CN104385263A - Reinforcement type series-parallel lower limb exoskeleton - Google Patents
Reinforcement type series-parallel lower limb exoskeleton Download PDFInfo
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- CN104385263A CN104385263A CN201410608239.7A CN201410608239A CN104385263A CN 104385263 A CN104385263 A CN 104385263A CN 201410608239 A CN201410608239 A CN 201410608239A CN 104385263 A CN104385263 A CN 104385263A
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Abstract
The invention discloses a reinforcement type series-parallel lower limb exoskeleton. The reinforcement type series-parallel lower limb exoskeleton comprises a rack and two series-parallel legs, wherein the two series-parallel legs are the same in structure; the series-parallel legs are arranged under the rack, each series-parallel leg comprises a second linear driver, a third linear driver, a first group of short rods, a spring, a second group of long rods, a first pin shaft with a hole, a third group of long rods, a second pin shaft with a hole, a fourth group of short rods, a directional rod, a fourth linear driver, a foot connecting rod and a pedal; four driving DOF (Degrees Of Freedom) and two driven DOF are obtained by one signal series-parallel leg and are respectively driven by the corresponding first linear driver, the corresponding second linear driver, the corresponding third linear driver and the corresponding fourth linear driver, and the matching of motion which is in coordination with a lower limb of a human body is realized through gait control. According to the reinforcement type series-parallel lower limb exoskeleton disclosed by the invention, a series-parallel leg structure is adopted, the bearing capacity is high, the working space is large, the reinforcement type series-parallel lower limb exoskeleton is adapted to a complex terrain, fatigue of the human body during a weight carrying process is relieved, the weight-bearing moving capacity of people is enhanced, and the reinforcement type series-parallel lower limb exoskeleton is suitable for a military soldier, disaster relief personnel and other emergency situations and is a diversified transport platform.
Description
Technical field
The invention belongs to robotics in mechanical engineering, specifically a kind of force booster type series-parallel connection lower limb exoskeleton.
Background technology
Force booster type series-parallel connection lower limb exoskeleton is in fact a kind of wearable robot; namely a kind of mechanical mechanism of operator's health outside is worn on; the Roboticses such as sensing, control, information coupling, mobile computing have been merged again simultaneously; on the basis providing the functions such as such as protection, body-support for operator, certain function and task can also be completed under control of the operator.This ectoskeleton can be used in Single-soldier system, to strengthen the cross-country fight capability of soldier.The ectoskeleton that soldier dresses is not only his transport facility, especially his protector, weapon and communication apparatus.Meanwhile, soldier can carry and more equip than usual, and action, obstacle detouring are faster lighter, thus significantly can promote the fight capability of soldier.This ectoskeleton also can be used as the transport facility of geological prospecting, archaeology, polar expedition personnel, reduces the physical consumption of scientific research personnel, promotes operating efficiency.
Application number be 201320049169.7 Chinese invention patent devise the series connection ectoskeleton of a single leg four-degree-of-freedom, comprise hip joint two-freedom, knee joint single-degree-of-freedom and ankle-joint single-degree-of-freedom, sole also has the free degree adapting to toe flexion in addition.Hip joint when this mechanism can ensure walking, knee joint is consistent with ankle arthrosis man-machine harmony.But this ectoskeleton free degree can not meet the human body lower limbs side-sway free degree and the ankle side-sway free degree, driver module and human body lower limbs thigh distance too closely, affect safety.
Find through retrieval, application number be 200910088396.9 Chinese invention patent disclose a kind of serial configured lower limb exoskeleton, comprise luggage carrier and each connecting rod, relate to both legs ten two degrees of freedom altogether, single leg six degree of freedom, hip joint two-freedom respectively, knee joint single-degree-of-freedom and ankle-joint Three Degree Of Freedom.But this leg is pure series design, and bearing capacity is low, low precision, rigidity and stability are not high, limit the potentiality that high capacity uses.
