CN209092058U - A portable wearable lower limb exoskeleton robot - Google Patents

Abstract

The utility model discloses a kind of portable wearable lower limb exoskeleton robot, including lumbar support plate, hip joint component, thigh support bar, knee components, leg support bar, vola support plates；Hip joint component includes the first driving motor, first flange disk, the first retarder；Support plate lower end two sides are connected with first flange disk；Lumbar support plate and first flange disk are connected；First driving motor is connected with connected first driving motor of first flange disk outer end face with the first retarder；First retarder is fixed in first flange disk；Thigh support bar upper end is fixed with the first turntable, and the first turntable is connected with the first retarder；First driving motor drives thigh support bar to swing by the first retarder；Knee components connection and working method are similar to hip joint component；Binding mechanism is equipped on thigh support bar, leg support bar；Leg support bar lower end is connected by first rotating shaft with vola support plate, and leg support bar, which is swung, drives step to swing.The utility model good portability, functional.

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

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

However, most of the existing lower limb exoskeleton robots have complex structures and bulky devices. At the same time, they use a large number of power sources and sensor devices, which make it difficult to control, inconvenient to wear, and difficult to carry, and their marketability is poor. Patent application number: 201710405910.1 discloses a wearable lower limb exoskeleton robot, which occupies a large space after being removed, is not easy to place, 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 at the same time, there are many parts and complicated assembly, which is not conducive to the use of the elderly. The foldable exoskeleton is mainly designed for individual combat rather than daily assistance, so it is not suitable for the market.

SUMMARY OF THE INVENTION

The technical problem solved by the present invention is to provide a portable wearable lower limb exoskeleton robot, so as to solve the problems that the existing robot has a complex structure, is inconvenient to wear, cannot be autonomously supported, and is inconvenient to carry.

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

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

The hip joint assembly includes a first drive motor, a first flange, and a first reducer; a first flange is symmetrically connected to both sides of the lower end of the support plate; the waist support plate is fixed to the first flange. the first drive motor is fixedly connected with the outer end face of the first flange; the first drive motor is connected with 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 outside of the second flange. the end face is fixedly connected; the second drive motor is connected with the second reducer; the second reducer is fixed in the second flange; the upper end of the lower leg support rod is fixedly connected with a second turntable, 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 binding mechanisms; 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) In the portable wearable lower extremity exoskeleton robot of the present invention, the support frame is provided with mounting holes so as to fix the entire robot with the external fixation frame and play a supporting role, and at the same time, it is also convenient for the patient to perform rehabilitation training in an upright state.

(2) The present invention has a simple structure design 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 limb exoskeleton robot of the present invention is designed with a folding part at the knee joint, so that the device can be placed in 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 with reference to the accompanying drawings.

Description of drawings

FIG. 1 is a schematic diagram of the overall 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 components.

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.

Figure 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.

FIG. 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 solution and technical purpose of the present invention, the present invention will be further introduced below with reference to 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 rod 4, a knee joint assembly, a calf support rod 10, and a 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 on both sides; The first flange 2 is fixedly connected; the first drive motor 14 is fixedly connected to the outer end face of the first flange 2; the first 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 a first turntable 41; the first turntable 41 is connected with the first reducer 3; the first drive motor 14 passes through the A speed 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 nesting transmission when swinging swing.

The knee joint assembly includes a second drive motor 15, a second flange 8 and a second 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 fixedly connected; the second drive motor 15 is connected to 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 with 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 lower leg support rod 10 is connected to the sole support plate 11 through the first rotating shaft 16 , and the lower leg support rod 10 swings to drive the foot to swing. The thigh support rod sleeve 4 and the calf support rod 10 are both provided with binding mechanisms 5 so as to be respectively fixed with the thigh and the calf of the human body.

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

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

Further, with reference to FIGS. 4 and 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, the first supporting plate 71 and the second supporting plate 72 are connected through the second rotating shaft 73, the axial direction of the second rotating shaft 73 is perpendicular to the The axial direction of the first turntable 41; the lower end of the second support plate 72 is fixedly connected with the second flange plate 8; the first support plate 71 and the second support plate 72 are provided with connected fixing holes 74; When fixing, 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 passed through the second support plate 72. The rotating shaft 73 is rotated upward, and the calf support rod 10 and the thigh support rod 6 are folded 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 the elderly or patients of different heights.

In some embodiments, the thigh support bar 4 and the calf support bar 10 are both tubular structures, and the tubular structures can reduce the weight of the support bars and facilitate portability.

Further, in conjunction with FIG. 6 , the thigh assembly includes a thigh support rod sleeve 4 and a thigh support rod 6; the thigh support rod 6 is sheathed in the thigh support rod sleeve 4 to form a nested structure, and the thigh support rod The sleeve 4 and the thigh support rod 6 are provided with a plurality of positioning holes 45 in the lateral direction. After the thigh support rod sleeve 4 and the thigh support rod 6 are adjusted, they are positioned through the positioning holes 45, and the thigh support rod sleeve is positioned by positioning pins or bolts. 4. The positioning hole 45 on the thigh support rod 6 is fixed in position.

