CN109009866A - Sitting type lower limb exoskeleton rehabilitation robot - Google Patents

Abstract

The invention discloses a seated lower extremity exoskeleton rehabilitation robot, which relates to the field of robot technology and includes a sitting posture assisting device, a back assembly, a hip joint assembly, a driving device, a thigh assembly, a calf assembly, an ankle assembly and a foot assembly, wherein the thigh There are two boards, calf boards, and ankle joint components. The back board is respectively connected with the hip joint components and the sitting posture assisting device. It is connected with the thigh assembly and the telescopic rod assembly, and the telescopic assembly is connected with the foot assembly. The thigh assembly and the calf assembly can be connected and driven by the telescopic rod on the driving device. The bending working condition is close to the physiological bending of the human body, and the invention has the functions of compact structure, light weight, environmental protection, convenience, and rest at any time.

Description

Seated lower limb exoskeleton rehabilitation robot

technical field

The invention relates to a lower limb exoskeleton rehabilitation robot, in particular to a seated lower limb exoskeleton capable of assisting a patient to sit, which is driven by rods and joints, and belongs to the technical field of rehabilitation robots.

Background technique

Rehabilitation robot technology has long been widely concerned by scientific researchers and medical institutions around the world. Rehabilitation robots are mainly medical equipment used by doctors to assist patients with lower limbs to assist in walking, and have broader application prospects in the medical field. In China, the research on domestic rehabilitation robots has received widespread attention and attention from various fields in the country when it was in its infancy. The previous rehabilitation auxiliary equipment can no longer meet the huge demand for mechanical intelligence and human-machine integration of medical equipment in my country. In addition, in terms of safety, because the lower extremity exoskeleton is directly connected to the human body, the requirements for the safety and flexibility of the exoskeleton are relatively high. In recent years, electric energy-driven exoskeletons have also been more and more widely used in the field of medical rehabilitation equipment.

Application number 201410353073.9 proposes a single-drive linkage lower limb power-assisted exoskeleton. Although it is also controlled by a motor, the structure of the thigh drive sprocket of the waist module is heavy and the volume is too large, and it cannot provide the user with sitting and standing. help.

Application number 201310262919.3 proposes a wearable lower limb power-assisted exoskeleton, each leg is driven by only one motor, and a linkage mechanism is used to cooperate with a driving motor to make the hip joint, knee joint and ankle joint fit the appropriate rotation at the same time angle curve. However, different users need to design the length of the connecting rod in a targeted manner. The length cannot be adjusted, and it is not versatile, and the two motors also increase the weight of the exoskeleton.

Application No. 201711137609.3. A wearable lower extremity exoskeleton robot is proposed, which uses gas springs and bolts to lock the knee joints to achieve a sitting position. When sitting down, the center of gravity is behind the human body. The stability of the sitting position is not high, and it is difficult to achieve a comfortable position for the user. sitting posture.

Contents of the invention

Aiming at the problems that the current exoskeleton is too heavy and not light enough, the size of the exoskeleton is difficult to adapt to the human body, and it is impossible for patients to sit down when they are tired, this invention proposes a new type of lower limb exoskeleton rehabilitation robot to ensure stability and On the premise of safety, the exoskeleton is driven by rods to provide kinetic energy, and a sitting posture assisting device suitable for the exoskeleton is functionally designed. When the user is tired, the sitting posture assisting device on the backboard is used to sit down.

In order to achieve the above object, the present invention adopts the following technical solutions: a seated lower limb exoskeleton rehabilitation robot, which includes a sitting posture assisting device 8, a back assembly 7, a hip joint assembly 6, a driving device 5, a thigh assembly 4, and a calf assembly 3 , ankle assembly 2 and foot assembly 1, the hip assembly 6 is installed on the back assembly 7, the upper end of the thigh assembly 4 is connected to the hip assembly 6, the lower end is connected to the upper end of the calf assembly 3, and the lower end of the calf assembly 3 It is connected with the ankle joint assembly 2, and the ankle joint assembly 2 is connected with the foot assembly 1. It is characterized in that the thigh assembly 4 is mainly composed of a thigh rotation block 41, a driving device 5, a telescopic rod 43, and leggings 32. The upper end of the driving device 5 Link to each other with telescoping rod 43, the left and right ends are hinged respectively.

