CN113730196A - Lower limb exoskeleton robot - Google Patents
Lower limb exoskeleton robot Download PDFInfo
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- CN113730196A CN113730196A CN202110800221.7A CN202110800221A CN113730196A CN 113730196 A CN113730196 A CN 113730196A CN 202110800221 A CN202110800221 A CN 202110800221A CN 113730196 A CN113730196 A CN 113730196A
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- 210000000629 knee joint Anatomy 0.000 claims abstract description 68
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- 206010019468 Hemiplegia Diseases 0.000 abstract description 3
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- 206010033892 Paraplegia Diseases 0.000 description 7
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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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Abstract
The application provides a lower limb exoskeleton robot. The lower limb exoskeleton robot comprises at least one of a hip joint mechanism, a knee joint mechanism and an ankle joint mechanism which are arranged independently; the hip joint mechanism comprises a hip joint main body and a hip joint body, wherein the hip joint main body is used for being worn on one thigh of a user; the first driving piece is connected with the hip joint main body and used for driving the hip joint main body to move so as to provide assistance for the movement of the thighs; the knee joint mechanism comprises a knee joint main body, a knee joint connecting piece and a knee joint connecting piece, wherein the knee joint main body is used for being worn on one of thigh parts and lower leg parts of a user; the second driving piece is connected with the knee joint main body and used for driving the knee joint main body to stretch and retract so as to provide assistance for the movement of the knee joint; the ankle joint mechanism comprises an ankle joint main body which is used for being worn on one of the lower leg part and the foot part of a user; the third driving piece is connected with the ankle joint main body and used for driving the ankle joint main body to move so as to provide assistance for movement of the ankle joint. Is suitable for the hemiplegia patient, and each mechanism can be made up according to user's actual demand.
Description
Technical Field
The invention relates to the technical field of exoskeleton assistance, in particular to a lower limb exoskeleton robot.
Background
An industrial exoskeleton is an emerging industrial wearable power-assisted device; the wearable walking assistance exoskeleton can provide walking follow-up supporting force for a user, and provides assistance for the user under the condition of freely following the movement of the user.
At present, related exoskeleton robots, such as lower limb exoskeleton robots, are mostly used by people with paraplegia and stroke, the lower limb exoskeleton robots are designed by two legs, and joints are directly driven by disc motors or hydraulic rods. However, the healthy side of the hemiplegic patient has a certain movement ability, which is different from the situation of the bipedal paraplegic patient, and if the hemiplegic patient wears the lower limb exoskeleton robot with the bipedal design, the normal gait of the hemiplegic patient is greatly influenced.
Disclosure of Invention
The application provides a lower limb exoskeleton robot which can solve the problem that the normal gait of a hemiplegic patient is greatly influenced when the hemiplegic patient wears a lower limb exoskeleton robot with a double-leg design; and each mechanism can be correspondingly combined according to the actual requirements of users.
In order to solve the technical problem, the application adopts a technical scheme that: a lower extremity exoskeleton robot is provided. This lower limbs ectoskeleton robot includes: comprises at least one of a hip joint mechanism, a knee joint mechanism and an ankle joint mechanism which are arranged independently; the hip joint mechanism comprises a hip joint main body and a first driving piece; the hip joint main body is used for being worn on one thigh of a user; the first driving piece is connected with the hip joint main body and used for driving the hip joint main body to move so as to provide assistance for the movement of the thighs; the knee joint mechanism comprises a knee joint main body and a second driving piece; the knee joint main body is worn on one of the thigh and the lower leg of the user; the second driving piece is connected with the knee joint main body and used for driving the knee joint main body to stretch and retract so as to provide assistance for the movement of the knee joint of the user; the ankle joint mechanism comprises an ankle joint main body and a third driving piece; the ankle joint main body is used for being worn on one of the lower leg part and the foot part of a user; the third driving piece is connected with the ankle joint main body and used for driving the ankle joint main body to move so as to provide assistance for the movement of the ankle joint of the user.
The waist mechanism is used for being worn on the waist of a user; the hip joint body includes: the first connecting piece is detachably connected with the waist mechanism; the first driving piece is arranged on the first connecting piece; the rotating assembly is connected with the first driving piece and is used for being worn on the thigh of the user; the first driving piece is used for driving the rotating assembly to rotate.
Wherein, the hip joint main body also comprises a limit piece; the limiting part is arranged on the first connecting part and used for limiting the rotating angle of the rotating assembly.
Wherein, the rotating assembly includes: the first end of the rotating piece is connected with the first driving piece; an extension rod; the second connecting piece is arranged at the second end of the rotating piece, and the extension rod is detachably connected with the rotating piece through the second connecting piece; a first thigh wearing part for wearing on a thigh of a user; the third connecting piece sets up on first thigh dresses the piece, and first thigh dresses the piece and passes through the detachable connection of third connecting piece and extension rod.
Wherein, waist mechanism includes: a lumbar support assembly for resting against a user's back; the first enclosing plate is connected to the first end of the waist supporting component in a sliding mode and is used for being clamped on one side of the waist of a user; and/or the second enclosing plate is connected to the second end, back to back, of the first end of the waist supporting component in a sliding mode, and used for being connected to the other side, opposite to one side, of the waist of the user in a clamping mode.
Wherein, the knee joint main part includes: a second thigh wearing member to be worn on a thigh of the user; the second driving piece is fixedly connected with the second thigh wearing piece; a lower leg wearing member to be worn on a lower leg portion of a user; the first rod body is fixedly connected with the second thigh wearing piece or the second driving piece; one end of the second rod body is sleeved on the first rod body, and the other end of the second rod body is fixedly connected with the shank wearing piece; one end of the screw rod assembly is connected with the second driving piece, and the other end of the screw rod assembly is connected with the second rod body; the second driving piece is used for driving the screw rod assembly to rotate so as to drive the second rod body to move relative to the first rod body.
