CN105965483B - Lower limb assistance exoskeleton robot - Google Patents
Lower limb assistance exoskeleton robot Download PDFInfo
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- CN105965483B CN105965483B CN201610511532.0A CN201610511532A CN105965483B CN 105965483 B CN105965483 B CN 105965483B CN 201610511532 A CN201610511532 A CN 201610511532A CN 105965483 B CN105965483 B CN 105965483B
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- Prior art keywords
- thigh
- connecting seat
- shank
- joint
- lower limb
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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 kind of lower limb assistance exoskeleton robot, and it includes body structure, leg structure, knee joint and hip joint, and the leg structure includes thigh structure and shank structure, and the hip joint connects the upper body structure and the thigh structure.The knee joint connects the thigh structure and the shank structure.The upper body structure includes the waist feature of dimension adjustable, and the waist feature includes the hip contiguous block being connected with the hip joint.The knee joint includes being connected to the first thigh connecting seat of the thigh structure, being rotationally connected with the second shank connecting seat and two the first motors for being connected to the first thigh connecting seat of the thigh connecting seat, and two first motors drive the second shank connecting seat to be rotated relative to the thigh connecting seat.
Description
Technical field
The invention belongs to service robot field, more particularly, to a kind of lower limb power-assisted suitable for individual equipment outside
Bone robot.
Background technology
The both legs of the mankind provide heavy burden and shipping platform, and especially in the environment of wheeled transport is not suitable for, biped is shown
Very strong mobility is gone out.Heavy burden is one of human lives' most common problem to be faced.For soldier, effectively carry
Lotus accounts for most of its total weight, and undertaking these load can not both avoid being their duty-bound.Carry overweight
Burden not only allows people to feel fatigue, while there is also potential spiritual and sensual injury.
In order to mitigate this burden, lower limb Auxiliary support ectoskeleton plant equipment is arisen at the historic moment.Set by dressing ectoskeleton
Standby, soldier's equipment weight can be directly delivered on ground by ectoskeleton structure, and this is equivalent to undertake dress instead of soldier
Standby weight, had both saved the physical efficiency of soldier, reduced soldier's heavy burden again.Patent such as Application No. 201010119161.4 discloses
A kind of walking aid exoskeleton rehabilitation robot, the walking aid exoskeleton rehabilitation robot assume responsibility for weight instead of people.It is however, described
Position limiting structure is all not provided with the hip joint and knee joint of walking aid exoskeleton rehabilitation robot, easily causes the rotation of ectoskeleton
Angle exceedes human body limit and human body is damaged, and size is unadjustable at its waist structure, it is impossible to adapts to different building shape
People.And for example Application No. 201410063123.X patent discloses a kind of tool suitable for ectoskeleton Auxiliary support robot
There is the size leg device of knee joint parameter measurement, the size leg device uses Driven by Hydraulic Cylinder, reduces knee joint driving member
Part size, but need hydraulic power source using Driven by Hydraulic Cylinder, and mechanism controls precision is not high, rigidity and stability are not yet
Foot, while easily there are fluid leakage problems in hydraulic mechanism.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of lower limb assistance exoskeleton machine
People, based on the relation between ergonomics, human body lower limbs bone mechanism and human body lower limbs joint motions mechanism, under described
Connection between the structure and all parts of the particular elements (such as hip joint, knee joint, waist) of limb assistance exoskeleton robot
Relation is designed.The hip joint is provided with limit switch, the limit switch and photoelectric coding with the knee joint
Device coordinates, it is therefore prevented that and the hip joint and kneed rotational angle of the lower limb assistance exoskeleton robot exceed human body limit,
To reduce the injury to human body.In addition, the size of the waist structure of the lower limb assistance exoskeleton robot can be adjusted, with suitable
Answer the use of different building shape people；The knee joint and hip joint of the lower limb assistance exoskeleton robot use the driving shape of bi-motor
Formula, not only output torque is big, efficiency high, and control accuracy is high, and compact-sized so that corresponding joint small volume, light weight, pole
Big alleviates soldier's caused equipment burden during individual combat.
To achieve the above object, one aspect of the present invention provides a kind of lower limb assistance exoskeleton robot, and it includes
Upper body structure, leg structure, knee joint and hip joint, the leg structure include thigh structure and shank structure, and the hip closes
Section connects the upper body structure and the thigh structure；The knee joint connects the thigh structure and the shank structure.
