CN109009866A - Sitting type lower limb exoskeleton rehabilitation robot - Google Patents
Sitting type lower limb exoskeleton rehabilitation robot Download PDFInfo
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- CN109009866A CN109009866A CN201810686182.0A CN201810686182A CN109009866A CN 109009866 A CN109009866 A CN 109009866A CN 201810686182 A CN201810686182 A CN 201810686182A CN 109009866 A CN109009866 A CN 109009866A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 29
- 210000002414 leg Anatomy 0.000 claims abstract description 47
- 210000001699 lower leg Anatomy 0.000 claims abstract description 34
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 27
- 210000004394 hip joint Anatomy 0.000 claims abstract description 27
- 210000000689 upper leg Anatomy 0.000 claims abstract description 25
- 210000002683 foot Anatomy 0.000 claims abstract description 17
- 210000000629 knee joint Anatomy 0.000 claims abstract description 12
- 244000309466 calf Species 0.000 claims abstract description 11
- 238000005452 bending Methods 0.000 claims abstract description 6
- 238000013461 design Methods 0.000 claims abstract description 4
- 210000001624 hip Anatomy 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000003068 static effect Effects 0.000 claims description 8
- 210000003127 knee Anatomy 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical group COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 5
- 210000003423 ankle Anatomy 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000011579 SCID mouse model Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 abstract 1
- 230000035876 healing Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
Landscapes
- 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)
Abstract
The invention discloses a kind of sitting type lower limb exoskeleton rehabilitation robots, it is related to robotic technology field, including posture assisting device, back element, hip joint component, driving device, big leg assembly, shank component, ankle-joint component and foot's component wherein thigh plate, calf plate, ankle-joint component is two, backboard is connected with hip joint component and posture assisting device respectively, two thigh plate upper ends and hip joint member hinges, lower end is connected with shank component respectively, shank component both ends are connect with big leg assembly and retractable rod respectively, telescopic component is connected with foot's component, big leg assembly can connect driving by the telescopic rod in driving device with shank component, knee joint is human synovial contoured design, kneed bending operating condition is bent with Human Physiology to be close, structure of the invention is compact, weight Gently, have the function of it is environmentally friendly, convenient, rest at any time.
Description
Technical field
The present invention relates to a kind of lower limb exoskeleton rehabilitation robots, use rod piece, joint more particularly, to a kind of sitting type
Coordinated drive, the lower limb exoskeleton that patient can be assisted to sit down belong to healing robot technical field.
Background technique
Healing robot technology is constantly subjected to the wide of science researcher all over the world and medical associated mechanisms for a long time
General concern, healing robot are mainly the Medical Devices that doctor is used to that the patient of lower limb inconvenience is helped to carry out auxiliary walking, are being cured
There is more broad application prospect in treatment field.In China, when the research of domestic healing robot is in the starting stage just by
The common concern and attention in domestic each field, previous rehabilitation ancillary equipment are no longer satisfied China's Medical Devices to machinery
Intelligent and man-machine integration great demand.In addition, from the aspects of safety because lower limb exoskeleton directly and human body into
Row connection, so the requirement for safety and the flexibility of ectoskeleton is relatively high.In recent years, electrical energy drive ectoskeleton is being cured
Rehabilitation appliances field is treated also to have been more and more widely used.
201410353073 .9 of application number proposes a kind of single driving coordinated type lower limb assistance exoskeleton, although also using
Motor control, but the thigh drive sprocket structure bulky of its waist module, volume is excessive, and cannot provide seat to user
Under, stand power-assisted.
201310262919 .3 of application number proposes a kind of wearable lower-limb assistance exoskeleton, and every leg only uses an electricity
Machine driving makes hip joint, knee joint and ankle-joint while fitting appropriate turn using link mechanism with a driving motor is unified
Dynamic angle curve.But the length for needing targetedly to design connecting rod to different users not can be carried out length adjustment, not have
Versatility, and two motors also increase the weight of ectoskeleton.
201711137609.3, of application number proposes wearable lower limb exoskeleton robot, utilizes the work of gas spring and bolt
Knee joint locking is set to reach sitting posture under, sitting down makes center of gravity at human body rear, and sitting posture stability is not high, is extremely difficult to an order
The comfortable sitting posture of user.
