CN106726363B - Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device - Google Patents

Abstract

The invention discloses a wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device, which solves the problems of larger leg weight, poor motion coordination degree with a human body and the like of the traditional motor driving equipment, and further improves the fluency and applicability of the rehabilitation walking-assisting equipment. Comprises a back plate, a waist plate, a triaxial hip joint, a double-acting hydraulic cylinder, a thigh main body, a bionic connecting rod knee joint, a shank main body, a biaxial ankle joint and a sole plate; the triaxial hip joint comprises a hip joint adduction/abduction mechanism, a hip joint flexion/extension mechanism and a hip joint rotation internal/external mechanism; the knee joint bending and stretching mechanism comprises a thigh connecting piece, a front rocker, a rear rocker, a shank connecting piece, a double-acting hydraulic cylinder and a limiting mechanism; the ankle joint comprises a bending/stretching rotating shaft and an abduction/adduction rotating shaft, an elastic steel plate is laminated outside the bending/stretching rotating shaft, a slotted hole is formed in the other side of the steel plate and is connected with the sole plate, and the ankle joint hydraulic cylinder is connected between the shank supporting plate and the abduction/adduction rotating shaft and controls the swing of the sole plate.

Description

A wearable bionic hydraulic lower limb rehabilitation walking assistance mechanical device

Technical field

The present invention relates to the technical field of lower limb rehabilitation and walking assistance equipment, and in particular to a wearable bionic hydraulic lower limb rehabilitation and walking assistance mechanical device.

Background technique

With the development of society, patients with lower limb paralysis have gradually received social attention, and their demand for rehabilitation and walking assistance equipment has become more and more urgent. Lower limb rehabilitation training mechanical devices have developed rapidly under this condition as mechanical devices to treat and solve daily activities.

In addition, in industrial production, mechanical devices that assist movement can increase the endurance limit of the human body to improve the productivity of some manual workers.

At present, most similar products on the market are driven by motors. The disadvantages of motor driving are that the weight of the legs is heavy and the coordination with the movement of the human body is poor. This structure has a large room for modification and improvement.

Bionic legs on the market are mostly used in the field of human prosthetics and mostly use passive drive. They can only be used by amputee patients to perform gentle movements. Therefore, it is difficult to meet the rehabilitation and exercise needs of intact disabled people.

Contents of the invention

In view of the problems existing in the existing technology, based on human body shape and bionic technology, the present invention provides a wearable bionic hydraulic walking aid device to solve problems such as poor coordination of human-machine movements and incoherent movements, and further improve the performance of rehabilitation walking aid equipment. Fluency and applicability.

In order to achieve the above objects, the present invention adopts the following technical solutions:

A wearable bionic hydraulic lower limb rehabilitation walking aid mechanical device, including a back plate 1, a waist plate 2, a three-axis hip joint 3, a double-acting hydraulic cylinder 4, a thigh body 5, a bionic connecting rod knee joint 6, a calf body 7, and two axes Ankle joint 8, sole plate 9;

The triaxial hip joint includes a hip adduction/abduction mechanism, a hip flexion/extension mechanism, and a hip internal rotation/external rotation mechanism;

The hip adduction/abduction mechanism includes a lumbar plate 2, connectors 3.4 for the left and right legs, an L-shaped connecting plate 3.6, and joint bearings; the connectors 3.4 for the left and right legs are fixed on the rotation centers on both sides of the lumbar plate 2. A slope 3.7 is set on the side and extends into the groove of the connector 3.4 of the left and right legs as a limiting structure. The L-shaped connecting plate is fixed in the slideway of the connector through bolts and slots;

In the hip joint internal/external rotation mechanism, the other end of the L-shaped connecting plate is pressed into the grooves of a pair of hinge hinges 3.5 and 3.2 using bolts. The shape of the hinge hinge 3.2 on the front side is a flat surface 3.2.1 on one side. , the shape of the slope 3.2.2 on one side serves as a limiting structure to control the expansion range;

In the hip flexion/extension mechanism, the hinge hinge 3.2 on the front side is connected to the thigh body 5 through a horseshoe-shaped connecting plate 3.3, and the upper part of the horseshoe-shaped connecting plate 3.3 extends out to connect with the hinge hinge 3.2 of the hip joint;

