CN106002962B - A kind of lightness high speed heavy load lower limb exoskeleton robot - Google Patents
A kind of lightness high speed heavy load lower limb exoskeleton robot Download PDFInfo
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- CN106002962B CN106002962B CN201610590102.2A CN201610590102A CN106002962B CN 106002962 B CN106002962 B CN 106002962B CN 201610590102 A CN201610590102 A CN 201610590102A CN 106002962 B CN106002962 B CN 106002962B
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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
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of lightness high speed heavy load lower limb exoskeleton robot, not compact enough when utilizing Driven by Hydraulic Cylinder to solve existing exoskeleton robot, the problem of torque is low when rotating angle of arrival.Two hip joints of the present invention are symmetricly set on the both sides of postnotum, and the outreach adduction articulated arm on two hip joints bundlees plate with waist by connecting shaft and is hinged, two hip joints, two thighs, two shanks and two foot members from top to bottom correspond, bend and stretch joint on hip joint is connected with the hip joint hydraulic cylinder support cover on hip joint hydraulic driving part by connecting element, the lower end of hip joint hydraulic cylinder and shank are affixed, on the upper end and hip joint of knee joint hydraulic cylinder the 3rd in outward turning articulated arm it is affixed, Knee Joint Fluid cylinder pressure support cover is connected with the knee joint rotating connector on shank by connecting element, knee joint shell on shank is connected with foot member.The present invention is used for walking with load, and can be used in rescue disaster relief etc. needs to transport the occasion of goods and materials.
Description
Technical field
The present invention relates to a kind of exoskeleton robot, and in particular to a kind of lightness high speed heavy load lower limb exoskeleton machine
People.
Background technology
At present, exoskeleton robot receives the favor of vast researcher in a manner of its exclusive man-computer cooperation, and it drives
Flowing mode has two kinds：One kind is driven with rotation driving mechanism, and another kind is to be moved with linear pattern executing agency to realize.At present
Existing linearity executing agency in, hydraulic cylinder occupies main status.But current drive connection mode, all be selection with
Driving is directly connected to, and hydraulic cylinder is in tilted layout between thigh and shank, sees Figure 10, and this mode is being moved through
Cheng Zhong, hydraulic cylinder can move with executing agency, can so influence overall compactedness, and the M curve of its composition first
Peak value set to get on less than bigger angle, reduced so as to cause ectoskeleton to climb cross-country ability.
The content of the invention
It is not compact enough when the present invention utilizes Driven by Hydraulic Cylinder to solve existing exoskeleton robot, rotating angle of arrival
When torque it is low the problem of, and propose a kind of lightness high speed heavy load lower limb exoskeleton robot.
A kind of lightness high speed heavy load lower limb exoskeleton robot of the present invention, the robot include postnotum, connected
Spindle, 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 hip joint output connecting rod, hip joint hydraulic cylinder connecting joint, hip joint liquid
Press piston rod, hip joint hydraulic cylinder support cover, hip joint hydraulic cylinder and hip joint pull pressure sensor, hip joint hydraulic piston
The lower end of bar is arranged in hip joint hydraulic cylinder, and upper end and the hip joint pull pressure sensor of hip joint liquid presses piston pole connect
Connect, the upper end of hip joint pull pressure sensor is connected with the lower end of hip joint hydraulic cylinder connecting joint, the connection of hip joint hydraulic cylinder
The upper end in joint and the lower end of hip joint output connecting rod are exported in the upper end and the 3rd of connecting rod by bearing hinge connection, hip joint
Outward turning articulated arm is by bearing hinge connection, and hip joint hydraulic cylinder support cover is covered on hip joint liquid presses piston pole, and hip joint hydraulic pressure
The lower end of cylinder support cover is connected with hip joint hydraulic cylinder, and the lower end of hip joint hydraulic cylinder and shank are affixed；
Knee joint hydraulic driving part includes knee joint output connecting rod, Knee Joint Fluid cylinder pressure connecting joint, Knee Joint Fluid
