CN106002962A - Light-weight high-speed large-load lower limb exoskeleton robot - Google Patents
Light-weight high-speed large-load lower limb exoskeleton robot Download PDFInfo
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- CN106002962A CN106002962A CN201610590102.2A CN201610590102A CN106002962A CN 106002962 A CN106002962 A CN 106002962A CN 201610590102 A CN201610590102 A CN 201610590102A CN 106002962 A CN106002962 A CN 106002962A
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- Prior art keywords
- joint
- hip joint
- hip
- knee joint
- knee
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
A light-weight high-speed large-load lower limb exoskeleton robot solves the problems that when driven by hydraulic cylinders, an existing exoskeleton robot is not compact enough and is low in torque when rotating by an angle. Two hip joints are symmetrically arranged on the two sides of a rear back plate. Outer-stretching and inner-bending joint rods on the two hip joints are hinged to a waist binding plate through connecting shafts. The two hip joints, two thighs, two shanks and two foot parts correspond one to one from top to bottom. Bending and stretching joints on the hip joints are connected with hip joint hydraulic cylinder supporting covers on hip joint hydraulic drive parts through connecting elements. The lower ends of hip joint hydraulic cylinders are fixedly connected with the shanks. The upper ends of knee joint hydraulic cylinders are fixedly connected with third inner and outer rotary joint rods on the hip joints. Knee joint hydraulic cylinder supporting covers are connected with knee joint rotary connecting pieces on the shanks through connecting elements. Knee joint shells on the shanks are connected with the foot parts. The robot is used for load-carrying walking and can be used for rescue relief and other occasions where goods and materials need to be transported.
Description
Technical field
The present invention relates to a kind of exoskeleton robot, be specifically related to a kind of lightness high speed heavy load lower limb exoskeleton robot.
Background technology
At present, exoskeleton robot receives the favor of vast researcher, its driving side in its exclusive man-computer cooperation mode
Formula has two kinds: one is to drive with rotation driving mechanism, and another kind is to realize motion with linear type actuator.Current
In existing rectilinearity actuator, hydraulic cylinder occupies main status.But current drive connection mode, all be select with
Driving is directly connected to, and hydraulic cylinder is to be in tilted layout between thigh and shank, sees Fig. 9, and this mode is in motion
During, hydraulic cylinder along with actuator campaign, first can affect the compactedness of entirety, and its moment constituted
The peak value of curve is arranged less than bigger angle up, thus the ability causing ectoskeleton climbing cross-country reduces.
Summary of the invention
The present invention solves when existing exoskeleton robot utilizes Driven by Hydraulic Cylinder, the compactest, the power when rotating angle of arrival
The problem that square is low, and a kind of lightness high speed heavy load lower limb exoskeleton robot is proposed.
A kind of lightness high speed heavy load lower limb exoskeleton robot of the present invention, described robot include postnotum, connecting shaft,
Two hip joints, two thighs, two shanks and two foot members；
Each thigh includes hip joint hydraulic driving part and knee joint hydraulic driving part；
Hip joint hydraulic driving part includes that hip joint output connecting rod, hip joint hydraulic cylinder connect joint, hip joint hydraulic pressure is lived
Stopper rod, hip joint hydraulic cylinder support cover, hip joint hydraulic cylinder and hip joint pull pressure sensor, hip joint liquid presses piston pole
Lower end be arranged in hip joint hydraulic cylinder, the upper end of hip joint liquid presses piston pole is connected with hip joint pull pressure sensor,
The upper end of hip joint pull pressure sensor is connected the lower end in joint and connects with hip joint hydraulic cylinder, and hip joint hydraulic cylinder connects joint
The lower end of upper end and hip joint output connecting rod by bearing hinge connection, outward turning in the upper end and the 3rd of hip joint output connecting rod
Articulated arm passes through bearing hinge connection, and hip joint hydraulic cylinder support cover covers on hip joint liquid presses piston pole, and hip joint hydraulic cylinder props up
The lower end of support cover is connected with hip joint hydraulic cylinder, and the lower end of hip joint hydraulic cylinder is affixed with shank；
