CN103315834B - Wearable lower-limb assistance exoskeleton - Google Patents
Wearable lower-limb assistance exoskeleton Download PDFInfo
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- CN103315834B CN103315834B CN201310262919.3A CN201310262919A CN103315834B CN 103315834 B CN103315834 B CN 103315834B CN 201310262919 A CN201310262919 A CN 201310262919A CN 103315834 B CN103315834 B CN 103315834B
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Abstract
A wearable lower-limb assistance exoskeleton comprises a left-side leg (A), a right-side leg (C) and an object carrier (B). A left first connecting rod (A1) is matched with an inserting rod (B1) to fixedly connecting the left-side leg (A) with the object carrier (B), and a right first connecting rod (C1) is matched with the inserting rod (B1) to fixedly connecting the right-side leg (C) with the object carrier (B). Lower limbs on two sides totally have two rotating degrees of freedom, and the lower limb on each side has one degree of freedom, so that hip joints, knee joints and ankle joints can rotate around the frontal axis. A left motor (A20) and a right motor (C20) are controlled by a bionic intelligent control program to realize walking gaits of the wearable lower-limb assistance exoskeleton. By the wearable lower-limb assistance exoskeleton, physical ability consumption of a person can be effectively reduced. The wearable lower-limb assistance exoskeleton is used for lower-limb assistance, can be used for soldier fighting equipment for military use and can also be used in the field of lower-limb rehabilitation.
Description
Technical field
The present invention relates to a kind of Wearable lower-limb assistance exoskeleton, relate to one concretely and can improve walking with load ability, can be used for the exoskeleton robot device of lower limb rehabilitation and individual combat power-assisted.
Background technology
Along with progress and the development of science and technology, army the informationization of weaponry, demand that is rapid and superiorization embody in individual combat particularly evident, meanwhile, individual equipment ensures soldier's safety to greatest extent while meeting many means, multipurpose and multitask needs.Wearable lower-limb assistance exoskeleton is by being coupled to human body, soldier's excessive consumption of muscle power on effective solution battlefield and reduce the problem of lasting fight capability, avoids fatigue phenomenon that adaptability physical training causes and the overweight muscle sprain that causes of equipment and joint injury simultaneously.
Chinese patent notification number 101589983 discloses one " wearable lower limb exoskeleton device ", two lower limb totally ten two rotational freedoms of this ESD, the each six-freedom degree of single lower limb, be respectively coxa joint two degree of freedom, knee joint one degree of freedom, ankle joint three degree of freedom, this device can be used to the locomotor activity strengthening wearer.But be limited to the one-sided lower limb of this device for series connection six degree of freedom structure, have cumulative error, control algolithm is complicated, easily due to inertia, the factor such as strength of one's legs is unbalance and cause robot unstability, limit the load capacity of walking robot under identical deadweight simultaneously.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of Wearable lower-limb assistance exoskeleton device realizing one-sided lower limb single-degree-of-freedom.
Technical scheme of the present invention:
A kind of Wearable lower-limb assistance exoskeleton device, this device comprises left side lower limb, right side leg, luggage carrier.
Luggage carrier comprises inserted link, bracing frame, cassette tape and Knapsack-rack.
Bracing frame and inserted link by the jig at bracing frame edge and the bar portion of inserted link affixed, Knapsack-rack and bracing frame affixed, cassette tape and Knapsack-rack affixed, load weight for fixing Wearable lower-limb assistance exoskeleton.
Left side lower limb is single-degree-of-freedom linkage, left head rod on the lower limb of left side and the inserted link on luggage carrier coordinate affixed by the left plug of left head rod end slot and inserted link, left side lower limb are arranged left thigh bandage, left leg bandage are connected human body lower limbs with left sufficient bandage.Left side lower limb is provided with left motor, drives left 6th connecting rod, drive left side lower limb motion.
Right side leg is single-degree-of-freedom linkage, right head rod in right side leg and the inserted link on luggage carrier coordinate affixed by the right plug of right head rod end slot and inserted link, right side leg is arranged right thigh bandage, right leg bandage are connected human body lower limbs with right sufficient bandage, right side leg is provided with right motor, drive right 6th connecting rod, drive right side leg motion.
