CN105965483A - Lower-limb-boosting exoskeleton robot - Google Patents
Lower-limb-boosting exoskeleton robot Download PDFInfo
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- CN105965483A CN105965483A CN201610511532.0A CN201610511532A CN105965483A CN 105965483 A CN105965483 A CN 105965483A CN 201610511532 A CN201610511532 A CN 201610511532A CN 105965483 A CN105965483 A CN 105965483A
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- thigh
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- shank
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- joint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention discloses a lower-limb-boosting exoskeleton robot comprising an upper body structure, leg structures, knee joints and hip joints. Each leg structure comprises a thigh structure and a shank structure. Each hip joint is connected with the upper body structure and the corresponding thigh structure. Each knee joint is connected with the corresponding thigh structure and the corresponding shank structure. The upper body structure comprises a waist assembly, and the size of the waist assembly can be adjusted. The waist assembly comprises hip connecting blocks connected with the hip joints. Each knee joint comprises a first thigh connecting seat, a second shank connecting seat and two first motors, wherein the first thigh connecting seat is connected to the corresponding thigh structure, the second shank connecting seat is connected to the thigh connecting seat in a rotary manner, and the two first motors are connected to the first thigh connecting seat and drive the second shank connecting seat to rotate relative to the first thigh connecting seat.
Description
Technical field
The invention belongs to service robot field, more particularly, to a kind of lower limb assistance exoskeleton robot being applicable to individual equipment.
Background technology
The both legs of the mankind provide heavy burden and shipping platform, and especially in the environment of being not suitable for wheeled transport, biped shows the strongest mobility.Heavy burden is one of most common problem faced by human lives is wanted.For soldier, payload accounts for most of its TBW, and undertakes these load and both cannot avoid being their duty-bound.Carrying overcharge not only allows people feel tired, there is also potential spiritual and sensual injury simultaneously.
In order to alleviate this burden, lower limb auxiliary supports ectoskeleton plant equipment and arises at the historic moment.By dressing ectoskeleton equipment, soldier's equipment weight can be directly delivered on ground by ectoskeleton structure, and this is equivalent to replace soldier to undertake equipment weight, has both saved the physical ability of soldier, reduces again soldier and bears a heavy burden.As the patent of Application No. 201010119161.4 discloses a kind of walking aid exoskeleton rehabilitation robot, described walking aid exoskeleton rehabilitation robot replaces people to assume responsibility for weight.But, position limiting structure all it is not provided with at the hip joint of described walking aid exoskeleton rehabilitation robot and knee joint, easily cause ectoskeletal rotational angle to exceed human body limit and human body is damaged, and at its waist structure, size is unadjustable, it is impossible to adapt to the people of different building shape.And for example the patent of Application No. 201410063123.X discloses a kind of ectoskeleton auxiliary that is applicable to and supports the thigh and calf device with knee joint parameter measurement of robot, described thigh and calf device uses Driven by Hydraulic Cylinder, reduce knee joint and drive component size, but use Driven by Hydraulic Cylinder to need hydraulic power source, and mechanism controls precision is the highest, rigidity is the most not enough with stability, and fluid leakage problems easily occurs in hydraulic mechanism simultaneously.
Summary of the invention
Disadvantages described above or Improvement requirement for prior art, the invention provides a kind of lower limb assistance exoskeleton robot, based on the relation between ergonomics, human body lower limbs skeleton mechanism and human body lower limbs joint motions mechanism, designed for the annexation between structure and all parts of the particular elements (such as hip joint, knee joint, waist) of described lower limb assistance exoskeleton robot.Described hip joint and described knee joint are provided with limit switch, and described limit switch coordinates with photoelectric encoder, it is therefore prevented that hip joint and the kneed rotational angle of described lower limb assistance exoskeleton robot exceed human body limit, with the reduction injury to human body.Additionally, the size of the waist structure of described lower limb assistance exoskeleton robot can regulate, to adapt to the use of different building shape people；The knee joint of described lower limb assistance exoskeleton robot and hip joint use the drive form of bi-motor, and not only output torque is big, and efficiency is high, control accuracy is high, and compact conformation so that corresponding joint volume is little, light weight, alleviates the equipment burden that soldier produces during individual combat greatly.