Application number be 201310262919.3 Chinese invention patent disclose a kind of Wearable lower-limb assistance exoskeleton, this mechanism can realize hip joint, and knee joint and ankle-joint rotate around frontal axis.But this mechanism structure is too fat to move, the demand of all the other frees degree of human body lower limbs can not be realized.
Summary of the invention
The present invention is directed to above shortcomings in prior art, propose a kind of force booster type series-parallel connection lower limb exoskeleton.
The present invention is achieved by the following technical solutions.
A kind of force booster type series-parallel connection lower limb exoskeleton, comprise the series-parallel connection leg that frame is identical with two-strip structure, described series-parallel connection leg is installed on below frame; Wherein:
Described frame comprises: center connection frame and be positioned at the side-sway frame of connection frame both sides, center, leg frame and the first linear actuator, and wherein, described center connection frame is connected with the first linear actuator with the side-sway frame of both sides by hinge; Described side-sway frame is connected with corresponding leg frame by hinge; Described series-parallel connection leg is installed on the below of leg frame;
Each series-parallel connection leg includes scissors leg and is positioned at the pedal of scissors leg lower end, and described scissors leg comprises: the second linear actuator, the 3rd linear actuator, first group of quarter butt, second group leader's bar, the first bearing pin with holes, the 3rd group leader's bar, the second bearing pin with holes, the 4th group of quarter butt, orientation lever, the 4th linear actuator and foot connecting rod; Wherein, leg frame is connected with the second linear actuator, the 3rd linear actuator, first group of quarter butt by hinge, and first of two series-parallel connection legs group of quarter butt is connected with corresponding leg frame in identical position respectively by hinge, first group of quarter butt is driven by the second linear actuator and the 3rd linear actuator; First group of quarter butt is connected with second group leader's bar by hinge at end, second group leader's bar inside ensures the uniformity of motion by the first pinned connection with holes; Second group leader's bar end is connected with the 3rd group leader's bar, and the 3rd group leader's bar inside ensures the uniformity of motion by the second pinned connection with holes; 3rd group leader's bar end is connected with the 4th group of quarter butt, and the 4th group of quarter butt end is connected with orientation lever with the 4th linear actuator, foot connecting rod respectively by hinge; Pedal is connected with foot connecting rod by hinge, forms ankle-joint pin joint.
Preferably, orientation lever points to leg frame pin joint and ankle-joint pin joint all the time.Preferably, described first linear actuator, the second linear actuator, the 3rd linear actuator and the 4th linear actuator adopt any type can meet the linear drive system driving and require.
Preferably, described force booster type series-parallel connection lower limb exoskeleton entirety has eight altogether and drives the free degree and four passive freedom degrees, further, each organizes the first linear actuator, second linear actuator, 3rd linear actuator and the 4th linear actuator have four altogether and drive the free degree and two passive freedom degrees, wherein, first linear actuator drives the side-sway of a series-parallel connection leg to move, second linear actuator and the 3rd linear actuator cooperative motion drive one article of series-parallel connection leg to move in sagittal plane, 4th linear actuator drives foot connecting rod, and then drive pedal to carry out pitching, first passive freedom degree between center connection frame and side-sway frame, for change leg spin angle, second passive freedom degree between pedal and foot connecting rod, for changing sole volume shaft rotary corner.
Preferably, move in described sagittal plane and obtained by Parallel opertation, be specially, the second linear actuator and the 3rd linear actuator control two corners of first group of relative leg support of quarter butt, jointly determine the position of scissors leg end ankle-joint in sagittal plane; By controlling two outer corner differences, the flexible of scissors leg can be realized.
Preferably, between described first group of quarter butt and the connecting hinge contact of second group leader's bar, spring is installed.Every bar series-parallel connection leg is all provided with energy-stored spring, improves ectoskeleton load-carrying properties.
