CN108670729A - A kind of exoskeleton robot - Google Patents
A kind of exoskeleton robot Download PDFInfo
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- CN108670729A CN108670729A CN201810392376.XA CN201810392376A CN108670729A CN 108670729 A CN108670729 A CN 108670729A CN 201810392376 A CN201810392376 A CN 201810392376A CN 108670729 A CN108670729 A CN 108670729A
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- 210000002414 leg Anatomy 0.000 claims description 49
- 210000002683 foot Anatomy 0.000 claims description 14
- 210000001624 hip Anatomy 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000000903 blocking effect Effects 0.000 claims description 9
- 210000000988 bone and bone Anatomy 0.000 claims description 4
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 210000000629 knee joint Anatomy 0.000 claims description 3
- 210000001699 lower leg Anatomy 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 10
- 208000006011 Stroke Diseases 0.000 description 5
- 230000005021 gait Effects 0.000 description 5
- 230000035876 healing Effects 0.000 description 4
- 210000003423 ankle Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000006742 locomotor activity Effects 0.000 description 2
- 230000001769 paralizing effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 208000012639 Balance disease Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001930 leg bone Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the field of medical instrument technology, provide a kind of exoskeleton robot.The exoskeleton robot includes lumbar support structure, multiple skeletal structures and multiple flexible actuators, is connected by flexible actuator between lumbar support structure and skeletal structure and between skeletal structure；Flexible actuator includes actuating unit, shaft, the first rotating member, the second rotating member and elastic element, actuating unit and the first rotating member are sequentially connected, first rotating member and the second rotating member are installed in rotation in shaft, elastic element is mounted on the first rotating member, the both ends of elastic element bear against the first rotating member and the second rotating member, the other end connection lumbar support structure of the second rotating member or another skeletal structure.The present invention drives the rotation of the first rotating member, the rotating torque that the first rotating member generates to be transferred to the second rotating member by elastic element by the actuating unit of flexible actuator, and the delay rotation of the second rotating member is made to improve stability to realize flexible drive.
Description
Technical field
The invention belongs to the field of medical instrument technology more particularly to a kind of exoskeleton robots.
Background technology
As China progresses into aging society, the incidence cumulative year after year of China's headstroke.In developed country, apoplexy
The main reason for even more leading to adult disability.The locomotor activity of stroke survivor more than 2/3rds is damaged, and is to make
At disabled major reason, the strong influence daily life quality of patient.
Since there is central nervous system the plasticity of height, neural circuit can be repaired according to external stimulation.
Therefore it is trained by a large amount of gait rehabilitation, the locomotor activity of stroke patient can be improved or even complete to a certain extent
It is complete to restore.Exactly be utilized this point, concentration, repeating, targetedly training action can improve the gait of patient.Rehabilitation
Training has become the essential therapeutic arsenals of stroke patient now, and good effect has also been obtained in clinical trial.
With the progress of science and technology, robot technology is rapidly progressed.Relevant robot technology is also introduced into
Stroke rehabilitation field mitigates or even takes over physiatrician's hard work with this, and healing robot can bring greatly
Benefit.Since fatigue problem is not present in robot, so robot rehabilitation can meet the training requirement of high intensity.
However, the healing robot for being currently used for rehabilitation training, which mostly uses greatly rigid driver, carries out joint auxiliary drive,
And rigid driver to control human-computer interaction power there are certain difficulty, there is the hidden danger of loss of stability in use, hold
Easily human body is damaged.And existing healing robot is mostly heavier, enormous size, expensive, and only exists
Hospital, recovery centre large corporation can just have.And in fact, the paralytic of the overwhelming majority also remaining walking after discharge
Symptom of obstacle, such as muscle inability, spasm, holding balance difficulties, both limbs gait asymmetry etc..Therefore, society is urgent
A kind of intelligent equipment simple and compact for structure, light-weight is needed to provide rehabilitation at home or in surroundings for paralytic
Training.
Invention content
Technical problem to be solved of the embodiment of the present invention is to provide a kind of flexible drive of capableing of and realizes articulation
Exoskeleton robot, it is intended to solve the problems, such as healing robot structure bulky in the prior art and there are stability hidden danger.
