CN102499859B - Lower limb exoskeleton walking rehabilitation robot - Google Patents

Abstract

The invention discloses a lower extremity exoskeleton rehabilitation robot in the technical field of medical equipment, comprising: an ankle joint movement module, a knee joint movement module, a hip joint movement module, a hip and a support frame module and a crutch module, one end of the knee joint movement module is connected to The ankle joint movement module is connected, the other end is connected with the hip joint movement module, the hip and support frame module is connected with the hip joint movement module, and the crutch module is independent of the exoskeleton body. The present invention helps paraplegic patients to stand and walk, controls the flexion and extension of the knee joint and hip joint by collecting the contact information between the crutches and the ground, thereby helping the patient to realize striding, and the anti-tension spring of the ankle joint can help reduce the impact from the ground , which is beneficial for patients to walk comfortably and improve the efficiency of rehabilitation training.

Description

Lower Limb Exoskeleton Walking Rehabilitation Robot

technical field

The invention relates to a medical device, in particular to a lower limb exoskeleton walking rehabilitation robot.

Background technique

The spinal cord is the conduction pathway of the sensory, motor, and autonomic nervous systems, so the main symptom of spinal cord injury is paralysis caused by interruption of the conduction pathway. Spinal cord injury refers to the compression or rupture of the spinal cord caused by various external forces acting on the spine. Severe spinal cord injury will lead to lower limb paraplegia. It is conducive to improving the quality of life of patients themselves, and can also reduce the overall burden on families and society. The lower extremity exoskeleton walking rehabilitation robot is a wearable robot system exoskeleton with artificial intelligence, which combines human intelligence and mechanical energy of mechanical devices. With the help of this system, patients can get rid of wheelchairs, stand and walk, and establish a sense of live with confidence.

After searching the existing technology, it is found that the application number is 200910088396.9 Chinese invention patent, name: wearable lower extremity exoskeleton device, this technology includes: waist support frame and load frame, adjustable hip mechanism, connecting rod adjustable knee Joint mechanism, connecting rod adjustable ankle joint mechanism, pressure detection shoes, leg connecting rod, restraint parts and various connecting parts, the exoskeleton device has six degrees of freedom for a single lower limb, two hip joints, one knee joint and The three degrees of freedom of the ankle joint, the device can be used to enhance the wearer's ability to walk with weight and walk for a long time, but the device does not involve driving, so the function provided by the invention is limited, it cannot be used for rehabilitation, and it cannot be used to help patients walk . Chinese invention patent application number 200410053695.6, name: wearable lower limb walking exoskeleton, the technology includes: waist support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and foot support, the exoskeleton A single lower limb has four degrees of freedom, and a four-bar mechanism can be used to complete a large load, but the exoskeleton robot is only used to assist or enhance the walking ability of the wearer, and cannot be used to help patients walk, and the structure There are no mechanical stops. The lower limb rehabilitation training robot disclosed in the Chinese invention patent application with application number 201010158178.0 is a device for helping stroke patients to train, and cannot be used to help patients walk. Application No. 201110029533.9 Chinese Invention Patent Application discloses an exoskeleton rehabilitation robot for rehabilitation training, and without a lifting mechanism, it is difficult to help stroke and paraplegia patients train.

Contents of the invention

The present invention aims at the above-mentioned deficiencies existing in the prior art, and provides a lower limb exoskeleton walking rehabilitation robot, which assists the patient to get out of the wheelchair and stand up and walk. Flexion and extension, as well as plantarflexion and dorsiflexion of the ankle, where the first two degrees of freedom are driven.

The present invention is achieved through the following technical solutions. The present invention includes: an exoskeleton body and a crutch module; wherein, the exoskeleton body includes an ankle joint movement module, a knee joint movement module, an elastic driver module, a hip joint movement module, a waist and The support frame module, in which: the two ends of the knee joint movement module are respectively connected with the ankle joint movement module and the hip joint movement module, the hip joint movement module is connected with the waist and the support frame, and the crutch module is structurally independent of the exoskeleton body and connected with the exoskeleton The main body is electrically connected, and the electrical connection method is: the movement of the elastic driver module is controlled by closing the push-button power switch and the normally closed switch of the crutch module, and then the movement of the exoskeleton body is controlled.

The ankle joint movement module includes: feet, spring boards, ankle joint supports, ankle joint fixing plates, and extension springs, wherein: the ankle joint supports are fixed on the feet, and the ankle joint fixing plates are fixed on the ankle joint supports by screws. On the seat, the ankle joint fixing plate is connected with the calf part through bearings, and the extension spring is connected between the spring plates.