There is a driving device 5 between the hip joint and the thigh assembly 4, the thigh assembly 4, the shank assembly 3, and the shank to drive through a telescopic rod, and it is characterized in that the knee and ankle are driven by electricity as the two main joints of the exoskeleton. The driving principle of each joint is the same, specifically: the DC servo motor first reduces the speed and increases the torque through the reducer, and then transmits the rotational motion to the lead screw through the coupling, and the lead screw drives the nut slider to guide the guide rod. The reciprocating motion is carried out, so as to drive each joint to perform flexion and extension together with the joint drive.

The hip joint assembly 6 includes a horizontal rotation block 40, a waist extension plate 70, a hip connection plate 71, and a back connection block 72, and the back connection block is used to be fixedly connected with the backboard, and the hip connection plate 71 is connected to the back connection block. 72 is fixedly connected with bolts, one end of the waist expansion plate 70 is inserted into the hip connection plate 71 and can swing up and down around the back to adjust the width of the hip joint assembly, and the other end of the lateral expansion plate is connected to the inner end of the horizontal rotation block 40 Hinged, in addition, the waist expansion board can match the length of the hip joint with the user's waist, and the lifting and lowering of the thigh can be realized through the rotation of the connecting joint of the thigh. Walk and turn.

The knee joint assembly includes a driving device 5, a flexion and extension rotating block 41, a connecting block 34, a housing, and an adjustment plate 31. The connecting block 34 is fixedly connected with the flexing and extending rotating block 41, and the flexing and extending rotating block 41 is dynamically connected with the thigh plate 42 to move around the knee joint. Rotation is 90 degree position, and adjustment plate 31 relies on bolt to connect between thigh plate 31 and calf plate lower section 33 and is provided with baffle plate to prevent falling off, and the effect played is to carry out leg length adjustment according to different human body heights.

The plantar flexor and dorsiflexion member 21 in the ankle joint assembly 2 is driven to rotate around an axis by the driving device 5 and is connected to the foot assembly by fasteners, so as to realize the rotation of the ankle joint. The driving device assembly includes a limit switch, a guide rod, a screw, a nut slide, a reducer, a bearing housing, a shaft coupling, a DC servo motor, and an angle sensor, and the motors are respectively connected to the angle sensor and the reducer, The shaft coupling is connected with the reducer, and the nut slider can perform linear motion through the screw drive and the guide rod.

The sitting posture assisting device 8 includes a seat cushion 81, a telescopic tightening part 93, a connecting rod 92, a backboard fixing plate 91, a backboard fixing block 90, a backboard connecting rod 82, a support rod 92, a sitting posture connecting rod 83, an adapter 84, seat leg adjustment part 85, telescopic part 88, telescopic fixing part 86, seat leg 87, backrest connecting rod 89, seat cushion 81 and seat leg adjustment part 85 can pass telescopic tightening part 93 and telescopic tightening part 85 according to people's height respectively part 88 and telescopic fixing part 86 are adjusted. When sitting down, since the length of the backboard connecting rod 82 and the length of the waist expansion board 70 are the same, the sitting posture connecting rod 83 and the sitting leg adjustment part 85 can smoothly rotate on the sagittal plane of the human body Snap into the preset position of the thigh plate and detachable static connection to realize the sitting posture of the exoskeleton.

The calf assembly 3 is provided with a through hole for length adjustment, and each person wears an exoskeleton with different thigh and calf lengths, so in the design connection process, an adjustment piece 31 is added to the calf assembly 3, in this device it Multiple holes are opened at the joint, 2 on the upper part and 3 on the lower part. The lower holes are used to connect with the calf for height adjustment and leggings assembly, so that patients with taller calves can also be suitable for patients with shorter heights. Just connect the two longest holes of the adapter block, and then fix it with bolts.

Due to the adoption of the above technical solutions, the present invention has the following beneficial effects: 1. Using a total of 4 motors on the large and small legs of the exoskeleton for driving and assisting is lighter in weight and more energy-saving than the multi-motor-driven lower limbs assisting exoskeleton. 2. Using the sitting posture assisting mechanism on the back can more conveniently help patients solve the problem of excessive physical exertion after using the exoskeleton and need to take off the exoskeleton to sit down. 3. The main body of the exoskeleton adopts a flat design to ensure that the axis of the lower limb joints of the human body coincides with the axis of the rehabilitation robot, which can better fit the human body and enhance the stability of the mechanism. 4. An adjustment mechanism is added to the exoskeleton and the sitting posture assisting mechanism to adapt to the use of different groups of people. 5. A corresponding safety limit boss is designed for each degree of freedom of movement as a mechanical limit device to ensure the safety of human movement.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the standing posture of the present invention.

