CN106112988B - For connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism - Google Patents
For connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism Download PDFInfo
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- CN106112988B CN106112988B CN201610684158.4A CN201610684158A CN106112988B CN 106112988 B CN106112988 B CN 106112988B CN 201610684158 A CN201610684158 A CN 201610684158A CN 106112988 B CN106112988 B CN 106112988B
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- annulus seat
- servobcylinder
- follower lever
- bar linkage
- ball
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Mechanical Engineering (AREA)
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Abstract
For connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, including sequentially connected shoulder joint ectoskeleton multi-bar linkage from top to bottom, the double six shaft platform mechanisms of joint of vertebral column ectoskeleton and hip joint ectoskeleton multi-bar linkage, shoulder joint ectoskeleton multi-bar linkage is identical with the construction of hip joint ectoskeleton multi-bar linkage, and the top and bottom of the double six shaft platform mechanisms of joint of vertebral column ectoskeleton are fixedly connected respectively among shoulder joint ectoskeleton multi-bar linkage bottom with the crown center of hip joint ectoskeleton multi-bar linkage.The present invention fully alleviates people and bears the pressure of weight, and provides good power-assisted effect, substantially increases the weight for bearing weight, is also applied for the power-assisted of the elderly's stair climbing and walking, it may also be used for rehabilitation of the medical instrument to patient.
Description
Technical field
The invention belongs to a kind of for bearing the decompression power assisting device of weight, and in particular to one kind is used to connect four limbs
The trunk mechanical exoskeleton device of exoskeleton mechanism.
Background technology
For people when bearing weight, lower limb and backbone can be subject to immense pressure, and the limit for bearing weight weight is smaller.
Particularly in the region of road bumpiness, these places cannot can only bear weight by vehicle by people, and walk road compared with
Far, just need naturally it is a kind of can mitigate human pressure, and the device of weight bearing can be increased.In addition, people are in stair activity
Or when walking for a long time, it is easy to it is weak fatigue occur.Particularly the elderly, in walking and stair climbing, problem is more prominent
Go out.Existing walking power assisting device Shortcomings in the prior art：It can not easily realize ankle-joint and hip abduction/interior
It receives, even Small-angle Rotation, this is primarily due to power assisting device and lacks degree of freedom.At present, multiple degrees of freedom, big model can be realized
The decompression power assisting device for bearing weight, walking and climbing building for enclosing activity not yet occurs on the market.
The content of the invention
The present invention provides a kind of simple in structure, highly reliable, effect of easing stress to solve shortcoming of the prior art
Well, weight bearing is big, shoulder joint and hip joint can be made to realize that multiple degrees of freedom, on a large scale activity are realized in abduction/adduction movement, backbone
For connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：For connecting the people of four limbs exoskeleton mechanism
Body trunk mechanical exoskeleton device, it is characterised in that：Including sequentially connected shoulder joint ectoskeleton multi-bar linkage, ridge from top to bottom
The double six shaft platform mechanisms of column joint ectoskeleton and hip joint ectoskeleton multi-bar linkage, shoulder joint ectoskeleton multi-bar linkage and hip joint
The construction of ectoskeleton multi-bar linkage is identical, the top and bottom of the double six shaft platform mechanisms of joint of vertebral column ectoskeleton respectively with shoulder joint
It is fixedly connected among ectoskeleton multi-bar linkage bottom with the crown center of hip joint ectoskeleton multi-bar linkage；
Hip joint ectoskeleton multi-bar linkage includes middle part connecting plate, and middle part connecting plate left side and right side are respectively equipped with a left side
The more bar drive systems of right symmetrical Three dimensional rotation；
The more bar drive systems of Three dimensional rotation in left side include more rods virtual shaft revolution driving devices, side and kick back to turn driver, preceding
It kicks back and turns driver, the first mounting base, the second mounting base, connecting rod, drive rod, the first follower lever, the second follower lever, the 3rd driven
Bar and thigh side guard plate, more rods virtual shaft revolution driving devices mutually turn center line and are horizontally disposed with along the longitudinal direction, and side, which kicks back, to be turned to drive
The centre of gyration line of dynamic device is arranged in vertical, and preceding kick back turns the center line of driver and be horizontally disposed in left-right direction, and side is kicked
With being fixedly connected on rear side of middle part connecting plate, side, which kicks back, turns power output end and first on rear side of driver for the front side of revolution driving device
Connection, more rods virtual shaft revolution driving devices are located in the first mounting base on front side of mounting base, and thigh side guard plate upper left-hand is with before kicking
The power output end connection of revolution driving device, preceding kick back turn driver and are located in the second mounting base；
Connecting rod, drive rod, the first follower lever, the second follower lever and the 3rd follower lever are equipped with two, and more rods virtual shafts return
Turn rear end of the top and bottom of the power output shaft of driver respectively with a drive rod to be fixedly connected, first follower lever
Rear end be hinged on the top of the first mounting base, the rear end of another first follower lever is hinged on the bottom of the first mounting base,
One follower lever and the hinge joint of the first mounting base are located at the front side of the power output shaft of more rods virtual shaft revolution driving devices, drive rod
Front end and the rear end of the 3rd follower lever be hinged, the first driven rod rear end is fixedly connected with connecting rod right end, the left end of connecting rod and
Two driven rod rear ends are hinged, and the rear portion of the 3rd follower lever and the right end of connecting rod are hinged, and the 3rd follower lever front end on top is hinged on
Second mounting base top right side, the second follower lever front end on top are hinged on the second mounting base top left side, lower part the 3rd from
Lever front end is hinged on the second mounting base bottom right, and the second follower lever front end of lower part is hinged on the second mounting base bottom left side
Side.