By above-mentioned connection, complete the assembling of wearable lower limb exoskeleton mechanism, the left motor on the lower limb of left side, right side leg are installed right motor and drive left 6th connecting rod, right 6th connecting rod respectively, realize the walking of wearable lower limb exoskeleton mechanism.
Described left side lower limb comprises left first to left 9th connecting rod, Left Drive gear, left first to left 6th bearing pin, left thigh bandage, left leg bandage, left sufficient bandage, left motor.
Left head rod is connected by a L-type rod member and a Y type rod member and forms, L-type rod member short end arranges slot, L-type bending part and long end end respectively have an installing hole, the Y type end of Y type rod member is connected as jig and L-type rod member, and the other end arranges motor installing hole and motor output shaft hole (scheming slightly).
Left second connecting rod is obtuse triangle rod member, and summit, the obtuse angle place of left second connecting rod arranges gear mounting groove and pinion mounting holes, and two sharp-angled apex places of left second connecting rod arrange installing hole.
Left 3rd connecting rod is obtuse triangle rod member, and summit, the obtuse angle place of left 3rd connecting rod arranges gear mounting groove and pinion mounting holes, and two sharp-angled apex places of left 3rd connecting rod arrange installing hole.
Left fourth, fifth connecting rod is isosceles triangle rod member, and installing hole is arranged respectively in drift angle summit and the summit, two base angles of left fourth, fifth connecting rod.
A left side the 6th, eight connecting rods are second mate's rod member, and left 6th, eight connecting rod two ends respectively have an installing hole.Wherein, left 6th connecting rod is crank.
Left 7th connecting rod is made up of bar portion, L-type right angle and bow portion, and right-angled apices place of bar portion, L-type right angle, short right-angle side end, long right-angle side end respectively have an installing hole.
Left 9th connecting rod holds pedal for sufficient, and in the middle part of left 9th connecting rod and end has an installing hole.
The installing hole of left head rod bending part and the installing hole at left second connecting rod sharp-angled apex place are by left first pinned connection, and on left head rod, the installing hole of L-type long end end and the installing hole at left 3rd connecting rod sharp-angled apex place are by the first pinned connection.The gear mounting groove at left second summit place, connecting rod obtuse angle places Left Drive gear, Left Drive gear is connected by the installing hole at summit, obtuse angle place on left second bearing pin and left second connecting rod, the gear mounting groove at left 3rd summit place, connecting rod obtuse angle places Left Drive gear, Left Drive gear is connected by left second bearing pin and the installing hole at summit, obtuse angle place on left 3rd connecting rod, and two the Left Drive gears be connected with second and third connecting rod left respectively form gear mesh and engage.The installing hole at left another sharp-angled apex place of second connecting rod is connected by summit place, the base angle installing hole of left 3rd bearing pin with left 4th connecting rod, and the installing hole at left 3rd another sharp-angled apex place of connecting rod is connected by summit place, the base angle installing hole of left 3rd bearing pin with left 5th connecting rod.Left 4th connecting rod drift angle summit place installing hole is connected with left 5th connecting rod drift angle summit place installing hole by left 3rd bearing pin.Left another summit, base angle place installing hole of 4th connecting rod is connected by left 3rd bearing pin and left 7th connecting rod short right-angle side end installing hole.Left another summit, base angle installing hole of 5th connecting rod and left 8th connecting rod end installing hole are by left 3rd pinned connection.Y type rod member one end and the left motor of left head rod are connected, and left motor output shaft is connected through Y type rod member and left 6th connecting rod end installing hole.Left 6th connecting rod the other end installing hole is connected with left 7th connecting rod L-type right-angled apices place installing hole by left 4th bearing pin.Left 7th connecting rod long right-angle side end installing hole is connected with left 9th connecting rod end installing hole by left 5th bearing pin, and left 8th connecting rod the other end installing hole is connected with installing hole in the middle part of left 9th connecting rod by left 5th bearing pin.