Press piston rod, Knee Joint Fluid cylinder pressure support cover, knee joint hydraulic cylinder and hip joint pull pressure sensor, knee joint hydraulic piston
The upper end of bar is arranged in knee joint hydraulic cylinder, and lower end and the hip joint pull pressure sensor of knee joint liquid presses piston pole connect
Connect, the lower end of hip joint pull pressure sensor is connected with the upper end of Knee Joint Fluid cylinder pressure connecting joint, the connection of Knee Joint Fluid cylinder pressure
The lower end in joint and the upper end of knee joint output connecting rod are led to by bearing hinge connection, the lower end of knee joint output connecting rod with shank
Bearing hinge connection is crossed, Knee Joint Fluid cylinder pressure support cover is covered on knee joint liquid presses piston pole, and Knee Joint Fluid cylinder pressure support cover is upper
End is connected with knee joint hydraulic cylinder, and outward turning articulated arm is affixed in the upper end of knee joint hydraulic cylinder and the 3rd；
Two hip joints are symmetricly set on the both sides of postnotum, and the outreach adduction articulated arm on two hip joints passes through company
Spindle is hinged with waist binding plate, two hip joints, two thighs, two shanks and two foot member one a pair from top to bottom
Should, the bend and stretch joint on hip joint is connected with the hip joint hydraulic cylinder support cover on hip joint hydraulic driving part by connecting element
Connect, the lower end of hip joint hydraulic cylinder and shank are affixed, outward turning in the 3rd on the upper end and hip joint of knee joint hydraulic cylinder
Articulated arm is affixed, and Knee Joint Fluid cylinder pressure support cover is connected with the knee joint rotating connector on shank by connecting element, shank
On knee joint shell be connected with foot member.
The present invention has the advantages that compared with prior art：
First, hip joint hydraulic cylinder of the invention arranges that such structure can be realized the straight of hydraulic cylinder vertically
Line thrust exports connecting rod by hip joint and is directly delivered in the 3rd on outward turning articulated arm so that outward turning articulated arm is real in the 3rd
Existing rotational motion (see Fig. 5 and Fig. 9), (see Figure 10) compared with traditional arrangement, hydraulic cylinder of the invention will not be 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
This arrangement, it can cause joint that also there is suitable moment of torsion when wide-angle is reached, Figure 11 be seen, in same sky
Between arrange under, the peak value of moment of torsion substantially can be moved rearwards by this arrangement.
The knee joint hydraulic cylinder of the present invention arranges that such structure, which can be realized, pushes away the straight line of hydraulic cylinder vertically
Power exports connecting rod by knee joint and is directly delivered on shank so that shank realizes motion (see Fig. 5), with traditional arrangement side
Formula compares (see Figure 10), and hydraulic cylinder of the invention will not move with the motion of drive end, and can be arranged on thigh 3
Inside, so considerably increase the compact of structure, and this arrangement, joint can be caused to reach wide-angle
When also there is suitable moment of torsion, see Figure 10, under same space arrangement, this arrangement can substantially by the peak value of moment of torsion to
After move.
Therefore, the present invention have adjusted hip joint hydraulic driving part and knee close by the improvement to Driven by Hydraulic Cylinder mode
Save the structure of hydraulic driving part so that hydraulic cylinder can not move with drive end, and may be provided in thigh, so make
The compactedness for obtaining structure greatly increases.
2nd, the setting of hip joint output connecting rod and knee joint output connecting rod, having can be by torque maximum to big
The effect of angle direction movement, so to climb, the situation for needing angle bending such as cross-country, there is provided bigger torque, can be with
The load capacity of lifting in these conditions.
3rd, the setting of hip joint output connecting rod and knee joint output connecting rod, reduces what is provided when angle is small
Torque, so that its maximal rate has been lifted, such setting, can be improved in angle and curveds such as normal walkings
Machine movement speed, so as to improve the overall speed of travel.
