CN104758142A - Assistance exoskeleton robot - Google Patents
Assistance exoskeleton robot Download PDFInfo
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- CN104758142A CN104758142A CN201510166388.7A CN201510166388A CN104758142A CN 104758142 A CN104758142 A CN 104758142A CN 201510166388 A CN201510166388 A CN 201510166388A CN 104758142 A CN104758142 A CN 104758142A
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- sole
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- hip joint
- thigh
- oil cylinder
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Abstract
The invention relates to an assistance exoskeleton robot. The assistance exoskeleton robot comprises shoe body assemblies (1), ankle assemblies (2), shanks (3), knees (4), thigh assemblies (5), a hip joint assembly (6) and a back support (7), wherein each shoe body assembly (1) comprises a rubber insole (8), a front sole (9) and a back sole (10); the ankle assembly (2) comprises a connection block (12), a hinge board (13), a rotation pair (14) and a connection rod (15); the keens (4) are in an L-shaped structure; the upper end of each shank (3) is hinged with the corner of the L-shaped structure of the corresponding knee (4); the thigh assembly (5) comprises a thing main body, an oil cylinder A (20) and an oil cylinder B (22); the hip joint assembly (6) comprises a hip joint main body (24) and a hip joint band (25). The assistance exoskeleton robot has the advantages of simple structure, low cost and high comfort level; the ankles have multiple degrees of freedom.
Description
Technical field
The present invention relates to technical field of medical rehabilitation machinery, particularly a kind of assistance exoskeleton robot.
Background technology
Ectoskeleton is that one can provide and carries out configuration to biological soft inside organ, the hard external structure of building and protection.Although the history of existing many decades appears in ectoskeletal concept in U.S.'s science fiction movies, in view of the restriction of basic technology, it is not the concept of a practicalness at all times.Through unremitting research, external scientist has developed various ectoskeleton, helps people in need more effectively to arrange their daily life and work.
The present ectoskeleton of China is in development all substantially, and major part is mainly used in patients ' recovery or helps people with disability, helps the robot of expansion Human Body Capacity less comparatively speaking.Existing assistance exoskeleton robot existence involves great expense, and mechanical processing difficulty is comparatively strong, and machining accuracy is difficult to meet and dress the shortcomings such as uncomfortable.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, provide that a kind of structure is simple, cost is low, comfort level is high and ankle joint has multivariant assistance exoskeleton robot.
Object of the present invention is achieved through the following technical solutions: a kind of assistance exoskeleton robot, it comprises footwear body assembly, ankle joint assembly, shank, knee joint, thigh assembly, hip joint assembly and back bracket, described footwear body assembly comprises plate after rubber insole, sole header board and sole, the upper surface that described sole header board is arranged at rubber insole is anterior, after sole, plate is arranged at the upper surface rear portion of rubber insole, and sole header board is connected with plate after sole; Described ankle joint assembly comprises contiguous block, articulated slab, revolute pair and connecting rod, the outer ledge place of plate after sole is vertically fixed in the lower end of contiguous block, the upper end of contiguous block and the lower end of articulated slab are hinged and connected, the top of articulated slab is arranged in the inside of revolute pair, the top of articulated slab has hole, the side, lower end of described connecting rod is provided with the rotary column of horizontal direction extension, and rotary column through articulated slab, and is connected with revolute pair; The upper end of described connecting rod is connected with the lower end of shank, and described knee joint is L shape structure, and upper end and the kneed L shape structure corner of shank are hinged and connected; Described thigh assembly comprises thigh body, oil cylinder A and oil cylinder B, lower end and the kneed vertical section top of described thigh body are hinged and connected, the front side of thigh body is installed with mount pad A, the afterbody of described oil cylinder A is hingedly mounted on mount pad A, the outfan of oil cylinder A is connected with the upper articulation of thigh body, described thigh body upper back is installed with mount pad B, the afterbody of oil cylinder B is hinged to be installed on mount pad B, and the outfan of oil cylinder B is hingedly mounted on kneed horizontal segment end; Described hip joint assembly comprises hip joint body and hip joint bandage, and hip joint body is arranged at the top of thigh body, and hip joint bandage is arranged on hip joint body; The rear side of described hip joint bandage is also fixed with back bracket mounting blocks, and described back bracket is fixed on back bracket mounting blocks.
