CN108670729B - Exoskeleton robot - Google Patents
Exoskeleton robot Download PDFInfo
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- CN108670729B CN108670729B CN201810392376.XA CN201810392376A CN108670729B CN 108670729 B CN108670729 B CN 108670729B CN 201810392376 A CN201810392376 A CN 201810392376A CN 108670729 B CN108670729 B CN 108670729B
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- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000003111 delayed effect Effects 0.000 claims abstract description 7
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- 210000000689 upper leg Anatomy 0.000 claims description 21
- 210000001624 hip Anatomy 0.000 claims description 18
- 210000002683 foot Anatomy 0.000 claims description 14
- 210000002414 leg Anatomy 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 3
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 210000000629 knee joint Anatomy 0.000 claims description 3
- 244000309466 calf Species 0.000 claims 1
- 208000006011 Stroke Diseases 0.000 description 8
- 230000005021 gait Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000010428 Muscle Weakness Diseases 0.000 description 1
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
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- 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
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- 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
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- 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 technical field of medical instruments, and provides an exoskeleton robot. The exoskeleton robot comprises a waist supporting structure, a plurality of skeleton structures and a plurality of flexible drivers, wherein the waist supporting structure is connected with the skeleton structures and the skeleton structures through the flexible drivers; the flexible driver comprises a power mechanism, a rotating shaft, a first rotating piece, a second rotating piece and an elastic element, wherein the power mechanism is in transmission connection with the first rotating piece, the first rotating piece and the second rotating piece are both rotatably installed on the rotating shaft, the elastic element is installed on the first rotating piece, two ends of the elastic element respectively lean against the first rotating piece and the second rotating piece, and the other end of the second rotating piece is connected with a waist supporting structure or another skeleton structure. According to the invention, the power mechanism of the flexible driver drives the first rotating member to rotate, and the rotating moment generated by the first rotating member is transmitted to the second rotating member through the elastic element, so that the second rotating member rotates in a delayed manner, flexible driving is realized, and stability is improved.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to an exoskeleton robot.
Background
With the gradual entry of China into the aging society, the incidence rate of cerebral apoplexy in China increases year by year. In developed countries, stroke is a major cause of disability in adults. The ability of more than two-thirds stroke survivors to walk is impaired, which is an important cause of disability and greatly affects the quality of daily life of the patient.
Because of the high degree of plasticity of the central nervous system, the neural circuit is repaired in response to external stimuli. Thus, the walking ability of stroke patients can be improved to a certain extent, even completely restored, through a large amount of gait rehabilitation training. It is with this that the focused, repetitive, targeted training action can improve the gait of the patient. Rehabilitation training is now the main treatment means for stroke patients, and good effects are achieved in clinical experiments.
With the progress of scientific technology, robotics have rapidly developed. Related robotics have also been introduced in the field of stroke rehabilitation to alleviate or even take over the heavy work of rehabilitation practitioners, which can be of great benefit. Because the robot does not have fatigue problem, so the robot rehabilitation can satisfy the training requirement of high strength.
However, the existing rehabilitation robots for rehabilitation training mostly adopt a rigid driver to perform joint auxiliary driving, and the rigid driver has certain difficulty in controlling man-machine interaction force, has hidden danger of losing stability in the use process, and is easy to cause injury to human body. The existing rehabilitation robots are heavy in mass, huge in size and high in price, and can only be provided by large institutions in hospitals and rehabilitation centers. In fact, most stroke patients remain symptomatic of the walking disorder after discharge, such as muscle weakness, cramping, difficulty in maintaining balance, bilateral limb gait asymmetry, etc. Therefore, there is a strong need in society for an intelligent device that is simple and compact in construction and lightweight to provide rehabilitation training for stroke patients in a home or everyday environment.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide the exoskeleton robot capable of flexibly driving to realize joint rotation, and aims to solve the problems of heavy structure and hidden stability hazards of the rehabilitation robot in the prior art.