The embodiment of the present invention, which is achieved in that, provides a kind of exoskeleton robot comprising the lumbar support being connected
Structure and multiple skeletal structures, the exoskeleton robot further include multiple flexible actuators, the lumbar support structure and institute
It states between skeletal structure and is connected by the flexible actuator between the skeletal structure and skeletal structure；The flexible drive
Dynamic device includes actuating unit, shaft, the first rotating member, the second rotating member and elastic element, and the actuating unit is mounted on institute
It states on skeletal structure, and the output end of the actuating unit is sequentially connected with first rotating member, the shaft is installed on institute
It states on skeletal structure, first rotating member is installed in rotation in the shaft, and the elastic element is mounted on described the
On one rotating member, one end of the elastic element is against first rotating member, and the other end is against second rotating member；It is described
One end of second rotating member is rotatably installed in the shaft, and the other end connects the lumbar support structure or another institute
State skeletal structure；
The actuating unit drives the first rotating member rotation, the rotating torque that the first rotating member rotation generates logical
It crosses the elastic element and is transferred to second rotating member, make the second rotating member delay rotation, to control the bone knot
Structure carries out compliant rotational.
Further, first rotating member includes rotating disc and guide ring, and the output end driving of the actuating unit turns
Moving plate rotates, and the guide ring is mounted on the rotating disc, and the elastic element is set on the guide ring, and described second
One end of rotating member is sheathed on the guide ring, and can be rotated along the circumferencial direction of the guide ring.
Further, the elastic element is spring, and there are four the spring tools, on second rotating member there are two tools
Blocking part, the blocking part open up fluted, and the guide ring is threaded through in the groove, and the both sides of second rotating member are each
There are two the springs, and each spring has one end to be resisted against the blocking part, and the other end is resisted against the rotation
Disk.
Further, the driving mechanism includes motor and tapered gear, the output end of the motor and the tapered teeth
Wheel connects, and there is tooth form, the tapered gear to be intermeshed with the tooth form on the rotating disc on the rotating disc.
Further, the exoskeleton robot further includes sensing mechanism, and the sensing mechanism includes the first runner, second
Runner, belt and sensor, the sensor are mounted on the skeletal structure, and first runner and the sensor are same
Axis is arranged, and is sequentially connected by the belt and second runner, and second runner is installed in rotation on described turn
On axis, and it is fixedly installed on second rotating member.
Further, several skeletal structures include leg member, small leg member and foot part component, the thigh
Component, small leg member and foot part component pass sequentially through the flexible actuator connection, to be built into leg ectoskeleton skeleton, institute
The hip joint for connecting and composing leg ectoskeleton skeleton between lumbar support structure and leg member by the flexible actuator is stated,
The knee joint of leg ectoskeleton skeleton, institute are connected and composed between the leg member and small leg member by the flexible actuator
State the ankle-joint for connecting and composing leg ectoskeleton skeleton between small leg member and step component by the flexible actuator.
Further, it is connected with hip between the second rotating member in the lumbar support structure and the flexible actuator
Rotary gemel structure, the hip rotary gemel structure includes the first revolving part, the second revolving part, shaft and torsional spring, described
First revolving part is mounted in the lumbar support structure, and second revolving part is mounted on second rotating member, described
It is rotatablely connected by shaft between first revolving part and the second revolving part, the spring pocket is set on the shaft, and is supported respectively
By first revolving part and the second revolving part.
Further, the leg member includes the first connecting plate, the second connecting plate and the first extension adjustment device, the
It is connected by first extension adjustment device between one connecting plate and the second connecting plate；
First extension adjustment device includes the first mounting plate, the second mounting plate, the first guide rod and adjuster, institute
It states the second mounting plate to be fixedly mounted on second connecting plate, one end of first guide rod is fixedly mounted on described second
In mounting plate, the other end is slideably arranged in first mounting plate, and first mounting plate is fixedly mounted on described
On one connecting plate, the adjuster, when rotating the adjuster, the adjuster energy are installed in the side of first mounting plate
It is enough that first guide rod is lock onto on first mounting plate.