Brief description of the drawings
Fig. 1 is the overall structure stereogram of the present invention；
Fig. 2 is Fig. 1 left view stereogram；
Fig. 3 is Fig. 1 rear perspective view；
Fig. 4 is Fig. 3 I partial enlarged drawings；
Fig. 5 is the structural perspective of thigh 3；
Fig. 6 is the connection relationship diagram of knee joint hydraulic driving part；
Fig. 7 is Fig. 1 II partial enlarged drawing；
Fig. 8 is Fig. 1 III partial enlarged drawing；
Fig. 9 is the schematic diagram that the hip joint hydraulic cylinder 26 in the thigh 3 of the present invention is arranged vertically；
Figure 10 is the schematic diagram that hydraulic cylinder of the prior art is in tilted layout between thigh and shank；
Figure 11 be the present invention hip joint moment of torsion and prior art hip joint torque curve figure (abscissa be hip joint rotation
Gyration, ordinate are hip joint moment of torsion, the hip joint torque curve that A is the present invention are marked in figure, it is existing skill that B is marked in figure
Hip joint torque curve in art).
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1~Fig. 6, present embodiment includes postnotum 1, connection
9, two, axle, 3, two shanks 4 of the thigh of hip joint 2, two 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 hip joint output connecting rod 22, hip joint hydraulic cylinder connecting joint 23, hip and closed
Save liquid presses piston pole 24, hip joint hydraulic cylinder support cover 25, hip joint hydraulic cylinder 26 and hip joint pull pressure sensor 33, hip
The lower end of joint hydraulic piston rod 24 is arranged in hip joint hydraulic cylinder 26, and upper end and the hip of hip joint liquid presses piston pole 24 close
Section pull pressure sensor 33 connects, the upper end of hip joint pull pressure sensor 33 and the lower end of hip joint hydraulic cylinder connecting joint 23
Connection, the upper end and the lower end of hip joint output connecting rod 22 of hip joint hydraulic cylinder connecting joint 23 realize that hinge connects by bearing
Connect, outward turning articulated arm 13 realizes hinge connection, hip joint liquid by bearing in the upper end and the 3rd of hip joint output connecting rod 22
Cylinder pressure support cover 25 is covered on hip joint liquid presses piston pole 24, and the lower end of hip joint hydraulic cylinder support cover 25 and hip joint hydraulic pressure
Cylinder body 26 is connected by connecting element, hip joint when hip joint liquid presses piston pole 24 stretches with hip joint hydraulic cylinder 26
Driving hydraulic cylinder support cover 25 is that hip joint liquid presses piston pole 24 plays a part of slide rail, has shared hip joint liquid presses piston pole 24
Radial load；
Knee joint hydraulic driving part includes knee joint output connecting rod 32, Knee Joint Fluid cylinder pressure connecting joint 31, knee and closed
Save 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, knee
The upper end of joint hydraulic piston rod 29 is arranged in knee joint hydraulic cylinder 27, and lower end and the hip of knee joint liquid presses piston pole 29 close
Section pull pressure sensor 30 connects, the lower end of hip joint pull pressure sensor 30 and the upper end of Knee Joint Fluid cylinder pressure connecting joint 31
Connection, the lower end and the upper end of knee joint output connecting rod 32 of Knee Joint Fluid cylinder pressure connecting joint 31 realize that hinge connects by bearing
Connect, hinge connection is realized in the lower end of knee joint output connecting rod 32 with shank 4 by bearing, and Knee Joint Fluid cylinder pressure 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 passes through with knee joint hydraulic cylinder 27 and is connected
Element connects, the Knee Joint Fluid cylinder pressure support cover 28 when knee joint liquid presses piston pole 29 stretches with knee joint hydraulic cylinder 27
Play a part of slide rail for knee joint liquid presses piston pole 29, share the radial load of knee joint liquid presses piston pole 29；
Two hip joints 2 are symmetricly set on the both sides of postnotum 1, and the outreach adduction articulated arm 10 on two hip joints 2
Plate 8 is bundled by connecting shaft 9 and waist to be hinged, two 3, two, thigh shanks 4 of hip joint 2, two and two foot members 5 are by upper
To lower one-to-one corresponding, the bend and stretch joint 17 on hip joint 2 is connected with hip joint hydraulic cylinder support cover 25 by connecting element, and hip closes
The lower end of section hydraulic cylinder 26 and shank 4 are affixed, and upper end and the outward turning in the 3rd on hip joint 2 of knee joint hydraulic cylinder 27 are closed
Pole 13 is affixed, and Knee Joint Fluid cylinder pressure support cover 28 is connected with the knee joint rotating connector 38 on shank 4 by connecting element,
Knee joint shell 39 on shank 4 is connected with foot member 5.
