CN102648884A - Wearable exoskeleton exercising and rehabilitating machine - Google Patents
Wearable exoskeleton exercising and rehabilitating machine Download PDFInfo
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- CN102648884A CN102648884A CN2012101227456A CN201210122745A CN102648884A CN 102648884 A CN102648884 A CN 102648884A CN 2012101227456 A CN2012101227456 A CN 2012101227456A CN 201210122745 A CN201210122745 A CN 201210122745A CN 102648884 A CN102648884 A CN 102648884A
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Abstract
The invention discloses a wearable exoskeleton exercising and rehabilitating machine, which is designed according to the structure of a human skeleton, can exercise all parts of a human body and can perform rehabilitating traction on the human body. The wearable exoskeleton exercising and rehabilitating machine comprises two hand modules, two foot modules and a body module, wherein the two hand modules are in bilateral symmetry along the vertical central line of the body module; and the two foot modules are in bilateral symmetry along the vertical central line of the body module. In order to adapt to people with different heights, a hand extending component and a foot extending component are arranged and a screw rocker turnplate is arranged on the back to extend limbs. The whole wearable exoskeleton exercising and rehabilitating machine has 22 degrees of freedom, namely 4 degrees of freedom at the shoulders, 2 rotating degrees of freedom at the upper arm, 2 degrees of freedom at the elbows, 4 degrees of freedom at the hip, 2 rotating degrees of freedom at the upper legs, 2 degrees of freedom at the knees, 2 degrees of freedom at the ankles, 2 forward and backward degrees of freedom at the waist and 2 leftward and rightward degrees of freedom at the waist respectively. Through the 22 degrees of freedom, various motions of the limbs and the body can be realized, and through two different working modes, the exercising and rehabilitating functions can be realized.
Description
Technical field
The present invention relates to a kind of body-building and rehabilitation material, be specifically related to body-building of a kind of ectoskeleton Wearable and rehabilitation machines, belong to the electromechanical equipment technical field.
Background technology
The modern life is advocated health, and sport and body-building is essential in healthy living.The Along with people's growth in the living standard, going to the gymnasium to take exercise has become a kind of fashion.Particularly concerning youth of both sexes, have healthy and strong strong muscle or graceful slender stature, its target of dreaming of often.But the health and fitness facilities that nowadays, on market, can buy is divided into two big types basically: weight class fitness equipment and flexible member class fitness equipment.The former is representative with dumbbell, barbell and framework traction fitness apparatus, although dumbbell, barbell are cheap, with an often limited machine one usefulness that belongs to mostly of its human body that can obtain taking exercise, and lacks protective effect.Although the framework traction fitness apparatus is specialty more, and can the position that dumbbell can't be taken exercise be remedied, often volume is big, and price is high, and non-general family is suitable for.Especially should be pointed out that weight class fitness equipment has its special inferior position, promptly often need the supporting metal weight of kilograms up to a hundred.This is extremely inconvenient in transportation and installation process.The small volume and less weight of flexible member class fitness equipment; And got rid of burdensome weight; Its certain advantage is arranged; But because its resistance of motion often is a variable force, and the science coupling rule on the variation relation shortage structoure of the human body of its resistance size and the displacement of human body acra, often do not accepted by the body-building group of specialty.More than two types of fitness equipments, its irremediable drawback is all arranged.
Patent [94101481.9] is a kind of multi-gym; It mainly is by the crisscross rack body that connects into of some poles that its structure is formed; Front support rod in main perpendicular pole the place ahead is provided with tilting seat and one group and colludes and hold cross bar; Back montant cooperates with some pulleys, and rope winding and balancing weight constitute gravity installation, is hinged with the guiding connecting rod in main perpendicular pole upper end; The rope that is provided with one group of device with pedal in guiding connecting rod lower end and connects gravity installation constitutes motion and is provided with arc-shaped guide rail in guiding connecting rod inboard, is aided with application of force holding rod and suit again.Can carry out multi-functional body building with this device.Can know through data consultation: this fitness equipment still with traditional weight as force application apparatus, lack protective effect in the motor process, the transportation with installation process in, extremely inconvenience.And the resistance that weight provides size lacks science coupling rule, not science on the structoure of the human body with the variation relation of human body acra displacement.And this fitness equipment do not have fuselage adjustment function, can only adapt to the fraction crowd of certain height and build, and the scope of application is little, and whole device takes up room bigger than normal, this shows its drawback.
Summary of the invention
In view of this, the invention provides body-building of a kind of ectoskeleton Wearable and rehabilitation machines, collection body-building and recovery function are one, and can adapt to the crowd of different heights.
Ectoskeleton Wearable of the present invention body-building and rehabilitation machines comprise limbs module and trunk module; The limbs module comprises two hand modules and two foot's modules; Wherein two hand modules are along the vertical centrage left-right symmetric of trunk module, and two foot's modules are along the vertical centrage left-right symmetric of trunk module.
The hand module comprises first power plant module, second power plant module, the 3rd power plant module, big arm pipe and hand extended part, and wherein big arm pipe is a right-angle structure.
First power plant module comprises pedestal A, steering wheel A, steering wheel B, roller gear A, roller gear B, axle B, bearing block B, bevel gear A, bevel gear B, bearing block A and axle A.Its annexation is: pedestal A is the double layers table hierarchic structure, and steering wheel A is through being fixed on the upper surface of pedestal A.The output shaft of bevel gear A and steering wheel A is affixed, and wherein the axis of bevel gear A is in vertical direction.The bevel gear B engagement that bevel gear A and axis are perpendicular.Bevel gear B is affixed with axle A, axle A be positioned at steering wheel A under, promptly the direction of axle A power output be level backward.Axle A cooperates with bearing block A through bearing, and bearing block A is connected with pedestal A.Steering wheel B is fixed on the following laminar surface of pedestal A, and roller gear A is connected with the output shaft of steering wheel B, roller gear A and roller gear B engagement, and wherein the axis of roller gear A and roller gear B all is in vertical direction.Roller gear A is connected with axle B, and the direction of axle B power output is for straight down.Axle B cooperates with bearing block B through bearing, and bearing block B is fixed on the pedestal A.
Second power plant module comprises pedestal B, steering wheel C, roller gear C, roller gear D, axle C and bearing block C.The annexation of its each several part is: steering wheel C is fixed on the pedestal B, and roller gear C is fixed on the output shaft of steering wheel C, roller gear D and roller gear C engagement, and wherein the axis of roller gear C and roller gear D all is in vertical direction.Roller gear D is affixed with axle C, the outputting power straight down of axle C.Axle C cooperates with bearing block C through bearing, and bearing block C is fixed on the pedestal B.
The 3rd power plant module comprises pedestal C, steering wheel D, bevel gear C, bevel gear D, axle D and bearing block D; The annexation of its each several part is: steering wheel D is fixed on the upper surface of pedestal C; The output shaft of bevel gear C and steering wheel D is affixed, and wherein the axis of bevel gear C is in vertical direction.The perpendicular bevel gear D of bevel gear C and axis engagement, bevel gear D is affixed with axle D, axle D be positioned at steering wheel D under, i.e. axle D level outputting power backward.Axle D cooperates with bearing block D through bearing simultaneously, and bearing compresses through pedestal cap and bearing block D, and bearing block D is fixed on pedestal C lower surface.