Sensor is respectively arranged with between plate between described rubber insole and sole header board, after rubber insole and sole.
Described rotary column is also set with backing plate, and backing plate is between articulated slab and connecting rod.
Described footwear body assembly also comprises sole bandage, and sole bandage is arranged at the junction of plate after sole header board and sole.
Thigh bandage is also provided with inside described thigh body.
The present invention has the following advantages:
1, frame for movement of the present invention is simple, and requirement on machining accuracy is lower, easily realizes.
2, each modular construction is relatively simple, and use traditional processing method just can reach requirement, and need not take very new processing instrument and process technology, this greatly reducing cost and process-cycle.
3, hip joint body is made up of the metal structure of two the anthropoid skeletons in left and right, this design can allow the hip joint structure of main holding capacity can sustain the gravity of weight and can fit closely with human hip bone again, avoid the buttocks of hip joint structure and human body in walking process to produce to interfere, enhance the comfortableness of assistance exoskeleton robot greatly.
4, ankle joint assembly has three degree of freedom, ankle joint can be allowed respectively to realize stretching/open up, medial rotation/revolve outward ,/varus these three motions of turning up, and use the range of movement of certain frame for movement to motion all directions to limit, in order to avoid the range of movement exceeding human body itself in motor process damages human body.
5, arrange back bracket at back, back bracket module is mainly used in dynamical element hydraulic pressure cylinder pump and fuel tank is placed, and is the main undertaker that bears a heavy burden, and is user Reduction of Students' Study Load.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the fractionation structural representation of footwear body assembly;
Fig. 3 is the package assembly schematic diagram of footwear body assembly;
Fig. 4 is the fractionation structural representation of ankle joint assembly;
Fig. 5 is the side structure schematic diagram of ankle joint;
Fig. 6 is the left TV structure schematic diagram of Fig. 5;
Fig. 7 be shank respectively with connecting rod and kneed connection diagram;
Fig. 8 is the structural representation of hip joint assembly;
In figure: 1-footwear body assembly, 2-ankle joint assembly, 3-shank, 4-knee joint, 5-thigh assembly, 6-hip joint assembly, 7-back bracket, 8-rubber insole, 9-sole header board, plate after 10-sole, 11-sensor, 12-contiguous block, 13-articulated slab, 14-revolute pair, 15-connecting rod, 16-rotary column, 17-backing plate, 18-sole bandage, 19-mount pad A, 20-oil cylinder A, 21-mount pad B, 22-oil cylinder B, 23-thigh bandage, 24-hip joint body, 25-hip joint bandage, 26-back bracket mounting blocks.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described, but protection scope of the present invention is not limited to the following stated.
As shown in Figure 1, a kind of assistance exoskeleton robot, it comprises footwear body assembly 1, ankle joint assembly 2, shank 3, knee joint 4, thigh assembly 5, hip joint assembly 6 and back bracket 7, as shown in Figures 2 and 3, described footwear body assembly 1 comprises rubber insole 8, plate 10 after sole header board 9 and sole, rubber insole 8 has the effect slowing down impact, after sole header board 9 and sole, plate 10 is that the metal material that can bear weight is made, make on the one hand to dress and feel that comfortable another aspect can bear heavy burden again, the upper surface that described sole header board 9 is arranged at rubber insole 8 is anterior, after sole, plate 10 is arranged at the upper surface rear portion of rubber insole 8, sole header board 9 is connected with plate after sole 10, as Fig. 4, shown in Fig. 5 and Fig. 6, described ankle joint assembly 2 comprises contiguous block 12, articulated slab 13, revolute pair 14, with connecting rod 15, the outer ledge place of plate 10 after sole is vertically fixed in the lower end of contiguous block 12, the upper end of contiguous block 12 and the lower end of articulated slab 13 are hinged and connected, the top of articulated slab 13 is arranged in the inside of revolute pair 14, the top of articulated slab 13 has hole, the side, lower end of described connecting rod 15 is provided with the rotary column 16 of horizontal direction extension, rotary column 16 is through articulated slab 13, and be connected with revolute pair 14, ankle joint assembly 2 has three degree of freedom, ankle joint can be allowed respectively to realize stretching/opening up, outside medial rotation/revolve, to turn up/varus these three motions, and use the range of movement of certain frame for movement to motion all directions to limit, in order to avoid the range of movement exceeding human body itself in motor process damages human body, as shown in Figure 7, the upper end of described connecting rod 15 is connected with the lower end of shank 3, the bottom of shank 3 also has U-lag, on the one hand in order to loss of weight, reduce rotary inertia to reduce the inertia effects in control procedure, on the other hand can as the main implementation method of shank 3 length adjustment, described knee joint 4 is L shape structure, knee joint 4 is built with encoder, and as one of the major parameter of control signal, the upper end of shank 3 and the L shape structure corner of knee joint 4 