Left thigh bandage and left 3rd connecting rod are by left 6th pinned connection, and left leg bandage and left 7th connecting rod are by left 6th pinned connection, and left sufficient bandage is connected with left 9th connecting rod.By left thigh bandage, left leg bandage and left sufficient bandage, left side lower limb ectoskeleton is coupled to human body lower limbs.
Described right side leg comprises right first to right 9th connecting rod, right travelling gear, right first to right 6th bearing pin, right thigh bandage, right leg bandage, right sufficient bandage, right motor.
The design of part of right side leg and size, annexation, degree of freedom are identical with left side lower limb.
Left and right side lower limb is coupled with human body lower limbs by left and right thigh bandage, left and right shank bandage, left and right sufficient bandage by wearable lower limb exoskeleton mechanism, is driven realize the drive human body lower limbs motion of wearable lower limb exoskeleton mechanism by left and right motor.
The present invention compares the beneficial effect had with prior art:
The one-sided lower limb mechanical connection manner of wearable lower limb exoskeleton is single-degree-of-freedom closed linkage, compared with identical deadweight tandem multiple degrees of freedom ectoskeleton structure, simplified control system, structural stability is good, bearing capacity and sport efficiency high; This device motor position, close to ground, reduces machine gravity, improves ESD robust motion.
Accompanying drawing explanation
The overall graphics of a kind of Wearable lower-limb assistance exoskeleton of Fig. 1;
Lower limb graphics on the left of Fig. 2;
The left motor of Fig. 3, left crank are connected outline drawing with left motor fixing frame;
Fig. 4 right side leg graphics;
The right motor of Fig. 5, right crank are connected outline drawing with right motor fixing frame;
Fig. 6 luggage carrier graphics;
Fig. 7 inserted link graphics;
On the left of Fig. 8, left 8th connecting rod of lower limb replaces travelling gear graphics
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
A kind of Wearable lower-limb assistance exoskeleton, as shown in Figure 1, comprises left side lower limb A, right side leg C, luggage carrier B.
Described luggage carrier B, as shown in Figure 6, comprises inserted link B1, bracing frame B2, cassette tape B3 and Knapsack-rack B4.
Described inserted link B1, as shown in Figure 7, comprises left plug B1a, right plug B1b and bar portion B1c.
Bracing frame B2 and inserted link B1 is affixed by the bar portion B1c of the jig at bracing frame edge and inserted link B1, and Knapsack-rack B4 and bracing frame B2 is affixed, and cassette tape B3 and Knapsack-rack B4 is affixed, loads weight for fixing Wearable lower-limb assistance exoskeleton.
Described left side lower limb A is single-degree-of-freedom linkage, and the left head rod A1 on the lower limb A of left side and the inserted link B1 on luggage carrier B coordinates affixed by the left plug B1a of left head rod A1 end slot and inserted link B1.On the lower limb A of left side, layout left thigh bandage A11, left leg bandage A12 are connected human body lower limbs with left sufficient bandage A13.Left side lower limb A is provided with left motor A20, drives left 6th connecting rod A6, drive left side lower limb A motion.
Described right side leg C is single-degree-of-freedom linkage, and the right head rod C1 on right side leg C and the inserted link B1 on luggage carrier B coordinates affixed by the right plug B1b of right head rod C1 end slot and inserted link B1.On right side leg C, layout right thigh bandage C11, right leg bandage C12 are connected human body lower limbs with right sufficient bandage C13.Right side leg C is provided with right motor C20, drives right 6th connecting rod C6, drive right side leg C motion.
By above-mentioned connection, complete the assembling of wearable lower limb exoskeleton mechanism, left motor A20, right side leg C on the lower limb A of left side install right motor C20 and drive left 6th connecting rod A6, right 6th connecting rod C6 respectively, realize the walking of wearable lower limb exoskeleton mechanism.
