CN106109186A - Wearable lower limb exoskeleton robot - Google Patents

Wearable lower limb exoskeleton robot Download PDF

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Publication number
CN106109186A
CN106109186A CN201610790485.8A CN201610790485A CN106109186A CN 106109186 A CN106109186 A CN 106109186A CN 201610790485 A CN201610790485 A CN 201610790485A CN 106109186 A CN106109186 A CN 106109186A
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CN
China
Prior art keywords
hip joint
capstan winch
joint
seat
hole
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610790485.8A
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Chinese (zh)
Other versions
CN106109186B (en
Inventor
吴新宇
彭安思
王灿
陈春杰
刘笃信
冯伟
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Priority to CN201610790485.8A priority Critical patent/CN106109186B/en
Publication of CN106109186A publication Critical patent/CN106109186A/en
Application granted granted Critical
Publication of CN106109186B publication Critical patent/CN106109186B/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • A61H2201/1616—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1619—Thorax
    • A61H2201/1621—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Robotics (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The present invention is a kind of wearable lower limb exoskeleton robot, and including waist shoulder bondage system and leg exercise system, human body upper body is dressed and be fixed on to waist shoulder bondage system；Leg exercise system is respectively provided at lower limb position, human body left and right, and two set leg exercise systems are separately fixed at waist shoulder bondage system both sides；Often set leg exercise system includes that line is wound around drive system, hip joint support member, thigh and leg support parts；Hip joint support member is connected by hip joint with thigh support parts, and thigh support parts and leg support parts are connected by knee joint；Line is wound around drive system and includes driving assembly, driving capstan winch, hip joint capstan winch, knee joint capstan winch, hip joint to drive line and knee joint to drive line；Assembly is driven to be arranged in hip joint support member and be positioned at human body waist.The power set of each joint drive can be concentrated on the waist of human body by the present invention, to alleviate the weight of exoskeleton robot lower limb.

Description

Wearable lower limb exoskeleton robot
Technical field
The present invention relates to the exoskeleton robot field for walk help, particularly relate to a kind of wearable lower limb exoskeleton machine People.
Background technology
Lower limb exoskeleton robot, for drive pattern, mainly has chain driven, pneumatic type, hydraulic-driven at present The hardware mechanical traction mode such as formula, quadric chain, reducing motor directly driving.These drive patterns have a common spy Point, it is simply that each joint is provided with driving motor, causes the deficiencies such as big, the Heavy Weight of structural volume.
Chinese invention patent CN 102327173A Wearable exoskeleton lower limb rehabilitation robot, is to utilize harmonic speed reducer Realize the motion in joint as driver element, owing to harmonic speed reducer has certain reversibility, the most not there is complete self-locking Function, is likely to occur unstability defect, and brings potential safety hazard when user is stood muchly.
Lower limb walking ectoskeleton wearable for Chinese invention patent CN 1586434A, is to utilize hydraulic cylinder to drive even Bar thus realize joint motions, loosely organized huge, complicated integral structure, weight lays particular stress on, be not suitable for portable and dress.
The portable wearable lower limb rehabilitation of Chinese invention patent ZL 201210370654.4 and walk-aiding exoskeleton robot, Its each joint uses sliding-block linkage to drive, and drive mechanism is arranged at juxtra-articular, adds leg weight, and structure is multiple Miscellaneous, it is difficult to optimize further robot overall weight.
Thus, the present inventor relies on experience and the practice being engaged in relevant industries for many years, proposes a kind of wearable lower limb dermoskeleton Bone robot, to overcome the defect of prior art.
Summary of the invention
It is an object of the invention to provide a kind of wearable lower limb exoskeleton robot, can be by the power of each joint drive Device concentrates on the waist of human body, to alleviate the weight of exoskeleton robot lower limb.
Another object of the present invention is to provide a kind of wearable lower limb exoskeleton robot, its hip joint simple in construction, Locking and unlocking structure are simple, easy to operate.
It is still another object of the present invention to provide a kind of wearable lower limb exoskeleton robot, its knee joint structure is simple, Locking and unlocking structure are simple, easy to operate.
A further object of the present invention is to provide a kind of wearable lower limb exoskeleton robot, and its donning process is convenient, little Lower limb baffle plate will not produce with the shank of wearer interferes.
The object of the present invention is achieved like this, and a kind of wearable lower limb exoskeleton robot, outside described wearable lower limb Skeleton robot includes that waist shoulder bondage system and leg exercise system, described waist shoulder bondage system are used for dressing and being fixed on human body Upper body；Described leg exercise system is provided with two sets, is separately positioned on the left lower limb of human body and the position of right lower limb, two set leg exercise systems It is respectively fixedly connected with the both sides in described waist shoulder bondage system；Often set leg exercise system includes that line is wound around drive system, hip closes Joint support member, thigh support parts and leg support parts；In described hip joint support member and described thigh support parts End is connected by hip joint, and described thigh support lower and leg support parts upper end are connected by knee joint；Described line It is wound around drive system to include driving assembly, the hip joint capstan winch driving capstan winch, drive hip joint to move, driving motion of knee joint Knee joint capstan winch, hip joint drive line and knee joint to drive line；Described driving assembly is arranged in described hip joint support member And it being positioned at human body waist, described driving capstan winch is connected with described driving assembly；Described hip joint capstan winch and described knee joint capstan winch Being separately positioned at described hip joint and described knee joint, described driving assembly drives line and described by described hip joint respectively Knee joint drives line to drive described hip joint capstan winch and described knee joint capstan winch to rotate.
In a better embodiment of the present invention, described driving assembly includes that hip joint drives motor and knee joint to drive Motor；Described driving capstan winch includes that hip joint drives capstan winch and knee joint to drive capstan winch；Described hip joint drives motor and described Knee joint drives motor to be each attached in described hip joint support member, and described hip joint drives on the output shaft of motor by the One unilateral bearing connects described hip joint and drives capstan winch, and described knee joint drives on the output shaft of motor by the second unilateral bearing Connect described knee joint and drive capstan winch；The outside of described hip joint driving capstan winch is simultaneously wound with the outside of described hip joint capstan winch Described hip joint drives line；Described knee joint drives outside and the simultaneously wound described knee joint in outside of described knee joint capstan winch of capstan winch Joint drive line.
In a better embodiment of the present invention, described hip joint drive capstan winch by the first paragraph cylinder that can separate with Second segment cylinder axis is to docking composition；Dock cylindrical with second segment of described first paragraph cylinder is equipped with first on end face Compressed grooves；Described hip joint drives the periphery of capstan winch to be provided with the first helicla flute, and described first helicla flute is used for described hip The winding of joint drive line and guiding；
Described knee joint drives capstan winch to be made up of to docking the 3rd section of cylinder that can separate and the 4th section of cylinder axis；Institute State and be equipped with the second compressed grooves on the 3rd section of cylinder and the 4th section of cylindrical docking end face；Described knee joint drives capstan winch Periphery be provided with the second helicla flute, described second helicla flute drives the winding of line and guiding for described knee joint.
In a better embodiment of the present invention, described hip joint capstan winch is stepped cylinder, and described hip joint twists The middle part of dish is enlarged diameter section, and the periphery of described enlarged diameter section arranges the 3rd helicla flute；The two ends of described hip joint capstan winch For reduced diameter section, the described reduced diameter section at two ends being arranged with separation fixed pulley respectively, described separation fixed pulley is resisted against described The end face of enlarged diameter section also can rotate relative to described hip joint capstan winch, and described knee joint drives line to walk around described point of two ends respectively From fixed pulley, rotating of described hip joint capstan winch is driven the motion of line mutually to divide with described knee joint by described separation fixed pulley From；A part described first compressed grooves of embedding of described hip joint driving line is interior and is secured in a press, and described hip joint drives Another part of line is wrapped in described first helicla flute and described 3rd helicla flute；
Described knee joint capstan winch is cylinder, and the periphery of described knee joint capstan winch is provided with the 4th helicla flute；Described knee joint A part described second compressed grooves of embedding of joint drive line is interior and is secured in a press, and described knee joint drives another portion of line Divide and be wrapped in described second helicla flute and described 4th helicla flute.
In a better embodiment of the present invention, described hip joint support member includes that hip joint supports seat and hip joint Support lid；Described hip joint support cover buckle is combined on described hip joint support seat and forms box body structure；Described hip joint drives electricity Machine and described knee joint drive motor to be fixed on described hip joint and support seat side and extend perpendicularly out at described hip joint support seat Outside, described hip joint drives the output shaft of motor and described knee joint to drive the output shaft of motor to stretch into the support of described hip joint In seat；Described hip joint drives capstan winch, described knee joint to drive capstan winch and described hip joint capstan winch to be respectively positioned on described branch to hip joint In support seat.
In a better embodiment of the present invention, described hip joint support member includes that hip joint supports seat and hip joint Support lid；Described thigh support parts include thigh support seat and thigh support lid；Described hip joint includes that described hip joint twists Dish and clutch positioning component；Described hip joint supports one end of lid and described hip joint support seat and is equipped with the first through spline Hole；Described thigh support seat is equipped with the upper end of described thigh support lid and is connected through hole；Described hip joint capstan winch is provided with axially The second through splined hole；Described hip joint capstan winch is located at described hip joint and supports between lid and described hip joint support seat, institute The outside stating hip joint support lid arranges described thigh support lid, and described hip joint supports the outside of seat and arranges described thigh support Seat；Described connection through hole, described first splined hole are coaxially disposed with described second splined hole；Described clutch positioning component is located in In described connection through hole, described first splined hole and described second splined hole, the two ends of described clutch positioning component respectively with institute State thigh support seat, the fixing connection of described thigh support lid, and described clutch positioning component can be with described first splined hole or institute State the second splined hole locking and unlock.
In a better embodiment of the present invention, described clutch positioning component includes clutch sleeve and clutch cover plate； Described clutch sleeve includes that a cylindrical sleeves, described cylindrical sleeves have opening and closed end, the circumferential edge of described opening Edge is provided with ring flange；Described cylindrical sleeves is coaxially located in described connection through hole, described first splined hole and described second spline Kong Zhong, described closed end extends to described thigh support lid side；Described ring flange is fixing with described thigh support seat to be connected, institute State clutch cover plate to be fixedly connected with described thigh support lid and described closed end；Described clutch sleeve is provided with and described One splined hole or described second splined hole locking and the locking system of unblock.
In a better embodiment of the present invention, described knee joint includes described knee joint capstan winch and clutch location group Part；The upper end of described leg support parts is fixed with the inner side top board and lateral roof being oppositely arranged, described inner side top board and institute State and on lateral roof, be equipped with the second coaxial connection through hole；Described thigh support seat, the lower end of described thigh support lid are all provided with There is the 3rd through splined hole；Described knee joint capstan winch be provided with axially through the 4th splined hole；Described knee joint capstan winch is arranged Between described thigh support seat and described thigh support lid；Described thigh support seat and described thigh support lid are located at described interior Between side top board and described lateral roof；Described second connection through hole, described 3rd splined hole are coaxial with described 4th splined hole Arrange；Described clutch positioning component is located in described second and connects in through hole, described 3rd splined hole and described 4th splined hole, The two ends of described clutch positioning component are fixed with described inner side top board, described lateral roof respectively and are connected, and described clutch location Assembly can be with described 3rd splined hole or described 4th splined hole locking and unblock.
In a better embodiment of the present invention, described cylindrical sleeves is coaxially located in described second and connects through hole, institute Stating in the 3rd splined hole and described 4th splined hole, described closed end extends to described lateral roof side；Described ring flange with Described inner side top board is fixing to be connected, and described clutch cover plate is fixedly connected with described lateral roof and described closed end；Described Clutch sleeve is provided with and described 3rd splined hole or described 4th splined hole locking and the locking system of unblock.