The upper body structure includes the waist feature of dimension adjustable, and the waist feature includes being connected with the hip joint
The hip contiguous block connect；
The knee joint includes being connected to the first thigh connecting seat of the thigh structure, to be separately fixed at described first big
First mounting flange of the opposite both sides of leg connecting seat and and the second accessory plate, the second shank company for being connected to the shank structure
Between joint chair, the first accessory plate for being separately fixed at the opposite both sides of the second shank connecting seat and the first auxiliary flange, two
Two to be connected every the first motor being fixed on first mounting flange, respectively with two first motors are first small
Gear, the first gear wheel being meshed with two first little gears and the first harmonic being connected with first gear wheel
Decelerator, the first harmonic decelerator connect first auxiliary flange and first accessory plate, and it can be by described
First auxiliary flange drives the second shank connecting seat to be rotated relative to the first thigh connecting seat, and then drives described small
Leg structure rotates relative to the thigh structure；
The knee joint also includes the first limit switch and the first photoelectric encoder, first limit switch and described the
One photoelectric encoder is engaged to realize to the kneed double limitation；One end of first limit switch is fixed on institute
State on the second accessory plate, the first groove of the other end and first auxiliary flange is slidably connected, first limit switch with
First fit depressions are to limit the rotation between the first thigh connecting seat and the second shank connecting seat.
Further, the hip joint also include be connected to the waist connecting seat of the hip contiguous block, two be connected to institute
State the second motor of waist connecting seat, two the second little gears for being connected to two second motors, with two described in
The second gear wheel that second little gear is meshed, the second harmonic decelerator being connected with second gear wheel and it is connected to institute
The second thigh connecting seat of second harmonic decelerator is stated, the second thigh connecting seat is connected to the thigh structure, two institutes
The second motor is stated by rotating to drive the second thigh connecting seat to be rotated relative to the hip connecting seat, and then described in drive
Thigh structure rotates relative to the hip connecting seat.
Further, the hip joint also includes the second fixation for being separately fixed at the opposite both sides of the waist connecting seat
Flange and the 4th accessory plate and the 3rd accessory plate and second for being separately fixed at the opposite both sides of the second thigh connecting seat
Auxiliary flange；Second mounting flange connects two second motors；The second auxiliary flange connection described second is humorous
Ripple decelerator.
Further, the hip joint also includes the second limit switch and the second photoelectric encoder, and described second spacing opens
Close and second photoelectric encoder be engaged to realize the double limitation to the hip joint；The one of second limit switch
End is fixed on the 4th accessory plate, and the second groove of the other end and second auxiliary flange is slidably connected, and described second
Limit switch and second fit depressions are turned with limiting between the waist connecting seat and the second thigh connecting seat
It is dynamic.
Further, the lower limb assistance exoskeleton robot also includes ankle-joint, sensing footwear and bundle component, the ankle
Joint connects the shank structure and the sensing footwear；The bundle component includes thigh bundle component and shank bundle component,
The thigh bundle component is used to bundle the human thigh and the thigh structure；The shank bundle component is used
Bundled in by human calf and the shank structure.
Further, the ankle-joint includes footwear connecting seat, the first shank connecting seat being arranged on the footwear connecting seat
And gas spring, the first shank connecting seat are connected to the shank structure；One end of the gas spring is connected to described first
Shank connecting seat, the other end be connected to it is described sensing footwear hard footwear with.
Further, the quantity of the gas spring is two, and two gas springs are separately positioned on the footwear connecting seat
Opposite both sides.
In general, by the contemplated above technical scheme of the present invention compared with prior art, provided using the present invention
Lower limb assistance exoskeleton robot, the hip joint and the knee joint be provided with limit switch, the limit switch with
Photoelectric encoder coordinates, it is therefore prevented that the hip joint and kneed rotational angle of the lower limb assistance exoskeleton robot exceed people
The body limit, to reduce the injury to human body.In addition, the size of the waist structure of the lower limb assistance exoskeleton robot can be adjusted
Section, to adapt to the use of different building shape people；The knee joint and hip joint of the lower limb assistance exoskeleton robot use bi-motor
Drive form, not only output torque is big, efficiency high, and control accuracy is high, and compact-sized so that corresponding joint small volume,
Light weight, greatly alleviate soldier's caused equipment burden during individual combat.