Summary of the invention
For current ectoskeleton preponderance, not light enough, ectoskeleton size is difficult to be adapted to human body, and no decree is suffered from
For person the problems such as more conveniently sitting down, the present invention proposes a kind of novel lower limb exoskeleton rehabilitation robot, guarantees stability
Kinetic energy is provided with ectoskeleton is driven to using rod piece under the premise of safety, functionally devises the sitting posture for being suitable for ectoskeleton
Auxiliary device is more for a long time sat down using the posture assisting device of backboard in user.
To achieve the above object, the invention adopts the following technical scheme: a kind of sitting type lower limb exoskeleton rehabilitation robot,
It includes posture assisting device 8, back element 7, hip joint component 6, driving device 5, big leg assembly 4, shank component 3, ankle pass
Section component 2 and foot's component 1, the hip joint component 6 are mounted in back element 7, big 4 upper end of leg assembly and hip joint group
Part 6 is connected, and lower end is connected with the upper end of shank component 3, and the lower end of shank component 3 is connected with ankle-joint component 2, ankle-joint component
2 are connected with foot's component 1 it is characterized in that the big leg assembly 4 is mainly by thigh spill spin block 41, driving device 5, telescopic rod
43, gaiter 32 forms, and the upper end of driving device 5 is connected with telescopic rod 43, and left and right ends difference is hinged.
There is driving device 5 by stretching between the hip joint and big leg assembly 4, big leg assembly 4 and shank component 3, shank
Contracting bar is driven, it is characterised in that driver knee, the ankle for using electric drive as two major joints of dermoskeleton road lower limb are each
The driving principle in joint is consistent, specifically: DC servo motor first passes through retarder and reduces revolving speed, increases torque, then passes through
Shaft coupling communicates rotational motion to lead screw, and lead screw drives screw sliding block to move back and forth under the guiding role of guide rod,
To drive each joint to carry out flexion and extension together with joint drive.
The hip joint component 6 includes rotating horizontally block 40, waist expansion board 70, hip connecting plate 71, back link block
72, for being fixedly connected with backboard, hip connecting plate 71 is fixed with back link block 72 with bolt the back link block
One end insertion hip connecting plate 71 of connection, waist expansion board 70 can swing up and down around back, to adjust hip joint
The width of component, the inner end for laterally expanding the other end and horizontal rotation block 40 of plate are hinged, and in addition waist expansion board can be with
So that the waist of hip joint and user is matched, by thigh connecting joint rotation to realize thigh lift and under
Drop movement, while having a pair of of horizontal rotation block 40 on the downside of hip joint, to realize walking and turn to.
The knee components include driving device 5, bend and stretch spill spin block 41, link block 34, shell, adjustment plate 31, connection
Block 34 is fixedly connected with spill spin block 41 is bent and stretched, and articulation can be stayed with one's parents in order to make them happy in 90 degree of positions by bending and stretching spill spin block 41 and the dynamic connection of thigh plate 42
It sets, adjustment plate 31 is attached by bolt between thigh plate 31 and calf plate lower section 33 and is equipped with baffle and prevents from falling off,
Played the role of being to carry out leg length adjustment according to different human body height.
Plantar flexion dorsiflex part 21 in the ankle-joint component 2 encloses pivoting and passes through fastening by the drive of driving device 5
Part is connect with foot's component, can be realized the rotation of ankle-joint.The drive set component includes limit switch, guide rod, silk
Bar, screw saddle, retarder, bearing block, shaft coupling, DC servo motor, angular transducer, the motor are passed with angle respectively
Sensor is connected with retarder, and shaft coupling is connected with retarder, and screw saddle is able to carry out straight line by screw rod transmission and guide rod
Movement.
The posture assisting device 8 is fixed including seat cushion 81, flexible tightener 93, connecting rod 92, backboard fixed plate 91, backboard
Block 90, support rod 92, sitting posture connecting rod 83, switching 84, sits leg adjustment part 85, extensible member 88, telescopic fastener at plate link 82
86, it sits leg 87, lean against connecting rod 89, seat cushion 81 and seat leg adjustment part 85 can pass through tightener 93 of stretching according to the height of people respectively
It is adjusted with extensible member 88, telescopic fastener 86, when needing to sit down since plate link 82 and waist expand 70 length of plate
One sets, so sitting posture connecting rod 83 and seat leg adjustment part 85 smoothly can above rotate in human body sagittal plane and be caught in thigh plate pre-determined bit
It sets and is subject to the posture that detachable static connection middle can realize ectoskeleton and sit down.
