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Multi-degree-of-freedom bionic exoskeleton body structure

An exoskeleton and degree-of-freedom technology, applied in the field of skeletal robots, can solve problems such as the limitation of bionic gait, and achieve flexible and diverse rehabilitation actions, easy to use, and simple and convenient operation

Inactive Publication Date: 2022-05-13
WUXI MENTAL HEALTH CENT +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom bionic exoskeleton body structure, by setting the hip abduction motor, hip joint flexion and extension motor, knee joint flexion and extension motor, ankle side linear motor and ankle rear linear motor; to solve the above background technology The existing exoskeleton robots proposed in have relatively large limitations in use and a large gap in the distance from realizing bionic gait

Method used

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  • Multi-degree-of-freedom bionic exoskeleton body structure

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Embodiment 1

[0027] The present invention provides such Figure 1-5 The body structure of a multi-degree-of-freedom bionic exoskeleton shown includes a hip support mechanism 1, a hip joint flexion and extension motor 3, a thigh mechanism 4, a calf mechanism 6, a sole plate 8, a battery control box 17, a control handle 18 and protective gear Bandages, the lower end of the hip support mechanism 1 is provided with a hip joint abduction motor mounting part 25, the hip joint abduction motor mounting part 25 is connected with the rotating connector 24 through a rotating shaft 203, and the rotating shaft 203 is connected with the hip joint abduction motor mounting part Bushing bearing 204 is installed between 25, rotating shaft 203 is connected with bushing bearing 204 by locking screw 202, and rotating connector 24 is fixedly connected with rotating shaft 203 by fixed pin 205, when actually carrying out hip activity training, by controlling rotating shaft 203 rotates, and then drives the rotatin...

Embodiment 2

[0030] The difference between this embodiment 2 and embodiment 1 is that: the lower end of the thigh mechanism 4 is provided with a knee joint flexion and extension motor 5, and one end of the output shaft of the knee joint flexion and extension motor 5 is internally connected with the calf mechanism 6 through a coupling, and the knee joint flexion and extension motor 5 outputs The rotation direction of the shaft is parallel to the rotation direction of the output shaft of the hip joint flexion and extension motor 3, and the transmission mechanism of the knee joint flexion and extension motor 5 is similar to the hip joint flexion and extension motor 3, and then drives the knee joint flexion and extension motor 5 when the knee joint flexion and extension motor 5 is turned on The output shaft of the knee joint is rotated to drive the calf mechanism 6 connected to the output shaft of the knee joint flexion and extension motor 5 to realize the flexion and extension of the lower limb...

Embodiment 3

[0032]The difference between this embodiment 3 and embodiments 1 and 2 is that the sole plate 8 is fixedly installed on the lower end of the ankle joint part 21, the ankle joint part 21 is connected with the calf mechanism 6 through the cross sleeve 22, and one side of the ankle joint part 21 is provided with The ankle side linear motor 7, the other side of the ankle joint part 21 is provided with an ankle rear linear motor 11, the upper end of the ankle rear linear motor 11 is connected with a ten-byte 115, and the ankle rear linear motor 11 is fixedly installed on the calf mechanism through the first pin shaft 112 6. On the other side, the lower end of the linear motor 11 behind the ankle is provided with a spherical bearing 113, and the inside of the ankle joint part 21 is provided with a mounting hole, and the spherical bearing 113 is matched with the mounting hole. In order to realize the 2 degrees of freedom movement of the ankle joint, the rotation action can be realized...

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Abstract

The invention discloses a multi-degree-of-freedom bionic exoskeleton body structure, which comprises a hip supporting mechanism, a hip joint flexion and extension motor, a thigh mechanism, a shank mechanism, a sole plate and a battery control box, a hip joint abduction motor mounting piece is arranged on one side of the lower end of the hip supporting mechanism, and the hip joint abduction motor mounting piece is connected with a rotary connecting piece through a rotating shaft; a bushing bearing is mounted between the rotating shaft and the hip joint abduction motor mounting piece; through cooperative use of a hip abduction motor, a hip joint flexion and extension motor, a knee joint flexion and extension motor, an ankle side linear motor and an ankle rear linear motor, the effect of multi-degree-of-freedom training is achieved, flexible and diversified rehabilitation actions can be achieved, the rehabilitation efficiency is greatly improved, a user inputs instructions through a user input end in the whole use process, and the user experience is improved. And the master controller issues the instruction of the user to the corresponding motor so as to complete the corresponding action, so that the whole operation process is simple and convenient, and related users can conveniently use.

Description

technical field [0001] The invention relates to the technical field of skeleton robots, in particular to a multi-degree-of-freedom bionic exoskeleton body structure. Background technique [0002] Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for the operator; it is currently in the research and development stage at home and abroad, and is committed to developing functional Powerful and practical exoskeleton robots, and in the medical field, the use of exoskeleton robots is becoming more and more widespread, often used for rehabilitation training of patients. [0003] Exoskeleton robots currently available have less degrees of freedom, and they are only designed for individual joints to achieve a small amount of steps such as stepping and leg lifting, and cannot assist and exercise the entire lower limbs of the user, which has great limitations i...

Claims

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Application Information

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IPC IPC(8): A61H1/02A61H3/00
CPCA61H1/0262A61H3/00A61H2003/007A61H2003/005A61H2201/1207A61H2201/165A61H2205/10A61H2205/12A61H2201/5043A61H2201/5023A61H2201/163A61H2201/1642
Inventor 梁成盼李勇强缪丰东赵薇薇万春利邸霈杨金宇张宇婷苏彬陈芳
Owner WUXI MENTAL HEALTH CENT
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