CN209751563U - Wearable flexible lower limb power-assisted robot - Google Patents

Abstract

The utility model relates to the technical field of medical rehabilitation training equipment, in particular to a wearable flexible lower limb assisting robot. Driving part, Bowden line I, Bowden line II, knee joint part, ankle joint part and inertial sensor, wherein the driving part is connected to the knee joint part and ankle joint part through Bowden line I and Bowden line II respectively, and the driving part , knee joint and ankle joint are respectively fixed on the wearer's back, knee joint and ankle joint, and the driving part transmits the power to the knee joint and ankle joint through Bowden line Ⅰ and Bowden line Ⅱ respectively, driving the wearing The wearer's knee and ankle joints move, and the inertial sensor is set on the wearer's foot to collect the wearer's gait information. The utility model has the advantages of relatively compact structure, small volume, good fit with the human body, light weight, little interference to the walking of the human body, relatively independent parts, and can meet the needs of different users.

Description

Wearable flexible lower limb assist robot

technical field

The utility model relates to medical rehabilitation training equipment, in particular to a wearable flexible lower limb assisting robot.

Background technique

For patients with lower limb mobility disorders and in some environments that require gait rehabilitation or walking assistance, the use of lower limb assisting robots can provide relevant rehabilitation training and walking assistance for the joints of the lower limbs of the human body. Among them, lower extremity patients need lower extremity rehabilitation to restore lower extremity strength and mobility; the elderly or other people who need walking assistance need assistance for lower extremity joints to meet basic walking requirements such as walking and weight bearing.

For lower limb rehabilitation training, the existing rehabilitation methods are still based on manual training by rehabilitation therapists, while lower limb rehabilitation robots can perform repetitive movements for a long time, and using them to assist patients in training can greatly reduce the need for rehabilitation therapists. The work intensity is reduced, the labor cost is reduced, and the rehabilitation efficiency is greatly improved.

For the elderly or other people who need walking assistance, assisting the movement of the lower limbs can increase walking speed, load and flexibility, and improve their basic exercise ability.

The existing lower limb assisting equipment has large volume and mass, single function and complex power system, which cannot meet the needs of use. In addition, lower limb assisting devices are mostly composed of rigid structural parts, which have poor flexibility, resulting in poor wearability, poor human-computer interaction, and greater interference to users during operation.

Utility model content

In view of the above problems, the purpose of this utility model is to propose a wearable flexible lower limb assisting robot, which can provide lower limb movement assistance for patients with lower limb mobility impairment and people who need walking assistance, so as to meet the needs of different users in different environments.

In order to achieve the above object, the utility model adopts the following technical solutions:

A wearable flexible lower limb power-assisted robot, including a driving part, Bowden line Ⅰ, Bowden line Ⅱ, knee joint part, ankle joint part and inertial sensor, wherein the driving part is connected to the knee joint through Bowden line Ⅰ and Bowden line Ⅱ respectively. The joint part is connected with the ankle joint part, and the driving part, the knee joint part and the ankle joint part are respectively fixed on the wearer's back, knee joint and ankle joint. II is transmitted to the knee joint and ankle joint respectively to drive the wearer's knee joint and ankle joint to move. The inertial sensor is set on the wearer's foot to collect the wearer's gait information.

The drive part includes a drive housing and a knee joint drive mechanism, an ankle joint drive mechanism, a drive plate and a control unit accommodated in the drive housing, wherein the knee joint drive mechanism, the ankle joint drive mechanism and the control unit are all arranged on On the driving board, the knee joint driving mechanism is connected to the Bowden line I, the ankle joint driving mechanism is connected to the Bowden line II, and the control unit is used to control the knee joint driving mechanism and the ankle joint driving mechanism.

Both the knee joint drive mechanism and the ankle joint drive mechanism include a motor, a wire harness frame, a motor support, a wire wheel and a wire harness flange, wherein the motor is installed on the drive plate through the motor support, and the output end is provided with a wire wheel, The wire harness frame is set on the motor support, and the lower end is provided with a wire harness flange, one end of the outer wire of the Bowden wire I and Bowden wire II is fixed on the wire harness flange, and one end of the inner wire is connected to the wire wheel .