The hand extended part comprises the big sleeve pipe of forearm, locking positioner A, forearm straight tube, forearm bending tube, handle T pipe, handle rotating shaft, handle bifurcated and handle sleeve.The annexation of its each several part is: the big sleeve pipe of forearm is a right-angle structure, and it vertically is connected with the forearm straight tube through locking positioner A the end of part, and the other end of forearm straight tube is connected with the forearm bending tube through right-angle elbow pipe.The other end of forearm bending tube is connected with the perpendicular handle T pipe of axis.The upper end of handle T pipe connects the handle bifurcated, and the handle bifurcated is the U-shaped structure, handle installation core pipe between the right ends of handle bifurcated, the handle sleeve of the outer suit rubber system of handle core pipe.Two end faces of handle core pipe are separately installed with handle end cap.The handle rotary sleeve is contained in the handle T pipe.In the junction of handle bifurcated and handle T pipe, the handle bifurcated is connected with the handle rotating shaft.
The concrete structure of locking positioner A is: big sleeve pipe of forearm and forearm straight tube link together through the loose collar tight locking button; Link at big inside pipe casing of forearm and forearm straight tube has two colored type loose collars of installing relatively; On the forearm straight tube, sunk screw is installed with the big telescopic link of forearm; The head of screw of sunk screw does not sink to tube wall fully, and promptly sunk screw has convexity on tube wall.Simultaneously the big telescopic inwall of forearm be processed with sunk screw on protruding corresponding straight trough.
The whole annexation of hand module is: the end of the big sleeve pipe horizontal component of forearm is connected with the clutch end of the first power plant module axis B in the hand extended part; The clutch end of the first power plant module axis A is connected with an end of big arm pipe, and the other end of big arm pipe is connected with the clutch end of the second power plant module axis C.The clutch end of the 3rd power plant module axis D is connected with the pedestal of second power plant module, and the 3rd power plant module drives the second power plant module unitary rotation.
Foot's module comprises the 4th power plant module, the 5th power plant module, the 6th power plant module, the 7th power plant module, thigh pipe, foot's extended part and foot parts.Wherein the thigh pipe is a right-angle structure.The 4th power plant module is identical with the first power plant module structure, and the 6th power plant module is identical with the 3rd power plant module structure.The 5th power plant module is all identical with the second power plant module structure with the 7th power plant module.
Foot's extended part comprises the big sleeve pipe of shank, shank straight tube, locking positioner B and shank bottom connector.It is identical with the structure of locking positioner A (34) wherein to lock positioner B.The big sleeve pipe of the shank vertically end of part is connected with the shank straight tube through locking positioner B, and the other end of shank straight tube links to each other with shank bottom connector.The foot parts comprise foot seat, plastic plate and rubber blanket.Wherein the foot seat is vertically placed, and plastic plate and rubber blanket average level are placed, and the foot seat is connected with plastic plate, and plastic plate is connected with rubber blanket.
The whole annexation of foot's module is: the top of foot seat is connected with the power output shaft of the 5th power plant module in the foot parts, and the pedestal of the 5th power plant module links to each other with shank bottom connector in the foot extended part.The end of the big sleeve pipe horizontal component of shank is connected with the vertical power output shaft of the 4th power plant module, and the horizontal power output shaft of the 4th power plant module is connected with an end of thigh pipe, and the other end of big arm pipe is connected with the power output shaft of the 7th power plant module.The power output shaft of the 6th power plant module is connected with the pedestal of the 7th power plant module, and the 6th power plant module drives the 7th power plant module unitary rotation.
The trunk module comprises buttocks substrate, shoulder substrate and motion.Buttocks substrate and shoulder substrate are positioned at same vertical plane, and the shoulder substrate is positioned at buttocks substrate top.The axis of symmetry of shoulder substrate overlaps with the axis of symmetry of buttocks substrate.Said motion is in the right and left symmetric arrangement of this axis of symmetry.
The right side motion comprises that steering wheel E, connecting rod A, connecting rod B, connecting rod C, connecting rod D, big cover dish, load-bearing loop bar, steering wheel F, bearing bar, power transmission shaft, mandrel, screw mandrel, slide block, motor and big cover dish rotate strut.Wherein connecting rod C is a semicircular structure, and the line of symmetry along continuous straight runs of this semicircular structure, connecting rod C have three hinged ends, lays respectively at top, bottom and the excircle of semicircular structure, and wherein the hinged end on the excircle is positioned at the position of its horizontal symmetry-line.Connecting rod D is a right-angle structure, and there is connecting axle straight down the end of this right-angle structure horizontal component.
Its annexation is: steering wheel E is fixed on the buttocks substrate through the steering wheel fixed mount of buttocks substrate lower end, and the output shaft of steering wheel E is connected with connecting rod A after vertically passing the buttocks substrate, and this junction point is designated as the A point.The other end of connecting rod A and connecting rod B are dynamically connected, and this junction point is designated as the B point.Hinged end on the other end of connecting rod B and the connecting rod C excircle is dynamically connected, and this junction point is designated as the C point.The hinged end of connecting rod C bottom is connected with the buttocks substrate through bearing, and this junction point is designated as the D point, the vertical and buttocks substrate of the rotation direction of its middle (center) bearing.Guarantee to connect successively A point, B point, C point, D point back formation parallelogram sturcutre.The hinged end at connecting rod C top is a column construction, and the connecting axle of the hinged end at connecting rod C top and connecting rod D horizontal component end is hinged along the axis direction of this connecting axle.The outside of the vertical part of connecting rod D upper end is steering wheel F fixedly, and the output shaft of steering wheel F is perpendicular to the vertical part of connecting rod D.The output shaft of steering wheel F is connected with bearing bar A through power transmission shaft, and bearing bar A cooperates with the chute on load-bearing loop bar surface, can only move along the chute direction each other.The load-bearing loop bar is installed on the shoulder substrate through mandrel, and the mounting means of mandrel is: be processed with the installing hole of big cover dish in shoulder substrate left side, the axial location when place, the center of circle horizontal line of big cover dish is higher than the output shaft level of steering wheel F.Big cover dish is dynamically connected with the shoulder substrate in its installing hole, and big cover dish can only be along its axial rotation.On big cover dish, be processed with the installing hole of mandrel,, establishing this installing hole loca is the E point.Mandrel is dynamically connected with big cover dish in its installing hole, and mandrel can only be along its axial rotation, and load-bearing loop bar left end and mandrel are affixed.Screw mandrel is installed in the screw mandrel mounting groove that is positioned on the shoulder substrate axis of symmetry, and slide block is installed on the screw mandrel, and slide block cooperates with screw mandrel, can move up and down along screw mandrel, and the screw mandrel top links to each other with the output shaft of motor.The end that big cover dish rotates strut is connected with big cover dish, and establishing this junction point is the F point, and the other end is connected with slide block.The line that said F point and E are ordered is through the center of circle of excessive cover dish.Because the load-bearing loop bar of back, left side motion and back, right side motion intersects installation on the shoulder substrate; In order to guarantee the motion mutually noninterfere on both sides, the load-bearing loop bar of back, left side motion is then crossed over part through shoulder and is connected with mandrel on being positioned at screw mandrel right side shoulder substrate.
The whole annexation of the present invention is: two hand modules are fixed in the left and right sides of shoulder substrate in the trunk module respectively through the pedestal of the 3rd power plant module separately; Two foot's modules are fixed in the left and right sides of buttocks substrate in the trunk module respectively through the pedestal of the 6th power plant module separately, the motion of two hand modules, two foot's modules and trunk intermodule is separate.