The first driving part, the second driving part and/or the third driving part are/is a motor.
Wherein, the ankle joint main part includes: the leg component is used for being wound on the lower leg of the user; the foot component is rotatably connected with the leg component and used for being worn on the feet of a user; the third driving piece is connected with the leg component and is used for driving the leg component to rotate relative to the foot component so as to provide assistance for the movement of the ankle joint of the user.
Wherein, leg assembly includes: the leg frame is wound on the lower leg of the user; the third driving piece is connected with the leg frame; the first end of the first connecting rod is connected with a third driving piece, and the third driving piece is used for driving the first connecting rod to rotate; one end of the leg supporting rod is rotatably connected with the second end of the first connecting rod; the first end of the second connecting rod is rotatably connected with the leg supporting rod, and the second end of the second connecting rod is rotatably connected with the foot component; the first end of the first clamping plate is fixedly connected with the leg frame, and the second end of the first clamping plate is rotatably connected with the second connecting rod; the first clamping plate is used for clamping one side of the lower leg of the user; wherein, the first connecting rod, the leg supporting rod, the second connecting rod and the first clamping plate form a four-bar structure.
Wherein, the leg support pole includes: the first end of the first support body is rotatably connected with the second end of the first connecting rod; the first end of the second support body is connected with the first support body in a sliding mode, and the second end of the second support body is connected with the second connecting rod in a rotating mode.
The application provides a low limbs ectoskeleton robot through setting up at least one in hip joint mechanism, knee joint mechanism and the ankle joint mechanism to make each mechanism realize the drive separately, in order to realize mutual independence between each mechanism, thereby make the user can select one of them or multiple mechanism to dress according to actual demand, in order to provide the helping hand for the user and carry out the rehabilitation training, reduce the load that unnecessary wearing brought for the user. Meanwhile, each mechanism is only worn on one leg of the user, so that the lower limb exoskeleton robot can avoid the influence on the walking of the leg on the other healthy side of the user while providing assistance for the hemiplegic patient; meanwhile, the user can wear the corresponding mechanism on the left leg or the right leg of the user according to the actual hemiplegic leg selection; in practical application, the lower limb exoskeleton robot can be suitable for patients with paraplegia on both legs at the same time by additionally arranging the number of corresponding mechanisms, so that the lower limb exoskeleton robot is high in universality.
Drawings
Fig. 1 is a schematic view of a lower extremity exoskeleton robot provided in an embodiment of the present application being worn on a human body;
FIG. 2 is a schematic illustration of the lower extremity exoskeleton robot of the configuration of FIG. 1 not being worn on a human body;
fig. 3 is a walking simulation diagram of a human body wearing the lower extremity exoskeleton robot according to an embodiment of the present application;
FIG. 4 is a disassembled schematic view of a waist structure provided by an embodiment of the present application;
FIG. 5 is a schematic illustration of the hip joint mechanism and lumbar mechanism at the connection location disassembled according to an embodiment of the present application;
FIG. 6 is a schematic view of an overall structure of a knee joint mechanism according to an embodiment of the present application;
FIG. 7 is a disassembled view at A of FIG. 6;
FIG. 8 is a disassembled view at B in FIG. 6;
FIG. 9 is a schematic view of the overall configuration of an ankle joint mechanism provided in accordance with an embodiment of the present application;
fig. 10 is a disassembled view of fig. 9.
Description of the reference numerals
A lower extremity exoskeleton robot 10; a lumbar mechanism 11; lumbar support assembly 111, first support plate 1111; a second support plate 1112; a first enclosing plate 112; a second enclosing plate 113; a hip joint mechanism 12; a first connecting member 121; a first driving member 122; a rotating assembly 123; a rotating member 1231, an extending rod 1232, a second connecting member 1233, and a first thigh wearing member 1234; a third link 1235; a stopper 124; a knee joint mechanism 13; a second driving member 130; a second thigh wearing piece 131; a lower leg wearing piece 132; a mount 133; a first rod 134; a second rod 135; a lead screw assembly 136; a lead screw 1361; a lead screw guide 1362; a ball slide 1363; a lead screw slide 1364; a first coupling 137; a second coupling 138; a push rod base 139; an ankle joint mechanism 14; a leg assembly 141; a leg frame 1411; a first connecting rod 1412; a leg support bar 1413; a first support 1413 a; a second support 1413 b; a second connecting rod 1414; a first clamping plate 1415; a leg guard 1416; a foot assembly 142; a third driving member 143; a second clamping plate 144; a third connecting rod 145; a ball bearing 146; a bearing cap 147; a first connecting member 15; a first connection block 151; and a second connection block 152.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The lower limb exoskeleton robot is generally divided into an active power-assisted exoskeleton robot and a passive exoskeleton robot; the active exoskeleton robot is generally provided with a force output system such as a motor or hydraulic pressure and the like, and actively provides force required by joints during walking; however, the existing lower limb exoskeleton robots are generally designed for patients with paraplegia on both legs. For example, chinese patent CN112545846A discloses a powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition, which adopts a connection between a lower limb exoskeleton and a powered mobile frame, and the mechanism can walk by means of the mobile frame. However, the dynamic frame is large in size and not suitable for walking on irregular road surfaces, and a training device with strong pertinence is needed for rehabilitation training of hemiplegic patients.
The Chinese invention patent CN110833495A discloses a lower limb exoskeleton robot driven by a stepping motor and driven by a worm gear. The lower limb exoskeleton robot adopts a large and small leg adjusting device with adjustable height, and the whole device adopts an integrated system, so that the lower limb exoskeleton robot is inconvenient to wear and carry. Ankle joint design has ankle joint revolution mechanic and foot buffering principle, but totally passive structure guides the effect unobvious to patient's recovery, needs to design a section initiative and guides recovered ankle joint mechanism to hemiplegia patient's ankle joint pathology characteristic.