For achieving the above object, one aspect of the present invention provides a kind of lower limb assistance exoskeleton robot, it includes that body structure, leg structure, knee joint and hip joint, described leg structure include thigh structure and shank structure, and described hip joint connects described upper body structure and described thigh structure；Described knee joint connects described thigh structure and described shank structure.
Described upper body structure includes that the waist feature of dimension adjustable, described waist feature include the hip contiguous block being connected with described hip joint；
nullDescribed knee joint includes that the first thigh being connected to described thigh structure connects seat、It is separately fixed at described first thigh and connects the first mounting flange and and second accessory plate of the opposing both sides of seat、The second shank being connected to described shank structure connects seat、It is separately fixed at described second shank and connects the first accessory plate and first auxiliary flange of the opposing both sides of seat、Two intervals are fixed on the first motor on described first mounting flange、Two the first little gears that first motor described with two is connected respectively、The first gear wheel that first little gear described with two is meshed and the first harmonic decelerator being connected with described first gear wheel，Described first harmonic decelerator connects described first auxiliary flange and described first accessory plate，It can drive described second shank to connect seat by described first auxiliary flange and rotate relative to described first thigh connection seat，And then drive described shank structure to rotate relative to described thigh structure；
Described knee joint also includes the first limit switch and the first photoelectric encoder, and described first limit switch matches with described first photoelectric encoder to realize described kneed double limitation；One end of described first limit switch is fixed on described second accessory plate, the other end is slidably connected with the first groove of described first auxiliary flange, and described first limit switch is connected, to limit described first thigh, the rotation that seat is connected between seat with described second shank with described first fit depressions.
Further, described hip joint also includes that the waist being connected to described hip contiguous block connects seat, two are connected to described waist and connect the second motor of seat, two two pinions being connected to two described second motors, the second largest gear being meshed with two described two pinions, the second harmonic decelerator being connected with described second largest gear and the second thigh being connected to described second harmonic decelerator are connected seat, described second thigh connects seat and is connected to described thigh structure, two described second motors are by rotating to drive described second thigh connection seat to rotate relative to described hip connection seat, and then drive described thigh structure to connect seat rotation relative to described hip.
Further, described hip joint also includes the second mounting flange being separately fixed at the opposing both sides of described waist connection seat and the 4th accessory plate and the 3rd accessory plate being separately fixed at the opposing both sides of described second thigh connection seat and the second auxiliary flange；Described second mounting flange connects two described second motors；Described second auxiliary flange connects described second harmonic decelerator.
Further, described hip joint also includes that the second limit switch and the second photoelectric encoder, described second limit switch and described second photoelectric encoder match to realize the double limitation to described hip joint；One end of described second limit switch is fixed on described 4th accessory plate, the other end is slidably connected with the second groove of described second auxiliary flange, and described second limit switch is connected, to limit described waist, the rotation that seat is connected between seat with described second thigh with described second fit depressions.
Further, described lower limb assistance exoskeleton robot also includes ankle joint, sensing footwear and bundle component, and described ankle joint connects described shank structure and described sensing footwear；Described bundle component includes thigh bundle component and shank bundle component, and described thigh bundle component is for bundling described human thigh with described thigh structure；Described shank bundle component is for bundling human calf with described shank structure.
Further, described ankle joint includes that footwear connect seat, are arranged on the first shank connection seat and air spring that described footwear connect on seat, and described first shank connects seat and is connected to described shank structure；One end of described air spring is connected to described first shank and connects seat, and the other end is connected to the hard heel of described sensing footwear.
Further, the quantity of described air spring is two, and two described air springs are separately positioned on described footwear and connect the both sides that seat is opposing.
In general, by the contemplated above technical scheme of the present invention compared with prior art, use the lower limb assistance exoskeleton robot that the present invention provides, described hip joint and described knee joint are provided with limit switch, described limit switch coordinates with photoelectric encoder, the hip joint and the kneed rotational angle that prevent described lower limb assistance exoskeleton robot exceed human body limit, to reduce the injury to human body.Additionally, the size of the waist structure of described lower limb assistance exoskeleton robot can regulate, to adapt to the use of different building shape people；The knee joint of described lower limb assistance exoskeleton robot and hip joint use the drive form of bi-motor, and not only output torque is big, and efficiency is high, control accuracy is high, and compact conformation so that corresponding joint volume is little, light weight, alleviates the equipment burden that soldier produces during individual combat greatly.