On front side of thigh side guard plate and rear side is respectively equipped with front arc baffle and rear arc baffle, and Three dimensional rotation more bars in left side drive
Dynamic that dismountable left thigh fixation band is equipped between the front arc baffle of system and rear arc baffle, Three dimensional rotation more bars in right side drive
It is dynamic that dismountable right thigh fixation band is equipped between the front arc baffle of system and rear arc baffle.
The double six shaft platform mechanisms of joint of vertebral column ectoskeleton include upper link block, lower connecting block, lower annulus seat, middle annulus seat and
The lower surface for being located at link block is fixed in upper annulus seat, the upper surface of upper annulus seat, and the lower surface of lower annulus seat, which is fixed, to be located at down
The upper surface of link block, upper link block front side are fixedly connected on the rear side table of the middle part connecting plate of shoulder joint ectoskeleton multi-bar linkage
Middle face, lower connecting block front side are fixedly connected on the rear side surface middle part of the middle part connecting plate of hip joint ectoskeleton multi-bar linkage,
ServoBcylinder under the six roots of sensation is equipped between lower annulus seat upper surface and middle annulus seat lower surface, under middle annulus seat upper surface and upper annulus seat
ServoBcylinder in the six roots of sensation is equipped between surface, flexural pivot is distinguished on middle annulus seat in the upper end of servoBcylinder under the six roots of sensation, servoBcylinder under the six roots of sensation
Lower end distinguish flexural pivot on lower annulus seat, in the six roots of sensation servoBcylinder upper end distinguish flexural pivot on upper annulus seat, servo in the six roots of sensation
Flexural pivot is distinguished on middle annulus seat in the lower end of cylinder；It is equipped with to bear the support frame of weight between upper link block and lower connecting block
Frame.
Upper annulus seat lower surface is equipped with six upper hinge balls being located on the circle that more than annulus seat center is the center of circle, often
Two upper hinge balls is one groups and are disposed adjacent, and three groups of upper hinge balls are evenly arranged along upper annulus seat center；
Lower annulus seat upper surface, which is equipped with, is located at following annulus seat center for six lower hinge balls on a circle in the center of circle, often
Two lower hinge balls is one groups and are disposed adjacent, and three groups of lower hinge balls are evenly arranged along lower annulus seat center；Six upper hinge balls
Setting is corresponded with six lower hinge balls up and down；
Middle annulus seat, which is equipped with, to be located at using middle annulus seat center as six mounting holes on a circle in the center of circle, each two peace
It fills Kong Weiyi groups and is disposed adjacent, three groups of mounting holes are evenly arranged at annulus seat center in, and each group of mounting hole is in vertical direction
On projection be located between two adjacent groups lower hinge ball, mounting post is fixed in each mounting hole, mounting post lower end is equipped with
Below middle annulus seat first in hinge ball, mounting post upper end be equipped be located at middle annulus seat above second in hinge ball；
The top and bottom of servoBcylinder are equipped with ball-and-socket in the six roots of sensation, and correspondence is rotatably connected on one to six upper hinge balls respectively
In the upper ball-and-socket of a upper servoBcylinder upper end, hinge ball correspondence is rotatably connected on the upper ball of a upper servoBcylinder lower end in six second
In nest；
The top and bottom of servoBcylinder are equipped with lower ball-and-socket under the six roots of sensation, and correspondence is rotatably connected on one to six lower hinge balls respectively
In the lower ball-and-socket of a lower servoBcylinder lower end, hinge ball correspondence is rotatably connected on the lower ball of a lower servoBcylinder upper end in six first
In nest.