When the present invention works, wall scroll series-parallel connection leg has four and drives the free degree and two passive freedom degrees.First linear actuator drives the side-sway motion of series-parallel connection leg, second linear actuator and the 3rd linear actuator cooperative motion drive the movement of whole leg in sagittal plane, this moves is Parallel opertation, and the 4th linear actuator drives foot connecting rod, drives pedal to carry out pitching.First passive freedom degree is between center connection frame and side-sway frame, and can be used for changing leg spin angle, second passive freedom degree, between pedal and foot connecting rod, can be used for the angle changing pedal sagittal axis.Ectoskeleton entirety has 8 to drive the free degree and 4 passive freedom degrees, is exported can realize the motion meeting the comprehensive demand of human body lower limbs by certain Electromechanical Control and gait.
Compared with prior art, the present invention has following beneficial effect:
1, series-parallel connection leg configuration of the present invention improves the bearing capacity of lower limb exoskeleton, remains flexibility simultaneously, can meet the omnibearing movable demand of human body lower limbs; The arrangement of linear actuator is simple, easily realizes, compact conformation; Energy-stored spring is that load-carrying properties provide better guarantee, reduces the requirement to drive performance.
2, the present invention can meet the ectoskeletal carrying demand of lower limb force booster type and human body lower limbs space demand, kinematic accuracy is high, control simple, be applicable to military soldier, disaster relief personnel, fire-disaster emergency personnel and other emergencies, farthest bear for wearer saving strength and carry, help the time that wearer walking is the longest.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is side view such as just grade of the present invention;
Fig. 2 is right view of the present invention;
Fig. 3 is front view of the present invention;
In figure, connection frame centered by 1,2 is the first linear actuator, 3 is side-sway frame, and 4 is the second linear actuator, and 5 is the 3rd linear actuator, 6 is leg frame, and 7 is first group of quarter butt, and 8 is spring, 9 is second group leader's bar, and 10 is the first bearing pin with holes, and 11 is the 3rd group leader's bar, 12 is the second bearing pin with holes, and 13 is orientation lever, and 14 is the 4th group of quarter butt, 15 is the 4th linear actuator, and 16 is foot connecting rod, and 17 is pedal.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Present embodiments provide a kind of force booster type series-parallel connection lower limb exoskeleton, comprise the series-parallel connection leg that frame is identical with two-strip structure, described series-parallel connection leg is installed on below frame; Wherein:
Described frame comprises: center connection frame and be positioned at the side-sway frame of connection frame both sides, center, leg frame and the first linear actuator, and wherein, described center connection frame is connected with the first linear actuator with the side-sway frame of both sides by hinge; Described side-sway frame is connected with corresponding leg frame by hinge; Described series-parallel connection leg is installed on the below of leg frame;
Each series-parallel connection leg includes scissors leg and is positioned at the pedal of scissors leg lower end, and described scissors leg comprises: the second linear actuator, the 3rd linear actuator, first group of quarter butt, second group leader's bar, the first bearing pin with holes, the 3rd group leader's bar, the second bearing pin with holes, the 4th group of quarter butt, orientation lever, the 4th linear actuator and foot connecting rod; Wherein, leg frame is connected with the second linear actuator, the 3rd linear actuator, first group of quarter butt by hinge, and first of two series-parallel connection legs group of quarter butt is connected with corresponding leg frame in identical position respectively by hinge, first group of quarter butt is driven by the second linear actuator and the 3rd linear actuator; First group of quarter butt is connected with second group leader's bar by hinge at end, and second group leader's bar inner being connected by the first bearing pin with holes ensures the uniformity of motion; Second group leader's bar end is connected with the 3rd group leader's bar, and the 3rd group leader's bar inner being connected by the second bearing pin with holes ensures the uniformity of motion; 3rd group leader's bar end is connected with the 4th group of quarter butt, and the 4th group of quarter butt end is connected with orientation lever with the 4th linear actuator, foot connecting rod respectively by hinge; Pedal is connected with foot connecting rod by hinge, forms ankle-joint pin joint.
Further, orientation lever points to leg frame pin joint and ankle-joint pin joint all the time.
Further, described first linear actuator, the second linear actuator, the 3rd linear actuator and the 4th linear actuator adopt any type can meet the linear drive system driving and require.