Further, the adjuster includes knob, mounting base, bearing, plug connector and locking member；
The mounting base is connected on first mounting plate, and the outer ring of the bearing is fixed in the mounting base, institute
It states plug connector to fasten in the inner ring of the bearing, and is connect with the knob after being pierced by the mounting base；The locking member
One end is connect movably through the plug connector, and with the inner thread of the knob, and the other end of the locking member is worn
In in first mounting plate, and there is the first tooth form on the other end of the locking member, has on first guide rod
The second tooth form to match with first tooth form；When rotating the knob, the plug connector follows rotation, the locking member
It can be moved along its axial direction, the first tooth form on locking member is made to be meshed or divide with the second tooth form on first guide rod
From so as to which first guide rod is lock onto on first mounting plate.
Further, the small leg member includes third connecting plate and the second extension adjustment device, the described second flexible tune
Regulating device is mounted on the third connecting plate, and second extension adjustment device includes fixed seat, the second guide rod and tune
Save device, the fixed seat is mounted on the third connecting plate, one end of second guide rod by connector with it is described soft
Second rotating member of property driver is fixedly connected, and second guide rod is slideably threaded through in the fixed seat, institute
The adjuster is installed in the side for stating fixed seat, and when rotating the adjuster, the adjuster can be oriented to described second
Rod locking is in the fixed seat.
Further, the lumbar support structure includes backboard, adjuster and two expansion plates, and described two flexible
Plate is slideably separately mounted to the both ends of the backboard, and can be lock onto on the backboard by the adjuster, institute
It states expansion plate and first revolving part is connected by slide, the slide is slidably mounted on the expansion plate, and can be led to
The adjuster is crossed to lock onto on the expansion plate；Electric-control system is installed, described in the electric control system controls on the backboard
Flexible actuator drives the leg member, small leg member and foot part component rotation.
Compared with prior art, advantageous effect is the embodiment of the present invention：The exoskeleton robot of the present invention passes through in waist
Flexible actuator is set between portion's support construction and skeletal structure and between skeletal structure and skeletal structure, in flexible actuator
Elastic elements on first rotating member, when the actuating unit of flexible actuator drives the rotation of the first rotating member, the first rotation
The rotating torque that part rotation generates passes to the second rotating member by elastic element, makes the delay rotation of the second rotating member, to meet
Flexible drive skeletal structure is rotated, and ensure that stability in use and safety.
Description of the drawings
Fig. 1 is exoskeleton robot overall structure diagram provided in an embodiment of the present invention；
Fig. 2 is another angled arrangement schematic diagram of exoskeleton robot shown in FIG. 1；
Fig. 3 is exoskeleton robot side structure schematic view shown in FIG. 1；
Fig. 4 is the partial structural diagram of Fig. 3；
Fig. 5 is the flexible actuator structural schematic diagram in Fig. 1；
Fig. 6 is flexible actuator decomposition texture schematic diagram shown in fig. 5；
Fig. 7 is the sensing mechanism structural schematic diagram of exoskeleton robot provided in an embodiment of the present invention；
Fig. 8 is the leg member structural schematic diagram of exoskeleton robot provided in an embodiment of the present invention；
Fig. 9 is the adjuster decomposition texture schematic diagram in Fig. 8；
Figure 10 is the shank element structure schematic diagram of exoskeleton robot provided in an embodiment of the present invention；
Figure 11 is the a-quadrant enlarged structure schematic diagram in Fig. 1.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figures 1 to 4, it is one preferred embodiment of exoskeleton robot provided by the invention, the exoskeleton robot
Including multiple flexible actuators 1 and the lumbar support structure being connected 2 and multiple skeletal structures, lumbar support structure 2 and bone
It is connected by flexible actuator 1 between bone structure and between skeletal structure and skeletal structure, is used as by the flexible actuator 1
Joint structure realizes flexible drive, and compliant rotational is carried out to control skeletal structure.Above-mentioned flexible actuator 1 includes engine
Structure, shaft 11, the first rotating member 12, the second rotating member 13 and elastic element 14, actuating unit are mounted on skeletal structure, and
And its output end and the first rotating member 12 are sequentially connected, shaft 11 is installed on skeletal structure；First rotating member 12 passes through bearing
It is installed in rotation in shaft 11, the first rotating member 12 is in the form of annular discs, and elastic element 14 is along the circumference side of the first rotating member 12
To on the first rotating member 12, and one end of the elastic element 14 is against the first rotating member 12, and the other end is against second
Rotating member 13；One end of second rotating member 13 is rotatably installed on by bearing in shaft 11, and the other end is fixedly connected on waist
Portion's support construction 2 or another skeletal structure.Therefore, the rotation of the first rotating member 12, the first rotation can be driven by actuating unit
The rotating torque that the rotation of part 12 generates is transferred to the second rotating member 13 by elastic element 14, and the delay of the second rotating member 13 is made to turn
It is dynamic, carry out compliant rotational to control skeletal structure.
