robotic walking aid |
| CN105686927B (en) * | 2016-01-08 | 2017-07-11 | 中国人民解放军理工大学 | Collapsible mobile lower limb exoskeleton |
| CN105434145B (en) * | 2016-01-28 | 2017-06-13 | 哈尔滨工业大学 | A kind of lightweight modularization walk-aiding exoskeleton |
| FR3076237B1 (en) * | 2017-12-28 | 2021-02-19 | Safran Electronics & Defense | EXOSKELETON STRUCTURE |
| CN108670713A (en) * | 2018-04-23 | 2018-10-19 | 中国科学院深圳先进技术研究院 | A kind of exoskeleton robot |
| IT202100002300A1 (en) * | 2021-02-03 | 2022-08-03 | U&O S R L | MOTORIZED JOINT FOR AN EXOKELETRON |
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| US7278979B2 (en) * | 2004-09-07 | 2007-10-09 | Honda Motor Co., Ltd. | Walking assistance device having a pelvis support member that is easy to wear |
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Effective date of registration: 20170920 Address after: 610000 No. 888, south section of Tianfu Road, Tianfu New District, Sichuan, Chengdu Patentee after: BUFFALO ROBOT TECHNOLOGY (CHENGDU) Co.,Ltd. Address before: 610051 No. four, building two, section 239, Jianshe North Road, Chengdu, Sichuan Co-patentee before: Cheng Hong Patentee before: Chengdu electronics great assets management Co.,Ltd. Effective date of registration: 20170920 Address after: 610051 No. four, building two, section 239, Jianshe North Road, Chengdu, Sichuan Co-patentee after: Cheng Hong Patentee after: Chengdu electronics great assets management Co.,Ltd. Address before: 610041 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Patentee before: University of Electronic Science and Technology of China |
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