CN113230098A - Six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot - Google Patents
Six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot Download PDFInfo
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- CN113230098A CN113230098A CN202110650593.6A CN202110650593A CN113230098A CN 113230098 A CN113230098 A CN 113230098A CN 202110650593 A CN202110650593 A CN 202110650593A CN 113230098 A CN113230098 A CN 113230098A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 51
- 210000004394 hip joint Anatomy 0.000 claims abstract description 77
- 210000000629 knee joint Anatomy 0.000 claims abstract description 57
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 46
- 210000001624 hip Anatomy 0.000 claims abstract description 41
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 16
- 210000000689 upper leg Anatomy 0.000 claims description 42
- 210000002683 foot Anatomy 0.000 claims description 35
- 210000002303 tibia Anatomy 0.000 claims description 18
- 210000003041 ligament Anatomy 0.000 claims description 16
- 238000003466 welding Methods 0.000 claims description 6
- 210000004417 patella Anatomy 0.000 claims description 5
- 210000003414 extremity Anatomy 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000018109 developmental process Effects 0.000 description 4
- 210000003423 ankle Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 241001227561 Valgus Species 0.000 description 2
- 241000469816 Varus Species 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 208000002874 Acne Vulgaris Diseases 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 206010000496 acne Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 208000020538 atrophic muscular disease Diseases 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008717 functional decline Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 231100000878 neurological injury Toxicity 0.000 description 1
- 208000018360 neuromuscular disease Diseases 0.000 description 1
- 210000001694 thigh bone Anatomy 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
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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
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2003/006—Appliances for aiding patients or disabled persons to walk about with forearm rests, i.e. for non-used arms
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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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)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot which comprises a waist supporting mechanism, a hip joint exoskeleton mechanism, a knee joint exoskeleton mechanism and an ankle joint exoskeleton mechanism, wherein the waist supporting mechanism is connected with the hip joint exoskeleton mechanism, the hip joint exoskeleton mechanism is connected with the knee joint exoskeleton mechanism, and the knee joint exoskeleton mechanism is connected with the ankle joint exoskeleton mechanism. The invention realizes three-freedom-degree motion of hip joint forward flexion/backward extension, adduction/abduction, internal rotation/external rotation, single-freedom-degree motion of knee joint flexion/extension and two-freedom-degree motion of ankle joint dorsiflexion/plantar flexion and inversion/eversion. The hip joint and the knee joint are driven by motors, the knee joint exoskeleton mechanism is designed by a bionic human knee joint, and the ankle joint exoskeleton mechanism is designed by adding an elastic element. The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot disclosed by the invention is well attached to the joint of a patient, is beneficial to the comfortable rehabilitation training of the patient and improves the rehabilitation training effect.
Description
Technical Field
The invention relates to a device in the field of medical rehabilitation instruments, in particular to a wearable lower limb exoskeleton rehabilitation robot for human lower limb movement rehabilitation.
Background
With the rapid development of society and the continuous progress of economy, the number of people suffering from neurological injuries and limb injuries tends to rise continuously due to the increase of fast-paced life styles and transportation means and the influence of environmental factors. Walking is an important part in human daily life, the number of people who have difficulty in walking, weakness of lower limbs, dyskinesia of lower limbs and limb function decline caused by senile diseases due to certain neuromuscular diseases, trauma, aging and the like tends to increase year by year, and a very heavy burden is also brought to the society and families. Therefore, it is urgent to seek effective rehabilitation means to recover the lost walking function of the patient to a certain extent, to realize the self-care of the patient, and even to finally help the patient to stand and walk independently.
The main purposes of lower limb rehabilitation training are to train the nerve regulation function of blood vessels, exercise muscles and enhance the memory of muscle tissues. Can prevent disuse atrophy caused by long-term nonuse of muscle, and can also prevent acne caused by long-term sitting and lying. However, the traditional lower limb rehabilitation training requires the assistance of the rehabilitees in the whole course due to the simple training device, and under the condition of limited number and energy of the rehabilitees, the problems of high training price, short training time and the like can be caused. In addition, the deviation rate and error rate of the rehabilitation training are greatly increased due to the manual training, so that the actual curative effect of the rehabilitation training is limited.