Embodiments of the present invention are thus achieved, providing an exoskeleton robot comprising a lumbar support structure and a plurality of skeletal structures connected together, the exoskeleton robot further comprising a plurality of flexible drives, the lumbar support structure being connected to the skeletal structures and the skeletal structures being connected to each other by the flexible drives; the flexible driver comprises a power mechanism, a rotating shaft, a first rotating piece, a second rotating piece and an elastic element, wherein the power mechanism is arranged on the skeleton structure, the output end of the power mechanism is in transmission connection with the first rotating piece, the rotating shaft is arranged on the skeleton structure, the first rotating piece is rotatably arranged on the rotating shaft, the elastic element is arranged on the first rotating piece, one end of the elastic element abuts against the first rotating piece, and the other end of the elastic element abuts against the second rotating piece; one end of the second rotating piece is rotatably arranged on the rotating shaft, and the other end of the second rotating piece is connected with the waist supporting structure or the other skeleton structure;
The power mechanism drives the first rotating piece to rotate, and the rotating moment generated by the rotation of the first rotating piece is transmitted to the second rotating piece through the elastic element, so that the second rotating piece rotates in a delayed mode, and the skeleton structure is controlled to flexibly rotate.
Further, the first rotating member comprises a rotating disc and a guide ring, the output end of the power mechanism drives the rotating disc to rotate, the guide ring is installed on the rotating disc, the elastic element is sleeved on the guide ring, and one end of the second rotating member is sleeved on the guide ring and can rotate along the circumferential direction of the guide ring.
Further, the elastic element is a spring, the number of the spring is four, the second rotating member is provided with two resisting parts, the resisting parts are provided with grooves, the guide ring is arranged in the grooves in a penetrating mode, two springs are arranged on two sides of the second rotating member respectively, one end of each spring abuts against the resisting part, and the other end of each spring abuts against the rotating disc.
Further, the driving mechanism comprises a motor and a bevel gear, the output end of the motor is connected with the bevel gear, the rotating disc is provided with tooth shapes, and the bevel gear is meshed with the tooth shapes on the rotating disc.
Further, the exoskeleton robot further comprises a sensing mechanism, the sensing mechanism comprises a first rotating wheel, a second rotating wheel, a belt and a sensor, the sensor is installed on the skeleton structure, the first rotating wheel is coaxially arranged with the sensor and is in transmission connection with the second rotating wheel through the belt, and the second rotating wheel is rotatably installed on the rotating shaft and fixedly installed on the second rotating piece.
Further, the plurality of skeleton structures include thigh member, shank member and foot member, thigh member, shank member and foot member pass through in proper order flexible drive connects to construct the shank exoskeleton skeleton, pass through between waist bearing structure and the thigh member flexible drive connects the hip joint that constitutes shank exoskeleton skeleton, pass through between thigh member and the shank member flexible drive connects the knee joint that constitutes shank exoskeleton skeleton, pass through between shank member and the foot member flexible drive connects the ankle joint that constitutes shank exoskeleton skeleton.
Further, a hip rotating hinge structure is connected between the waist supporting structure and a second rotating member on the flexible driver, the hip rotating hinge structure comprises a first rotating member, a second rotating member, a shaft rod and a torsion spring, the first rotating member is installed on the waist supporting structure, the second rotating member is installed on the second rotating member, the first rotating member and the second rotating member are connected through the shaft rod in a rotating mode, and the spring is sleeved on the shaft rod and abuts against the first rotating member and the second rotating member respectively.
Further, the thigh member comprises a first connecting plate, a second connecting plate and a first telescopic adjusting device, wherein the first connecting plate is connected with the second connecting plate through the first telescopic adjusting device;
The first telescopic adjusting device comprises a first mounting plate, a second mounting plate, a first guide rod and an adjustor, wherein the second mounting plate is fixedly mounted on the second connecting plate, one end of the first guide rod is fixedly mounted in the second mounting plate, the other end of the first guide rod is slidably arranged in the first mounting plate in a penetrating mode, the first mounting plate is fixedly mounted on the first connecting plate, the adjustor is mounted on one side of the first mounting plate, and when the adjustor rotates, the adjustor can lock the first guide rod on the first mounting plate.
