CN108578174A - A kind of portable wearable lower limb exoskeleton robot - Google Patents

Abstract

The invention discloses a portable wearable lower limb exoskeleton robot, which comprises a waist support plate, a hip joint assembly, a thigh support bar, a knee joint assembly, a calf support bar, and a sole support plate; the hip joint assembly includes a first drive motor, a second A flange plate, the first reducer; the first flange plate is connected to both sides of the lower end of the support plate; the waist support plate is fixedly connected to the first flange plate; the first drive motor is fixedly connected to the outer end surface of the first flange plate A drive motor is connected with the first reducer; the first reducer is fixed in the first flange; the upper end of the thigh support rod is fixedly connected with the first turntable, and the first turntable is connected with the first reducer; the first drive motor passes through the first A reducer drives the thigh support rod to swing; the connection and working method of the knee joint assembly is similar to that of the hip joint assembly; the thigh support rod and the calf support rod are equipped with binding mechanisms; the lower end of the calf support rod passes through the first rotating shaft and the sole support plate Connected, the calf support bar swings to drive the swing of the foot. The invention has good portability and strong functionality.

Description

A portable wearable lower limb exoskeleton robot

technical field

The invention belongs to the field of medical rehabilitation training robots, in particular to a portable wearable lower limb exoskeleton robot.

Background technique

my country's population aging problem is becoming more and more serious. It has become the country with the largest aging population and one of the countries with the fastest aging population. According to the statistics of the United Nations, by the middle of this century, there will be 500 million Chinese population over 60 years old. Chinese families and the government Will face unprecedented severe pressure on pension and medical care. Due to functional aging, the walking ability of the lower limbs of the elderly population declines, causing inconvenience to daily life. Diseases such as hemiplegia and stroke can also cause walking impairments in the elderly. It has been proved from contemporary medical theory and clinical practice that scientific and correct rehabilitation training is very important in addition to necessary medical means for the recovery and improvement of limb motor function. The lower extremity exoskeleton mechanism can effectively assist patients with the above diseases in rehabilitation training, and it can also provide assistance for the elderly with limited mobility in the lower limbs.

However, most of the existing lower extremity exoskeleton robots have complex structures and bulky devices. At the same time, they use a large number of power sources and sensor devices, resulting in difficult control, inconvenient wearing, and not easy to carry, and the marketability is poor. Patent application number: 201710405910.1 discloses a wearable lower extremity exoskeleton robot. After the device is removed, it takes up a large space and is difficult to place. It cannot be independently supported and has poor portability. Patent application number: 201620012709.8 discloses a foldable and portable lower extremity exoskeleton. Since the device adopts a hydraulic drive method, the hydraulic cylinder has the disadvantage of easy leakage, and there are many parts and complicated assembly, which is not conducive to the use of the elderly. Foldable exoskeletons are mainly designed for individual combat rather than daily assistance, so they are not suitable for the market.

Contents of the invention

The technical problem solved by the present invention is to provide a portable wearable lower extremity exoskeleton robot to solve the problems of the existing robot with complex structure, inconvenient wear, incapable of independent support and inconvenient to carry.

The technical solution that realizes the object of the present invention is:

A portable wearable lower limb exoskeleton robot, including a waist support board, a hip joint assembly, a thigh support rod, a knee joint assembly, a calf support rod, and a sole support board;

The hip joint assembly includes a first drive motor, a first flange, and a first reducer; both sides of the lower end of the support plate are symmetrically connected with a first flange; the waist support plate is fixed to the first flange. connected; the first driving motor is fixedly connected to the outer end surface of the first flange; the first driving motor is connected to the first reducer; the first reducer is fixed in the first flange; the thigh The upper end of the support rod is fixedly connected with a first turntable, and the first turntable is connected with the first reducer; the first drive motor drives the thigh support rod to swing through the first reducer;

The knee joint assembly includes a second drive motor, a second flange, and a second reducer; the lower end of the thigh support rod is fixedly connected to the second flange; the second drive motor is connected to the second flange The end face is fixedly connected; the second driving motor is connected with the second reducer; the second reducer is fixed in the second flange; the upper end of the calf support rod is fixedly connected with a second turntable, and the second turntable Connected with the second reducer; the second drive motor drives the calf support rod to swing through the second reducer;

Both the thigh support rod and the calf support rod are provided with a binding mechanism; the lower end of the calf support rod is connected with the sole support plate through the first rotating shaft, and the calf support rod swings to drive the footsteps to swing.

