CN104758142A - Assistance exoskeleton robot - Google Patents

Abstract

The invention relates to a power-assisted exoskeleton robot, which includes a shoe body assembly (1), an ankle assembly (2), a lower leg (3), a knee joint (4), a thigh assembly (5), a hip assembly (6) and Back bracket (7), the shoe body assembly (1) includes rubber insole (8), sole front plate (9) and sole rear plate (10); the ankle joint assembly (2) includes connecting block (12 ), hinged plate (13), rotating pair (14), and connecting rod (15), the knee joint (4) is an L-shaped structure, and the upper end of the calf (3) and the L-shaped structure of the knee joint (4) The corners are hinged; the thigh assembly (5) includes the thigh body, cylinder A (20) and cylinder B (22); the hip assembly (6) includes the hip body (24) and hip straps (25). The invention has the advantages of simple structure, low cost, high comfort and multiple degrees of freedom of the ankle joint.

Description

A kind of power-assisted exoskeleton robot

technical field

The invention relates to the technical field of medical rehabilitation equipment, in particular to an assisting exoskeleton robot.

Background technique

An exoskeleton is a rigid external structure that provides configuration, architecture, and protection to the soft internal organs of living things. Although the concept of an exoskeleton has been featured in American sci-fi movies for decades, it was never a practical concept given the limitations of the underlying technology. After unremitting research, foreign scientists have developed various exoskeletons to help people in need manage their daily life and work more effectively.

my country's current exoskeletons are basically in the research and development stage. Most of them are mainly used in the rehabilitation of patients or helping the disabled. There are relatively few robots that help expand human capabilities. The current power-assisted exoskeleton robots have disadvantages such as high cost, difficult machining, unsatisfactory machining accuracy and uncomfortable wearing.

Contents of the invention

The purpose of the present invention is to overcome the disadvantages of the prior art, and provide a power-assisted exoskeleton robot with simple structure, low cost, high comfort and multiple degrees of freedom of the ankle joint.

The object of the present invention is achieved through the following technical solutions: a power-assisted exoskeleton robot, which includes a shoe body assembly, an ankle joint assembly, a shank, a knee joint, a thigh assembly, a hip joint assembly and a back support, and the shoe body assembly includes Rubber insole, sole front plate and sole rear plate, the sole front plate is arranged on the front portion of the upper surface of the rubber insole, the sole rear plate is arranged on the upper surface rear portion of the rubber insole, and the sole front plate and the sole rear plate are connected; Described ankle joint assembly comprises connecting block, hinged plate, revolving pair and connecting rod, and the lower end of connecting block is vertically fixed on the outer edge of sole rear plate, and the upper end of connecting block is hingedly connected with the lower end of hinged plate, and the upper end of hinged plate It is installed inside the swivel pair, the upper part of the hinge plate has a hole, and the lower end side of the connecting rod is provided with a horizontally extending rotary column, which passes through the hinge plate and is connected with the swivel pair; The upper end of the connecting rod is connected to the lower end of the lower leg, the knee joint is an L-shaped structure, and the upper end of the lower leg is hingedly connected to the corner of the L-shaped structure of the knee joint; the thigh assembly includes a thigh body, an oil cylinder A and an oil cylinder B, The lower end of the thigh body is hingedly connected to the top of the vertical section of the knee joint, the front side of the thigh body is fixedly installed with a mount A, the tail of the oil cylinder A is hingedly mounted on the mount A, and the output end of the oil cylinder A It is hingedly connected to the upper part of the thigh body, the rear upper part of the thigh body is fixedly installed with a mount B, the tail of the oil cylinder B is hingedly mounted on the mount B, and the output end of the oil cylinder B is hingedly mounted at the end of the horizontal section of the knee joint; The hip joint assembly includes a hip joint body and a hip joint strap, the hip joint body is arranged on the top of the thigh body, and the hip joint strap is arranged on the hip joint body; the rear side of the hip joint strap is also fixed with The back support mounting block, the back support is fixed on the back support mounting block.

Sensors are respectively arranged between the rubber insole and the sole front plate, and between the rubber insole and the sole rear plate.

A backing plate is also set on the rotating column, and the backing plate is located between the hinge plate and the connecting rod.

The shoe body assembly also includes sole straps, which are arranged at the junction of the front sole plate and the rear sole sole plate.

The inside of the thigh body is also provided with thigh straps.

The present invention has the following advantages:

1. The mechanical structure of the present invention is simple, the processing accuracy is relatively low, and it is easy to realize.

2. The structure of each part is relatively simple, and the traditional processing method can be used to meet the requirements without adopting very new processing instruments and processing technologies, which greatly reduces the cost and processing cycle.

3. The hip joint body is composed of two metal structures similar to human bones on the left and right. This design allows the main load-bearing hip joint structure to not only bear the gravity of heavy objects, but also fit closely with the human hip joint bones to avoid walking During the process, the hip joint structure interferes with the human buttocks, which greatly enhances the comfort of the exoskeleton robot.