Please referring collectively to shown in Fig. 5 and Fig. 6, the first above-mentioned rotating member 12 includes rotating disc 121 and guide ring 122, is moved
The output end driving rotating disc 121 of force mechanisms rotates, and rotating disc 121 is installed in rotation on by bearing in shaft 11, is oriented to
Ring 122 is mounted on rotating disc 121, and elastic element 14 is set on guide ring 122, and one end of the second rotating member 13, which is sheathed on, leads
To on ring 122, and can be rotated along the circumferencial direction of guide ring 122.Specifically, driving mechanism includes motor 15 and tapered gear
16, the output end of motor 15 is fixedly connected with tapered gear 16, has tooth form, tapered gear 16 and rotating disc on rotating disc 121
Tooth form intermeshing on 121, so as to drive tapered gear 16 to rotate by motor 15, tapered gear 16 drives rotating disc
121 rotate along shaft 11.
Elastic element 14 in the present embodiment is spring, and there are four spring tools, and there are two keep out tool on the second rotating member 13
Portion 131, blocking part 131 open up fluted 130, and guide ring 122 is threaded through under the drive of rotating disc 121 in groove 130, and second
Respectively there are two springs for the both sides of rotating member 13, and each spring has the blocking part 131 that one end is resisted against the second rotating member 13,
And the other end is resisted against rotating disc 121 so that when rotating disc 121 is in rotation, guide ring 122 follows rotation, makes to be set in and lead
Spring on ring 122 compresses, and the elastic acting force of spring acts on blocking part 131, to make the second rotating member 13
It delays and rotates.In other embodiments mode, elastic element 14 can also be made of rubber or silica gel.
Please referring collectively to shown in Fig. 7, above-mentioned exoskeleton robot further includes sensing mechanism.The sensing mechanism includes first
Runner 6, the second runner 7, belt 8 and sensor 9, sensor 9 are mounted on skeletal structure, and the first runner 6 and sensor 9 are same
Axis is arranged, and is sequentially connected by belt 8 and the second runner 7, and the second runner 7 is installed in rotation in shaft 11, and fixed
It is installed on the second rotating member 13, is converted with rotational angle by calculating the angular speed between the first runner 6 and the second runner 7
Relationship obtains the angle speed of the second runner 7 so as to detect the angular speed and rotational angle of the first runner 6 by sensor 9
Degree and rotational angle, you can learn angular speed and rotational angle of second rotating member 13 in rotation.
Several skeletal structures in the exoskeleton robot of the present embodiment include leg member 3, small leg member 4 and foot
Component 5, leg member 3, small leg member 4 and foot part component 5 pass sequentially through the connection of flexible actuator 1, to be built into outside leg
Bone skeleton.Wherein, it is connected by flexible actuator 1 between lumbar support structure 2 and leg member 3, builds leg ectoskeleton
The hip joint of skeleton is connected between leg member 3 and small leg member 4 by flexible actuator 1, structure leg ectoskeleton skeleton
Knee joint is connected between small leg member 4 and step component 5 by flexible actuator 1, and the ankle of structure leg ectoskeleton skeleton closes
Section.
In above-described embodiment, please referring collectively to shown in Figure 11, lumbar support structure 2 and second turn on flexible actuator 1
Hip rotary gemel structure is connected between moving part 13.The hip rotary gemel structure is rotated including the first revolving part 23, second
Part 24, shaft 25 and torsional spring 26, the first revolving part 23 are mounted in lumbar support structure 2, and the second revolving part 24 is mounted on the
On two rotating members 13, it is rotatablely connected by shaft 25 between the first revolving part 23 and the second revolving part 24, spring 26 is sheathed on axis
On bar 25, and bear against the first revolving part 23 and the second revolving part 24.Without external power supply in the hip rotary gemel structure,
Movement return is realized by the torsion of torsional spring 26, and mainly auxiliary realizes the rotary moveable of waist, to adapt to more natural gait
And walking turning etc..