Left side lower limb A, as shown in Figure 2, comprise left first and arrive left 9th connecting rod A1, A2, A3, A4, A5, A6, A7, A8, A9, Left Drive gear A 10, left first to left 6th bearing pin A14, A15, A16, A17, A18, A19, left thigh bandage A11, left leg bandage A12, left sufficient bandage A13, left motor A20.
Left head rod A1 is connected by a L-type rod member and a Y type rod member and forms.L-type rod member short end arranges slot, and L-type bending part and long end end respectively have an installing hole.The Y type end of Y type rod member is connected as jig and L-type rod member, and the other end arranges motor installing hole and motor output shaft hole (scheming slightly).
Left second connecting rod A2 is obtuse triangle rod member, and summit, the obtuse angle place of left second connecting rod A2 arranges gear mounting groove and pinion mounting holes, and two sharp-angled apex places of left second connecting rod A2 arrange installing hole.
Left 3rd connecting rod A3 is obtuse triangle rod member, and summit, the obtuse angle place of left 3rd connecting rod A3 arranges gear mounting groove and pinion mounting holes, and two sharp-angled apex places of left 3rd connecting rod A3 arrange installing hole.
Left fourth, fifth connecting rod A4, A5 is isosceles triangle rod member, and installing hole is arranged respectively in drift angle summit and the summit, two base angles of left fourth, fifth connecting rod A4, A5.
Left 6th, eight connecting rod A6, A8 are second mate's rod member, and left 6th, eight connecting rod A6, A8 two ends respectively have an installing hole.Wherein, left 6th connecting rod A6 is crank.
Left 7th connecting rod A7 is made up of bar portion, L-type right angle and bow portion.Right-angled apices place of bar portion, L-type right angle, short right-angle side end, long right-angle side end respectively have an installing hole.
Left 9th connecting rod A9 holds pedal for foot, has an installing hole in the middle part of left 9th connecting rod A9 with end.
The installing hole of left head rod A1 bending part is connected by left first bearing pin A14 with the installing hole at left second connecting rod A2 sharp-angled apex place, and on left head rod A1, the installing hole of L-type long end end is connected by the first bearing pin A14 with the installing hole at left 3rd connecting rod A3 sharp-angled apex place.The gear mounting groove at left second summit place, connecting rod A2 obtuse angle places Left Drive gear A 10, Left Drive gear A 10 is connected by the installing hole at summit, obtuse angle place on left second bearing pin A15 and left second connecting rod A2, the gear mounting groove at left 3rd summit place, connecting rod A3 obtuse angle places Left Drive gear A 10, Left Drive gear A 10 is connected by left second bearing pin A15 and the installing hole at summit, obtuse angle place on left 3rd connecting rod A3, and two the Left Drive gear A 10 be connected with left second and third connecting rod A2, A3 form gear mesh and engage.The installing hole at left second another sharp-angled apex place of connecting rod A2 is connected with summit, the base angle installing hole of left 4th connecting rod A4 by left 3rd bearing pin A16.The installing hole at left 3rd another sharp-angled apex place of connecting rod A3 is connected with summit, the base angle installing hole of left 5th connecting rod A5 by left 3rd bearing pin A16.Left 4th connecting rod A4 is connected by left 3rd bearing pin A16 with left 5th connecting rod A5 drift angle summit installing hole.By left 3rd bearing pin A16, left another summit, base angle installing hole of 4th connecting rod A4 is connected with left 7th connecting rod A7 short right-angle side end installing hole, and left another summit, base angle installing hole of 5th connecting rod A5 is connected by left 3rd bearing pin A16 with left 8th connecting rod A8 end installing hole.Y type rod member one end and the left motor A20 of left head rod A1 are connected, and left motor A20 output shaft is connected through Y type rod member and left 6th connecting rod A6, as shown in Figure 3.Left 6th connecting rod A6 end installing hole is connected with left 7th connecting rod L-type right-angled apices place installing hole by left 4th bearing pin A17.Left 7th connecting rod A7 long right-angle side end installing hole is connected with left 9th connecting rod A9 end installing hole by left 5th bearing pin A18, and left 8th connecting rod A8 the other end installing hole is connected with installing hole in the middle part of left 9th connecting rod A9 by left 5th bearing pin A18.