In a better embodiment of the present invention, the barrel of described cylindrical sleeves is axially sequentially provided with along it three circle steel Pearl pilot hole, each circle steel ball pilot hole is distributed uniformly and circumferentially；Described first splined hole, described second splined hole, institute State circumferencial direction on the hole wall of the 3rd splined hole, described 4th splined hole and be uniformly provided with multiple axially extended spline；Described Being provided with steel ball in steel ball pilot hole, in described cylindrical sleeves, coaxial sleeve is provided with clutch core, and described steel ball is supported on described clutch On the outer wall of device core；Described clutch core can slide, on the outer wall of described clutch core by axial reciprocating in described cylindrical sleeves It is provided with steel ball head, makes described steel ball stretch out along described steel ball pilot hole or retract by described steel ball head, institute State steel ball and the spline in described first splined hole, described second splined hole, described 3rd splined hole or described 4th splined hole Slot fit forms locking or unlocks；Described clutch core and described steel ball constitute described locking system.
In a better embodiment of the present invention, described steel ball head includes protruding cylinder surface and fluted column face, institute State between protruding cylinder surface and fluted column face as the taper seat seamlessly transitted；The opening of described clutch sleeve is provided with spring backstop Part, is provided with compression spring between described spring stop part and described clutch core；Described clutch core is relative with described closed end One end be provided with prominent briquetting；Described briquetting extends through described closed end and described clutch cover plate；Described Reciprocatingly sliding under the restoring force effect of clutch core external force in described briquetting and described compression spring, described steel ball is in institute State and stretch out along described steel ball pilot hole or retract under the effect in protruding cylinder surface and fluted column face.
In a better embodiment of the present invention, described hip joint supports the outside covered and described hip joint supports seat Outside is equipped with one section of circular arc stopper slot, and described circular arc stopper slot is arranged concentrically with described first splined hole；Described thigh support The inner side of the inner side and described thigh support seat upper end that cover end is respectively and fixedly provided with a spacer pin, and described spacer pin is embedded into correspondence In described circular arc stopper slot.
In a better embodiment of the present invention, under the outside of described thigh support lid lower end and described thigh support seat The outside of end is equipped with one section of circular arc stopper slot, and described circular arc stopper slot is arranged concentrically with described 3rd splined hole；Described outside Side tactile with described thigh support seated connection on the side contacted with described thigh support lid on top board and described inner side top board is equal Being fixed with a spacer pin, described spacer pin is embedded in the described circular arc stopper slot of correspondence.
In a better embodiment of the present invention, described thigh support parts are additionally provided with for promoting described pressing The unlocking mechanism of block；Described unlocking mechanism includes rotating bar, connecting rod, vertical guide rod, guide rod seat and catch bar；Described rotation bar The outside being hinged on described thigh support parts that can swing in perpendicular, the swinging end of described rotation bar and described vertically First end of guide rod is hinged with the two ends of head rod respectively；Described guide rod seat is fixed on the outside of described thigh support parts And be provided with and be vertically directed hole, described vertical guide rod slide through described in be vertically directed hole；One end of described catch bar is hinged on institute Stating on guide rod seat, the other end of described catch bar is corresponding with the position of described briquetting；Described catch bar and described vertical guide rod The second end hinged with the two ends of the second connecting rod respectively.
In a better embodiment of the present invention, described rotation bar is fixed on a rotation dish, and described rotation dish passes through Horizontal rotating shaft is rotatably connected on the outside of described thigh support parts, and described rotation bar is dynamic around described water by described rotation dribbling Flat shaft swing.
In a better embodiment of the present invention, described leg support parts are additionally provided with shank bondage system, described Shank bondage system includes shank baffle plate, baffle plate connecting rod, adapting rod, throw rod and connection seat；Described connection seat is fixed on institute State on leg support parts；First end of described connection seat is hinged with the first end of described baffle plate connecting rod, and described baffle plate connects Second end of bar is fixing with described shank baffle plate to be connected；First end of described adapting rod cuts with scissors with the first end of described baffle plate connecting rod Connecing, described baffle plate connecting rod is positioned at described baffle plate connecting rod and is connected outside seat pin joint with described with the pin joint of described adapting rod Side；First end of described throw rod is hinged with the second end of described adapting rod, and the second end of described throw rod is pulling head, described Throw rod is hinged with described the second end being connected seat, and described throw rod is positioned at described throw rod with the described pin joint being connected seat Between first end and the second end；Wherein, the pivot center of each pin joint is vertically.
In a better embodiment of the present invention, described connection seat is positioned at described connection seat hinged with described throw rod The side of point is additionally provided with the installation through hole of a vertical direction；Jackscrew, compression bullet it is sequentially provided with from the top down in described installation through hole Spring and top；Described jackscrew is threaded in described installation through hole top, and described compression spring is resisted against described jackscrew with described Between top and top can eject described downwards；The end face that described throw rod is relative with described installation through hole is provided with and can make institute State top card and set pit therein.
In a better embodiment of the present invention, described wearable lower limb exoskeleton robot also includes crutch and electrical equipment Control chamber；Described waist shoulder bondage system is provided with pectoral girdle, belt and waist fixed plate；Described electric appliance control box is provided with pectoral girdle and connects Button, described pectoral girdle is strapped in human chest, and by described pectoral girdle junction button, described electric appliance control box is fixed on human body back； Described waist fixed plate is provided with belt junction button, and described belt is strapped in human body waist, and is incited somebody to action by described belt junction button Described waist fixed plate is fixed on human body back lumbar part；L-shaped connecting plate is passed through respectively with right in the left and right sides of described waist fixed plate Answer the fixing connection of described hip joint support member of side.
From the above mentioned, the wearable lower limb exoskeleton robot of the present invention uses line to be wound around drive system, and it drives assembly The structure of each joint can be simplified with centralized arrangement in human body waist, alleviates the weight of exoskeleton robot lower limb.Its Clutch positioning component at hip joint and knee joint uses clutch sleeve, clutch core, compression spring and steel ball and trapezoidal flower Keyway coordinates, and drives steel ball stretch out or bounce back by the steel ball head of clutch wicking surface, and simple in construction locks and unlocks Easy to operate.Shank bondage system uses pulling of shank baffle plate, baffle plate connecting rod, adapting rod, throw rod and connection seat composition Locking mechanism, can be by shank flapper to side before dressing, it is to avoid produces with the shank of wearer and interferes, during unblock Only need to gently pull corresponding pulling head can unlock, convenient wearing operates.
Accompanying drawing explanation
The following drawings is only intended to, in schematically illustrating the present invention and explaining, not delimit the scope of the invention.Wherein:
Fig. 1: for the overall structure schematic diagram of wearable lower limb exoskeleton robot of the present invention.
Fig. 2: the side schematic view after dressing for wearable lower limb exoskeleton robot of the present invention.
Fig. 3: for the decomposition texture schematic diagram of the middle part of the side of the present invention shoulder bondage system.
Fig. 4: for the decomposition texture schematic diagram of leg exercise system in the present invention.
Fig. 5: for the overall structure schematic diagram of leg exercise system in the present invention.
Fig. 6: be wound around the decomposition texture schematic diagram of drive system for center line of the present invention.
Fig. 7: be wound around the front view of drive system for center line of the present invention.
Fig. 8: for the sectional view of Section A-A in Fig. 7.
Fig. 9: drive the structural representation of capstan winch for hip joint in the present invention.
Figure 10: for the sectional view of section B-B in Fig. 9.
Figure 11: for the sectional view in C-C cross section in Fig. 9.
Figure 12: drive the structural representation of capstan winch for knee joint in the present invention.
Figure 13: for the sectional view in D-D cross section in Figure 12.
Figure 14: for the sectional view in E-E cross section in Figure 12.
Figure 15: for the structure sectional view of hip joint capstan winch in the present invention.
Figure 16: for the decomposing schematic representation of hip joint capstan winch in the present invention.
Figure 17: for the structure sectional view of knee joint capstan winch in the present invention.
Figure 18: for the decomposition texture schematic diagram of hip joint in the present invention.
Figure 19: for the assembling structural side view of hip joint in the present invention.
Figure 20: for the sectional view of Section A-A in Figure 19.
Figure 21: support seat for hip joint in the present invention and hip joint supports the decomposition texture schematic diagram covered.
Figure 22: for the decomposition texture schematic diagram (hip joint part) of thigh support seat and thigh support lid in the present invention.
Figure 23: for decomposition texture schematic diagram kneed in the present invention.
Figure 24: for the decomposition texture schematic diagram (knee joint part) of thigh support seat and thigh support lid in the present invention.
Figure 25: for the cross-sectional view of clutch positioning component in the present invention.
Figure 26: for the decomposition texture schematic diagram of shank support member in the present invention.
Figure 27: for the decomposition texture schematic diagram of unlocking mechanism in the present invention.
Figure 28: for the front view of unlocking mechanism in the present invention.
Figure 29: for the side view of unlocking mechanism in the present invention.
Figure 30: for the decomposition texture schematic diagram of shank bondage system in the present invention.
Figure 31: for shank bondage system in the present invention at the schematic diagram of bondage duty.
Figure 32: for shank bondage system in the present invention at the schematic diagram releasing bondage duty.
Detailed description of the invention
In order to be more clearly understood from the technical characteristic of the present invention, purpose and effect, now comparison accompanying drawing illustrates this Bright detailed description of the invention.