Compared with the prior art, the present invention has significant advantages:

(1) The portable wearable lower extremity exoskeleton robot of the present invention is provided with mounting holes on the support frame, so that the whole robot can be fixed with the external fixed frame to play a supporting role, and it is also convenient for patients to carry out rehabilitation training in an upright state.

(2) The structure design of the present invention is simple and has the characteristics of modularization. The thigh and calf components can be disassembled and worn independently. Compared with the existing exoskeleton robot, the structure is lighter and easier to control the motor independently.

(3) The portable wearable lower extremity exoskeleton robot of the present invention is designed with a folding part at the knee joint, so that the device can be put into a limited space after a simple folding operation, which is convenient for daily carrying and transportation.

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a schematic diagram of the general structure of the portable wearable lower limb exoskeleton robot of the present invention.

Figure 2 is a schematic diagram of the connection of the hip joint components.

Figure 3 is a schematic diagram of the connection of the knee joint assembly.

Figure 4 is a schematic diagram of the connection of the folding mechanism.

Fig. 5 is a schematic diagram of the upward folding state of the folding mechanism.

Fig. 6 is a schematic diagram of the structure of the thigh support rod.

Figure 7 is a schematic diagram of the connection of the sole support plate.

Figure 8 is a schematic diagram of the connection between the calf support rod and the sole support plate.

Detailed ways

In order to illustrate the technical scheme and technical purpose of the present invention, the present invention will be further introduced below in conjunction with the accompanying drawings and specific embodiments.

1-3, a portable wearable lower limb exoskeleton robot of the present invention includes a waist support plate 1, a hip joint assembly, a thigh support bar 4, a knee joint assembly, a calf support bar 10, and a foot support plate 11;

The hip joint assembly includes a first drive motor 14, a first flange 2, and a first reducer 3; the first flange 2 is symmetrically connected to both sides of the lower end of the support plate 1; the lumbar support plate 1 and The first flange 2 is fixed; the first drive motor 14 is fixed to the outer end surface of the first flange 2; the first drive motor 14 is connected to the first reducer 3; the first reducer 3 fixed in the first flange 2; the upper end of the thigh support rod sleeve 4 is fixedly connected with a first turntable 41; the first turntable 41 is connected with the first reducer 3; the first drive motor 14 passes through the first A reducer 3 drives the thigh support rod sleeve 4 to swing; the thigh support rod sleeve 4 is nested on the thigh support rod 6; the thigh support rod sleeve 4 drives the thigh support rod 6 through nested transmission when swinging swing.

The knee joint assembly includes a second drive motor 15, a second flange 8, and a second speed reducer 9; the lower end of the thigh support rod 6 is fixedly connected with the second flange 8; the second drive motor 15 is connected to the second flange 8; The outer end surface of the second flange 8 is fixed; the second drive motor 15 is connected with the second reducer 9; the second reducer 9 is fixed in the second flange 8; the upper end of the calf support rod 10 A second turntable 101 is fixedly connected, and the second turntable 101 is connected to the second reducer 9; the second drive motor 15 drives the calf support rod 10 to swing through the second reducer 9;

The lower end of the calf support rod 10 is connected to the sole support plate 11 through the first rotating shaft 16, and the calf support rod 10 swings to drive the foot to swing. Both the thigh support rod sleeve 4 and the calf support rod 10 are provided with a binding mechanism 5 so as to be fixed to the thigh and calf of the human body respectively.

Preferably, the binding mechanism is a strap for flexible connection. In other embodiments, some binding hoops, etc. can also be used

Further, the lateral ends of the lumbar support plate 1 are respectively provided with a support frame 12, and the support frame 12 is provided with mounting holes, so as to fix the whole robot with the external fixing frame and play a supporting role, and at the same time, it can also facilitate the patient to stand upright. Do rehabilitation training.

