CN106112989B - The wearable decompression power-assisted machinery exoskeleton device of human body - Google Patents
The wearable decompression power-assisted machinery exoskeleton device of human body Download PDFInfo
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- CN106112989B CN106112989B CN201610684165.4A CN201610684165A CN106112989B CN 106112989 B CN106112989 B CN 106112989B CN 201610684165 A CN201610684165 A CN 201610684165A CN 106112989 B CN106112989 B CN 106112989B
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- annulus seat
- bar linkage
- servobcylinder
- follower lever
- shank
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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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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The wearable decompression power-assisted machinery exoskeleton device of human body, 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, hip joint ectoskeleton multi-bar linkage and two shank foots support exoskeleton mechanism, shoulder joint ectoskeleton multi-bar linkage is identical with the construction of hip joint ectoskeleton multi-bar linkage, the top and bottom of the double six shaft platform mechanisms of joint of vertebral column ectoskeleton are fixedly connected among the shoulder joint ectoskeleton multi-bar linkage bottom and top center of hip joint ectoskeleton multi-bar linkage respectively, the upper end of each shank foot support exoskeleton mechanism is connect with the lower end left and right side of hip joint ectoskeleton multi-bar linkage respectively.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 decompression power assisting devices for bearing weight, and in particular to a kind of human body is wearable to be subtracted
Press power-assisted machinery exoskeleton device.
Background technology
For people when bearing weight, lower limb and backbone can be by immense pressures, and the limit for bearing weight weight is smaller.
Especially 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.Especially 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.Currently, multiple degrees of freedom, big model can be realized
The movable decompression power assisting device for bearing weight, walking and climbing building is enclosed on the market not yet to occur.
Invention content
The present invention provides a kind of simple in structure, highly reliable, effect of easing stress to solve shortcoming in 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
The wearable decompression power-assisted machinery exoskeleton device of human body.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：The wearable decompression power-assisted machinery dermoskeleton of human body
Bone device, including the double six shaft platform machines of sequentially connected shoulder joint ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton from top to bottom
Structure, hip joint ectoskeleton multi-bar linkage and two shank foots support exoskeleton mechanism, shoulder joint ectoskeleton multi-bar linkage and hip
The construction of joint 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
It is fixedly connected with the top center of hip joint ectoskeleton multi-bar linkage among the ectoskeleton multi-bar linkage bottom of joint, each shank foot
The upper end of portion's support exoskeleton mechanism is connect with the lower end left and right side of hip joint ectoskeleton multi-bar linkage respectively.
Hip joint ectoskeleton multi-bar linkage includes middle part connecting plate, and middle part connecting plate left and right side is 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 that more rods virtual shaft revolution driving devices, side kick back and turn driver, preceding
Kick back that turn driver, the first mounting base, the second mounting base, connecting rod, drive rod, the first follower lever, the second follower lever, third 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 turn 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
It is fixedly connected on rear side of the front side of revolution driving device and middle part connecting plate, side, which kicks back, turns power output end and first on rear side of driver
Connection, more rods virtual shaft revolution driving devices are located in the first mounting base on front side of mounting base, thigh side guard plate upper left-hand with before kick
The power output end of revolution driving device connects, and preceding kick back turns driver and be located in the second mounting base；
Connecting rod, drive rod, the first follower lever, the second follower lever and third follower lever are equipped with two, and more rods virtual shafts return
The top and bottom for turning the power output shaft of driver are fixedly connected with the rear end of a drive rod respectively, 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 third follower lever rear end it is hinged, the first driven rod rear end is fixedly connected with connecting rod right end, the left end of connecting rod and the
Two driven rod rear ends are hinged, and the rear portion of third follower lever and the right end of connecting rod are hinged, and the third 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 third of lower part 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
It is equipped with dismountable left thigh between the front arc baffle and rear arc baffle of dynamic system and fixes band, Three dimensional rotation more bars in right side drive
It is equipped with dismountable right thigh between the front arc baffle and rear arc baffle of dynamic system and fixes band.