The control unit includes a controller board, a controller and a driver, wherein the controller board is arranged on the driver board, and the controller and the driver are arranged on the controller board.

The driving part also includes a battery arranged on the driving housing, the battery is used to supply power to the knee joint driving mechanism, the ankle joint driving mechanism and the control unit, and the driving housing is provided with a cooling device. Grille and cooling fans on both sides.

The knee joint part includes a calf fixing plate, a knee mandrel, a thigh fixing plate, a knee wheel, a bearing, a potentiometer I, a long shell of a potentiometer, a long axis end cover, a calf fixing seat and a thigh fixing seat, wherein the knee center The shaft is connected to the thigh fixed plate, the inner ring of the bearing is connected to the knee mandrel, the outer ring is connected to the knee wheel, the long axis end cover is fixed on the thigh fixed plate to prevent the knee mandrel from protruding, the potentiometer Ⅰ and the length of the potentiometer The shell is fixed at the end of the knee mandrel, the shank fixing plate is connected with the knee wheel, the shank fixing seat is connected with the shank fixing plate, and the thigh fixing seat is connected with the thigh fixing plate.

The outer line of the Bowden line I is fixed on the thigh fixing seat, and the inner line is connected with the knee wheel.

The knee wheel has a mechanical limit groove, which can limit the rotation angle of the knee wheel.

The ankle joint part includes a leg fixing seat, a tension sensor, an ankle straight bar, an ankle side bar, a shoe sole, a ground beam, an ankle mandrel, a short shell of a potentiometer, a potentiometer II and a back beam, wherein the two ends of the leg fixing seat are respectively Connect an ankle straight rod, the lower end of each ankle straight rod is hinged with an ankle side rod through the ankle mandrel, the end of the ankle mandrel is provided with a potentiometer II, and the outside of the potentiometer II is provided with a potentiometer The lower end of the two ankle side rods is connected to the ground beam, the ground beam is provided with shoe soles, the upper end rear side of the two ankle side rods is connected to the back beam, and the tension sensor is connected to the back beam. The outer line of the landing line II is connected to the leg holder, and the inner line is connected to the tension sensor.

The ankle side rod is provided with a mechanical limit groove, which can limit the rotation angle of the ankle side rod.

Advantage and positive effect of the present utility model are:

1. The motor drive part of the utility model is arranged near the center of gravity of the wearer's torso, which is light in weight and has a small additional moment on the human body. The mass of the knee joint and ankle joint at the end of the limb is extremely small and will not hinder human movement.

2. The tension sensor, inertial sensor and potentiometer of the utility model can measure physiological and kinematic information such as force, joint angle and gait cycle during real-time movement, and use them to realize multiple assisting modes of double joints.

3. The part of the utility model that is in contact with the human body is made of flexible fabrics and weakly rigid 3D printing materials, which fit closely to the human body, are light, and have little impact on the wearer.

4. The utility model adopts Bowden wire transmission, which can transmit power to the extremities of the limbs, and its weight can be ignored. It has essential flexibility and will not add additional inertia to the extremities of the limbs.

5. The utility model can perform rehabilitation and assistance for the knee joint and ankle joint of the lower limbs, and can be used for a single joint, and can also be used for collaborative assistance for two joints, and according to different user needs, it can provide a variety of rehabilitation assistance strategies .

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of the driving part of the utility model;

Fig. 3 is the schematic structural view of the drive part of the present invention after removing the shell;

Fig. 4 is the exploded view of the driving part of the utility model;

Fig. 5 is a structural schematic diagram of the knee joint part of the utility model;

Fig. 6 is an exploded view of the knee joint part of the present utility model;

Fig. 7 is a structural schematic diagram of the ankle joint part of the utility model;

Fig. 8 is an exploded view of the ankle joint part of the present invention.