More rods virtual shaft revolution driving devices, side kick back turn driver, preceding kick back turns driver and knee joint revolution driving device
For decelerating motor, rotating servo cylinder or rotating servo hydraulic cylinder.
Upper servoBcylinder and lower servoBcylinder are linear hydraulic cylinder, cylinder or electric cylinder.
Using above-mentioned technical proposal, the side guard plate at left and right sides of shoulder joint ectoskeleton multi-bar linkage in the present invention can with it is upper
Limb exoskeleton device connects, and for driving and coordinating the spatial movement of upper limb, and provides good company for upper limb exoskeleton device
Connect positioning action.A lower limb foot supports ectoskeleton machine is connected at left and right sides of the lower part of hip joint ectoskeleton multi-bar linkage respectively
Structure.
The construction of two lower limb foot supports exoskeleton mechanisms is identical and symmetrical, the lower limb foot supports dermoskeleton in left side
Bone mechanism includes sole and thigh connecting plate, and foot is equipped between right side on the left of sole fixes band, is set on the left of sole
There is backplate under shank, thigh connecting plate lower end is fixed with knee joint revolution driving device, and the power of knee joint revolution driving device is defeated
Outlet is connected with shank upper guard board, is connected under shank upper guard board lower end and shank between backplate upper end by lower stretching structure, greatly
It is connected between leg connecting plate upper end and thigh side guard plate lower end by upper stretching structure；The structure of lower stretching structure and upper stretching structure
It makes identical.
Lower stretching structure is included in the lower slot for the lower end opening that shank upper guard board lower face opens up and is protected under shank
The upper slot for the upper end opening that plate upper surface offers, upper slot and lower slot are correspondingly arranged up and down, in upper slot and lower slot
Be inserted with plate, shank upper guard board is connected by two upper bolts with plate top, under shank backplate by two lower bolts and
Plate lower part connects.
Since shoulder joint ectoskeleton multi-bar linkage is identical with the construction of hip joint ectoskeleton multi-bar linkage, shoulder joint
The specific configuration of ectoskeleton multi-bar linkage repeats no more.Human body is worn by the present invention, and shoulder joint ectoskeleton multi-bar linkage, backbone close
The double six shaft platform mechanisms of section ectoskeleton, hip joint ectoskeleton multi-bar linkage are respectively positioned on the rear portion of human body, wherein hip joint ectoskeleton
The thigh side guard plate of the both sides of multi-bar linkage and thigh contact outside, left thigh fix band by the thigh side guard plate in left side and left side
Thigh tighten, right thigh fix band the thigh of the thigh side guard plate on right side and right side is tightened.Equally, shoulder joint ectoskeleton is more
Linkage is also carried out using this wearing mode.It is more that two lower limb foot supports exoskeleton mechanisms are used to support shoulder joint ectoskeleton
The double six shaft platform mechanisms of linkage, joint of vertebral column ectoskeleton and hip joint ectoskeleton multi-bar linkage, the two of people rides in sole
On, it is fixed that band is fixed by foot.It should also include more rods virtual shaft revolution driving devices, side is controlled to kick back in the present invention
Turn driver, it is preceding kick back the intelligent controller that turns driver, knee joint revolution driving device, upper servoBcylinder and lower servoBcylinder and
In order to control more rods virtual shaft revolution driving devices, side kick back turn driver, it is preceding kick back turn driver, knee joint revolution driving device, on
The power supply of servoBcylinder, lower servoBcylinder and intelligent controller power supply.
The concrete operating principle and mistake of hip joint ectoskeleton multi-bar linkage are known as：When taking a step forward, knee joint revolution driving
Backplate and shank upper guard board be to forward under device driving shank, the shank of human body with stepping forward, meanwhile, preceding kick back turns driver drive
Big leg guard is moved to turn forward.If leg is inwardly or during outer kick side, side, which kicks back, to be turned driver and passes through the first mounting base, driving
Bar, the first follower lever, the second follower lever and the 3rd follower lever driving thigh side guard plate outwardly or inwardly rotate.Before kick revolution driving
Device, side kick back turn driver respectively with more rods virtual shaft revolution driving devices two-by-two or three is coordinated, can simulate come
The various movement locus of human hip.Wherein more rods virtual shaft revolution driving devices drive two drive rods to rotate, and drive rod leads to
Crossing the first follower lever, the second follower lever and the 3rd follower lever can drive thigh side guard plate elastic and rotate.