The Chinese invention patent CN111110519A discloses a multi-sensing intelligent wearable lower limb exoskeleton robot. The lower limb exoskeleton robot is designed to arrange a plurality of pressure sensors at a plurality of positions of a human body. The whole sensing system is used for detecting the motion state of the human body to control the exoskeleton to move, but the exoskeleton system has comfort problem in use, and hip joints and knee joints are directly arranged outside the joints by adopting the motors. And the whole system can not well fit the rotation of the joint, and particularly, the rotation center of the knee joint can translate for a larger distance along with the movement of the joint in the movement process of the knee joint. Meanwhile, the ankle joint only adopts passive connection and cannot help the patient to conduct walking posture guidance well.
Chinese patent CN110465924A discloses a lower limb exoskeleton robot with a four-bar knee joint. The lower limb exoskeleton robot adopts a four-bar linkage mechanism in the knee joint, and a hydraulic driving device and the four-bar linkage mechanism are adopted in a driving device to solve the problem of instantaneous rotation center deviation of the knee joint. However, the hydraulic drive is larger in size and heavier than the motor drive. A set of hydraulic circuit system needs to be independently constructed, so that the cost is high; and the speed of the hydraulic drive has larger hysteresis than that of the motor, so the hydraulic drive is not suitable for the rehabilitation training and the movement of the human body.
However, for the hemiplegic patient, if the lower limb exoskeleton robot designed for the bipedal paraplegic patient is continuously used, the walking of the healthy side of the hemiplegic patient is affected; and if one side of the existing bilateral exoskeleton robot is simply disassembled, the wearing condition of a patient cannot be well adapted. In addition, a waist mechanism, a hip joint mechanism, a knee joint mechanism and an ankle joint mechanism of the existing lower limb exoskeleton robot are mutually connected, and a user needs to wear all the connected mechanisms when wearing the lower limb exoskeleton robot; however, for a patient who only needs to perform rehabilitation training on a local position, for example, only needs to perform rehabilitation training on a hip joint, a knee joint or an ankle joint, the load of the patient is increased undoubtedly, and the normal movement of the healthy position of the patient is affected.
The lower limb exoskeleton robot is suitable for the hemiplegic patients and cannot influence the normal motion of the healthy leg on one side of the hemiplegic patients; the lower limb exoskeleton robot can be also suitable for the paraplegia patients by increasing the number of the hip joint mechanisms; meanwhile, the waist mechanism, the hip joint mechanism and the knee joint mechanism can be combined and applied according to the actual requirements of the patient, for example, if the patient needs to recover the hip joint and the knee joint, the waist mechanism, the hip joint mechanism and the knee joint mechanism can be worn only by selection, and the ankle joint mechanism does not need to be worn; if the patient needs to recover the hip joint and the ankle joint, only the waist mechanism, the hip joint mechanism and the ankle joint mechanism can be worn selectively without wearing the knee joint mechanism; therefore, the lower limb exoskeleton robot provided by the application can reduce the load of a patient and cannot influence the normal motion of healthy ankle joints or knee joints of the patient in the use process.
The present application will be described in detail with reference to the accompanying drawings and examples.
Referring to fig. 1 to 3, fig. 1 is a schematic view illustrating a lower extremity exoskeleton robot according to an embodiment of the present application being worn on a human body; FIG. 2 is a schematic illustration of the lower extremity exoskeleton robot of the configuration of FIG. 1 not being worn on a human body; fig. 3 is a walking simulation diagram of a human body wearing the lower extremity exoskeleton robot according to an embodiment of the present application. In the present embodiment, a lower extremity exoskeleton robot 10 is provided. As shown in fig. 3, through software simulation and experimental verification, the whole lower extremity exoskeleton robot 10 establishes a whole human body model and a corresponding design model of the lower extremity exoskeleton robot 10 in dynamics simulation software, and derives corresponding joint data through simulation, so that it can be seen that the whole lower extremity exoskeleton robot 10 can complete corresponding walking training. The physical model is also processed to obtain a corresponding physical model, the whole lower limb exoskeleton robot 10 is operated after a normal patient performs a wearing experiment, the wearing effect is ideal, and the whole lower limb exoskeleton robot 10 can reach all angles in the walking process. The whole mechanism has no obstruction in the walking process, and can well assist the patient in walking.
As shown in fig. 1, the lower extremity exoskeleton robot 10 includes at least one of a hip joint mechanism 12, a knee joint mechanism 13, and an ankle joint mechanism 14, which are provided independently of each other. For example, the lower extremity exoskeleton robot 10 includes a hip joint mechanism 12 and a knee joint mechanism 13; or a hip joint mechanism 12 and an ankle joint mechanism 14; or a knee joint mechanism 13 and an ankle joint mechanism 14. This application can make the user select one of them or multiple mechanism to dress according to actual demand through making each mechanism mutually independent setting to when providing the helping hand for the user and carrying out rehabilitation training, reduce the load that unnecessary wearing brought for the user.
In one embodiment, if the lower extremity exoskeleton robot 10 includes a hip joint mechanism 12, the lower extremity exoskeleton robot 10 may further include a lumbar mechanism 11, such that the hip joint mechanism 12 is fixed to the user by the lumbar mechanism 11.
The waist mechanism 11 is worn around the waist of the user. Specifically, referring to fig. 4, fig. 4 is a disassembled schematic view of a waist structure provided in an embodiment of the present application; the lumbar mechanism 11 includes: a lumbar support assembly 111, a first enclosing plate 112 and a second enclosing plate 113.