Brief description of the drawings
Fig. 1 is the structural representation for 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 assistant 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 structural representation of the knee joint in Fig. 6 along another angle.
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.
In all of the figs, identical reference is used for representing identical element or structure, wherein：The upper body structures of 1-,
11- back guard sets, 12- shoulder waistbands, 13- back casings, 14- back-supported plates, 15- back casing installed with built-in component, 16- waists
Component, 161- hip joint connecting seats, 1611- waist protecting board upper junction plates, connecting plate in 1612- waist protecting boards, connect under 1613- waist protecting boards
Fishplate bar, 1614- limit assemblies, 1615- hip contiguous blocks, 1616- thrust bearings, 162- waist protecting boards, 163- end caps, 164- first connect
Fishplate bar, 165- hinge joints, the connecting plates of 166- second, 2- leg structures, 21- thigh bars top, 22- collision bead pins, 23- thigh bars
Bottom, 3- ankle-joints, 31- gas springs, 32- the first shank connecting seats, 33- motor fixing seats, the keys of 34- first, the electricity of 35- the 3rd
Machine, 36- footwear connecting seats, 37- screw lock baffle rings, 38- clutch shaft bearings, the keys of 39- second, 310- ankle-joint axles, 311- elasticity gears
Circle, 4- sensing footwear, 41- hard footwears are with 42- senses shoe-pad, 43- Antiskid soles, 44- shoes department bundled pieces, 45- cushion pads, 5- bundles
Tie up component, 51- thigh bundle components, 52- shank bundle components, 6- knee joints, the mounting flanges of 61- first, the canine tooths of 62- first
Wheel, the little gears of 63- first, the accessory plates of 64- first, 65- the second shank connecting seats, the motors of 66- first, the connection of the thighs of 67- first
Seat, the accessory plates of 68- second, 69- the first loss of weight springs, the auxiliary flanges of 610- first, 611- first harmonic decelerators, 7- hips close
Section, the mounting flanges of 71- second, the gear wheels of 73- second, the accessory plates of 74- the 3rd, 75- the second thigh connecting seats, 76- second are aided in
Flange, 77- second harmonic decelerators, 78- the second loss of weight springs, the accessory plates of 710- the 4th, 711- waist connecting seats.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
Fig. 1 to Fig. 4 is referred to, the lower limb assistance exoskeleton robot that better embodiment of the present invention provides, it is to be based on
Relation between human body lower limbs bone mechanism and human body lower limbs joint motions mechanism, and a kind of wearable ectoskeleton machine established
The biomimetic features of people, realize that ectoskeleton is easy to wear, size adjustable is whole, motion flexibility and reliability, and have height with human body
Coordinability, it can quickly comply with the motion of human body and move.
The lower limb assistance exoskeleton robot includes upper body structure 1, leg structure 2, ankle-joint 3, sensing footwear 4, binding
Component 5, knee joint 6 and hip joint 7, one end of the hip joint 7 connect the upper body structure 1, and the other end is tied with the leg
The thigh structure of structure 2 is connected.The knee joint 6 connects the thigh structure and the shank structure of the leg structure 2 respectively,
The shank structure can rotate relative to the thigh structure.One end of the ankle-joint 3 is connected with the shank structure,
The other end is fixedly connected with the sensing footwear 4.The bundle component 5 is movably coupled on the leg structure 2, and it is used for
Human leg is bundled to prevent that with the lower limb assistance exoskeleton robot relative motion occurs for human leg in motion process.
The upper body structure 1 includes back guard set 11, shoulder waistband 12, back casing 13, back-supported plate 14, back case
Body installed with built-in component 15 and waist feature 16, the back casing 13 are fixedly connected with the back-supported plate 14.The back case
Body installed with built-in component 15 is arranged in the back casing 13.In present embodiment, the back casing installed with built-in component 15 includes driving
Dynamic control panel and lighium polymer rechargeable battery, the drive control plate include eight drive modules and a control module, its
For controlling the lower limb assistance exoskeleton robot.It is the lower limb assistance exoskeleton robot that the rechargeable battery, which is used for,
Electric energy is provided.