Further, the adjuster comprises a knob, a mounting seat, a bearing, a plug connector and a locking piece;
The mounting seat is connected to the first mounting plate, the outer ring of the bearing is fixed in the mounting seat, and the plug connector is fixedly penetrated into the inner ring of the bearing and penetrates out of the mounting seat to be connected with the knob; one end of the locking piece movably penetrates through the plug connector and is in threaded connection with the inner wall of the knob, the other end of the locking piece penetrates through the first mounting plate, a first tooth shape is formed at the other end of the locking piece, and a second tooth shape matched with the first tooth shape is formed on the first guide rod; when the knob is rotated, the plug connector follows the rotation, and the locking piece can move along the axial direction of the plug connector, so that the first tooth shape on the locking piece is meshed with or separated from the second tooth shape on the first guide rod, and the first guide rod can be locked on the first mounting plate.
Further, the shank component includes third connecting plate and second flexible adjusting device, second flexible adjusting device installs on the third connecting plate, second flexible adjusting device includes fixing base, second guide bar and regulator, the fixing base is installed on the third connecting plate, the one end of second guide bar pass through the connecting piece with flexible driver's second rotates piece fixed connection, and the second guide bar slidable wears to establish on the fixing base, one side of fixing base is installed the regulator, when rotatory the regulator, the regulator can with the second guide bar lock in on the fixing base.
Further, the lumbar support structure comprises a back plate, an adjustor and two telescopic plates, wherein the two telescopic plates are slidably arranged at two ends of the back plate respectively and can be locked on the back plate through the adjustor, the telescopic plates are connected with the first rotating piece through a sliding seat, and the sliding seat is slidably arranged on the telescopic plates and can be locked on the telescopic plates through the adjustor; an electric control system is arranged on the backboard, and the electric control system controls the flexible driver to drive the thigh member, the shank member and the foot member to rotate.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: according to the exoskeleton robot disclosed by the invention, the flexible driver is arranged between the waist supporting structure and the skeleton structure and between the skeleton structure and the skeleton structure, the elastic element is arranged on the first rotating element of the flexible driver, when the power mechanism of the flexible driver drives the first rotating element to rotate, the rotating moment generated by the rotation of the first rotating element is transmitted to the second rotating element through the elastic element, so that the second rotating element rotates in a delayed manner, the rotation of the skeleton structure is driven flexibly, and the stability and the safety in the use process are ensured.
Drawings
FIG. 1 is a schematic view of the overall structure of an exoskeleton robot provided by an embodiment of the present invention;
FIG. 2 is a schematic view of another angular configuration of the exoskeleton robot shown in FIG. 1;
FIG. 3 is a schematic side view of the exoskeleton robot shown in FIG. 1;
FIG. 4 is a partial schematic view of the structure of FIG. 3;
FIG. 5 is a schematic view of the flexible drive structure of FIG. 1;
FIG. 6 is an exploded view of the flexible drive shown in FIG. 5;
FIG. 7 is a schematic view of a sensing mechanism of an exoskeleton robot according to an embodiment of the present invention;
FIG. 8 is a schematic view of a thigh member of an exoskeleton robot provided in an embodiment of the present invention;
FIG. 9 is an exploded view of the regulator of FIG. 8;
FIG. 10 is a schematic view of a lower leg member of an exoskeleton robot provided in an embodiment of the present invention;
Fig. 11 is an enlarged schematic view of the structure of the region a in fig. 1.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 4, a preferred embodiment of the exoskeleton robot provided by the present invention includes a plurality of flexible drivers 1, and a lumbar support structure 2 and a plurality of skeletal structures connected to each other, wherein the lumbar support structure 2 and the skeletal structures are connected by the flexible drivers 1, and the flexible drivers 1 are used as joint structures to realize flexible driving so as to control the skeletal structures to flexibly rotate. The flexible driver 1 comprises a power mechanism, a rotating shaft 11, a first rotating member 12, a second rotating member 13 and an elastic element 14, wherein the power mechanism is arranged on a skeleton structure, the output end of the power mechanism is in transmission connection with the first rotating member 12, and the rotating shaft 11 is arranged on the skeleton structure; the first rotating member 12 is rotatably mounted on the rotating shaft 11 through a bearing, the first rotating member 12 has a disk shape, the elastic member 14 is mounted on the first rotating member 12 in the circumferential direction of the first rotating member 12, and one end of the elastic member 14 abuts against the first rotating member 12, and the other end abuts against the second rotating member 13; one end of the second rotating member 13 is rotatably mounted on the rotating shaft 11 through a bearing, and the other end is fixedly connected to the lumbar support structure 2 or another skeletal structure. Therefore, the first rotating member 12 can be driven to rotate by the power mechanism, and the rotating moment generated by the rotation of the first rotating member 12 is transmitted to the second rotating member 13 through the elastic element 14, so that the second rotating member 13 rotates in a delayed manner, and the skeleton structure is controlled to flexibly rotate.