The development of the lower limb exoskeleton rehabilitation robot is a great gospel for people with lower limb dyskinesia and old, weak and inconvenient movement, and the lower limb exoskeleton rehabilitation robot can help the people to perform medical rehabilitation training to realize the walking of normal people, improve the walking ability and improve the life quality. The exoskeleton robot can effectively help a wearer to perform rehabilitation training to realize normal standing and walking by wearing a proper exoskeleton robot, and greatly improves the limb function strength of the wearer. Meanwhile, the development of the lower limb rehabilitation robot can not only reduce the burden of families and society, but also greatly promote the development of the whole social medical and security system, relieve the pressure of the society to a certain extent, and develop the research of the wearable lower limb exoskeleton rehabilitation robot, which has important social and economic values and application values of practical requirements for the society and the families.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot which is used for assisting a patient to perform medical rehabilitation training. The exoskeleton of the lower limb exoskeleton rehabilitation robot has good consistency with the movement of a human body during rehabilitation training, is beneficial to the comfortable rehabilitation walking training of a patient, and improves the rehabilitation training effect.
The invention adopts the following technical scheme:
the six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot comprises a waist supporting mechanism, a hip joint exoskeleton mechanism, a knee joint exoskeleton mechanism and an ankle joint exoskeleton mechanism, wherein the waist supporting mechanism is connected with the hip joint exoskeleton mechanism through a waist supporting frame, the hip joint exoskeleton mechanism and the knee joint exoskeleton mechanism are respectively connected with two ends of a femur connecting rod, and the knee joint exoskeleton mechanism and the ankle joint exoskeleton mechanism are respectively connected with two ends of a tibia connecting rod.
The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot comprises a waist power supply supporting plate, a waist supporting frame and a waist strap, wherein the waist power supply supporting plate is connected with the waist supporting frame through a threaded rod, and the waist supporting frame is fixedly connected with the waist strap through a bolt.
The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot comprises a hip joint motor fixing frame, a hip joint adduction/abduction connecting piece, an integrated servo reducing motor, a hip joint motor fixing disc, a hip joint motor output disc, a hip joint flexion/extension connecting piece, a hip joint internal rotation/external rotation shaft rod, a thigh fixing band and a thigh connecting rod, wherein the hip joint motor fixing frame is fixedly connected with the hip joint motor fixing disc through bolts. The thigh connecting rod is fixedly connected with the thigh fixing band through a bolt.
According to the six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot, a waist support frame of a waist support mechanism is connected with a hip joint motor fixing frame of a hip joint exoskeleton mechanism through a hip joint adduction/abduction connecting piece, a hip joint motor output disc of the hip joint exoskeleton mechanism is fixedly connected with the hip joint flexion/extension connecting piece through a bolt, a hip joint internal rotation/external rotation connecting piece of the hip joint exoskeleton mechanism is fixedly connected with the hip joint flexion/extension connecting piece and a thigh connecting rod respectively, and the hip joint internal rotation/external rotation connecting piece of the hip joint exoskeleton mechanism is connected with a hip joint internal rotation/external rotation shaft rod, so that hip joint internal rotation/external rotation freedom degree movement is realized.
The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot comprises a femur connecting rod fixing belt, a femur connecting rod, a motor fixed connecting shaft disc, a motor output disc frame, an integrated servo gear motor, a telescopic pull rod, a femur connecting plate, a bionic knee joint exoskeleton structure, a tibia connecting plate, a tibia connecting rod and a knee joint fixing belt, the femur connecting rod is fixedly connected with the motor fixed connecting shaft disc through bolts, the motor output disc frame is fixedly connected with the integrated servo reducing motor through bolts, the femur connecting rod is fixedly connected with the femur connecting plate through bolts, the femur connecting plate is provided with seven rows of threaded holes and two rows of threaded holes, can realize altitude mixture control, the shin bone connecting plate with the shin bone connecting rod passes through the bolt fixed phase and connects, the thighbone connecting rod with the knee joint fixed band passes through bolt fixed connection.