As depicted in figs. 1 and 2, the invention provides a kind of wearable lower limb exoskeleton robot 10000, under this is wearable Limb exoskeleton robot 10000 includes waist shoulder bondage system 2000, leg exercise system 1000, crutch 3000 and electric appliance control box 4000.Described waist shoulder bondage system 2000 is used for dressing and being fixed on human body upper body, and waist shoulder bondage system 2000 is gone back and lower limb simultaneously Portion's motor system 1000 and the fixing connection of electric appliance control box 4000.Crutch 3000 is used for assisting wearer to walk, a left side for wearer Hands and the right hand respectively hold a crutch 3000, and the top of crutch 3000 can also arrange the arm of bandage and wearer and be held together. Being provided with electrical apparatus control system in electric appliance control box 4000, electrical apparatus control system leads to the driving motor in leg exercise system 1000 Cross wire connect or connected by Bluetooth communication.Crutch 3000 is provided with control knob and bluetooth module, and crutch 3000 can lead to Cross and communicate between bluetooth module and the bluetooth module of electrical apparatus control system.Wearer is controlled by the button on operation crutch 3000 Make the gait motions such as sitting walking that rises of this lower limb exoskeleton robot 10000.Described leg exercise system 1000 is provided with two sets, i.e. Left lower limb motor system and right lower limb motor system, be separately mounted to the outside of two lower limbs about human body, the leg exercise system of every side 1000 structures are symmetrical, and in the present embodiment, list is described with the structure of side.Multiple waist of the prior art shoulder is used to tie up Tie up system configurations and be attained by the function demand of the middle part of the side of the present invention shoulder bondage system 2000, as it is shown on figure 3, in the present embodiment Waist shoulder bondage system 2000 be provided with pectoral girdle 2001, belt 2002 and waist fixed plate 2003.Described electric appliance control box 4000 with The one side that human body back is pressed close to is provided with pectoral girdle junction button 4001, and electric appliance control box 4000 can be solid by pectoral girdle junction button 4001 Surely it is connected on pectoral girdle 2001.Described pectoral girdle 2001 is strapped in human chest, thus by pectoral girdle junction button 4001 by electrical equipment control Case 4000 processed is fixed on human body back.Described waist fixed plate 2003 is a band-like plate, is provided with supporting part and horizontally set At the back lumbar part of human body, described waist fixed plate 2003 is provided with belt junction button 2004, and waist fixed plate 2003 can be passed through Belt junction button 2004 is fixedly attached on belt 2002.Described belt 2002 is strapped in human body waist, thus is connected by belt Connect button 2004 and waist fixed plate 2003 is fixed on human body back lumbar part.As shown in Figure 4 and Figure 5, leg exercise system 1000 is from upper Hip joint support member 10, thigh support parts 20, leg support parts 30, footwear parts 60 it are disposed with under to；Thigh props up Thigh bondage part 50 it is fixed with on support part part 20.Hip joint support member 10 is thin-and-long, from the back lumbar part of human body to hip joint Downward-sloping setting；The inside middle portion of hip joint support member 10 i.e. passes through L-shaped connecting plate 2005 and waist towards the side of human body The corresponding side of portion's fixed plate 2003 is fixing to be connected.Namely the left and right sides of waist fixed plate 2003 is respectively by L-shaped connecting plate 2005 fixing with the described hip joint support member 10 of respective side are connected.The lower end of hip joint support member 10 and thigh support portion The upper end of part 20 is connected by hip joint, and knee joint is passed through in the lower end of thigh support parts 20 and the upper end of leg support parts 30 Connect.This leg exercise system 1000 uses line to be wound around drive system to drive hip joint and kneed rotation.Such as Fig. 6, Fig. 7 Shown in Fig. 8, described line is wound around drive system and includes that hip joint drives motor 801, knee joint to drive motor 802, hip joint to drive Dynamic capstan winch 803, knee joint drive capstan winch 804, hip joint capstan winch 805, knee joint capstan winch 806, hip joint to drive line 807 and knee joint to close Joint drives line 808.As shown in figure 21, described hip joint support member 10 is box body structure, supports seat 101 and hip including hip joint Joint support lid 102, described hip joint supports seat 101 and includes seat bottom 1011 and pedestal sidewall 1012, and seat bottom 1011 is located close to The side of human body, the vertical described seat bottom 1011 of described pedestal sidewall 1012 is also centered around described seat bottom 1,011 4 in the side of base In week, form the box body structure that side is uncovered；Described hip joint supports lid 102 and covers on described pedestal sidewall 1012, by hip joint Support the uncovered covering of seat 101 side.Described hip joint drives motor 801 and described knee joint to drive motor 802 to be fixed on institute Stating in seat bottom 1011, and be perpendicular to seat bottom 1011 and stretch out to human body side and support outside seat 101 at hip joint, described hip joint drives The output shaft of galvanic electricity machine 801 and described knee joint drive the output shaft of motor 802 to stretch into described hip joint and support in seat 101；Institute Stating hip joint drives capstan winch 803 to be connected to described hip joint driving motor 801 by the first unilateral bearing (not shown) On output shaft, i.e. hip joint drives the output shaft of motor 801 and the fixing connection of inner ring of the first unilateral bearing, the first unilateral bearing Outer ring be fixedly connected on hip joint drive capstan winch 803 centre bore in.Prior art has the concrete knot of a lot of unilateral bearing Structure and application, no longer too much to unilateral bearing description at this.Equally, described knee joint drives capstan winch 804 by the second one-way shaft Hold (not shown) to be connected on the output shaft of described knee joint driving motor 802.This line is wound around drive system at work, When hip joint drives motor 801 and knee joint to drive motor 802 to rotate towards the direction set, corresponding unilateral bearing closes Lock, makes hip joint drive motor 801 and knee joint to drive motor 802 to drive hip joint to drive capstan winch 803 and knee joint to drive respectively Dynamic capstan winch 804 rotates, thus the leg that leg exercise system 1000 drives wearer is synchronized with the movement；And when wearer leg with When leg exercise system 1000 is asynchronous, arranging of unilateral bearing can make hip joint drive motor 801 to drive strand with hip joint Produce relative rotation between dish 803 and between knee joint driving motor 802 and knee joint driving capstan winch 804, it is to avoid wearer Leg and leg exercise system 1000 asynchronous time to the interference driving motor to produce.Hip joint drives capstan winch 803 and knee joint to close It is defeated that joint drives capstan winch 804 can also be respectively fixedly connected with at hip joint driving motor 801 output shaft and knee joint driving motor 802 On shaft.Described hip joint drives capstan winch 803, described knee joint to drive capstan winch 804 and described hip joint capstan winch 805 to be respectively positioned on institute State hip joint to support in seat 101.Described hip joint capstan winch 805 and described knee joint capstan winch 806 are respectively provided at hip joint and knee joint closes At joint.Described hip joint drives that line 807 is simultaneously wound drives capstan winch 803 and described hip joint capstan winch 805 at described hip joint Outside, described knee joint drives that line 808 is simultaneously wound drives capstan winch 804 and described knee joint capstan winch 806 in described knee joint Outside.It is same that described hip joint drives capstan winch 803 to drive line 807 to drive described hip joint capstan winch 805 to carry out by described hip joint Step rotates；Described knee joint drives capstan winch 804 to drive line 808 to drive described knee joint capstan winch 806 to carry out by described knee joint Synchronous axial system.In the present embodiment, hip joint supports the upper end of seat 101 and hip joint support lid 102 and arranges hip joint driving electricity Machine 801, knee joint drive motor 802, hip joint to drive capstan winch 803 and knee joint to drive capstan winch 804；Knee joint drives motor 802 and knee joint drive capstan winch 804 to be positioned at hip joint to drive motor 801 and hip joint to drive the surface of capstan winch 803.Described seat The bottom that body sidewall 1012 supports seat 101 at described hip joint disconnects the formation driving line port of export.Described hip joint capstan winch 805 It is located at the described driving line port of export, is sandwiched in hip joint and supports between seat 101 and hip joint support lid 102 and some cylinder Face spills hip joint support member 10；Described knee joint drives line 808 to stretch out from the described driving line port of export.
Further, line is driven can to use the annular flexible line of closing, it would however also be possible to employ the linear type flexible wires of disconnection.Its The material of middle flexible wires can be nonmetal wire, line, rope, it is also possible to is tinsel, line, rope.The hip joint of the present embodiment drives Line 807 and described knee joint drive line 808 all to use linear type steel wire rope, and described hip joint drives the two ends of line 807 respectively admittedly Surely there is the first column joint, the axis of the first column joint described in during described hip joint driving line 807 straight condition and described hip Joint drive line 807 is vertical, forms t-shaped connector.Described knee joint drive line 808 be respectively fixed at two ends with the second cylinder Joint, described in during described knee joint driving line 808 straight condition, the axis of the second column joint drives line 808 with described knee joint Vertically, t-shaped connector is also formed.
Further, as it is shown in figure 9, described hip joint drives capstan winch 803 by the first paragraph cylinder 8031 that can separate and the Two-stage nitration cylinder 8032 axially docks composition, first paragraph cylinder 8031 and second segment cylinder 8032 symmetrical configuration, docks it Locked integral afterwards by screw axial.Described hip joint drives the periphery of capstan winch 803 to be provided with the first helicla flute, and described the One helicla flute drives winding and the guiding of line 807 for described hip joint, can improve hip joint simultaneously and drive line 807 to close with hip Joint drives the frictional force between capstan winch 803, improves transmission efficiency.As shown in Figure 10 and Figure 11, described first paragraph cylinder 8031 First compressed grooves the 80321, first joint draw-in groove 80322 it is equipped with on end face with docking of second segment cylinder 8032, described Hip joint drives described first column joint of line 807 first end to be embedded into described the first of described first paragraph cylinder 8031 and connects In head draw-in groove 80322, during embedding, axial being the most all perpendicular to of column joint docks end face；Described hip joint drives line 807 the Described first column joint of two ends is embedded in the described first joint draw-in groove 80322 of described second segment cylinder 8032；Institute Stating first compressed grooves 80321 one end and connect described first joint draw-in groove 80322, the other end is connected to described first helicla flute, Make described hip joint drive line 807 to reach described hip joint along described first spiral fluted rotation direction to drive outside capstan winch 803 Portion.As shown in figure 12, described knee joint drives capstan winch 804 by the 3rd section of cylinder 8041 that can separate and the 4th section of cylinder 8042 axially dock composition；3rd section of cylinder 8041 and the 4th section of cylinder 8042 are symmetrical, pass through screw axial after docking Lock integral.Described knee joint drives the periphery of capstan winch 804 to be provided with the second helicla flute, and described second helicla flute is used for institute State knee joint and drive winding and the guiding of line 808, knee joint can be improved simultaneously and drive line 808 to drive capstan winch 804 with knee joint Between frictional force, improve transmission efficiency.As shown in Figure 13 and Figure 14, described 3rd section of cylinder 8041 and the 4th section of cylinder Being equipped with second compressed grooves the 80411, second joint draw-in groove 80412 on the docking end face of 8042, described knee joint drives line 808 Described second column joint of the first end is embedded in the described second joint draw-in groove 80412 of described 3rd section of cylinder 8041； Described knee joint drives described second column joint of line 808 second end to be embedded into described the of described 4th section of cylinder 8042 In two joint draw-in grooves 80412；Described second compressed grooves 80411 one end connects described second joint draw-in groove 80412, and the other end is even Receive described second helicla flute, make described knee joint drive line 808 to reach described knee joint along described second spiral fluted rotation direction The outside of joint drive capstan winch 804.Described hip joint drives line 807 and described knee joint to drive the line 808 cylinder by end Joint is stuck in corresponding joint draw-in groove, also will not produce slip when making driving line receive bigger pulling force.
As shown in Figure 15 and Figure 16, described hip joint capstan winch 805 is stepped cylinder, described hip joint capstan winch 805 Middle part is enlarged diameter section, and the periphery of described enlarged diameter section arranges the 3rd helicla flute；The two ends of described hip joint capstan winch 805 are Reduced diameter section, the described reduced diameter section at two ends is arranged with separation fixed pulley 809 respectively, and described separation fixed pulley 809 is resisted against The end face of described enlarged diameter section also can rotate relative to described hip joint capstan winch 805, and described knee joint drives line 808 to walk around two respectively The described separation fixed pulley 809 of end, described separation fixed pulley 809 is by the rotation of described hip joint capstan winch 805 and described knee joint The motion driving line 808 is separated from each other, and knee joint drives line 808 to guide by separating fixed pulley 809, hip joint capstan winch 805 Rotate the motion not interfering with knee joint driving line 808.Hip joint capstan winch 805 can use commaterial to make single piece, Different materials can also be used to make molectron, and the present embodiment uses the molectron that different materials is made, the smooth cylindrical of inner ring Body uses high-hardness metal material, and the stepped cylinder of outer ring uses soft metal material；Inner ring cylinder and outer ring circle For being tightly fastened connection between cylinder, and both ends of the surface are concordant.Separate the outer ring employing of fixed pulley 809 but be not limited to soft metal Material, inner ring uses wear-resisting tin bronze or bronze metal material.In order to reduce the end face of enlarged diameter section and separate fixed pulley 809 Between frictional force, the end face at described enlarged diameter section is additionally provided with antifriction pad 810 with described separation between fixed pulley 809；Subtract The pad 810 that rubs can use wear-resisting tin bronze or bronze metal material, it would however also be possible to employ wear-resisting nonmetallic materials.Pad Sheet 810 can also adjust the axially mounted size separating fixed pulley 809.Described hip joint drives a part for line 807 to embed the In one compressed grooves 80321 and be secured in a press, described hip joint drive another part of line 807 be wrapped in the first helicla flute and In 3rd helicla flute.As shown in figure 17, described knee joint capstan winch 806 is cylinder, the periphery of described knee joint capstan winch 806 It is provided with the 4th helicla flute；It is interior and compacted that described knee joint drives a part for line 808 to embed described second compressed grooves 80411 Fixing, described knee joint drives another part of line 808 to be wrapped in described second helicla flute and described 4th helicla flute.With Sample, knee joint capstan winch 806 can use a kind of material to make single piece, it would however also be possible to employ different materials makes molectron, this reality Executing the inner ring cylinder 8061 in example uses high-hardness metal material, outer ring cylinder 8062 to use soft metal material；In It is tightly fastened between circle cylinder 8061 and outer ring cylinder 8062 and is connected, and both ends of the surface are concordant.Described first helicla flute is extremely 4th spiral fluted cross section can use circular cross-section, triangular-section, square-section, trapezoid cross section, elliptic cross-section with And odd-shaped cross section etc..The present embodiment uses the helicla flute of circular cross-section.