The back guard set 11 is arranged on the back casing 13 towards the side of the shoulder waistband 12, and it is by elasticity
Made of material.The back guard set 11 is used to preferably be bonded human body back curve, and absorbs part impact.The shoulder waist
The back casing 13 and the waist feature 16 are connected respectively with 12 both ends, and it becomes one waistband and shoulder belt, institute
State shoulder belt and be divided into symmetrical two parts, and this two parts is connected in front by hasp.The length of the shoulder waistband 12
It can adjust, and it tightly can be strapped on human body by the hasp, wearer is kept one's balance.
The waist feature 16 is connected to the hip joint 7, and it includes hip joint connecting seat 161, waist protecting board 162, end cap
163rd, the first connecting plate 164, the connecting plate 166 of hinge joint 165 and second.In present embodiment, the quantity of the waist protecting board 162
For two, the quantity of the hip joint connecting seat 161 is two, and the quantity of the end cap 163 is two；Each waist protecting board
162 both ends connect first connecting plate 164 or second connecting plate 166 and the hip joint connecting seat 161 respectively,
And connected between the waist protecting board 162 and first connecting plate 164 or second connecting plate 166 using borehole structure
Connect, the size of the waist feature 16 is adjusted by changing position of the bearing in the borehole structure；First connection
Plate 164 and second connecting plate 166 are made of polyglycolic acid SR-PGA materials.The hinge joint 165 connects described
First connecting plate 164 and second connecting plate 166, first connecting plate 164 and second connecting plate 166 with it is corresponding
The waist protecting board 162 be rotatablely connected.Two end caps 163 are separately positioned on first connecting plate 164 and corresponding institute
The junction of waist protecting board 162 and the junction of second connecting plate 166 and the corresponding waist protecting board 162 are stated, for protecting
Protect the borehole structure of first connecting plate 164 and second connecting plate 166.
The hip joint connecting seat 161 is connected to the hip joint 7, and it includes waist protecting board upper junction plate 1611, waist protecting board
Middle connecting plate 1612, waist protecting board lower connecting plate 1613, limit assembly 1614, hip contiguous block 1615 and thrust bearing 1616, it is described
Connecting plate 1612 offers the first accepting groove in waist protecting board, and the thrust bearing 1616 is partly housed in first accepting groove
It is interior.The hip contiguous block 1615 is arranged on the thrust bearing 1616, the waist protecting board upper junction plate 1611 and the waist support
Plate lower connecting plate 1613 is separately positioned on two opposite surfaces of connecting plate 1612 in the waist protecting board.Connect under the waist protecting board
Fishplate bar 1613 offers the position through hole corresponding with first accepting groove, and the hip contiguous block 1615 is partially through described
Through hole and protrude from the waist protecting board lower connecting plate 1613.In present embodiment, the limit assembly 1614 is described for limiting
The movement of hip contiguous block 1615, it includes multiple limited blocks, and the multiple limited block is fixed on the waist protecting board lower connecting plate
Uniformly arranged on 1613 and along the edge of the through hole.
The leg structure 2 is rhs-structure, and it includes the thigh structure and the shank structure, the thigh structure
Formed and be rotatablely connected by the knee joint 6 with the shank structure.The thigh structure includes thigh bar top 21, collision bead pin
22 and thigh bar bottom 23, the thigh bar top 21 is connected to the thigh bar bottom by the activity of collision bead pin 22
23, it is by the movement relative to the thigh bar bottom 23 to adjust the length of the thigh structure.
In present embodiment, the thigh bar bottom 23 offers the accepting hole being connected with itself pore, the collecting
Along the thigh bar bottom 23 is run through perpendicular to the length direction of thigh bar bottom 23, the quantity of the accepting hole is more in hole
Individual, multiple accepting holes are arranged at intervals；It is appreciated that in other embodiments, the quantity of the accepting hole can basis
It is actually needed increase or reduces.The quantity of the collision bead pin 22 is three, each collision bead pin 22 include two collision beads and
One spring, the both ends of the spring connect two collision beads respectively；The one end on the thigh bar top 21 is set in described
In the pore of thigh bar bottom 23, each collision bead pin 22 is housed in the accepting hole after passing through the thigh bar top 21
It is interior, and corresponding two collision beads protrude from the thigh bar bottom 23.When adjusting the length of the thigh structure, press described
Collision bead is made it into the pore of the thigh bar bottom 23, while the spring corresponding to compression, the thigh bar top 21
Moved along the length direction of the thigh bar bottom 23 to adjust the length of the thigh structure, when the thigh bar top 21 is arrived
Up to after precalculated position, the collision bead is unclamped, the collision bead is under the elastic restoring force effect of the spring from receipts another described
Hold hole and protrude from the thigh bar bottom 23, the thigh bar top 21 is stably connected with again with the thigh bar bottom 23.This
In embodiment, the shank structure is also to realize what its length was adjusted by collision bead pin.