The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot comprises a rotating pin key, a threaded pull rod and a pull rod sleeve, wherein the rotating pin key is fixedly connected with the threaded pull rod in a welding mode, the rotating pin key is connected with a motor output disc frame through a pin shaft, and the pull rod sleeve is connected with a tibia connecting plate through a pin shaft.
The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot comprises a knee joint patella baffle, a knee joint exoskeleton front cruciate ligament connecting rod and a knee joint exoskeleton rear cruciate ligament connecting rod, wherein the knee joint patella baffle is fixedly connected with the knee joint exoskeleton front cruciate ligament through welding, the knee joint exoskeleton front cruciate ligament is connected with a femur connecting plate through a pin shaft, the knee joint exoskeleton front cruciate ligament is connected with the tibia connecting plate through a pin shaft, the knee joint exoskeleton rear cruciate ligament is connected with the femur connecting plate through a pin shaft, the knee joint exoskeleton rear cruciate ligament is connected with the tibia connecting plate through a pin shaft, and ten rows of threaded holes are formed in the upper end of a frame and are arranged in two rows, so that height adjustment can be realized.
The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot comprises an ankle joint support, a fixing plate, a bionic ankle joint elastic mechanism, an ankle joint exoskeleton dorsiflexion/passenger bend connecting piece, an ankle joint exoskeleton inversion/eversion connecting piece, a foot front plate, a pressure sensor, a foot front plate fixing piece, a foot rear plate and a foot rear plate fixing piece, the ankle joint bracket is connected with the ankle joint exoskeleton dorsiflexion/spathicle flexion connecting piece through a pin shaft, the ankle joint exoskeleton dorsiflexion/spatulate flexion connecting piece is connected with the ankle joint exoskeleton inversion/eversion connecting piece through a pin shaft, the ankle joint exoskeleton inversion/eversion connecting piece is connected with the foot rear plate through a pin shaft, and the pressure sensors are arranged at the bottoms of the foot front plate and the foot rear plate and fixedly connected through bolts.
The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot comprises a ball universal bearing upper end, a telescopic rod, a spring, a telescopic sleeve and a ball universal bearing lower end, the upper end of the ball head universal bearing is fixedly connected with the telescopic rod through welding, the lower end of the ball head universal bearing is fixedly connected with the telescopic sleeve through welding, the upper end of the ball universal bearing is fixedly connected with the fixing plate through a bolt, the fixing plate is fixedly connected with the ankle joint support through a bolt, the lower end of the ball universal bearing is fixedly connected with the foot front plate fixing piece through a bolt, the lower end of the ball universal bearing is fixedly connected with the foot rear plate fixing piece through a bolt, the foot front plate is fixedly connected with the foot front plate fixing piece through bolts, and the foot front plate is fixedly connected with the foot front plate fixing piece through bolts.
The invention has the beneficial effects that:
1. the wearable lower limb exoskeleton rehabilitation robot adopts a single-support six-degree-of-freedom design form, all actions of normal rehabilitation walking training of a patient can be met, the comfort and the reliability of the robot motion are enhanced through the bionic six-degree-of-freedom lower limb exoskeleton structural design, and the robot is more beneficial to assisting the patient in walking.
2. The knee joint exoskeleton utilizes the design of the crossed four-bar linkage mechanism to simulate the cruciate ligament of the human knee joint, the instantaneous rotation center of the crossed four-bar linkage mechanism is consistent with the rotation change of the knee joint of a user, and the gait which is more natural can be walked.
