CN106965156B - A kind of integrated multiple degrees of freedom lower limb exoskeleton assisting lightness - Google Patents
A kind of integrated multiple degrees of freedom lower limb exoskeleton assisting lightness Download PDFInfo
- Publication number
- CN106965156B CN106965156B CN201710204671.3A CN201710204671A CN106965156B CN 106965156 B CN106965156 B CN 106965156B CN 201710204671 A CN201710204671 A CN 201710204671A CN 106965156 B CN106965156 B CN 106965156B
- Authority
- CN
- China
- Prior art keywords
- joint
- thigh
- hip
- bionic
- ankle
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of integrated multiple degrees of freedom lower limb exoskeleton assisting lightness, is related to bionical wearable exoskeleton robot field；Including back mounting plate, waist connector, hip biomimetic features, hip joint, thigh biomimetic features, knee joint, shank bionic structure, ankle-joint and bionic foot structure；The edge of bionic foot structure upper surface is provided with ankle-joint；Shank bionic structure is fixedly connected with bionic foot structure；Thigh biomimetic features are mounted on the kneed top of shank bionic structure top end；Hip joint is fixedly mounted on the upper end of thigh biomimetic features；Hip biomimetic features are fixedly mounted on the upper end of hip joint；Waist connector is fixedly connected with hip biomimetic features；Back mounting plate is fixedly connected with waist connector vertically；By integrated to each joint freedom degrees, increase active joint drive structure, the lightweight structure form when meeting loading demand enhances man-machine safety and wearing comfort degree, improves ectoskeleton and assist effect the present invention.
Description
Technical field
The present invention relates to a kind of bionical wearable exoskeleton robot fields；It is especially a kind of to assist the integrated more of lightness
Freedom degree lower limb exoskeleton.
Background technique
In science and technology highly developed today, robot has penetrated into all trades and professions, executes various tasks, bionical
Exoskeleton robot is exactly a very important module in robot field, and robot multi-freedom joint can be effective complete
At compound movement, expand the application field of robot, but traditional multi-freedom joint is mainly from the freedom degree group of dispersion
At, or be made of two freedom degrees, scope of activities is smaller, complicated in mechanical structure, overall weight be difficult to realize it is lighter, more
It is submissive.With the continuous development of science and technology, especially after entering 21 century, ectoskeleton power-assisting robot is as a kind of people
The ancillary equipment of body has all obtained unprecedented development in military domain and civil field.
Ectoskeleton power-assisting robot is many kinds of at present, and ectoskeleton power-assisting robot is carried out according to diarthrodial number is driven
Classification, comprising: simple joint ectoskeleton power-assisting robot and multi-joint ectoskeleton power-assisting robot (two or more driving joint).
Simple joint ectoskeleton power-assisting robot is easily discriminated, i.e. hip, knee, ankle ectoskeleton power-assisting robot system.Multi-joint ectoskeleton
Power-assisting robot has better power-assisted effect and ability in contrast, in military, space flight, industry, building, fire-fighting and rehabilitation
Equal fields are all widely used, and ask in structure design, driving method, gait perception, control strategy and energy source configuration etc.
Also more complicated in topic, the design of multi-joint ectoskeleton power-assisting robot structure is the hot and difficult issue of research.It can more approach
Physical activity freedom degree, the design of bionic exoskeleton the Degree of Structure Freedom directly affect whole wearing comfort degree.At present both at home and abroad mostly certainly
Many kinds of by the design of degree structure, due to the design defect of structure type, multi-joint ectoskeleton power-assisting robot power-assisted effect is not
Too ideal, coupled is poor, and wearing is uncomfortable, even if having multi-joint, main passive matrix system design is complicated, constrains
The scope of activities of multi-joint can not play the role of good power-assisted auxiliary.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, provide it is a kind of auxiliary lightness it is integrated mostly freely
Lower limb exoskeleton is spent, it is integrated to each joint freedom degrees by improving traditional lower limb exoskeleton structure type, increase and actively closes
Driving structure is saved, the lightweight structure form when meeting loading demand enhances man-machine safety and wearing comfort degree, mentions
High ectoskeleton assists effect.