4. The ankle joint component has three degrees of freedom, which can respectively enable the ankle joint to achieve three movements: extension/extension, internal rotation/external rotation, and valgus/varus, and use a certain mechanical structure to control the range of motion in all directions of motion Restrictions should be made to avoid injury to the human body beyond the range of motion of the human body itself during exercise.

5. A back bracket is installed on the back. The back bracket module is mainly used for placing power components, hydraulic cylinder pumps and fuel tanks, and is the main bearer of the load, reducing the burden for the user.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Figure 2 is a schematic diagram of the disassembled structure of the shoe body assembly;

Figure 3 is a schematic diagram of the assembly structure of the shoe body assembly;

Figure 4 is a schematic diagram of the split structure of the ankle joint assembly;

Figure 5 is a schematic diagram of the side structure of the ankle joint;

Fig. 6 is the left view structure diagram of Fig. 5;

Figure 7 is a schematic diagram of the connection between the lower leg and the connecting rod and the knee joint respectively;

Fig. 8 is the structural representation of hip joint assembly;

In the picture: 1-shoe body assembly, 2-ankle joint assembly, 3-calf, 4-knee joint, 5-thigh assembly, 6-hip joint assembly, 7-back support, 8-rubber insole, 9-sole front plate , 10-foot rear plate, 11-sensor, 12-connection block, 13-hinge plate, 14-rotation pair, 15-connecting rod, 16-rotary column, 17-backing plate, 18-foot strap, 19-installation Seat A, 20-oil cylinder A, 21-installation seat B, 22-oil cylinder B, 23-thigh strap, 24-hip body, 25-hip strap, 26-back bracket mounting block.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

As shown in Figure 1, a power-assisted exoskeleton robot includes a shoe body assembly 1, an ankle joint assembly 2, a calf 3, a knee joint 4, a thigh assembly 5, a hip joint assembly 6 and a back support 7, as shown in Figure 2 and Fig. 3, the shoe body assembly 1 includes a rubber insole 8, a sole front plate 9 and a sole rear plate 10, the rubber insole 8 has the effect of reducing impact, and the sole front plate 9 and the sole rear plate 10 are metals that can bear weight. material, on the one hand, it makes wearing feel comfortable, and on the other hand, it can bear the load. The sole front plate 9 is arranged on the front part of the upper surface of the rubber insole 8, and the sole rear plate 10 is arranged on the rear of the upper surface of the rubber insole 8. part, the sole front plate 9 is connected with the sole rear plate 10; as shown in Figure 4, Figure 5 and Figure 6, the ankle joint assembly 2 includes a connecting block 12, a hinge plate 13, a rotating pair 14, and a connecting rod 15, The lower end of the connecting block 12 is vertically fixed at the outer edge of the sole rear plate 10, the upper end of the connecting block 12 is hingedly connected with the lower end of the hinged plate 13, and the top of the hinged plate 13 is passed through the inside of the rotating pair 14, and the top of the hinged plate 13 There is a hole, and the lower end side of the connecting rod 15 is provided with a rotating column 16 extending in the horizontal direction. The rotating column 16 passes through the hinge plate 13 and is connected with the rotating pair 14. The ankle joint assembly 2 has three degrees of freedom, It can make the ankle joint realize the three movements of extension/extension, internal rotation/external rotation, and valgus/varus respectively, and use a certain mechanical structure to limit the range of motion in each direction of the movement, so as not to exceed the human body's own limits during the movement. The range of motion causes harm to the human body; as shown in Figure 7, the upper end of the connecting rod 15 is connected to the lower end of the shank 3, and the lower part of the shank 3 is also provided with a U-shaped groove. On the one hand, in order to reduce weight, reduce the moment of inertia to reduce Inertial influence in the control process, on the other hand, can be used as the main method for adjusting the length of the calf 3. The knee joint 4 is an L-shaped structure, and an encoder is housed in the knee joint 4. As one of the main parameters of the control signal, the calf The upper end of 3 is hingedly connected with the corner of the L-shaped structure of knee joint 4; The top of the vertical section is hingedly connected, the front side of the thigh body is fixedly installed with a mounting seat A19, the tail of the oil cylinder A20 is hingedly mounted on the mounting seat A19, and the output end of the oil cylinder A20 is hingedly connected with the upper part of the thigh body. The upper rear side of the thigh body is fixedly installed with a mount B22, the tail of the oil cylinder B21 is hingedly mounted on the mount B22, and the output end of the oil cylinder B21 is hingedly mounted at the end of the horizontal section of the knee joint 4; as shown in Figure 8, the hip The joint assembly 6 includes a hip joint body 24 and a hip joint strap 25. The hip joint body 24 is composed of two metal structures similar to human bones on the left and right. This design allows the main load-bearing hip joint structure to withstand the gravity of heavy objects. Moreover, it can fit closely with the bones of the human hip joint, avoiding interference between the hip joint structure and the buttocks of the human body during walking, and enhancing comfort. The hip joint body 24 is arranged on the top of the thigh body, and the hip joint strap 25 Set on the hip joint body 24; the rear side of the hip joint strap 25 is also fixed with a back support mounting block 26, the back support 7 is fixed on the back support mounting block 26, and the back support 7 is mainly used for power The components hydraulic cylinder pump and oil tank are placed and are the main bearers of the load.

