CN109571434B - Unpowered lower limb exoskeleton robot - Google Patents
Unpowered lower limb exoskeleton robot Download PDFInfo
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- CN109571434B CN109571434B CN201811484277.0A CN201811484277A CN109571434B CN 109571434 B CN109571434 B CN 109571434B CN 201811484277 A CN201811484277 A CN 201811484277A CN 109571434 B CN109571434 B CN 109571434B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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Abstract
The utility model provides an unpowered lower limbs ectoskeleton robot, include from last to the waist that connects gradually down, the thigh, the knee joint, shank and foot, the waist provides the slide rail for pulley pivoted, the flexibility of motion is improved, its waist has 3 degrees of freedom, be the rotation of the waist of ectoskeleton in the horizontal plane respectively, the bend/stretch of thigh and the outer pendulum/adduction of thigh, can guarantee that the user dresses the motion flexibility of unpowered lower limbs ectoskeleton robot, and then improve the travelling comfort that the human body dressed, the eccentric block structural design that the knee joint adopted can form the auto-lock when the ectoskeleton is dressed to the human body and stands, protect human knee joint, and the device has the characteristics of simple structure, the motion is nimble, it is comfortable to dress, easily.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an unpowered lower limb exoskeleton robot.
Background
The exoskeleton robot is a mechanical device which simulates the physiological structure of a human body and assists a wearer while coordinating the movement of the wearer. The exoskeleton is divided into unpowered exoskeleton and powered exoskeleton depending on whether energy is used or not.
The powered exoskeleton needs energy sources to provide power, such as internal combustion engines, batteries and other devices, and also needs components such as motors, sensors, controllers and the like. This results in a powered exoskeleton with poor endurance, high cost, high maintenance costs and unsuitability for widespread deployment.
The unpowered exoskeleton does not need an additional power source, and compared with the powered exoskeleton, the unpowered exoskeleton is simple in structure, strong in cruising ability, low in price, convenient to maintain and wider in application. The flexibility and wearing comfort of the existing unpowered exoskeleton are poor, and the knee joint cannot be self-locked.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the unpowered lower limb exoskeleton robot which can ensure the comfort and the movement flexibility of a human body wearing an exoskeleton and realize the self-locking of a knee joint, and has the characteristics of simple structure, high flexibility and comfortable wearing.
In order to achieve the purpose, the invention adopts the technical scheme that:
an unpowered lower limb exoskeleton robot comprises a waist part 1, a thigh part 2, a knee joint 3, a shank 4 and a foot part 5 which are connected in sequence from top to bottom;
the waist part 1 comprises two upper slideways 6 and two lower slideways 9 which are matched with the two arc waist plates 7 in shape, the upper slideways 6 and the lower slideways 9 are respectively fixedly connected to the upper parts and the lower parts of the arc waist plates 7, a lower groove of the upper slideways 6 and an upper groove of the lower slideways 9 form a sliding rail, a pulley 13 is clamped in the sliding rail and is in sliding connection with the sliding rail, the pulley 13 is hinged with a pulley connecting block 16, the pulley connecting block 16 is hinged with an adjusting pin 14, the adjusting pin 14 is hinged with a pulley supporting block 15, one end of a waist part side plate 8 is fixedly connected with the pulley supporting block 15, and the other end of the waist part; the opposite sides of the two arc-shaped waist plates 7 are hinged with a waist plate connecting block 12, the waist plate connecting block 12 is fixedly connected with a waist width adjusting plate 10, and the two waist width adjusting plates 10 are fixedly connected with a waist central block 11;
the thigh 2 comprises a thigh connecting block 17 fixedly connected with a waist side plate 8 of the waist 1, the thigh connecting block 17 is hinged with a thigh short straight plate 18, the thigh short straight plate 18 is vertically and fixedly connected with one end of a thigh bending plate 19, the other end of the thigh bending plate 19 is vertically and fixedly connected with a thigh long straight plate 20, the thigh long straight plate 20 is fixedly connected with one end of a knee joint connecting plate 21, and the other end of the knee joint connecting plate 21 is connected with the knee joint 3;