Referring to fig. 5 and 6 together, the first rotating member 12 includes a rotating disc 121 and a guiding ring 122, the output end of the power mechanism drives the rotating disc 121 to rotate, the rotating disc 121 is rotatably mounted on the rotating shaft 11 through a bearing, the guiding ring 122 is mounted on the rotating disc 121, the elastic element 14 is sleeved on the guiding ring 122, and one end of the second rotating member 13 is sleeved on the guiding ring 122 and can rotate along the circumferential direction of the guiding ring 122. Specifically, the driving mechanism includes a motor 15 and a bevel gear 16, the output end of the motor 15 is fixedly connected with the bevel gear 16, the rotating disc 121 has tooth shapes, the bevel gear 16 is meshed with the tooth shapes on the rotating disc 121, so that the bevel gear 16 can be driven to rotate by the motor 15, and the bevel gear 16 drives the rotating disc 121 to rotate along the rotating shaft 11.
The elastic element 14 in this embodiment is a spring, the number of the springs is four, the second rotating member 13 has two resisting parts 131, the resisting parts 131 are provided with grooves 130, the guide ring 122 is driven by the rotating disc 121 to pass through the grooves 130, two springs are respectively arranged at two sides of the second rotating member 13, one end of each spring is abutted against the resisting part 131 of the second rotating member 13, and the other end is abutted against the rotating disc 121, so that when the rotating disc 121 rotates, the guide ring 122 follows rotation, the spring sleeved on the guide ring 122 is compressed, and the elastic acting force of the spring acts on the resisting parts 131, so that the second rotating member 13 rotates after being delayed. In other embodiments, the elastic element 14 may also be made of rubber or silicone.
Referring to fig. 7, the exoskeleton robot further includes a sensing mechanism. The sensing mechanism comprises a first rotating wheel 6, a second rotating wheel 7, a belt 8 and a sensor 9, wherein the sensor 9 is arranged on a skeleton structure, the first rotating wheel 6 and the sensor 9 are coaxially arranged and are in transmission connection with the second rotating wheel 7 through the belt 8, the second rotating wheel 7 is rotatably arranged on a rotating shaft 11 and fixedly arranged on a second rotating member 13, and the angular velocity and rotation angle conversion relation between the first rotating wheel 6 and the second rotating wheel 7 is calculated, so that the angular velocity and rotation angle of the first rotating wheel 6 can be detected through the sensor 9, the angular velocity and rotation angle of the second rotating wheel 7 can be obtained, and the angular velocity and rotation angle of the second rotating member 13 during rotation can be known.
The several skeletal structures in the exoskeleton robot of the present embodiment include a thigh member 3, a shank member 4, and a foot member 5, and the thigh member 3, the shank member 4, and the foot member 5 are connected in sequence by the flexible driver 1 to construct a leg exoskeleton. The waist supporting structure 2 is connected with the thigh member 3 through the flexible driver 1 to construct a hip joint of the leg exoskeleton, the thigh member 3 is connected with the shank member 4 through the flexible driver 1 to construct a knee joint of the leg exoskeleton, and the shank member 4 is connected with the step member 5 through the flexible driver 1 to construct an ankle joint of the leg exoskeleton.
In the above embodiment, referring to fig. 11, a hip rotation hinge structure is connected between the lumbar support structure 2 and the second rotation member 13 on the flexible driver 1. The hip rotary hinge structure comprises a first rotary member 23, a second rotary member 24, a shaft lever 25 and a torsion spring 26, wherein the first rotary member 23 is arranged on the lumbar support structure 2, the second rotary member 24 is arranged on the second rotary member 13, the first rotary member 23 and the second rotary member 24 are rotationally connected through the shaft lever 25, and the spring 26 is sleeved on the shaft lever 25 and respectively abuts against the first rotary member 23 and the second rotary member 24. The hip rotary hinge structure has no external power source, realizes movement return by torsion of the torsion spring 26, and mainly assists to realize rotation movement of the waist so as to adapt to more natural gait, walking turning and the like.