Left thigh bandage A11 is connected by left 6th bearing pin A19 with left 3rd connecting rod A3, and left leg bandage A12 is connected by left 6th bearing pin A19 with left 7th connecting rod A7, and left sufficient bandage A13 is connected with left 9th connecting rod A9.By left thigh bandage A11, left leg bandage A12 and left sufficient bandage A13, left side lower limb A ectoskeleton is coupled to human body lower limbs.
Right side leg C, as shown in Figure 4, comprise right first and arrive right 9th connecting rod C1, C2, C3, C4, C5, C6, C7, C8, C9, right travelling gear C10, right first to right 6th bearing pin C14, C15, C16, C17, C18, C19, right thigh bandage C11, right leg bandage C12, right sufficient bandage C13, right motor C20.
Right head rod C1 is connected by a L-type rod member and a Y type rod member and forms.L-type rod member short end arranges slot, and L-type bending part and long end end respectively have an installing hole.The Y type end of Y type rod member is connected as jig and L-type rod member, and the other end arranges motor installing hole and motor output shaft hole (scheming slightly).
Right second connecting rod C2 is obtuse triangle rod member, and summit, the obtuse angle place of right second connecting rod C2 arranges gear mounting groove and pinion mounting holes, and two sharp-angled apex places of right second connecting rod C2 arrange installing hole.
Right 3rd connecting rod C3 is obtuse triangle rod member, and summit, the obtuse angle place of right 3rd connecting rod C3 arranges gear mounting groove and pinion mounting holes, and two sharp-angled apex places of right 3rd connecting rod C3 arrange installing hole.
Right fourth, fifth connecting rod C4, C5 is isosceles triangle rod member, and installing hole is arranged respectively in drift angle summit and the summit, two base angles of right fourth, fifth connecting rod C4, C5.
Right 6th, eight connecting rod C6, C8 are second mate's rod member, and right 6th, eight connecting rod C6, C8 two ends respectively have an installing hole.Wherein, right 6th connecting rod C6 is crank.
Right 7th connecting rod C7 is made up of bar portion, L-type right angle and bow portion.Right-angled apices place of bar portion, L-type right angle, short right-angle side end, long right-angle side end respectively have an installing hole.
Right 9th connecting rod C9 holds pedal for foot, has an installing hole in the middle part of right 9th connecting rod C9 with end.
The installing hole of right head rod C1 bending part is connected by right first bearing pin C14 with the installing hole at right second connecting rod C2 sharp-angled apex place, and on right head rod C1, the installing hole of L-type long end end is connected by right first bearing pin C14 with the installing hole at right 3rd connecting rod C3 sharp-angled apex place.The gear mounting groove at right second summit place, connecting rod C2 obtuse angle places right travelling gear C10, right travelling gear C10 is connected by the installing hole at summit, obtuse angle place on right second bearing pin C15 and right second connecting rod C2, the gear mounting groove at right 3rd summit place, connecting rod C3 obtuse angle places right travelling gear C10, right travelling gear C10 is connected by right second bearing pin C15 and the installing hole at summit, obtuse angle place on right 3rd connecting rod C3, and two the right travelling gear C10 be connected with right second and third connecting rod C2, C3 form gear mesh and engage.The installing hole at right second another sharp-angled apex place of connecting rod C2 is connected with summit, the base angle installing hole of right 4th connecting rod C4 by right 3rd bearing pin C16.The installing hole at right 3rd another sharp-angled apex place of connecting rod C3 is connected with summit, the base angle installing hole of right 5th connecting rod C5 by right 3rd bearing pin C16, and right 4th connecting rod C4 is connected by right 3rd bearing pin C16 with right 5th connecting rod C5 drift angle summit installing hole.By right 3rd bearing pin C16, right another summit, base angle installing hole of 4th connecting rod C4 is connected with right 7th connecting rod C7 short right-angle side end installing hole, and right another summit, base angle installing hole of 5th connecting rod C5 is connected by right 3rd bearing pin C16 with right 8th connecting rod C8 end installing hole.Y type rod member one end and the right motor C20 of right head rod C1 are connected, and right motor C20 output shaft is connected through Y type rod member and right 6th connecting rod C6, as shown in Figure 5.Right 6th connecting rod C6 end installing hole is connected with right 7th connecting rod L-type right-angled apices place installing hole by right 4th bearing pin C17.Right 7th connecting rod C7 long right-angle side end installing hole is connected with right 9th connecting rod C9 end installing hole by right 5th bearing pin C18, and right 8th connecting rod C8 the other end installing hole is connected with installing hole in the middle part of right 9th connecting rod C9 by right 5th bearing pin C18.