the knee joint 3 comprises a knee joint bending plate upper 23 fixedly connected with a knee joint connecting plate 21 of the thigh 2, the knee joint bending plate upper 23 and a thigh bandage 22 are arc-shaped and are fixedly connected to form a circle, the knee joint bending plate upper 23 and the upper end of a knee joint side plate upper 24 are vertically and fixedly connected, the lower end of the knee joint side plate upper 24 is hinged with an eccentric block 25, the eccentric block 25 is hinged with the upper end of a knee joint side plate lower 26, the lower end of the knee joint side plate lower 26 is fixedly connected with a knee joint bending plate lower 28, the knee joint bending plate lower 28 and a shank bandage 27 are arc-shaped and are fixedly connected to form a circle;
the lower leg 4 comprises a lower leg short straight plate 29 fixedly connected with the lower part 28 of the knee joint bending plate of the knee joint 3, the lower leg short straight plate 29 is fixedly connected with one end of a lower leg long straight plate 30, and the other end of the lower leg long straight plate 30 is fixedly connected with a lower leg bending plate 31;
the foot part 5 comprises a foot straight plate 32, the upper end part of the foot straight plate 32 is fixedly connected with the shank bent plate 31 of the shank 4, the lower end part of the foot straight plate 32 is hinged with a sole plate 34, and the two ends of the sole plate 34 are fixedly connected with an arc foot binding belt 33.
The waist width adjusting plate 10 is provided with a row of threaded holes for adjusting the length, the waist plate connecting block 12 is provided with a row of threaded holes corresponding to the waist width adjusting plate 10, the waist width adjusting plate 10 and the waist plate connecting block 12 are fixedly connected through bolts to adjust the length, so that the waist size is adjusted when the waist width adjusting plate is worn, and the waist width adjusting plate is worn by users adapting to different waist widths.
The thigh length straight plate 20 is provided with a row of threaded holes for adjusting length, the knee joint connecting plate 21 is provided with a row of threaded holes corresponding to the thigh length straight plate 20, and the thigh length straight plate 20 is fixedly connected with the knee joint connecting plate 21 through bolts to adjust the whole length so as to adapt to wearing and use of users with different thigh lengths.
The shank length straight plate 30 is provided with a row of threaded holes for adjusting the length, the shank length straight plate 29 is provided with a row of threaded holes corresponding to the shank length straight plate 30, and the shank length straight plate 30 and the shank length straight plate 29 are fixedly connected through bolts to adjust the length so as to adapt to the wearing and use of users with different shank lengths.
The unpowered lower limb exoskeleton robot provided by the invention is provided with a waist part, thighs, knee joints, calves and feet which are sequentially connected, the waist part provides a sliding rail for rotating pulleys, the movement flexibility is improved, the waist part has 3 degrees of freedom and respectively refers to the rotation of the waist part of an exoskeleton in a horizontal plane, the bending/stretching of the thighs and the outward swinging/inward contraction of the thighs, the movement flexibility of the unpowered lower limb exoskeleton robot worn by a user can be ensured, the wearing comfort of the human body is further improved, after the exoskeleton is worn by the user, the maximum angle of the upper half body of the human body, which can rotate left and right in the horizontal plane around a central shaft passing through the center of a pelvis of the human body in the height direction of the human body, is 30 degrees, the bending/stretching movement range of hip joints of the human body is (0-130 degrees, 0-15 degrees), the inward/outward stretching movement range of the hip, 0 to 30 degrees), the backward flexion and extension range of motion of the human knee joint is 0 to 135 degrees, and the plantar flexion/dorsiflexion range of motion of the human ankle joint is (0 to 20 degrees, 0 to 25 degrees). Compared with the existing exoskeleton robot, the exoskeleton robot has the advantages of simple structure, flexible movement, high comfort and easiness in wearing. In addition, the knee joint of the unpowered lower limb exoskeleton robot provided by the invention adopts an eccentric design, so that the knee joint can be self-locked when a user wears the exoskeleton and stands up, on one hand, the knee joint of a human body can be protected, and on the other hand, the load of the human body can be effectively transmitted to crus and feet through the knee joint after passing through the waist and the thighs of the unpowered exoskeleton robot, and finally guided to the ground.