Wherein the lumbar support assembly 111 is adapted to rest against the back of the user; in particular, the lumbar support assembly 111 may include a first support plate 1111 and a second support plate 1112 that are interconnected.
The first support plate 1111 is used to abut against a position above the waist of the user, and the first support plate 1111 may be used to set a control board, an arithmetic unit, and the like. The first support plate 1111 has opposite first and second ends; a first connecting hole can be formed in the first end and the second end of the first supporting plate 1111 respectively; the first connection hole may extend in a direction perpendicular to a direction of the first end toward the second end; and the first connecting hole is used for setting up the bandage to it is fixed with user's waist with waist mechanism 11 through the bandage, and reach comfortable wearing effect through the length of adjustment bandage. The strap may be an elastic strap or a flexible strap.
The second supporting plate 1112 can be fixed with the first supporting plate 1111 by fixing members such as screws, buckles and the like; the second support plate 1112 is adapted to rest in a position below the user's waist. Specifically, the second support plate 1112 has opposite first and second ends; the first end and the second end of the second support plate 1112 may be respectively opened with a second connection hole. Wherein, the second connection hole may extend along a direction of the first end of the second support plate 1112 toward the second end.
In particular, the first support plate 1111 and/or the second support plate 1112 may be rounded to match the contour of the back of the user, thereby improving the comfort of the user when resting against the back of the user. And the first support plate 1111 and/or the second support plate 1112 may be a frame structure to reduce the load when the user wears the lower extremity exoskeleton robot 10 while saving costs.
In a particular embodiment, the first enclosure plate 112 is particularly slidably attached to a first end of the second support plate 1112. In an embodiment, the lumbar mechanism 11 may further include a fixing member, which passes through the second connecting hole from one side of the second support plate 1112 and is fixed with the first enclosing plate 112, so as to fix the first enclosing plate 112 and the second support plate 1112. Specifically, the fixing member can slide along the extending direction of the second connecting hole to adjust the relative position of the first enclosing plate 112 and the second supporting plate 1112. Wherein, the fixing piece can be a rivet or a screw, etc.
A second enclosing plate 113 is slidably connected to the second end of the second supporting plate 1112, and the second enclosing plate 113 is adapted to be fastened to the other side of the waist of the user. The sliding connection between the second enclosing plate 113 and the second supporting plate 1112 can be referred to the sliding connection between the first enclosing plate 112 and the second supporting plate 1112, and can achieve the same or similar technical effects, and the details are not repeated herein. The first enclosing plate 112 and the second enclosing plate 113 are respectively connected to the two ends of the second supporting plate 1112 in a sliding manner, so that the waist mechanism 11 can be used for adjusting the wearing width of the waist mechanism 11 by moving the positions of the fixing pieces in the second connecting holes according to patients of different sizes, and the waist mechanism 11 and the waist of a user can be better fitted.
Specifically, as shown in fig. 4, the ends of the first and second enclosing plates 112 and 113 facing away from the second supporting plate 1112 may also be respectively provided with a second connecting hole, and the second connecting hole is used for arranging a strap to be bound with the waist of the user through the strap.
Referring to fig. 5, fig. 5 is a disassembled schematic view of a hip joint mechanism 12 and a lumbar mechanism 11 at a connection position according to an embodiment of the present application; the lower extremity exoskeleton robot 10 further comprises a first linkage assembly 15; the first connecting component 15 is used for connecting the waist mechanism 11 and the hip joint mechanism 12; specifically, the first connection assembly 15 includes a first connection block 151 and a second connection block 152 that are slidably connected; the first connecting block 151 may be fixedly connected to the first enclosing plate 112 or the second enclosing plate 113 through a fixing member such as a countersunk screw or a stud, and the second connecting block 152 is fixedly connected to the hip joint mechanism 12; in one embodiment, a first sliding groove is formed on a side surface of the first connecting block 151 facing the second connecting block 152, and a second sliding groove is formed on a side surface of the second connecting block 152 facing the first connecting block 151. When the first connecting block 151 and the second connecting block 152 are connected, the first sliding groove and the second sliding groove are arranged in a staggered manner, one side wall of the first sliding groove is embedded into the second sliding groove and is in sliding connection with the second sliding groove, and one side wall of the second sliding groove is embedded into the first sliding groove and is in sliding connection with the first sliding groove, so that the sliding connection of the first connecting block 151 and the second connecting block 152 is realized; of course, only one of the first connecting block 151 and the second connecting block 152 may be provided with a sliding groove, and only the other one of the first connecting block 151 and the second connecting block 152 may be provided with a protrusion, so that when the first connecting block 151 and the second connecting block 152 are connected, the protrusion is inserted into the sliding groove, and the sliding connection between the first connecting block 151 and the second connecting block 152 is realized through the sliding of the protrusion and the sliding groove.
Specifically, as shown in fig. 5, the hip joint mechanism 12 includes a hip joint body and a first driver 122; wherein the hip joint body is intended to be worn on one of the thighs of a user. A first drive member 122 is coupled to the hip joint body for driving movement of the hip joint body to provide assistance to the movement of the thigh. In one embodiment, the first drive member 122 is an electric motor, such as a high torque disc motor; compared with hydraulic drive, the motor has smaller volume and lighter weight.
The hip joint body specifically comprises a first connector 121 and a rotating assembly 123; wherein the first connecting piece 121 is connected with the lumbar mechanism 11. Specifically, the first connecting member 121 may be connected to the second connecting block 152 by a fixing member such as a grub screw or a stud, so as to achieve connection with the first enclosing plate 112 or the second enclosing plate 113 of the lumbar mechanism 11 through the second connecting block 152 and the first connecting block 151.
Specifically, the first connecting member 121 may have a hollow ring shape. In an embodiment, the first driving element 122 may be disposed on the first connecting element 121, and may be fixed to the first connecting element 121 by a fixing element such as a screw or a buckle.