3. The waist connecting rod with adjustable width, the femur connecting rod with adjustable length and the tibia connecting rod designed by the invention enable the lower limb exoskeleton rehabilitation robot to adapt to wearing of different people, and the width and the height of the robot are adjusted according to the shapes of different people so as to ensure the comfort of a wearer.
Drawings
Fig. 1 is a schematic overall structure diagram of a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot according to the invention;
FIG. 2 is a front view of a six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of the present invention;
FIG. 3 is a left side view of a six degree of freedom wearable lower extremity exoskeleton rehabilitation robot of the present invention;
fig. 4 is a back view of a six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of the present invention;
fig. 5 is a schematic structural view of a waist support mechanism of a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot according to the present invention;
fig. 6 is a schematic structural diagram of a hip joint exoskeleton mechanism of a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot according to the present invention;
fig. 7 is a schematic structural diagram of a knee joint exoskeleton mechanism of a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot according to the present invention;
FIG. 8 is a schematic structural diagram of an ankle exoskeleton mechanism of a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot according to the present invention;
fig. 9 is a schematic structural diagram of an ankle exoskeleton mechanism of a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot according to the present invention;
fig. 10 is a schematic structural view of a telescopic pull rod in a knee joint exoskeleton mechanism of a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot according to the present invention;
fig. 11 is a schematic structural diagram of a bionic knee joint exoskeleton structure in a knee joint exoskeleton mechanism of a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot according to the present invention;
fig. 12 is a schematic structural view of a bionic ankle joint elastic mechanism in a knee joint exoskeleton mechanism of a six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot according to the present invention;
in the figure:
1 lumbar support mechanism, 2 hip joint exoskeleton mechanism, 3 knee joint exoskeleton mechanism, 4 ankle joint exoskeleton mechanism, 101 lumbar strap, 102 lumbar power support plate, 103 lumbar support frame, 201 hip joint motor fixing frame, 202 hip joint adduction/abduction connecting piece, 203 integrated servo deceleration motor, 204 hip joint motor fixing disc, 205 hip joint motor output disc, 206 hip joint flexion/extension connecting piece, 207 hip joint internal rotation/external rotation connecting piece, 208 hip joint internal rotation/external rotation shaft rod, 209 thigh fixing band, 210 thigh connecting rod 301 thigh connecting rod fixing band, 302 thigh connecting rod, 303 motor fixing connecting shaft disc, 304 motor output disc frame, 305 integrated servo deceleration motor, 306 telescopic pull rod, 307 thigh connecting plate, 308 bionic knee joint exoskeleton structure, 309 shin connecting plate, 310 shin connecting rod, 311 shin fixing band, 401 ankle joint support, 402 fixed plate, 403 bionic ankle joint elastic mechanism, 404 exoskeleton dorsiflexion/spatulate flexion connecting piece, 405 ankle joint exoskeleton varus/valgus connecting piece, 406 foot front plate, 407 pressure sensor, 408 foot front plate fixing piece, 409 foot back plate, 410 foot back plate fixing piece, 306A rotation pin, 306B threaded pull rod, 306C pull rod sleeve, 308A knee joint patella baffle, 308B knee joint exoskeleton front cruciate ligament connecting rod, 308C knee joint exoskeleton back cruciate ligament connecting rod, 403A ball universal bearing upper end, 403B telescopic rod, 403C spring, 403D ball universal bearing lower end.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments and the accompanying drawings.
As shown in fig. 1 to 12, the six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot of the present invention includes a lumbar support mechanism 1, a hip joint exoskeleton mechanism 2, a knee joint exoskeleton mechanism 3, and an ankle joint exoskeleton mechanism 4. The six-degree-of-freedom wearable lower limb exoskeleton rehabilitation robot adopts a single six-degree-of-freedom design, and is a hip joint exoskeleton with three degrees of freedom respectively, so that flexion/extension movement, adduction/abduction movement and internal rotation/external rotation movement of a hip joint are realized; the knee joint exoskeleton has one degree of freedom, so that the instantaneous rotation center movement coaxial with the human knee joint is realized, and the flexion/extension movement of the knee joint is correspondingly realized; the ankle joint exoskeleton has two degrees of freedom, and realizes dorsiflexion/driver-spathicle and varus/valgus motions of the ankle joint, wherein the flexion/extension motion of the hip joint and the flexion/extension motion of the knee joint adopt an active driving mode, and the rest adopt a passive driving mode.