Accompanying drawing explanation
Fig. 1 is the structural representation of the lower limb assistance exoskeleton robot that better embodiment of the present invention provides.
Fig. 2 is the structural representation of another angle of the lower limb assistance exoskeleton robot in Fig. 1.
Fig. 3 is the structural representation of the waist feature of the lower limb assistants robot in Fig. 1.
Fig. 4 is the partial sectional view of the waist feature in Fig. 3.
Fig. 5 is the sectional view of the ankle joint of the lower limb assistance exoskeleton robot in Fig. 1.
Fig. 6 is the kneed structural representation of the lower limb assistance exoskeleton robot in Fig. 1.
Fig. 7 is the structural representation along another angle of the knee joint in Fig. 6.
Fig. 8 is the kneed sectional view in Fig. 6.
Fig. 9 is the sectional view figure of the hip joint of the lower limb assistance exoskeleton robot in Fig. 1.
nullIn all of the figs，Identical reference is used for representing identical element or structure，Wherein: the upper body structure of 1-，11-back guard set，12-takes on belt，13-back casing，14-back support plate，15-back casing installed with built-in component，16-waist feature，161-hip joint connects seat，1611-waist protecting board upper junction plate，Connecting plate in 1612-waist protecting board，1613-waist protecting board lower connecting plate，1614-limit assembly，1615-hip contiguous block，1616-thrust bearing，162-waist protecting board，163-end cap，164-the first connecting plate，165-Hinge joint，166-the second connecting plate，2-leg structure，21-thigh bar top，22-collision bead pin，23-thigh bar bottom，3-ankle joint，31-air spring，32-the first shank connects seat，33-motor fixing seat，34-the first key，35-the 3rd motor，36-footwear connect seat，37-screw lock baffle ring，38-clutch shaft bearing，39-the second key，310-ankle joint axle，311-circlip，4-senses footwear，41-hard heel，42-senses shoe pad，43-Antiskid sole，44-footwear portion bundled piece，45-cushion pad，5-bundle component，51-thigh bundle component，52-shank bundle component，6-knee joint，61-the first mounting flange，62-the first gear wheel，The little gear of 63-first，64-the first accessory plate，65-the second shank connects seat，66-the first motor，67-the first thigh connects seat，68-the second accessory plate，69-the first loss of weight spring，610-the first auxiliary flange，611-first harmonic decelerator，7-hip joint，71-the second mounting flange，The second largest gear of 73-，74-the 3rd accessory plate，75-the second thigh connects seat，76-the second auxiliary flange，77-second harmonic decelerator，78-the second loss of weight spring，710-the 4th accessory plate，711-waist connects seat.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.As long as just can be mutually combined additionally, technical characteristic involved in each embodiment of invention described below does not constitutes conflict each other.
Refer to Fig. 1 to Fig. 4, the lower limb assistance exoskeleton robot that better embodiment of the present invention provides, it is based on the relation between human body lower limbs skeleton mechanism and human body lower limbs joint motions mechanism, and the biomimetic features of a kind of wearable exoskeleton robot set up, achieve ectoskeleton dress convenient, size adjustable is whole, motion flexibility and reliability, and with human body, there is the coordinability of height, it is possible to quickly comply with the motion of human body and move.
Described lower limb assistance exoskeleton robot includes body structure 1, leg structure 2, ankle joint 3, sensing footwear 4, bundle component 5, knee joint 6 and hip joint 7, one end of described hip joint 7 connects described upper body structure 1, and the other end is connected with the thigh structure of described leg structure 2.Described knee joint 6 connects the shank structure of described thigh structure and described leg structure 2 respectively, and described shank structure can rotate relative to described thigh structure.One end of described ankle joint 3 is connected with described shank structure, and the other end is fixing with described sensing footwear 4 to be connected.Described bundle component 5 is movably coupled on described leg structure 2, and it is used for bundling human leg to prevent in motor process human leg and described lower limb assistance exoskeleton robot generation relative motion.