The rotating assembly 123 is connected to the first driving member 122, so that the rotating assembly 123 is driven to rotate by the first driving member 122. The rotating assembly 123 is worn on the thigh of the user, so that the thigh of the user is driven to rotate together in the process that the first driving piece 122 drives the rotating assembly 123 to rotate, and assistance is provided for rehabilitation training of the thigh of the user.
Specifically, the rotating assembly 123 includes a rotating member 1231, an extending rod 1232, a second connecting member 1233, a first thigh wearing member 1234 and a third connecting member 1235. Wherein, the first end of the rotating member 1231 is connected to the first driving member 122; the first driving member 122 drives the rotating member 1231 to rotate, so as to drive the whole rotating assembly 123 to rotate through the rotating member 1231. In a specific embodiment, three threaded holes are formed in the middle of the first driving member 122, and the first connecting member 121 is connected with the first driving member 122 through a flat head screw; and the output shaft of the first driver 122 passes through a hole in the middle of the first driver 122, and the rotating member 1231 is connected with the first driver 122 by three screws.
The second connecting member 1233 is disposed at the second end of the rotating member 1231, and the extension rod 1232 is detachably connected to the rotating member 1231 via the second connecting member 1233. The extension rod 1232 may be made of carbon fiber. Specifically, the second connector 1233 may be connected to the extension rod 1232 via a flat-headed nut. Specifically, the second connecting member 1233 may be an annular body with an opening, and one end of the extension rod 1232 is inserted into the second connecting member 1233 and is locked by a fixing member such as a screw or a stud, so as to fixedly connect the extension rod 1232 and the first connecting member 121; when the distance between the first thigh wearing part 1234 and the lumbar mechanism 11 needs to be adjusted, the fixing part can be loosened, so that the extension rod 1232 can move up and down in the second connecting part 1233, and is locked therein when adjusted to a preset length, so as to be fixed again. Therefore, the connecting position of the extension rod 1232 and the second connecting piece 1233 can be selected according to the actual height of the user, so that the wearing position suitable for the user is achieved, the hip joint mechanism 12 can be suitable for most people, and the application range of the hip joint mechanism is widened.
The first thigh wear 1234 is intended to be worn on the thigh of the user. Wherein, first thigh wearing piece 1234 can become the arc structure, and this arc structure is unanimous with the rear side profile of user's thighs to when first thigh wearing piece 1234 dresses at user's thighs, can with the better laminating of user's thighs, thereby form good helping hand effect. Specifically, a third connecting hole may be provided on the first thigh wearing part 1234, and the third connecting hole is used for binding a bandage to fix the first thigh wearing part 1234 on the thigh of the user.
The third link 1235 can be fixed to the first thigh wearing part 1234 by a flat nut, and the first thigh wearing part 1234 can be detachably connected to the extension rod 1232 by the third link 1235. Specifically, the structure and function of the third connecting member 1235 and the connection manner between the third connecting member 1235 and the extension rod 1232 are the same as or similar to the structure and function of the second connecting member 1233 and the connection manner between the second connecting rod 1414 and the extension rod 1232, and the same or similar effects can be achieved.
Specifically, the hip joint mechanism 12 is driven by a large-torque disc motor, the waist mechanism 11 is designed in a light weight mode, and the rod pieces are connected by carbon fiber rods, so that a good wearing effect can be achieved, and certain strength requirements can be guaranteed.
In one embodiment, as shown in fig. 5, the hip joint body may further include a stopper 124; the limiting member 124 is used for limiting the rotation angle of the rotation assembly 123, so as to ensure that the rotation range of the rotation assembly 123 is in the motion range of the hip joint of the human body, thereby ensuring the safety of the user wearing the hip joint mechanism 12 for training. Specifically, the limiting member 124 may be disposed on the first connecting member 121 and located on a side of the first connecting member 121 away from the first driving member 122; the position-limiting member 124 and the first connecting member 121 can be integrally formed, so as to facilitate manufacturing. In an embodiment, the position-limiting member 124 may be an arc-shaped protrusion integrally formed with the first connecting member 121. The arc angle range corresponding to the arc-shaped protrusion can be 60 degrees to 120 degrees.
Please refer to fig. 6 to 8, wherein fig. 6 is a schematic overall structure diagram of a knee joint mechanism according to an embodiment of the present application; FIG. 7 is a disassembled view at A of FIG. 6; FIG. 8 is a disassembled view at B in FIG. 6; the knee joint mechanism 13 includes a knee joint main body and a second driver 130. The knee joint main body is worn on one of the thigh and the lower leg of a user; the second driving member 130 is connected to the knee joint main body for driving the knee joint main body to extend and retract so as to provide assistance to the movement of the knee joint of the user. The second driving member 130 may be a motor. In one embodiment, the knee mechanism 13 further includes a mount 133. The second driving member 130 may be disposed on the mounting seat 133 by four screws.
Wherein, the knee joint main part includes: a second thigh wearing part 131, a lower leg wearing part 132, a first rod 134, a second rod 135 and a screw rod assembly 136.
Wherein the second thigh wearing part 131 is adapted to be worn on the thigh of the user. Specifically, the second thigh wearing part 131 may be an arc-shaped plate. The arc of this arc matches the arc of the rear side of the user's thighs to increase the fit of second thigh wear 131 with the user's thighs. Specifically, the second thigh wearing part 131 can be a magic tape, so as to be convenient to wear, and the cost is low. In a particular embodiment, the mounting seat 133 is fixedly connected to the second thigh wear part 131.