In the figure: 1 is the driving part, 2 is the Bowden line Ⅰ, 3 is the knee joint part, 4 is the ankle joint part, 5 is the inertial sensor, 6 is the Bowden line Ⅱ, 11 is the strap, 12 is the driving plate, 13 is the Wire harness frame, 14 is the motor support, 15 is the wire wheel, 16 is the controller board, 17 is the wire harness flange, 18 is the controller, 19 is the driver, 20 is the drive shell, 21 is the motor I, 22 is Battery, 23 is the motor II, 30 is the shank fixing plate, 31 is the knee mandrel, 32 is the thigh fixing plate, 33 is the knee wheel, 34 is the bearing, 35 is the potentiometer I, 36 is the long shell of the potentiometer, 37 is Long axis end cover, 38 is the calf fixing seat, 39 is the thigh fixing seat, 50 is the leg fixing seat, 51 is the tension sensor, 52 is the ankle straight bar, 53 is the ankle side bar, 54 is the sole, 55 is the ground beam, 56 Ankle mandrel, 57 is an axle sleeve, 58 is a shaft end cover, 59 is a short casing of a potentiometer, 60 is a potentiometer II, and 61 is a back rest.

Detailed ways

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, a wearable flexible lower limb power-assisted robot provided by the utility model includes a driving part 1, a Bowden line I2, a Bowden line II6, a knee joint part 3, an ankle joint part 4 and an inertial sensor 5, wherein The driving part 1 is respectively connected with the knee joint part 3 and the ankle joint part 4 through the Bowden line I2 and the Bowden line II6, and the driving part 1, the knee joint part 3 and the ankle joint part 4 are respectively fixed on the wearer's back, knee joint and At the ankle joint, the driving part 1 transmits the power to the knee joint part 3 and the ankle joint part 4 respectively through the Bowden line I2 and the Bowden line II6, driving the wearer's knee joint and ankle joint to move, and the inertial sensor 5 is set on the wearer The foot is used to collect the wearer's gait information.

As shown in Figures 2-4, the driving part 1 includes a driving housing 20 and a knee joint driving mechanism housed in the driving housing 20, an ankle joint driving mechanism, a driving board 12 and a control unit, wherein the knee joint driving mechanism, ankle Both the joint drive mechanism and the control unit are arranged on the drive plate 12, the knee joint drive mechanism is connected to the Bowden line I2, the ankle joint drive mechanism is connected to the Bowden line II6, and the control unit is used to control the knee joint drive mechanism and the ankle joint drive mechanism .

Both the knee joint drive mechanism and the ankle joint drive mechanism include a motor, a wire harness frame 13, a motor support 14, a wire wheel 15 and a wire harness flange 17, wherein the motor is installed on the drive plate 12 by the motor support 14, and the output end There is a wire pulley 15, the wire harness frame 13 is set on the motor support 14, and the lower end is provided with a wire harness flange 17, one end of the outer wire of the Bowden wire I2 and Bowden wire II6 is fixed on the wire harness flange 17, and the wire harness flange 17 of the inner wire One end is connected with wire wheel 15.

The control unit includes a controller board 16 , a controller 18 and a driver 19 , wherein the controller board 16 is arranged on the driver board 12 , and the controller 18 and the driver 19 are arranged on the controller board 16 .

The driving part 1 also includes a battery 22 arranged on the driving housing 20, the battery 22 is fixed above the driving housing 20, and is used to supply power to the control unit and the motors I21 and II23 in the knee joint driving mechanism and the ankle joint driving mechanism. The driving housing 20 is provided with a cooling grid and cooling fans on both sides.

The motor I21 and the motor II23 respectively drive the wire pulley 15 connected thereto to rotate, thereby driving the inner wires of the Bowden wire I2 and the Bowden wire II6. Wherein the beam flange 17 and the beam frame 13 fixed on the drive plate 12 ensure the motion track of the Bowden line I2 and the Bowden line II6 and the transmission direction of the power, and the drive plate 12 is connected with the strap 11 .