In above-described embodiment, please referring collectively to shown in Fig. 8, leg member 3 includes the first connecting plate 31, the second connecting plate 32
And first extension adjustment device 33, pass through the first extension adjustment device 33 between the first connecting plate 31 and the second connecting plate 32 and connects
It connects.Specifically, the first extension adjustment device 33 include the first mounting plate 331, the second mounting plate 332, the first guide rod 333 and
Adjuster 10, the second mounting plate 332 are fixedly mounted on the second connecting plate 32, and one end of the first guide rod 333 is fixedly mounted on
In second mounting plate 332, the other end is slideably arranged in the first mounting plate 331, and the first mounting plate 331 is fixedly mounted on
On one connecting plate 31, adjuster 10 is installed in the side of the first mounting plate 331, when rotary regulator 10,10 energy of adjuster
It is enough that first guide rod 333 is lock onto on the first mounting plate 331.Specifically, please referring collectively to shown in Fig. 9, which wraps
Include knob 101, mounting base 102, bearing 103, plug connector 104 and locking member 105；Mounting base 102 is connected to the first mounting plate
The outer ring of 331 side, bearing 103 is fixed in mounting base 102, and plug connector 104 fastens in the inner ring of bearing 103, and wears
Connect with knob 101 after going out mounting base 102, one end of locking member 105 movably through plug connector 104, and with knob 101
Inner thread connects, and the other end of locking member 105 is arranged in the first mounting plate, and can be against the first guide rod 333, locking member
105 and first have the first tooth form 106 on the one end that leans of guide rod 333, have on the first guide rod 333 and the first tooth form
106 the second tooth forms 3330 to match.When the knob 101 of rotary regulator 10, since plug connector 104 is fixed on bearing 103
Inner ring in, plug connector 104 follows knob 101 to rotate together, due between knob 101 and locking member 105 using being threadedly coupled,
Promote locking member 105 that can be moved along its axial direction, enables the first tooth form 106 on locking member 105 and the first guide rod 333
On the second tooth form 3330 be meshed, so as to which the first guide rod 333 is lock onto on the first mounting plate 331.When opening knob
After 101, the first tooth form 106 on locking member 105 is separated from each other with the second tooth form 3330 on the first guide rod 333, passes through shifting
The first guide rod 3330 is moved to adjust the relative distance between the first connecting plate 31 and the second connecting plate 32, so as to according to trouble
The thigh length of person is suitably adjusted.
In above-described embodiment, please adjusted referring collectively to shown in Figure 10, small leg member 4 includes that third connecting plate 41 and second is flexible
Regulating device 42, the second extension adjustment device 42 are mounted on third connecting plate 41.Specifically, the second extension adjustment device 42 includes
Fixed seat 421, the second guide rod 422 and adjuster 10, fixed seat 421 are mounted on third connecting plate 41, the second guide rod
422 one end is fixedly connected by connector 423 with the second rotating member 13 of flexible actuator 1, and the second guide rod 422 can
It is slidably threaded through in fixed seat 421, the side installation and adjustment device 10 of fixed seat 421, when rotary regulator 10, adjuster 10
Second guide rod 422 can be lock onto in fixed seat 421, third connecting plate 41 and the can be adjusted by opening adjuster 10
Relative distance between two connecting plates 32, so as to suitably be adjusted according to the lower-leg length of patient.On the small leg member 4
Adjuster 10 it is identical as the controller structure on leg member 3, details are not described herein.
In above-described embodiment, foot bottom pressure sensor is installed on foot part component 5, the branch of gait is judged when stepping on ground for foot
Phase is supportted, lamp is installed on the outside of ankle, indicates that foot steps on ground when lamp is bright, indicates that less touch with the ground is located at swing phase when lamp goes out, lamp is opened
It closes to be detected by foot bottom pressure sensor and judge.