When slide block was positioned at the top of screw mandrel, said E point and F point laid respectively at the two ends of big cover dish horizontal direction diameter, and wherein the F point is positioned at the side near screw mandrel.When slide block was positioned at the lowermost end of screw mandrel, said E point and F point laid respectively at the two ends of big cover dish vertical direction diameter, and wherein the F point is positioned at E point below.
Said axle B, axle A, axle C and axle D are floral axis; In order to adapt to the foot elongation mechanism, the power output shaft in said the 5th power plant module and the 7th power plant module is a circular shaft, can bear bigger power.
The rotating range of said axle B and axle A is 150 °.
The model of said all steering wheels is RX-24F, and said all pedestals all adopt sheet metal structural.
The position of on the forearm straight tube, sunk screw being installed, is observed the position of groove and then is judged the relative position of forearm straight tube in the big sleeve pipe of forearm through the observation port on the big sleeve pipe of forearm after the forearm straight tube is screwed into along its outer circumference surface machined grooves.
The position of on the shank straight tube, sunk screw being installed, can be observed the position of groove and then judge the relative position of shank straight tube in the big sleeve pipe of shank after the shank straight tube is screwed into along its outer circumference surface machined grooves through the observation port on the big sleeve pipe of shank.
Said bevel gear A is 1: 2 to the gear ratio of bevel gear B.Roller gear A is 1: 2 to the gear ratio of roller gear B.Roller gear C is 1: 2 to the gear ratio of roller gear D.Bevel gear C was to the gear ratio of bevel gear D 1: 2.
Operation principle of the present invention is:
Integral body of the present invention has 22 degree of freedom; Be respectively four of shoulders, two of upper arm rotations, two at elbow, four on hip, two of thigh rotations, two on knee joint, two of ankles; Waist is two to the left and right in latter two and waist forward; The various motions that independently realize extremity and trunk be can distinguish through these 22 degree of freedom, body-building and recovery function realized respectively through two kinds of different working patterns simultaneously.Separate between each motion in motor process in hand module, foot's module and the trunk module.
During use, adjust the length of hand module, foot's module and trunk module at first successively, to adapt to body-building personnel's height condition.The length of hand module is directly through the adjustment of hand extended part, and the length of foot's module is directly through foot's extended part adjustment.Carrying out trunk block length when adjustment, the invariant position of buttocks substrate adapts to body-building or rehabilitation personnel's height through the relative position of regulating the back substrate, makes the top of back substrate concordant with body-building or rehabilitation personnel's shoulder.Concrete regulative mode is: the motor-driven screw mandrel rotates; Slide block moves up and down along screw mandrel; And then rotate strut through big cover dish and drive big cover dish and rotate, and shoulder substrate in the vertical direction is moved, and then realize the adjusting of distance between shoulder substrate and the buttocks substrate.
When carrying out body-building or rehabilitation, respectively hands and foot are placed on handle sleeve and the foot parts, through the braces at substrate top, back fitted in the front of this body-building and rehabilitation machines and the lower back of human body.Wherein, the corresponding and human buttock position of buttocks substrate, shoulder substrate correspondence and human body back, the top of back substrate is concordant with body-building or rehabilitation personnel's shoulder.
Under health keeping mode: the body-building personnel need perform physical exercise to certain position of own health according to oneself; The steering wheel at corresponding degree of freedom place produces a moment of resistance during exercise; The body-building personnel apply active force in the other direction according to resistance; Thereby obtain body-building effect, the active force that applies as the body-building personnel is during greater than the moment of steering wheel, and steering wheel unloads automatically.
Under rehabilitation modality: the rehabilitation personnel need carry out rehabilitation to certain position of own health according to oneself; The steering wheel at corresponding degree of freedom place produces a moment during training; Drive the joint motion of rehabilitation personnel relevant position, recover its function through making the joint passive activity.
Beneficial effect:
(1) the present invention collects according to the skeleton structure and designs, and body-building and recovery function and one realize the exercise at each position of human body is drawn with human body recovery.This body-building and rehabilitation machines integral body have 22 degree of freedom; Can independently realize the multiple motion of human limb and metastomium through these 22 degree of freedom; Simultaneously can realize body-building and recovery function respectively, thereby reach effect of one machine multiple purposes through two kinds of different working patterns.
(2) in order to make this body-building and rehabilitation machines can adapt to the crowd of different heights and build, in hand module, step module and trunk module, all increased length adjusting mechanism, made the scope of application of body-building and rehabilitation machines wider.
(3) in the concrete design of structure, the power output shaft in first power plant module, second power plant module and the 3rd power plant module all adopts floral axis, when satisfying structural strength, can alleviate the weight of entire mechanism.Matrix all adopts sheet metal structural simultaneously, and processing is simple, and is in light weight.
The position of (4) on forearm straight tube (shank straight tube), sunk screw being installed can quantitatively be regulated the position of forearm straight tube (shank straight tube) along its outer circumference surface machined grooves, promptly the length of hand extended part (foot's extended part) is quantitatively regulated.
(5) whole device adopts modularized design, makes manufacturing convenient with maintenance.
Description of drawings
Fig. 1 is an overall structure sketch map of the present invention.
Fig. 2 is the structural representation of hand module.
Fig. 3 is structural representation Fig. 1 of the present invention's first power plant module.
Fig. 4 is structural representation Fig. 2 of the present invention's first power plant module.
Fig. 5 is structural representation Fig. 3 of the present invention's first power plant module.
Fig. 6 is structural representation Fig. 1 of the present invention's second power plant module.
Fig. 7 is structural representation Fig. 2 of the present invention's second power plant module.
Fig. 8 is structural representation Fig. 1 of the present invention's the 3rd power plant module.
Fig. 9 is structural representation Fig. 2 of the present invention's the 3rd power plant module.
Figure 10 is the structural scheme of mechanism of hand extended part.
Figure 11 is the structural representation of locking positioner A.
Figure 12 is the structural representation of foot's module.
Figure 13 is the structural representation of foot's extended part.
Figure 14 is the structural representation of foot parts.
Figure 15 is the structural representation at the trunk module back side.
Figure 16 is the positive structural representation of trunk module.
Wherein: 1-first power plant module, 2-second power plant module, 3-the 3rd power plant module, 4-hand extended part, the big arm pipe of 5-, 6-panel beating matrix A, 7-panel beating seat A, 8-panel beating seat B; 9-steering wheel A, 10-steering wheel B, 11-roller gear A, 12-roller gear B, 13-axle B, 14-bearing block B, 15-bevel gear A; 16-bevel gear B, 17-bearing block A, 18-axle A, 19-panel beating matrix B, 20-panel beating seat C, 21-panel beating seat D, 22-steering wheel C; 23-roller gear C, 24-roller gear D, 25-axle C, 26-bearing block C, 27-panel beating substrate C, 28-steering wheel D, 29-bevel gear C; 30-bevel gear D, 31-axle D, 32-bearing block D, the big sleeve pipe of 33-forearm, 34-locking positioner A, 35-forearm straight tube, 36-forearm bending tube; 37-handle T pipe, 38-handle rotating shaft, 39-handle bifurcated, 40-handle sleeve, 41-loose collar tight locking button, 42-flower type loose collar, 43-sunk screw; The 44-groove, 45-straight trough, 46-the 4th power plant module, 47-the 5th power plant module, 48-the 6th power plant module, 49-the 7th power plant module, 50-foot extended part; 51-thigh pipe, 52-foot parts, the big sleeve pipe of 53-shank, 54-shank straight tube, 55-locking positioner B, 56-shank bottom connector, 57-foot panel beating seat, 58-plastic plate, 59-rubber blanket; 60-buttocks substrate, 61-steering wheel fixed mount, 62-steering wheel E, 63-connecting rod A, 64-connecting rod B, 65-connecting rod C, 67-end cap A, 68-shoulder substrate, 69-screw mandrel, 70-screw mandrel end cover A; 71-screw mandrel end cover B, 72-motor, the big cover dish of 73-, 74-load-bearing loop bar, 75-steering wheel F, 76-bearing bar A; 77-cover dish seat, 78-mandrel end cap, the 79-power transmission shaft, 81-connecting rod D, the big cover dish of 82-rotates strut, and the 83-shoulder is crossed over part.