As shown in Figures 5-6, the knee joint part 3 includes a calf fixing plate 30, a knee mandrel 31, a thigh fixing plate 32, a knee wheel 33, a bearing 34, a potentiometer I 35, a long shell 36 of the potentiometer, and a long axis end cover 37. Calf fixing seat 38 and thigh fixing seat 39, wherein the knee mandrel 31 is connected to the thigh fixing plate 32, the inner ring of the bearing 34 is connected to the knee mandrel 31, the outer ring is connected to the knee wheel 33, and the long axis end cap 37 is fixed on the thigh fixed plate 32 by long bolts to prevent the knee mandrel 31 from coming out. Potentiometer I 35 and potentiometer long shell 36 are fixed on the end of knee mandrel 31, calf fixing plate 30 is connected with knee wheel 33, calf fixing seat 38 is connected with calf fixing plate 30, thigh fixing seat 39 is connected with thigh fixing plate 32.

The outer line of the Bowden line I2 is fixed on the thigh fixing seat 39, and the inner line is connected with the knee wheel 33, which has a mechanical limit groove, which can limit the rotation angle of the knee wheel 33. When the motor I21 of the driving part 1 rotates, the knee wheel 33 of the knee joint part 3 rotates under the drive of the inner wire of the Bowden line I2, thereby driving the wearer's knee joint to extend and flex.

As shown in Figures 7-8, the ankle part 4 includes a leg holder 50, a tension sensor 51, an ankle straight bar 52, an ankle side bar 53, a shoe sole 54, a ground beam 55, an ankle mandrel 56, and a short shell 59 for a potentiometer. , potentiometer II 60 and back beam 61, wherein the two ends of leg holder 50 are respectively connected with an ankle straight bar 52, the lower end of each ankle straight bar 52 is hinged with an ankle side bar 53 through ankle mandrel 56, ankle mandrel 56 The end of potentiometer II60 is provided with potentiometer II60, and the outside of potentiometer II60 is provided with potentiometer short shell 59, and the lower end of two ankle side bars 53 is connected with ground beam 55, and ground beam 55 is provided with sole 54, and two ankle side bars 53 The rear side of the upper end of the upper end is connected with the back beam 61, and the back beam 61 is connected with a tension sensor 51, and the outer line of the Bowden line II 6 is connected with the leg holder 50, and the inner line is connected with the tension sensor 51.

The ankle side bar 53 is provided with a mechanical limit groove, which can limit the rotation angle of the ankle side bar 53 .

The straight ankle bar 52 of the ankle joint 4 is fixed on the leg fixing seat 50, and can be further fixed on the ankle of the wearer. The ankle mandrel 56 is connected with the ankle straight bar 52, and the axle sleeve 57, the ankle side bar 53, the shaft end cover 58, the potentiometer II 60 and the short casing 59 of the potentiometer are installed on the ankle mandrel 56 at one time. Ankle straight bar 52, ankle side bar 53, ankle mandrel 56, axle sleeve 57, shaft end cover 58 all have two, are installed in both sides respectively. The middle is connected by ground beam 55 and rear beam 61. Velcro fixing slots and soles 54 are arranged on the ground beam 55, which can fix the wearer's feet.

There is an empty groove for fixing the Bowden line II6 outer line on the leg holder 50, and the inner line of the Bowden line II6 links to each other with the tension sensor 51. When the motor II 23 rotates, the tension sensor 51 and the back beam 61 of the ankle joint part 4 rotate relative to the ankle mandrel 56, and drive the ankle side bar 53 to rotate around the ankle straight bar 52, thereby driving the wearer's ankle joint to plantar flex.

The knee wheel 33 of the knee joint part 3 and the ankle side bar 53 of the ankle joint part 4 are processed with mechanical limit grooves, which can limit the rotation angle of the knee wheel 33 and the ankle side bar 53 . The maximum angle of knee extension allowed is 5° and the maximum angle of flexion is 90°; the ankle joint is allowed 25° of plantarflexion and 30° of dorsiflexion. Avoiding injury to the wearer while maintaining maximum range of motion at the knee and ankle joints.