In the above embodiment, referring to fig. 8 together, the thigh member 3 includes the first connecting plate 31, the second connecting plate 32, and the first telescopic adjusting device 33, and the first connecting plate 31 and the second connecting plate 32 are connected by the first telescopic adjusting device 33. Specifically, the first telescopic adjustment device 33 includes a first mounting plate 331, a second mounting plate 332, a first guide rod 333, and an adjuster 10, the second mounting plate 332 is fixedly mounted on the second connecting plate 32, one end of the first guide rod 333 is fixedly mounted in the second mounting plate 332, the other end is slidably disposed in the first mounting plate 331, the first mounting plate 331 is fixedly mounted on the first connecting plate 31, the adjuster 10 is mounted on one side of the first mounting plate 331, and when the adjuster 10 is rotated, the adjuster 10 can lock the first guide rod 333 on the first mounting plate 331. Specifically, referring to fig. 9 together, the adjuster 10 includes a knob 101, a mounting seat 102, a bearing 103, a plug 104, and a locking member 105; the mount pad 102 is connected in the side of first mounting panel 331, the outer lane of bearing 103 is fixed in the mount pad 102, plug connector 104 wears to be fixed in the inner circle of bearing 103, and wear out the mount pad 102 and be connected with knob 101, the one end of retaining member 105 movably passes plug connector 104, and with knob 101's inner wall threaded connection, the other end of retaining member 105 wears to locate in the first mounting panel, and can support first guide bar 333, the retaining member 105 has first profile of tooth 106 with the one end that first guide bar 333 supported, have second profile of tooth 3330 with first profile of tooth 106 assorted on the first guide bar 333. When the knob 101 of the adjuster 10 is rotated, since the plug 104 is fixed in the inner ring of the bearing 103, the plug 104 rotates together with the knob 101, and since the knob 101 and the locking member 105 are screwed together, the locking member 105 is urged to move in the axial direction thereof, so that the first tooth form 106 on the locking member 105 can engage with the second tooth form 3330 on the first guide rod 333, thereby locking the first guide rod 333 to the first mounting plate 331. When the knob 101 is opened, the first tooth form 106 of the locking member 105 and the second tooth form 3330 of the first guide bar 333 are separated from each other, and the relative distance between the first connection plate 31 and the second connection plate 32 is adjusted by moving the first guide bar 3330, so that the adjustment can be properly performed according to the thigh length of the patient.
In the above embodiment, referring to fig. 10 together, the lower leg member 4 includes the third connecting plate 41 and the second telescopic adjusting device 42, and the second telescopic adjusting device 42 is mounted on the third connecting plate 41. Specifically, the second telescopic adjusting apparatus 42 includes a fixed seat 421, a second guide rod 422, and an adjuster 10, the fixed seat 421 is mounted on the third connecting plate 41, one end of the second guide rod 422 is fixedly connected with the second rotating member 13 of the flexible driver 1 through a connecting member 423, and the second guide rod 422 slidably passes through the fixed seat 421, the adjuster 10 is mounted on one side of the fixed seat 421, when the adjuster 10 is rotated, the adjuster 10 can lock the second guide rod 422 on the fixed seat 421, and the relative distance between the third connecting plate 41 and the second connecting plate 32 can be adjusted by opening the adjuster 10, so that the adjustment can be properly performed according to the small length of the patient. The adjuster 10 on the lower leg member 4 has the same structure as the adjuster on the upper leg member 3, and will not be described again.
In the above embodiment, the foot member 5 is provided with the sole pressure sensor for determining the support phase of the gait when the foot is stepped on, the lamp is provided on the outer side of the ankle, the lamp is turned on to indicate the foot is stepped on, the lamp is turned off to indicate the foot is located at the swing phase, and the switch of the lamp is detected and determined by the sole pressure sensor.