The specific embodiment
Below in conjunction with the accompanying drawing embodiment that develops simultaneously, describe the present invention.
Present embodiment provides body-building of a kind of ectoskeleton Wearable and rehabilitation machines, and this device is simulated the ectoskeleton of human body, possesses the dual-use function of body-building and rehabilitation training simultaneously.The fuselage of this device possesses the length adjustment function, can adapt to the crowd of different heights, and is applied widely.
The overall structure of ectoskeleton Wearable of the present invention body-building and rehabilitation machines is as shown in Figure 1, and this body-building and rehabilitation machines comprise limbs module and trunk module.The limbs module comprises two hand modules and two foot's modules, and wherein two hand modules are along the vertical centrage left-right symmetric of trunk module, and two foot's modules are along the vertical centrage left-right symmetric of trunk module.
The structure of hand module is as shown in Figure 2, comprises first power plant module 1, second power plant module 2, the 3rd power plant module 3, big arm pipe 5 and hand extended part 4, and wherein big arm pipe 5 is a right-angle structure.
The structure of first power plant module 1 such as Fig. 3, Fig. 4 and shown in Figure 5.First power plant module 1 comprises panel beating matrix A6, panel beating seat A7, panel beating seat B8, steering wheel A9, steering wheel B10, roller gear A11, roller gear B12, axle B13, bearing block B14, bevel gear A15, bevel gear B16, bearing block A17 and axle A18.First power plant module 1 has two-way output, and is separate between two-way output.Power output shaft is respectively a B13 and axle A18, and the way of output is rotation, and rotating range is 150 °.The actuator of axle B13 is steering wheel B10, and the actuator of axle A18 is steering wheel A9.Axle B13 is floral axis with axle A18 in the present embodiment, when satisfying requirement of strength, can alleviate the quality of first power plant module 1.
The annexation of first power plant module, 1 each several part is: the pedestal that is connected to form power plant module between panel beating matrix A6, panel beating seat A7 and the panel beating seat B8 through bolt; In order to guarantee mutually noninterfere between the output of first power plant module, 1 compact conformation and its two-way, formed pedestal is the double layers table hierarchic structure.Said steering wheel A9 is fixed on the upper surface of pedestal through six M2 screws.The M1 bevel gear A15 of 16 teeth is connected with the code-disc of steering wheel A9, and wherein the axis of bevel gear A15 is in vertical direction.Simultaneously, the perpendicular 32 tooth M1 bevel gear B16 engagement of bevel gear A15 and axis.Bevel gear B16 is affixed with axle A18 through six M2 screws, axle A18 be positioned at steering wheel A9 under, i.e. the direction of axle A18 power output be level backward.Axle A18 cooperates with bearing block A17 through two 6002Z bearings, and bearing block A17 is connected with pedestal through four M3 screws.When steering wheel A9 outputting power, power is delivered to an A18 through meshed bevel gears A15 and bevel gear B16, and gear ratio is 1: 2.Steering wheel B10 is bolted on the following laminar surface of pedestal through four M3; The M2 roller gear A11 of 13 teeth is connected with the code-disc of steering wheel B10 through six M2 screws; The M2 roller gear B12 engagement of roller gear A11 and 26 teeth, wherein the axis of roller gear A11 and roller gear B12 all is in vertical direction.Roller gear A11 is connected with axle B13 through screw, and the direction of axle B13 power output is for straight down.Axle B13 is engaged on the bearing block B14 through two 6002Z bearings, and bearing block B14 is fixed on the pedestal through four M3 screws.During steering wheel B10 rotation outputting power, power is delivered to a B13 through roller gear A11 and roller gear B12, and gear ratio is 1: 2.
The structure of second power plant module 2 such as Fig. 6 and shown in Figure 7, second power plant module 2 comprise panel beating matrix B19, panel beating seat C20, panel beating seat D21, steering wheel C22, roller gear C23, roller gear D24, axle C25 and bearing block C26.Second power plant module 2 has an output, and power output shaft is axle C25, and driving link is steering wheel C22, and its axis C25 is a floral axis.
The annexation of second power plant module, 2 each several parts is: panel beating matrix B19, panel beating seat C20 and panel beating seat D21 are connected to form the pedestal of second power plant module 2 through the M3 bolt.Steering wheel C22 is bolted on the pedestal through four M3; The M2 roller gear C23 of 13 teeth directly is connected on the code-disc of steering wheel C22 through six M2 screws; The M2 roller gear D24 of 26 teeth and roller gear C23 engagement, wherein the axis of roller gear C23 and roller gear D24 all is in vertical direction.Roller gear D24 is fixed on the end of a C25 through six M2 screws, and the other end of axle C25 is outputting power straight down.Axle C25 cooperates with bearing block C26 through two 6002Z bearings, and bearing block C26 fixes through four M3 screws and pedestal.When steering wheel C22 outputting power, power is delivered to roller gear D24 through roller gear C23, and through axle C25 output, gear ratio is 1: 2 again.
The structure of the 3rd power plant module 3 such as Fig. 8 and shown in Figure 9, the 3rd power plant module 3 comprise panel beating substrate C27, steering wheel D28, bevel gear C29, bevel gear D30, axle D31 and bearing block D32.The 3rd power plant module 3 has an output, and line shaft is axle D31, and driving link is steering wheel D28, and its axis D31 is a floral axis.
The annexation of the 3rd power plant module 3 each several parts is: panel beating substrate C27 is the pedestal of the 3rd power plant module 3; Steering wheel D28 is fixed on the upper surface of panel beating substrate C27 through six M2 screws; The M1 bevel gear C29 of 16 teeth fixes through the code-disc of six M2 screws and steering wheel D28, and wherein the axis of bevel gear C29 is in vertical direction.The perpendicular 32 tooth M1 bevel gear D30 of bevel gear C29 and axis engagement, bevel gear D30 is affixed with axle D31 one end through six M2 screws, axle D31 be positioned at steering wheel D28 under, i.e. the direction of axle D31 power output be level backward.Axle D31 cooperates with bearing block D32 through two 6002Z bearings simultaneously, and bearing compresses through pedestal cap and bearing block D32, and bearing block D32 is fixed on panel beating substrate C27 lower surface through six M3 screws.When steering wheel D28 outputting power, power is delivered to a D31 through bevel gear C29 and bevel gear D30, gear ratio 1: 2.
In the present embodiment, the steering wheel model of three power plant module uses is RX-24F more than.