The knee joint flexion and extension mechanism includes a thigh connector 6.1, a front rocker 6.3, a rear rocker 6.4, a calf connector 6.2, a double-acting hydraulic cylinder 6.5, and a limiting mechanism 6.8; the thigh connector and the calf connector are respectively connected to the main body of the upper and lower legs. Connected, the front rocker 6.3 and the rear rocker 6.4 are respectively hinged between the thigh connector and the calf connector to connect the upper and lower legs together; one end of the double-acting hydraulic cylinder is fixed at the rear axis of the calf connector, and the other end is fixed At the hinge of the thigh, it is used as a power component to control the opening and closing of the lower and lower legs; the limiting mechanism 6.8 is located at the front end of the thigh connecting piece, limiting the position of the front rocker to ensure that the lower leg does not flex or extend in the opposite direction;

The thigh mechanism includes a thigh main body 5, a thigh support plate 6.6, and a hydraulic cylinder hinge 6.7; the thigh support plate 6.6 is trapped in the T-shaped slot of the thigh main body 5; there is a row of bolt holes in the front of the thigh support plate 6.6, and the middle bolt hole is connected to the thigh main body. , by tightening the bolts, the front bolt hole is connected to the hinge 6.7.1; the other end of the hinge 6.7.1 is connected to the hip hydraulic cylinder 6.7; when adjusting the length, the two rows of bolt holes are adjusted together to control the stroke of the hydraulic cylinder within the appropriate range;

The calf mechanism includes calf connector 6.2 and calf support plate 6.10; there is a row of bolt holes in the middle of the support plate, which are trapped in the T-shaped groove and are fixed and compressed by bolts to adjust the effective length of the calf;

The two-axis ankle joint includes a flexion/extension axis 8.1 and an abduction/adduction axis 8.2. There is an elastic steel plate 8.3 laminated on the outside of the flexion/extension axis. There is a slot on the other side of the steel plate to connect to the sole of the foot. The movement of the steel plate during movement The elastic force gradually balances the body's gravity and limits the degree of freedom within a certain range. The slots are opened to adapt to the deformation caused by bending; the ankle joint hydraulic cylinder 8.5 is connected between the calf support plate and the abduction/adduction shaft 8.2 to control the sole of the foot. The board swings.

The front end of the thigh connector 6.1 is sunk into the depression 6.9 of the calf connector 6.2, which is similar to the human bone structure and the depth of the depression controls the angle of the calf's backswing, so that the range of motion of the exoskeleton knee is within the normal angle of the human body.

The adduction/abduction rotation axis of the hip joint is located on the back of the human hip, which is consistent with the central axis of the human joint and does not affect sitting or standing.

The advantages of the invention are: solving problems such as poor human-machine movement coordination and incoherent movements, and further improving the fluency and applicability of rehabilitation walking aid equipment.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the present invention;

Figure 2 is a schematic diagram of the three degrees of freedom of the mid-hip joint;

Figure 3 is a schematic diagram of the four-bar knee joint extension and thigh status;

Figure 4 is a schematic diagram of the four-bar knee joint flexion and contraction and the lower leg;

Figure 5 is a schematic diagram of the two degrees of freedom of the ankle joint.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings. As shown in the figure, the present invention includes a back plate 1, a waist plate 2, a three-axis hip joint 3, a double-acting hydraulic cylinder 4, a thigh body 5, a bionic connecting rod knee joint 6, and a calf body 7 , biaxial ankle joint 8, sole plate 9;

The triaxial hip joint includes a hip adduction/abduction mechanism, a hip flexion/extension mechanism, and a hip internal rotation/external rotation mechanism;

The hip adduction/abduction mechanism includes a lumbar plate 2, connectors 3.4 for the left and right legs, an L-shaped connecting plate 3.6, and joint bearings; the connectors 3.4 for the left and right legs are fixed on the rotation centers on both sides of the lumbar plate 2. A slope 3.7 is provided on the side and extends into the groove of the connector 3.4 of the left and right legs as a limiting structure. The L-shaped connecting plate 3.6 is fixed in the slideway of the connector through bolts and slots;

In the hip joint internal/external rotation mechanism, the other end of the L-shaped connecting plate is pressed into the grooves of a pair of hinge hinges 3.5 and 3.2 using bolts. The shape of the hinge hinge 3.2 on the front side is a flat surface 3.2.1 on one side. , the shape of the slope 3.2.2 on one side serves as a limiting structure to control the expansion range;