Embodiment two：Illustrate present embodiment with reference to Fig. 1 and Fig. 3, the postnotum 1 of present embodiment includes shoulder
Plate 6, adjustable plate 7 and waist binding plate 8 are bundled, the upper end of adjustable plate 7 bundlees plate 6 with shoulder by connecting element and is connected, adjusts
The lower end of plate 7 bundlees plate 8 with waist by connecting element and is connected.Other compositions and annexation and the phase of embodiment one
Together.
Embodiment three：Illustrate present embodiment with reference to Fig. 1, be vertically provided with the adjustable plate 7 of present embodiment
Multiple connecting hole 7-1.The tune of waist height is realized with waist binding plate 8 by the connecting hole 7-1 of diverse location on adjustable plate 7
It is whole.Other compositions and annexation are identical with embodiment two.
Embodiment four：Illustrate present embodiment with reference to Fig. 3, each hip joint 2 of present embodiment includes abduction
Outward turning articulated arm 13, the first hip in outward turning articulated arm the 12, the 3rd in outward turning articulated arm 11, second in interior receipts articulated arm 10, first
Joint shaft 14, the second hip joint axle 15 and the 3rd hip joint axle 16, outward turning articulated arm 11 in outreach adduction articulated arm 10, first,
Outward turning articulated arm 13 is sequentially arranged in outward turning articulated arm the 12, the 3rd in second, outward turning pass in outreach adduction articulated arm 10 and first
Pole 11 is be hinged by the first hip joint axle 14, and outward turning articulated arm 12 passes through the second hip in outward turning articulated arm 11 and second in first
Joint shaft 15 is be hinged, and outward turning articulated arm 13 is be hinged by the 3rd hip joint axle 16 in outward turning articulated arm 12 and the 3rd in second.Respectively
Hinge connection is realized between articulated arm, hip joint 2 is realized the free degree of outreach adduction and interior outward turning, can also be real
Now freely adapt to the function of different waistline crowds.Other compositions and annexation are identical with embodiment three.
Embodiment five：Illustrate present embodiment with reference to Fig. 4, present embodiment the 3rd in outward turning articulated arm 13 wrap
It is small to include interior outward turning articulated arm shell 41, bend and stretch joint 17, the 4th hip joint axle 18, hip joint encoder 19, hip joint encoder
Gear 20 and hip joint encoder gear wheel 21, bend and stretch joint 17 is sleeved on the 4th hip joint axle 18, the 4th hip joint axle 18
It is be hinged with interior outward turning articulated arm shell 41, and the lower end of bend and stretch joint 17 is screwed with hip joint hydraulic cylinder support cover 25, this
Sample can realize stretching, extension and the bending free degree of the thigh on hip joint 2, and hip joint encoder gear wheel 21, which is sleeved on, bends and stretches pass
On section 17, hip joint encoder little gear 20 engages with hip joint encoder gear wheel 21, hip joint encoder little gear 20
Tail end is connected with hip joint encoder 19, will be moved by hip joint encoder little gear 20 and hip joint encoder gear wheel 21
It is delivered on hip joint encoder 19, so sets and on the one hand avoided the problem of hip joint encoder 19 is arranged on joint,
The compactedness of structure is added, on the other hand, gearratio is added by way of gear, improves the precision of encoder.Its
It is formed and annexation is identical with embodiment four.