Further, on described pedestal sidewall 1012, corresponding described hip joint drives the position of line 807 to be provided with the first tensioning device Structure 811, on described pedestal sidewall 1012, corresponding described knee joint drives the position of line 808 to be provided with the second strainer 812.Described First strainer 811 is identical with the structure of described second strainer 812, all includes tensioning swing arm, tension pulley block and opens Clamp force adjusting rod；One end of described tensioning swing arm is hinged on described pedestal sidewall 1012, and the other end is rotationally connected described Tight pulley forms swinging end；Described pedestal sidewall 1012 is provided with screwed hole, and described tensile force adjusting rod is threaded in described In screwed hole, described tensile force adjusting rod one end is positioned at outside described pedestal sidewall 1012, and the other end is resisted against described tensioning pendulum On swing arm.When rotating tensile force adjusting rod, the one end that can be brought to abutment against tensioning swing arm is inwardly or outwardly moved, thus Tensioning swing arm is made to carry out the regulation of tensile force around the swing of its hinged end together with tension pulley block.First strainer 811 is installed On the pedestal sidewall 1012 of bottom, line 807 is driven to carry out tensioning hip joint；Second strainer 812 is arranged on top On pedestal sidewall 1012, line 808 is driven to carry out tensioning knee joint.
Further, described seat bottom 1011 being provided with the first fixed pulley 813 by pulley support axle 818, described first is fixed sliding Wheel 813 is used for supporting described knee joint and drives line 808, it is to avoid it drives line 807 to interfere with hip joint.Two described separation are slided surely Taking turns second fixed pulley 814 and the 3rd fixed pulley 815 that be respectively arranged below with of 809, described second fixed pulley 814 and the described 3rd is determined Pulley 815 is coaxially disposed, and in the present embodiment, the second fixed pulley 814 and the 3rd fixed pulley 815 are arranged on thigh support parts 20, Drive the line 808 positioning support after separating fixed pulley 809 and guiding for knee joint, make knee joint drive the motion of line 808 Not affected by hip joint capstan winch 805 motion, i.e. when hip joint capstan winch 805 motion drives thigh motion, knee joint drives line 808 can be independent motion and transmit knee joint drive capstan winch 804 torque.Described knee joint capstan winch 806 is arranged over the 4th Fixed pulley 816 and the 5th fixed pulley 817, described 4th fixed pulley 816 and described 5th fixed pulley 817 are coaxially disposed, and are respectively provided with On thigh support parts 20, line 808 is driven to be wrapped in the winding direction on knee joint capstan winch 806 for changing knee joint.Institute State knee joint drive line 808 from described knee joint drive capstan winch 804 stretch out after walk around described separation fixed pulley 809, described second Fixed pulley 814, described 4th fixed pulley 816, described knee joint capstan winch 806, described 5th fixed pulley 817, the described 3rd fixed cunning Return to described knee joint after wheel 815, described separation fixed pulley 809, described first fixed pulley 813 and drive capstan winch 804.Described hip closes The rotation direction of joint capstan winch 805 is consistent with the rotation direction of described hip joint driving capstan winch 803, described 3rd spiral fluted rotation direction Oppositely oriented with described first spiral fluted；The torque conversion that hip joint drives motor 801 export becomes hip joint to drive line 807 Pulling force, be wrapped on the helicla flute of hip joint capstan winch 805 by it, hip joint drive the pulling force of line 807 be transformed into again right The torque of hip joint capstan winch 805, to realize the long-distance transmissions (level of torque, direction) of torque.Described knee joint capstan winch 806 Rotation direction is contrary with the rotation direction of described knee joint driving capstan winch 804, described 4th helicla flute and described second helicla flute Rotation direction consistent；The torque conversion that knee joint drives motor 802 export becomes knee joint to drive the pulling force of line 808, is twined by it It is wound on the helicla flute of knee joint capstan winch 806, knee joint drives the pulling force of line 808 be transformed into again knee joint capstan winch 806 Torque, to realize the long-distance transmissions (level of torque, direction) of torque.
Using this line to be wound around drive system, it drives assembly only can to arrange at each joint with centralized arrangement in waist Joint capstan winch, drives capstan winch and joint capstan winch by driving line to be wound around, and drives capstan winch to rotate by driving assembly to drive, and utilization is driven Moving-wire drives the joint capstan winch of each joint to be synchronized with the movement, to realize the gait motions such as sitting walking that rises of exoskeleton robot. Simplify the structure of each joint, alleviate the weight of exoskeleton robot lower limb.
Further, as shown in Figure 18, Figure 19 and Figure 20, hip joint includes hip joint capstan winch 805 and clutch positioning component.Institute State hip joint to support seat 101 and described hip joint and support lid 102 and pass through together with the standard fasteners such as screw are mutually fastened Form the hip joint support member 10 of box body structure.As shown in figure 21, the bottom of this hip joint support member 10 is inlaid with flower Key set inserts 1013, it is relative with the bottom of described hip joint support seat 101 that the most described hip joint supports lid 102, both it Between keep at a certain distance away；And the bottom of described hip joint support lid 102 and described hip joint support seat 101 is all embedded with one Spline housing inserts 1013, two spline housing inserts 1013 structures are identical, relatively and be coaxially disposed.Each spline housing inserts 1013 are disc, and its central authorities are provided with the first splined hole 1014, and the inwall of described first splined hole 1014 is the most equal Even it is provided with multiple trapezoid spline groove axially extended.Thus the lower end of hip joint support member 10 formed one axially through The first splined hole 1014, the material of spline housing inserts 1013 is high-hardness metal material.
As shown in figure 22, thigh support seat 201 mutually fastens solid with thigh support lid 202 by standard fasteners such as screws It is scheduled on the thigh support parts 20 forming box body structure together.Thigh support parts 20 are rod-like members, and its effect is to use Supporting the thigh of people, be arranged on the outside of human thigh, the lower end of its upper end and described hip joint support member 10 is by being somebody's turn to do Hip joint connects.Described thigh support seat 201 is oppositely arranged with the upper end of described thigh support lid 202 and keeps at a certain distance away, And connection through hole 203 it is provided with in the position that described thigh support seat 201 is corresponding with described thigh support lid 202 upper end.Described hip Joint capstan winch 805 is located at described hip joint and supports between lid 102 and described hip joint support seat 101, can relatively support by hip joint Lid 102 and hip joint support seat 101 and rotate, and end face and the hip joint at hip joint capstan winch 805 supports the medial surface of lid 102, with And between the medial surface of the end face of hip joint capstan winch 805 and hip joint support seat 101, antifriction pad 810 can be set, to reduce Force of sliding friction, improves wearability, and meanwhile, antifriction pad 810 can also play the effect adjusting axial gap.Antifriction pad The material of 810 can use the metal material that tin bronze or bronze etc. are wear-resisting, it would however also be possible to employ wear-resisting nonmetallic materials, this reality Execute example and use nonmetallic materials.Described thigh support lid 202 is positioned at described hip joint and supports the outside of lid 102, and described thigh props up Support seat 201 is positioned at described hip joint and supports the outside of seat 101, and the medial surface of thigh support lid 202 supports lid 102 with hip joint Also be provided with antifriction pad 810 between lateral surface, the medial surface of thigh support seat 201 and hip joint support seat 101 lateral surface it Between be provided with antifriction pad 810, to reduce the force of sliding friction between contact surface, improve wearability, simultaneously the most also scalable hip joint Axial gap and size.
As shown in figure 15, the center of described hip joint capstan winch 805 be provided with axially through the second splined hole 8051, second flower The structure of keyhole 8051 is identical with the first splined hole 1014, and the inwall in its hole is along the circumferential direction uniformly provided with multiple axially extending Trapezoid spline groove.Described connection through hole 203, described first splined hole 1014 are coaxially disposed with described second splined hole 8051. Described clutch positioning component is located in described connection through hole 203, described first splined hole 1014 and described second splined hole 8051 In, the two ends of described clutch positioning component are fixed be connected with described thigh support seat 201, described thigh support lids 202 respectively, and Described clutch positioning component can lock with described first splined hole 1014 or described second splined hole 8051 and unlock.Branch to hip joint The spline housing inserts 1013 of support part part 10 lower end is connected formation by clutch positioning component with the upper end of thigh support parts 20 This hip joint, when described thigh support parts 20 are locked by described clutch positioning component and described second splined hole 8051, its And be released state between the first splined hole 1014 of hip joint support member 10, i.e. thigh support parts 20 and hip joint capstan winch 805 lockings and and unlock between hip joint support member 10, the rotational of hip joint capstan winch 805 drives thigh support parts 20 1 Rise and swing.When described thigh support parts 20 are locked by described clutch positioning component and described first splined hole 1014, its with It is in released state, i.e. thigh support parts 20 and branch to hip joint support part between second splined hole 8051 of hip joint capstan winch 805 Between part 10 locking and and between hip joint capstan winch 805 unlock, the rotation of hip joint capstan winch 805 will not drive thigh support parts 20 swing together.Owing to the position of hip joint support member 10 is fixing, therefore thigh support parts 20 are now in stopping The lock-out state of motion.
Further, as shown in Figure 18, Figure 20 and Figure 25, described clutch positioning component includes clutch sleeve 301, clutch core 302, clutch cover plate 303, compression spring 304 and steel ball.Described clutch sleeve 301 includes a cylindrical sleeves, and its material is High-hardness metal material.Described cylindrical sleeves has opening and closed end, and it is internal is cylindrical cavity, described opening Circumferential edges is provided with ring flange outwardly, and ring flange is uniformly provided with bolt connecting hole.The cylinder of described cylindrical sleeves Axially be sequentially provided with three circle steel ball pilot holes 305 on barrel along it, each circle steel ball pilot hole 305 the most uniformly divides Cloth；I.e. first lap steel ball pilot hole 305 is near opening, and the 3rd circle steel ball pilot hole 305 is near closed end, and the second circle steel ball is led Be positioned at centre to hole 305, the steel ball pilot hole 305 of each circle is equipped with multiple, uniform along the circumferencial direction of cylindrical barrel Distribution.Wherein, the position of first lap steel ball pilot hole 305 is right with the first splined hole 1014 that described hip joint supports on seat 101 Should, the position of the second circle steel ball pilot hole 305 is corresponding with the second splined hole 8051 of described hip joint capstan winch 805, the 3rd circle steel The first splined hole 1014 that the position of pearl pilot hole 305 supports on lid 102 with described hip joint is corresponding.Guide at each steel ball Being provided with steel ball in hole 305, the diameter of steel ball is less times greater than the internal diameter of steel ball pilot hole 305, thus steel ball only some body The long-pending outside that can reach steel ball pilot hole 305, without integrally through steel ball pilot hole 305.Described cylindrical sleeves is coaxially worn Being located in described connection through hole 203, described first splined hole 1014 and described second splined hole 8051, the ring flange of opening is tight It is attached to the outside of thigh support seat 201, and is connected by connecting bolt is fixing with described thigh support seat 201.Thigh support seat The outside of 201 can arrange concave surface makes ring flange be embedded.Described closed end extends to the outside of described thigh support lid 202 And be connected by clutch cover plate 303 is fixing with described thigh support lid 202.The most described clutch cover plate 303 is provided with bolt Connecting hole, is connected by the outside of connecting bolt with thigh support lid 202, the most described closed end also by connecting bolt with from Clutch cover plate 303 connects.The outside of thigh support lid 202 can arrange concave surface makes clutch cover plate 303 be embedded.