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；The support frame for bearing weight is equipped 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 above annulus seat center is the center of circle, often
Two upper hinge balls are one group and are disposed adjacent that three groups of upper hinge balls are evenly arranged along upper annulus seat center；
Lower annulus seat upper surface is equipped with six lower hinge balls being located on the circle that following annulus seat center is the center of circle, often
Two lower hinge balls are one group and are disposed adjacent that three groups of lower hinge balls are evenly arranged along lower annulus seat center；Six upper hinge balls
It is arranged in a one-to-one correspondence up and down with six lower hinge balls；
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 corresponds to the upper ball for being rotatably connected on 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 corresponds to the lower ball for being rotatably connected on a lower servoBcylinder upper end in six first
In nest.
The shank foot support exoskeleton mechanism in left side includes sole and thigh connecting plate, sole left and right side it
Between be equipped with foot and fix band, backplate under shank is equipped on the left of sole, thigh connecting plate lower end is fixed with knee joint revolution and drives
The power output end of dynamic device, knee joint revolution driving device is connected with shank upper guard board, shank upper guard board lower end and backplate under shank
It is connected by lower stretching structure between upper end, is connected by upper stretching structure between thigh connecting plate upper end and thigh side guard plate lower end
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 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 connect by two upper bolts with plate top, under shank backplate by two lower bolts and
Plate lower part connects.
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, due to the construction of shoulder joint ectoskeleton multi-bar linkage and hip joint ectoskeleton multi-bar linkage
Identical, therefore, the specific configuration of shoulder joint ectoskeleton multi-bar linkage repeats no more.Human body is worn by the present invention, shoulder joint dermoskeleton
The double six shaft platform mechanisms of bone multi-bar linkage, joint of vertebral column ectoskeleton, hip joint ectoskeleton multi-bar linkage are respectively positioned on the rear portion of human body,
The thigh side guard plate of the wherein both sides of hip joint ectoskeleton multi-bar linkage is contacted with big leg outer side, and left thigh fixes band by left side
Thigh side guard plate and the thigh in left side tighten, and right thigh fixes band and tightens the thigh of the thigh side guard plate on right side and right side.Together
Sample, shoulder joint ectoskeleton multi-bar linkage are also carried out using this wearing mode.Two shank foot support exoskeleton mechanisms are used for
The double six shaft platform mechanisms of shoulder joint ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton and hip joint ectoskeleton multi-bar linkage are supported,
The two of people ride on sole, and it is fixed to fix band by foot.Should also include virtual for controlling more bars in the present invention
Axis revolution driving device, side kick back turn driver, preceding kick back turns driver, knee joint revolution driving device, upper servoBcylinder and lower servo
The intelligent controller of cylinder, and in order to control more rods virtual shaft revolution driving devices, side kick back turn driver, it is preceding kick back turn driver,
The power supply of knee joint revolution driving device, upper 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
Device drives under shank backplate and shank upper guard board to forward, 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 when 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 third 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 coordinates, can simulate come
The various movement locus of human hip.Wherein more rods virtual shaft revolution driving devices drive two drive rod rotations, drive rod logical
Crossing the first follower lever, the second follower lever and third 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 backbone of the athletic posture for simulating various spaces, 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 the plate of replacement lower stretching structure and upper stretching structure, height compared with
Gao Shi, using longer plate, when height is relatively low, the shorter plate of use, the leg for being equivalent to have adjusted human body in this way is long
Degree.
Side guard plate at left and right sides of shoulder joint ectoskeleton multi-bar linkage can be connect with upper limb exoskeleton device, for driving simultaneously
Coordinate the spatial movement of upper limb, and good connection positioning action is provided for upper limb exoskeleton device.
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
The power-assisted of stair and 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 outside shoulder joint ectoskeleton multi-bar linkage in Fig. 1, the double six shaft platform mechanisms of joint of vertebral column ectoskeleton and hip joint
The dimensional structure diagram of bone multi-bar linkage；
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 structural schematic diagram of middle annulus seat in Fig. 5.