The structure of hand extended part 4 is shown in figure 10, comprises the big sleeve pipe of forearm 33, locking positioner A34, forearm straight tube 35, forearm bending tube 36, handle T pipe 37, handle rotating shaft 38, handle bifurcated 39 and handle sleeve 40.The annexation of its each several part is: the big sleeve pipe 33 of forearm is right-angle structure, and it vertically is connected with forearm straight tube 35 through locking positioner A34 the end of part, and the other end of forearm straight tube 35 is connected with forearm bending tube 36 through right-angle elbow pipe.The other end of forearm bending tube 36 is connected with the perpendicular handle T pipe 37 of axis.The upper end of handle T pipe 37 connects handle bifurcated 39, and handle bifurcated 39 is the U-shaped structure, handle installation core pipe between the right ends of handle bifurcated 39, the handle sleeve 40 of the outer suit rubber system of handle core pipe.During use, hand is held handle sleeve 40, can strengthen comfortableness.Two end faces of handle core pipe are separately installed with handle end cap.Handle rotating shaft 38 is sleeved in the handle T pipe 37 through two politef lubricating sleeves.In the junction of handle bifurcated 39 with handle T pipe 37, handle bifurcated 39 is connected with handle rotating shaft 38 through the M4 long spiro nail.
The structure of locking positioner A34 is shown in figure 11; Concrete structure is: the big sleeve pipe 33 of forearm links together through loose collar tight locking button 41 with forearm straight tube 35; At the big sleeve pipe 33 inner links of forearm two colored type loose collars of installing relatively 42 are arranged with forearm straight tube 35; When flower type loose collar 42 unclamps, just can adjust the relative position of big sleeve pipe 33 of forearm and forearm straight tube 35.Flower type loose collar 42 is tightened Shi Zehui big sleeve pipe 33 of big frictional force locking forearm and forearm straight tube 35 is provided.On forearm straight tube 35 with the link of the big sleeve pipe 33 of forearm sunk screw 43 at a distance of mm place installing M 3; The head of screw of sunk screw 43 does not sink to tube wall fully; Have that about 1mm's is outstanding; Have and sunk screw 43 corresponding straight troughs 45 in the inside of the big sleeve pipe 33 of forearm simultaneously, after forearm straight tube 35 was packed the big sleeve pipe 33 of forearm into, the sunk screw 43 that does not sink to fully cooperated the formation constraint with straight trough 45; Prevent that big sleeve pipe 33 of forearm and forearm straight tube 35 from rotating, auxiliary flower type loose collar 42 is realized circumferentially locking.In addition; For the position of forearm straight tube 35 is quantitatively regulated; Also can be in the position of on forearm straight tube 35, sunk screw 43 being installed along its outer circumference surface machined grooves 44; After forearm straight tube 35 is screwed into, can observes the position of groove 44 and then judge the relative position of forearm straight tube 35 in the big sleeve pipe 33 of forearm through the observation port on the big sleeve pipe 33 of forearm.
The whole annexation of hand module is as shown in Figure 2: the end of big sleeve pipe 33 horizontal components of forearm is connected with the clutch end of first power plant module, 1 axis B13 in the hand extended part 4; The clutch end of first power plant module, 1 axis A18 is connected with an end of big arm pipe 5, and the other end of big arm pipe 5 is connected with the clutch end of second power plant module, 2 axis C25.The clutch end of the 3rd power plant module 3 axis D30 is connected with the pedestal of second power plant module 2, and the 3rd power plant module 3 drives second power plant module, 2 unitary rotation.
The structure of foot's module is shown in figure 12, comprises the 4th power plant module 46, the 5th power plant module 47, the 6th power plant module 48, the 7th power plant module 49, thigh pipe 51, foot's extended part 50 and foot parts 52.Wherein thigh pipe 51 is a right-angle structure.The 4th power plant module 46 is identical with first power plant module, 1 structure, and the 6th power plant module 48 is identical with the 3rd power plant module 3 structures.In order to adapt to the foot elongation mechanism, the power output shaft in the 5th power plant module 47 is a circular shaft, and all the other structures are all identical with second power plant module 2.The 7th power plant module 49 is identical with the 5th power plant module 47 structures.
The structure of foot's extended part 50 is shown in figure 13, comprises the big sleeve pipe of shank 53, shank straight tube 54, locking positioner B55 and shank bottom connector 56.It is identical with the structure of locking positioner A34 wherein to lock positioner B55.The big sleeve pipe 53 of the shank vertically end of part is connected with shank straight tube 54 through locking positioner B55, and the other end of shank straight tube 54 links to each other with shank bottom connector 56.The foot parts are the position that body-building or rehabilitation personnel foot stand.The structure of foot parts is shown in figure 14, comprises foot panel beating seat 57, plastic plate 58 and rubber blanket 59.Wherein foot panel beating seat 57 is vertically placed, and plastic plate 58 is placed with rubber blanket 59 average levels, and foot panel beating seat 57 is connected with plastic plate 50 through the screw of its bottom, and plastic plate 50 is connected with rubber blanket 51 through screw.Wherein, Foot panel beating seat 57 is cores of foot parts, rise main support and with the interconnect function of other modules, plastic plate 58 mainly plays supplemental support and damping; Rubber blanket 59 can damping and the protection floor, prevents hard material broken timber floor etc.
The whole annexation of foot's module is: the top of foot panel beating seat 57 is connected with the power output shaft of the 5th power plant module 47 in the foot parts, and the pedestal of the 5th power plant module 47 links to each other with shank bottom connector 56 in the foot extended part 50.The end of big sleeve pipe 53 horizontal components of shank is connected with the vertical power output shaft of the 4th power plant module 46; The horizontal power output shaft of the 4th power plant module 46 is connected with an end of thigh pipe 51, and the other end of big arm pipe 51 is connected with the power output shaft of the 7th power plant module.The power output shaft of the 6th power plant module is connected with the pedestal of the 7th power plant module, and the 6th power plant module drives the 7th power plant module unitary rotation.
The overall structure of trunk module such as Figure 15 and shown in Figure 16.The trunk module comprises buttocks substrate 60, shoulder substrate 68 and motion.Buttocks substrate 60 is positioned at same vertical plane with shoulder substrate 68, and shoulder substrate 68 is positioned at buttocks substrate 60 tops.The axis of symmetry of shoulder substrate 68 overlaps with the axis of symmetry of buttocks substrate 60; Said motion is that example is specifically introduced its structure with the right side motion only in the right and left symmetric arrangement of this axis of symmetry below.
The right side motion comprises that steering wheel E62, connecting rod A63, connecting rod B64, connecting rod C65, connecting rod D81, big cover dish 73, load-bearing loop bar 74, steering wheel F75, bearing bar 76, power transmission shaft 79, mandrel, screw mandrel 69, slide block, motor 72 and big cover dish rotate strut 82.Wherein connecting rod C65 is a semicircular structure, and the line of symmetry along continuous straight runs of this semicircular structure, connecting rod C65 have three hinged ends, lays respectively at top, bottom and the excircle of semicircular structure, and wherein the hinged end on the excircle is positioned at the position of its horizontal symmetry-line.Connecting rod D81 is a right-angle structure, and there is connecting axle straight down the end of this right-angle structure horizontal component.