are hinged and connected, as shown in Figure 1, described thigh assembly 5 comprises thigh body, oil cylinder A20 and oil cylinder B22, the lower end of described thigh body and the vertical section top of knee joint 4 are hinged and connected, the front side of thigh body is installed with mount pad A19, the afterbody of described oil cylinder A20 is hingedly mounted on mount pad A19, the outfan of oil cylinder A20 is connected with the upper articulation of thigh body, described thigh body upper back is installed with mount pad B22, the afterbody of oil cylinder B21 is hinged to be installed on mount pad B22, the outfan of oil cylinder B21 is hingedly mounted on the horizontal segment end of knee joint 4, as shown in Figure 8, described hip joint assembly 6 comprises hip joint body 24 and hip joint bandage 25, hip joint body 24 is made up of the metal structure of two the anthropoid skeletons in left and right, this design can allow the hip joint structure of main holding capacity can sustain the gravity of weight and can fit closely with human hip bone again, avoid the buttocks of hip joint structure and human body in walking process to produce to interfere, strengthen comfortableness, hip joint body 24 is arranged at the top of thigh body, and hip joint bandage 25 is arranged on hip joint body 24, the rear side of described hip joint bandage 25 is also fixed with back bracket mounting blocks 26, and described back bracket 7 is fixed on back bracket mounting blocks 26, and back bracket 7 is mainly used in dynamical element hydraulic pressure cylinder pump and fuel tank is placed, and is the main undertaker that bears a heavy burden.
As shown in Figure 2, between described rubber insole 8 and sole header board 9, after rubber insole 8 and sole, between plate 10, be respectively arranged with sensor 11, be used for the feedback of image data as control program.
As shown in Figure 4, described rotary column 16 is also set with backing plate 17, and backing plate 17 is between articulated slab 13 and connecting rod 15.
As shown in Figure 1, described footwear body assembly 1 also comprises sole bandage 18, and sole bandage 18 is arranged at the junction of plate 10 after sole header board 9 and sole, as shown in Figure 3, thigh bandage 23 is also provided with inside described thigh body, bondage is as assistance exoskeleton robot and the connection between dressing, bondage too tightly can not affect comfortableness, can not too loose the gait of the gait of assistance exoskeleton robot and human body not overlapped again and can not get good power-assisted effect, the present embodiment adopts flexible material as the material of bondage, and be adjustable length, dress according to difference and can take different bondage length, another effect of bondage is exactly that human body is by intention bondage being transmitted to a walking or stop, the action that control sequence will make the servo-actuated help of assistance exoskeleton robot dress to complete him to want.
Claims (5)
1. an assistance exoskeleton robot, it is characterized in that: it comprises footwear body assembly (1), ankle joint assembly (2), shank (3), knee joint (4), thigh assembly (5), hip joint assembly (6) and back bracket (7), described footwear body assembly (1) comprises plate (10) after rubber insole (8), sole header board (9) and sole, the upper surface that described sole header board (9) is arranged at rubber insole (8) is anterior, after sole, plate (10) is arranged at the upper surface rear portion of rubber insole (8), and sole header board (9) is connected with plate after sole (10), described ankle joint assembly (2) comprises contiguous block (12), articulated slab (13), revolute pair (14), with connecting rod (15), the outer ledge place of plate (10) after sole is vertically fixed in the lower end of contiguous block (12), the upper end of contiguous block (12) and the lower end of articulated slab (13) are hinged and connected, the top of articulated slab (13) is arranged in the inside of revolute pair (14), the top of articulated slab (13) has hole, the side, lower end of described connecting rod (15) is provided with the rotary column (16) of horizontal direction extension, rotary column (16) is through articulated slab (13), and be connected with revolute pair (14), the upper end of described connecting rod (15) is connected with the lower end of shank (3), and described knee joint (4) is L shape structure, and the upper end of shank (3) and the L shape structure corner of knee joint (4) are hinged and connected, described thigh assembly (5) comprises thigh body, oil cylinder A(20) and oil cylinder B(22), the lower end of described thigh body and the vertical section top of knee joint (4) are hinged and connected, the front side of thigh body is installed with mount pad A(19), described oil cylinder A(20) afterbody be hingedly mounted on mount pad A(19) on, oil cylinder A(20) outfan be connected with the upper articulation of thigh body, described thigh body upper back is installed with mount pad B(22), oil cylinder B(21) afterbody be hingedly installed on mount pad B(22) on, oil cylinder B(21) outfan be hingedly mounted on the horizontal segment end of knee joint (4), described hip joint assembly (6) comprises hip joint body (24) and hip joint bandage (25), and hip joint body (24) is arranged at the top of thigh body, and hip joint bandage (25) is arranged on hip joint body (24), the rear side of described hip joint bandage (25) is also fixed with back bracket mounting blocks (26), and described back bracket (7) is fixed on back bracket mounting blocks (26).