The knee joint movement module includes: calf, calf length adjustment plate, positioning bolts, calf strap plate, knee joint fixing plate, wherein: the calf length adjustment plate is inserted into the groove of the calf, can slide along the groove and be locked with bolts , to adjust the length of the corresponding part of the calf, the knee joint fixing plate is connected with the calf length adjustment plate through a positioning bolt, the other end is connected with the thigh part through a bearing, the calf strap plate is fixed on the calf, and one end of the calf is connected with the foot through a bearing department connected.

The hip joint movement module includes: knee joint limit block, thigh, positioning bolt, driver support, thigh length adjustment plate, hip joint fixation plate, pin, hip joint limit block, hip joint, wherein: thigh length adjustment The plate is inserted into the groove of the thigh, can slide along the groove and locked with positioning bolts to adjust the length of the corresponding part of the thigh. The driver support is fixed on the thigh and connected with the elastic driver through the bearing. One end of the hip joint fixing plate is connected to the The thigh length adjustment plate is connected, and the other end is connected with the hip joint through a deep groove ball bearing. The pins are used to locate the position of the knee joint limit block and the hip joint limit block, so as to reach different limit strokes.

The waist and support frame module includes: waist support, bracket support plate, bracket vertical plate, bracket bottom plate and positioning bolts, wherein: the waist support is inserted into the square groove of the hip joint, can slide along the groove and be locked with a tightening bolt , to adjust the horizontal length of the waist. There is a square hole on the vertical plate of the bracket. The lumbar support can be moved left and right to adjust to the size of the patient’s hip and locked with positioning bolts. The bottom plate of the bracket is connected with the vertical plate of the bracket through screws. The board is fixed on the bottom plate of the support and the vertical plate of the support to strengthen the rigidity and strength of the support frame.

The elastic driver module includes: a DC motor, a motor fixing plate, a shaft coupling, a lead screw, a guide rod, a rear spring baffle, a screw nut, a front spring baffle, a spring length adjustment plate, a spring, and a lead screw fixing plate , push rod, push rod fixing plate, joint bearing, wherein: the motor is fixed on the motor fixing plate, and the coupling connects the motor and the screw; one end of the guide rod is fixed on the motor fixing plate, and the other end is fixed on the screw fixing plate , the guide rod passes through the holes on the rear spring plate, the screw nut and the front spring plate, and fits with the clearance between these holes; one end of the push rod is fixed on the rear spring plate, and the other end is fixed on the push rod fixing plate, and the push rod passes through Through the holes on the screw nut, the front spring baffle and the screw fixing plate, and cooperate with these holes; the four springs are respectively placed between the rear spring baffle and the screw nut, and the screw nut and the front spring stop Between the plates, and the four springs pass through the two push rods. After the pre-compression of the springs is determined, the spring length adjustment plate is fixed on the rear spring baffle and the front spring baffle with screws; the joint bearing is fixed on the push rod fixed on the board.

The crutch module includes: a push-button power switch, a crutch body, a connecting sleeve, a normally open switch, a guide sleeve, a switch top plate, a pressure spring, and a crutch head, wherein: the power switch is connected to the crutch body through a threaded hole, and the connecting sleeve is connected to the crutch The main body and the normally open switch, the guide sleeve are connected with a section of the connecting sleeve through threads, the switch top plate is connected with the crutch head passing through the inner hole of the guide sleeve, and the pressure spring is placed between the connecting sleeve and the crutch head.

When the present invention works: first measure the size of the patient's calf, thigh and hip, and then adjust the exoskeleton calf, thigh and hip to a suitable size. Wearing the exoskeleton robot, the patient's thighs are connected to the thighs of the exoskeleton by straps, and the patient and hip are connected by the belt. The patient holds the crutches with both hands to balance the body and controls the movement of the exoskeleton through the crutches.

Compared with the prior art, the present invention has the following advantages: the single lower limb of the mechanical device of the exoskeleton robot in the present invention has three degrees of freedom, and uses less but necessary degrees of freedom to realize walking, which reduces the complexity of the mechanism and improves the safety of the device. Efficiency, striding can be achieved through the flexion and extension of the knee joint and hip joint, and the plantar flexion and dorsiflexion of the ankle joint can help patients reduce the impact from the ground during the stepping process; the range of motion of the knee joint and hip joint is 95°, that is, Patients can walk and sit with the help of exoskeleton. Moreover, the degree of freedom of each robot joint movement is basically coaxial with the degree of freedom of human joint movement. This bionic design enhances the comfort and reliability of the machine, and is more beneficial for the robot to assist patients in walking.