Furthermore, the sizes of the waist, the thighs and the calves can be adjusted to adapt to wearing of users with different body shapes, and the application range is wide.
Drawings
Fig. 1 is a schematic overall structure diagram of an unpowered lower limb exoskeleton robot.
Fig. 2 is a front view of an unpowered lower extremity exoskeleton robot.
Fig. 3 is a schematic view of a waist structure of the unpowered lower limb exoskeleton robot.
Fig. 4 is an exploded view of the waist of an unpowered lower extremity exoskeleton robot.
Fig. 5 is a schematic diagram of a thigh structure of an unpowered lower extremity exoskeleton robot.
Fig. 6 is a schematic diagram of a knee joint structure of the unpowered lower extremity exoskeleton robot.
Fig. 7 is a side view of a knee joint of an unpowered lower extremity exoskeleton robot.
Fig. 8 is a schematic view of a lower leg structure of an unpowered lower limb exoskeleton robot.
Fig. 9 is a schematic view of the foot structure of an unpowered lower extremity exoskeleton robot.
The reference numbers are as follows:
1, waist part; 2, thigh; 3, knee joints; 4, crus; 5, a foot part; 6, an upper slideway; 7, an arc waist plate; 8 waist side plates; 9, a lower slideway; 10 waist width adjusting plates; 11 waist center block; 12 waist plate connecting blocks; 13 a pulley; 14 an adjustment pin; 15 a pulley support block; 16 pulley connecting blocks; 17 thigh connecting blocks; 18 thigh short straight plates; 19 thigh flex panels; 20 thigh length straight plate; 21 a knee joint connecting plate; 22 thigh straps; 23 on knee joint bending plate; 24 knee joint side plates; 25 an eccentric mass; 26 below the knee joint lateral plate; 27 calf straps; 28 knee joint bending plate; 29 short straight shank; 30 shank long straight plate; 31 a calf flexure web; a 32-foot straight board; 33 a foot plate; 34 foot straps.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The structure of the unpowered lower limb exoskeleton robot is shown in fig. 1 and 2 and comprises a waist part 1, a thigh part 2, a knee joint 3, a shank 4 and a foot part 5 which are sequentially connected from top to bottom.
Referring to fig. 3 and 4, the waist 1 includes an upper slideway 6, an arc waist plate 7, waist side plates 8, lower slideways 9, a waist width adjusting plate 10, a waist center block 11, a waist plate connecting block 12, pulleys 13, adjusting pins 14, pulley supporting blocks 15 and pulley connecting blocks 16, wherein the two upper slideways 6 and the two lower slideways 9 are matched with the shape of the arc waist plate 7, the upper slideway 6 and the lower slideway 9 are respectively fixed on the upper part and the lower part of the arc waist plate 7, a lower groove of the upper slideway 6 and an upper groove of the lower slideway 9 form a sliding rail, the pulleys 13 are clamped in the sliding rail and are connected with the sliding rail in a sliding manner, the pulleys 13 are hinged with the pulley connecting blocks 16, the pulley connecting blocks 16 are hinged with the adjusting pins 14, the adjusting pins 14 are hinged with the pulley supporting blocks 15, one end of each waist side plate 8 is fixedly connected with the pulley supporting block 15 through threads; one side that two arc waist boards 7 are relative all articulates with a waist board connecting block 12, and waist board connecting block 12 passes through screw thread fixed connection with waist width regulating plate 10, and two waist width regulating plates 10 all pass through screw thread fixed connection with waist center block 11. The waist width adjusting plate 10 is provided with a row of threaded holes for adjusting the length, the waist plate connecting block 12 is provided with a row of threaded holes corresponding to the waist width adjusting plate 10, the waist width adjusting plate 10 and the waist plate connecting block 12 are fixedly connected through bolts to adjust the length, so that the waist size is adjusted when the waist width adjusting plate is worn, and the waist width adjusting plate is worn by users adapting to different waist widths.