Steering wheel E62 is fixed on the left side of the steering wheel fixed mount 61 that is positioned on the buttocks substrate 60 through the M2.5 screw; The output shaft of steering wheel E62 links to each other with connecting rod A63 through the M2 screw; The other end of connecting rod A63 is dynamically connected through M5 stay bolt and lubricated pad and connecting rod B64, and the other end of connecting rod B64 is connected with hinged end on the connecting rod C65 excircle through M5 stay bolt and lubricated pad.Above steering wheel fixed mount 61 on the buttocks substrate 60, be processed with the installing hole of buttocks load-bearing axle.Buttocks load-bearing axle is installed in this installing hole through two SKF615 bearings; The hinged end of one end of buttocks load-bearing axle and connecting rod C65 bottom is connected; The other end passes buttocks substrate 60 and is dynamically connected with the buttocks bearing block, and the buttocks bearing block is fixed on the buttocks substrate 60 through the M3 screw.The end that buttocks load-bearing axle is connected with the buttocks bearing block is connected through M4 screw and end cap A67 simultaneously, can prevent that buttocks load-bearing axle from moving axially.The hinged end at connecting rod C65 top links to each other with the back system.The hinged end at connecting rod C65 top is hinged along the axis direction of this connecting axle through the connecting axle on lubricating sleeve and the connecting rod D81.Connection Block on the connecting rod D81 is connected through M4 screw and end cap A67 simultaneously, prevents that connecting rod D81 from endwisely slipping.The connecting rod D81 vertically outside, upper end of part is fixed with steering wheel F75; The output shaft of steering wheel F75 is connected through M2 screw and power transmission shaft 79; Power transmission shaft 79 is connected with bearing bar A76 through M5 long spiro nail and key; Bearing bar A76 is sleeved in the chute on load-bearing loop bar 74 surfaces, thereby forms a chute structure, can only move along the chute direction each other.Be processed with the installing hole of big cover dish 73 in the left side of shoulder substrate 68 upper screw rods 69, big cover dish 73 is positioned at this installing hole, the axial location when place, the center of circle horizontal line of big cover dish is higher than the output shaft level of steering wheel F.The other end of simultaneously big cover dish 73 passes shoulder substrate 68 and is dynamically connected through lubricating sleeve and cover dish seat 77, and cover dish seat 77 is connected through M3 screw and shoulder substrate 68.On big cover dish 73, be processed with the installing hole of mandrel 86, establishing this installing hole loca is the E point, and mandrel is installed in the installing hole through lubricating sleeve, and is dynamically connected with big cover dish 73.One end of mandrel is connected with the end of load-bearing loop bar 74, and the other end passes big cover dish 73 and is connected through M4 screw and mandrel end cap 78, prevents moving axially of mandrel.On shoulder substrate 68 vertical centrages, be processed with the screw mandrel mounting groove; Screw mandrel 69 vertically is installed in the screw mandrel mounting groove through the screw mandrel end cover A70 at its top and the screw mandrel end cover B71 of bottom; The excircle of leading screw end cover A70 and leading screw end cover B71 is separately installed with bearing and bearing block, and said bearing block is fixed on the shoulder substrate 68 through the M3 screw.Sliding shoe is installed on the screw mandrel 69, and sliding shoe cooperates with screw mandrel 69, can move up and down along screw mandrel 69, and the output shaft of motor 72 links to each other with the top of screw mandrel 69.The end that big cover dish rotates strut 82 is dynamically connected with big cover dish 73 through M4 screw and lubricated pad, and establishing this junction point is the F point, and the other end that big cover dish rotates strut 82 is through being dynamically connected with sliding part, and the line that said F point and E are ordered is through the center of circle of excessive cover dish.And have when slide block is positioned at the top of screw mandrel, said E point and F point lay respectively at the two ends of big cover dish horizontal diameter, and wherein the F point is positioned at the side near screw mandrel; When slide block was positioned at the lowermost end of screw mandrel, said E point and F point laid respectively at the two ends that big cover coils vertical diameter, and wherein the F point is positioned at E point below.
Because the load-bearing loop bar of left part motion and right part motion intersects installation on shoulder substrate 68; In order to guarantee the motion mutually noninterfere on both sides, the load-bearing loop bar of right part motion is then crossed over part 83 through shoulder and is connected with the mandrel that is positioned at shoulder substrate 68 upper screw rods 69 left sides.
The whole connection of the present invention is as shown in Figure 1; Two hand modules are fixed in the left and right sides of shoulder substrate 68 in the trunk module respectively through the pedestal of the 3rd power plant module separately; Two foot's modules are fixed in the left and right sides of buttocks substrate 60 in the trunk module respectively through the pedestal of the 6th power plant module separately, the motion of two hand modules, two foot's modules and trunk intermodule is separate.
In sum, more than being merely preferred embodiment of the present invention, is not to be used to limit protection scope of the present invention.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. ectoskeleton Wearable body-building and rehabilitation machines; It is characterized in that; Comprise limbs module and trunk module; The limbs module comprises two hand modules and two foot's modules, and wherein two hand modules are along the vertical centrage left-right symmetric of trunk module, and two foot's modules are along the vertical centrage left-right symmetric of trunk module;
The hand module comprises first power plant module (1), second power plant module (2), the 3rd power plant module (3), big arm pipe (5) and hand extended part (4), and wherein big arm pipe (5) is a right-angle structure;
First power plant module (1) comprises pedestal A, steering wheel A (9), steering wheel B (10), roller gear A (11), roller gear B (12), axle B (13), bearing block B (14), bevel gear A (15), bevel gear B (16), bearing block A (17) and axle A (18); Its annexation is: pedestal A is the double layers table hierarchic structure, and steering wheel A (9) is through being fixed on the upper surface of pedestal A; Bevel gear A (15) is affixed with the output shaft of steering wheel A (9), and wherein the axis of bevel gear A (15) is in vertical direction; Bevel gear B (16) engagement that bevel gear A (15) and axis are perpendicular; Bevel gear B (16) is affixed with axle A (18), axle A (18) be positioned at steering wheel A (9) under, promptly the direction of axle A (18) power output be level backward; Axle A (18) cooperates with bearing block A (17) through bearing, and bearing block A (17) is connected with pedestal A; Steering wheel B (10) is fixed on the following laminar surface of pedestal A, and roller gear A (11) is connected with the output shaft of steering wheel B (10), roller gear A (11) and roller gear B (12) engagement, and wherein the axis of roller gear A (11) and roller gear B (12) all is in vertical direction; Roller gear A (11) is connected with axle B (13), and the direction of axle B (13) power output is for straight down; Axle B (13) cooperates with bearing block B (14) through bearing, and bearing block B (14) is fixed on the pedestal A;
Second power plant module (2) comprises pedestal B, steering wheel C (22), roller gear C (23), roller gear D (24), axle C (25) and bearing block C (26); The annexation of its each several part is: steering wheel C (22) is fixed on the pedestal B; Roller gear C (23) is fixed on the output shaft of steering wheel C (22); Roller gear D (24) and roller gear C (23) engagement, wherein the axis of roller gear C (23) and roller gear D (24) all is in vertical direction; Roller gear D (24) is affixed with axle C (25), the outputting power straight down of axle C (25); Axle C (25) cooperates with bearing block C (26) through bearing, and bearing block C (26) is fixed on the pedestal B;
The 3rd power plant module (3) comprises pedestal C, steering wheel D (28), bevel gear C (29), bevel gear D (30), axle D (31) and bearing block D (32); The annexation of its each several part is: steering wheel D (28) is fixed on the upper surface of pedestal C; Bevel gear C (29) is affixed with the output shaft of steering wheel D (28), and wherein the axis of bevel gear C (29) is in vertical direction; The perpendicular bevel gear D (30) of bevel gear C (29) and axis engagement, bevel gear D (30) is affixed with axle D (31), axle D (31) be positioned at steering wheel D (28) under, i.e. axle D (31) level outputting power backward; Axle D (31) cooperates with bearing block D (32) through bearing simultaneously, and bearing compresses through pedestal cap and bearing block D (32), and bearing block D (32) is fixed on pedestal C lower surface;