The idea, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of the present invention.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a lower limb exoskeleton device according to a preferred embodiment of the present invention.

Fig. 2 is a partial schematic diagram of the ankle joint movement module in the embodiment shown in Fig. 1 .

Fig. 3 is a partial schematic diagram of the knee joint kinematic module in the embodiment shown in Fig. 1 .

Fig. 4 is a partial schematic diagram of the elastic driver module in the embodiment shown in Fig. 1 .

Fig. 5 is a partial schematic diagram of the hip joint motion module in the embodiment shown in Fig. 1 .

Fig. 6 is a partial schematic view of the hip and frame module in the embodiment shown in Fig. 1 .

Fig. 7 is a partial schematic diagram of the crutch module in the embodiment shown in Fig. 1 .

FIG. 8 is a partial schematic view of the middle end of the crutch module of FIG. 7 .

Fig. 9 is a block diagram of the control circuit of the embodiment shown in Fig. 1 .

Detailed ways

As shown in Figure 1, the present embodiment includes: ankle joint movement module 1, knee joint movement module 2, elastic driver module 3, hip joint movement module 4, waist and support frame module 5, crutch module 6, wherein: knee joint movement The two ends of the module 2 are respectively connected with the ankle joint movement module 1 and the hip joint movement module 4, the elastic driver 3 is connected with the hip joint movement module 5, the hip joint movement module 5 is connected with the waist and the support frame 5, and the crutch module 6 is independent of the external Skeletal ontology.

As shown in Figure 2, described ankle joint motion module 1 comprises: foot 10, spring plate 11, ankle joint bearing 12, ankle joint fixing plate 13, extension spring 14, wherein: ankle joint bearing 12 is fixed on foot Part 10, the ankle joint fixing plate 13 is fixed on the ankle joint support 12 by screws, the ankle joint fixing plate 13 is connected with the calf part through bearings, and the extension spring 14 is connected between the spring plates 11.

The ankle joint movement module 1 realizes the plantarflexion and dorsiflexion movement of the ankle joint: that is, the foot rotates around the J1 axis.

As shown in Fig. 3, described knee joint motion module 2 comprises: calf 20, calf length adjustment plate 21, positioning bolt 22, calf strap plate 23, knee joint fixing plate 24, wherein: calf length adjustment plate 21 is inserted in In the groove of the calf 20, it can slide along the groove and lock with bolts to adjust the length of the corresponding part of the calf. The knee joint fixing plate 24 is connected with the calf length adjustment plate 21 through screws, and the other end is connected with the thigh part through a bearing. The calf strap The plate 23 is fixed on the lower leg 20, and one end of the lower leg 20 is connected to the foot through a bearing connection.

The knee joint movement module 2 realizes the flexion and extension movement of the ankle joint: that is, the calf part rotates around the J2 axis.

As shown in Figure 4, described elastic driver module 3 comprises: DC motor 30, motor fixed plate 31, shaft coupling 32, leading screw 33, guide bar 34, rear spring baffle plate 35, leading screw nut 36, front spring Baffle plate 37, spring length adjustment plate 38, spring 39, lead screw fixed plate 310, push rod 311, push rod fixed plate 312, joint bearing 313, wherein: motor 30 is fixed on the motor fixed plate 31, shaft coupling 32 is connected Motor 30 and leading screw 33; One end of guide rod 34 is fixed on the motor fixed plate 31, and the other end is fixed on the leading screw fixed plate 310, and guide rod 34 passes through rear spring plate 35, leading screw nut 36 and front spring plate 37. holes, and cooperate with the gaps of these holes; one end of the push rod 311 is fixed on the rear spring plate 35, and the other end is fixed on the push rod fixing plate 312, and the push rod 311 passes through the lead screw nut 36, the front spring baffle plate 37 and the wire The holes on the bar fixing plate 310 are matched with these holes clearance; four springs 39 are respectively placed between the rear spring baffle 35 and the lead screw nut 36, and between the lead screw nut 36 and the front spring baffle, and four Root spring passes through two push rods 311, after determining the pre-compression amount of spring 39, spring length adjustment plate 38 is fixed on rear spring retainer 35 and front spring retainer 37 with screw; Joint bearing 313 is fixed on push rod on the fixed plate 312.