Above-mentioned lumbar support structure 2 includes backboard 21, adjuster 10 and two expansion plates 22, is had on expansion plate 22
Tooth form 220, and two expansion plates 22 are slideably separately mounted to the both ends of backboard 21, and can be locked by adjuster 10
Tightly on backboard 21, so as to by opening adjuster 10 to adjust the relative distance of two expansion plates 22, and then being capable of root
It is suitably adjusted according to the waist width of patient.Expansion plate 22 connects the first revolving part 23 by slide 20, and slide 20 is slidably
Ground is mounted on expansion plate 22, and can be lock onto on expansion plate 22 by adjuster 10；So as to according to the waist of patient depth
Degree is suitably adjusted.Adjuster 10 in the lumbar support structure 2 is identical as 10 structure of adjuster on leg member 3,
Details are not described herein.
In addition, the electric-control system that installation is electrically connected with flexible actuator 1 on backboard 21, electric control system controls flexibility is driven
Dynamic device 1 drives leg member 3, small leg member 4 and foot part component 5 to rotate, and realizes Mechatronics control.
In conclusion driving the rotation of the first rotating member 12, the first 12 turns of rotating member by the actuating unit of flexible actuator 1
The rotating torque of movable property life passes to the second rotating member 13 by elastic element 14, makes the delay rotation of the second rotating member 13, with full
The demand of sufficient skeletal structure compliant rotational, control structure is simple, and ensure that stability and the safety of human-computer interaction.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (11)
1. a kind of exoskeleton robot, including the lumbar support structure being connected and multiple skeletal structures, which is characterized in that
The exoskeleton robot further includes multiple flexible actuators, between the lumbar support structure and the skeletal structure and
It is connected by the flexible actuator between the skeletal structure and skeletal structure；The flexible actuator includes engine
Structure, shaft, the first rotating member, the second rotating member and elastic element, the actuating unit are mounted on the skeletal structure, and
The output end of the actuating unit is sequentially connected with first rotating member, and the shaft is installed on the skeletal structure, institute
It states the first rotating member to be installed in rotation in the shaft, the elastic element is mounted on first rotating member, described
One end of elastic element is against first rotating member, and the other end is against second rotating member；The one of second rotating member
End is rotatably installed in the shaft, and the other end connects the lumbar support structure or another described skeletal structure；
The actuating unit drives the first rotating member rotation, the rotating torque that the first rotating member rotation generates to pass through institute
State elastic element and be transferred to second rotating member, make second rotating member delay rotation, with control the skeletal structure into
Row compliant rotational.
2. exoskeleton robot as described in claim 1, which is characterized in that first rotating member includes rotating disc and guiding
The output end of ring, the actuating unit drives turn disc, the guide ring to be mounted on the rotating disc, the elasticity member
Part is set on the guide ring, and one end of second rotating member is sheathed on the guide ring, and can be along the guide ring
Circumferencial direction rotation.
3. exoskeleton robot as claimed in claim 2, which is characterized in that the elastic element is spring, the spring tool
There are four, tool is there are two blocking part on second rotating member, and the blocking part opens up fluted, and the guide ring is threaded through institute
It states in groove, respectively there are two the springs for the both sides of second rotating member, and each spring has one end to be resisted against
The blocking part, the other end are resisted against the rotating disc.
4. exoskeleton robot as claimed in claim 2, which is characterized in that the driving mechanism includes motor and tapered teeth
Wheel, the output end of the motor connect with the tapered gear, with tooth form on the rotating disc, the tapered gear with it is described
Tooth form intermeshing on rotating disc.
5. exoskeleton robot as described in claim 1, which is characterized in that the exoskeleton robot further includes sensing machine
Structure, the sensing mechanism include the first runner, the second runner, belt and sensor, and the sensor is mounted on the bone
In structure, first runner is coaxially disposed with the sensor, and is sequentially connected by the belt and second runner,
Second runner is installed in rotation in the shaft, and is fixedly installed on second rotating member.
6. exoskeleton robot as described in claim 1, which is characterized in that the skeletal structure includes leg member, shank
Component and foot part component, the leg member, small leg member and foot part component pass sequentially through the flexible actuator connection,
To be built into leg ectoskeleton skeleton；Structure is connected by the flexible actuator between the lumbar support structure and leg member
At the hip joint of leg ectoskeleton skeleton, connected and composed by the flexible actuator between the leg member and small leg member
The knee joint of leg ectoskeleton skeleton connects and composes leg between the small leg member and step component by the flexible actuator
The ankle-joint of portion's ectoskeleton skeleton.