Described upper body structure 1 includes back guard set 11, shoulder belt 12, back casing 13, back support plate 14, back casing installed with built-in component 15 and waist feature 16, and described back casing 13 is fixing with described back support plate 14 to be connected.Described back casing installed with built-in component 15 is arranged in described back casing 13.In present embodiment, described back casing installed with built-in component 15 includes driving panel and lighium polymer rechargeable battery, and described driving panel includes that eight drive modules and a control module, and it is used for controlling described lower limb assistance exoskeleton robot.Described rechargeable battery is for providing electric energy for described lower limb assistance exoskeleton robot.
Described back guard set 11 is arranged on the described back casing 13 side towards described shoulder belt 12, and it is made up of elastomeric material.Described back guard set 11 is for human body back curve of preferably fitting, and absorbs part impact.The two ends of described shoulder belt 12 connect described back casing 13 and described waist feature 16 respectively, and belt is become one by it with shoulder belt, and described shoulder belt is divided into symmetrical two parts, and these two parts are connected by hasp in front.The length of described shoulder belt 12 can regulate, and it can be strapped on human body tightly by described hasp, makes wearer keep one's balance.
Described waist feature 16 is connected to described hip joint 7, and it includes that hip joint connects seat 161, waist protecting board 162, end cap the 163, first connecting plate 164, Hinge joint 165 and the second connecting plate 166.In present embodiment, the quantity of described waist protecting board 162 is two, and it is two that described hip joint connects the quantity of seat 161, and the quantity of described end cap 163 is two；The two ends of each described waist protecting board 162 connect described first connecting plate 164 or described second connecting plate 166 respectively and described hip joint connects seat 161, and between described waist protecting board 162 and described first connecting plate 164 or described second connecting plate 166, use borehole structure to be attached, the size of described waist feature 16 is regulated by changing bearing position in described borehole structure；Described first connecting plate 164 and described second connecting plate 166 are made up of polyglycolic acid SR-PGA material.Described Hinge joint 165 connects described first connecting plate 164 and described second connecting plate 166, described first connecting plate 164 and described second connecting plate 166 and is all rotationally connected with corresponding described waist protecting board 162.Two described end caps 163 are separately positioned on the junction of described first connecting plate 164 and the junction of corresponding described waist protecting board 162 and described second connecting plate 166 and corresponding described waist protecting board 162, for protecting described first connecting plate 164 and the borehole structure of described second connecting plate 166.
Described hip joint connects seat 161 and is connected to described hip joint 7, it includes connecting plate 1612 in waist protecting board upper junction plate 1611, waist protecting board, waist protecting board lower connecting plate 1613, limit assembly 1614, hip contiguous block 1615 and thrust bearing 1616, in described waist protecting board, connecting plate 1612 offers the first accepting groove, and described thrust bearing 1616 is partly housed in described first accepting groove.Described hip contiguous block 1615 is arranged on described thrust bearing 1616, and described waist protecting board upper junction plate 1611 and described waist protecting board lower connecting plate 1613 are separately positioned on opposing two surface of connecting plate 1612 in described waist protecting board.Described waist protecting board lower connecting plate 1613 offers the through hole that position is corresponding with described first accepting groove, and described hip contiguous block 1615 protrudes from described waist protecting board lower connecting plate 1613 partially through described through hole.In present embodiment, described limit assembly 1614 is for limiting the movement of described hip contiguous block 1615, and it includes that multiple limited block, the plurality of limited block are fixed on described waist protecting board lower connecting plate 1613 and uniformly arrange along the edge of described through hole.
Described leg structure 2 is rhs-structure, and it includes that described thigh structure and described shank structure, described thigh structure and described shank structure are formed by described knee joint 6 and be rotationally connected.Described thigh structure includes thigh bar top 21, collision bead pin 22 and thigh bar bottom 23, described thigh bar top 21 is connected to described thigh bar bottom 23 by the activity of described collision bead pin 22, its by relative to the movement of described thigh bar bottom 23 to regulate the length of described thigh structure.