2. a kind of assistance exoskeleton robot according to claim 1, is characterized in that: be respectively arranged with sensor (11) between plate (10) between described rubber insole (8) and sole header board (9), after rubber insole (8) and sole.
3. a kind of assistance exoskeleton robot according to claim 1, is characterized in that: described rotary column (16) is also set with backing plate (17), and backing plate (17) is positioned between articulated slab (13) and connecting rod (15).
4. a kind of assistance exoskeleton robot according to claim 1, is characterized in that: described footwear body assembly (1) also comprises sole bandage (18), and sole bandage (18) is arranged at the junction of plate (10) after sole header board (9) and sole.
5. a kind of assistance exoskeleton robot according to claim 1, is characterized in that: be also provided with thigh bandage (23) inside described thigh body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510166388.7A CN104758142B (en) | 2015-04-10 | 2015-04-10 | A kind of assistance exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510166388.7A CN104758142B (en) | 2015-04-10 | 2015-04-10 | A kind of assistance exoskeleton robot |
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| CN104758142A true CN104758142A (en) | 2015-07-08 |
| CN104758142B CN104758142B (en) | 2017-06-27 |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105055127A (en) * | 2015-07-24 | 2015-11-18 | 黄河科技学院 | Unpowered lower limb joint decompression exoskeleton apparatus |
| CN105856190A (en) * | 2016-03-17 | 2016-08-17 | 西南交通大学 | Wearable handling assistor |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
| CN106236517A (en) * | 2016-08-31 | 2016-12-21 | 中国科学院深圳先进技术研究院 | Exoskeleton robot leg exercise system |
| CN106264989A (en) * | 2016-07-29 | 2017-01-04 | 瑞安市智造科技有限公司 | A kind of lower limb exoskeleton power-assisting robot |
| CN106333829A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Ectoskeletal multi-degree-of-freedom lower limb rehabilitation power-assisted mechanism |
| CN106419939A (en) * | 2015-08-07 | 2017-02-22 | 深圳市肯綮科技有限公司 | Plantar pressure detection device and movement assisting device equipped with same |
| CN108161903A (en) * | 2018-01-04 | 2018-06-15 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton ankle joint |
| CN108652916A (en) * | 2018-05-15 | 2018-10-16 | 刘方圆 | A kind of knee joint ectoskeleton |
| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
| CN109070339A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Foot portion for ectoskeleton structure |
| CN109381841A (en) * | 2017-08-02 | 2019-02-26 | 三星电子株式会社 | Exercise aid device |
| CN109496145A (en) * | 2016-07-28 | 2019-03-19 | 赛峰电子与防务公司 | The ectoskeleton structure that power assists is provided to user |
| CN109692065A (en) * | 2018-12-29 | 2019-04-30 | 赵鹏 | A kind of O-shaped leg rectifier |
| CN109986535A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of hip joint structure |
| CN110039516A (en) * | 2019-02-28 | 2019-07-23 | 中国科学院深圳先进技术研究院 | Ankle-joint bearing part and exoskeleton robot |
| CN110385692A (en) * | 2018-04-20 | 2019-10-29 | 北京铁甲钢拳科技有限公司 | A kind of pneumatic waist assistance exoskeleton robot |
| GB2547109B (en) * | 2016-02-04 | 2021-04-07 | Made For Movement Group As | A walker |
| CN112758211A (en) * | 2021-01-28 | 2021-05-07 | 吉林大学 | Coupling bionic foot pad for improving ground contact stability of leg-foot type robot |