When a user wears the unpowered lower limb exoskeleton robot, the maximum angle that the upper half body of the human body can rotate left and right in the horizontal plane around the central axis passing through the center of the pelvis of the human body in the height direction of the human body is 30 degrees. The flexion/extension range of the human hip joint is (0-130 degrees, 0-15 degrees), and the adduction/abduction range of the human hip joint is (0-25 degrees, 0-30 degrees).
Referring to fig. 5, the thigh 2 comprises a thigh connecting block 17, a thigh short straight plate 18, a thigh curved plate 19, a thigh long straight plate 20 and a knee joint connecting plate 21, wherein the thigh connecting block 17 is fixedly connected with a waist side plate 8 of the waist 1, the thigh connecting block 17 is hinged with the thigh short straight plate 18, one end of the thigh short straight plate 18 is vertically and fixedly connected with one end of the thigh curved plate 19 through a thread, the other end of the thigh curved plate 19 is vertically and fixedly connected with the thigh long straight plate 20 through a thread, one end of the thigh long straight plate 20 is fixedly connected with one end of the knee joint connecting plate 21 through a thread, the other end of the knee joint connecting plate 21 is connected with the knee joint 3, the thigh long straight plate 20 is provided with a row of threaded holes for adjusting the length, the knee joint connecting plate 21 is provided with a row of threaded holes corresponding to the thigh long straight plate 20, and the thigh long straight plate 20 is, so as to adapt to the wearing and use of users with different thigh lengths.
Referring to fig. 6, the knee joint 3 comprises a thigh strap 22, a knee joint bending plate upper 23, a knee joint side plate upper 24, an eccentric block 25, a knee joint side plate lower 26, a shank strap 27 and a knee joint bending plate lower 28, wherein, knee joint bending plate 23 and knee joint connecting plate 21 fixed connection of thigh 2, knee joint bending plate 23 and thigh bandage 22 are the arc, the two forms the circle through screw thread fixed connection, knee joint bending plate 23 and knee joint curb plate 24 upper end pass through screw thread perpendicular fixed connection, knee joint curb plate 24 upper end portion and eccentric block 25 are articulated, eccentric block 25 and knee joint curb plate 26 lower end portion are articulated, knee joint curb plate 26 lower end portion and knee joint bending plate lower 28 pass through screw thread fixed connection, knee joint bending plate lower 28 and shank bandage 27 are the arc, the two forms the circle through screw thread fixed connection.
Referring to fig. 7, the eccentric block 25 of the knee joint 3 adopts an eccentric structure to simulate the knee joint movement of the human body, when the human body wears the exoskeleton to walk, the eccentric knee joint 3 structure can form self-locking in a standing state to protect the knee joint of the human body, and after a user wears the unpowered lower limb exoskeleton robot, the backward flexion and extension movement range of the knee joint of the human body is 0-135 degrees.
Referring to fig. 8, the lower leg 4 comprises a lower leg short straight plate 29 fixedly connected with the lower knee joint bending plate 28 of the knee joint 3, the lower leg short straight plate 29 is fixedly connected with one end of a lower leg long straight plate 30 through threads, and the other end of the lower leg long straight plate 30 is fixedly connected with a lower leg bending plate 31 through threads; the shank length straight plate 30 is provided with a row of threaded holes for adjusting the length, the shank length straight plate 29 is provided with a row of threaded holes corresponding to the shank length straight plate 30, and the shank length straight plate 30 and the shank length straight plate 29 are fixedly connected through bolts to adjust the length so as to adapt to the wearing and use of users with different shank lengths.