Fig. 2 is a schematic diagram of the overall structure of the sitting posture of the present invention.

Fig. 3 is a left view of the overall structure of the sitting posture of the present invention.

Fig. 4 is a schematic diagram of the inner part of the knee joint of the present invention.

Fig. 5 is a partial schematic view of the hip joint of the present invention.

Figure 6 is an exploded view of the foot removal connector of the present invention.

Fig. 7 is an exploded view of the sitting posture assisting mechanism of the present invention with the connector removed.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings, please refer to FIG. 1 to FIG. 7 .

The novel lower extremity exoskeleton rehabilitation robot of the present invention includes a sitting posture assisting device 8 , a back assembly 7 , a hip assembly 6 , a driving device 5 , a thigh assembly 4 , a calf assembly 3 , an ankle assembly 2 and a foot assembly 1 . The front surface of the back component 7 is connected to the thigh component 4 through the hip joint component 6, and the rear end surface is connected to the rotation pair of the sitting posture assisting mechanism 8. Each thigh component 4 is connected to the lower leg component 3 through the knee joint component, and the lower leg component 3 is connected to the foot component through the ankle joint. 1. A connection block 34 and a flexion and extension rotation block 41 are connected between the thigh assembly 4 and the calf assembly 3, and the connection block 34 and the flexion and extension rotation block 41 are connected statically, and the flexion and extension rotation block 41 is connected to the thigh plate 31 by a pin shaft And the flexion and extension rotating block 41 is in contact with the knee joint, and the exterior is provided with a shell to limit the degree of freedom and can only rotate in the sagittal plane, and the flexion and extension rotating block can rotate around the degree of freedom of knee joint rotation/external rotation within its range of motion. The flexion and extension rotating block 41 rotates around the knee joint and drives the connecting block 34 to move together (if necessary, a motor can be added to the knee joint rotation pair to drive to further improve the power-assisted effect) to achieve the knee joint flexion and extension as shown in Figure 3. When the knee joint moves When the limit position is reached, the knee joint boss of the calf plate upper part 30 will limit its limit position. The power on the thigh is provided by the driving device, and leggings 32 (same as the prior art) are screwed on the through hole of the thigh plate. The effect of the leggings 32 is to connect the exoskeleton to the human body. 41, telescoping link 43, driving device 5, leggings 32 constitute, the power on the shank is provided by driving device 5, and lower leg plate 33 is connected with shank flexion and extension rotary block 41 as shown in Figure 6 by rotating pair.

Ankle joint assembly is made up of connection block 22, ankle joint transfer 21 transfers, the upper end of connection block 22 is statically connected with calf flexion and extension rotation block 41, the lower end is statically connected with ankle joint transfer, and the lower end of ankle joint transfer is statically connected with foot assembly 1. Connection; the foot assembly is composed of a foot plate 10 and a foot baffle 11. The boss is provided on the foot plate mainly to limit the limit position of the ankle joint and hinder its continued movement. The foot plate is at the bottom of the exoskeleton and bears The weight of the whole human body, the sole plate 10 and the foot baffle plate 11 are connected by countersunk screws, and the upper surface of the sole plate can add cushioning material to improve comfort.