Right thigh bandage C11 is connected by right 6th bearing pin C19 with right 3rd connecting rod C3, and right leg bandage C12 is connected by right 6th bearing pin C19 with right 7th connecting rod C7, and right sufficient bandage C13 is connected with right 9th connecting rod C9.By right thigh bandage C11, right leg bandage C12 and right sufficient bandage C13, right side leg C ectoskeleton is coupled to human body lower limbs.
In the lower limb A of left side, two Left Drive gear A 10 can be replaced by left tenth connecting rod A21, as shown in Figure 8.Connected mode is as follows: left second summit place, connecting rod A2 obtuse angle installing hole is connected with left tenth connecting rod A21 end installing hole by left second bearing pin A15, and left 3rd summit place, connecting rod A3 obtuse angle installing hole is connected with left tenth connecting rod A21 the other end installing hole by left second bearing pin A15.Replace the first two Left Drive gear A 10 meshed center distance and replacement rear left the tenth connecting rod A21 two installing hole apart from equal.Above-mentioned connected mode forms the one-sided ectoskeletal mechanical part of overall closed chain ten bar.The structure substitute mode of right side leg C is identical with left side lower limb A substitute mode.
Claims (2)
1. a Wearable lower-limb assistance exoskeleton, is characterized in that: this Wearable lower-limb assistance exoskeleton comprises left side lower limb (A), right side leg (C), luggage carrier (B);
Left side lower limb (A) is fixedly connected with luggage carrier (B) respectively with right side leg (C); Left side lower limb (A) the left motor of upper installation (A20), right side leg (C) the right motor of upper installation (C20) drive left 6th connecting rod (A6) respectively, right 6th connecting rod (C6) complete cycle turns round, and realize this wearable lower limb exoskeleton mechanism walking;
Described left side lower limb (A) is single-degree-of-freedom linkage, comprises left first to left 9th connecting rod (A1, A2, A3, A4, A5, A6, A7, A8, A9), Left Drive gear (A10), left first to left 6th bearing pin (A14, A15, A16, A17, A18, A19), left thigh bandage (A11), left leg bandage (A12), left sufficient bandage (A13), left motor (A20);
Left head rod (A1) is connected by a L-type rod member and a Y type rod member and forms; L-type rod member short end arranges slot, and L-type bending part and long end end respectively have an installing hole; The Y type end of Y type rod member is connected as jig and L-type rod member, and the other end arranges motor installing hole and motor output shaft hole;
Left second connecting rod (A2) is obtuse triangle rod member, and summit, the obtuse angle place of left second connecting rod (A2) arranges gear mounting groove and pinion mounting holes, and two sharp-angled apex places of left second connecting rod (A2) arrange installing hole;
Left 3rd connecting rod (A3) is obtuse triangle rod member, and summit, the obtuse angle place of left 3rd connecting rod (A3) arranges gear mounting groove and pinion mounting holes, and two sharp-angled apex places of left 3rd connecting rod (A3) arrange installing hole;
Left fourth, fifth connecting rod (A4, A5) is isosceles triangle rod member, and installing hole is arranged respectively in drift angle summit and the summit, two base angles of left fourth, fifth connecting rod (A4, A5);
A left side the 6th, eight connecting rods (A6, A8) are second mate's rod member, and a left side the 6th, eight connecting rods (A6, A8) two ends respectively have an installing hole; Wherein, left 6th connecting rod (A6) is crank;
Left 7th connecting rod (A7) is made up of bar portion, L-type right angle and bow portion; Right-angled apices place of bar portion, L-type right angle, short right-angle side end, long right-angle side end respectively have an installing hole;
Left 9th connecting rod (A9) holds pedal for sufficient, and left 9th connecting rod (A9) middle part and end have an installing hole;