Further, with reference to Fig. 4 and Fig. 5, a folding mechanism is also provided between the thigh support rod 4 and the second flange 8 for connection, and the folding mechanism includes a first support plate 71, a second support plate 72, The second rotating shaft 73; the lower end of the thigh support rod 4 is fixedly connected with the first supporting plate 71, and the first supporting plate 71 is connected with the second supporting plate 72 through the second rotating shaft 73, and the axial direction of the second rotating shaft 73 is perpendicular to The axial direction of the first turntable 41; the lower end of the second support plate 72 is fixedly connected with the second flange 8; the first support plate 71 and the second support plate 72 are provided with a fixed hole 74 connected; When fixed, the first support plate 71 and the second support plate 72 are connected by bolts; when folded and stored, the bolts of the first support plate 71 and the second support plate 72 are removed, and the second support plate 72 can be The rotating shaft 73 turns upwards to fold the calf support bar 10 and the thigh support bar 6 for easy carrying.

Further, the thigh support rod 6 is a telescopic rod, so that the length of the support rod can be adjusted to suit elderly people or patients of different heights.

In some embodiments, both the thigh support rod 4 and the calf support rod 10 are of tubular structure, and the tubular structure can reduce the weight of the support rod, making it easy to carry.

Further, referring to FIG. 6 , the thigh assembly includes a thigh support rod sleeve 4 and a thigh support rod 6; the thigh support rod 6 is sleeved in the thigh support rod sleeve 4 to form a nested structure, and the thigh support rod Sleeve 4, thigh support rod 6 are horizontally provided with a plurality of positioning holes 45, after thigh support rod sleeve 4, thigh support rod 6 are adjusted, locate by positioning hole 45, by positioning pin or bolt, thigh support rod sleeve 4. The positioning hole 45 on the thigh support bar 6 is fixed in position.

In some other embodiments, the lower ends of the thigh support rod 4 and the lower leg support rod 10 are flat plate structures, and a plurality of positioning holes are provided on the plate structure to realize the expansion and contraction of the thigh support rod 4 or the calf support rod 10. fixed.

Further, with reference to Fig. 7 and Fig. 8, the lower end of the calf support rod 10 is fixed with an arc-shaped rotating seat 103, the upper end of the sole support plate 11 is fixed with a fixed seat 111, and the upper end of the fixed seat 111 is provided with an arc. Shaped groove 112, rotating seat 103 is connected in arc-shaped groove 112 by second rotating shaft 16, and arc-shaped groove 112 limits the rotation angle of rotating seat 103, avoids that rotation angle is too large, causes secondary damage to human ankle joint.

Preferably, the front and rear relative angles between the rotating seat 103 and the sole support plate 11 are not greater than 60 degrees.

Further, the sole support plate 11 is also provided with a mounting groove 113 for connecting straps to fix the footsteps of the human body to the sole support plate 11 .

The working principle of the present invention is: before use, the user sets the gait during use in combination with his actual use, and manually adjusts the length of the thigh support rod 6 and the calf support rod 10 to suit the user's actual leg length. Keep the driving joints at the same horizontal position as the actual human joints to ensure the driving effect. When worn, the overall exoskeleton robot structure is bound to the waist of the user through the waist support plate 1, and the thighs and calves are fixed to the support rods through the binding mechanism 5 of the legs, and the straps on the sole support plate 11 are connected to the user’s waist. The user's feet are bound. The rotation of the driving motor is controlled by the controller, and on the premise of ensuring the deceleration ratio of the known reducer, it can accurately cooperate to make the hip joint assembly and the knee joint assembly achieve an ideal rotation effect, thereby driving the movement of the user's lower limbs and achieving the invention the goal of.