As shown in fig. 5, the lumbar support mechanism 1 includes: waist braces 101, waist power backup pad 102, waist support frame 103, wherein, waist power backup pad 102 is connected through the threaded rod with waist support frame 103, can realize the regulation of the different width of waist through the rotation regulation of threaded rod, guarantees different crowds' wearing travelling comfort, and waist support frame 103 is connected through the bolt fastening with waist braces 101, and waist supporting mechanism 1 is connected through waist support frame 103 with hip joint ectoskeleton mechanism 2.
As shown in fig. 6, the hip exoskeleton mechanism 2 includes: a hip joint motor fixing frame 201, a hip joint adduction/abduction connecting piece 202, an integrated servo deceleration motor 203, a hip joint motor fixing disc 204, a hip joint motor output disc 205, a hip joint flexion/extension connecting piece 206, a hip joint internal rotation/external rotation connecting piece 207, a hip joint internal rotation/external rotation shaft rod 208, a thigh fixing band 209 and a thigh connecting rod 210, wherein the hip joint motor fixing frame 201 and the hip joint motor fixing disc 204 are fixedly connected through bolts, the thigh fixing band 209 and the thigh connecting rod 210 are fixedly connected through bolts, a waist supporting frame 103 of a waist supporting mechanism 1 is connected with the hip joint motor fixing frame 201 of a hip joint exoskeleton mechanism 2 through the hip joint adduction/abduction connecting piece, the hip joint motor output disc 205 and the hip joint flexion/extension connecting piece 206 are fixedly connected through bolts, the hip joint internal rotation/external rotation connecting piece 207 is respectively connected with the hip joint flexion/extension connecting piece 206 and the thigh joint flexion/extension connecting piece 207 The connecting rod 210 is fixedly connected, and the hip internal rotation/external rotation connector 207 is connected with the hip internal rotation/external rotation shaft rod 208.
As shown in fig. 7, the knee exoskeleton mechanism 3 includes: the femoral connecting rod fixing strap 301, the femoral connecting rod 302, the motor fixed connection shaft disc 303, the motor output shaft disc 304, the integrated servo gear motor 305, the telescopic pull rod 306, the femoral connecting plate 307, the bionic knee joint exoskeleton structure 308, the tibial connecting plate 309, the tibial connecting rod 310 and the knee joint fixing strap 311, wherein the femoral connecting rod 302 is fixedly connected with the motor fixed connection shaft disc 303 through a bolt, the motor output shaft disc 304 is fixedly connected with the integrated servo gear motor 305 through a bolt, the femoral connecting rod 302 is fixedly connected with the femoral connecting plate 307 through a bolt, the femoral connecting plate 307 is provided with seven rows of two rows of threaded holes, height adjustment can be achieved, the tibial connecting plate 309 is fixedly connected with the tibial connecting rod 310 through a bolt, and the femoral connecting rod 310 is fixedly connected with the knee joint fixing strap 311 through a bolt. The flexion/extension movement form of the knee joint is as follows: the integrated servo gear motor 305 rotates to drive the motor output disc frame 304 to rotate, the motor output disc frame 304 realizes the rotation of the tibia connecting plate 309 by pulling the telescopic pull rod 306, the tibia connecting plate 309 is connected with the bionic knee joint exoskeleton structure 308 through a pin shaft to drive the bionic knee joint exoskeleton structure 308 to rotate, and the flexion/extension movement of the knee joint is realized.