In present embodiment, described thigh bar bottom 23 offers the accepting hole being connected with self pore, described accepting hole edge is perpendicular to described thigh bar bottom 23 length direction and runs through described thigh bar bottom 23, and the quantity of described accepting hole is multiple, and multiple described accepting holes interval is arranged；Being appreciated that in other embodiments, the quantity of described accepting hole can increase according to actual needs or reduce.The quantity of described collision bead pin 22 is three, and each described collision bead pin 22 includes two collision beads and a spring, and the two ends of described spring connect two described collision beads respectively；The one end on described thigh bar top 21 is set in the pore of described thigh bar bottom 23, and each described collision bead pin 22 is housed in described accepting hole behind described thigh bar top 21, and two collision beads of correspondence protrude from described thigh bar bottom 23.When regulating the length of described thigh structure, press in the pore that described collision bead makes it into described thigh bar bottom 23, compress the described spring of correspondence simultaneously, the length of described thigh structure is moved to regulate along the length direction of described thigh bar bottom 23 in described thigh bar top 21, after described thigh bar top 21 arrives precalculated position, unclamp described collision bead, described collision bead protrudes from described thigh bar bottom 23 from accepting hole another described under the elastic restoring force effect of described spring, and described thigh bar top 21 is stably connected with again with described thigh bar bottom 23.In present embodiment, described shank structure also realizes its length by collision bead pin and regulates.
Referring to Fig. 5, one end of described ankle joint 3 is connected with described shank structure, and the other end is fixing with described sensing footwear 4 to be connected.Described ankle joint 3 includes that air spring the 31, first shank connects seat 32, motor fixing seat the 33, first key the 34, the 3rd motor 35, footwear connection seat 36, screw lock baffle ring 37, clutch shaft bearing the 38, second key 39, ankle joint axle 310 and circlip 311, one end of described air spring 31 connects described first shank and connects seat 32, and the other end connects the hard heel 41 of described sensing footwear 4.In present embodiment, described air spring 31 is for the part impact absorbed at described ankle joint 3 and the rotational angle limiting described ankle joint 3；The quantity of described air spring 31 is two, it will be understood that in other embodiments, and the quantity of described air spring 31 can increase according to actual needs or reduce.
Described motor fixing seat 33 is fixed on described footwear and connects on seat 36, and it is used for carrying described 3rd motor 35.Described 3rd motor 35 is fixing with described ankle joint axle 310 to be connected, described ankle joint axle 310 is connected seat 36 with described footwear is connected by described first key 34 and described second key 39, and described first key 34 and described second key 39 lay respectively at the opposing both sides of described ankle joint axle 310.Described 3rd motor 35 is fixed in described motor fixing seat 33, and it is used for driving described ankle joint axle 310 to rotate, and then drives described ankle joint 3 partly to turn an angle.Described ankle joint axle 310 is connected seat 36 by described screw lock baffle ring 37 with described footwear and positions.In present embodiment, the quantity of described screw lock baffle ring 37 is two, and two described screw lock baffle ring 37 intervals are arranged；Being appreciated that in other embodiments, the quantity of described screw lock baffle ring 37 can increase according to actual needs or reduce.
Described first shank connection seat 32 is connected to described shank structure and it is substantially in " n " font, and its side connecting seat 36 towards described footwear is extended with two spaced rotor plates.It is basic in U shape that described footwear connect seat 36, its side connecting seat 32 towards described first shank is extended with two spaced loading plates, described ankle joint axle 310 is through two described loading plates, and two described clutch shaft bearings 38 are respectively sleeved in the lobe that two described loading plates extend in the same direction.Described first shank connects seat 32 and is connected to described footwear is connected on seat 36 by two described rotor plates and two described clutch shaft bearings 38, and two described rotor plates are arranged with two described loading plate intervals respectively.In present embodiment, two described clutch shaft bearings 38 are positioned by two described circlips 311 and two described lobe respectively.
Described sensing footwear 4 include hard heel 41, sensing shoe pad 42, Antiskid sole 43, footwear portion bundled piece 44 and cushion pad 45, and described cushion pad 45, described sensing shoe pad 42 and described Antiskid sole 43 are sequentially overlapped setting.Described cushion pad 45 is connected with described footwear portion bundled piece 44, and it is made up of elastomeric material, to buffer its impact.Described sensing shoe pad 42 includes PVDF (Kynoar) piezoelectric film sensor that multiple employing faces formation formula is arranged, the dynamometry face that the plurality of PVDF (Kynoar) piezoelectric film sensor is formed covers whole sole, it is adaptable to different rows is walked the detection of motor pattern.Described hard heel 41 is fixing with described Antiskid sole 43 to be connected, and the bottom of described Antiskid sole 43 is zigzag, to increase the friction between itself and ground, and then plays anti-skidding effect.Described footwear portion bundled piece 44, for bundling the foot of wearer, makes foot bundle with sensing footwear 4.