Above-mentioned purpose of the invention is achieved by following technical solution:
A kind of integrated multiple degrees of freedom lower limb exoskeleton assisting lightness, including back connector, back mounting plate, waist
Connector, hip biomimetic features, hip joint driver, hip joint, thigh biomimetic features, knee joint driver, thigh connector,
Knee joint, shank bionic structure, ankle-joint and bionic foot structure；Wherein bionic foot structure level fixed placement is outside lower limb
The bottom end of bone；The edge of bionic foot structure upper surface is provided with ankle-joint；Shank bionic structural vertical is placed, and shank
The bottom end of biomimetic features is fixedly connected by ankle-joint with bionic foot structure；The top of shank bionic structure is provided with knee pass
Section；Thigh biomimetic features are fixedly mounted on kneed top vertically；The outside of thigh biomimetic features is provided with along the vertical direction
Knee joint driver；Thigh connector is fixedly mounted in the inside level of thigh biomimetic features, realizes the fixation to human thigh；Hip
Arthrodesis is mounted on the upper end of thigh biomimetic features；Hip biomimetic features are fixedly mounted on the upper end of hip joint, and hip is imitative
Hip joint driver is fixedly installed on the outside of raw structure；Waist connector is fixedly connected with hip biomimetic features, is realized to people
The fixation of body waist；Back mounting plate is fixedly connected with waist connector vertically；Back connector is fixedly mounted on back vertically
The fixation to shoulders of human body is realized on the top of mounting plate.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the shank bionic structure includes
Shank bionic bar and telescopic adjustment part；Shank bionic bar is fixedly mounted on kneed lower end, and shank bionic bar is hollow rod shape
Structure, telescopic adjustment part are fixedly mounted on vertically in the hollow hole of shank bionic bar along axial direction, and telescopic adjustment part is along Kong Fangxiang
Realize stretching motion.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the lower limb exoskeleton further includes back
Portion's connecting plate, hip expansion plate, shaft and extension spring；Wherein back connecting plate is dagger type plate structure；2 back connections
Plate cross-fixing is at the center side of back mounting plate, and shaft is vertically fixedly mounted on the point of intersection of 2 back connecting plates；
One end of extension spring is fixedly mounted on the side of back mounting plate, and the other end of extension spring and the end of back connecting plate are solid
Fixed connection realizes that the tightening to back connecting plate limits；One end level of hip expansion plate is fixedly mounted on back connecting plate
The other end of two sides, hip expansion plate is fixedly connected with hip biomimetic features, realizes that hip biomimetic features stretch along two sides
Movement.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the thigh biomimetic features include
The bionical rod piece of thigh regulating part, thigh, thigh torsional spring, thigh spring chuck and circlip；Wherein, thigh regulating part is hollow
Former barrel structure, thigh regulating part are placed vertically；The bionical rod piece of thigh is placed vertically, and the top of the bionical rod piece of thigh be provided with it is blind
Hole；The lower end of thigh regulating part is protruded into the blind hole of the bionical rod piece of thigh；Thigh regulating part is coated on the outer wall of circlip, and circlip
Bottom end stretch out thigh regulating part lower section；The bottom of thigh regulating part blind hole is fixedly installed with thigh spring chuck；Thigh
Thigh torsional spring is fixedly installed between spring chuck and circlip.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the bionic foot structure includes foot
Portion's sole and ankle-joint seat；Wherein, foot sole is horizontally set on the bottom of bionic foot structure, realizes bionic foot
The vola that structure is fixed on human body is fixedly connected；Ankle-joint seat is fixedly mounted on the outside of foot sole, realization and ankle-joint
Connection.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the ankle-joint seat is taper knot
Structure, the top of ankle-joint seat are provided with reeded boss.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the ankle-joint include ball bearing,
Ankle-joint upper boom and butterfly spring；Wherein, one end of butterfly spring is protruded into the groove of ankle-joint seat boss；The fixed peace of ball bearing
Mounted in the other end of butterfly spring；One end of ankle-joint upper boom is fixedly connected with ball bearing, the other end of ankle-joint upper boom with it is small
Leg biomimetic features are fixedly connected.