Knee joint hydraulic driving part includes that knee joint output connecting rod, Knee Joint Fluid cylinder pressure connect joint, knee joint hydraulic pressure is lived
Stopper rod, Knee Joint Fluid cylinder pressure support cover, knee joint hydraulic cylinder and hip joint pull pressure sensor, knee joint liquid presses piston pole
Upper end be arranged in knee joint hydraulic cylinder, the lower end of knee joint liquid presses piston pole is connected with hip joint pull pressure sensor,
The lower end of hip joint pull pressure sensor is connected the upper end in joint and connects with Knee Joint Fluid cylinder pressure, and Knee Joint Fluid cylinder pressure connects joint
The upper end of lower end and knee joint output connecting rod pass through axle by bearing hinge connection, the lower end of knee joint output connecting rod with shank
Holding hinged, Knee Joint Fluid cylinder pressure support cover covers on knee joint liquid presses piston pole, and the upper end of Knee Joint Fluid cylinder pressure support cover with
Knee joint hydraulic cylinder connects, and in the upper end of knee joint hydraulic cylinder and the 3rd, outward turning articulated arm is affixed；
The outreach adduction articulated arm that two hip joints are symmetricly set on the both sides of postnotum, and two hip joints passes through connecting shaft
Hinged with waist binding plate, two hip joints, two thighs, two shanks and two foot member one_to_one corresponding from top to bottom,
Joint of bending and stretching on hip joint is connected by connecting element with the hip joint hydraulic cylinder support cover on hip joint hydraulic driving part,
The lower end of hip joint hydraulic cylinder is affixed with shank, the upper end of knee joint hydraulic cylinder and outward turning joint in the 3rd on hip joint
Bar is affixed, and Knee Joint Fluid cylinder pressure support cover is connected by connecting element, on shank with the knee joint rotating connector on shank
Knee joint shell is connected with foot member.
The present invention compared with prior art has the advantages that
One, the hip joint hydraulic cylinder of the present invention is vertically to arrange, such structure can realize the straight line of hydraulic cylinder to push away
Power be directly delivered to the 3rd by hip joint output connecting rod on outward turning articulated arm so that in the 3rd, outward turning articulated arm realizes turning
Dynamic motion (see Fig. 5 and Fig. 9), (see Figure 10) compared with traditional arrangement, the hydraulic cylinder of the present invention will not be along with
The motion of drive end and move, and the inside of thigh 3 can be arranged on, so considerably increase the compact of structure, and
And this arrangement so that joint also has suitable moment of torsion reaching wide-angle when, see Figure 11, with
Under the space of sample is arranged, the peak value of moment of torsion can be substantially moved rearwards by by this layout.
The knee joint hydraulic cylinder of the present invention is vertically to arrange, such structure can realize the linear thrust of hydraulic cylinder to lead to
Cross knee joint output connecting rod to be directly delivered on shank so that shank realizes motion (see Fig. 5), with traditional layout side
Formula compares (see Figure 10), and the hydraulic cylinder of the present invention will not move along with the motion of drive end, and can be arranged on big
The inside of lower limb 3, so considerably increases the compact of structure, and this arrangement, so that joint is reaching big
Also having suitable moment of torsion when of angle, see Figure 10, under same space is arranged, this layout can substantially will be turned round
The peak value of square is moved rearwards by.
Therefore, the present invention, by the improvement to Driven by Hydraulic Cylinder mode, have adjusted hip joint hydraulic driving part and Knee Joint Fluid
The structure of pressure driver part so that hydraulic cylinder can not move along with drive end, and may be provided in thigh, so makes
The compactedness of structure is greatly increased.
Two, hip joint output connecting rod and the setting of knee joint output connecting rod, having can be by moment maximum to wide-angle
The effect that direction is moved, the situation so needing angle to bend for climb, cross-country etc., it is provided that bigger moment, Ke Yiti
Rise load capacity in these conditions.
Three, hip joint output connecting rod and the setting of knee joint output connecting rod, reduce the moment provided angle is little when,
Its maximal rate is so made to have promoted, such setting, can improve the machine when angle and curved such as normal walkings
Movement velocity, thus improve the speed of travel of entirety.