The shank component 3 is equipped with the through-hole for adjustment length, everyone thigh and leg length when dressing ectoskeleton
Spend it is different, so design connection procedure in, shank component 3 add adjustment part 31, its junction is opened in this arrangement
Multiple holes, 2, top lower part 3, bottom hole, so that height adjusts the assembly with gaiter, make shank body to connect with shank
High higher patient, the patient that similarly height can also be suitble to shorter, it is only necessary to two longest holes of transfer block are attached,
Then make to be joined with bolts.
The present invention has the advantages that 1. utilize on ectoskeleton thigh and calf plate due to taking above technical scheme
4 motors carry out driving power-assisted lighter relative to multi-motor driving formula lower limb assistance exoskeleton weight altogether, more energy efficient.2. utilizing
The sitting posture auxiliary body at back can conveniently help patient to solve to carry out utilizing the physical demands of ectoskeleton post exercise
Need to take off the problem of ectoskeleton can just sit down greatly.3. designing using ectoskeleton main body using flattening, guarantee that human body lower limbs close
The axis of section and the axis of healing robot are overlapped, can be preferably close to the stability of human body and enhancing mechanism.4. in dermoskeleton
Adjustment mechanism has been installed additional in bone and sitting posture auxiliary body, adapts to the use of different crowd.5. being designed on each freedom of motion
Corresponding safe spacing boss serves as mechanical stop limiter, guarantees the safety of human motion conscientiously.
Detailed description of the invention
Fig. 1 is midstance overall structure diagram of the invention.
Fig. 2 is posture overall structure diagram of sitting down of the invention.
Fig. 3 is posture overall structure left view of sitting down of the invention.
Fig. 4 is knee joint inboard portion schematic diagram of the invention.
Fig. 5 is hip joint partial schematic diagram of the invention.
Fig. 6 is foot's removal connector explosive view of the invention.
Fig. 7 is sitting posture auxiliary body removal connector explosive view of the invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing, please refers to Fig. 1 to Fig. 7.
Novel lower limb exoskeleton rehabilitation robot of the invention, including posture assisting device 8, back element 7, hip joint group
Part 6, driving device 5, big leg assembly 4, shank component 3, ankle-joint component 2 and foot's component 1.7 front end face of back element passes through
Hip joint component 6 connects big leg assembly 4, and rear end face is connect with 8 revolute of sitting posture auxiliary body, and each big leg assembly 4 passes through knee
Joint assembly connects shank component 3, and shank component 3 passes through ankle-joint connecting pin parts 1, the big leg assembly 4 and shank group
It is connected with link block 34 between part 3 and bends and stretches spill spin block 41, and link block 34 and bends and stretches between spill spin block 41 using static connection, bends
It stretches spill spin block 41 and connect and bend and stretch the face contact on knee joint of spill spin block 41 using pin shaft with thigh plate 31, outside is equipped with shell and limits
Freedom degree processed is only capable of rotating in sagittal plane, and bending and stretching spill spin block can be around knee joint endoprosthesis medial rotation/rotation in its scope of activities
The rotation of outer freedom degree, (when necessary can be in knee bending and stretching that spill spin block 41 rotates around knee joint while link block 34 being driven to move together
Joint revolute is driven plus motor further to promote power-assisted effect) realize kneed bend and stretch as shown in figure 3, working as knee
The knee joint boss of calf plate upper section 30 will limit its extreme position when joint motions to extreme position.Power on thigh is by driving
Dynamic device provides, and it is same as the prior art to be screwed with gaiter 32(on thigh plate through-hole), the effect of gaiter 32 is to connect ectoskeleton
Onto human body, shank component by calf plate upper section 30, bend and stretch spill spin block 41, telescopic rod 43, driving device 5, gaiter 32 and constitute, it is small
Power on leg is provided by driving device 5, and calf plate lower section 33 is connect by revolute pair such as Fig. 6 institute with knee curl spill spin block 41
Show.
Ankle-joint component is made of link block 22,21 switching of ankle-joint switching, and 22 upper end of link block and knee curl rotate
41 static connection of block, lower end and ankle-joint switching static connection, ankle-joint switching lower end and 1 static connection of foot's component；Foot's component by
Sole 10, feet stops 11 are constituted, boss is set on sole primarily to limitation ankle-joint extreme position hinder its after
Reforwarding is dynamic, and the bottom that sole is in ectoskeleton assumes responsibility for the weight of entire human body, sole 10 and foot in people's walking
Baffle 11 is connected using sunk screw, and in addition sole upper surface can improve comfort level plus padded coaming.