The upper installing hole of L-type rod member bending part of left head rod (A1) is connected by left first bearing pin (A14) with the installing hole at left second connecting rod (A2) sharp-angled apex place; The installing hole of the upper L-type rod member long end end of left head rod (A1) is connected by left first bearing pin (A14) with the installing hole at left 3rd connecting rod (A3) sharp-angled apex place; The gear mounting groove at left second connecting rod (A2) summit, obtuse angle place places Left Drive gear (A10), Left Drive gear (A10) is connected by the installing hole at upper summit, the obtuse angle place of left second bearing pin (A15) and left second connecting rod (A2), the gear mounting groove at left 3rd connecting rod (A3) summit, obtuse angle place places Left Drive gear (A10), and Left Drive gear (A10) is connected by the installing hole of left second bearing pin (A15) with upper summit, the obtuse angle place of left 3rd connecting rod (A3); Two the Left Drive gears (A10) be connected with left second and third connecting rod (A2, A3) respectively form meshing gear pair; The installing hole at left second connecting rod (A2) another sharp-angled apex place is connected by summit place, the base angle installing hole of left 3rd bearing pin (A16) with left 4th connecting rod (A4); The installing hole at left 3rd connecting rod (A3) another sharp-angled apex place is connected by summit place, the base angle installing hole of left 3rd bearing pin (A16) with left 5th connecting rod (A5); Left 4th connecting rod (A4) drift angle summit place installing hole is connected with left 5th connecting rod (A5) drift angle summit place installing hole by left 3rd bearing pin (A16); Left another summit, base angle place installing hole of 4th connecting rod (A4) is connected by left 3rd bearing pin (A16) and left 7th connecting rod (A7) short right-angle side end installing hole; Left another summit, base angle place installing hole of 5th connecting rod (A5) is connected by left 3rd bearing pin (A16) and left 8th connecting rod (A8) end installing hole; Y type rod member one end of left head rod (A1) is connected by motor installing hole and left motor (A20), left motor (A20) output shaft is connected through Y type rod member and left 6th connecting rod (A6) end installing hole, and left 6th connecting rod (A6) the other end installing hole is connected with left 7th connecting rod (A7) L-type right-angled apices place installing hole by left 4th bearing pin (A17); Left 7th connecting rod (A7) long right-angle side end installing hole is connected with left 9th connecting rod (A9) end installing hole by left 5th bearing pin (A18); Left 8th connecting rod (A8) the other end installing hole is connected with left 9th connecting rod (A9) middle part installing hole by left 5th bearing pin (A18);
Left thigh bandage (A11) is connected by left 6th bearing pin (A19) with left 3rd connecting rod (A3); Left leg bandage (A12) is connected by left 6th bearing pin (A19) with left 7th connecting rod (A7); Left sufficient bandage (A13) is connected with left 9th connecting rod (A9); With left sufficient bandage (A13), left side lower limb (A) ectoskeleton is coupled to human body lower limbs by left thigh bandage (A11), left leg bandage (A12);
Described right side leg (C) is single-degree-of-freedom linkage, comprises right first to right 9th connecting rod (C1, C2, C3, C4, C5, C6, C7, C8, C9), right travelling gear (C10), right first to right 6th bearing pin (C14, C15, C16, C17, C18, C19), right thigh bandage (C11), right leg bandage (C12), right sufficient bandage (C13), right motor (C20);
The design of part of right side leg (C) and size, annexation, degree of freedom are identical with left side lower limb (A);
Left side lower limb (A) upper layout left thigh bandage (A11), left leg bandage (A12) are connected human body lower limbs with left sufficient bandage (A13); Left side lower limb (A) is provided with left motor (A20), drives left 6th connecting rod (A6), drive left side lower limb (A) motion;
Right side leg (C) upper layout right thigh bandage (C11), right leg bandage (C12) are connected human body lower limbs with right sufficient bandage (C13); Right side leg (C) is provided with right motor (C20), drives right 6th connecting rod (C6), drive right side leg (C) motion.