Accompanying drawing explanation
Fig. 1 is the overall structure axonometric chart of the present invention；
Fig. 2 is the left view axonometric chart of Fig. 1；
Fig. 3 is the rear perspective view of Fig. 1；
Fig. 4 is the I partial enlarged drawing of Fig. 3；
Fig. 5 is the structural perspective of thigh 3；
Fig. 6 is the annexation schematic diagram of knee joint hydraulic driving part；
Fig. 7 is II partial enlarged drawing of Fig. 1；
Fig. 8 is III partial enlarged drawing of Fig. 1；
Fig. 9 is the schematic diagram that the hip joint hydraulic cylinder 26 in the thigh 3 of the present invention is vertically arranged；
Figure 10 is what hydraulic cylinder of the prior art was in tilted layout between thigh and shank schematic diagram；
Figure 11 is that (abscissa is that hip joint rotates for the hip joint torque curve figure of hip joint moment of torsion and the prior art of the present invention
Angle, vertical coordinate is hip joint moment of torsion, and in figure, labelling A is the hip joint torque curve of the present invention, and in figure, labelling B is existing
There is hip joint torque curve in technology).
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1～Fig. 6 and illustrate that present embodiment, present embodiment include postnotum 1, connect
9, two hip joints of axle, 3, two shanks 4 of 2, two thighs and two foot members 5；
Each thigh 3 includes hip joint hydraulic driving part and knee joint hydraulic driving part；
Hip joint hydraulic driving part includes that hip joint output connecting rod 22, hip joint hydraulic cylinder connect joint 23, hip joint
Liquid presses piston pole 24, hip joint hydraulic cylinder support cover 25, hip joint hydraulic cylinder 26 and hip joint pull pressure sensor 33,
The lower end of hip joint liquid presses piston pole 24 is arranged in hip joint hydraulic cylinder 26, the upper end of hip joint liquid presses piston pole 24
Being connected with hip joint pull pressure sensor 33, the upper end of hip joint pull pressure sensor 33 is connected joint with hip joint hydraulic cylinder
The lower end of 23 connects, and axle is passed through in the lower end of upper end and hip joint output connecting rod 22 that hip joint hydraulic cylinder connects joint 23
Holding and realize chain connection, in the upper end and the 3rd of hip joint output connecting rod 22, outward turning articulated arm 13 realizes hinge by bearing
Connecting, hip joint hydraulic cylinder support cover 25 covers on hip joint liquid presses piston pole 24, and hip joint hydraulic cylinder support cover 25
Lower end be connected by connecting element with hip joint hydraulic cylinder 26, when hip joint liquid presses piston pole 24 and hip joint hydraulic cylinder
The when that body 26 stretching, hip joint drives hydraulic cylinder support cover 25 to be the effect that hip joint liquid presses piston pole 24 plays slide rail,
Share the radial force of hip joint liquid presses piston pole 24；
Knee joint hydraulic driving part includes that knee joint output connecting rod 32, Knee Joint Fluid cylinder pressure connect joint 31, knee joint
Liquid presses piston pole 29, Knee Joint Fluid cylinder pressure support cover 28, knee joint hydraulic cylinder 27 and hip joint pull pressure sensor 30,
The upper end of knee joint liquid presses piston pole 29 is arranged in knee joint hydraulic cylinder 27, the lower end of knee joint liquid presses piston pole 29
Being connected with hip joint pull pressure sensor 30, the lower end of hip joint pull pressure sensor 30 is connected joint with Knee Joint Fluid cylinder pressure
The upper end of 31 connects, and axle is passed through in the upper end of lower end and knee joint output connecting rod 32 that Knee Joint Fluid cylinder pressure connects joint 31
Holding and realize chain connection, the lower end of knee joint output connecting rod 32 realizes chain connection, knee joint with shank 4 by bearing
Hydraulic cylinder support cover 28 covers on knee joint liquid presses piston pole 29, and the upper end of Knee Joint Fluid cylinder pressure support cover 28 is closed with knee joint
Joint hydraulic cylinder 27 connects by connecting element, when knee joint liquid presses piston pole 29 and knee joint hydraulic cylinder 27 stretch
Time Knee Joint Fluid cylinder pressure support cover 28 be the effect that knee joint liquid presses piston pole 29 plays slide rail, shared knee joint hydraulic pressure
The radial force of piston rod 29；
Two hip joints 2 are symmetricly set on the outreach adduction articulated arm 10 on the both sides of postnotum 1, and two hip joints 2
Hinged with waist binding plate 8 by connecting shaft 9, two hip joints, 3, two shanks 4 of 2, two thighs and two foots
Part 5 one_to_one corresponding from top to bottom, hip joint 2 bends and stretches joint 17 with hip joint hydraulic cylinder support cover 25 by being connected unit
Part connects, and the lower end of hip joint hydraulic cylinder 26 is affixed with shank 4, the upper end of knee joint hydraulic cylinder 27 and hip joint 2
On the 3rd in outward turning articulated arm 13 affixed, Knee Joint Fluid cylinder pressure support cover 28 and the knee joint rotating connector on shank 4
38 are connected by connecting element, and the knee joint shell 39 on shank 4 is connected with foot member 5.