Referring to fig. 9, the foot 5 comprises a foot straight plate 32, the upper end of which is fixedly connected with the shank bending plate 31 of the shank 4, the lower end of the foot straight plate 32 is hinged with a sole plate 34, the two ends of the sole plate 34 are fixedly connected with an arc-shaped foot binding band 33, and after the user wears the unpowered lower limb exoskeleton robot, the range of motion of plantarflexion/dorsiflexion of the ankle joint of the human body is (0-20 degrees, 0-25 degrees).
Claims (4)
1. An unpowered lower limb exoskeleton robot is characterized by comprising a waist part (1), a thigh part (2), a knee joint (3), a shank (4) and a foot part (5) which are sequentially connected from top to bottom;
the waist part (1) comprises two upper slideways (6) and two lower slideways (9) which are matched with the two arc waist plates (7) in shape, the upper slideways (6) and the lower slideways (9) are respectively fixedly connected to the upper parts and the lower parts of the arc waist plates (7), a lower groove of the upper slideways (6) and an upper groove of the lower slideways (9) form a sliding rail, a pulley (13) is clamped in the sliding rail and is in sliding connection with the sliding rail, the pulley (13) is hinged with a pulley connecting block (16), the pulley connecting block (16) is hinged with an adjusting pin (14), the adjusting pin (14) is hinged with a pulley supporting block (15), one end of a waist side plate (8) is fixedly connected with the pulley supporting block (15), and the other end of the waist side plate (8) is connected with; one side, opposite to the two arc-shaped waist plates (7), of each waist plate is hinged to a waist plate connecting block (12), the waist plate connecting blocks (12) are fixedly connected with waist width adjusting plates (10), and the two waist width adjusting plates (10) are fixedly connected with a waist central block (11);
the thigh (2) comprises a thigh connecting block (17) fixedly connected with a waist side plate (8) of the waist (1), the thigh connecting block (17) is hinged with a thigh short straight plate (18), the thigh short straight plate (18) is vertically and fixedly connected with one end of a thigh bending plate (19), the other end of the thigh bending plate (19) is vertically and fixedly connected with a thigh long straight plate (20), the thigh long straight plate (20) is fixedly connected with one end of a knee joint connecting plate (21), and the other end of the knee joint connecting plate (21) is connected with a knee joint (3);
the knee joint (3) comprises a knee joint bending plate upper part (23) fixedly connected with a knee joint connecting plate (21) of a thigh (2), the knee joint bending plate upper part (23) and a thigh bandage (22) are arc-shaped and fixedly connected to form a circle, the knee joint bending plate upper part (23) is vertically and fixedly connected with the upper end part of a knee joint side plate upper part (24), the lower end part of the knee joint side plate upper part (24) is hinged with an eccentric block (25), the eccentric block (25) is hinged with the upper end part of a knee joint side plate lower part (26), the lower end part of the knee joint side plate lower part (26) is fixedly connected with a knee joint bending plate lower part (28), the knee joint bending plate lower part (28) and a shank bandage (27) are arc-shaped, and the;
the lower leg (4) comprises a lower leg short straight plate (29) fixedly connected with a lower knee joint bending plate (28) of the knee joint (3), the lower leg short straight plate (29) is fixedly connected with one end of a lower leg long straight plate (30), and the other end of the lower leg long straight plate (30) is fixedly connected with a lower leg bending plate (31);
the foot part (5) comprises a foot straight plate (32) of which the upper end part is fixedly connected with a shank bent plate (31) of the shank (4), the lower end part of the foot straight plate (32) is hinged with a sole plate (34), and two ends of the sole plate (34) are fixedly connected with an arc foot binding belt (33).