First let the user put on the lower extremity exoskeleton robot through the straps, check whether the adjustment plate 31 and the leggings 32 are in the proper position, and ensure that the patient can put on the exoskeleton conveniently. When the patient wants to move his left leg, the DC servo motor of the driving device first reduces the speed and increases the torque through the reducer, and then transmits the rotational motion to the lead screw through the coupling, and the lead screw drives the screw nut slider on the guide rod. Under the action of guidance, the hip joint will move the left calf assembly to swing forward. When the left calf swings forward, the center of gravity will move forward. At this time, the right calf will swing backward relative to the left calf. At the same time The motor of the left calf pushes the ankle joint to flex and extend, so that the user’s toes are stressed, and this force will make the foot assembly 1 rotate clockwise around the ankle joint assembly 2, because the plantar flexion and dorsiflexion parts 21 in the ankle joint assembly 2 are in contact with the foot Even pulling of component 1 will also drive the plantar flexion and dorsiflexion part 21 to rotate, and when the knee joint moves to the limit position (120 degrees of flexion and 10 degrees of extension), the sum of the bosses on the thigh plate 42 and the upper part of the calf plate 30 will prevent it from continuing. Movement to ensure that the patient will not be injured. When the thigh swings to the maximum angle, the calf assembly 3 will also be in line with the thigh assembly under the action of the telescopic rod. The sensor determines that it has reached the limit position, and the boss on the knee joint hinders its movement. After that The motor then rotates in the opposite direction, and the left leg falls to the ground naturally under the action of gravity and motor force. During this process, since the hip joint can swing under the action of the thigh assembly and gravity, no assistance is required. The hip joint can rotate internally and externally around the dynamic joint pin in the hip joint assembly 6, and rotate vertically through the waist expansion plate 70. The adduction and abduction movement realizes the movement steering, and the method when the user steps the right leg is the same as above, so it will not be repeated here.

When the patient needs to sit down, the sitting posture assisting device in the folded state is laid down as shown in Figure 1. The specific operation is that the doctor is facing the rear end of the backboard and laying down the backrest connecting rod 89 stuck on the back assembly 7 to the inside of the patient. At this time, the backrest connecting rod 89 will rotate around the back plate connecting rod 82 until it reaches 180 and expands to the limit position. At the same time, the sitting posture connecting rod 83 also reaches the final predetermined position between the thigh assembly and the sitting posture connecting rod 83, and then the hole between the two assemblies The space is fixed with a detachable static connection, and then the seat leg adjustment part 85 is put down to elongate the seat leg 87 to a suitable position and stuck through the through hole on the seat leg adjustment part 85, and finally through the telescopic tightening part 93, the connecting rod 92 , Cushion 81 Adjust the height and direction of the seat cushion 81. The final posture is shown in Figure 2. When the user wants to get up, the connection is removed and the mechanism can be folded according to the opposite steps of unfolding the sitting posture assisting device 8 in the folded state.

The above specific implementation methods and examples are specific support for the idea of a wearable lower limb exoskeleton rehabilitation robot proposed by the present invention, and cannot limit the protection scope of the present invention. All technical ideas proposed in accordance with the present invention are based on this technical solution Any equivalent changes or equivalent changes made above still belong to the protection scope of the technical solution of the present invention, and the parts not involved in the present invention are the same as the prior art or can be realized by using the prior art.

Claims (10)