In the hip flexion/extension mechanism, the hinge hinge 3.2 on the front side is connected to the thigh body 5 through a horseshoe-shaped connecting plate 3.3, and the upper part of the horseshoe-shaped connecting plate 3.3 extends out to connect with the hinge hinge 3.2 of the hip joint;

The knee joint flexion and extension mechanism includes a thigh connector 6.1, a front rocker 6.3, a rear rocker 6.4, a calf connector 6.2, a double-acting hydraulic cylinder 6.5, and a limiting mechanism 6.8; the thigh connector and the calf connector are respectively connected to the main body of the upper and lower legs. Connected, the front rocker 6.3 and the rear rocker 6.4 are hinged between the thigh connector and the calf connector respectively, connecting the upper and lower legs together; one end of the double-acting hydraulic cylinder is fixed at the rear rotating shaft of the calf connector, and the other end is fixed At the hinge of the thigh, it serves as a power component to control the opening and closing of the lower and lower legs; the limiting mechanism 6.8 is located at the front end of the thigh connecting piece, limiting the position of the front rocker to ensure that the lower leg does not flex or extend in the opposite direction;

The thigh mechanism includes a thigh main body 5, a thigh support plate 6.6, and a hydraulic cylinder hinge 6.7; the thigh support plate 6.6 is trapped in the T-shaped slot of the thigh main body 5; there is a row of bolt holes in the front of the thigh support plate 6.6, and the middle bolt hole is connected to the thigh main body. , by tightening the bolts, the front bolt hole is connected to the hinge 6.7.1; the other end of the hinge 6.7.1 is connected to the hip hydraulic cylinder 6.7; when adjusting the length, the two rows of bolt holes are adjusted together to control the stroke of the hydraulic cylinder within the appropriate range;

The calf mechanism includes calf connector 6.2 and calf support plate 6.10; there is a row of bolt holes in the middle of the support plate, which are trapped in the T-shaped groove and are fixed and compressed by bolts to adjust the effective length of the calf;

The two-axis ankle joint includes a flexion/extension axis 8.1 and an abduction/adduction axis 8.2. There is an elastic steel plate 8.3 laminated on the outside of the flexion/extension axis. There is a slot on the other side of the steel plate to connect to the sole of the foot. The movement of the steel plate during movement The elastic force gradually balances the body's gravity and limits the degree of freedom within a certain range. The slots are opened to adapt to the deformation caused by bending; the ankle joint hydraulic cylinder 8.5 is connected between the calf support plate and the abduction/adduction shaft 8.2 to control the sole of the foot. The board swings.

The front end of the thigh connector 6.1 is sunk into the depression 6.9 of the calf connector 6.2, which is similar to the human bone structure and the depth of the depression controls the angle of the calf's backswing, so that the range of motion of the exoskeleton knee is within the normal angle of the human body.

The adduction/abduction rotation axis of the hip joint is located on the back of the human hip, which is consistent with the central axis of the human joint and does not affect sitting or standing.

The working process of the present invention is as follows:

The user wears the exoskeleton and adjusts the width of the hip joints and the length of the large and small legs according to the wearer's body size to ensure that the joint axis of the human body is aligned with the joint axis of the exoskeleton. The waist plate is placed on the lower back of the human body, the back plate is carried on the back through straps, and the sole plate is connected to the human foot.

When the user performs lower limb rehabilitation exercises, the hip joint hydraulic cylinder controls the hip flexion/extension mechanism to complete the front and back swing of the thigh, and the knee hydraulic cylinder controls the knee flexion/extension mechanism to complete the swing of the knee. When the user needs to lift their legs laterally when walking, the adduction/abduction mechanism of the hip joint moves with the human body. When the user needs to turn, the internal rotation/external rotation mechanism of the hip joint moves with the human body. When encountering uneven and sloping ground, the ankle abduction/adduction mechanism rotates slightly to adapt to the angle of the ground, and the elastic steel plate acts as an auxiliary support. The hinges at the footboard adapt to the curved soles of the feet during movement.