In cylindrical cavity in described cylindrical sleeves, coaxial sleeve is provided with clutch core 302.Clutch core 302 is also one Cylindrical shroud barrier part, the one end open of clutch core 302, the other end is closed.The outside closing one end at clutch core 302 also sets There is one section of small-diameter circular shell of column protruded out axially outward.Described steel ball is supported on the outer wall of described clutch core 302.Described Clutch core 302 can slide by axial reciprocating in described cylindrical sleeves, and it is movable that the outer wall of described clutch core 302 is provided with steel ball Device, when clutch core 302 reciprocatingly slides, steel ball head can promote described steel ball to stretch out along described steel ball pilot hole 305 Or make steel ball be retracted in steel ball pilot hole 305.By in first lap steel ball pilot hole 305 and the 3rd circle steel ball pilot hole 305 Steel ball is defined as thigh positioning ball 306, the steel ball in the second circle steel ball pilot hole 305 is defined as thigh and drives steel ball 307. Thigh positioning ball 306 can form locking, after retraction with the trapezoid spline slot fit in described first splined hole 1014 after stretching out Formed and unlock；So that thigh support parts 20 lock with hip joint support member 10 or unlock.Thigh drives steel ball 307 to stretch out After can with in described second splined hole 8051 trapezoid spline slot fit formed locking, after retraction formed unlock；So that thigh Support member 20 locks with hip joint capstan winch 805 or unlocks.The steel ball of described clutch core 302 and correspondence define described from Locking system on clutch set 301.
Further, described steel ball head can use and arrange various protrusion and recessed on the outer wall of clutch core 302 The decorative pattern fallen into realizes, and in the present embodiment, steel ball head includes the protruding cylinder surface 3021 that arranges along its axially spaced-apart and recessed The face of cylinder 3022, for the taper seat seamlessly transitted between each section of protruding cylinder surface 3021 and adjacent fluted column face 3022.Described The order that arranges in protruding cylinder surface 3021 and fluted column face 3022 with position is, from cylindrical sleeves on the outer wall of clutch core 302 Opening be sequentially provided with to the direction of cylindrical sleeves closed end fluted column face 3022, protruding cylinder surface 3021, fluted column face 3022 and Protruding cylinder surface 3021.The opening of described clutch sleeve 301 is provided with spring stop part 308, and compression spring 304 is only arranged on spring Between block piece 308 and clutch core 302, one end of compression spring 304 is resisted against on spring stop part 308, and the other end is resisted against On clutch core 302.The middle part of clutch core 302 has cavity, and compression spring 304 extend into the sky in the middle part of clutch core 302 Intracavity, applies the power compressed to the closed end of cylindrical sleeves to clutch core 302.Clutch core 302 is close to closed end Inner side, the small-diameter circular shell of column of its end forms a briquetting 309, and small-diameter circular shell of column is through the closed end of cylindrical sleeves And clutch cover plate 303 stretches out in the outside of clutch cover plate 303, can be by the pressing of finger or the push rod of unlocking mechanism 70 Promote, make clutch core 302 overcome the elastic force of compression spring 304 to bounce back to the left side of Figure 20.Described clutch core 302 is in pressing Under external force on block 309 and the restoring force effect of compression spring 304, left and right reciprocatingly slides, so that thigh positioning ball 306 He Thigh drives steel ball 307 stretch out along steel ball pilot hole 305 under the effect in protruding cylinder surface 3021 and fluted column face 3022 or retract.
In the present embodiment, clutch positioning component has the first state and the second state.In the first state, described clutch Core 302 is against the closed end of cylindrical sleeves, and now to drive steel ball 307 to be supported on right for the thigh in the second circle steel ball pilot hole 305 On the protruding cylinder surface 3021 answered, thigh drives steel ball 307 about half volume to enter into the outside reaching steel ball pilot hole 305 In the trapezoid spline groove of two splined holes 8051, second half volume is stayed in the steel ball pilot hole 305 of clutch sleeve 301, makes clutch Device set 301 forms locking with hip joint capstan winch 805.And first lap steel ball pilot hole 305 and the 3rd encloses in steel ball pilot hole 305 Thigh positioning ball 306 is supported on the fluted column face 3022 of correspondence, and thigh positioning ball 306 is retracted in steel ball pilot hole 305 In, unlock between clutch sleeve 301 and hip joint support member 10；The rotation of hip joint capstan winch 805 can drive thigh support Parts 20 swing.Under second state, described clutch core 302 bounces back (to clutch under the external force acted in briquetting 309 The opening of set 301 slides), after retraction puts in place, it is right that the thigh in the second circle steel ball pilot hole 305 drives steel ball 307 to be supported on On the fluted column face 3022 answered, thigh drives steel ball 307 to be retracted in steel ball pilot hole 305, and clutch sleeve 301 twists with hip joint Unlock between dish 805.And first lap steel ball pilot hole 305 and the 3rd encloses the thigh positioning ball 306 in steel ball pilot hole 305 Supportting on corresponding protruding cylinder surface 3021, thigh positioning ball 306 about half volume enters outside reaching steel ball pilot hole 305 Entering in the trapezoid spline groove of the first splined hole 1014, second half volume is stayed in the steel ball pilot hole 305 of clutch sleeve 301, Make clutch sleeve 301 and hip joint support member 10 form locking, i.e. clutch sleeve 301 and support lid with described hip joint respectively 102 and hip joint support the trapezoid spline groove of the first splined hole 1014 on seat 101 and form locking.Turning of hip joint capstan winch 805 Moving to drive thigh support parts 20 to swing, and is relatively fixed between thigh support parts 20 and hip joint support member 10.
Further, as shown in figure 21, relative in order to limit between hip joint support member 10 and thigh support parts 20 Pendulum angle, the outside in outside and described hip joint support seat 101 that described hip joint supports lid 102 is equipped with one section of circular arc limit Position groove 1015, described circular arc stopper slot 1015 and described first splined hole 1014 are for being arranged concentrically.As shown in figure 22, described thigh The inner side of the inner side and described thigh support seat 201 that support lid 202 is respectively and fixedly provided with a spacer pin 204, and described spacer pin 204 embeds In corresponding described circular arc stopper slot 1015.When the relative hip joint support member 10 of thigh support parts 20 swings, spacing Pin 204 slides in circular arc stopper slot 1015, and spacer pin 204 slides into behind the end of circular arc stopper slot 1015 by circular arc stopper slot 1015 backstops, thus limit the relative hip joint support member 10 of thigh support parts 20 and continue to swing.Can limit as required Pendulum angle length and the position of circular arc stopper slot 1015 are set.
Driving hip joint drives the driving means such as the motor of line 807 to be arranged on the waist of wearer, it is not necessary at hip joint Integrate the driving means such as motor, alleviate the weight of exoskeleton robot lower limb.Its clutch positioning component uses clutch sleeve 301, clutch core 302, compression spring 304 and steel ball and hip joint support seat 101, hip joint supports lid 102, hip joint strand Trapezoid spline slot fit on dish 805, drives steel ball stretch out or bounce back by the steel ball head on clutch core 302 surface, Simple in construction, it is convenient that latching operation is conciliate in locking.
Further, as shown in figure 23, knee joint includes knee joint capstan winch 806 and clutch positioning component, its clutch location group The structure of part is identical with the clutch positioning component structure at hip joint.The lower end of thigh support parts 20 is inlaid with spline housing and inlays Part 2013, the most described thigh support lid 202 is relative with the lower end of described thigh support seat 201, keeps at a certain distance away between the two； And the lower end of described thigh support lid 202 and described thigh support seat 201 is all embedded with a spline housing inserts 2013, two Spline housing inserts 2013 structure is identical, relative and is coaxially disposed.Each spline housing inserts 2013 is disc, its central authorities Being provided with the 3rd splined hole 2011, the inwall of described 3rd splined hole 2011 is along the circumferential direction uniformly provided with multiple axially extending Trapezoid spline groove, thus the lower end of thigh support parts 20 formed one axially through the 3rd splined hole 2011, spline housing The material of inserts 2013 is high-hardness metal material.
Described knee joint capstan winch 806 is located between described thigh support lid 202 and described thigh support seat 201, can be relatively Thigh support lid 202 rotates with thigh support seat 201, in end face and the inner side of thigh support lid 202 of knee joint capstan winch 806 Between face, and the medial surface of the end face of knee joint capstan winch 806 and thigh support seat 201, antifriction pad can be set (in figure not Illustrate), to reduce force of sliding friction, improve wearability, meanwhile, antifriction pad can also play the effect adjusting axial gap. The material of antifriction pad can use the metal material that tin bronze or bronze etc. are wear-resisting, it would however also be possible to employ wear-resisting non-metallic material Material, the present embodiment uses nonmetallic materials.As shown in figure 26, described leg support parts 30 include shaft-like shank jacking block 31, Inner side top board 32 and lateral roof 33.Leg support parts 30 are used for supporting the shank of people, are arranged on human calf's during installation Outside.The both sides, upper end of shank jacking block 31 are respectively fixedly connected with inner side top board 32 and lateral roof 33, inner side top board 32 and outside Top board 33 be oppositely arranged and between have certain distance, described inner side top board 32 and described lateral roof 33 are respectively provided with a connection Through hole 321, two connection through holes 321 are coaxial.Described thigh support seat 201 and described thigh support lid 202 (i.e. thigh support portion The lower end of part 20) it is located between described inner side top board 32 and described lateral roof 33, can relative inner top board 32 and lateral roof 33 rotate.The top end face of shank jacking block 31 is provided with arcuate groove 311, between thigh support seat 201 and thigh support lid 202 The part of knee joint capstan winch 806 be embedded in described arcuate groove 311.Between thigh support seat 201 and inner side top board 32, greatly Lower limb supports and is also provided with antifriction pad between lid 202 and lateral roof 33, to reduce the force of sliding friction between contact surface, carries High-wearing feature, the most also kneed axial gap of scalable and size.
The center of described knee joint capstan winch 806 be provided with axially through the 4th splined hole 8063, the 4th splined hole 8063 Structure is identical with the 3rd splined hole 2011, and the inwall in its hole is along the circumferential direction uniformly provided with multiple trapezoid spline axially extended Groove.Described connection through hole 321, described 3rd splined hole 2011 are coaxially disposed with described 4th splined hole 8063.Described clutch is fixed Hyte part is laterally located in described connection through hole 321, described 3rd splined hole 2011 and described 4th splined hole 8063, described The two ends of clutch positioning component are fixed be connected with described inner side top board 32, described lateral roofs 33 respectively, and described clutch location Assembly can lock with described 3rd splined hole 2011 or described 4th splined hole 8063 and unlock.Thigh support parts 20 lower end Spline housing inserts 2013 is connected the knee joint of the formation present invention by described clutch positioning component with the upper end of leg support parts 30 Joint.Described leg support parts 30 are locked by the 4th splined hole 8063 of described clutch positioning component with knee joint capstan winch 806 Regularly, be released state between itself and the 3rd splined hole 2011 of thigh support parts 20, i.e. leg support parts 30 close with knee joint Joint capstan winch 806 lock and and unlock between thigh support parts 20, the rotational of knee joint capstan winch 806 drives leg support parts 30 swing together.Described leg support parts 30 are by the 3rd splined hole of described clutch positioning component Yu thigh support parts 20 During 2011 locking, it is in released state between itself and the 4th splined hole 8063 of knee joint capstan winch 806, i.e. leg support parts 30 And between thigh support parts 20 locking and and between knee joint capstan winch 806 unlock, the rotation of knee joint capstan winch 806 will not drive Leg support parts 30 swing together, and now thigh support parts 20 and leg support parts 30 are in the lock stopping relative motion Determine state, it is adaptable to the situation planted oneself.