Referring to Fig. 5, one end of the ankle-joint 3 is connected with the shank structure, the other end and the sensing footwear 4 are solid
Fixed connection.The ankle-joint 3 includes gas spring 31, the first shank connecting seat 32, motor fixing seat 33, the electricity of the first key the 34, the 3rd
Machine 35, footwear connecting seat 36, screw lock baffle ring 37, clutch shaft bearing 38, the second key 39, ankle-joint axle 310 and circlip 311,
One end of the gas spring 31 connects the first shank connecting seat 32, and the hard footwear of the other end connection sensing footwear 4 is with 41.
In present embodiment, part impact and limit turning for the ankle-joint 3 that the gas spring 31 is used to absorb at the ankle-joint 3
Dynamic angle；The quantity of the gas spring 31 is two, it will be understood that in other embodiments, the quantity of the gas spring 31
It can increase or reduce according to being actually needed.
The motor fixing seat 33 is fixed on the footwear connecting seat 36, and it is used to carry the 3rd motor 35.It is described
3rd motor 35 is fixedly connected with the ankle-joint axle 310, and the ankle-joint axle 310 passes through first key 34 and described second
Key 39 is connected with the footwear connecting seat 36, and first key 34 is located at the ankle-joint axle 310 respectively with second key 39
Opposite both sides.3rd motor 35 is fixed in the motor fixing seat 33, and it is used to drive the ankle-joint axle 310
Rotate, and then drive the ankle-joint 3 partly to turn an angle.The ankle-joint axle 310 is kept off by the screw lock
Circle 37 positions with the footwear connecting seat 36.In present embodiment, the quantity of the screw lock baffle ring 37 is two, described in two
Screw lock baffle ring 37 is arranged at intervals；It is appreciated that in other embodiments, the quantity of the screw lock baffle ring 37 can be with
Increase or reduce according to being actually needed.
It is in " n " font substantially that the first shank connecting seat 32, which is connected to the shank structure and its, and it is towards the footwear
The side of connecting seat 36 is extended with two spaced rotor plates.The footwear connecting seat 36 is in U shape substantially, its direction
The side of the first shank connecting seat 32 is extended with two spaced loading plates, and the ankle-joint axle 310 passes through two
The loading plate, two clutch shaft bearings 38 are respectively sleeved at the lug boss that two loading plates extend in the same direction
On.The first shank connecting seat 32 is connected to the footwear by two rotor plates and two clutch shaft bearings 38 and connected
On seat 36, two rotor plates are arranged at intervals with two loading plates respectively.In present embodiment, two first axles
38 are held to position by two circlips 311 and two lug bosses respectively.
The sensing footwear 4 include hard footwear with 41, sensing shoe-pad 42, Antiskid sole 43, shoes department bundled piece 44 and cushion pad
45, the cushion pad 45, the sensing shoe-pad 42 and the Antiskid sole 43 are sequentially overlapped setting.The cushion pad 45 with it is described
Shoes department bundled piece 44 is connected, and it is made of elastomeric material, to buffer the impact that it is subject to.The sensing shoe-pad 42 includes
Multiple PVDF (Kynoar) piezoelectric film sensors set using face formation formula, the multiple PVDF (Kynoar)
The dynamometry face that piezoelectric film sensor is formed covers whole sole, suitable for the detection to different walking movement patterns.It is described hard
Matter heel 41 is fixedly connected with the Antiskid sole 43, and the bottom of the Antiskid sole 43 is zigzag, to increase itself and ground
Between friction, and then play anti-skidding effect.The shoes department bundled piece 44 is used for the foot for bundling wearer, makes foot and sensing
Footwear 4 bundle.