The working mode of the elastic driver module 3: the rotation of the motor 30 drives the lead screw 33 to rotate together, the rotary motion of the lead screw 33 is converted into the linear motion of the lead screw nut 36, and the linear motion of the lead screw nut 36 compresses the lead screw nut and the spring baffle Between the spring 39, the thrust of the spring pushes the spring baffles 35, 37 to move in a straight line, thereby driving the push rod 311 and the joint bearing 313 to move in a straight line, that is, the rotational motion of the motor 30 is converted into the linear motion of the driver.

As shown in Fig. 5, described hip joint motion module 4 comprises: knee joint stop block 40, thigh 41, positioning bolt 42, driver support 43, thigh length adjustment plate 44, hip joint fixing plate 45, pin 46, Hip joint limiting block 47, hip joint 48, wherein: thigh length adjustment plate 44 is inserted in the groove of thigh 41, can slide along the groove and lock with positioning bolt 42, to adjust the length of the corresponding part of thigh, driver support 43 is fixed On the thigh 41, and link to each other with the elastic driver 3 through the bearing, one end of the hip joint fixing plate 45 links to each other with the thigh length adjustment plate 44 through a screw, and the other end links to each other with the hip joint 48 through a deep groove ball bearing, and the stopper 47 is connected to the On the hip joint 48, the rotation angle of the hip joint fixing plate 45 around J3 is limited by the arc surface and the inclined surface on the limit block 47, and the pin 46 is used to locate the positions of the knee joint limit block 40 and the hip joint limit block 47, Thereby different limit travels are realized.

The hip joint movement module 4 realizes the flexion and extension movement of the hip joint: that is, the thigh part rotates around the J3 axis.

As shown in Figure 6, the hip and support frame module 5 includes: a lumbar support 50, a support support plate 51, a support vertical plate 52, a support bottom plate 53 and positioning bolts 54, wherein: the lumbar support 50 is inserted into the hip joint 48 It can slide along the groove and be locked with fastening bolts to adjust the lateral length of the waist. There is a square hole on the bracket vertical plate 52, and the waist support 50 can be moved left and right to adjust to the size of the patient's hip. Positioning bolt 54 is locked, and support base plate 53 is connected with support vertical plate 52 by screw, and support support plate 52 is fixed on support base plate 53 and support vertical plate 52 to strengthen the rigidity and the strength of support frame.

As shown in Figures 7 and 8, the crutch module 6 includes: a push-button power switch 60, a crutch body 61, a connection sleeve 62, a normally open switch 63, a guide sleeve 64, a switch top plate 65, a compression spring 66, and a crutch head. 67, wherein: the power switch 60 is connected with the crutch body 61 through a threaded hole, the connection sleeve 62 is connected with the crutch body 61 and the normally open switch 63, the guide sleeve 64 is connected with a section of the connection sleeve 62 through threads, and the switch top plate 65 is connected with the guide The crutch head 67 in the inner hole of the sleeve 64 is connected, and the clip spring 66 is placed between the connecting sleeve 62 and the crutch head 67 .

When this embodiment is working: the patient sits on the appropriate position of the seat and wears the exoskeleton body, adjusts the size of each part of the exoskeleton body so that the ankle joints, knee joints and hip joints of the human body are aligned with the corresponding rotation axes of the robot, so that Adapt to the patient's body wear. After wearing the exoskeleton body, the patient stands up by means of the crutch module 6 . The control principle is shown in Figure 9. After the patient presses the push-button power switch 60, if the right crutch touches the ground, the normally open switch 63 on the head of the crutch is triggered to close, and the control system of the exoskeleton will drive the elastic driver module 3 of the left leg to work. , so as to realize the left leg to walk, similarly, the left crutch touches the ground to drive the right leg to walk, so that the patient can walk with the help of the exoskeleton robot.

The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art shall be within the scope of protection defined by the claims.

Claims (6)