Claims (10)

1. A portable wearable lower extremity exoskeleton robot, characterized in that it comprises a waist support plate (1), a hip joint assembly, a thigh support rod sleeve (4), a thigh support rod (6), a knee joint assembly, and a calf support Bar (10), sole support plate (11); The hip joint assembly includes a first drive motor (14), a first flange (2), and a first reducer (3); the lower end of the support plate (1) is symmetrically connected with a first flange ( 2); the waist support plate (1) is fixedly connected with the first flange (2); the first drive motor (14) is fixedly connected with the outer end surface of the first flange (2); the first The drive motor (14) is connected to the first reducer (3); the first reducer (3) is fixed in the first flange (2); the upper end of the thigh support rod sleeve (4) is fixedly connected with The first turntable (41); the first turntable (41) is connected to the first reducer (3); the first drive motor (14) drives the thigh support rod sleeve 4 to swing through the first reducer (3) The thigh support rod sleeve (4) is nested on the thigh support rod (6); the thigh support rod sleeve (4) drives the thigh support rod (6) to swing through nested transmission when swinging. The knee joint assembly includes a second drive motor (15), a second flange (8), and a second speed reducer (9); the lower end of the thigh support rod (6) is fixed to the second flange (8) connected; the second drive motor (15) is fixedly connected to the outer end surface of the second flange (8); the second drive motor (15) is connected to the second reducer (9); the second reducer (9) fixed in the second flange (8); the upper end of the calf support rod (10) is fixedly connected with a second turntable (101), and the second turntable (101) is connected with the second speed reducer (9) connected; the second drive motor (15) drives the calf support rod (10) to swing through the second reducer (9); The thigh support rod sleeve (4) and the calf support rod (10) are all provided with a binding mechanism (5); the lower end of the calf support rod (10) is connected to the sole support plate ( 11) are connected, and the calf support rod (10) swings to drive the foot to swing. 2. A portable wearable lower extremity exoskeleton robot according to claim 1, characterized in that, the lateral ends of the waist support plate 1 are respectively provided with support frames (12). 3. A kind of portable wearable lower extremity exoskeleton robot according to claim 1, is characterized in that, also be provided with folding mechanism to connect between described thigh support bar (6) and the second flange (8), The folding mechanism includes a first support plate (71), a second support plate (72), and a second rotating shaft (73); the lower end of the thigh support rod (6) is fixedly connected with the first support plate (71), and the The first supporting plate (71) is connected to the second supporting plate (72) through the second rotating shaft (73), and the axial direction of the second rotating shaft (73) is perpendicular to the axial direction of the first rotating disk (41); the second supporting The lower end of the plate (72) is fixedly connected with the second flange (8); the first support plate (71) and the second support plate (72) are both provided with connected fixing holes (74). 4. A portable wearable lower limb exoskeleton robot according to claim 1, characterized in that the thigh support rod (6) is a telescopic rod. 5. A portable wearable lower extremity exoskeleton robot according to claim 4, characterized in that, both the thigh support rod (4) and the calf support rod (10) are tubular structures. 6. A kind of portable wearable lower extremity exoskeleton robot according to claim 5, is characterized in that, described thigh support rod sleeve (4), thigh support rod (6) form nesting structure, thigh support rod sleeve (4), thigh support rod) (6) are horizontally provided with a plurality of positioning holes (45) for positioning. 7. A portable wearable lower extremity exoskeleton robot according to claim 4, characterized in that, both the thigh support rod (6) and the calf support rod (10) are of flat plate structure. 8. A kind of portable wearable lower extremity exoskeleton robot according to claim 1, is characterized in that, described calf support rod (10) lower end is fixed with round arc-shaped swivel seat (103), and described foot support plate (11) The upper end is fixed with a fixed seat (111), and the upper end of the fixed seat (111) is provided with an arc-shaped groove (112), and the rotating seat (103) is connected in the arc-shaped groove (112) through the second rotating shaft (13) , the arc groove (112) limits the rotation angle of the rotating seat (103). 9. A portable wearable lower limb exoskeleton robot according to claim 9, characterized in that the front and back relative angles between the rotating seat (103) and the sole support plate (11) are not greater than 60 degrees. 10. A kind of portable wearable lower extremity exoskeleton robot according to claim 9, is characterized in that, also is provided with installation groove (113) on described foot support plate (11), in order to connect strap Fix it with the sole support plate (11).