The bundle component 5 includes thigh bundle component 51 and shank bundle component 52, and the thigh bundle component 51 is used
Bundled in by the thigh of wearer and the thigh structure；The shank bundle component 52 is used for the shank of wearer
Bundled with the shank structure.The thigh bundle component 51 includes bundling belt and is fixedly connected with the bundling belt
Annular binding, the bundling belt are connected with the thigh structure, and the annular binding is used for the thigh for bundling wearer.The binding
Ring is semi-loop, and it is provided with multiple spaced (not shown) with holes.The annular binding passes through multiple described with holes and legs
Portion's restraint strap is engaged to bind the thigh of wearer.In present embodiment, the leg restraint strap is made up of nylon material
, it can change and can adjust in time in donning process, to be adapted to the use of different wearers；The shank bundle component 52
Essentially identical with the thigh bundle component 51, both binding mechanisms are identical.
Fig. 6, Fig. 7 and Fig. 8 are referred to, the knee joint 6 connects the thigh structure and the shank structure.The knee closes
Section 6 includes the first mounting flange 61, the first gear wheel 62, the first little gear 63, the first accessory plate 64, the second shank connecting seat
65th, the first motor 66, the first thigh connecting seat 67, the second accessory plate 68, the first loss of weight spring 69, the first auxiliary flange 610 and
First harmonic decelerator 611.First mounting flange 61 and second accessory plate 68 are separately fixed at first thigh
The opposite both sides of connecting seat 67, the first thigh connecting seat 67 are connected to the thigh structure.First accessory plate 64 and
First auxiliary flange 610 is separately fixed at the opposite both sides of the second shank connecting seat 65.Second accessory plate 68,
First auxiliary flange 610, first mounting flange 61 and first accessory plate 64 are arranged at intervals successively.This embodiment party
In formula, the quantity of first motor 66 is two, and two first motors 66 are disposed on first mounting flange
On 61；The quantity of first little gear 63 is also two, and two first little gears 63 are arranged at intervals, two described first
Motor 66 drives two first little gears 63 to rotate respectively.Two little gears 63 are synchronous with first gear wheel 62
Engagement, to drive first gear wheel 62 to rotate.In present embodiment, two first little gears 63 and described first big
62 V-shaped setting of gear, and three is located at the same side of first mounting flange 61.69, the first loss of weight spring
Between first auxiliary flange 610 and first mounting flange 61, it is connected to the first harmonic decelerator 611
On.The first harmonic decelerator 611 connects first auxiliary flange 610 and first gear wheel 62, and described first is big
Gear 62 passes to the first wave producer of the harmonic speed reducer 611 by rotating, and first wave producer makes described first
The first flexible gear generation controlled elasticity deformation of harmonic speed reducer 611 is simultaneously firm with the first of the first harmonic decelerator 611
Property gear be meshed with transmit rotate.First rigid gear is fixedly connected with first auxiliary flange 610；Described second
Shank connecting seat 65 is connected with the shank structure；First rigid gear is by rotating to drive first auxiliary law
Orchid 610 rotates, and then drives the shank structure to rotate.
In present embodiment, the knee joint 6 also includes the first limit switch and the first photoelectric encoder, first limit
One end of bit switch is fixed on second accessory plate 68, and the first groove of the other end and first auxiliary flange 610 is slided
Dynamic connection.First limit switch can determine between the second shank connecting seat 65 and the first thigh connecting seat 67
Initial angle.When first limit switch enters one end of first groove, the initial angle of this position correspondence is zero point；
When first limit switch slides into the other end of first groove, the second shank connecting seat 65 and described first
Rotation between thigh connecting seat 67 stops.First limit switch coordinates with first photoelectric encoder, to realize
The double limitation (mechanical position limitation and electricity are spacing) of knee joint 6 is stated, and then prevents the rotational angle of the knee joint 6 from exceeding human body pole
Limit, to reduce the injury to human body.
Referring to Fig. 9, the hip joint 7 connects the hip joint connecting seat 161 and the thigh structure.The hip joint
7 include the second mounting flange 71, the second little gear, the second gear wheel 73, the 3rd accessory plate 74, the second thigh connecting seat 75, the
Two auxiliary flanges 76, second harmonic decelerator 77, the second loss of weight spring 78, the second motor, the 4th accessory plate 710 and waist connection
Seat 711.Second mounting flange 71 and the 4th accessory plate 710 both sides that to be fixed on the waist connecting seat 711 opposite,
The waist connecting seat 711 is connected on the hip contiguous block 1615 of the hip joint connecting seat 161.3rd accessory plate 74 and
Second auxiliary flange 76 is separately fixed at the opposite both sides of the second thigh connecting seat 75, the second thigh connection
The connection of the seat 75 thigh structure.