Specific implementation mode
As shown in figs 1 to 6, the wearable decompression power-assisted machinery exoskeleton device of human body of the invention, including from top to bottom according to
Shoulder joint ectoskeleton multi-bar linkage 1, joint of vertebral column ectoskeleton double six shaft platform mechanisms 2, the more bars of hip joint ectoskeleton of secondary connection
Mechanism 3 and two shank foots support exoskeleton mechanism, shoulder joint ectoskeleton multi-bar linkage 1 and hip joint ectoskeleton multi-bar linkage
3 construction is identical, the top and bottom of the double six shaft platform mechanisms 2 of joint of vertebral column ectoskeleton respectively with the more bar machines of shoulder joint ectoskeleton
It is fixedly connected with the top center of hip joint ectoskeleton multi-bar linkage 3 among 1 bottom of structure, each shank foot supports ectoskeleton machine
The upper end of structure is connect with the lower end left and right side of hip joint ectoskeleton multi-bar linkage 3 respectively.
Hip joint ectoskeleton multi-bar linkage 3 includes middle part connecting plate 4, and 4 left and right side of middle part connecting plate is 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, third 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 setting, side, which kicks back, to be turned the centre of gyration line of driver 6 and is arranged in vertical, and the preceding center line for turning driver 7 that kicks back is along left
Right direction is horizontally disposed, 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 connect 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, 15 upper left-hand of thigh side guard plate is connect with the power output end for turning driver 7 is before kicked back, 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 third follower lever 14 are equipped with two, more
The top and bottom of the power output shaft of rods virtual shaft revolution driving device 5 are fixedly connected with the rear end of a drive rod 11 respectively,
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 third follower lever 14 are 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 and 13 rear end of the second follower lever are hinged, the rear portion of third follower lever 14 and company
The right end of bar 10 is hinged, and 14 front end of third 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 third follower lever of lower part is hinged on 9 bottom of the second mounting base
Second follower lever, 13 front end on right side, lower part is 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
It is equipped with dismountable left thigh between the front arc baffle 16 and rear arc baffle 17 of more bar drive systems and fixes band 18, right side three
It is equipped with dismountable right thigh between the front arc baffle 16 and rear arc baffle 17 of the more bar drive systems of dimension rotation and fixes band 36.
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 20,19 front side of upper 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；The braced frame for bearing weight is equipped 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 above 23 center of 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 is equipped with six lower hinges being located on the circle that following 21 center of annulus seat is 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 are arranged in a one-to-one correspondence 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 that 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 histogram 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 22 lower section of middle 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 24 lower end of lower 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.
The shank foot support exoskeleton mechanism in left side includes sole 29 and thigh connecting plate 30,29 left side of sole and
It is equipped with foot between right side and fixes band 31,29 left side of sole is equipped with backplate 32 under shank, and 30 lower end of thigh connecting plate is fixed and set
There is a knee joint revolution driving device 33, the power output end of knee joint revolution driving device 33 is connected with shank upper guard board 34, on shank
It is connected by lower stretching structure between 32 upper end of backplate under 34 lower end of backplate and shank, 30 upper end of thigh connecting plate is protected with thigh side
Plate is connected between 15 lower end by upper stretching structure；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 connect by two upper bolts 37 with 35 top of plate, and backplate 32 is logical under shank
Two lower bolts 38 are crossed to connect with 35 lower part of plate.
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.
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 is contacted with big leg outer side, and left thigh fixes 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 shank foot support 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.Should also include for controlling 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
The intelligent controller of cylinder 25 and lower servoBcylinder 24 is taken, and more rods virtual shaft revolution driving devices 5, side kick back and turn driver in order to control
6, 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 when 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 third follower lever 14 drive 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 third 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 replacement lower stretching structure and upper stretching structure, height
When higher, using longer plate 35, when height is relatively low, the shorter plate 35 of use is equivalent to have adjusted human body in this way
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
In sharp claimed range.