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Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105055127A (en) * | 2015-07-24 | 2015-11-18 | 黄河科技学院 | Unpowered lower limb joint decompression exoskeleton apparatus |
| CN106419939B (en) * | 2015-08-07 | 2019-07-26 | 深圳市肯綮科技有限公司 | A kind of plantar pressure detection device and the movement power assisting device for installing the device |
| CN106419939A (en) * | 2015-08-07 | 2017-02-22 | 深圳市肯綮科技有限公司 | Plantar pressure detection device and movement assisting device equipped with same |
| CN109070339A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Foot portion for ectoskeleton structure |
| CN109070339B (en) * | 2015-12-24 | 2019-09-03 | 赛峰电子与防务公司 | Foot's module for ectoskeleton structure |
| GB2547109B (en) * | 2016-02-04 | 2021-04-07 | Made For Movement Group As | A walker |
| CN105856190A (en) * | 2016-03-17 | 2016-08-17 | 西南交通大学 | Wearable handling assistor |
| CN105856190B (en) * | 2016-03-17 | 2017-10-17 | 西南交通大学 | A kind of wearable carrying power assisting device |
| CN105904440A (en) * | 2016-05-26 | 2016-08-31 | 成都润惠科技有限公司 | Self-adaptation flexible joint exoskeleton device |
| CN109496145A (en) * | 2016-07-28 | 2019-03-19 | 赛峰电子与防务公司 | The ectoskeleton structure that power assists is provided to user |
| CN109496145B (en) * | 2016-07-28 | 2020-05-22 | 赛峰电子与防务公司 | Exoskeleton structure providing force assistance to a user |
| CN106264989A (en) * | 2016-07-29 | 2017-01-04 | 瑞安市智造科技有限公司 | A kind of lower limb exoskeleton power-assisting robot |
| CN106236517B (en) * | 2016-08-31 | 2018-09-07 | 中国科学院深圳先进技术研究院 | Exoskeleton robot leg exercise system |
| CN106236517A (en) * | 2016-08-31 | 2016-12-21 | 中国科学院深圳先进技术研究院 | Exoskeleton robot leg exercise system |
| CN106333829A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Ectoskeletal multi-degree-of-freedom lower limb rehabilitation power-assisted mechanism |
| CN109381841B (en) * | 2017-08-02 | 2022-04-15 | 三星电子株式会社 | Exercise assisting device |
| CN109381841A (en) * | 2017-08-02 | 2019-02-26 | 三星电子株式会社 | Exercise aid device |
| CN109986535A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of hip joint structure |
| CN108161903B (en) * | 2018-01-04 | 2020-02-18 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton ankle joint |
| CN108161903A (en) * | 2018-01-04 | 2018-06-15 | 中国人民解放军国防科技大学 | Bionic three-degree-of-freedom exoskeleton ankle joint |
| CN110385692B (en) * | 2018-04-20 | 2020-09-08 | 北京铁甲钢拳科技有限公司 | Pneumatic waist assistance exoskeleton robot |
| CN110385692A (en) * | 2018-04-20 | 2019-10-29 | 北京铁甲钢拳科技有限公司 | A kind of pneumatic waist assistance exoskeleton robot |
| CN108652916B (en) * | 2018-05-15 | 2019-11-08 | 暨南大学附属第一医院 | A kind of knee joint ectoskeleton |
| CN108652916B8 (en) * | 2018-05-15 | 2020-04-21 | 暨南大学附属第一医院 | Knee joint exoskeleton |
| CN108652916A (en) * | 2018-05-15 | 2018-10-16 | 刘方圆 | A kind of knee joint ectoskeleton |
| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
| CN109692065A (en) * | 2018-12-29 | 2019-04-30 | 赵鹏 | A kind of O-shaped leg rectifier |
| CN110039516A (en) * | 2019-02-28 | 2019-07-23 | 中国科学院深圳先进技术研究院 | Ankle-joint bearing part and exoskeleton robot |
| CN110039516B (en) * | 2019-02-28 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Ankle joint support member and exoskeleton robot |
| CN112758211A (en) * | 2021-01-28 | 2021-05-07 | 吉林大学 | Coupling bionic foot pad for improving ground contact stability of leg-foot type robot |
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