1. A lower extremity exoskeleton walking rehabilitation robot, is characterized in that, comprises: exoskeleton body and crutch module; Wherein, described exoskeleton body comprises ankle joint movement module, knee joint movement module, elastic driver module, hip joint movement module , waist and support frame module, wherein: the two ends of the knee joint movement module are respectively connected with the ankle joint movement module and the hip joint movement module, the hip joint movement module is connected with the waist and support frame module, and the crutch module is structurally independent of the exoskeleton body And it is electrically connected with the exoskeleton body. The electrical connection method is: the movement of the elastic driver module is controlled by closing the push-button power switch and the normally open switch of the crutch module, and then the movement of the exoskeleton body is controlled; the elastic driver module includes : DC motor, coupling, motor fixing plate, screw, guide rod, rear spring baffle, screw nut, spring length adjustment plate, front spring baffle, spring, screw fixing plate, push rod, push rod fixing plate, joint bearing, wherein: the DC motor is fixed on the motor fixing plate, the coupling connects the DC motor and the screw; one end of the guide rod is fixed on the motor fixing plate, and the other end is fixed on the screw fixing plate, after the guide rod passes through The holes on the spring baffle, the lead screw nut and the front spring baffle are matched with the gaps between these holes; one end of the push rod is fixed on the rear spring baffle, the other end is fixed on the push rod fixing plate, and the push rod passes through the wire The holes on the screw nut, the front spring baffle and the screw fixing plate are matched with these holes; the four springs are respectively placed between the rear spring baffle and the screw nut, and between the screw nut and the front spring baffle. and the four springs pass through the two push rods. After the pre-compression of the springs is determined, the spring length adjustment plate is fixed on the rear spring baffle and the front spring baffle with screws; the joint bearing is fixed on the push rod fixing plate Above; the elastic driver module is set as follows: the rotation of the motor drives the lead screw to rotate together, the rotational motion of the lead screw is converted into the linear motion of the lead screw nut, and the linear motion of the lead screw nut compresses the spring between the lead screw nut and the spring baffle, and the spring The thrust pushes the spring baffle to move in a straight line, thereby driving the push rod and the joint bearing to move in a straight line. 2. The lower extremity exoskeleton walking rehabilitation robot according to claim 1, wherein the ankle joint movement module comprises: a foot, a spring plate, an ankle joint support, an ankle joint fixing plate, and an extension spring, wherein: The ankle joint bearing is fixed on the foot, the ankle joint fixing plate is fixed on the ankle joint bearing by screws, the ankle joint fixing plate is connected with the calf part through the bearing, and the extension spring is connected between the spring plates. 3. The lower extremity exoskeleton walking rehabilitation robot according to claim 1, wherein the knee joint motion module comprises: shank, shank length adjustment plate, positioning bolt, shank strap plate, knee joint fixing plate, wherein : The calf length adjustment plate is inserted into the slot of the calf, can slide along the slot and lock with positioning bolts to adjust the length of the corresponding part of the calf, the knee joint fixing plate is connected with the calf length adjustment plate through screws, and the other end is connected with the thigh part through a bearing Connected, the calf strap plate is fixed on the calf, and one end of the calf is connected to the foot through a bearing connection. 4. The lower extremity exoskeleton walking rehabilitation robot according to claim 1, characterized in that, the hip joint motion module comprises: knee joint limit block, thigh, positioning bolt, driver support, thigh length adjustment plate, hip Joint fixation plate, pins, hip joint limit block, hip joint, among which: the thigh length adjustment plate is inserted into the groove of the thigh, can slide along the groove and locked with a positioning bolt to adjust the length of the corresponding part of the thigh, and the driver support is fixed On the thigh and connected to the elastic driver module through bearings, one end of the hip joint fixing plate is connected to the thigh length adjustment plate through screws, the other end is connected to the hip joint through deep groove ball bearings, and the hip joint limiter is connected to the hip joint. The rotation angle of the hip joint fixing plate around the rotation axis of the knee joint is limited by the arc surface and the inclined surface on the hip joint limit block, and the pin is used to locate the position of the knee joint limit block and the hip joint limit block, so as to realize different limit bit stroke. 5. The lower extremity exoskeleton walking rehabilitation robot according to claim 1, wherein the waist and the support frame module include: waist support, bracket support plate, bracket vertical plate, bracket bottom plate and positioning bolts, wherein: the waist The support is inserted into the square groove of the hip joint, which can slide along the groove and be locked with fastening bolts to adjust the lateral length of the waist. There is a square hole on the stand plate, and the lumbar support can be moved left and right to adjust to the patient's hip After the size is locked with positioning bolts, the bottom plate of the bracket is connected with the vertical plate of the bracket by screws, and the support plate of the bracket is fixed on the bottom plate of the bracket and the vertical plate of the bracket to strengthen the rigidity and strength of the support frame. 6. The lower extremity exoskeleton walking rehabilitation robot according to claim 1, wherein the crutch module includes: a power switch, a crutch body, a connecting sleeve, a normally open switch, a guide sleeve, a switch top plate, a compression spring, and a crutch head, wherein: the power switch is connected to the crutch body through the threaded hole, the connecting sleeve is connected to the crutch body and the normally open switch, the guide sleeve is connected to a section of the connecting sleeve through threads, and the top plate of the switch is connected to the crutch head passing through the inner hole of the guide sleeve. The compression spring is placed between the connecting sleeve and the head of the crutch.

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