The lumbar support structure 2 includes a back plate 21, a regulator 10, and two expansion plates 22, wherein the expansion plates 22 have tooth shapes 220, and the two expansion plates 22 are slidably mounted at two ends of the back plate 21, and can be locked on the back plate 21 through the regulator 10, so that the relative distance between the two expansion plates 22 can be adjusted by opening the regulator 10, and then can be properly adjusted according to the lumbar width of a patient. The expansion plate 22 is connected with the first rotating piece 23 through the sliding seat 20, and the sliding seat 20 is slidably arranged on the expansion plate 22 and can be locked on the expansion plate 22 through the regulator 10; so that it can be appropriately adjusted according to the depth of the waist of the patient. The actuators 10 on the lumbar support structure 2 are identical to the actuators 10 on the thigh members 3 and will not be described in detail here.
In addition, an electric control system electrically connected with the flexible driver 1 is installed on the back plate 21, and the electric control system controls the flexible driver 1 to drive the thigh member 3, the shank member 4 and the foot member 5 to rotate, so that electromechanical integrated control is realized.
In summary, the power mechanism of the flexible driver 1 drives the first rotating member 12 to rotate, and the rotation moment generated by the rotation of the first rotating member 12 is transmitted to the second rotating member 13 through the elastic element 14, so that the second rotating member 13 rotates in a delayed manner, thereby meeting the requirement of flexible rotation of the skeleton structure, having simple control structure and ensuring the stability and safety of man-machine interaction.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. An exoskeleton robot comprising a lumbar support structure and a plurality of skeletal structures connected, wherein,
The exoskeleton robot further comprises a plurality of flexible drivers, wherein the waist support structure is connected with the skeleton structure and the skeleton structure is connected with the skeleton structure through the flexible drivers; the flexible driver comprises a power mechanism, a rotating shaft, a first rotating piece, a second rotating piece and an elastic element, wherein the power mechanism is arranged on the skeleton structure, the output end of the power mechanism is in transmission connection with the first rotating piece, the rotating shaft is arranged on the skeleton structure, the first rotating piece is rotatably arranged on the rotating shaft, the elastic element is arranged on the first rotating piece, one end of the elastic element abuts against the first rotating piece, and the other end of the elastic element abuts against the second rotating piece; one end of the second rotating piece is rotatably arranged on the rotating shaft, and the other end of the second rotating piece is connected with the waist supporting structure or the other skeleton structure;
The power mechanism drives the first rotating piece to rotate, and a rotating moment generated by the rotation of the first rotating piece is transmitted to the second rotating piece through the elastic element, so that the second rotating piece rotates in a delayed manner, and the skeleton structure is controlled to flexibly rotate;
The first rotating piece comprises a rotating disc and a guide ring, the output end of the power mechanism drives the rotating disc to rotate, the guide ring is arranged on the rotating disc, the elastic element is sleeved on the guide ring, and one end of the second rotating piece is sleeved on the guide ring and can rotate along the circumferential direction of the guide ring;
the elastic element is a spring, the spring is provided with four, the second rotating piece is provided with two resisting parts, the resisting parts are provided with grooves, the guide rings are arranged in the grooves in a penetrating mode, two sides of the second rotating piece are respectively provided with two springs, one end of each spring is abutted against the resisting part, and the other end of each spring is abutted against the rotating disc;
The hip rotating hinge structure comprises a first rotating member, a second rotating member, a shaft rod and a torsion spring, wherein the first rotating member is arranged on the waist supporting structure, the second rotating member is arranged on the second rotating member, the first rotating member and the second rotating member are connected through the shaft rod in a rotating mode, and the torsion spring is sleeved on the shaft rod and respectively propped against the first rotating member and the second rotating member.
2. The exoskeleton robot of claim 1, wherein the power mechanism comprises a motor and a bevel gear, wherein an output end of the motor is connected with the bevel gear, the rotating disc is provided with a tooth form, and the bevel gear is meshed with the tooth form on the rotating disc.
3. The exoskeleton robot of claim 1 further comprising a sensing mechanism comprising a first runner, a second runner, a belt, and a sensor mounted on the skeletal structure, the first runner coaxially disposed with the sensor and in driving connection with the second runner via the belt, the second runner rotatably mounted on the shaft and fixedly mounted on the second rotating member.