Detailed description of the invention two: combine Fig. 1 and Fig. 3 and present embodiment is described, the postnotum 1 of present embodiment includes shoulder
Portion's binding plate 6, adjustable plate 7 and waist binding plate 8, the upper end of adjustable plate 7 is by connecting element with shoulder binding plate 6 even
Connecing, the lower end of adjustable plate 7 is connected with waist binding plate 8 by connecting element.Other composition and annexation be embodied as
Mode one is identical.
Detailed description of the invention three: combine Fig. 1 and present embodiment is described, the adjustable plate 7 of present embodiment is vertically provided with many
Individual connecting hole 7-1.Bundle plate 8 by the connecting hole 7-1 of diverse location on adjustable plate 7 with waist and realize the tune of waist height
Whole.Other composition and annexation are identical with detailed description of the invention two.
Detailed description of the invention four: combine Fig. 3 and present embodiment is described, in each hip joint 2 of present embodiment includes abduction
Receive in articulated arm 10, first in outward turning articulated arm 11, second outward turning articulated arm 13, first in outward turning articulated arm the 12, the 3rd
Hip joint axle 14, the second hip joint axle 15 and the 3rd hip joint axle 16, in outreach adduction articulated arm 10, first, outward turning is closed
In pole 11, second, in outward turning articulated arm the 12, the 3rd, outward turning articulated arm 13 is sequentially arranged, outreach adduction articulated arm 10 with
In first, outward turning articulated arm 11 is hinged by the first hip joint axle 14, and in first, in outward turning articulated arm 11 and second, outward turning is closed
Pole 12 is hinged by the second hip joint axle 15, and in second, in outward turning articulated arm 12 and the 3rd, outward turning articulated arm 13 passes through the
Three hip joint axles 16 are hinged.Realize chain connection between each articulated arm, be possible not only to make hip joint 2 realize outreach adduction and
The degree of freedom of interior outward turning, it is also possible to realize freely adapting to the function of different waistline crowd.Other composition and annexation are with concrete
Embodiment three is identical.
Detailed description of the invention five: combining Fig. 4 and present embodiment is described, in the 3rd of present embodiment, outward turning articulated arm 13 wraps
Include interior outward turning articulated arm shell 41, bend and stretch joint the 17, the 4th hip joint axle 18, hip joint encoder 19, hip joint coding
The little gear of device 20 and hip joint encoder gear wheel 21, the right side bends and stretches joint 17 and is sleeved on the 4th hip joint axle 18, and the 4th
Hip joint axle 18 is hinged with interior outward turning articulated arm shell 41, and bends and stretches lower end and the hip joint hydraulic cylinder support cover in joint 17
25 are screwed, and so can realize thigh stretching, extension on hip joint 2 and bending degree of freedom, hip joint encoder canine tooth
Wheel 21 is sleeved on and bends and stretches on joint 17, and the little gear of hip joint encoder 20 engages with hip joint encoder gear wheel 21, hip
The tail end of the little gear of joint encoders 20 is connected with hip joint encoder 19, by the little gear of hip joint encoder 20 and hip
Joint encoders gear wheel 21 transmits motion on hip joint encoder 19, so arranges and has on the one hand avoided hip joint volume
The problem that code device 19 is arranged on joint, adds the compactedness of structure, on the other hand, adds by the way of gear
Gear ratio, improves the precision of encoder.Other composition and annexation are identical with detailed description of the invention four.