Further, as shown in Figure 23 and Figure 25, described clutch positioning component include clutch sleeve 301, clutch core 302, Clutch cover plate 303, compression spring 304 and steel ball.Described clutch sleeve 301 includes a cylindrical sleeves, and its material is high hard Degree metal material.Described cylindrical sleeves has opening and closed end, and it is internal is cylindrical cavity, the circumference of described opening Edge is provided with ring flange outwardly, and ring flange is uniformly provided with bolt connecting hole.The cylindrical barrel of described cylindrical sleeves On be axially sequentially provided with three circle steel ball pilot holes 305 along it, each circle steel ball pilot hole 305 is distributed uniformly and circumferentially；I.e. First lap steel ball pilot hole 305 is near opening, and the 3rd circle steel ball pilot hole 305 is near closed end, and second encloses steel ball pilot hole 305 are positioned at centre, and the steel ball pilot hole 305 of each circle is equipped with multiple, and the circumferencial direction along cylindrical barrel is uniformly distributed. Wherein, the position of first lap steel ball pilot hole 305 is corresponding with the 3rd splined hole 2011 on described thigh support seat 201, and second The position of circle steel ball pilot hole 305 is corresponding with the 4th splined hole 8063 of described knee joint capstan winch 806, the 3rd circle steel ball pilot hole The position of 305 is corresponding with the 3rd splined hole 2011 on described thigh support lid 202.Set in each steel ball pilot hole 305 Being equipped with steel ball, the diameter of steel ball is less times greater than the internal diameter of steel ball pilot hole 305, thus steel ball only some volume energy reaches The outside of steel ball pilot hole 305, without integrally through steel ball pilot hole 305.Described cylindrical sleeves is coaxially located in described company Connecting in hole 321, described 3rd splined hole 2011 and described 4th splined hole 8063, the ring flange of opening is close to medial roof The outside of plate 32, and be connected by connecting bolt is fixing with described inner side top board 32.The outside of inner side top board 32 can arrange recessed Face makes ring flange be embedded.Described closed end extend to described lateral roof 33 outside and by clutch cover plate 303 with Described lateral roof 33 is fixing to be connected.The most described clutch cover plate 303 is provided with bolt connecting hole, by connecting bolt and outside The outside of top board 33 connects, and the most described closed end is connected with clutch cover plate 303 also by connecting bolt；Lateral roof 33 Outside can arrange concave surface makes clutch cover plate 303 be embedded.
In cylindrical cavity in described cylindrical sleeves, coaxial sleeve is provided with clutch core 302.Clutch core 302 is also one Cylindrical shroud barrier part, the one end open of clutch core 302, the other end is closed.The outside closing one end at clutch core 302 also sets There is one section of small-diameter circular shell of column protruded out axially outward.Described steel ball is supported on the outer wall of described clutch core 302.Described Clutch core 302 can slide by axial reciprocating in described cylindrical sleeves, and it is movable that the outer wall of described clutch core 302 is provided with steel ball Device, when clutch core 302 reciprocatingly slides, steel ball head can promote described steel ball to stretch out along described steel ball pilot hole 305 Or make steel ball be retracted in steel ball pilot hole 305.By in first lap steel ball pilot hole 305 and the 3rd circle steel ball pilot hole 305 Steel ball is defined as shank positioning ball 406, the steel ball in the second circle steel ball pilot hole 305 is defined as shank and drives steel ball 407. Shank positioning ball 406 can form locking, after retraction with the trapezoid spline slot fit in described 3rd splined hole 2011 after stretching out Formed and unlock；So that leg support parts 30 lock with thigh support parts 20 or unlock.After shank drives steel ball 407 to stretch out Locking can be formed with the trapezoid spline slot fit in described 4th splined hole 8063, be formed after retraction and unlock；So that shank props up Support part part 30 locks with knee joint capstan winch 806 or unlocks.The steel ball of described clutch core 302 and correspondence defines described clutch Locking system on device set 301.
Further, as shown in figure 25, described steel ball head can use and arrange on the outer wall of clutch core 302 respectively Planting the decorative pattern protruded and cave in realize, in the present embodiment, steel ball head includes the convex cylindrical arranged along its axially spaced-apart Face 3021 and fluted column face 3022, for the circle seamlessly transitted between each section of protruding cylinder surface 3021 and adjacent fluted column face 3022 The conical surface.Described protruding cylinder surface 3021 and fluted column face 3022 order is set and position is, on the outer wall of clutch core 302 from Cylindrical sleeves opening is sequentially provided with fluted column face 3022, protruding cylinder surface 3021, fluted column to the direction of cylindrical sleeves closed end Face 3022 and protruding cylinder surface 3021.The opening of described clutch sleeve 301 is provided with spring stop part 308, and compression spring 304 is arranged Between spring stop part 308 and clutch core 302, one end of compression spring 304 is resisted against on spring stop part 308, another End is resisted against on clutch core 302.The middle part of clutch core 302 has cavity, and compression spring 304 extend into clutch core 302 In the cavity at middle part, clutch core 302 is applied the power compressed to the closed end of cylindrical sleeves.Clutch core 302 is close to In the inner side of closed end, the small-diameter circular shell of column of its end forms a briquetting 309, and small-diameter circular shell of column passes cylindrical sleeves Closed end and clutch cover plate 303 stretch out in the outside of clutch cover plate 303, can be by the pressing of finger or unlocking mechanism The push rod of 70 promotes, and makes clutch core 302 overcome the elastic force of compression spring 304 to bounce back to the left side of Figure 25.Described clutch core Under the restoring force effect of 302 external force in briquetting 309 and compression spring 304, left and right reciprocatingly slides, so that shank location Steel ball 406 and shank drive steel ball 407 to stretch along steel ball pilot hole 305 under the effect in protruding cylinder surface 3021 and fluted column face 3022 Go out or retract.
In the present embodiment, clutch positioning component has the first state and the second state.In the first state, described clutch Core 302 is against the closed end of cylindrical sleeves, and now to drive steel ball 407 to be supported on right for the shank in the second circle steel ball pilot hole 305 On the protruding cylinder surface 3021 answered, shank drives steel ball 407 about half volume to enter into the outside reaching steel ball pilot hole 305 In the trapezoid spline groove of four splined holes 8063, second half volume is stayed in the steel ball pilot hole 305 of clutch sleeve 301, makes clutch Device set 301 forms locking with knee joint capstan winch 806.And first lap steel ball pilot hole 305 and the 3rd encloses in steel ball pilot hole 305 Shank positioning ball 406 is supported on the fluted column face 3022 of correspondence, and shank positioning ball 406 is retracted in steel ball pilot hole 305 In, unlock between clutch sleeve 301 and thigh support parts 20；The rotation of knee joint capstan winch 806 can drive calf support Part 30 swings.Under second state, described clutch core 302 bounces back (to clutch sleeve under the external force acted in briquetting 309 The opening of 301 slides), after retraction puts in place, the shank in the second circle steel ball pilot hole 305 drives steel ball 407 to be supported on correspondence Fluted column face 3022 on, shank drives steel ball 407 to be retracted in steel ball pilot hole 305, clutch sleeve 301 and knee joint capstan winch Unlock between 806.And first lap steel ball pilot hole 305 and the 3rd shank positioning ball 406 enclosed in steel ball pilot hole 305 support On corresponding protruding cylinder surface 3021, shank positioning ball 406 about half volume reaches the outer entrance of steel ball pilot hole 305 In the trapezoid spline groove of the 3rd splined hole 2011, second half volume is stayed in the steel ball pilot hole 305 of clutch sleeve 301, makes Clutch sleeve 301 and thigh support parts 20 formed locking, i.e. clutch sleeve 301 respectively with described thigh support lid 202 and greatly Lower limb supports the trapezoid spline groove of the 3rd splined hole 2011 on seat 201 and forms locking.The rotation of knee joint capstan winch 806 can not drive Leg support parts 30 swing, and are relatively fixed between thigh support parts 20 and leg support parts 30.
Further, as shown in figure 24, in order to limit the relative pendulum between leg support parts 30 and thigh support parts 20 Dynamic angle, the outside of described thigh support lid 202 and the outside of described thigh support seat 201 are equipped with one section of circular arc stopper slot 2015, described circular arc stopper slot 2015 and described 3rd splined hole 2011 are for being arranged concentrically.With thigh on described lateral roof 33 Supporting the side relative with thigh support seat 201 on lid 202 relative sides and described inner side top board 32, to be respectively and fixedly provided with one spacing Pin 408, described spacer pin 408 is embedded in the described circular arc stopper slot 2015 of correspondence.When the relative thigh of leg support parts 30 When support member 20 swings, spacer pin 408 slides in circular arc stopper slot 2015, and spacer pin 408 slides into circular arc stopper slot By circular arc stopper slot 2015 backstop behind the end of 2015, thus limit the relative thigh support member 20 of leg support parts 30 and continue Swing.The pendulum angle that can limit as required is to arrange length and the position of circular arc stopper slot 2015.
The driving means such as this kneed driving motor can be arranged on the waist of wearer, it is not necessary to integrates in knee joint The driving means such as motor, alleviate the weight of exoskeleton robot lower limb.Its clutch positioning component use clutch sleeve 301, from On clutch core 302, compression spring 304 and steel ball and thigh support seat 201, thigh support lid 202, knee joint capstan winch 806 Trapezoid spline slot fit, drives steel ball stretch out or bounce back by the steel ball head on clutch core 302 surface, simple in construction, It is convenient that latching operation is conciliate in locking.
Further, for convenience the briquetting 309 on clutch core 302 is applied motive force, at thigh support parts 20 Outside be additionally provided with unlocking mechanism 70.As shown in Figure 27, Figure 28 and Figure 29, described unlocking mechanism 70 includes rotating bar 701, connecting Extension bar, vertical guide rod, guide rod seat and catch bar.Described rotation bar 701 is hinged on the outside of described thigh support parts 20, its pendulum Moved end can swing in perpendicular around horizontal axis, and the swinging end of described rotation bar 701 cuts with scissors with one end of head rod Connecing, the other end of head rod is hinged with the first end of described vertical guide rod.Described guide rod seat is fixed on described thigh support The outside of parts 20 is also provided with and is vertically directed hole, described vertical guide rod slide through described in be vertically directed hole.Described catch bar One end is hinged on described guide rod seat, and catch bar can swing by guide rod seat relatively in perpendicular, the other end of described catch bar Corresponding with the position of described briquetting 309, one end of described catch bar and the second connecting rod is hinged, catch bar and the second connecting rod Pin joint between catch bar and the pin joint of guide rod seat and the other end of catch bar；The other end of the second connecting rod and institute The second end stating vertical guide rod is hinged.Rotate bar 701, head rod, vertical guide rod, the second connecting rod and catch bar and form one Bar transfer chain, makes catch bar also swing in perpendicular by rotating the swing of bar 701, the other end energy of catch bar Apply thrust to corresponding briquetting 309, promote briquetting 309 action, make clutch positioning component be in the first state or Second state.