It allows user to put on the lower limb exoskeleton robot by bandage first, checks whether adjustment plate 31 and gaiter 32 are located
In suitable position, and ensure that its patient can easily put on ectoskeleton.When patient wants to take left leg, driving device it is straight
Flow servo motor first passes through retarder and reduces revolving speed, increases torque, then communicates rotational motion to lead screw, silk by shaft coupling
Thick stick drives screw sliding block to swing forward under the guiding role of guide rod, and hip joint is swung forward to which with moves left leg component,
While left leg is swung forward, center of gravity can be moved forward, and right leg can be swung backward relative to left leg at this time, same with this
When left leg motor pushing ankle-joint bend and stretch, enable user's tiptoe stress, this Li Huishi foot component 1 surround ankle-joint group
It is rotated clockwise in part 2, plantar flexion also will drive due to the plantar flexion dorsiflex part 21 and the drawing of foot's component 1 in ankle-joint component 2
Dorsiflex part 21 rotates, and thigh plate 42 and calf plate upper section when motion of knee joint to extreme position (bend 120 degree and stretch 10 degree)
Boss on 30 and it can be hindered to continue to move, it is ensured that will not injured patient, when thigh swings to maximum angle, shank component 3
Also can be conllinear with big leg assembly under the action of telescopic rod, sensor determines its position that reaches capacity, and knee joint convex platform hinders
It is moved, and motor rotates backward therewith later, and left leg lands naturally under the action of gravity and motor force.In the process, by
In hip joint can in big leg assembly and gravity lower swing thus can not power-assisted, hip joint can be around hip joint component 6
In dynamic connection pin shaft do inward turning outward turning, plate 70 is expanded by waist and does interior receipts abduction exercise around longitudinal and realizes movement steering, is made
Method is not repeated herein as above-mentioned when user steps right leg.
When patient needs to sit down, the posture assisting device in folding state is laid as shown in Figure 1, concrete operations are
Doctor face backboard rear end by back element 7 block lean against connecting rod 89 to itself on the inside of lay, lean against at this time connecting rod 89 will
It is rotated around plate link 82 and is deployed into extreme position until reaching 180, sitting posture connecting rod 83 also reaches finally big at the same time
Then leg assembly and 83 predetermined position of sitting posture connecting rod will be fixed between two component of hole with removable static connection, leg is then sat
Adjustment part 85 puts down and will sit leg 87 to be elongated to suitable position stuck by sitting through-hole above leg adjustment part 85, finally by flexible
Tightener 93, connecting rod 92, cushion 81 adjust the height of cushion 81 and the last posture in direction as shown in Fig. 2, when user remembers body,
Will connection remove according to reverse procedure is unfolded in the posture assisting device 8 of folding state can be by mechanism folding.
The above specific embodiment and embodiment are to a kind of wearable lower limb exoskeleton rehabilitation machine proposed by the present invention
The specific support of people's thought, this does not limit the scope of protection of the present invention, it is all according to the technical idea provided by the invention,
Any equivalent variations or equivalent change done on the basis of the technical program still fall within the model of technical solution of the present invention protection
It encloses, part that the present invention does not relate to is the same as those in the prior art or can be realized by using the prior art.
Claims (10)
1. a kind of sitting type lower limb exoskeleton rehabilitation robot, it includes posture assisting device 8, back element 7, hip joint component
6, driving device 5, big leg assembly 4, shank component 3, ankle-joint component 2 and foot's component 1, the hip joint component 6 and seat
Appearance auxiliary body 8 is mounted in back element 7, and big 4 upper end of leg assembly is connected with hip joint component 6, big 4 lower end of leg assembly with it is small
The upper end of leg assembly 3 is connected, and the lower end of shank component 3 is connected with ankle-joint component 2, and ankle-joint component 2 is connected with foot's component
1。
2. sitting type lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that the sitting posture assists dress
Setting 8 includes seat cushion 81, flexible tightener 93, connecting rod 92, backboard fixed plate 91, backboard fixed block 90, plate link 82, support rod
92, sitting posture connecting rod 83, switching 84, sit leg adjustment part 85, extensible member 88, telescopic fastener 86, sit leg 87, lean against connecting rod 89,
Wherein seat cushion 81 and sit leg adjustment part 85 can be according to the height of people respectively by flexible tightener 93 and extensible member 88, flexible solid
Determine part 86 to be adjusted, thigh plate 31 and sitting posture connecting rod 83 are in the same plane, sitting posture connecting rod 83 and seat leg adjustment part
85 can rotate in human body sagittal plane and be caught in thigh plate predetermined position, and when people is in sitting posture, ectoskeleton knee joint mutually should be able to
Bending is to 90 degree.