In present embodiment, the quantity of second motor is two, and two the second motor intervals are fixed on described
On first mounting flange 71, and both are located at the opposite both sides of the waist connecting seat 711 respectively；The number of second little gear
Measure as two, two second little gears are connected with two second motors respectively, two the second motor difference
For driving two second pinion rotations.Two second little gears and the synchro-meshing of the second gear wheel 73,
To drive second gear wheel 73 to rotate.
In present embodiment, two second little gears and the 73 V-shaped setting of the second gear wheel, and three
Positioned at the same side of second mounting flange 71.The second loss of weight spring 78 is located at second auxiliary flange 76 and described
Between second mounting flange 71, it is connected on the second harmonic decelerator 77.The second harmonic decelerator 77 connects institute
The second auxiliary flange 76 and second gear wheel 73 are stated, rotation is passed to the second harmonic and subtracted by second gear wheel 73
Second flexible gear of the second harmonic decelerator 77 occurs for the second wave producer of fast device 77, second wave producer
Controlled elasticity is deformed and is meshed with the second rigid gear of second harmonic decelerator 77 to be rotated with transmitting.Second rigid teeth
Wheel is fixedly connected with second auxiliary flange 76, and second rigid gear is by rotating to drive second auxiliary flange
76 rotate, and then drive the thigh structure to rotate.
In present embodiment, the hip joint 7 also includes the second limit switch and the second photoelectric encoder, second limit
One end of bit switch is fixed on the 4th accessory plate 710, and the second groove of the other end and second auxiliary flange 76 is slided
Dynamic connection.Second limit switch can determine between the waist connecting seat 711 and the second thigh connecting seat 75
Initial angle.When second limit switch enters one end of second groove, the initial angle of this position correspondence is zero point；When
When second limit switch slides into the other end of second groove, the waist connecting seat 711 and second thigh
Rotation between connecting seat 75 stops.Second limit switch coordinates with second photoelectric encoder, to realize the hip
The double limitation (mechanical position limitation and electricity are spacing) in joint 7, and then prevent the rotational angle of the hip joint 7 from exceeding human body limit,
To reduce the injury to human body.
In present embodiment, the quantity of the leg structure 2, the quantity of the ankle-joint 3, it is described sensing footwear 4 quantity,
The quantity of the quantity of the bundle component 5, the quantity of the knee joint 6 and the hip joint 7 is two, the combination of these components
The leg ectoskeleton for being connected with sensing footwear 4 into two.
Using lower limb assistance exoskeleton robot provided by the invention, the hip joint is respectively provided with limited with the knee joint
Bit switch, the limit switch and photoelectric encoder coordinate, it is therefore prevented that the hip joint of the lower limb assistance exoskeleton robot and
Kneed rotational angle exceedes human body limit, to reduce the injury to human body.In addition, the lower limb assistance exoskeleton robot
The size of waist structure can adjust, to adapt to the use of different building shape people；The knee of the lower limb assistance exoskeleton robot
Joint and hip joint use the drive form of bi-motor, and not only output torque is big, efficiency high, and control accuracy is high, and structure is tight
Gather so that corresponding joint small volume, light weight, greatly alleviate soldier's caused equipment burden during individual combat.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (7)
1. a kind of lower limb assistance exoskeleton robot, it includes body structure, leg structure, knee joint and hip joint, the leg
Portion's structure includes thigh structure and shank structure, and the hip joint connects the upper body structure and the thigh structure；The knee
Joint connects the thigh structure and the shank structure；It is characterised by：
The upper body structure includes the waist feature of dimension adjustable, and the waist feature includes what is be connected with the hip joint
Hip contiguous block；
The knee joint includes being connected to the first thigh connecting seat of the thigh structure, is separately fixed at the first thigh company
The first mounting flange and the second accessory plate of the opposite both sides of joint chair, the second shank connecting seat for being connected to the shank structure,
The first accessory plate and the first auxiliary flange, two intervals for being separately fixed at the opposite both sides of the second shank connecting seat are fixed
The first motor on first mounting flange, two the first little gears being connected respectively with two first motors,
The first gear wheel being meshed with two first little gears and the first harmonic being connected with first gear wheel slow down
Device, the first harmonic decelerator connect first auxiliary flange and first accessory plate, and it can pass through described first
Auxiliary flange drives the second shank connecting seat to be rotated relative to the first thigh connecting seat, and then drives the shank knot
Structure rotates relative to the thigh structure；
The knee joint also includes the first limit switch and the first photoelectric encoder, first limit switch and first light
Photoelectric coder is engaged to realize to the kneed double limitation；One end of first limit switch is fixed on described
On two accessory plates, the first groove of the other end and first auxiliary flange is slidably connected, first limit switch with it is described
First fit depressions are to limit the rotation between the first thigh connecting seat and the second shank connecting seat.