In the present embodiment, the most corresponding hip joint of unlocking mechanism 70 and knee joint are arranged.Unlocking mechanism 70 is provided with one Individual can manual rotation dish 702, the side of rotation dish 702 is fixedly installed horizontal rotating shaft 703, passes through horizontal rotating shaft 703 are rotationally connected with thigh support parts 20, and rotation dish 702 is positioned at the outside of thigh support parts 20, rotate the length of bar 701 The midpoint in direction is fixed on the horizontal rotating shaft 703 of rotation dish 702, rotation dish 702 drive and put around described horizontal rotating shaft 703 Dynamic, the two ends rotating bar 701 form upper and lower swinging end respectively.Rotating to be respectively symmetrically above and below bar 701, two sets are set The transfer chain formed by connecting rod, vertical guide rod and catch bar, upper and lower two guide rod seats are all fixed on thigh support parts 20 Outside.Rotate the upper swinging end of bar 701 with its above head rod 704 hinged, head rod 704 and upper vertical guide rod The lower end of 705 is hinged, and upper vertical guide rod 705 upwardly extends along the outside upright of thigh support parts 20, upper vertical guide rod 705 Through top guide bar seat 706 to be vertically directed Kong Houyu the second connecting rod 707 hinged, the second connecting rod 707 with in upper catch bar 708 Portion is hinged, and one end of upper catch bar 708 is hinged with top guide bar seat 706, the other end of upper catch bar 708 and the briquetting of hip joint 309 is corresponding.The bottom moved end rotating bar 701 is hinged with the 3rd connecting rod 709 below, the 3rd connecting rod 709 and lower vertically The upper end thereof of guide rod 710, lower vertical guide rod 710 downwardly extends along the outside upright of thigh support parts 20, lower vertically leads Bar 710 through lower guide rod seat 711 to be vertically directed Kong Houyu the 4th connecting rod 712 hinged, the 4th connecting rod 712 and lower catch bar In the middle part of in the of 713 hinged, one end of lower catch bar 713 is hinged with lower guide rod seat 711, and the other end of lower catch bar 713 is with kneed Briquetting 309 is corresponding.After rotating rotation dish 702 by hand, drive rotate bar 701 about two ends swing, by above and below Transfer chain make the other end of upper and lower catch bar can apply to corresponding hip joint and kneed briquetting 309 respectively Thrust, promotes briquetting 309 action, makes hip joint and kneed clutch positioning component be in the first state or the second state.
Further, as shown in Figure 30, Figure 31 and Figure 32, leg support parts 30 are additionally provided with shank bondage system 40, little Lower limb bondage system 40 uses binding strip 601 commonly used in the prior art, can be held together with the shank of people, and its improvements exist It is additionally provided with shank baffle plate 602, baffle plate connecting rod 603, adapting rod 604, throw rod 605 in described shank bondage system 40 and connects Seat 606.The both sides of shank baffle plate 602 are provided with connection elongated hole 6021, and binding strip 601 is connected to the connection elongated hole 6021 of correspondence In.Described connection seat 606 is fixed on described leg support parts 30；First end of described connection seat 606 by pin 607 with First end of described baffle plate connecting rod 603 is hinged, and the second end of described baffle plate connecting rod 603 is fixed with described shank baffle plate 602 Connect；The outside of shank baffle plate 602 is fixedly connected with the connection sheet 608 of an arch, and the second end of baffle plate connecting rod 603 is provided with Screwed hole, connecting bolt 609 is through connecting the arcuate part of sheet 608 and being threaded in the spiral shell of baffle plate connecting rod 603 second end In pit, it is connected fixing with shank baffle plate 602 for the second end of baffle plate connecting rod 603.First end of described adapting rod 604 passes through Pin 607 is hinged with the first end of described baffle plate connecting rod 603, and described baffle plate connecting rod 603 is hinged with described adapting rod 604 Point is positioned at described baffle plate connecting rod 603 and the described outside being connected seat 606 pin joint.First end of described throw rod 605 passes through Pin 610 is hinged with the second end of described adapting rod 604, and the second end of described throw rod 605 is pulling head 611, described in pull The middle part of bar 605 is hinged with described the second end being connected seat 606 by pin 612, and described throw rod 605 is connected seat with described The pin joint of 606 is between first end and the second end of described throw rod 605.Wherein, the pivot center of each pin joint is equal For vertically, i.e. the pin of hinged place the most vertically wears.
Further, connection seat 606 is positioned at connection seat 606 and is additionally provided with a vertical side with the side of throw rod 605 pin joint To installation through hole, this vertically-mounted through hole from connect seat 606 end face penetrate into the surface relative with throw rod 605.Install Jackscrew 613, compression spring 614 and top 615 it are provided with in through hole；The top installing through hole is provided with female thread, and jackscrew 613 screw thread is even Being connected on installation through hole top, compression spring 614 upper end is resisted against on jackscrew 613, and lower end is resisted against on top 615, by top 615 Release downwards.The external diameter that port, the lower end internal diameter of through hole is less than top 615 is installed, makes top 615 parts reach installation Without departing from installing through hole outside through hole.The end face of throw rod 605 is provided with and top 615 pits coordinated, this pit Position meets, when throw rod 605 and the pin joint being connected the pin joint of seat 606, throw rod 605 and adapting rod 604 and switching The pin joint three of bar 604 and baffle plate connecting rod 603 on the same line time, top 615 are fastened in this pit formation locking. When shank baffle plate 602 and baffle plate connecting rod 603 are rotated by needs, the pulling head 611 gently pulling throw rod 605 with hands can be carried out Unlock.
Wearer is before dressing shank bondage system 40, and shank baffle plate 602 is in released state, as shown in figure 32, i.e. Shank baffle plate 602 can turn to the one of leg support parts 30 around baffle plate connecting rod 603 with the pin joint being connected seat 606 Side, makes shank baffle plate 602 will not keep off before wearer leg, to avoid doing between wearer leg and shank baffle plate 602 Relate to.When wearer shank enter be clothed to wearing position after, promote shank baffle plate 602 around baffle plate connecting rod 603 be connected The pin joint of seat 606 turns to the front side of leg support parts 30, as shown in figure 31, will be brought together into wearing by shank baffle plate 602 On front side of person's shank and be close to wearer shank fibula.Now, throw rod 605 be connected the pin joint of seat 606, throw rod 605 with The pin joint three of the pin joint of adapting rod 604 and adapting rod 604 and baffle plate connecting rod 603 on the same line, top 615 It is fastened in pit formation locking.Then by binding strip 601, shank baffle plate 602 is strapped in wearer shank to complete to dress. When taking off shank baffle plate 602 bondage parts, only the pulling head 611 of throw rod 605 need to be pulled down gently to side, can unlock also Rotate shank baffle plate 602.
From the above mentioned, the wearable lower limb exoskeleton robot 10000 of the present invention uses line to be wound around drive system, and it drives Assembly can simplify the structure of each joint with centralized arrangement in waist, alleviate the weight of exoskeleton robot lower limb.Its Clutch positioning component at hip joint and knee joint uses clutch sleeve 301, clutch core 302, compression spring 614 and steel ball With trapezoid spline slot fit, steel ball is driven to stretch out or bounce back by the steel ball head on clutch core 302 surface, structure letter Single, it is convenient that latching operation is conciliate in locking.Shank bondage system 40 use shank baffle plate 602, baffle plate connecting rod 603, adapting rod 604, What throw rod 605 and connection seat 606 were constituted pulls locking mechanism, shank baffle plate 602 can be turned to side before dressing, Avoiding the shank with wearer to produce to interfere, only need to gently pull corresponding pulling head 611 during unblock can unlock, and convenient wearing is grasped Make.
The foregoing is only the schematic detailed description of the invention of the present invention, be not limited to the scope of the present invention.Any Those skilled in the art, equivalent variations done on the premise of without departing from the design of the present invention and principle and amendment, all The scope of protection of the invention should be belonged to.

Claims (18)

1. a wearable lower limb exoskeleton robot, it is characterised in that described wearable lower limb exoskeleton robot includes waist Shoulder bondage system and leg exercise system, described waist shoulder bondage system is used for dressing and be fixed on human body upper body；Described leg is transported Dynamic system is provided with two sets, is separately positioned on the left lower limb of human body and the position of right lower limb, and two set leg exercise systems are respectively fixedly connected with The both sides of described waist shoulder bondage system；Often set leg exercise system includes that line is wound around drive system, hip joint support member, thigh Support member and leg support parts；Described hip joint support member is with described thigh support component upper ends by hip joint even Connecing, described thigh support lower and leg support parts upper end are connected by knee joint；Described line is wound around drive system bag Include and drive assembly, drive capstan winch, the hip joint capstan winch driving hip joint to move, drive the knee joint capstan winch of motion of knee joint, hip Joint drive line and knee joint drive line；Described driving assembly is arranged in described hip joint support member and is positioned at human lumbar Portion, described driving capstan winch is connected with described driving assembly；Described hip joint capstan winch and described knee joint capstan winch are separately positioned on institute Stating at hip joint and described knee joint, described driving assembly drives line and described knee joint to drive line by described hip joint respectively Described hip joint capstan winch and described knee joint capstan winch is driven to rotate.
2. wearable lower limb exoskeleton robot as claimed in claim 1, it is characterised in that described driving assembly includes that hip closes Joint drives motor and knee joint to drive motor；Described driving capstan winch includes that hip joint drives capstan winch and knee joint to drive capstan winch；Institute Stating hip joint drives motor and described knee joint to drive motor to be each attached in described hip joint support member, and described hip joint drives Connecting described hip joint by the first unilateral bearing on the output shaft of galvanic electricity machine and drive capstan winch, described knee joint drives the defeated of motor Connect described knee joint by the second unilateral bearing on shaft and drive capstan winch；Described hip joint drives the outside of capstan winch and described hip The simultaneously wound described hip joint in outside of joint capstan winch drives line；Described knee joint drives outside and the described knee joint strand of capstan winch The simultaneously wound described knee joint in outside of dish drives line.
3. wearable lower limb exoskeleton robot as claimed in claim 2, it is characterised in that described hip joint drive capstan winch by Can separate first paragraph cylinder with second segment cylinder axis to docking composition；Described first paragraph cylinder and second segment cylinder Docking end face on be equipped with the first compressed grooves；Described hip joint drives the periphery of capstan winch to be provided with the first helicla flute, institute State the first helicla flute and drive winding and the guiding of line for described hip joint；
Described knee joint drives capstan winch to be made up of to docking the 3rd section of cylinder that can separate and the 4th section of cylinder axis；Described It is equipped with the second compressed grooves on three sections of cylinders and the 4th section of cylindrical docking end face；Described knee joint drives the circle of capstan winch Post surface is provided with the second helicla flute, and described second helicla flute drives winding and the guiding of line for described knee joint.
4. wearable lower limb exoskeleton robot as claimed in claim 3, it is characterised in that described hip joint capstan winch is ladder Shape cylinder, the middle part of described hip joint capstan winch is enlarged diameter section, and the periphery of described enlarged diameter section arranges the 3rd helicla flute； The two ends of described hip joint capstan winch are reduced diameter section, and the described reduced diameter section at two ends is arranged with separation fixed pulley respectively, described Separating fixed pulley be resisted against the end face of described enlarged diameter section and can rotate relative to described hip joint capstan winch, described knee joint drives line Walking around the described separation fixed pulley at two ends respectively, described separation fixed pulley is by the rotation of described hip joint capstan winch and described knee joint The motion driving line is separated from each other；It is interior and compacted solid that described hip joint drives a part for line to embed described first compressed grooves Fixed, described hip joint drives another part of line to be wrapped in described first helicla flute and described 3rd helicla flute；
Described knee joint capstan winch is cylinder, and the periphery of described knee joint capstan winch is provided with the 4th helicla flute；Described knee joint A part described second compressed grooves of embedding of driving line is interior and is secured in a press, and described knee joint drives another part of line to twine It is wound in described second helicla flute and described 4th helicla flute.