Further, described force booster type series-parallel connection lower limb exoskeleton entirety has eight altogether and drives the free degree and four passive freedom degrees, further, each organizes the first linear actuator, second linear actuator, 3rd linear actuator and the 4th linear actuator have four altogether and drive the free degree and two passive freedom degrees, wherein, first linear actuator drives the side-sway of a series-parallel connection leg to move, second linear actuator and the 3rd linear actuator cooperative motion drive one article of series-parallel connection leg to move in sagittal plane, 4th linear actuator drives foot connecting rod, and then drive pedal to carry out pitching, first passive freedom degree between center connection frame and side-sway frame, for change leg spin angle, second passive freedom degree between pedal and foot connecting rod, for changing sole volume shaft rotary corner.
Further, in described sagittal plane, movement is obtained by Parallel opertation.
Further, between described first group of quarter butt and the connecting hinge contact of second group leader's bar, spring is installed.Every bar series-parallel connection leg is all provided with energy-stored spring, improves ectoskeleton load-carrying properties.
Below in conjunction with accompanying drawing the present embodiment done and describe further.
As shown in Figures 1 to 3, the force booster type series-parallel connection lower limb exoskeleton that the present embodiment proposes, comprising: the series-parallel connection leg that frame is identical with two-strip structure.
Frame comprises center connection frame 1, side-sway frame 3 and leg frame 6.Center connection frame 1 is connected with side-sway frame 3 by hinge.Side-sway frame 3 is connected through the hinge leg frame 6.It is series-parallel connection leg below leg frame 6.
Described series-parallel connection leg comprises scissors leg and foot, particularly the second linear actuator 4, the 3rd linear actuator 5, first group of quarter butt 7, spring 8, second group leader's bar 9, bearing pin 10 with holes, 3rd group leader's bar 11, bearing pin with holes 12, four group of quarter butt 14, orientation lever 13,4th linear actuator 15, foot connecting rod 16 and pedal 17.Wherein, first group of quarter butt 7 is connected with leg frame 6 in identical position by hinge, first group of quarter butt 7 is respectively by the second linear actuator 4, 3rd linear actuator 5 drives, first group of quarter butt 7 is connected with second group leader's bar 9 by hinge at end, spring 8 is installed between connecting hinge contact, second group leader's bar 9 inside is connected by the first bearing pin 10 with holes and ensures the uniformity of motion, second group leader's bar 9 end is connected with the 3rd group leader's bar 11, 3rd group leader's bar 11 inside is connected by the second bearing pin 12 with holes and ensures the uniformity of motion, 3rd group leader's bar 11 end and the 4th group of quarter butt 14, 4th group of quarter butt 14 end is by hinge and the 4th linear actuator 15, foot connecting rod 16, orientation lever 13 is connected, orientation lever 13 points to leg frame 6 pin joint and ankle-joint pin joint all the time, pedal 17 is connected with foot connecting rod 16 by hinge.
Described first linear actuator 2, second linear actuator 4, the 3rd linear actuator 5 and the 4th linear actuator 15 adopt any type can meet the linear drive system driving and require.
During actual job, wall scroll series-parallel connection leg has four and drives the free degree and two passive freedom degrees.First linear actuator 2 drives the side-sway of single leg to move, second linear actuator 4 and the 3rd linear actuator 5 cooperative motion drive the movement of whole leg in sagittal plane, this moves is Parallel opertation, and the 4th linear actuator 15 drives foot connecting rod 16, drives pedal 17 to carry out volume axis of rotation.First passive freedom degree is between side-sway frame 3 and leg frame 6, and can be used for changing leg spin angle, second passive freedom degree, between pedal 17 and foot connecting rod 16, can be used for the swing changing pedal 17 sagittal axis.Ectoskeleton entirety has 12 frees degree altogether, comprises 8 and drives the free degree and 4 passive freedom degrees, is exported can realize the motion meeting the comprehensive demand of human body lower limbs by certain Electromechanical Control and gait.
In the present embodiment:
Frame comprises center connection frame, side-sway frame, leg frame and the first linear actuator.