Hand extended part (4) comprises that the big sleeve pipe of forearm (33), locking positioner A (34), forearm straight tube (35), forearm bending tube (36), handle T manage (37), handle rotating shaft (38), handle bifurcated (39) and handle sleeve (40); The annexation of its each several part is: the big sleeve pipe of forearm (33) is a right-angle structure, and it vertically is connected with forearm straight tube (35) through locking positioner A (34) end of part, and the other end of forearm straight tube (35) is connected with forearm bending tube (36) through right-angle elbow pipe; The other end of forearm bending tube (36) is connected with the perpendicular handle T pipe (37) of axis; The upper end of handle T pipe (37) connects handle bifurcated (39), and handle bifurcated (39) is the U-shaped structure, handle installation core pipe between the right ends of handle bifurcated (39), the handle sleeve (40) of the outer suit rubber system of handle core pipe; Two end faces of handle core pipe are separately installed with handle end cap; Handle rotating shaft (38) is sleeved in the handle T pipe (37); In the junction of handle bifurcated (39) with handle T pipe (37), handle bifurcated (39) is connected with handle rotating shaft (38);
The concrete structure of locking positioner A (34) is: big sleeve pipe of forearm (33) and forearm straight tube (35) link together through loose collar tight locking button (41); At the inner link of the big sleeve pipe of forearm (33) two colored type loose collars of installing relatively (42) are arranged with forearm straight tube (35); Link last at forearm straight tube (35) and the big sleeve pipe of forearm (33) is equipped with sunk screw (43); The head of screw of sunk screw (43) does not sink to tube wall fully, and promptly sunk screw (43) has convexity on tube wall; Simultaneously the inwall of the big sleeve pipe of forearm (33) be processed with sunk screw (43) on protruding corresponding straight trough (45);
The whole annexation of hand module is: the end of the big sleeve pipe of forearm (33) horizontal component is connected with the clutch end of first power plant module (1) axis B (13) in the hand extended part (4); The clutch end of first power plant module (1) axis A (18) is connected with an end of big arm pipe (5), and the other end of big arm pipe (5) is connected with the clutch end of second power plant module (2) axis C (25); The clutch end of the 3rd power plant module (3) axis D (30) is connected with the pedestal of second power plant module (2), and the 3rd power plant module (3) drives second power plant module (2) unitary rotation;
Foot's module comprises the 4th power plant module (46), the 5th power plant module (47), the 6th power plant module (48), the 7th power plant module (49), thigh pipe (51), foot's extended part (50) and foot parts (52); Wherein thigh pipe (51) is a right-angle structure; The 4th power plant module (46) is identical with first power plant module (1) structure, and the 6th power plant module (48) is identical with the 3rd power plant module (3) structure; The 5th power plant module (47) is all identical with second power plant module (2) structure with the 7th power plant module (49);
Foot's extended part (50) comprises the big sleeve pipe of shank (53), shank straight tube (54), locking positioner B (55) and shank bottom connector (56); It is identical with the structure of locking positioner A (34) wherein to lock positioner B (55); The big sleeve pipe of shank (53) the vertically end of part is connected with shank straight tube (54) through locking positioner B (55), and the other end of shank straight tube (54) links to each other with shank bottom connector (56); The foot parts comprise foot seat (57), plastic plate (58) and rubber blanket (59); Wherein foot seat (57) is vertically placed, and plastic plate (58) and rubber blanket (59) average level are placed, and foot seat (57) is connected with plastic plate (50), and plastic plate (50) is connected with rubber blanket (51);
The whole annexation of foot's module is: the top of foot seat (57) is connected with the power output shaft of the 5th power plant module (47) in the foot parts, and the pedestal of the 5th power plant module (47) links to each other with shank bottom connector (56) in foot's extended part (50); The end of the big sleeve pipe of shank (53) horizontal component is connected with the vertical power output shaft of the 4th power plant module (46); The horizontal power output shaft of the 4th power plant module (46) is connected with an end of thigh pipe (51), and the other end of big arm pipe (51) is connected with the power output shaft of the 7th power plant module (49); The power output shaft of the 6th power plant module (48) is connected with the pedestal of the 7th power plant module (49), and the 6th power plant module (48) drives the 7th power plant module (49) unitary rotation;
The trunk module comprises buttocks substrate (60), shoulder substrate (68) and motion; Buttocks substrate (60) and shoulder substrate (68) are positioned at same vertical plane, and shoulder substrate (68) is positioned at buttocks substrate (60) top; The axis of symmetry of shoulder substrate (68) overlaps with the axis of symmetry of buttocks substrate (60); Said motion is in the right and left symmetric arrangement of this axis of symmetry;
The right side motion comprises that steering wheel E (62), connecting rod A (63), connecting rod B (64), connecting rod C (65), connecting rod D (81), big cover dish (73), load-bearing loop bar (74), steering wheel F (75), bearing bar (76), power transmission shaft (79), mandrel, screw mandrel (69), slide block, motor (72) and big cover dish rotate strut (82); Wherein connecting rod C (65) is a semicircular structure; The line of symmetry along continuous straight runs of this semicircular structure; Connecting rod C (65) has three hinged ends, lays respectively at top, bottom and the excircle of semicircular structure, and wherein the hinged end on the excircle is positioned at the position of its horizontal symmetry-line; Connecting rod D (81) is a right-angle structure, and there is connecting axle straight down the end of this right-angle structure horizontal component;
Its annexation is: steering wheel E (62) is fixed on the buttocks substrate (60) through the steering wheel fixed mount (2) of buttocks substrate (60) lower end, and the output shaft of steering wheel E (62) vertically passes buttocks substrate (60) back and is connected with connecting rod A (63), and this junction point is designated as the A point; The other end of connecting rod A (63) and connecting rod B (64) are dynamically connected, and this junction point is designated as the B point; Hinged end on the other end of connecting rod B (64) and connecting rod C (65) excircle is dynamically connected, and this junction point is designated as the C point; The hinged end of connecting rod C (65) bottom is connected with buttocks substrate (60) through bearing, and this junction point is designated as the D point, the vertical and buttocks substrate (60) of the rotation direction of its middle (center) bearing; Guarantee to connect successively A point, B point, C point, D point back formation parallelogram sturcutre; The hinged end at connecting rod C (65) top is a column construction, and the connecting axle of the hinged end at connecting rod C (65) top and connecting rod D (81) horizontal component end is hinged along the axis direction of this connecting axle; The outside of the vertical part of connecting rod D (81) upper end is steering wheel F (75) fixedly, and the output shaft of steering wheel F (75) is perpendicular to the vertical part of connecting rod D (81); The output shaft of steering wheel F (75) is connected with bearing bar A (76) through power transmission shaft (79), and bearing bar A (76) cooperates with the chute on load-bearing loop bar (74) surface, can only move along the chute direction each other; Load-bearing loop bar (74) is installed on the shoulder substrate (68) through mandrel; The mounting means of mandrel is: be processed with the installing hole of big cover dish (73) in shoulder substrate (68) left side, the axial location when place, the center of circle horizontal line of big cover dish (73) is higher than the output shaft level of steering wheel F (75); Big cover dish (73) is dynamically connected with shoulder substrate (68) in its installing hole, and big cover dish (73) can only be along its axial rotation; On big cover dish (73), be processed with the installing hole of mandrel,, establishing this installing hole loca is the E point; Mandrel is dynamically connected with big cover dish (73) in its installing hole, and mandrel can only be along its axial rotation, and load-bearing loop bar (74) left end and mandrel are affixed; Screw mandrel (69) is installed in the screw mandrel mounting groove that is positioned on shoulder substrate (68) axis of symmetry, and slide block is installed on the screw mandrel (69), and slide block cooperates with screw mandrel (69), can move up and down along screw mandrel (69), and screw mandrel (69) top links to each other with the output shaft of motor (72); The end that big cover dish rotates strut (82) is connected with big cover dish (73), and establishing this junction point is the F point, and the other end is connected with slide block; The line that said F point and E are ordered is through the center of circle of excessive cover dish (73); Load-bearing loop bar in the motion of left side is crossed over part (83) through shoulder and is connected with the mandrel that is positioned at shoulder substrate (68) right side.