On the shank fixing seat 38 of the knee joint part 3, the thigh fixing seat 39, the leg fixing seat 50 of the ankle joint part 4, the ankle straight bar 52, the ankle side bar 53, the ground beam 55, are all processed with fixing grooves, and are attached with magic stickers The wearer is immobilized to avoid relative movement.

The utility model collects the gait information of the wearer through the inertial sensor 5, the tension sensor 51, the potentiometer I35 and the potentiometer II60, analyzes and processes the data through the controller 18, and the driver 19 controls the motor I21 and the motor II23 to carry out the knee joint and the ankle joint. help. Both the Bowden line Ⅰ2 and the Bowden line Ⅱ6 are composed of an inner line and an outer line. The inner line can move in the cavity of the outer line. The transmission mode is that the motor rotates to tighten the inner line of the Bowden line, and drives the knee joint and ankle joint to move synchronously to achieve boost effect.

Wherein, the driving part 1 is carried on the wearer's back by the back strap 11, and the driving part 1 is fixed on the waist so as to be as close as possible to the center of gravity of the human body and reduce the negative impact of the device on the walking process. The knee joint part 3 fixes the calf fixing plate 30 and the thigh fixing plate 32 on the wearer's calf and thigh by means of the calf fixing seat 38 and the thigh fixing seat 39 respectively. Both the calf fixing seat 38 and the thigh fixing seat 39 are made of weakly rigid 3D printing materials, which fit the human skin, making the device lighter and more comfortable to wear. The leg fixing seat 50 of the ankle joint part 4 is also formed by 3D printing, and fixes the ankle joint part 4 at the ankle joint of the wearer.

The flexible robot of the utility model collects the gait characteristics of a person through the inertial sensor 5, the tension sensor 51, the potentiometer I35 and the potentiometer II60 to judge the wearer's physiological state and motion intention. The gait analysis is performed through the host computer controller 18, and at the same time, online algorithm optimization is performed to formulate an assist strategy and send instructions to the motor for execution. Including partial unidirectional (extension or flexion) assisting of the knee joint, bidirectional (extension and flexion) assisting of the knee joint, assisting plantar flexion of the ankle joint, and cooperative assisting of two joints.

The utility model is suitable for people who have walking disabilities or need walking assistance, including patients with lower limbs, the elderly and people with special needs. Its structure is relatively compact, small in size, good in fit with the human body, light in weight, easy to wear, has little interference with human walking, and each part is relatively independent. its assist mode. The utility model can meet the needs of different users.

The above descriptions are only the embodiments of the present utility model, and are not intended to limit the protection scope of the present utility model. All modifications, equivalent replacements, improvements, extensions, etc. made within the spirit and principles of the present utility model are included in the protection scope of the present utility model.

Claims (10)

1. A wearable flexible lower limb power-assisted robot is characterized by comprising a driving part (1), a Bowden wire I (2), a Bowden wire II (6), a knee joint part (3), an ankle joint part (4) and an inertial sensor (5), wherein the driving part (1) is respectively connected with the knee joint part (3) and the ankle joint part (4) through the Bowden wire I (2) and the Bowden wire II (6), the driving part (1), the knee joint part (3) and the ankle joint part (4) are respectively fixed at the back, the knee joint and the ankle joint of a wearer, the driving part (1) transmits power to the knee joint part (3) and the ankle joint part (4) through the Bowden wire I (2) and the Bowden wire II (6) respectively to drive the knee joint and the ankle joint of the wearer to move, and the inertial sensor (5) is arranged on the foot of the wearer, used for collecting gait information of a wearer.

2. The wearable flexible lower limb power-assisted robot according to claim 1, wherein the driving part (1) comprises a driving shell (20), and a knee joint driving mechanism, an ankle joint driving mechanism, a driving plate (12) and a control unit which are contained in the driving shell (20), wherein the knee joint driving mechanism, the ankle joint driving mechanism and the control unit are all arranged on the driving plate (12), the knee joint driving mechanism is connected with a Bowden cable I (2), the ankle joint driving mechanism is connected with a Bowden cable II (6), and the control unit is used for controlling the knee joint driving mechanism and the ankle joint driving mechanism.