The series-parallel connection leg that two-strip structure is identical, is installed on the below of leg frame.
Every article series-parallel connection leg includes: the second linear actuator, the 3rd linear actuator, first group of quarter butt, spring, second group leader's bar, bearing pin with holes, the 3rd group leader's bar, bearing pin with holes, the 4th group of quarter butt, orientation lever, the 4th linear actuator, foot connecting rod and pedal.Wherein, first group of quarter butt is connected with leg frame in identical position by hinge, first group of quarter butt is respectively by the second linear actuator, 3rd linear actuator drives, first group of quarter butt is connected with second group leader's bar by hinge at end, between connecting hinge contact, spring is installed, second group leader's bar inner being connected by bearing pin with holes ensures the uniformity of motion, second group leader's bar end is connected with the 3rd group leader's bar, 3rd group leader's bar inner being connected by bearing pin with holes ensures the uniformity of motion, 3rd group leader's bar end and the 4th group of quarter butt, 4th group of quarter butt end is by hinge and the 4th linear actuator, foot connecting rod, orientation lever is connected, orientation lever points to leg frame pin joint and ankle-joint pin joint all the time, pedal is connected with foot connecting rod by hinge.
Described first linear actuator, the second linear actuator, the 3rd linear actuator and the 4th linear actuator have four altogether and drive the free degree and two passive freedom degrees, wherein, first linear actuator drives the side-sway of single leg to move, second linear actuator and the 3rd linear actuator cooperative motion drive the movement of whole series-parallel connection leg in sagittal plane, this is moved and is obtained by Parallel opertation, 4th linear actuator drives foot connecting rod, drives pedal to carry out pitching.First passive freedom degree, between center connection frame and side-sway frame, can be used for changing leg spin angle, and second passive freedom degree, between pedal and foot connecting rod, can be used for changing sole volume shaft rotary corner.
Described every bar series-parallel connection leg is all provided with energy-stored spring, improves ectoskeleton load-carrying properties.
Described first linear actuator, the second linear actuator, the 3rd linear actuator and the 4th linear actuator can adopt any type to meet the linear drive system of driving demand.
The force booster type scissor foot type lower limb exoskeleton that the present embodiment provides, comprises the series-parallel connection leg that frame is identical with two-strip structure.Described frame comprises center connection frame, side-sway frame, leg frame and the first linear actuator.Described series-parallel connection leg is arranged on below leg frame, each series-parallel connection leg includes the second linear actuator, the 3rd linear actuator, first group of quarter butt, spring, second group leader's bar, first bearing pin with holes, the 3rd group leader's bar, the second bearing pin with holes, 4th group of quarter butt, orientation lever, the 4th linear actuator, foot connecting rod and pedal.Described series-parallel connection leg list leg has six-freedom degree, has four and drives the free degree and two passive freedom degrees.Drive the free degree to comprise the first linear actuator, the second linear actuator, the 3rd linear actuator and the 4th linear actuator by described linear actuator to drive respectively.Can be realized by certain gait control coordinating the motion coordinated with human body lower limbs.The present embodiment adopts series-parallel connection leg configuration, and bearing capacity is high, and working space is large, can adapt to complicated landform, reducing human carries the fatigue in weight, strengthens the heavy burden locomotivity of people, be applicable to military soldier, disaster relief personnel and other emergencies are a kind of diversified shipping platforms.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (6)
1. a force booster type series-parallel connection lower limb exoskeleton, comprises the series-parallel connection leg that frame is identical with two-strip structure, and described series-parallel connection leg is installed on below frame; It is characterized in that:
Described frame comprises: center connection frame and be positioned at the side-sway frame of connection frame both sides, center, leg frame and the first linear actuator, and wherein, described center connection frame is connected with the first linear actuator with the side-sway frame of both sides by hinge; Described side-sway frame is connected with corresponding leg frame by hinge; Described series-parallel connection leg is installed on the below of leg frame;
Each series-parallel connection leg includes scissors leg and is positioned at the pedal of scissors leg lower end, and described scissors leg comprises: the second linear actuator, the 3rd linear actuator, first group of quarter butt, second group leader's bar, the first bearing pin with holes, the 3rd group leader's bar, the second bearing pin with holes, the 4th group of quarter butt, orientation lever, the 4th linear actuator and foot connecting rod; Wherein, leg frame is connected with the second linear actuator, the 3rd linear actuator, first group of quarter butt by hinge, and first of two series-parallel connection legs group of quarter butt is connected with corresponding leg frame in identical position respectively by hinge, first group of quarter butt is driven by the second linear actuator and the 3rd linear actuator; First group of quarter butt is connected with second group leader's bar by hinge at end, and second group leader's bar inside ensures the uniformity of motion by the first pinned connection with holes; Second group leader's bar end is connected with the 3rd group leader's bar, and the 3rd group leader's bar inside ensures the uniformity of motion by the second pinned connection with holes; 3rd group leader's bar end is connected with the 4th group of quarter butt, and the 4th group of quarter butt end is connected with orientation lever with the 4th linear actuator, foot connecting rod respectively by hinge; Pedal is connected with foot connecting rod by hinge, forms ankle-joint pin joint.