Claims (9)
1. the wearable decompression power-assisted machinery exoskeleton device of human body, it is characterised in that：Including sequentially connected shoulder joint from top to bottom
Save the double six shaft platform mechanisms of ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton, hip joint ectoskeleton multi-bar linkage and two shanks
Foot supports exoskeleton mechanism, shoulder joint ectoskeleton multi-bar linkage is identical with the construction of hip joint ectoskeleton multi-bar linkage, backbone
It is closed respectively with hip among shoulder joint ectoskeleton multi-bar linkage bottom the top and bottom of the double six shaft platform mechanisms of joint ectoskeleton
The top center of section ectoskeleton multi-bar linkage is fixedly connected, and the upper end of each shank foot support exoskeleton mechanism is closed with hip respectively
Save the lower end left and right side connection of ectoskeleton multi-bar linkage.
2. the wearable decompression power-assisted machinery exoskeleton device of human body according to claim 1, it is characterised in that：Outside hip joint
Bone multi-bar linkage includes middle part connecting plate, and middle part connecting plate left and right side is respectively equipped with a symmetrical Three dimensional rotation
More bar drive systems；
The more bar drive systems of Three dimensional rotation in left side include that more rods virtual shaft revolution driving devices, side kick back and turn driver, preceding kick back
Turn driver, the first mounting base, the second mounting base, connecting rod, drive rod, the first follower lever, the second follower lever, third 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
It is fixedly connected on rear side of the front side of driver and middle part connecting plate, side, which kicks back, turns power output end and the first installation on rear 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 and before kicking back turns
The power output end of driver connects, and preceding kick back turns driver and be located in the second mounting base；
Connecting rod, drive rod, the first follower lever, the second follower lever and third follower lever are equipped with two, and more rods virtual shaft revolutions are driven
The top and bottom of the power output shaft of dynamic device are fixedly connected with the rear end of a drive rod respectively, 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 is hinged with the rear end of third follower lever, 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 third follower lever and the right end of connecting rod are hinged, and the third follower lever front end on top is hinged on second
Second follower lever front end of mounting base top right side, top is hinged on the second mounting base top left side, the third 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.
3. the wearable decompression power-assisted machinery exoskeleton device of human body according to claim 2, it is characterised in that：Thigh side is protected
On front side of plate and rear side is respectively equipped with front arc baffle and rear arc baffle, the front arc gear of the more bar drive systems of left side Three dimensional rotation
It is equipped with dismountable left thigh between plate and rear arc baffle and fixes band, the front arc gear of the more bar drive systems of right side Three dimensional rotation
It is equipped with dismountable right thigh between plate and rear arc baffle and fixes band.
4. the wearable decompression power-assisted machinery exoskeleton device of human body according to claim 2 or 3, it is characterised in that：Backbone
Ectoskeleton double six shaft platform mechanisms in joint include upper link block, lower connecting block, lower annulus seat, middle annulus seat and upper annulus seat, on
The lower surface for being located at link block is fixed in the upper surface of annulus seat, and the upper table for being located at lower connecting block is fixed in the lower surface of lower annulus seat
Face, upper link block front side are fixedly connected on the rear side surface middle part of the middle part connecting plate of shoulder joint ectoskeleton multi-bar linkage, lower company
In the middle part of the rear side surface for connecing the middle part connecting plate for being fixedly connected on hip joint ectoskeleton multi-bar linkage on front side of block, lower annulus seat upper table
It is equipped with servoBcylinder under the six roots of sensation between face and middle annulus seat lower surface, is equipped between middle annulus seat upper surface and upper annulus seat lower surface
ServoBcylinder in the six roots of sensation, flexural pivot is distinguished on middle annulus seat in the upper end of servoBcylinder under the six roots of sensation, and ball is distinguished in the lower end of servoBcylinder under the six roots of sensation
Hinge is on lower annulus seat, and flexural pivot is distinguished on upper annulus seat in the upper end of servoBcylinder in the six roots of sensation, the lower end difference of servoBcylinder in the six roots of sensation
Flexural pivot is on middle annulus seat；The braced frame for bearing weight is equipped between upper link block and lower connecting block.