Embodiment six：Illustrate present embodiment with reference to Fig. 7, each shank 4 of present embodiment includes knee joint
Shell 39, knee joint rotating connector 38, knee axis 34, knee joint encoder gear wheel 35, knee joint encoder little gear
36th, knee joint encoder 37, knee joint rotating connector 38 are sleeved on knee axis 34, knee axis 34 and knee joint shell
39 is be hinged, and the upper end of knee joint rotating connector 38 is connected with Knee Joint Fluid cylinder pressure support cover 28 by connecting element, so
Stretching, extension and the bending free degree of the shank 4 on knee joint hydraulic driving part, 35 sets of knee joint encoder gear wheel can be realized
On knee joint rotating connector 38, knee joint encoder little gear 36 engages with knee joint encoder gear wheel 35, and knee closes
The tail end of section encoder little gear 36 is connected with knee joint encoder 37, is compiled by knee joint encoder little gear 36 and knee joint
Code device gear wheel 35 is transmitted motion on knee joint encoder 37, is so set one side to avoid knee joint encoder 37 and is set
Put on joint the problem of, add the compactedness of structure, on the other hand, gearratio is added by way of gear, lifted
The precision of encoder.Other compositions and annexation are identical with embodiment five.
Embodiment seven：Illustrate present embodiment with reference to Fig. 8, each foot member 5 of present embodiment closes including ankle
Rotating connector 42, pin connector 43, bearing block 44 and pin 45 are saved, the upper end of ankle-joint rotating connector 42 is provided with two vertically
Chute 42-1, the lower end of knee joint shell 39 are provided with two slide bars 39-1, two slide bar 39-1 and two the vertical chute 42-1 mono-
One face, the lower end of knee joint shell 39 is slided with ankle-joint rotating connector 42 to be linked, and can be fixed by screw, so
Design can be adjusted to the length of shank 4；Ankle-joint rotating connector 42 and the hinge connection of pin connector 43, it is possible to achieve bend
The rotation stretched, the lower end of pin connector 43 are provided with two oscillating bearing 43-1, and two oscillating bearing 43-1 are cut with scissors with bearing block 44
Connect, bearing block 44 is fixedly connected with the side of pin 45, can so realize the free degree of outreach adduction.Other compositions and connection are closed
System is identical with embodiment six.
Claims (7)
- A kind of 1. lightness high speed heavy load lower limb exoskeleton robot, it is characterised in that：The robot includes 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 hip joint output connecting rod (22), hip joint hydraulic cylinder connecting joint (23), hip and closed Save liquid presses piston pole (24), hip joint hydraulic cylinder support cover (25), hip joint hydraulic cylinder (26) and hip joint pressure sensing Device (33), the lower end of hip joint liquid presses piston pole (24) are arranged in hip joint hydraulic cylinder (26), hip joint liquid presses piston pole (24) upper end is connected with hip joint pull pressure sensor (33), upper end and the hip joint liquid of hip joint pull pressure sensor (33) The lower end connection of cylinder pressure connecting joint (23), upper end and the hip joint output connecting rod of hip joint hydraulic cylinder connecting joint (23) (22) by bearing hinge connection, hip joint exports outward turning articulated arm (13) in the upper end and the 3rd of connecting rod (22) and passes through axle for lower end Hold be hinged, hip joint hydraulic cylinder support cover (25) is covered on hip joint liquid presses piston pole (24), and hip joint hydraulic cylinder support cover (25) lower end is connected with hip joint hydraulic cylinder (26), and the lower end of hip joint hydraulic cylinder (26) and shank (4) are affixed；Knee joint hydraulic driving part