The concrete operating principle and mistake of the double six shaft platform mechanisms of joint of vertebral column ectoskeleton are known as：Using two docked up and down
6-dof motion platform reaches 12 degree of freedom, and six upper servoBcylinders and six lower servoBcylinders elongate or shorten, so as to
The athletic posture in various spaces is simulated, the backbone for functions and the human body such as bent over, swayed one's hips for human body, supported has no two
Sample, and reach good support effect.
When different heights people in use, can by replacing the plate of lower stretching structure and upper stretching structure, height compared with
Gao Shi, the longer plate of use, when height is relatively low, the shorter plate of use, the leg for being so equivalent to have adjusted human body is long
Degree.
In conclusion the configuration of the present invention is simple, novel design, spatial degrees of freedom is high, flexibly light, fully alleviates people
The pressure of weight is born, and good power-assisted effect is provided, the weight for bearing weight is substantially increased, is also applied for the elderly and climbs
Stair and the power-assisted of walking, it may also be used for rehabilitation of the medical instrument to patient.
Description of the drawings
Fig. 1 is the backsight structural representation that the present invention is worn on human body；
Fig. 2 is the right view of Fig. 1；
Fig. 3 is dimensional structure diagram of the invention in Fig. 1；
Fig. 4 is the explosive view of hip joint ectoskeleton multi-bar linkage in Fig. 3；
Fig. 5 is the enlarged plan view of the double six shaft platform mechanisms of joint of vertebral column ectoskeleton in Fig. 3；
Fig. 6 is the structure diagram of middle annulus seat in Fig. 5.
Specific embodiment
As shown in figs 1 to 6, the trunk mechanical exoskeleton device for being used to connect four limbs exoskeleton mechanism of the invention,
Including sequentially connected shoulder joint ectoskeleton multi-bar linkage 1 from top to bottom, the double six shaft platform mechanisms 2 of joint of vertebral column ectoskeleton and hip
Joint ectoskeleton multi-bar linkage 3, shoulder joint ectoskeleton multi-bar linkage 1 is identical with the construction of hip joint ectoskeleton multi-bar linkage 3, ridge
The top and bottom of the double six shaft platform mechanisms 2 of column joint ectoskeleton respectively among 1 bottom of shoulder joint ectoskeleton multi-bar linkage and
The crown center of hip joint ectoskeleton multi-bar linkage 3 is fixedly connected.
Hip joint ectoskeleton multi-bar linkage 3 includes middle part connecting plate 4, and 4 left side of middle part connecting plate and right side are respectively equipped with one
A more bar drive systems of symmetrical Three dimensional rotation；
The more bar drive systems of Three dimensional rotation in left side include more rods virtual shaft revolution driving devices 5, side kick back turn driver 6,
Before kick back that turn driver 7, the first mounting base 8, the second mounting base 9, connecting rod 10, drive rod 11, the first follower lever 12, second driven
Bar 13, the 3rd follower lever 14 and thigh side guard plate 15, more rods virtual shaft revolution driving devices 5 mutually turn center line water along the longitudinal direction
Flat to set, side, which kicks back, to be turned the centre of gyration line of driver 6 and is arranged in vertical, and preceding kick back turns the center line of driver 7 along left
Right direction is horizontally disposed with, and side, which kicks back, to be turned the front side of driver 6 and be fixedly connected with the rear side of middle part connecting plate 4, and revolution driving is kicked in side
6 rear side power output end of device is connected with 8 front side of the first mounting base, and more rods virtual shaft revolution driving devices 5 are located at the first mounting base 8
On, the power output end that 15 upper left-hand of thigh side guard plate turns driver 7 with before kicking back is connected, and preceding kick back turns driver 7 and be located at
In second mounting base 9.
Connecting rod 10, drive rod 11, the first follower lever 12, the second follower lever 13 and the 3rd follower lever 14 are equipped with two, more
Rear end of the top and bottom of the power output shaft of rods virtual shaft revolution driving device 5 respectively with a drive rod 11 is fixedly connected,
The rear end of piece first follower lever 12 is hinged on the top of the first mounting base 8, and the rear end of another first follower lever 12 is hinged on
The hinge joint of the bottom of first mounting base 8, the first follower lever 12 and the first mounting base 8 is located at more rods virtual shaft revolution driving devices 5
Power output shaft front side, the front end of drive rod 11 and the rear end of the 3rd follower lever 14 be hinged, 12 rear end of the first follower lever with
10 right end of connecting rod is fixedly connected, and the left end of connecting rod 10 is hinged with 13 rear end of the second follower lever, the rear portion of the 3rd follower lever 14 and company
The right end of bar 10 is hinged, and 14 front end of the 3rd follower lever on top is hinged on 9 top right side of the second mounting base, and the second of top is driven
13 front end of bar is hinged on 9 top left side of the second mounting base, and 14 front end of the 3rd follower lever of lower part is hinged on 9 bottom of the second mounting base
Right side, 13 front end of the second follower lever of lower part are hinged on 9 bottom left of the second mounting base.