As shown in FIG. 2 , sensors 11 are provided between the rubber insole 8 and the sole front plate 9 , and between the rubber insole 8 and the sole rear plate 10 to collect data as feedback of the control scheme.

As shown in FIG. 4 , a backing plate 17 is set on the rotating column 16 , and the backing plate 17 is located between the hinge plate 13 and the connecting rod 15 .

As shown in Figure 1, the shoe body assembly 1 also includes a sole strap 18, which is arranged at the joint between the sole front plate 9 and the sole rear plate 10; as shown in Figure 3, the thigh body There is also a thigh strap 23 on the inner side. The binding is used as the connection between the power-assisted exoskeleton robot and the wearer. The binding should not be too tight to affect the comfort, and it should not be too loose to make the gait of the power-assisted exoskeleton robot and the gait of the human body In this embodiment, flexible material is used as the binding material, and the length is adjustable. Different binding lengths can be adopted according to different wears. Another function of binding is that the human body can pass through Pass an intention to walk or stop to the binding, and the control program will make the power-assisted exoskeleton robot follow suit to help the wearer complete the action he wants to complete.

Claims (5)

1. an assistance exoskeleton robot, it is characterized in that: it comprises footwear body assembly (1), ankle joint assembly (2), shank (3), knee joint (4), thigh assembly (5), hip joint assembly (6) and back bracket (7), described footwear body assembly (1) comprises plate (10) after rubber insole (8), sole header board (9) and sole, the upper surface that described sole header board (9) is arranged at rubber insole (8) is anterior, after sole, plate (10) is arranged at the upper surface rear portion of rubber insole (8), and sole header board (9) is connected with plate after sole (10), described ankle joint assembly (2) comprises contiguous block (12), articulated slab (13), revolute pair (14), with connecting rod (15), the outer ledge place of plate (10) after sole is vertically fixed in the lower end of contiguous block (12), the upper end of contiguous block (12) and the lower end of articulated slab (13) are hinged and connected, the top of articulated slab (13) is arranged in the inside of revolute pair (14), the top of articulated slab (13) has hole, the side, lower end of described connecting rod (15) is provided with the rotary column (16) of horizontal direction extension, rotary column (16) is through articulated slab (13), and be connected with revolute pair (14), the upper end of described connecting rod (15) is connected with the lower end of shank (3), and described knee joint (4) is L shape structure, and the upper end of shank (3) and the L shape structure corner of knee joint (4) are hinged and connected, described thigh assembly (5) comprises thigh body, oil cylinder A(20) and oil cylinder B(22), the lower end of described thigh body and the vertical section top of knee joint (4) are hinged and connected, the front side of thigh body is installed with mount pad A(19), described oil cylinder A(20) afterbody be hingedly mounted on mount pad A(19) on, oil cylinder A(20) outfan be connected with the upper articulation of thigh body, described thigh body upper back is installed with mount pad B(22), oil cylinder B(21) afterbody be hingedly installed on mount pad B(22) on, oil cylinder B(21) outfan be hingedly mounted on the horizontal segment end of knee joint (4), described hip joint assembly (6) comprises hip joint body (24) and hip joint bandage (25), and hip joint body (24) is arranged at the top of thigh body, and hip joint bandage (25) is arranged on hip joint body (24), the rear side of described hip joint bandage (25) is also fixed with back bracket mounting blocks (26), and described back bracket (7) is fixed on back bracket mounting blocks (26).

2. a kind of assistance exoskeleton robot according to claim 1, is characterized in that: be respectively arranged with sensor (11) between plate (10) between described rubber insole (8) and sole header board (9), after rubber insole (8) and sole.

3. a kind of assistance exoskeleton robot according to claim 1, is characterized in that: described rotary column (16) is also set with backing plate (17), and backing plate (17) is positioned between articulated slab (13) and connecting rod (15).

4. a kind of assistance exoskeleton robot according to claim 1, is characterized in that: described footwear body assembly (1) also comprises sole bandage (18), and sole bandage (18) is arranged at the junction of plate (10) after sole header board (9) and sole.

5. a kind of assistance exoskeleton robot according to claim 1, is characterized in that: be also provided with thigh bandage (23) inside described thigh body.