As shown in fig. 8 and 9, the ankle exoskeleton mechanism 4 includes: the ankle joint support 401, the fixing plate 402, the bionic ankle joint elastic mechanism 403, an ankle joint exoskeleton back bending/driver-skilful flexion connecting piece 404, an ankle joint exoskeleton inward turning/outward turning connecting piece 405, a foot front plate 406, a pressure sensor 407, a foot front plate fixing piece 408, a foot rear plate fixing piece 409 and a foot rear plate 410, wherein the ankle joint support 401 and the ankle joint exoskeleton back bending/driver-skilful flexion connecting piece 404 are connected through a pin shaft, the ankle joint exoskeleton back bending/driver-skilful flexion connecting piece 404 and the ankle joint exoskeleton inward turning/outward turning connecting piece 405 are connected through a pin shaft, the ankle joint exoskeleton inward turning/outward turning 405 connecting piece and the foot rear plate 409 are connected through a pin shaft, and the pressure sensor 407 is arranged at the bottoms of the foot front plate 406 and the foot rear plate 409 and is fixedly connected through a bolt.
Claims (9)
1. The utility model provides a six degree of freedom wearing formula low limbs ectoskeleton rehabilitation robot which characterized in that: the waist supporting mechanism is connected with the hip joint exoskeleton mechanism through a waist supporting frame, the hip joint exoskeleton mechanism and the knee joint exoskeleton mechanism are respectively connected with two ends of a femur connecting rod, and the knee joint exoskeleton mechanism and the ankle joint exoskeleton mechanism are respectively connected with two ends of a tibia connecting rod.
2. The six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of claim 1, wherein: the waist support mechanism comprises a waist strap, a waist power support plate and a waist support frame, the waist power support plate is connected with the waist support frame through a threaded rod, and the waist support frame is fixedly connected with the waist strap through bolts.
3. The six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of claim 1, wherein: the hip joint exoskeleton mechanism comprises a hip joint motor fixing frame, a hip joint adduction/abduction connecting piece, an integrated servo reduction motor, a hip joint motor fixing disc, a hip joint motor output disc, a hip joint flexion/extension connecting piece, a hip joint internal rotation/external rotation shaft rod, a thigh fixing band and a thigh connecting rod, wherein the hip joint motor fixing frame is fixedly connected with the hip joint motor fixing disc through bolts, and the thigh connecting rod is fixedly connected with the thigh fixing band through bolts.
4. The six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of claim 2 or 3, wherein: the hip joint external rotation/internal rotation connecting piece of the hip joint exoskeleton mechanism is respectively and fixedly connected with the hip joint flexion/extension connecting piece and a thigh connecting rod, and the hip joint internal rotation/external rotation connecting piece of the hip joint exoskeleton mechanism is connected with the hip joint internal rotation/external rotation shaft rod, so that the internal rotation/external rotation freedom degree movement of the hip joint is realized.
5. The six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of claim 1, wherein: the knee joint exoskeleton mechanism comprises a femur connecting rod fixing band, a femur connecting rod, a motor fixing connecting shaft disc, a motor output disc frame, an integrated servo gear motor, a telescopic pull rod, a femur connecting plate, a bionic knee joint exoskeleton structure, a tibia connecting plate, a tibia connecting rod and a knee joint fixing band, wherein the femur connecting rod is fixedly connected with the motor fixing connecting shaft disc through a bolt, the motor output disc frame is fixedly connected with the integrated servo gear motor through a bolt, the femur connecting rod is fixedly connected with the femur connecting plate through a bolt, the femur connecting plate is provided with seven rows of two rows of threaded holes, height adjustment can be achieved, the tibia connecting plate is fixedly connected with the tibia connecting rod through a bolt, and the femur connecting rod is fixedly connected with the knee joint fixing band through a bolt.
6. The six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of claim 5, wherein: the telescopic pull rod comprises a rotating pin key, a threaded pull rod and a pull rod sleeve, the rotating pin key is fixedly connected with the threaded pull rod in a welding mode, the rotating pin key is connected with the motor output disc frame through a pin shaft, and the pull rod sleeve is connected with the tibia connecting plate through a pin shaft.