Detailed description of the invention six: combine Fig. 7 and present embodiment is described, each shank 4 of present embodiment includes outside knee joint
Shell 39, knee joint rotating connector 38, knee axis 34, knee joint encoder gear wheel 35, the little tooth of knee joint encoder
Wheel 36, knee joint encoder 37, knee joint rotating connector 38 is sleeved on knee axis 34, knee axis 34 and knee joint
Articular shell 39 is hinged, and the upper end of knee joint rotating connector 38 with Knee Joint Fluid cylinder pressure support cover 28 by being connected unit
Part connects, and so can realize the shank 4 stretching, extension on knee joint hydraulic driving part and bending degree of freedom, and knee joint encodes
Device gear wheel 35 is sleeved on knee joint rotating connector 38, and the little gear of knee joint encoder 36 is big with knee joint encoder
Gear 35 engages, and the tail end of the little gear of knee joint encoder 36 is connected with knee joint encoder 37, is encoded by knee joint
The little gear of device 36 and knee joint encoder gear wheel 35 transmit motion to, on knee joint encoder 37, so arrange a side
The problem that knee joint encoder 37 is arranged on joint has been avoided in face, adds the compactedness of structure, on the other hand, passes through
The mode of gear adds gear ratio, improves the precision of encoder.Other composition and annexation and detailed description of the invention five
Identical.
Detailed description of the invention seven: combine Fig. 8 and present embodiment is described, each foot member 5 of present embodiment includes ankle joint
Rotating connector 42, foot connector 43, bearing block 44 and foot 45, the upper end of ankle joint rotating connector 42 is provided with two
Vertical chute 42-1, the lower end of knee joint shell 39 is provided with two slide bar 39-1, two slide bar 39-1 and two vertical chutes
42-1 is the most right, and sliding with ankle joint rotating connector 42 and link in the lower end of knee joint shell 39, it is possible to passes through spiral shell
Nail is fixing, and shank 4 length can be adjusted by so design；Ankle joint rotating connector 42 and foot connector 43 hinge
Connect, it is possible to achieve the rotation bent and stretched, the lower end of foot connector 43 is provided with two oscillating bearing 43-1, two oscillating bearings
43-1 is all hinged with bearing block 44, and bearing block 44 is fixing with the side of foot 45 to be connected, and so can realize outreach adduction
Degree of freedom.Other composition and annexation are identical with detailed description of the invention six.
Claims (7)
1. a lightness high speed heavy load lower limb exoskeleton robot, it is characterised in that: described robot include postnotum (1),
Connecting shaft (9), two hip joints (2), two thighs (3), two shanks (4) and two foot members (5)；
Each thigh (3) includes hip joint hydraulic driving part and knee joint hydraulic driving part；
Hip joint hydraulic driving part includes that hip joint output connecting rod (22), hip joint hydraulic cylinder connect joint (23), hip
Joint hydraulic piston rod (24), hip joint hydraulic cylinder support cover (25), hip joint hydraulic cylinder (26) and hip joint tension and compression
Force transducer (33), the lower end of hip joint liquid presses piston pole (24) is arranged in hip joint hydraulic cylinder (26), hip joint
The upper end of liquid presses piston pole (24) is connected with hip joint pull pressure sensor (33), hip joint pull pressure sensor (33)
Upper end be connected with hip joint hydraulic cylinder joint (23) lower end connect, hip joint hydraulic cylinder connect joint (23) upper end
The upper end and the 3rd of connecting rod (22) is exported by bearing hinge connection, hip joint with the lower end of hip joint output connecting rod (22)
Interior outward turning articulated arm (13) passes through bearing hinge connection, and hip joint hydraulic cylinder support cover (25) covers on hip joint liquid presses piston pole (24)