The whole annexation of the present invention is: two hand modules are fixed in the left and right sides of shoulder matrix (68) in the trunk module respectively through the pedestal of the 3rd power plant module separately; Two foot's modules are fixed in the left and right sides of buttocks substrate (60) in the trunk module respectively through the pedestal of the 6th power plant module separately, the motion of two hand modules, two foot's modules and trunk intermodule is separate.
2. a kind of ectoskeleton Wearable as claimed in claim 1 body-building and rehabilitation machines; It is characterized in that; When slide block was positioned at the top of screw mandrel (69), said E point and F point laid respectively at the two ends of big cover dish (73) horizontal direction diameter, and wherein the F point is positioned at the side near screw mandrel (69); When slide block was positioned at the lowermost end of screw mandrel (69), said E point and F point laid respectively at the two ends of big cover dish (73) vertical direction diameter, and wherein the F point is positioned at E point below.
3. a kind of ectoskeleton Wearable as claimed in claim 1 body-building and rehabilitation machines is characterized in that, said axle B (13), axle A (18), axle C (25) and axle D (31) are floral axis.
4. a kind of ectoskeleton Wearable as claimed in claim 1 body-building and rehabilitation machines is characterized in that, the rotating range of said axle B (13) and axle A (18) is 150 °.
5. a kind of ectoskeleton Wearable as claimed in claim 1 body-building and rehabilitation machines is characterized in that, in order to adapt to the foot elongation mechanism, the power output shaft in said the 5th power plant module (47) and the 7th power plant module (49) is a circular shaft.
6. a kind of ectoskeleton Wearable as claimed in claim 1 body-building and rehabilitation machines is characterized in that, the model of said all steering wheels is RX-24F.
7. a kind of ectoskeleton Wearable as claimed in claim 1 body-building and rehabilitation machines; It is characterized in that; The position of on forearm straight tube (35), sunk screw (43) being installed is along its outer circumference surface machined grooves (44); After forearm straight tube (35) is screwed into, observes the position of groove (44) and then judge the relative position of forearm straight tube (35) in the big sleeve pipe of forearm (33) through the observation port on the big sleeve pipe of forearm (33).
8. a kind of ectoskeleton Wearable as claimed in claim 1 body-building and rehabilitation machines; It is characterized in that; The position of on shank straight tube (54), sunk screw being installed is along its outer circumference surface machined grooves; After shank straight tube (54) is screwed into, can observes the position of groove and then judge the relative position of shank straight tube (54) in the big sleeve pipe of shank (53) through the observation port on the big sleeve pipe of shank (53).
9. a kind of ectoskeleton Wearable as claimed in claim 1 body-building and rehabilitation machines is characterized in that, said bevel gear A (15) is 1: 2 to the gear ratio of bevel gear B (16); Roller gear A (11) is 1: 2 to the gear ratio of roller gear B (12); Roller gear C (23) is 1: 2 to the gear ratio of roller gear D (24); Bevel gear C (29) was to the gear ratio of bevel gear D (30) 1: 2.
10. a kind of ectoskeleton Wearable as claimed in claim 1 body-building and rehabilitation machines is characterized in that, said all pedestals all adopt sheet metal structural.
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| CN 201210122745 CN102648884B (en) | 2012-04-24 | 2012-04-24 | Wearable exoskeleton exercising and rehabilitating machine |
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| CN 201210122745 CN102648884B (en) | 2012-04-24 | 2012-04-24 | Wearable exoskeleton exercising and rehabilitating machine |
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| CN102648884B CN102648884B (en) | 2013-09-04 |
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| CN103099690A (en) * | 2013-02-25 | 2013-05-15 | 西南交通大学 | Power assisting and compositing type bearing shoes for exoskeleton |
| CN103099691A (en) * | 2012-12-24 | 2013-05-15 | 东南大学 | Two-degree-of-freedom exoskeleton ankle joint mechanism |
| CN103750978A (en) * | 2014-01-08 | 2014-04-30 | 张倩 | Human-like orthopedic rehabilitation device |
| CN105751204A (en) * | 2016-04-18 | 2016-07-13 | 智造未来（北京）机器人系统技术有限公司 | Wearing robot |
| WO2017069605A1 (en) * | 2015-10-22 | 2017-04-27 | Razgado Hernández Luis Fernando | Multi-articular exoskeleton with adjustable resistance for muscle-strenghtening and rehabilitation exercises |
| CN106923992A (en) * | 2017-04-24 | 2017-07-07 | 辽宁工程技术大学 | A kind of Foldable medical nursing and rehabilitation training dual-purpose apparatus |
| CN107050766A (en) * | 2017-05-09 | 2017-08-18 | 哈尔滨工业大学 | Green power generation Wearable body-building function integration fitness equipment |
| CN107789155A (en) * | 2017-09-26 | 2018-03-13 | 刘英宽 | A kind of simple human ectoskeleton |
| CN109381843A (en) * | 2017-08-04 | 2019-02-26 | 北京臻迪科技股份有限公司 | A kind of body-building and power assistive device |
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| CA2696670A1 (en) * | 2010-02-04 | 2011-08-04 | Vincent Chau | The complete body muscle rebuild machine |
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| CA2696670A1 (en) * | 2010-02-04 | 2011-08-04 | Vincent Chau | The complete body muscle rebuild machine |
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| CN103099691A (en) * | 2012-12-24 | 2013-05-15 | 东南大学 | Two-degree-of-freedom exoskeleton ankle joint mechanism |
| CN103099691B (en) * | 2012-12-24 | 2014-12-17 | 东南大学 | Two-degree-of-freedom exoskeleton ankle joint mechanism |
| CN103099690A (en) * | 2013-02-25 | 2013-05-15 | 西南交通大学 | Power assisting and compositing type bearing shoes for exoskeleton |
| CN103750978A (en) * | 2014-01-08 | 2014-04-30 | 张倩 | Human-like orthopedic rehabilitation device |
| WO2017069605A1 (en) * | 2015-10-22 | 2017-04-27 | Razgado Hernández Luis Fernando | Multi-articular exoskeleton with adjustable resistance for muscle-strenghtening and rehabilitation exercises |
| CN105751204A (en) * | 2016-04-18 | 2016-07-13 | 智造未来（北京）机器人系统技术有限公司 | Wearing robot |
| CN106923992A (en) * | 2017-04-24 | 2017-07-07 | 辽宁工程技术大学 | A kind of Foldable medical nursing and rehabilitation training dual-purpose apparatus |
| CN107050766A (en) * | 2017-05-09 | 2017-08-18 | 哈尔滨工业大学 | Green power generation Wearable body-building function integration fitness equipment |
| CN109381843A (en) * | 2017-08-04 | 2019-02-26 | 北京臻迪科技股份有限公司 | A kind of body-building and power assistive device |
| CN109381843B (en) * | 2017-08-04 | 2020-10-30 | 北京臻迪科技股份有限公司 | Body-building and helping hand equipment |
| CN107789155A (en) * | 2017-09-26 | 2018-03-13 | 刘英宽 | A kind of simple human ectoskeleton |
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