Described bundle component 5 includes thigh bundle component 51 and shank bundle component 52, and described thigh bundle component 51 is for bundling the thigh of wearer with described thigh structure；Described shank bundle component 52 is for bundling the shank of wearer with described shank structure.Described thigh bundle component 51 includes bundling belt and fixes the annular binding being connected with described bundling belt, and described bundling belt is connected with described thigh structure, and described annular binding is for bundling the thigh of wearer.Described annular binding is semi-loop, and it is provided with multiple spaced (not shown) with holes.Described annular binding is by the thigh of multiple described incompatible encircling wearers that match with leg restraining belt with holes.In present embodiment, described leg restraining belt is made up of nylon material, and it can be changed and adjustable in donning process in time, with the use of applicable different wearers；Described shank bundle component 52 is essentially identical with described thigh bundle component 51, and both binding mechanisms are identical.
Referring to Fig. 6, Fig. 7 and Fig. 8, described knee joint 6 connects described thigh structure and described shank structure.Described knee joint 6 includes that first mounting flange the 61, first gear wheel 62, first little gear the 63, first accessory plate the 64, second shank connects seat the 65, first motor the 66, first thigh and connects seat the 67, second accessory plate the 68, first loss of weight spring the 69, first auxiliary flange 610 and first harmonic decelerator 611.Described first mounting flange 61 and described second accessory plate 68 are separately fixed at described first thigh and connect the both sides that seat 67 is opposing, and described first thigh connects seat 67 and is connected to described thigh structure.Described first accessory plate 64 and described first auxiliary flange 610 are separately fixed at described second shank and connect the both sides that seat 65 is opposing.Described second accessory plate 68, described first auxiliary flange 610, described first mounting flange 61 and described first accessory plate 64 are spaced setting successively.In present embodiment, the quantity of described first motor 66 is two, and two described first motors 66 are disposed on described first mounting flange 61；The quantity of described first little gear 63 is also two, and two described first little gear 63 intervals are arranged, and two described first motors 66 drive two described first little gears 63 to rotate respectively.Two described little gears 63 and described first gear wheel 62 synchro-meshing, to drive described first gear wheel 62 to rotate.In present embodiment, two described first little gears 63 and the described first V-shaped settings of gear wheel 62, and three is positioned at the same side of described first mounting flange 61.Described first loss of weight spring 69 is between described first auxiliary flange 610 and described first mounting flange 61, and it is connected on described first harmonic decelerator 611.Described first harmonic decelerator 611 connects described first auxiliary flange 610 and described first gear wheel 62, rotation is passed to the first wave generator of described harmonic speed reducer 611 by described first gear wheel 62, and described first wave generator makes the first flexible gear generation controlled elasticity deformation of described first harmonic decelerator 611 and is meshed to transmit rotation with the first rigid gear of described first harmonic decelerator 611.Described first rigid gear is fixing with described first auxiliary flange 610 to be connected；Described second shank connects seat 65 and is connected with described shank structure；Described first rigid gear is by rotating to drive described first auxiliary flange 610 to rotate, and then drives described shank structure to rotate.
In present embodiment, described knee joint 6 also includes that the first limit switch and the first photoelectric encoder, one end of described first limit switch are fixed on described second accessory plate 68, and the other end is slidably connected with the first groove of described first auxiliary flange 610.Described first limit switch can determine that described second shank connects seat 65 and is connected the initial angle between seat 67 with described first thigh.When described first limit switch enters one end of described first groove, initial angle corresponding to this position is zero point；When described first limit switch slides into the other end of described first groove, described second shank connects the rotation stopping that seat 65 is connected between seat 67 with described first thigh.Described first limit switch coordinates with described first photoelectric encoder, to realize the double limitation (mechanical position limitation and electricity are spacing) of described knee joint 6, and then prevents the rotational angle of described knee joint 6 from exceeding human body limit, to reduce the injury to human body.