The lower leg wearing member 132 is intended to be worn on the lower leg of the user. The lower leg wear 132 can also be a curved plate. The arc of the arc matches the arc of the calf of the user's calf to increase the fit of the calf-donning piece 132 with the user's calf. Specifically, the lower leg wearing part 132 may also be a magic tape. In an exemplary embodiment, the second thigh wearing part 131 and/or the lower leg wearing part 132 may be provided with a fourth coupling hole, and the second thigh wearing part 131 may be coupled to the thigh of the user by sewing a corresponding strap and fastening the strap to the fourth coupling hole, or the lower leg wearing part 132 may be coupled to the lower leg of the user.
The first rod 134 is fixedly connected to the second thigh wearing part 131 or the mounting seat 133. In an embodiment, the first rod 134 may be connected to the mounting seat 133 by a countersunk screw, so that the first rod 134 is always kept in a fixed position during the movement of the screw assembly 136. One end of the second rod 135 is sleeved on the first rod 134, and the other end thereof can be fixedly connected with the lower leg wearing part 132 through a screw. The first rod 134 and the second rod 135 are tubular bodies. The second rod 135 is disposed in the first rod 134 and can move relative to the first rod 134.
As shown in fig. 7, the lead screw assembly 136 includes a lead screw 1361 and a lead screw guide 1362. In an embodiment, one end of the screw bar 1361 is connected to the second driving element 130, and the other end of the screw bar 1361 is connected to the second rod 135, so that the screw bar 1361 is driven by the second driving element 130 to rotate, thereby driving the second rod 135 to move relative to the first rod 134, and further driving the knee joint of the user to move, so as to perform rehabilitation training. Among them, the screw 1361 may be a ball screw 1361. The lead screw guide 1362 may be fixedly connected to the mounting seat 133 by means of a double nut, and the lead screw 1361 may be moved by means of the lead screw guide 1362.
The connection relationship among the first thigh wearing part 1234, the second driving part 130 and the lead screw assembly 136 can be seen in fig. 7. In a specific embodiment, the knee joint mechanism 13 further comprises a first coupling 137, a second coupling 138, a first connection screw, a second spacer, and a first hollow connection shaft. The output end of the second driving member 130 can be connected to the screw 1361 through the first coupling 137 and the second coupling 138. Specifically, the side of the second thigh wearing part 131 facing away from the thigh of the user can be fixedly connected to the mounting seat 133 through the first connecting screw, the second gasket and the first hollow connecting shaft. Wherein, through setting up second gasket and first hollow connecting axle to be connected with mount pad 133 under the connection of first connecting screw, can guarantee first body of rod 134 when wearing piece 131 rotation round the second thigh, not only be difficult for breaking away from, and have great flexibility.
Further, large axial and radial forces are created during operation due to the ball screw assembly 136. In one embodiment, the knee joint mechanism 13 may further include a radial bearing, a first spacer, and a deep groove ball bearing. The radial bearing, the first spacer and the deep groove ball bearing are arranged at one end of the screw rod assembly 136 close to the second thigh wearing part 131 so as to ensure that the screw rod assembly 136 runs stably under a heavy load condition.
The connection relationship between the second rod 135 and the lead screw assembly 136 can be seen in fig. 8. Specifically, the lead screw assembly 136 further includes a ball slide 1363 and a lead screw slide 1364. The screw rod slide block 1364 is in threaded connection with the screw rod 1361, is sleeved on the screw rod guide rail 1362, and can move up and down along the screw rod guide rail 1362 in the rotation process of the screw rod 1361. In a specific embodiment, the ball slide 1363 of the ball screw 1361 is connected to the screw slide 1364 through a set screw to perform an axial movement, and the second rod 135 is connected to the screw slide 1364 through a countersunk screw, so that the second rod 135 is driven to move relative to the first rod 134 during the sliding movement of the screw 1361, thereby performing a knee rehabilitation training.
Further, in order to prevent the whole screw 1361 from hitting the connecting members on both sides of the screw guide 1362 during the rotation process due to the exceeding of the stroke of the screw 1361, thereby damaging the components. Two ends of the screw rod sliding block 1364 can be respectively provided with a buffer sheet. The cushion sheet may be a rubber gasket. In a specific embodiment, a radial bearing, a ball bearing and a first spacer may also be provided at the end of the screw 1361 facing away from the second driving member 130 to ensure smooth operation of the ball screw 1361.
The connection relationship between the second rod 135 and the lower leg wearing member 132 can be continued with reference to fig. 8. In a specific embodiment, the knee joint mechanism 13 further includes a push rod base 139, a second connecting screw, a third spacer, and a second hollow connecting shaft. One side of the lower leg wearing piece 132, which faces away from the lower leg of the user, can be fixedly connected with the push rod base 139 through a second connecting screw, a third gasket and a second hollow connecting shaft. Thus, the push rod base 139 can be rotated along the circumferential direction of the second hollow connecting shaft, that is, the second rod 135 is rotated along the circumferential direction of the second hollow connecting shaft, so that the relative rotation between the second rod 135 and the lower leg wearing part 132 is realized; and the second rod 135 can be ensured not to be easily separated when rotating around the lower leg wearing piece 132, and has greater flexibility.
Referring to fig. 1 to 3 and fig. 9, fig. 9 is a schematic view of an overall structure of an ankle joint mechanism according to an embodiment of the present application; the ankle mechanism 14 includes an ankle main body and a third driving member 143. Wherein, the ankle joint main part is used for wearing at one of them shank and foot of user. The third driving member 143 is coupled to the ankle joint main body to drive the ankle joint main body to move to provide an assisting force to the movement of the ankle joint of the user.
Wherein the ankle joint main body includes a leg part member 141 and a foot part member 142.