2. lower limb assistance exoskeleton robot as claimed in claim 1, it is characterised in that：The hip joint also includes being connected to
The waist connecting seat of the hip contiguous block, two be connected to the second motor of the waist connecting seat, two be connected to two
Second little gear of individual second motor, the second gear wheel being meshed with two second little gears and described second
Second harmonic decelerator that gear wheel is connected and the second thigh connecting seat for being connected to the second harmonic decelerator, described
Two thigh connecting seats are connected to the thigh structure, and two second motors are by rotating to drive second thigh to connect
Seat rotates relative to the hip connecting seat, and then drives the thigh structure to be rotated relative to the hip connecting seat.
3. lower limb assistance exoskeleton robot as claimed in claim 2, it is characterised in that：The hip joint also includes solid respectively
It is scheduled on the second mounting flange of the opposite both sides of the waist connecting seat and the 4th accessory plate and is separately fixed at described second
The 3rd accessory plate and the second auxiliary flange of the opposite both sides of thigh connecting seat；Second mounting flange connects two described the
Two motors；Second auxiliary flange connects the second harmonic decelerator.
4. lower limb assistance exoskeleton robot as claimed in claim 3, it is characterised in that：The hip joint also includes the second limit
Bit switch and the second photoelectric encoder, second limit switch and second photoelectric encoder are engaged to realize to described
The double limitation of hip joint；One end of second limit switch is fixed on the 4th accessory plate, the other end and described the
Second groove of two auxiliary flanges is slidably connected, and second limit switch and second fit depressions are to limit the waist
Rotation between portion's connecting seat and the second thigh connecting seat.
5. lower limb assistance exoskeleton robot as claimed in claim 1, it is characterised in that：The lower limb assistance exoskeleton machine
People also includes ankle-joint, sensing footwear and bundle component, and the ankle-joint connects the shank structure and the sensing footwear；The bundle
Tying up component includes thigh bundle component and shank bundle component, and the thigh bundle component is used for human thigh and the thigh
Structure bundles；The shank bundle component is used to bundle human calf and the shank structure.
6. lower limb assistance exoskeleton robot as claimed in claim 5, it is characterised in that：The ankle-joint connects including footwear
Seat, the first shank connecting seat being arranged on the footwear connecting seat and gas spring, the first shank connecting seat are connected to described
Shank structure；One end of the gas spring is connected to the first shank connecting seat, and the other end is connected to the hard of the sensing footwear
Matter heel.
7. lower limb assistance exoskeleton robot as claimed in claim 6, it is characterised in that：The quantity of the gas spring is two
Individual, two gas springs are separately positioned on the opposite both sides of the footwear connecting seat.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610511532.0A CN105965483B (en) | 2016-06-30 | 2016-06-30 | Lower limb assistance exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610511532.0A CN105965483B (en) | 2016-06-30 | 2016-06-30 | Lower limb assistance exoskeleton robot |
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| CN105965483B true CN105965483B (en) | 2018-02-06 |
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| CN106541393B (en) * | 2017-01-23 | 2018-12-11 | 哈尔滨工业大学 | Heavy load drive lacking parallel connection lower limb assistance exoskeleton with elastic buffer |
| CN106726362B (en) * | 2017-03-03 | 2023-04-07 | 中国科学院合肥物质科学研究院 | Hip and knee integrated joint device for exoskeleton robot and exoskeleton robot |
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| CN107362001B (en) * | 2017-08-02 | 2023-12-19 | 广东群旺科技股份有限公司 | Human limb assistance exoskeleton with multiple degrees of freedom |
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