15 front side of thigh side guard plate and rear side are respectively equipped with front arc baffle 16 and rear arc baffle 17, left side Three dimensional rotation
Dismountable left thigh is equipped between the front arc baffle 16 of more bar drive systems and rear arc baffle 17 and fixes band 18, right side three
Dimension, which rotates, is equipped with dismountable right thigh fixation band 36 between the front arc baffle 16 of more bar drive systems and rear arc baffle 17.
The double six shaft platform mechanisms 2 of joint of vertebral column ectoskeleton include upper link block 19, lower connecting block 20, lower annulus seat 21, in
The lower surface for being located at link block 19, lower annulus seat 21 are fixed in annulus seat 22 and upper annulus seat 23, the upper surface of upper annulus seat 23
Lower surface fix and be located at the upper surface of lower connecting block 20, upper 19 front side of link block is fixedly connected on the more bar machines of shoulder joint ectoskeleton
In the middle part of the rear side surface of the middle part connecting plate 4 of structure 1,20 front side of lower connecting block is fixedly connected on hip joint ectoskeleton multi-bar linkage 3
Middle part connecting plate 4 rear side surface in the middle part of, between lower 21 upper surface of annulus seat and middle 22 lower surface of annulus seat be equipped with the six roots of sensation under
ServoBcylinder 24 is equipped with servoBcylinder 25 in the six roots of sensation between middle 22 upper surface of annulus seat and upper 23 lower surface of annulus seat, servo under the six roots of sensation
Flexural pivot is distinguished on middle annulus seat 22 in the upper end of cylinder 24, and flexural pivot is distinguished on lower annulus seat 21 in the lower end of servoBcylinder 24 under the six roots of sensation,
Flexural pivot is distinguished on upper annulus seat 23 in the upper end of servoBcylinder 25 in the six roots of sensation, and flexural pivot is distinguished in middle circle in the lower end of servoBcylinder 25 in the six roots of sensation
In ring seat 22；It is equipped with to bear the braced frame of weight between upper link block 19 and lower connecting block 20（It is not illustrated in figure
Come）.
Upper 23 lower surface of annulus seat is equipped with six upper hinges being located on the circle that 23 center of more than annulus seat is the center of circle
Ball（It does not illustrate and in figure）, each two upper hinge ball is one group and is disposed adjacent, and three groups of upper hinge balls are along upper annulus seat 23
The heart is evenly arranged.
Lower 21 upper surface of annulus seat, which is equipped with, is located at following 21 center of annulus seat for six lower hinges on a circle in the center of circle
Ball（It does not illustrate and in figure）, each two lower hinge ball is one group and is disposed adjacent, and three groups of lower hinge balls are along lower annulus seat 21
The heart is evenly arranged；Six upper hinge balls and six lower hinge balls correspond setting up and down.
Middle annulus seat 22, which is equipped with, to be located at using middle 22 center of annulus seat as six mounting holes on a circle in the center of circle, and every two
A mounting hole is one group and is disposed adjacent, and three groups of mounting holes are evenly arranged at 22 center of annulus seat in, and each group of mounting hole is hanging down
The upward projection of Nogata is located between two adjacent groups lower hinge ball, and mounting post 27, mounting post are fixed in each mounting hole
Hinge ball 26 during 27 lower ends are equipped be located at middle 22 lower section of annulus seat first, 27 upper end of mounting post, which is equipped with, to be located on middle annulus seat 22
Hinge ball 28 in the second of side.
The top and bottom of servoBcylinder 25 are equipped with ball-and-socket in the six roots of sensation, and correspondence is rotatably connected on six upper hinge balls respectively
In the upper ball-and-socket of one upper 25 upper end of servoBcylinder, the correspondence of hinge ball 28 is rotatably connected under a upper servoBcylinder 25 in six second
In the upper ball-and-socket at end.
The top and bottom of servoBcylinder 24 are equipped with lower ball-and-socket under the six roots of sensation, and correspondence is rotatably connected on six lower hinge balls respectively
In the lower ball-and-socket of one lower 24 lower end of servoBcylinder, the correspondence of hinge ball 26 is rotatably connected on a lower servoBcylinder 24 in six first
In the lower ball-and-socket at end.
More rods virtual shaft revolution driving devices 5, side kick back turn driver 6, preceding kick back turns driver 7 and knee joint revolution driving
Device 33 is decelerating motor, rotating servo cylinder or rotating servo hydraulic cylinder.