2. Wearable lower-limb assistance exoskeleton according to claim 1, is characterized in that:
In described left side lower limb (A), two Left Drive gears (A10) can be replaced by left tenth connecting rod (A21); Connected mode is as follows: left second connecting rod (A2) summit, obtuse angle place installing hole is connected with left tenth connecting rod (A21) end installing hole by left second bearing pin (A15); Left 3rd connecting rod (A3) summit, obtuse angle place installing hole is connected with left tenth connecting rod (A21) the other end installing hole by left second bearing pin (A15); Replace the first two Left Drive gear (A10) meshed center distance and replacement rear left the tenth connecting rod (A21) two installing hole apart from equal; Above-mentioned connected mode forms the one-sided ectoskeletal mechanical part of overall closed chain ten bar; The structure substitute mode of right side leg (C) is identical with left side lower limb (A) substitute mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310262919.3A CN103315834B (en) | 2013-06-27 | 2013-06-27 | Wearable lower-limb assistance exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310262919.3A CN103315834B (en) | 2013-06-27 | 2013-06-27 | Wearable lower-limb assistance exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103315834A CN103315834A (en) | 2013-09-25 |
| CN103315834B true CN103315834B (en) | 2015-04-22 |
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| CN103610524B (en) * | 2013-12-16 | 2015-09-09 | 哈尔滨工业大学 | A kind of Portable energy storage ectoskeleton power-assisting robot |
| CN104013514B (en) * | 2014-06-19 | 2017-02-15 | 中国北方车辆研究所 | Hydraulically-driven wearable human body assisting walking robot |
| CN106309081B (en) * | 2015-07-06 | 2019-05-31 | 深圳市肯綮科技有限公司 | The light movement power assisting device of one kind and its control method |
| CN105055125B (en) * | 2015-07-24 | 2017-04-26 | 黄河科技学院 | Power control rotatable supporting mechanism of power-driven lower limb joint decompression device |
| CN105055126B (en) * | 2015-07-24 | 2017-03-01 | 黄河科技学院 | The rotational support mechanism of powder actuated joint of the lower extremity decompressor |
| CN105640743B (en) * | 2015-12-17 | 2017-07-25 | 吉林大学 | Multi-functional gait rectifys appearance and walking Reduction of Students' Study Load device |
| FR3046038B1 (en) * | 2015-12-24 | 2017-12-22 | Sagem Defense Securite | BACKPACK SUPPORT MODULE FOR A MODULAR STRUCTURE OF EXOSQUELET |
| CN106002950A (en) * | 2016-06-30 | 2016-10-12 | 张学衡 | Exoskeleton robot lower limb mechanism with adjustable length |
| CN106346448B (en) * | 2016-10-11 | 2019-05-03 | 重庆市牛迪科技发展有限公司 | A kind of auxiliary support apparatus |
| CN107042502B (en) * | 2017-01-09 | 2019-04-09 | 燕山大学 | Closed chain link-type drive lacking lower limb exoskeleton mechanism |
| CN106621225B (en) * | 2017-02-21 | 2020-05-08 | 河南翔宇医疗设备股份有限公司 | Standing balance frame rehabilitation training device |
| CN108836756B (en) * | 2018-07-09 | 2020-05-12 | 刘阳 | Bionic walking aid for rehabilitation |
| CN111843999B (en) * | 2020-08-31 | 2021-07-06 | 重庆理工大学 | Load walking assistance exoskeleton |
| CN111939006A (en) * | 2020-09-17 | 2020-11-17 | 重庆檀科科技有限公司 | Walking assistance method for nursing department |
| CN113771002B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Active bionic multi-rod virtual wearable hip joint |
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