7. The six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of claim 5, wherein: the bionic knee joint exoskeleton structure comprises a knee joint patella baffle, a knee joint exoskeleton front cruciate ligament connecting rod and a knee joint exoskeleton rear cruciate ligament connecting rod, the knee joint patella baffle is fixedly connected with the knee joint exoskeleton front cruciate ligament through welding, the knee joint exoskeleton front cruciate ligament is connected with the femur connecting plate through a pin shaft, the knee joint exoskeleton front cruciate ligament is connected with the tibia connecting plate through a pin shaft, the knee joint exoskeleton rear cruciate ligament is connected with the femur connecting plate through a pin shaft, ten rows of threaded holes are formed in the upper end of the frame and are arranged in two rows, and height adjustment can be achieved.
8. The six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of claim 1, wherein: the ankle joint exoskeleton mechanism comprises an ankle joint support, a fixing plate, a bionic ankle joint elastic mechanism, an ankle joint exoskeleton dorsiflexion/driver-skilful connecting piece, an ankle joint exoskeleton inversion/eversion connecting piece, a foot front plate, a pressure sensor, a foot front plate fixing piece, a foot rear plate and a foot rear plate fixing piece, wherein the ankle joint support is connected with the ankle joint exoskeleton inversion/extension connecting piece through a pin shaft, the ankle joint exoskeleton inversion/eversion connecting piece is connected with the ankle joint exoskeleton inversion/eversion connecting piece through a pin shaft, the ankle joint exoskeleton inversion/eversion connecting piece is connected with the foot rear plate through a pin shaft, and the pressure sensor is arranged at the bottoms of the foot front plate and the foot rear plate and is fixedly connected through bolts.
9. The six-degree-of-freedom wearable lower extremity exoskeleton rehabilitation robot of claim 8, wherein: bionic ankle joint elastic mechanism includes bulb universal bearing upper end, telescopic link, spring, telescopic tube, bulb universal bearing lower extreme, bulb universal bearing upper end with the telescopic link is connected through welded fastening, bulb universal bearing lower extreme with telescopic tube is connected through welded fastening, bulb universal bearing upper end with the fixed plate is connected through bolt fastening, the fixed plate with the ankle joint support is connected through bolt fastening, bulb universal bearing lower extreme with foot front bezel mounting links to each other through bolt fastening, bulb universal bearing lower extreme with foot rear bezel mounting links to each other through bolt fastening, the foot front bezel with foot front bezel mounting passes through bolt fastening and links to each other.
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| CN113693891A (en) * | 2021-08-24 | 2021-11-26 | 深圳市英汉思动力科技有限公司 | Exoskeleton enhancement auxiliary system |
| CN114028176A (en) * | 2021-12-16 | 2022-02-11 | 青岛科技大学 | Multi-degree-of-freedom lower limb rehabilitation exoskeleton mechanism |
| CN114102562A (en) * | 2021-12-01 | 2022-03-01 | 长春工业大学 | Bionic knee-ankle joint assistance exoskeleton device |
| CN114376857A (en) * | 2021-12-08 | 2022-04-22 | 浙江大学 | Horizontal lower limb six-degree-of-freedom full-joint power-assisted rehabilitation mechanical leg |
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| CN114735105A (en) * | 2022-04-12 | 2022-07-12 | 浙江大学 | Electro-hydraulic hybrid driven lower limb mechanism of humanoid robot |
| CN114770469A (en) * | 2022-04-11 | 2022-07-22 | 湖州市中心医院 | Lightweight exoskeleton device for lead clothes support |
| CN114795850A (en) * | 2022-07-01 | 2022-07-29 | 南昌大学第二附属医院 | Knee joint auxiliary movement device and control method thereof |
| CN115091442A (en) * | 2022-08-09 | 2022-09-23 | 朱岩 | Knee-bending energy-storage exoskeleton |
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