Referring to Fig. 9, described hip joint 7 connects described hip joint and connects seat 161 and described thigh structure.Described hip joint 7 includes that the second mounting flange 71, two pinion, second largest gear the 73, the 3rd accessory plate the 74, second thigh connect seat the 75, second auxiliary flange 76, second harmonic decelerator the 77, second loss of weight spring the 78, second motor, the 4th accessory plate 710 and waist and connect seat 711.Described second mounting flange 71 is fixed on described waist and is connected the both sides that seat 711 is opposing with described 4th accessory plate 710, and described waist connects seat 711 and is connected on the hip contiguous block 1615 of described hip joint connection seat 161.Described 3rd accessory plate 74 and described second auxiliary flange 76 are separately fixed at described second thigh and connect the opposing both sides of seat 75, and described second thigh connects seat 75 and connects described thigh structure.
In present embodiment, the quantity of described second motor is two, and two described second motor intervals are fixed on described first mounting flange 71, and both lay respectively at described waist and connect the both sides that seat 711 is opposing；The quantity of described two pinion is two, and two described two pinion second motors described with two respectively are connected, and two described second motors are respectively used to drive two described second pinion rotation.Two described two pinions and the synchro-meshing of described second largest gear 73, to drive described second largest gear 73 to rotate.
In present embodiment, two described two pinions and the described second largest V-shaped setting of gear 73, and three is positioned at the same side of described second mounting flange 71.Described second loss of weight spring 78 is between described second auxiliary flange 76 and described second mounting flange 71, and it is connected on described second harmonic decelerator 77.Described second harmonic decelerator 77 connects described second auxiliary flange 76 and described second largest gear 73, rotation is passed to the second wave producer of described second harmonic decelerator 77 by described second largest gear 73, and described second wave producer makes the second flexible gear generation controlled elasticity deformation of described second harmonic decelerator 77 and is meshed to transmit rotation with the second rigid gear of second harmonic decelerator 77.Described second rigid gear is fixing with described second auxiliary flange 76 to be connected, and described second rigid gear is by rotating to drive described second auxiliary flange 76 to rotate, and then drives described thigh structure to rotate.
In present embodiment, described hip joint 7 also includes that the second limit switch and the second photoelectric encoder, one end of described second limit switch are fixed on described 4th accessory plate 710, and the other end is slidably connected with the second groove of described second auxiliary flange 76.Described second limit switch can determine that described waist connects seat 711 and is connected the initial angle between seat 75 with described second thigh.When described second limit switch enters one end of described second groove, initial angle corresponding to this position is zero point；When described second limit switch slides into the other end of described second groove, described waist connects the rotation stopping that seat 711 is connected between seat 75 with described second thigh.Described second limit switch coordinates with described second photoelectric encoder, to realize the double limitation (mechanical position limitation and electricity are spacing) of described hip joint 7, and then prevents the rotational angle of described hip joint 7 from exceeding human body limit, to reduce the injury to human body.
In present embodiment, the quantity of the quantity of described leg structure 2, the quantity of described ankle joint 3, the quantity of described sensing footwear 4, the quantity of described bundle component 5, the quantity of described knee joint 6 and described hip joint 7 is two, and these assemblies are combined into two connections the leg ectoskeleton of sensing footwear 4.
Use the lower limb assistance exoskeleton robot that the present invention provides, described hip joint and described knee joint are provided with limit switch, described limit switch coordinates with photoelectric encoder, the hip joint and the kneed rotational angle that prevent described lower limb assistance exoskeleton robot exceed human body limit, to reduce the injury to human body.Additionally, the size of the waist structure of described lower limb assistance exoskeleton robot can regulate, to adapt to the use of different building shape people；The knee joint of described lower limb assistance exoskeleton robot and hip joint use the drive form of bi-motor, and not only output torque is big, and efficiency is high, control accuracy is high, and compact conformation so that corresponding joint volume is little, light weight, alleviates the equipment burden that soldier produces during individual combat greatly.