3. sitting type lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that the big leg assembly 4 is main
It is made of thigh spill spin block 41, driving device 5, telescopic rod 43, gaiter 32, the upper end of driving device 5 is connected with telescopic rod 43, left
Right both ends difference is hinged, has driving device 5 between the big leg assembly 4 and shank component 3, shank component 3 and ankle-joint component 2
It is driven by telescopic rod 43.
4. sitting type lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that the hip joint component includes
Block 40, waist expansion board 70, hip connecting plate 71, back link block 72 are rotated horizontally, the back link block 72 is used for and back
Parts 7 are fixedly connected, and hip connecting plate 71 is fixedly connected with back link block 72 with bolt, and the one of waist expansion board 70
End insertion hip connecting plate 71 can swing up and down around back, the other end and horizontal rotation block 40 of waist expansion board 70
Inner end be hinged, in addition waist expansion board 70 can make the waist of hip joint and user match, and pass through thigh
The rotation of connecting joint to realize thigh lift and descending motion, while having on the downside of hip joint and a pair of to rotate horizontally block
40, rotating horizontally block 40 will receive waist expansion board 70 in hip joint extreme position in realizing hip joint relative movement
Limit.
5. sitting type lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that the knee components include
Driving device 5 bends and stretches spill spin block 41, link block 34, shell, adjustment plate 31, and link block 34 is fixedly connected with spill spin block 41 is bent and stretched,
Articulation of staying with one's parents in order to make them happy can be made by rotating horizontally the rotation of block 40 by bending and stretching spill spin block 41 and 42 static connection of thigh plate, and adjustment plate 31 exists
Between thigh plate 31 and calf plate lower section 33 by bolt be attached and be equipped with spill sliding slot prevent from falling off, adjustment plate 31 according to
Leg length adjustment is carried out according to different patient's height, driving device 5 is arranged in 31 side of thigh plate.
6. sitting type lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that in the ankle-joint component
Plantar flexion dorsiflex part 21 encloses pivoting by the drive of driving device 5 and is connect by fastener with foot component, can be realized ankle
The rotation in joint.
7. sitting type lower limb exoskeleton rehabilitation robot according to claim 1 is used it is characterized in that the shank component 3 is equipped with
In the through-hole of adjustment length, adjustment part 31 is added in shank component 3, multiple holes are opened in its junction in this arrangement, adjustment
Hole on part 31 is uniformly distributed on the same axis, and upper hole is fixedly connected with calf plate upper section 30, and bottom hole makes with calf plate lower section 33
It is joined with bolts.
8. sitting type lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that the big leg assembly 4, shank
Component 3, ankle-joint component 2 and 1 main part joint motions pair of foot's component are arranged on the outside of lower limb, have a small portion in ankle-joint
The boss divided is so that ankle-joint coupling part is connect with driving device, and is set between the connection of 42 calf plate lower section 33 of thigh plate
There is boss as limiting device, driving device 5 is fixedly connected with big leg assembly 4, shank component 3 with boss, in its SCID Mice
Outside reinforces each joint plus the rotation of shell joint.
9. sitting type lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that the design of the ankle-joint its
It is that arc-shaped projective structure is fixedly connected with telescopic rod 43 outside ankle, plantar flexion dorsiflex part 21 and sole 10 use static connection,
Hollow structure is used inside ankle-joint connector.