3. the wearable flexible lower limb power-assisted robot according to claim 2, characterized in that the knee joint driving mechanism and the ankle joint driving mechanism each comprise a motor, a wire bunching frame (13), a motor support (14), a wire wheel (15) and a wire bunching flange (17), wherein the motor is mounted on the driving plate (12) through the motor support (14), the output end of the motor is provided with the wire wheel (15), the wire bunching frame (13) is arranged on the motor support (14), the lower end of the wire bunching frame is provided with the wire bunching flange (17), one ends of outer wires of the Bowden wires I (2) and the Bowden wires II (6) are fixed on the wire bunching flange (17), and one ends of the inner wires are connected with the wire wheel (15).

4. The wearable flexible lower limb power-assisted robot of claim 2, wherein the control unit comprises a controller board (16), a controller (18) and a driver (19), wherein the controller board (16) is disposed on the drive board (12), and the controller (18) and the driver (19) are disposed on the controller board (16).

5. The wearable flexible lower limb power-assisted robot according to claim 2, characterized in that the driving part (1) further comprises a battery (22) arranged on the driving shell (20), the battery (22) is used for supplying power to the knee joint driving mechanism, the ankle joint driving mechanism and the control unit, and the driving shell (20) is provided with a heat dissipation grid and heat dissipation fans arranged on two sides.

6. The wearable flexible lower limb power-assisted robot according to claim 1, wherein the knee joint part (3) comprises a lower leg fixing plate (30), a knee mandrel (31), a upper leg fixing plate (32), a knee wheel (33), a bearing (34), a potentiometer I (35), a potentiometer long shell (36), a long shaft end cover (37), a lower leg fixing seat (38) and a upper leg fixing seat (39), wherein the knee mandrel (31) is connected to the upper leg fixing plate (32), the inner ring of the bearing (34) is connected to the knee mandrel (31), the outer ring is connected to the knee wheel (33), the long shaft end cover (37) is fixed to the upper leg fixing plate (32) to prevent the knee mandrel (31) from falling off, the potentiometer I (35) and the potentiometer long shell (36) are fixed to the tail end of the knee mandrel (31), the lower leg fixing plate (30) is connected to the knee wheel (33), and the lower leg fixing seat (38) is connected to the lower, the thigh fixing seat (39) is connected with the thigh fixing plate (32).

7. The wearable flexible lower limb power-assisted robot according to claim 6, characterized in that the outer line of the Bowden wire I (2) is fixed on the thigh fixing seat (39), and the inner line is connected with the knee wheel (33).

8. The wearable flexible lower limb assistance robot according to claim 6, wherein the knee wheel (33) is provided with a mechanical limit groove which can limit the rotation angle of the knee wheel (33).

9. the wearable flexible lower limb power-assisted robot according to claim 1, wherein the ankle joint part (4) comprises a leg fixing seat (50), a tension sensor (51), an ankle straight rod (52), ankle side rods (53), a sole (54), a ground beam (55), an ankle spindle (56), a potentiometer short shell (59), a potentiometer II (60) and a back beam (61), wherein both ends of the leg fixing seat (50) are respectively connected with the ankle straight rod (52), the lower end of each ankle straight rod (52) is hinged with one ankle side rod (53) through the ankle spindle (56), the tail end of the ankle spindle (56) is provided with the potentiometer II (60), the outer side of the potentiometer II (60) is provided with the potentiometer short shell (59), the lower ends of the two ankle side rods (53) are connected with the ground beam (55), the sole (54) is arranged on the ground beam (55), and the rear sides of the upper ends of the two ankle side rods (53) are connected with the back beam (61), and a tension sensor (51) is connected to the rear beam (61), the outer line of the Bowden cable II (6) is connected with the leg fixing seat (50), and the inner line is connected with the tension sensor (51).

10. The wearable flexible lower limb power-assisted robot of claim 9, wherein the ankle lever (53) is provided with a mechanical limiting groove which can limit the rotation angle of the ankle lever (53).