includes knee joint output connecting rod (32), Knee Joint Fluid cylinder pressure connecting joint (31), knee and closed Save liquid presses piston pole (29), Knee Joint Fluid cylinder pressure support cover (28), knee joint hydraulic cylinder (27) and hip joint pressure sensing Device (30), the upper end of knee joint liquid presses piston pole (29) are arranged in knee joint hydraulic cylinder (27), knee joint liquid presses piston pole (29) lower end is connected with hip joint pull pressure sensor (30), the lower end of hip joint pull pressure sensor (30) and Knee Joint Fluid The upper end connection of cylinder pressure connecting joint (31), lower end and the knee joint output connecting rod of Knee Joint Fluid cylinder pressure connecting joint (31) (32) upper end passes through bearing hinge connection, knee joint by bearing hinge connection, lower end and the shank (4) of knee joint output connecting rod (32) Hydraulic cylinder support cover (28) is covered on knee joint liquid presses piston pole (29), and the upper end of Knee Joint Fluid cylinder pressure support cover (28) and knee Joint hydraulic cylinder body (27) connects, and outward turning articulated arm (13) is affixed in the upper end and the 3rd of knee joint hydraulic cylinder (27)；Two hip joints (2) are symmetricly set on the both sides of postnotum (1), and the outreach adduction articulated arm on two hip joints (2) (10) to bundle plate (8) by connecting shaft (9) and waist be hinged, two hip joints (2), two thighs (3), two shanks (4) and Two foot members (5) from top to bottom correspond, in the bend and stretch joint (17) on hip joint (2) and hip joint hydraulic driving part Hip joint hydraulic cylinder support cover (25) connected by connecting element, the lower end of hip joint hydraulic cylinder (26) is solid with shank (4) Connect, the upper end of knee joint hydraulic cylinder (27) and outward turning articulated arm (13) in the 3rd on hip joint (2) are affixed, knee joint hydraulic pressure Cylinder support cover (28) is connected with the knee joint rotating connector (38) on shank (4) by connecting element, and the knee on shank (4) closes Section shell (39) is connected with foot member (5).
- A kind of 2. lightness high speed heavy load lower limb exoskeleton robot according to claim 1, it is characterised in that：After described Backboard (1) includes shoulder binding plate (6), adjustable plate (7) and waist binding plate (8), upper end and the shoulder binding plate of adjustable plate (7) (6) connect, the lower end of adjustable plate (7) is connected with waist binding plate (8).
- A kind of 3. lightness high speed heavy load lower limb exoskeleton robot according to claim 2, it is characterised in that：The tune Multiple connecting holes (7-1) are vertically provided with section plate (7).
- A kind of 4. lightness high speed heavy load lower limb exoskeleton robot according to claim 3, it is characterised in that：It is described every Individual hip joint (2) include outreach adduction articulated arm (10), outward turning articulated arm (11) in first, outward turning articulated arm (12) in second, Outward turning articulated arm (13), the first hip joint axle (14) in 3rd, the second hip joint axle (15) and the 3rd hip joint axle (16), abduction Interior receipts articulated arm (10), outward turning articulated arm (11) in first, outward turning articulated arm (12) in second, outward turning articulated arm (13) in the 3rd It is sequentially arranged, outward turning articulated arm (11) is be hinged by the first hip joint axle (14) in outreach adduction articulated arm (10) and first, the Outward turning articulated arm (12) is be hinged by the second hip joint axle (15) in outward turning articulated arm (11) and second in one, outward turning pass in second Outward turning articulated arm (13) is be hinged by the 3rd hip joint axle (16) in pole (12) and the 3rd.