1. A seated lower extremity exoskeleton rehabilitation robot, which includes a sitting posture assisting device 8, a back assembly 7, a hip assembly 6, a driving device 5, a thigh assembly 4, a calf assembly 3, an ankle assembly 2 and a foot assembly 1 , the hip joint assembly 6 and the sitting posture assisting mechanism 8 are installed on the back assembly 7, the upper end of the thigh assembly 4 is connected with the hip joint assembly 6, the lower end of the thigh assembly 4 is connected with the upper end of the calf assembly 3, and the lower end of the calf assembly 3 is connected with the ankle The joint assembly 2 is connected, and the ankle assembly 2 is connected with the foot assembly 1 . 2. The seatable lower extremity exoskeleton rehabilitation robot according to claim 1, characterized in that the sitting posture assisting device 8 includes a seat cushion 81, a telescopic tightening member 93, a connecting rod 92, a back plate fixing plate 91, a back plate Plate fixing block 90, backboard connecting rod 82, support rod 92, sitting posture connecting rod 83, transfer 84, sitting leg adjustment part 85, telescopic part 88, telescopic fixing part 86, sitting leg 87, backrest connecting rod 89, wherein The seat cushion 81 and the sitting leg adjustment part 85 can be adjusted by the telescopic tightening part 93 and the telescopic part 88 and the telescopic fixing part 86 respectively according to the height of the person, the thigh board 31 and the sitting posture connecting rod 83 are on the same plane, and the sitting posture connecting rod 83 And the sitting leg adjustment part 85 can be rotated on the sagittal plane of the human body and snapped into the predetermined position of the thigh plate, and the exoskeleton knee joint can be bent to 90 degrees when the person is in a sitting position. 3. The seated lower extremity exoskeleton rehabilitation robot according to claim 1 is characterized in that the thigh assembly 4 is mainly composed of a thigh rotating block 41, a driving device 5, a telescopic rod 43, and leggings 32, and the upper end of the driving device 5 It is connected with the telescopic rod 43, and the left and right ends are hinged respectively. There is a driving device 5 between the thigh assembly 4 and the lower leg assembly 3, and between the lower leg assembly 3 and the ankle assembly 2 through the telescopic rod 43 to drive. 4. The seatable lower extremity exoskeleton rehabilitation robot according to claim 1, wherein the hip joint assembly includes a horizontal rotation block 40, a waist expansion plate 70, a hip connecting plate 71, and a back connecting block 72, and the back The connecting block 72 is used for fixed connection with the back assembly 7. The hip connecting plate 71 and the back connecting block 72 are fixedly connected with bolts. One end of the waist expansion plate 70 is inserted into the hip connecting plate 71 to swing up and down around the back, and the waist expands. The other end of the plate 70 is hinged with the inner end of the horizontal rotating block 40. In addition, the waist expansion plate 70 can match the length of the hip joint with the user's waist, and the thigh can be lifted and lowered by the rotation of the thigh connection joint. At the same time, there is a pair of horizontal rotating blocks 40 on the lower side of the hip joint, and the horizontal rotating blocks 40 are limited by the waist expansion plate 70 when they are in the limit position of the hip joint during the relative movement of the hip joint. 5. The seated lower extremity exoskeleton rehabilitation robot according to claim 1 is characterized in that the knee joint assembly includes a driving device 5, a flexion and extension rotating block 41, a connecting block 34, a shell, an adjustment plate 31, and the connecting block 34 and the flexing and extending The rotating block 41 is fixedly connected, and the flexing and extending rotating block 41 is statically connected with the thigh plate 42. The rotation of the horizontal rotating block 40 can rotate around the knee joint. The adjustment plate 31 is connected by bolts between the thigh plate 31 and the lower leg plate 33 There is a concave chute to prevent falling off, and the adjustment plate 31 adjusts the length of the legs according to the height of different patients, and its driving device 5 is arranged on one side of the thigh plate 31 . 6. The seated lower extremity exoskeleton rehabilitation robot according to claim 1, characterized in that the plantar flexion and dorsiflexion parts 21 in the ankle joint assembly are driven to rotate around the axis by the drive device 5 and are connected to the foot assembly by fasteners connection to enable rotation of the ankle joint. 7. The seated lower extremity exoskeleton rehabilitation robot according to claim 1 is characterized in that the lower leg assembly 3 is provided with a through hole for adjusting the length, and an adjustment member 31 is added to the lower leg assembly 3. In this device, its A plurality of holes are opened at the connection, and the holes on the adjustment member 31 are evenly distributed on the same axis, the upper hole is fixedly connected with the lower leg plate upper section 30, and the lower hole and the lower leg plate lower section 33 are fixed with bolts. 8. The seatable lower extremity exoskeleton rehabilitation robot according to claim 1, characterized in that the thigh assembly 4, the calf assembly 3, the ankle assembly 2 and the foot assembly 1 main body joint joints are arranged on the outside of the lower limbs. Ankle joint has a small part of boss so that the ankle joint connection part is connected with the driving device, and a boss is provided as a limiter between the connection of thigh plate 42, calf plate lower section 33, and driving device 5 is connected with thigh assembly 4 and calf assembly. 3. It is fixedly connected with the boss, and the shell joints are rotated on the outside of its knee and ankle joints to reinforce each joint. 9. According to claim 1, the seated lower extremity exoskeleton rehabilitation robot is characterized in that the outside of the ankle joint is designed as a circular arc protruding structure and is fixedly connected with the telescopic rod 43, and the plantar flexion and dorsiflexion parts 21 and The sole plate 10 adopts a static connection, and the inside of the ankle joint connector adopts a hollow structure. 10. The seated lower extremity exoskeleton rehabilitation robot according to claim 1, characterized in that the back plate connecting rod 82 and the waist expansion plate 70 are arranged symmetrically on the back assembly 7, and the back plate connecting rod 82 and the waist expansion plate 70 are arranged Both sides of the back assembly 7 are connected by bolts.