2. force booster type series-parallel connection lower limb exoskeleton according to claim 1, is characterized in that, orientation lever points to leg frame pin joint and ankle-joint pin joint all the time.
3. force booster type series-parallel connection lower limb exoskeleton according to claim 1, it is characterized in that, described first linear actuator, the second linear actuator, the 3rd linear actuator and the 4th linear actuator adopt any type can meet the linear drive system driving and require.
4. the force booster type series-parallel connection lower limb exoskeleton according to claim 1 or 3, it is characterized in that, described force booster type series-parallel connection lower limb exoskeleton entirety has eight altogether and drives the free degree and four passive freedom degrees, further, each organizes the first linear actuator, second linear actuator, 3rd linear actuator and the 4th linear actuator have four altogether and drive the free degree and two passive freedom degrees, wherein, first linear actuator drives the side-sway of a series-parallel connection leg to move, second linear actuator and the 3rd linear actuator cooperative motion drive one article of series-parallel connection leg to move in sagittal plane, 4th linear actuator drives foot connecting rod, and then drive pedal to carry out pitching, first passive freedom degree between center connection frame and side-sway frame, for change leg spin angle, second passive freedom degree between pedal and foot connecting rod, for changing sole volume shaft rotary corner.
5. force booster type series-parallel connection lower limb exoskeleton according to claim 4, is characterized in that, moves and obtained by Parallel opertation in described sagittal plane; Be specially, second linear actuator and the 3rd linear actuator control two corners of first group of quarter butt opposed legs frame respectively, jointly determining the position of scissors leg end ankle-joint in sagittal plane, by controlling two outer corner differences, realizing the flexible of scissors leg.
6. force booster type series-parallel connection lower limb exoskeleton according to claim 1, is characterized in that, is provided with spring between described first group of quarter butt and the connecting hinge contact of second group leader's bar.
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| CN201410608239.7A CN104385263A (en) | 2014-10-31 | 2014-10-31 | Reinforcement type series-parallel lower limb exoskeleton |
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| CN201410608239.7A CN104385263A (en) | 2014-10-31 | 2014-10-31 | Reinforcement type series-parallel lower limb exoskeleton |
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| CN102327173B (en) * | 2011-09-29 | 2013-05-22 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| CN203636811U (en) * | 2013-11-19 | 2014-06-11 | 潘奕恺 | Retractable fetching clip |
| CN104055653A (en) * | 2014-06-03 | 2014-09-24 | 上海交通大学 | Lower-limb reinforced exoskeleton robot with series-parallel leg structure |
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| US20110160907A1 (en) * | 2009-12-28 | 2011-06-30 | Honda Motor Co., Ltd. | Control device for robot |
| CN201940999U (en) * | 2010-12-30 | 2011-08-24 | 杨宏刚 | Extractor |
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Application publication date: 20150304 |