The leg assembly 141 is adapted to be wrapped around the user's lower leg and wrapped around the front side of the lower leg. Specifically, referring to fig. 10, fig. 10 is a disassembled schematic view of fig. 9. The leg assembly 141 includes a leg frame 1411, a first connecting rod 1412, a leg support 1413, a second connecting rod 1414, and a first clamping plate 1415. Wherein the leg frame 1411 is provided around the user's calf in the circumferential direction of the user's leg. This leg frame 1411 specifically can be the arc structure to can be unanimous with the radian of the front side of user's shank, in order to improve the laminating degree of leg frame 1411 and user's shank, increase the wearing travelling comfort. In a specific embodiment, a fixing plate is disposed on a side of the leg frame 1411 facing away from the user's lower leg, and the fixing plate is provided with a through hole and a screw hole; the third driving member 143 is inserted into the screw hole through a grub screw to connect with the fixing plate. Specifically, the fixing plate may be integrally formed with the leg frame 1411 to ensure a high accuracy of the current position of the third driving member 143. The third driving member 143 may be a motor.
A first end of the first connecting rod 1412 is connected with the output shaft of the third driving member 143. Specifically, a threaded hole of the set screw is formed in the side surface of the first connecting rod 1412. In a particular embodiment, a set screw may be threaded through the threaded bore to fix the relative position of the first connecting rod 1412 and the output shaft of the third drive 143. The first connecting rod 1412 may be L-shaped, i.e., handle-shaped. The third driving element 143 is used for driving the first connecting rod 1412 to rotate.
One end of the leg support bar 1413 is rotatably connected to a second end of the first connection rod 1412. In a specific application process, since the position of the swing center of the ankle joint may be changed due to the change in the length of the leg support bar 1413, the leg support bar 1413 may be configured to include a first support 1413a and a second support 1413b in order to adapt the leg support 1413 to the ankle joint condition of different patients. Wherein, the first end of the first support 1413a is rotatably connected with the second end of the first connecting rod 1412. The first end of the second support 1413b is slidably connected to the first support 1413a via a connection buckle, and the second end is rotatably connected to the second connection rod 1414. It is specific, connect the buckle through the locking degree of holding screw adjustment connection buckle, establish length to the cover of first supporter 1413a and second supporter 1413b and adjust, thereby adjust the total length of shank bracing piece 1413, establish the motion range with the cover that changes four bar linkage (see below), make the shank bracing piece 1413 of this ankle joint mechanism 14 can adjust according to different patients ' ankle joint pathological condition, the realization is applicable to different patients ' ankle joint angular motion scope, this ankle joint mechanism 14's application scope has effectively been increased.
A first end of the second link 1414 is rotatably coupled to the leg support 1413, and a second end of the second link 1414 is fixedly coupled to the foot assembly 142. Specifically, the second connecting rod 1414 comprises a first connecting rod 1412 body and a second connecting rod 1414 body; wherein the second end of the leg support bar 1413 is connected to the first end of the body of the first connection rod 1412 by an oilless bushing and a hinge pin. A second end of the body of the first connecting rod 1412 forms a rotating hole; and the body of first connecting rod 1412 tapers in size from its first end to its second end. The second connecting rod 1414 is connected to the second end of the first connecting rod 1412, and the central axis of the second connecting rod 1414 along the length direction thereof is perpendicular to the central axis of the first connecting rod 1412 along the length direction thereof. One end of the second connecting rod 1414 away from the first connecting rod 1412 is fixedly connected to the foot component 142. Specifically, the first connecting rod 1412 and the second connecting rod 1414 can be integrally formed to facilitate processing, enhance the bonding force therebetween, and avoid the fracture at the joint between the two when the rotation torque is large.
The first clamping plate 1415 is for clamping on one side of the user's lower leg. The first end of the first clamping plate 1415 is fixedly connected with the leg frame 1411, and the second end of the first clamping plate 1415 is provided with a ball bearing. In an embodiment, the rotation hole of the body of the first connection rod 1412 is sleeved on the ball bearing of the first clamping plate 1415 to be rotatably connected with the first clamping plate 1415. Wherein the ankle joint mechanism 14 can be operated for a long period of time at a high speed rotation by providing an oilless bushing and a ball bearing.
It can be appreciated that, in a specific application, the first connecting rod 1412, the leg supporting rod 1413, the second connecting rod 1414 and the first clamping plate 1415 form a four-bar linkage structure to solve the problems of foot drop and foot varus of a hemiplegic patient. The first connecting rod 1412 is the shortest rod in the four-bar structure, so as to ensure that the ankle joint third driving member 143 is continuously rotated to drive the ankle joint to move. Specifically, the four-bar linkage mechanism is designed into the crank rocker mechanism according to the motion condition of the ankle joint, so that the whole mechanism can meet various motion angles of the ankle joint in the walking process, the motion condition of the ankle joint can be fitted by utilizing the quick return characteristic of the crank rocker mechanism, the range of motion of the whole lower limb exoskeleton robot 10 relative to the ankle joint can be limited, and the ankle joint can be protected. The entire ankle joint mechanism 14 is lightweight, adjustable, modular in design, and can achieve the property of interchanging the left and right feet.
In one embodiment, the ankle mechanism 14 is further provided with a foot component 142 and a leg brace 1416, as hypermyotonia is often present in the foot of a hemiplegic patient. Wherein the foot assembly 142 is adapted to be worn on the sole of a foot of a user; the foot assembly 142 may be a footpad. Leg brace 1416 is for wearing on the front side of the user's lower leg; the structure of the leg protector 1416 is designed according to the structure of the human shank, so that the whole mechanism is attached to the shank after being worn; thereby completely fixing the ankle joint of the user through the foot unit 142 and the leg supporter 1416, and giving a good rehabilitation effect to the hemiplegic patient when using.
Specifically, the second end of the second connecting rod 1414 body is provided with a first strip-shaped hole along the length direction; one side of the foot component 142 can be inserted into the first strip-shaped hole through a fixing member such as a flat-head nut or a buckle, so as to be connected with the second end of the second connecting rod 1414 body. Wherein, mounting such as flush nut, buckle can slide along the extending direction in first bar hole to match with the motion of knee joint.