7. exoskeleton robot as claimed in claim 6, which is characterized in that the lumbar support structure and the flexible drive
Hip rotary gemel structure is connected between the second rotating member on device, the hip rotary gemel structure includes the first rotation
Part, the second revolving part, shaft and torsional spring, first revolving part are mounted in the lumbar support structure, second rotation
Turn part on second rotating member, is rotatablely connected by shaft between first revolving part and the second revolving part, institute
Spring pocket is stated on the shaft, and bears against first revolving part and the second revolving part.
8. exoskeleton robot as claimed in claim 6, which is characterized in that the leg member includes the first connecting plate, the
Two connecting plates and the first extension adjustment device are filled between the first connecting plate and the second connecting plate by first telescopic adjustment
Set connection；
First extension adjustment device includes the first mounting plate, the second mounting plate, the first guide rod and adjuster, and described the
Two mounting plates are fixedly mounted on second connecting plate, and one end of first guide rod is fixedly mounted on second installation
In plate, the other end is slideably arranged in first mounting plate, and first mounting plate is fixedly mounted on described first and connects
On fishplate bar, the adjuster is installed in the side of first mounting plate, and when rotating the adjuster, the adjuster can incite somebody to action
First guide rod is lock onto on first mounting plate.
9. exoskeleton robot as claimed in claim 8, which is characterized in that the adjuster includes knob, mounting base, axis
It holds, plug connector and locking member；
The mounting base is connected on first mounting plate, and the outer ring of the bearing is fixed in the mounting base, described to insert
Fitting fastens in the inner ring of the bearing, and is connect with the knob after being pierced by the mounting base；One end of the locking member
It is connect movably through the plug connector, and with the inner thread of the knob, the other end of the locking member is arranged in institute
It states in the first mounting plate, and there is the first tooth form on the other end of the locking member, have and institute on first guide rod
State the second tooth form that the first tooth form matches；When rotating the knob, the plug connector follows rotation, locking member energy edge
Its axial direction moves, and the first tooth form on locking member is made to be meshed or detach with the second tooth form on first guide rod,
So as to which first guide rod is lock onto on first mounting plate.
10. exoskeleton robot as claimed in claim 6, which is characterized in that the small leg member include third connecting plate and
Second extension adjustment device, second extension adjustment device are mounted on the third connecting plate, second telescopic adjustment
Device includes fixed seat, the second guide rod and adjuster, and the fixed seat is mounted on the third connecting plate, and described second
One end of guide rod is fixedly connected by connector with the second rotating member of the flexible actuator, and second guide rod
It being slideably threaded through in the fixed seat, the adjuster is installed in the side of the fixed seat, when rotating the adjuster,
Second guide rod can be lock onto in the fixed seat by the adjuster.
11. exoskeleton robot as claimed in claim 6, which is characterized in that the lumbar support structure includes backboard, adjusts
Device and two expansion plates, described two expansion plates are slideably separately mounted to the both ends of the backboard, and can lead to
It crosses the adjuster to lock onto on the backboard, the expansion plate connects first revolving part by slide, and the slide can
It is slidably mounted on the expansion plate, and can be lock onto on the expansion plate by the adjuster；It is installed on the backboard
There is an electric-control system, flexible actuator described in the electric control system controls drives the leg member, small leg member and foot's structure
Part rotates.
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| CN201810392376.XA CN108670729B (en) | 2018-04-27 | 2018-04-27 | Exoskeleton robot |
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| CN201810392376.XA CN108670729B (en) | 2018-04-27 | 2018-04-27 | Exoskeleton robot |
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| CN108670729B CN108670729B (en) | 2024-05-24 |
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| CN112338957A (en) * | 2020-10-30 | 2021-02-09 | 山东大学 | Leg joints, leg structure and underwater robot based on series elastic actuators |
| CN112792803A (en) * | 2020-11-30 | 2021-05-14 | 武汉大学 | A series elastic actuator suitable for upper limb rehabilitation exoskeleton robot |
| CN115157216A (en) * | 2022-07-13 | 2022-10-11 | 重庆理工大学 | A motion-adaptive weight-bearing lower extremity exoskeleton |
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