In a kind of integrated multiple degrees of freedom lower limb exoskeleton of above-mentioned auxiliary lightness, the back connector is realized around Z
Axis rotates -10 ° -10 °；Hip joint, which is realized, rotates 70 ° -180 ° around X-axis；Hip joint is realized rotates -10 ° -90 ° about the z axis；Hip joint
It realizes and rotates -90 ° -90 ° around Y-axis；Knee joint, which is realized, rotates 0 ° -65 ° around X-axis；Ankle-joint is realized rotating around X, Y, Z axis rotation-
10°-10°。
The invention has the following advantages over the prior art:
(1) hip biomimetic features bilateral symmetry provided by the invention designs, and left and right back connecting plate, which is connected to, to be fixed on
Rotary shaft on the mounting plate of back, under the action of extension spring, left and right hip biomimetic features have to be moved up and down certainly around fixing axle
By spending and returning power function, while bionical back is increased around bionical hip the Degree of Structure Freedom；Back mounting plate and shoulder people simultaneously
By Spindle Links between machine connector, increases human upper limb and tilt forward and back freedom degree, man-machine matching is more preferable when squatting down；
(2) hip joint provided by the invention is integrated with 3 freedom degrees: bending and stretching, interior outreach and inside and outside rotation；In interior hip joint
Spindle Links between connector and connector, increase folder function；Simultaneously in providing with the linear spring of thigh biomimetic features
Power function is rotated back to outside；Hip joint freedom degree compares traditional hip joint freedom degree structure in the distributed design of hip and leg,
It is more integrated, head shoot secondary formula freedom of movement close to human hip humerus, effectively reduce lower limb exercise to hip more than
It influences, function is concentrated, and man-machine coordination is enhanced；
(3) ankle-joint provided by the invention is 3DOF, increases bionic foot structure movement freedom degree, improves down
Adaptability of the limb ectoskeleton to road conditions；There is butterfly spring among ankle-joint upper boom and adjusting rod, increases biomimetic features Hui Ligong
Can, man-machine safety and coupling are more preferable；
(4) driver provided by the invention is left and right knee joint and left and right hip joint driver, is imitated compared to simple joint driving
Raw structure, it is complementary to wearer more preferable；In driving joint, deceleration mechanism is driven to connect ball wire using driving device shaft
Thick stick can be utmostly by power output in view of the higher transmission efficiency of ball-screw, and then plays energy-efficient effect, simultaneously
Joint driver versatility can be increased according to practical auxiliary force Demand Design reduction ratio.Hip joint driver is that driver is straight
Reduction gearbox output shaft band movable joint shaft was connected to rotate；
(5) a kind of integrated multiple degrees of freedom lower limb exoskeleton mechanism moduleization design for assisting lightness provided by the invention,
Certain module fast can be dismantled and adjust applied to different assistance platforms according to back-up needs are not had to；Complete machine structure is integrated
Design, functional diversities are simple for structure, and it is convenient to dress, and the design of multiple degrees of freedom biomimetic features improves wearing comfort；This hair
It is bright to can be widely applied to fields such as " light-duty power-assisted, heavy power-assisteds, rehabilitation of helping the disabled ".
Detailed description of the invention
Fig. 1 is power-assisted lower limb exoskeleton structural schematic diagram of the present invention；
Fig. 2 is shank bionic structural schematic diagram of the present invention；
Fig. 3 is hip biomimetic features schematic diagram of the present invention；
Fig. 4 is thigh biomimetic features schematic diagram of the present invention；
Fig. 5 is power-assisted lower limb exoskeleton bionic foot structural schematic diagram of the present invention；
Fig. 6 is that each joint of the present invention rotates schematic diagram.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
The technical problem to be solved in the present invention: power-assisted mechanical exoskeleton will realize good coupled, it is desirable that its appearance
Meet characteristics of human body with joint ratio, while each main passive joint freedom degree design of bionic exoskeleton needs to meet Human Physiology and lives
Dynamic characteristic reduces machine and loads to human body and feels, and can just play auxiliary power-assisted effect.Traditional hip joint mechanical structure does not have completely
Meet the freedom of movement performance of human body, even if the freedom degree by dispersing not can guarantee man-machine wearing close to physical activity range yet
Comfortableness and security, it is therefore desirable to a kind of new integrated multiple degrees of freedom lightness power-assisted lower limb exoskeleton robot.It is mechanical
Ectoskeleton appearance and joint ratio meet characteristics of human body, and lower limb exoskeleton needs to guarantee man-machine harmony and wearing activity comfort
Degree, needs each joint structure of bionic exoskeleton close to human body structure；Wearer using lower limb exoskeleton bear load when,
Guarantee that the power-assisted of ectoskeleton assists effect, needs ectoskeleton and hip and knee that auxiliary wearer is driven to support load, mitigate load
Sense；Auxiliary type multiple degrees of freedom ectoskeleton helps wearer to reduce load sense simultaneously, needs to guarantee to dress ectoskeleton in load state
Under man-machine safety, need mechanical structure excessively lengthy and jumbled, need driving structure and biomimetic features lightweight sum aggregate as far as possible
Cheng Hua.