Upper servoBcylinder 25 and lower servoBcylinder 24 are linear hydraulic cylinder, cylinder or electric cylinder.
The side guard plate of 1 left and right sides of shoulder joint ectoskeleton multi-bar linkage in the present invention can be with upper limb exoskeleton device（Figure
In do not illustrate come）Connection, for driving and coordinating the spatial movement of upper limb, and provides good company for upper limb exoskeleton device
Connect positioning action.A lower limb foot supports ectoskeleton machine is connected at left and right sides of the lower part of hip joint ectoskeleton multi-bar linkage respectively
Structure.
The construction of two lower limb foot supports exoskeleton mechanisms is identical and symmetrical, the lower limb foot supports dermoskeleton in left side
Bone mechanism includes sole 29 and thigh connecting plate 30, and being equipped with foot between 29 left side of sole and right side fixes band 31, sole
29 left side of plate is equipped with backplate 32 under shank, and 30 lower end of thigh connecting plate is fixed with knee joint revolution driving device 33, and knee joint returns
The power output end for turning driver 33 is connected with shank upper guard board 34,34 lower end of shank upper guard board and 32 upper end of backplate under shank it
Between connected by lower stretching structure, 30 upper end of thigh connecting plate and thigh side guard plate are connected between 15 lower end by upper stretching structure
It connects；Lower stretching structure is identical with the construction of upper stretching structure.
Lower stretching structure is included in the lower slot for the lower end opening that 34 lower face of shank upper guard board opens up and under shank
The upper slot for the upper end opening that 32 upper surface of backplate offers, upper slot and lower slot are correspondingly arranged up and down, upper slot and underthrust
Plate 35 is inserted in slot, shank upper guard board 34 is connected by two upper bolts 37 with 35 top of plate, and backplate 32 is logical under shank
Two lower bolts 38 are crossed to be connected with 35 lower part of plate.
Since shoulder joint ectoskeleton multi-bar linkage 1 is identical with the construction of hip joint ectoskeleton multi-bar linkage 3, shoulder joint
The specific configuration of section ectoskeleton multi-bar linkage 1 repeats no more.Human body is worn by the present invention, shoulder joint ectoskeleton multi-bar linkage 1, ridge
The double six shaft platform mechanisms 2 of column joint ectoskeleton, hip joint ectoskeleton multi-bar linkage 3 are respectively positioned on the rear portion of human body, wherein hip joint
The thigh side guard plate 15 of the both sides of ectoskeleton multi-bar linkage 3 and thigh contact outside, left thigh fix band 18 by the thigh in left side
Side guard plate 15 and the thigh in left side tighten, and right thigh fixes band 36 and tightens the thigh side guard plate 15 on right side and the thigh on right side.
Equally, shoulder joint ectoskeleton multi-bar linkage 1 is also carried out using this wearing mode.Two lower limb foot supports exoskeleton mechanisms are used
In support shoulder joint ectoskeleton multi-bar linkage 1, the double six shaft platform mechanisms 2 of joint of vertebral column ectoskeleton and the more bar machines of hip joint ectoskeleton
Structure 3, the two of people rides on sole 29, fixes band 31 by foot and fixes.It should also include to control in the present invention
More rods virtual shaft revolution driving devices 5, side kick back turn driver 6, it is preceding kick back turn driver 7, knee joint revolution driving device 33, on watch
It takes the intelligent controller of cylinder 25 and lower servoBcylinder 24 and more rods virtual shaft revolution driving devices 5, side kicks back and turn driver in order to control
6th, preceding kick back turns driver 7, knee joint revolution driving device 33, upper servoBcylinder 25, lower servoBcylinder 24 and intelligent controller power supply
Power supply.
The concrete operating principle and mistake of hip joint ectoskeleton multi-bar linkage 3 are known as：When taking a step forward, knee joint revolution driving
Device 33 drives under shank backplate 32 and shank upper guard board 34 to forward, the shank of human body with stepping forward, meanwhile, preceding kick back turns to drive
Dynamic device 7 drives big leg guard to turn forward.If leg is inwardly or during outer kick side, side, which kicks back, to be turned driver 6 and passes through the first installation
Seat 8, drive rod 11, the first follower lever 12, the second follower lever 13 and the 3rd follower lever 14 driving thigh side guard plate 15 inwardly or to
Outer rotation.Before kick back turn driver 7, side kick back turn driver 6 respectively with more rods virtual shaft revolution driving devices 5 two-by-two or three
Coordinated, the various movement locus for carrying out human hip can be simulated.Wherein more rods virtual shaft revolution driving devices 5 drive two
A drive rod 11 rotates, and drive rod 11 can be driven greatly by the first follower lever 12, the second follower lever 13 and the 3rd follower lever 14
Leg side guard plate 15 is elastic and rotates.