On, and the lower end of hip joint hydraulic cylinder support cover (25) is connected with hip joint hydraulic cylinder (26), hip joint hydraulic cylinder
(26) lower end is affixed with shank (4)；
Knee joint hydraulic driving part includes that knee joint output connecting rod (32), Knee Joint Fluid cylinder pressure connect joint (31), knee joint
Joint hydraulic piston rod (29), Knee Joint Fluid cylinder pressure support cover (28), knee joint hydraulic cylinder (27) and hip joint tension and compression
Force transducer (30), the upper end of knee joint liquid presses piston pole (29) is arranged in knee joint hydraulic cylinder (27), knee joint
The lower end of liquid presses piston pole (29) is connected with hip joint pull pressure sensor (30), hip joint pull pressure sensor (30)
Lower end be connected with Knee Joint Fluid cylinder pressure joint (31) upper end connect, Knee Joint Fluid cylinder pressure connect joint (31) lower end
Bearing hinge connection, the lower end of knee joint output connecting rod (32) and shank is passed through with the upper end of knee joint output connecting rod (32)
(4) by bearing hinge connection, Knee Joint Fluid cylinder pressure support cover (28) covers on knee joint liquid presses piston pole (29), and knee joint closes
The upper end of joint hydraulic cylinder support cover (28) is connected with knee joint hydraulic cylinder (27), knee joint hydraulic cylinder (27) upper
In end and the 3rd, outward turning articulated arm (13) is affixed；
The outreach adduction that two hip joints (2) are symmetricly set on the both sides of postnotum (1), and two hip joints (2) is closed
It is hinged that pole (10) bundlees plate (8) by connecting shaft (9) and waist, two hip joints (2), two thighs (3),
Two shanks (4) and two foot member (5) one_to_one corresponding from top to bottom, on hip joint (2) bend and stretch joint (17) with
Hip joint hydraulic cylinder support cover (25) on hip joint hydraulic driving part is connected by connecting element, hip joint hydraulic cylinder
(26) lower end is affixed with shank (4), in the 3rd on the upper end of knee joint hydraulic cylinder (27) and hip joint (2)
Outward turning articulated arm (13) is affixed, Knee Joint Fluid cylinder pressure support cover (28) and the knee joint rotating connector (38) on shank (4)
Being connected by connecting element, the knee joint shell (39) on shank (4) is connected with foot member (5).
A kind of lightness high speed heavy load lower limb exoskeleton robot, it is characterised in that: described
Postnotum (1) include shoulder binding plate (6), adjustable plate (7) and waist binding plate (8), the upper end of adjustable plate (7) and
Shoulder binding plate (6) connects, and the lower end of adjustable plate (7) is connected with waist binding plate (8).
A kind of lightness high speed heavy load lower limb exoskeleton robot, it is characterised in that: described
Multiple connecting hole (7-1) vertically it is provided with on adjustable plate (7).
A kind of lightness high speed heavy load lower limb exoskeleton robot, it is characterised in that: described
Each hip joint (2) includes outreach adduction articulated arm (10), outward turning articulated arm (11) in first, outward turning articulated arm in second
(12), outward turning articulated arm (13), the first hip joint axle (14), the second hip joint axle (15) and the 3rd hip joint in the 3rd
Axle (16), outreach adduction articulated arm (10), outward turning articulated arm (11) in first, outward turning articulated arm (12) in second,
In three, outward turning articulated arm (13) is sequentially arranged, and in outreach adduction articulated arm (10) and first, outward turning articulated arm (11) passes through
First hip joint axle (14) is hinged, and in first, in outward turning articulated arm (11) and second, outward turning articulated arm (12) passes through second
Hip joint axle (15) is hinged, and in second, in outward turning articulated arm (12) and the 3rd, outward turning articulated arm (13) is closed by the 3rd hip
Nodal axisn (16) is hinged.