5. wearable lower limb exoskeleton robot as claimed in claim 2, it is characterised in that described hip joint support member bag Include hip joint and support seat and hip joint support lid；Described hip joint support cover buckle is combined on described hip joint support seat and forms box body Structure；Described hip joint drives motor and described knee joint to drive motor to be fixed on described hip joint and supports seat side and vertically stretch Going out and support outside seat at described hip joint, described hip joint drives output shaft and the output of described knee joint driving motor of motor Axle stretches into described hip joint and supports in seat；Described hip joint drives capstan winch, described knee joint to drive capstan winch and described hip joint strand Dish is respectively positioned on described hip joint and supports in seat.
6. wearable lower limb exoskeleton robot as claimed in claim 1, it is characterised in that described hip joint support member bag Include hip joint and support seat and hip joint support lid；Described thigh support parts include thigh support seat and thigh support lid；Described Hip joint includes described hip joint capstan winch and clutch positioning component；Described hip joint supports lid and supports the one of seat with described hip joint End is equipped with the first through splined hole；Described thigh support seat is equipped with the upper end of described thigh support lid and is connected through hole； Described hip joint capstan winch be provided with axially through the second splined hole；Described hip joint capstan winch is located at described hip joint and supports lid and institute Stating hip joint and support between seat, described hip joint supports the outside of lid and arranges described thigh support lid, and described hip joint supports seat Outside described thigh support seat is set；Described connection through hole, described first splined hole are coaxially disposed with described second splined hole； Described clutch positioning component is located in described connection through hole, described first splined hole and described second splined hole, described clutch The two ends of positioning component are fixed with described thigh support seat, described thigh support lid respectively and are connected, and described clutch positioning component Can be with described first splined hole or described second splined hole locking and unblock.
7. wearable lower limb exoskeleton robot as claimed in claim 6, it is characterised in that described clutch positioning component includes Clutch sleeve and clutch cover plate；Described clutch sleeve includes that a cylindrical sleeves, described cylindrical sleeves have opening and remain silent End, the circumferential edges of described opening is provided with ring flange；Described cylindrical sleeves be coaxially located in described connection through hole, described first Splined hole is with described second splined hole, and described closed end extends to described thigh support lid side；Described ring flange is with described Thigh support seat is fixing to be connected, and described clutch cover plate is fixedly connected with described thigh support lid and described closed end；Described Clutch sleeve is provided with and described first splined hole or described second splined hole locking and the locking system of unblock.
8. wearable lower limb exoskeleton robot as claimed in claim 7, it is characterised in that described knee joint includes described knee joint Joint capstan winch and clutch positioning component；The upper end of described leg support parts is fixed with the inner side top board being oppositely arranged and top, outside The second coaxial connection through hole it is equipped with on plate, described inner side top board and described lateral roof；Described thigh support seat, described greatly Lower limb supports the lower end of lid and is equipped with the 3rd through splined hole；Described knee joint capstan winch be provided with axially through the 4th splined hole； Described knee joint capstan winch is arranged between described thigh support seat and described thigh support lid；Described thigh support seat and described greatly Lower limb supports lid and is located between described inner side top board and described lateral roof；Described second connect through hole, described 3rd splined hole with Described 4th splined hole is coaxially disposed；Described clutch positioning component is located in described second and connects through hole, described 3rd splined hole With described 4th splined hole, the two ends of described clutch positioning component are fixed with described inner side top board, described lateral roof respectively Connect, and described clutch positioning component can be with described 3rd splined hole or described 4th splined hole locking and unblock.
9. wearable lower limb exoskeleton robot as claimed in claim 8, it is characterised in that described cylindrical sleeves coaxially wears Connecting in through hole, described 3rd splined hole and described 4th splined hole described second, described closed end extends to described outside Top board side；Described ring flange and described inner side top board are fixing to be connected, described clutch cover plate and described lateral roof and described Closed end is fixedly connected with；Described clutch sleeve is provided with and described 3rd splined hole or described 4th splined hole locking and unblock Locking system.
10. wearable lower limb exoskeleton robot as claimed in claim 9, it is characterised in that the barrel of described cylindrical sleeves On be axially sequentially provided with three circle steel ball pilot holes along it, each circle steel ball pilot hole is distributed uniformly and circumferentially；Described first Splined hole, described second splined hole, described 3rd splined hole, described 4th splined hole hole wall on circumferencial direction be uniformly provided with many Individual axially extended spline；Being provided with steel ball in described steel ball pilot hole, in described cylindrical sleeves, coaxial sleeve is provided with clutch core, Described steel ball is supported on the outer wall of described clutch core；Described clutch core can be slided by axial reciprocating in described cylindrical sleeves Dynamic, the outer wall of described clutch core is provided with steel ball head, makes described steel ball along described by described steel ball head Steel ball pilot hole stretches out or retracts, described steel ball and described first splined hole, described second splined hole, described 3rd splined hole or Spline in described 4th splined hole cooperatively forms locking or unlocks；Described clutch core and described steel ball constitute described locking Device.
11. wearable lower limb exoskeleton robots as claimed in claim 10, it is characterised in that described steel ball head bag Include protruding cylinder surface and fluted column face, for the taper seat seamlessly transitted between described protruding cylinder surface and fluted column face；Described clutch The opening of set is provided with spring stop part, is provided with compression spring between described spring stop part and described clutch core；Described from One end that clutch core is relative with described closed end is provided with prominent briquetting；Described briquetting through described closed end and described from Clutch cover plate extends；Under the restoring force effect of described clutch core external force in described briquetting and described compression spring Reciprocatingly sliding, described steel ball stretches out along described steel ball pilot hole or retracts under the effect in described protruding cylinder surface and fluted column face.
12. wearable lower limb exoskeleton robots as claimed in claim 6, it is characterised in that described hip joint supports lid Outside and described hip joint support the outside of seat and are equipped with one section of circular arc stopper slot, described circular arc stopper slot and described first spline Hole is arranged concentrically；It is spacing that the inner side held on described thigh support lid and the inner side of described thigh support seat upper end are respectively and fixedly provided with one Pin, described spacer pin is embedded in the described circular arc stopper slot of correspondence.
13. wearable lower limb exoskeleton robots as claimed in claim 8, it is characterised in that described thigh support lid lower end Outside and the outside of described thigh support seat lower end be equipped with one section of circular arc stopper slot, described circular arc stopper slot and the described 3rd Splined hole is arranged concentrically；With described on the side contacted with described thigh support lid on described lateral roof and described inner side top board The side that thigh support seated connection touches is respectively and fixedly provided with a spacer pin, and described spacer pin is embedded in the described circular arc stopper slot of correspondence.
14. wearable lower limb exoskeleton robots as claimed in claim 11, it is characterised in that on described thigh support parts It is additionally provided with the unlocking mechanism for promoting described briquetting；Described unlocking mechanism include rotate bar, connecting rod, vertical guide rod, Guide rod seat and catch bar；What described rotation bar can swing in perpendicular is hinged on the outside of described thigh support parts, institute State that to rotate the first end of the swinging end of bar and described vertical guide rod hinged with the two ends of head rod respectively；Described guide rod seat is solid Be scheduled on the outside of described thigh support parts and be provided with and be vertically directed hole, described vertical guide rod slide through described in be vertically directed Hole；One end of described catch bar is hinged on described guide rod seat, the other end of described catch bar and the position pair of described briquetting Should；Described catch bar and the second end of described vertical guide rod are hinged with the two ends of the second connecting rod respectively.
15. wearable lower limb exoskeleton robots as claimed in claim 14, it is characterised in that described rotation bar is fixed on one On rotation dish, described rotation dish is rotatably connected on the outside of described thigh support parts by horizontal rotating shaft, described rotation bar by Described rotation dribbling is dynamic to be swung around described horizontal rotating shaft.
16. wearable lower limb exoskeleton robots as claimed in claim 1, it is characterised in that on described leg support parts Being additionally provided with shank bondage system, described shank bondage system includes shank baffle plate, baffle plate connecting rod, adapting rod, throw rod and company Joint chair；Described connection seat is fixed on described leg support parts；First end of described connection seat and described baffle plate connecting rod First end is hinged, and the second end of described baffle plate connecting rod is fixing with described shank baffle plate to be connected；First end of described adapting rod with First end of described baffle plate connecting rod is hinged, and described baffle plate connecting rod is positioned at described baffle plate with the pin joint of described adapting rod and is connected Bar and the described outside being connected seat pin joint；First end of described throw rod is hinged with the second end of described adapting rod, described in pull Second end of lever is pulling head, and described throw rod is hinged with described the second end being connected seat, and described throw rod is connected with described The pin joint of seat is between first end and the second end of described throw rod；Wherein, the pivot center of each pin joint is perpendicular Directly.
17. wearable lower limb exoskeleton robots as claimed in claim 16, it is characterised in that be positioned at institute on described connection seat The side stating connection seat and described throw rod pin joint is additionally provided with the installation through hole of a vertical direction；From upper in described installation through hole It is sequentially provided with downwards jackscrew, compression spring and top；Described jackscrew is threaded in described installation through hole top, described compression bullet Spring be resisted against described jackscrew and described top between and top can eject described downwards；Described throw rod and described installation through hole Relative end face is provided with and described top card can be made to set pit therein.
18. wearable lower limb exoskeleton robots as claimed in claim 1, it is characterised in that described wearable lower limb dermoskeleton Bone robot also includes crutch and electric appliance control box；Described waist shoulder bondage system is provided with pectoral girdle, belt and waist fixed plate；Described Electric appliance control box is provided with pectoral girdle junction button, and described pectoral girdle is strapped in human chest, and by described pectoral girdle junction button by described Electric appliance control box is fixed on human body back；Described waist fixed plate is provided with belt junction button, and described belt is strapped in human lumbar Portion, and by described belt junction button, described waist fixed plate is fixed on human body back lumbar part；The left and right of described waist fixed plate Both sides are connected by L-shaped connecting plate is fixing with the described hip joint support member of respective side respectively.
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CN109202867A (en) * 2018-08-23 2019-01-15 南京理工大学 A kind of light-duty excitation friction type clutch assistance exoskeleton device and its control method
CN109172288A (en) * 2018-10-08 2019-01-11 巴中职业技术学院 A kind of wearable running gear for lower limb rehabilitation training
CN109431627A (en) * 2018-12-25 2019-03-08 吉林大学 Lumbar vertebrae and lower limb decompressor in a kind of surgeon's art
CN109940583A (en) * 2019-03-20 2019-06-28 北京交通大学 A kind of adaptive ankle foot ectoskeleton that can reduce walking metabolism
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CN111714337A (en) * 2020-07-02 2020-09-29 扬州大学 Exoskeleton old-person assisting device capable of assisting walking and sitting
CN111888187A (en) * 2020-07-24 2020-11-06 华中科技大学 Active type knee hyperextension lower limb rehabilitation exoskeleton device
CN111920644A (en) * 2020-08-20 2020-11-13 山东海天智能工程有限公司 Wearable lower limb exoskeleton rehabilitation robot
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CN112571403B (en) * 2020-12-02 2021-12-24 北方工业大学 Exoskeleton device for carrying assistance
CN112873174A (en) * 2020-12-03 2021-06-01 中国科学院深圳先进技术研究院 Exoskeleton robot knee joint based on electromagnetic clutch
CN112914955A (en) * 2021-03-03 2021-06-08 上海冉擎机械设备有限公司 Medical exoskeleton robot
CN114260879A (en) * 2021-12-21 2022-04-01 迈宝智能科技(苏州)有限公司 Wearable lower limb load assisting exoskeleton robot actively driven by hip and knee joints
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CN114406993A (en) * 2022-03-31 2022-04-29 北京动思创新科技有限公司 Chain type telescopic hip joint exoskeleton

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