4. The exoskeleton robot of claim 1 wherein the skeletal structure comprises thigh members, calf members and foot members, which are connected in sequence by the flexible drives to build a leg exoskeleton; the waist supporting structure is connected with thigh members through the flexible driver to form hip joints of the leg exoskeleton skeletons, the thigh members are connected with shank members through the flexible driver to form knee joints of the leg exoskeleton skeletons, and the shank members are connected with foot step members through the flexible driver to form ankle joints of the leg exoskeleton skeletons.
5. The exoskeleton robot of claim 4, wherein the thigh member comprises a first connection plate, a second connection plate, and a first telescopic adjustment device, the first connection plate and the second connection plate being connected by the first telescopic adjustment device;
The first telescopic adjusting device comprises a first mounting plate, a second mounting plate, a first guide rod and an adjustor, wherein the second mounting plate is fixedly mounted on the second connecting plate, one end of the first guide rod is fixedly mounted in the second mounting plate, the other end of the first guide rod is slidably arranged in the first mounting plate in a penetrating mode, the first mounting plate is fixedly mounted on the first connecting plate, the adjustor is mounted on one side of the first mounting plate, and when the adjustor rotates, the adjustor can lock the first guide rod on the first mounting plate.
6. The exoskeleton robot of claim 5, wherein the adjuster comprises a knob, a mount, a bearing, a plug, and a lock;
The mounting seat is connected to the first mounting plate, the outer ring of the bearing is fixed in the mounting seat, and the plug connector is fixedly penetrated into the inner ring of the bearing and penetrates out of the mounting seat to be connected with the knob; one end of the locking piece movably penetrates through the plug connector and is in threaded connection with the inner wall of the knob, the other end of the locking piece penetrates through the first mounting plate, a first tooth shape is formed at the other end of the locking piece, and a second tooth shape matched with the first tooth shape is formed on the first guide rod; when the knob is rotated, the plug connector follows the rotation, and the locking piece can move along the axial direction of the plug connector, so that the first tooth shape on the locking piece is meshed with or separated from the second tooth shape on the first guide rod, and the first guide rod can be locked on the first mounting plate.
7. The exoskeleton robot of claim 4 wherein the lower leg member comprises a third connection plate and a second telescopic adjustment means mounted on the third connection plate, the second telescopic adjustment means comprising a fixing base mounted on the third connection plate, a second guide bar having one end fixedly connected to the second rotation member of the flexible drive via a connection member, and a second guide bar slidably disposed through the fixing base, the adjuster being mounted on one side of the fixing base, the adjuster being capable of locking the second guide bar to the fixing base when the adjuster is rotated.
8. The exoskeleton robot of claim 4 wherein the lumbar support structure comprises a back plate, an adjustor, and two telescoping plates, each of which is slidably mounted at each end of the back plate and is lockable to the back plate by the adjustor, the telescoping plates being connected to the first rotating member by a slide, the slide being slidably mounted to the telescoping plates and is lockable to the telescoping plates by the adjustor; an electric control system is arranged on the backboard, and the electric control system controls the flexible driver to drive the thigh member, the shank member and the foot member to rotate.
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| CN109620632B (en) * | 2018-11-16 | 2021-10-22 | 中国科学院宁波材料技术与工程研究所 | Self-adaptive arm support device of upper limb rehabilitation robot |
| CN109262595B (en) * | 2018-11-19 | 2020-11-10 | 西安交通大学 | Segmented foot structure of lower limb assistance exoskeleton |
| CN110181505B (en) * | 2019-04-22 | 2021-09-07 | 珠海格力智能装备有限公司 | Robot speed reducer determination method and robot |
| CN112338957A (en) * | 2020-10-30 | 2021-02-09 | 山东大学 | Leg joint, leg structure and underwater robot based on series elastic driver |
| CN112278109A (en) * | 2020-10-30 | 2021-01-29 | 山东大学 | Leg structure of bionic underwater foot type robot and bionic underwater foot type robot |
| CN112792803A (en) * | 2020-11-30 | 2021-05-14 | 武汉大学 | Series elastic driver suitable for upper limb rehabilitation exoskeleton robot |
| CN115157216B (en) * | 2022-07-13 | 2024-08-02 | 重庆理工大学 | Motion self-adaptive load-assisted lower limb exoskeleton |
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