In this embodiment, the ankle joint mechanism 14 further includes a second clamping plate 144, a third connecting rod 145, and a ball bearing 146 provided at a first end of the second clamping plate 144 and a bearing cap 147 covering the ball bearing 146. The second clamping plate 144 and the first clamping plate 1415 are disposed on the other side of the leg frame 1411, and cooperate with the first clamping plate 1415 to clamp the left and right sides of the user's lower leg. Specifically, the second end of the second clamping plate 144 is fixedly connected to the leg frame 1411, and the second clamping plate 144 is rotatably connected to the other side of the leg assembly 141 through the third connecting rod 145. The leg supporter 1416 can be fixedly coupled to the leg frame 1411, the first clamping plate 1415, and the second clamping plate 144 by screws and nuts, respectively, to improve stability of the leg supporter 1416.
Specifically, one end of the third connecting rod 145 may be opened with a second rotating hole, and the second rotating hole is sleeved on a ball bearing 146 disposed at the first end of the second clamping plate 144 to be rotatably connected with the second clamping plate 144 and form a bearing connecting member. A bearing cap 147 is seated on the bearing connecting member and fixed to the ball bearing 146 and the second clamping plate 144 by a flat nut to press the entire bearing connecting member of the ankle joint. The other end of the third connecting rod 145 may also be provided with a second strip-shaped hole, and the other side of the leg assembly 142 may also be inserted into the second strip-shaped hole through a fixing member such as a flat-head nut or a buckle, so as to be connected to the third connecting rod 145. Likewise, fixing pieces such as flat-head nuts and buckles can slide in the second strip-shaped holes along the extending direction of the second strip-shaped holes so as to match the movement of the knee joint.
In a specific embodiment, as shown in fig. 8 and 9, the foot assembly 142 is further provided with strap holes to adjust the foot size of different patients accordingly, so that the foot assembly 142 can be suitable for patients with different foot sizes.
The utility model provides a lower limbs ectoskeleton robot 10's each part mechanism realizes mutual relative independence through the individual drive, promptly, each mechanism belongs to the parallel relation, in concrete application, can directly constitute modularization trainer through recombining to carry out corresponding combination according to patient's actual demand, thereby realize the lower limbs rehabilitation training of various different forms, in order to provide the helping hand for the user and carry out the rehabilitation training, reduce the load that unnecessary wearing brought for the user. For example, a first modular training apparatus comprises: a hip joint mechanism 12 and a knee joint mechanism 13 for performing rehabilitation training of the hip joint and the knee joint. A second modular training apparatus comprises: the knee joint mechanism 13+ the ankle joint mechanism 14 to perform rehabilitation training of the knee joint and the ankle joint. A third modular training apparatus comprises: a hip joint mechanism 12+ an ankle joint mechanism 14 for rehabilitation training of the hip joint and the ankle joint. Also, the mechanisms may be used to form a separate training device, for example, the hip joint mechanism 12 may be used to form a separate hip joint training device for hip joint rehabilitation training. The knee joint mechanism 13 constitutes a knee joint training device to perform rehabilitation training of the knee joint. The ankle mechanism 14 constitutes an ankle training device to perform rehabilitation training of the ankle. In addition, each mechanism is only worn on one leg of the user, so that the lower limb exoskeleton robot 10 can avoid the influence on the walking of the other healthy leg of the user while providing assistance for the hemiplegic patient; in addition, the user can select to wear the corresponding mechanism on the left leg or the right leg of the user according to the actually hemiplegic leg; in practical application, the lower limb exoskeleton robot can be suitable for patients with paraplegia on both legs at the same time by additionally arranging the number of corresponding mechanisms, so that the lower limb exoskeleton robot is high in universality.
Further, the problem that the rotation center of the knee joint is translated along with the rotation of the joint is solved; this application adopts the ball screw 1361 drive design all the same with prior art in knee joint department, modular knee joint push rod design to and whole actuating mechanism places in the joint contained angle department of shank and thigh, and adopts the magic to paste and tie up in thigh portion and shank portion and tie up. Compared with the direct arrangement of the disc type motor and the side edge of the human body, the leg-free training device has great influence on patients who have no awareness at all due to severe hemiplegia, and the joint is seriously damaged due to the fact that the training device cannot be used for fitting the joint rotation center after being worn for a long time; meanwhile, the adjustable hip joint mechanism 12 is designed to be convenient for the patient to wear, and the hip joint mechanism 12 can be transformed into a mechanism design suitable for the other leg through simple disassembly and assembly; therefore, the whole lower limb exoskeleton robot 10 can be directly applied to different patients without being designed separately, and has good universality.
The lower limb exoskeleton robot 10 provided by the embodiment is worn at the waist of a user by arranging the waist mechanism 11; meanwhile, the hip joint mechanism 12 is arranged, and the hip joint mechanism 12 is worn on one thigh of the user so as to provide assistance for one thigh of the user through the joint spanning mechanism; the hip joint mechanism 12 is worn on one thigh of the user, so that the lower limb exoskeleton robot 10 can avoid the influence on the walking of the healthy leg on the other side of the user while providing assistance for the hemiplegic patient; in addition, the hip joint mechanism 12 and the waist mechanism 11 are detachably connected, so that the lower limb robot can select to connect the hip joint mechanism 12 with the left side or the right side of the waist mechanism 11 according to the actual hemiplegic legs of the user, and further provide assistance for the left thigh or the right thigh of the user.
The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (10)
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| CN202110800221.7A CN113730196B (en) | 2021-07-13 | 2021-07-13 | Lower limb exoskeleton robot |
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