Those skilled in the art is easy to understand; the foregoing is only presently preferred embodiments of the present invention; not in order to limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (7)
1. a lower limb assistance exoskeleton robot, it include body structure, leg structure, knee joint and
Hip joint, described leg structure includes thigh structure and shank structure, and described hip joint connects on described
Body structure and described thigh structure；Described knee joint connects described thigh structure and described shank structure；
It is characterised by:
Described upper body structure includes that the waist feature of dimension adjustable, described waist feature include with described
The hip contiguous block that hip joint is connected；
Described knee joint includes that the first thigh being connected to described thigh structure connects seat, is separately fixed at
Described first thigh connects the first mounting flange of the opposing both sides of seat and and the second accessory plate, is connected to
Described shank structure second shank connect seat, be separately fixed at described second shank connect seat opposing
First accessory plate of both sides and the first auxiliary flange, two intervals are fixed on described first mounting flange
The first motor, first motor described with two is connected respectively two the first little gears and two
The first gear wheel that described first little gear is meshed and be connected with described first gear wheel first humorous
Ripple decelerator, described first harmonic decelerator connects described first auxiliary flange and described first accessory plate,
It is first big relative to described that it can drive described second shank to connect seat by described first auxiliary flange
Lower limb connects seat and rotates, and then drives described shank structure to rotate relative to described thigh structure；
Described knee joint also includes the first limit switch and the first photoelectric encoder, and described first spacing opens
Close and match with described first photoelectric encoder to realize described kneed double limitation；Described
One end of one limit switch is fixed on described second accessory plate, the other end and described first auxiliary flange
The first groove be slidably connected, described first limit switch and described first fit depressions are to limit institute
State the first thigh and connect the rotation that seat is connected between seat with described second shank.
2. as claimed in claim 1 lower limb assistance exoskeleton robot, it is characterised in that: described hip closes
Joint also include being connected to the waist of described hip contiguous block connect seat, two be connected to described waist and connect seat
The second motor, two two pinions being connected to two described second motors and two institutes
State the second harmonic that the second largest gear that two pinion is meshed is connected with described second largest gear
Decelerator and be connected to the second thigh of described second harmonic decelerator and connect seat, described second thigh is even
Joint chair is connected to described thigh structure, and two described second motors are described second largest by rotating to drive
Lower limb connects seat and connects seat rotation relative to described hip, and then drives described thigh structure relative to described hip
Connect seat to rotate.
3. as claimed in claim 2 lower limb assistance exoskeleton robot, it is characterised in that: described hip closes
Joint also includes being separately fixed at described waist and connects the second mounting flange of the opposing both sides of seat and the 4th auxiliary
Help plate and be separately fixed at described second thigh and connect the 3rd accessory plate and the of the opposing both sides of seat
Two auxiliary flanges；Described second mounting flange connects two described second motors；Described second auxiliary law
The described second harmonic decelerator of blue connection.
4. as claimed in claim 3 lower limb assistance exoskeleton robot, it is characterised in that: described hip closes
Joint also includes the second limit switch and the second photoelectric encoder, described second limit switch and described second
Photoelectric encoder matches to realize the double limitation to described hip joint；Described second limit switch
One end is fixed on described 4th accessory plate, and the other end is sliding with the second groove of described second auxiliary flange
Being dynamically connected, described second limit switch is connected seat with described second fit depressions to limit described waist
The rotation being connected between seat with described second thigh.
5. as claimed in claim 1 lower limb assistance exoskeleton robot, it is characterised in that: described lower limb
Assistance exoskeleton robot also includes ankle joint, sensing footwear and bundle component, and described ankle joint connects institute
State shank structure and described sensing footwear；Described bundle component includes thigh bundle component and shank binding group
Part, described thigh bundle component is for bundling described human thigh with described thigh structure；
Described shank bundle component is for bundling human calf with described shank structure.
6. as claimed in claim 5 lower limb assistance exoskeleton robot, it is characterised in that: described ankle closes
Joint includes that footwear connect seat, are arranged on the first shank connection seat and air spring, institute that described footwear connect on seat
State the first shank connection seat and be connected to described shank structure；One end of described air spring is connected to described
One shank connects seat, and the other end is connected to the hard heel of described sensing footwear.
7. as claimed in claim 5 lower limb assistance exoskeleton robot, it is characterised in that: described gas bullet
The quantity of spring is two, and two described air springs are separately positioned on described footwear and connect the both sides that seat is opposing.
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| CN201610511532.0A CN105965483B (en) | 2016-06-30 | 2016-06-30 | Lower limb assistance exoskeleton robot |
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