5. the wearable decompression power-assisted machinery exoskeleton device of human body according to claim 4, it is characterised in that：Upper annulus seat
Lower surface is equipped with six upper hinge balls being located on the circle that above annulus seat center is the center of circle, and each two upper hinge ball is one
It group and is disposed adjacent, three groups of upper hinge balls are evenly arranged along upper annulus seat center；
Lower annulus seat upper surface is equipped with six lower hinge balls being located on the circle that following annulus seat center is the center of circle, each two
Lower hinge ball is one group and is disposed adjacent that three groups of lower hinge balls are evenly arranged along lower annulus seat center；Six upper hinge balls and six
A lower hinge ball is arranged in a one-to-one correspondence 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 corresponds to the upper ball-and-socket for being rotatably connected on 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 corresponds to the lower ball-and-socket for being rotatably connected on a lower servoBcylinder upper end in six first
It is interior.
6. the wearable decompression power-assisted machinery exoskeleton device of human body according to claim 2 or 3, it is characterised in that：Left side
Shank foot support exoskeleton mechanism include sole and thigh connecting plate, it is solid equipped with foot between sole left and right side
Determine band, backplate under shank is equipped on the left of sole, thigh connecting plate lower end is fixed with knee joint revolution driving device, and knee joint returns
The power output end for turning driver is connected with shank upper guard board, under passing through between backplate upper end under shank upper guard board lower end and shank
Stretching structure connects, and is connected by upper stretching structure between thigh connecting plate upper end and thigh side guard plate lower end；Lower stretching structure
It is identical with the construction of upper stretching structure.
7. the wearable decompression power-assisted machinery exoskeleton device of human body according to claim 6, it is characterised in that：Lower flexible knot
Structure is included in the lower slot of the lower end opening that shank upper guard board lower face opens up and backplate upper surface offers under shank
The upper slot of upper end opening, upper slot and lower slot are correspondingly arranged up and down, and upper slot and lower slot interpolation are equipped with plate, on shank
Backplate is connect by two upper bolts with plate top, and backplate is connect by two lower bolts with plate lower part under shank.
8. the wearable decompression power-assisted machinery exoskeleton device of human body according to claim 6, it is characterised in that：More bars are virtual
Axis revolution driving device, side, which kick back, to be turned driver, preceding kicks back that turn driver and knee joint revolution driving device be that decelerating motor, rotation are watched
Convinced cylinder or rotating servo hydraulic cylinder.
9. the wearable decompression power-assisted machinery exoskeleton device of human body according to claim 4, it is characterised in that：Upper servoBcylinder
It is linear hydraulic cylinder, cylinder or electric cylinder with lower servoBcylinder.
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| CN201610684165.4A CN106112989B (en) | 2016-08-18 | 2016-08-18 | The wearable decompression power-assisted machinery exoskeleton device of human body |
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| CN201610684165.4A CN106112989B (en) | 2016-08-18 | 2016-08-18 | The wearable decompression power-assisted machinery exoskeleton device of human body |
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| KR20200024371A (en) * | 2017-05-25 | 2020-03-06 | 유.에스. 바이오닉스, 인크. | Adjustable trunk and hip assembly for exoskeleton appartus |
| CN110202543B (en) | 2017-09-07 | 2022-12-27 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
| FR3076237B1 (en) * | 2017-12-28 | 2021-02-19 | Safran Electronics & Defense | EXOSKELETON STRUCTURE |
| CN114378789B (en) * | 2021-12-01 | 2023-06-06 | 杭州程天科技发展有限公司 | Limbs enclasping device and exoskeleton device |
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