In other embodiments, the lower ends of the thigh support rod 4 and the calf support rod 10 are both flat-plate structures, and the plate-shaped structure is provided with a plurality of positioning holes, so as to realize the expansion and contraction of the thigh support rod 4 or the calf support rod 10 . fixed.

Further, referring to FIG. 7 and FIG. 8 , the lower end of the lower leg 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 The rotating seat 103 is connected in the arc-shaped groove 112 through the second rotating shaft 16, and the arc-shaped groove 112 limits the rotation angle of the rotating seat 103 to prevent the rotation angle from being too large and causing secondary damage to the 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, an installation groove 113 is further provided on the sole support plate 11 for connecting the straps to fix the footsteps of the human body with the sole support plate 11 .

The working principle of the present invention is as follows: before use, the user sets the gait during use according to the actual use of the user, and manually adjusts the length of the thigh support rod 6 and the calf support rod 10 to suit the actual length of the user's legs, Keep each driving joint in the same horizontal position as the actual human joint to ensure the driving effect. When wearing, the overall exoskeleton robot structure is bound to the user's waist through the waist support plate 1, the thigh and calf are respectively fixed to the support rod through the binding mechanism 5 of the leg, and the straps on the sole support plate 11 are connected to the support rod. The user's foot binding. The rotation of the drive motor is controlled by the controller, and on the premise of ensuring the known reduction ratio of the reducer, the hip joint assembly and the knee joint assembly can be accurately matched to achieve the ideal rotation effect, thereby driving the movement of the user's lower limbs, achieving the invention. the goal of.

Claims (10)

1. A portable wearable lower limb 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 a rod (10), a sole support plate (11); The hip joint assembly includes a first drive motor (14), a first flange plate (2), and a first reducer (3); the lower end of the support plate (1) is symmetrically connected with a first flange plate (2) on both sides. 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 with 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 a A first turntable (41); the first turntable (41) is connected with a first reducer (3); the first drive motor (14) drives the thigh support rod sleeve (4) through the first reducer (3) ) 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) to swing by nesting transmission when swinging; The knee joint assembly includes a second drive motor (15), a second flange (8), and a second reducer (9); the lower end of the thigh support rod (6) is fixed to the second flange (8) The second drive motor (15) is fixedly connected with the outer end face of the second flange (8); the second drive motor (15) is connected with the second reducer (9); the second reducer (9) is fixed in the second flange plate (8); the upper end of the lower leg support rod (10) is fixedly connected with a second turntable (101), the second turntable (101) and the second reducer (9) connected; the second drive motor (15) drives the calf support rod (10) to swing through the second reducer (9); A binding mechanism (5) is provided on the thigh support rod sleeve (4) and the calf support rod (10); the lower end of the calf support rod (10) is connected to the sole support plate ( 11) are connected, and the lower leg support rod (10) swings to drive the foot to swing. 2 . The portable wearable lower limb exoskeleton robot according to claim 1 , wherein the lateral ends of the waist support plate ( 1 ) are further provided with support frames ( 12 ) respectively. 3 . 3. a kind of portable wearable lower limb exoskeleton robot according to claim 1, is characterized in that, between described thigh support rod (6) and second flange plate (8) is also provided with folding mechanism to connect, The folding mechanism includes a first support plate (71), a second support plate (72), and a second rotation shaft (73); the lower end of the thigh support rod (6) is fixedly connected with the first support plate (71), and the The first support plate (71) is connected with the second support plate (72) through a 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 second support The lower end of the plate (72) is fixedly connected with the second flange plate (8); the first support plate (71) and the second support plate (72) are provided with connected fixing holes (74). 4. A portable wearable lower limb exoskeleton robot according to claim 1, wherein the thigh support rod (6) is a telescopic rod. 5 . The portable wearable lower limb exoskeleton robot according to claim 4 , wherein the thigh support rod ( 6 ) and the calf support rod ( 10 ) are both tubular structures. 6 . 6. A portable wearable lower extremity exoskeleton robot according to claim 5, wherein the thigh support rod sleeve (4) and the thigh support rod (6) form a nested structure, and the thigh support rod sleeve (4) A plurality of positioning holes (45) are arranged in the lateral direction on the thigh support rod (6) for positioning. 7 . The portable wearable lower limb exoskeleton robot according to claim 4 , wherein the thigh support rod ( 6 ) and the calf support rod ( 10 ) are both flat plate structures. 8 . 8 . The portable wearable lower limb exoskeleton robot according to claim 1 , wherein a circular arc-shaped rotating seat ( 103 ) is fixed at the lower end of the lower leg support rod ( 10 ), and the sole support plate (11) A fixed seat (111) is fixed on the upper end, an arc-shaped groove (112) is arranged on the upper end of the fixed seat (111), and the rotating seat (103) is connected in the arc-shaped groove (112) through the first rotating shaft (16) , the arc groove (112) limits the rotation angle of the rotating seat (103). 9 . The portable wearable lower limb exoskeleton robot according to claim 8 , wherein the front and rear relative angles of the rotating seat ( 103 ) and the sole support plate ( 11 ) are not greater than 60 degrees. 10 . 10. A portable wearable lower extremity exoskeleton robot according to claim 9, characterized in that, a mounting groove (113) is further provided on the foot support plate (11) for connecting a strap to attach a human footstep It is fixed with the sole support plate (11).