- A kind of 5. lightness high speed heavy load lower limb exoskeleton robot according to claim 4, it is characterised in that：Described Outward turning articulated arm (13) includes interior outward turning articulated arm shell (41), bend and stretch joint (17), the 4th hip joint axle (18), hip pass in three Save encoder (19), hip joint encoder little gear (20) and hip joint encoder gear wheel (21), bend and stretch joint (17) suit On the 4th hip joint axle (18), the 4th hip joint axle (18) is be hinged with interior outward turning articulated arm shell (41), and bend and stretch joint (17) lower end is screwed with hip joint hydraulic cylinder support cover (25), and hip joint encoder gear wheel (21), which is sleeved on, bends and stretches pass Save on (17), hip joint encoder little gear (20) engages with hip joint encoder gear wheel (21), the small tooth of hip joint encoder The tail end of wheel (20) is connected with hip joint encoder (19), big by hip joint encoder little gear (20) and hip joint encoder Gear (21) is transmitted motion on hip joint encoder (19).
- A kind of 6. lightness high speed heavy load lower limb exoskeleton robot according to claim 5, it is characterised in that：It is described every It is big that individual shank (4) includes knee joint shell (39), knee joint rotating connector (38), knee axis (34), knee joint encoder Gear (35), knee joint encoder little gear (36), knee joint encoder (37), knee joint rotating connector (38) are sleeved on knee On joint shaft (34), knee axis (34) and knee joint shell (39) are be hinged, and the upper end of knee joint rotating connector (38) with Knee Joint Fluid cylinder pressure support cover (28) is connected by connecting element, and knee joint encoder gear wheel (35) is sleeved on knee joint rotation On connector (38), knee joint encoder little gear (36) engages with knee joint encoder gear wheel (35), knee joint encoder The tail end of little gear (36) is connected with knee joint encoder (37), is encoded by knee joint encoder little gear (36) and knee joint Device gear wheel (35) is transmitted motion on knee joint encoder (37).
- A kind of 7. lightness high speed heavy load lower limb exoskeleton robot according to claim 6, it is characterised in that：It is described every Individual foot member (5) includes ankle-joint rotating connector (42), pin connector (43), bearing block (44) and pin (45), and ankle-joint turns The upper end of follower link (42) is provided with two the vertical chutes (42-1), and the lower end of knee joint shell (39) is provided with two slide bar (39- 1), face, lower end and the ankle-joint of knee joint shell (39) turn two slide bars (39-1) one by one with two the vertical chutes (42-1) Follower link (42) slides link, and ankle-joint rotating connector (42) is be hinged with pin connector (43), under pin connector (43) End is provided with two oscillating bearings (43-1), and two oscillating bearings (43-1) are be hinged with bearing block (44), bearing block (44) and pin (45) side is fixedly connected.
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| CN201610590102.2A CN106002962B (en) | 2016-07-25 | 2016-07-25 | A kind of lightness high speed heavy load lower limb exoskeleton robot |
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| CN201610590102.2A CN106002962B (en) | 2016-07-25 | 2016-07-25 | A kind of lightness high speed heavy load lower limb exoskeleton robot |
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| CN106002962B true CN106002962B (en) | 2018-03-30 |
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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 |
| 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 |
| 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 |
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| WO2010025419A2 (en) * | 2008-08-28 | 2010-03-04 | Raytheon Sarcos, Llc | Method of sizing actuators for a biomimetic mechanical joint |
| US9421143B2 (en) * | 2013-03-15 | 2016-08-23 | Bionik Laboratories, Inc. | Strap assembly for use in an exoskeleton apparatus |
| US20140358053A1 (en) * | 2013-05-31 | 2014-12-04 | Case Western Reserve University | Power assisted orthosis with hip-knee synergy |
| CN104068950B (en) * | 2014-07-23 | 2016-02-03 | 哈尔滨工业大学 | Single driving coordinated type lower limb assistance exoskeleton |
| CN105105973B (en) * | 2015-08-14 | 2017-03-22 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
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