2. The unpowered lower limb exoskeleton robot as claimed in claim 1, wherein a row of threaded holes for adjusting the length are formed in the waist width adjusting plate (10), a row of threaded holes corresponding to the waist width adjusting plate (10) are formed in the waist plate connecting block (12), and the length is adjusted by fixing the waist width adjusting plate (10) and the waist plate connecting block (12) through bolts.
3. The unpowered lower extremity exoskeleton robot according to claim 1, wherein a row of threaded holes for length adjustment are formed in the thigh length straight plate (20), a row of threaded holes corresponding to the thigh length straight plate (20) are formed in the knee joint connecting plate (21), and the whole length is adjusted by fixing the thigh length straight plate (20) and the knee joint connecting plate (21) through bolts.
4. The unpowered lower extremity exoskeleton robot according to claim 1, wherein a row of threaded holes for length adjustment are formed in the shank length straight plate (30), a row of threaded holes corresponding to the shank length straight plate (30) are formed in the shank length straight plate (29), and the shank length straight plate (30) and the shank length straight plate (29) are fixed by bolts for length adjustment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484277.0A CN109571434B (en) | 2018-12-06 | 2018-12-06 | Unpowered lower limb exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811484277.0A CN109571434B (en) | 2018-12-06 | 2018-12-06 | Unpowered lower limb exoskeleton robot |
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| CN109571434A CN109571434A (en) | 2019-04-05 |
| CN109571434B true CN109571434B (en) | 2020-06-26 |
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| CN201811484277.0A Active CN109571434B (en) | 2018-12-06 | 2018-12-06 | Unpowered lower limb exoskeleton robot |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110193815A (en) * | 2019-05-08 | 2019-09-03 | 三峡大学 | A kind of wearable power-assisted raising ectoskeleton equipment |
| CN111805514B (en) * | 2019-07-19 | 2023-04-25 | 重庆市牛迪科技发展有限公司 | Waist exoskeleton |
| CN112569090B (en) * | 2019-09-30 | 2022-08-16 | 广东博智林机器人有限公司 | Adjusting mechanism and exoskeleton robot |
| CN111840006A (en) * | 2019-10-10 | 2020-10-30 | 邳州利康沃智能康复设备有限公司 | Passive walking-aid exoskeleton |
| CN110936356A (en) * | 2019-12-09 | 2020-03-31 | 西安交通大学 | Waist device of exoskeleton robot |
| CN112388610B (en) * | 2020-10-14 | 2023-12-01 | 郑州第四极机电科技有限公司 | Unpowered exoskeleton loading device |
| CN114668633A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Wearable weight-reduction supporting device |
| CN112677140B (en) * | 2020-12-31 | 2024-08-13 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hip joint mechanical structure of lower limb exoskeleton robot |
| CN113768761A (en) * | 2021-09-14 | 2021-12-10 | 山东理工大学 | Unpowered lower limb exoskeleton device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103932870B (en) * | 2014-05-04 | 2016-04-13 | 浙江大学 | Bionic Design lower limb rehabilitation training ectoskeleton |
| KR102158131B1 (en) * | 2014-05-23 | 2020-09-21 | 삼성전자주식회사 | Walking assist apparatus |
| CN206366016U (en) * | 2016-10-21 | 2017-08-01 | 深圳光启合众科技有限公司 | Waist rotating mechanism |
| CN106737585B (en) * | 2016-12-29 | 2023-07-14 | 深圳市优必选科技有限公司 | Waist structure and humanoid robot |
| CN207492924U (en) * | 2017-03-15 | 2018-06-15 | 深圳市奇诺动力科技有限公司 | Power exoskeleton |
| CN106943276A (en) * | 2017-03-15 | 2017-07-14 | 深圳市奇诺动力科技有限公司 | Power exoskeleton |
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