10. sitting type lower limb exoskeleton rehabilitation robot according to claim 1, it is characterized in that the plate link 82 and waist
Portion expands plate 70 and expands plate 70 in 7 symmetric configuration of back element, plate link 82 and waist and use bolt in 7 two sides of back element
Connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810686182.0A CN109009866B (en) | 2018-06-28 | 2018-06-28 | Sitting type lower limb exoskeleton rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810686182.0A CN109009866B (en) | 2018-06-28 | 2018-06-28 | Sitting type lower limb exoskeleton rehabilitation robot |
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| CN109009866A true CN109009866A (en) | 2018-12-18 |
| CN109009866B CN109009866B (en) | 2024-03-26 |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109677500A (en) * | 2018-12-29 | 2019-04-26 | 武汉理工大学 | A kind of pedipulator of soccer goal-shooting robot |
| CN109806108A (en) * | 2019-02-22 | 2019-05-28 | 广州哈罗博康复机器人生产有限公司 | Leg convalescence device and healing robot |
| CN110559157A (en) * | 2019-07-11 | 2019-12-13 | 北京航空航天大学 | Ankle joint motion auxiliary device |
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| CN112190445A (en) * | 2020-10-10 | 2021-01-08 | 广东甲子科技有限公司 | Recovered ectoskeleton robot |
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| CN114053095A (en) * | 2021-11-17 | 2022-02-18 | 扬州大学 | Lower limb exoskeleton device, system for controlling device action and control method thereof |
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| CN115024947A (en) * | 2022-08-09 | 2022-09-09 | 南昌大学 | Multifunctional lower limb exoskeleton |
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| CN116158948A (en) * | 2023-02-16 | 2023-05-26 | 杭州程天科技发展有限公司 | Single-drive lower limb exoskeleton walker |
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| CN109806108A (en) * | 2019-02-22 | 2019-05-28 | 广州哈罗博康复机器人生产有限公司 | Leg convalescence device and healing robot |
| CN110559157A (en) * | 2019-07-11 | 2019-12-13 | 北京航空航天大学 | Ankle joint motion auxiliary device |
| CN110559157B (en) * | 2019-07-11 | 2024-04-30 | 北京航空航天大学 | Ankle joint motion auxiliary device |
| CN111358672A (en) * | 2020-03-25 | 2020-07-03 | 中南大学湘雅三医院 | Old person uses walking auxiliary device |
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| CN111714337A (en) * | 2020-07-02 | 2020-09-29 | 扬州大学 | Exoskeleton old-person assisting device capable of assisting walking and sitting |
| CN112190445A (en) * | 2020-10-10 | 2021-01-08 | 广东甲子科技有限公司 | Recovered ectoskeleton robot |
| CN112190445B (en) * | 2020-10-10 | 2022-05-31 | 广东甲子科技有限公司 | Recovered ectoskeleton robot |
| CN114474144B (en) * | 2020-11-12 | 2023-07-07 | 福建天泉教育科技有限公司 | Modularized movable joint |
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| CN112545846A (en) * | 2020-12-29 | 2021-03-26 | 西北工业大学 | Power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition |
| CN112545846B (en) * | 2020-12-29 | 2023-11-21 | 西北工业大学 | Power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition |
| CN112587359A (en) * | 2020-12-31 | 2021-04-02 | 成都市龙泉驿区第一人民医院 | Hemiplegia patient standing position gravity center shifts training ware |
| CN112873184A (en) * | 2021-03-22 | 2021-06-01 | 上海交通大学 | Exoskeleton joint assembly and exoskeleton device |
| CN113232009A (en) * | 2021-05-21 | 2021-08-10 | 河北工业大学 | Multi-position auxiliary support exoskeleton |
| CN113232009B (en) * | 2021-05-21 | 2022-10-11 | 河北工业大学 | Multi-position auxiliary support exoskeleton |
| CN113288726A (en) * | 2021-06-21 | 2021-08-24 | 温州职业技术学院 | Lower limb ankle rehabilitation apparatus device |
| CN113509328A (en) * | 2021-07-13 | 2021-10-19 | 杭州太希智能科技有限公司 | Multi-posture rehabilitation quadruped robot adaptable to various complex pavements |
| CN113786313A (en) * | 2021-09-17 | 2021-12-14 | 安徽工程大学 | Wearable lower limb rehabilitation device |
| CN114053095A (en) * | 2021-11-17 | 2022-02-18 | 扬州大学 | Lower limb exoskeleton device, system for controlling device action and control method thereof |
| CN114053095B (en) * | 2021-11-17 | 2024-03-22 | 扬州大学 | Lower limb exoskeleton device, system for controlling action of device and control method of system |
| CN115024947B (en) * | 2022-08-09 | 2022-11-08 | 南昌大学 | Multifunctional lower limb exoskeleton |
| CN115024947A (en) * | 2022-08-09 | 2022-09-09 | 南昌大学 | Multifunctional lower limb exoskeleton |
| CN115435828A (en) * | 2022-09-13 | 2022-12-06 | 清华大学 | Posture changing device and multi-posture dummy model |
| CN116158948A (en) * | 2023-02-16 | 2023-05-26 | 杭州程天科技发展有限公司 | Single-drive lower limb exoskeleton walker |
| CN116158948B (en) * | 2023-02-16 | 2024-08-09 | 杭州程天科技发展有限公司 | Single-drive lower limb exoskeleton walker |
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