The concrete operating principle and mistake of the double six shaft platform mechanisms 2 of joint of vertebral column ectoskeleton are known as：Using two docked up and down
A 6-dof motion platform reaches 12 degree of freedom, and six upper servoBcylinders 25 and six lower servoBcylinders 24 elongate or shorten, from
And the athletic posture in various spaces can be simulated, the backbone milli for functions and the human body such as bent over, swayed one's hips for human body, supported
Without difference, and reach good support effect.
When the people of different heights is in use, can pass through the plate 35 of stretching structure and upper stretching structure under replacing, height
When higher, the longer plate 35 of use, when height is relatively low, the shorter plate 35 of use is so equivalent to have adjusted human body
Leg length.
The above embodiments are only used to illustrate and not limit the technical solutions of the present invention, although with reference to above-described embodiment to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Still can the present invention be modified or be waited
With replacing, without departing from the spirit or scope of the invention, or any substitutions, the power in the present invention should all be covered
Among sharp claimed range.
Claims (6)
1. for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is characterised in that：Including from top to bottom
The double six shaft platform mechanisms of sequentially connected shoulder joint ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton and the more bars of hip joint ectoskeleton
Mechanism, shoulder joint ectoskeleton multi-bar linkage is identical with the construction of hip joint ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton double six
The top and bottom of shaft platform mechanism respectively with shoulder joint ectoskeleton multi-bar linkage bottom among and the more bar machines of hip joint ectoskeleton
The crown center of structure is fixedly connected；
Hip joint ectoskeleton multi-bar linkage includes middle part connecting plate, and middle part connecting plate left side and right side are respectively equipped with one or so pair
The more bar drive systems of Three dimensional rotation of title；
The more bar drive systems of Three dimensional rotation in left side include more rods virtual shaft revolution driving devices, side and kick back turning driver, preceding kicking back
Turn driver, the first mounting base, the second mounting base, connecting rod, drive rod, the first follower lever, the second follower lever, the 3rd follower lever and
Thigh side guard plate, more rods virtual shaft revolution driving devices mutually turn center line and are horizontally disposed with along the longitudinal direction, and side, which kicks back, turns driver
Centre of gyration line be arranged in vertical, preceding kick back turns the center line of driver and is horizontally disposed in left-right direction, and side, which kicks back, to be turned
With being fixedly connected on rear side of middle part connecting plate, side, which kicks back, turns power output end and the first installation on rear side of driver for the front side of driver
The connection of seat front side, more rods virtual shaft revolution driving devices are located in the first mounting base, and thigh side guard plate upper left-hand turns with before kicking back
The power output end connection of driver, preceding kick back turn driver and are located in the second mounting base；
Connecting rod, drive rod, the first follower lever, the second follower lever and the 3rd follower lever are equipped with two, and more rods virtual shaft revolutions are driven
Rear end of the top and bottom of the power output shaft of dynamic device respectively with a drive rod is fixedly connected, after first follower lever
End is hinged on the top of the first mounting base, and the rear end of another first follower lever is hinged on the bottom of the first mounting base, first from
The hinge joint of lever and the first mounting base is located at the front side of the power output shaft of more rods virtual shaft revolution driving devices, before drive rod
End and the rear end of the 3rd follower lever are hinged, and the first driven rod rear end is fixedly connected with connecting rod right end, the left end of connecting rod and second from
Lever rear end is hinged, and the rear portion of the 3rd follower lever and the right end of connecting rod are hinged, and the 3rd follower lever front end on top is hinged on second
Mounting base top right side, the second follower lever front end on top are hinged on the second mounting base top left side, the 3rd follower lever of lower part
Front end is hinged on the second mounting base bottom right, and the second follower lever front end of lower part is hinged on the second mounting base bottom left.
2. it is according to claim 1 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is special
Sign is：On front side of thigh side guard plate and rear side is respectively equipped with front arc baffle and rear arc baffle, and Three dimensional rotation more bars in left side drive
Dynamic that dismountable left thigh fixation band is equipped between the front arc baffle of system and rear arc baffle, Three dimensional rotation more bars in right side drive
It is dynamic that dismountable right thigh fixation band is equipped between the front arc baffle of system and rear arc baffle.