A kind of lightness high speed heavy load lower limb exoskeleton robot, it is characterised in that: described
In 3rd outward turning articulated arm (13) include interior outward turning articulated arm shell (41), bend and stretch joint (17), the 4th hip joint axle (18),
Hip joint encoder (19), the little gear of hip joint encoder (20) and hip joint encoder gear wheel (21), pass is bent and stretched on the right side
Joint (17) is sleeved on the 4th hip joint axle (18), the 4th hip joint axle (18) and interior outward turning articulated arm shell (41)
Hinged, and the lower end bending and stretching joint (17) is screwed with hip joint hydraulic cylinder support cover (25), hip joint encoder is big
Gear (21) is sleeved on and bends and stretches on joint (17), the little gear of hip joint encoder (20) and hip joint encoder gear wheel
(21) engagement, the tail end of the little gear of hip joint encoder (20) is connected with hip joint encoder (19), passes through hip joint
The little gear of encoder (20) and hip joint encoder gear wheel (21) transmit motion on hip joint encoder (19).
A kind of lightness high speed heavy load lower limb exoskeleton robot, it is characterised in that: described
Each shank (4) includes knee joint shell (39), knee joint rotating connector (38), knee axis (34), knee joint
Encoder gear wheel (35), the little gear of knee joint encoder (36), knee joint encoder (37), knee joint rotating connector
(38) being sleeved on knee axis (34), knee axis (34) is hinged with knee joint shell (39), and knee joint turns
The upper end of follower link (38) is connected by connecting element with Knee Joint Fluid cylinder pressure support cover (28), and knee joint encoder is big
Gear (35) is sleeved on knee joint rotating connector (38), and the little gear of knee joint encoder (36) encodes with knee joint
Device gear wheel (35) engages, and the tail end of the little gear of knee joint encoder (36) is connected with knee joint encoder (37), logical
Cross the little gear of knee joint encoder (36) and knee joint encoder gear wheel (35) transmits motion to knee joint encoder (37)
On.
A kind of lightness high speed heavy load lower limb exoskeleton robot, it is characterised in that: described
Each foot member (5) includes ankle joint rotating connector (42), foot connector (43), bearing block (44) and foot (45),
The upper end of ankle joint rotating connector (42) is provided with two vertical chutes (42-1), and the lower end of knee joint shell (39) is provided with
Two slide bars (39-1), two slide bars (39-1) are the most right with two vertical chutes (42-1), knee joint shell (39)
Lower end and ankle joint rotating connector (42) slide and link, ankle joint rotating connector (42) and foot connector (43)
Hinged, the lower end of foot connector (43) is provided with two oscillating bearings (43-1), and two oscillating bearings (43-1) are all and bearing
Seat (44) is hinged, and bearing block (44) is fixing with the side of foot (45) to be connected.
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| WO2018133266A1 (en) * | 2017-01-23 | 2018-07-26 | 哈尔滨工业大学 | Heavy-load under-actuated parallel lower-limb assisting exoskeleton having elastic buffer |
| CN110842892A (en) * | 2019-10-29 | 2020-02-28 | 北京机械设备研究所 | Hydraulic drive four-link upper limb assistance exoskeleton robot |
| CN110948469A (en) * | 2019-10-29 | 2020-04-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
| CN112975908A (en) * | 2021-02-19 | 2021-06-18 | 华南理工大学 | Hydraulic system and hydraulic driving method applied to load-mobile exoskeleton |
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| US20140358053A1 (en) * | 2013-05-31 | 2014-12-04 | Case Western Reserve University | Power assisted orthosis with hip-knee synergy |
| CN104068950A (en) * | 2014-07-23 | 2014-10-01 | 哈尔滨工业大学 | Single drive linkage type lower limb power assisting exoskeleton |
| CN105105973A (en) * | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018133266A1 (en) * | 2017-01-23 | 2018-07-26 | 哈尔滨工业大学 | Heavy-load under-actuated parallel lower-limb assisting exoskeleton having elastic buffer |
| CN110842892A (en) * | 2019-10-29 | 2020-02-28 | 北京机械设备研究所 | Hydraulic drive four-link upper limb assistance exoskeleton robot |
| CN110948469A (en) * | 2019-10-29 | 2020-04-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
| CN110948469B (en) * | 2019-10-29 | 2021-12-03 | 北京机械设备研究所 | Three-degree-of-freedom exoskeleton with four hydraulically-driven connecting rods |
| CN112975908A (en) * | 2021-02-19 | 2021-06-18 | 华南理工大学 | Hydraulic system and hydraulic driving method applied to load-mobile exoskeleton |
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