Claims (1)

1. A wearable bionic hydraulic lower limb rehabilitation and walking assistance mechanical device, characterized by: including a back plate (1), a waist plate (2), a three-axis hip joint (3), a double-acting hydraulic cylinder, a thigh body (5), Bionic link knee joint (6), calf body (7), two-axis ankle joint (8), and sole plate (9); The triaxial hip joint includes a hip adduction/abduction mechanism, a hip flexion/extension mechanism, and a hip internal rotation/external rotation mechanism; The hip adduction/abduction mechanism includes a lumbar plate (2), connectors (3.4) for the left and right legs, an L-shaped connecting plate (3.6), and a joint bearing; the connectors (3.4) for the left and right legs are fixed on the lumbar plate (2). ) on the rotation centers on both sides, a slope (3.7) is set on the side of the waist plate and extends into the groove (3.8) of the connecting piece (3.4) of the left and right legs as a limiting structure. The L-shaped connecting plate is fixed on the connecting plate through bolts and slots. in the slideway of the piece; In the hip joint internal/external rotation mechanism, the other end of the L-shaped connecting plate is pressed into the groove of a pair of hinge hinges (3.2) using bolts. The shape of the hinge hinge (3.2) on the front side is a flat side ( 3.2.1), the shape of one side slope (3.2.2) serves as a limiter structure to control the expansion range; In the hip flexion/extension mechanism, the front hinge (3.2) is connected to the thigh body (5) through a horseshoe-shaped connecting plate (3.3), and the upper part of the horseshoe-shaped connecting plate (3.3) extends out to connect with the hip joint. Page hinge (3.2) connection; The knee joint flexion and extension mechanism includes the thigh connector (6.1), front rocker (6.3), rear rocker (6.4), calf connector (6.2), double-acting hydraulic cylinder (6.5), and limiting mechanism (6.8); thigh connector The front rocker (6.3) and the rear rocker (6.4) are respectively hinged between the thigh connector and the calf connector to connect the upper and lower legs together; the double-acting hydraulic cylinder One end is fixed at the rear axis of the calf connector, and the other end is fixed at the hinge of the thigh, serving as a power component to control the opening and closing of the lower and lower legs; the limiting mechanism (6.8) is located at the front end of the thigh connector to limit the position of the front rocker. To ensure that the calf does not flex or extend in the opposite direction; The thigh mechanism includes a thigh main body (5), a thigh support plate (6.6), and a hydraulic cylinder hinge (6.7.1); the thigh support plate (6.6) is trapped in the T-shaped groove of the thigh main body (5); the thigh support plate (6.6) There is a row of bolt holes in the front, the middle bolt hole is connected to the main body of the thigh, and is pressed by the bolt. The front bolt hole is connected to the hinge (6.7.1); the other end of the hinge (6.7.1) is connected to the hip joint hydraulic cylinder (6.7 ) are connected; when adjusting the length, the two rows of bolt holes are adjusted together to control the stroke of the hip joint hydraulic cylinder (6.7) within the appropriate range; The calf mechanism includes a calf connector (6.2) and a calf support plate (6.10); there is a row of bolt holes in the middle of the support plate, which are trapped in the T-shaped slot and are fixed and compressed by bolts to adjust the effective length of the calf; The two-axis ankle joint includes a flexion/extension axis (8.1) and an abduction/adduction axis (8.2). There is an elastic steel plate (8.3) laminated on the outside of the flexion/extension axis. The other side of the steel plate has a slot and a foot plate. connected, the elastic force of the steel plate gradually balances the body's gravity during movement, limiting the degree of freedom within a certain range, and the slots are opened to adapt to the deformation caused by bending; the ankle joint hydraulic cylinder (8.5) is connected to the calf support plate and the abduction/induction Close the space between the rotating shafts (8.2) to control the swing of the soles of the feet; The front end of the thigh connector (6.1) is sunk into the depression (6.9) of the calf connector (6.2), and the depth of the depression (6.9) controls the angle of the calf's backswing, so that the range of movement of the exoskeleton knee is within the normal angle of the human body; The abduction/adduction axis of the hip joint is located at the back of the human body's hip, consistent with the central axis of the human body joint, and does not affect sitting or standing; When encountering an uneven and sloping ground, the ankle abduction/adduction axis (8.2) rotates slightly to adapt to the angle of the ground, and the elastic steel plate (8.3) acts as an auxiliary support to make the hinge at the foot plate fit during movement. Curved soles.