3. it is according to claim 1 or 2 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism,
It is characterized in that：The double six shaft platform mechanisms of joint of vertebral column ectoskeleton include upper link block, lower connecting block, lower annulus seat, middle annulus seat
With upper annulus seat, the lower surface for being located at link block is fixed in the upper surface of upper annulus seat, and the lower surface of lower annulus seat, which is fixed, to be located at
The upper surface of lower connecting block, upper link block front side are fixedly connected on the rear side of the middle part connecting plate of shoulder joint ectoskeleton multi-bar linkage
Surface middle part, in the rear side surface for the middle part connecting plate for being fixedly connected on hip joint ectoskeleton multi-bar linkage on front side of lower connecting block
Portion is equipped with servoBcylinder under the six roots of sensation, middle annulus seat upper surface and upper annulus between lower annulus seat upper surface and middle annulus seat lower surface
Seat is equipped with servoBcylinder in the six roots of sensation between lower surface, and flexural pivot is distinguished on middle annulus seat in the upper end of servoBcylinder under the six roots of sensation, is watched under the six roots of sensation
Flexural pivot is distinguished on lower annulus seat in the lower end for taking cylinder, and flexural pivot is distinguished on upper annulus seat in the upper end of servoBcylinder in the six roots of sensation, in the six roots of sensation
Flexural pivot is distinguished on middle annulus seat in the lower end of servoBcylinder；It is equipped with to bear the support of weight between upper link block and lower connecting block
Frame.
4. it is according to claim 3 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is special
Sign is：Upper annulus seat lower surface is equipped with six upper hinge balls being located on the circle that more than annulus seat center is the center of circle, often
Two upper hinge balls is one groups and are disposed adjacent, and three groups of upper hinge balls are evenly arranged along upper annulus seat center；
Lower annulus seat upper surface, which is equipped with, is located at following annulus seat center for six lower hinge balls on a circle in the center of circle, each two
Lower hinge ball is one group and is disposed adjacent, and three groups of lower hinge balls are evenly arranged along lower annulus seat center；Six upper hinge balls and six
A lower hinge ball corresponds setting up and down；
Middle annulus seat, which is equipped with, to be located at using middle annulus seat center as six mounting holes on a circle in the center of circle, each two mounting hole
It for one group and is disposed adjacent, three groups of mounting holes are evenly arranged at annulus seat center in, and each group of mounting hole is in vertical direction
Projection is fixed with mounting post between two adjacent groups lower hinge ball in each mounting hole, mounting post lower end, which is equipped with, to be located at
Below middle annulus seat first in hinge ball, mounting post upper end be equipped be located at middle annulus seat above second in hinge ball；
The top and bottom of servoBcylinder are equipped with ball-and-socket in the six roots of sensation, and correspondence is rotatably connected on one six upper hinge balls respectively
In the upper ball-and-socket of servoBcylinder upper end, hinge ball correspondence is rotatably connected on the upper ball-and-socket of a upper servoBcylinder lower end in six second
It is interior；
The top and bottom of servoBcylinder are equipped with lower ball-and-socket under the six roots of sensation, and correspondence is rotatably connected under one six lower hinge balls respectively
In the lower ball-and-socket of servoBcylinder lower end, hinge ball correspondence is rotatably connected on the lower ball-and-socket of a lower servoBcylinder upper end in six first
It is interior.
5. it is according to claim 1 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is special
Sign is：More rods virtual shaft revolution driving devices, side kick back turn driver and before kick back turn driver for decelerating motor, rotating servo
Cylinder or rotating servo hydraulic cylinder.
6. it is according to claim 3 for connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism, it is special
Sign is：Upper servoBcylinder and lower servoBcylinder are linear hydraulic cylinder, cylinder or electric cylinder.
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| CN201610684158.4A CN106112988B (en) | 2016-08-18 | 2016-08-18 | For connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism |
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| CN201610684158.4A CN106112988B (en) | 2016-08-18 | 2016-08-18 | For connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR3072598B1 (en) * | 2017-10-24 | 2019-11-22 | Safran Electronics & Defense | EXOSQUELET STRUCTURE ADAPTED TO THE SHOULDER |
| CN109108943A (en) * | 2018-09-19 | 2019-01-01 | 天津大衍天成科技有限公司 | A kind of pure manpower exoskeleton system |
| CN110181489A (en) * | 2019-06-25 | 2019-08-30 | 知因(台州)机器人科技有限公司 | The adjusting chassis overhang and upper half of human body ectoskeleton of upper half of human body ectoskeleton |
| CN110946742B (en) * | 2019-12-02 | 2021-11-19 | 南京伟思医疗科技股份有限公司 | Device and method for assisting lower limb robot to transfer gravity center by aid of weight reduction vehicle |
| CN113826973B (en) * | 2021-09-27 | 2023-04-25 | 国网江苏省电力有限公司扬州供电分公司 | High-altitude operation safety protection glove |
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