As shown in Figure 1 be power-assisted lower limb exoskeleton structural schematic diagram, have figure it is found that it is a kind of auxiliary lightness it is integrated mostly from
It is closed by degree lower limb exoskeleton, including back connector 14, back mounting plate 10, waist connector 13, hip biomimetic features 3, hip
Save driver 1, hip joint 9, thigh biomimetic features 6, knee joint driver 2, thigh connector 12, knee joint 8, shank bionic knot
Structure 5, ankle-joint 7 and bionic foot structure 4；Wherein the horizontal fixed placement of bionic foot structure 4 is in the bottom end of lower limb exoskeleton；Foot
The edge of 4 upper surface of portion's biomimetic features is provided with ankle-joint 7；Shank bionic structure 5 is placed vertically, and shank bionic structure 5
Bottom end be fixedly connected with bionic foot structure 4 by ankle-joint 7；The top of shank bionic structure 5 is provided with knee joint 8；Greatly
Leg biomimetic features 6 are fixedly mounted on the top of knee joint 8 vertically；The outside of thigh biomimetic features 6 is provided with knee along the vertical direction
Joint driver 2；Thigh connector 12 is fixedly mounted in the inside level of thigh biomimetic features 6, realizes the fixation to human thigh；
Hip joint 9 is fixedly mounted on the upper end of thigh biomimetic features 6；Hip biomimetic features 3 are fixedly mounted on the upper end of hip joint 9, structure
It is spent at left and right leg extensions or so；And the outside of hip biomimetic features 3 is fixedly installed with hip joint driver 1；Waist connector 13
It is fixedly connected with hip biomimetic features 3, realizes the fixation to human body waist；Back mounting plate 10 is solid with waist connector 13 vertically
Fixed connection；Back connector 14 is fixedly mounted on the top of back mounting plate 10 vertically, realizes the fixation to shoulders of human body.
It is illustrated in figure 2 shank bionic structural schematic diagram, has figure it is found that shank bionic structure 5 includes shank bionic bar 15
With telescopic adjustment part 16；Shank bionic bar 15 is fixedly mounted on the lower end of knee joint 8, and shank bionic bar 15 is hollow rod shape knot
Structure, telescopic adjustment part 16 are fixedly mounted on vertically in the hollow hole of shank bionic bar 15 along axial direction, and telescopic adjustment part 16 is along hole
Realize stretching motion in direction.
Fig. 3 be hip biomimetic features schematic diagram of the present invention, have figure it is found that lower limb exoskeleton further include back connecting plate 17,
Hip expansion plate 18, shaft 19 and extension spring 20；Wherein back connecting plate 17 is dagger type plate structure；2 back connections
17 cross-fixing of plate is at the center side of back mounting plate 10, and shaft 19 is vertically fixedly mounted on 2 back connecting plates 17
Point of intersection；One end of extension spring 20 is fixedly mounted on the side of back mounting plate 10, the other end and back of extension spring 20
The end of portion's connecting plate 17 is fixedly connected, and realizes that the tightening to back connecting plate 17 limits；Along fixation between back connecting plate 17
Axis can have corresponding freedom degree and return power function；Wherein hip expansion plate 18 according to human body waist width respectively with left and right sides back
Connecting plate 17 carries out telescopic adjustment；The left and right sides hip expansion plate other end passes through left and right hip with left and right sides thigh biomimetic features respectively
Joint 9 links
One end level of hip expansion plate 18 is fixedly mounted on the two sides of back connecting plate 17, hip expansion plate 18 it is another
End is fixedly connected with hip biomimetic features 3, realizes that hip biomimetic features 3 carry out stretching motion along two sides.
Be illustrated in figure 4 thigh biomimetic features schematic diagram, have figure it is found that thigh biomimetic features 6 include thigh regulating part 21,
The bionical rod piece 22 of thigh, thigh torsional spring 23, thigh spring chuck 24 and circlip 25；Wherein, thigh regulating part 21 is hollow
Former barrel structure, thigh regulating part 21 are placed vertically；The bionical rod piece 22 of thigh is placed vertically, and the top of the bionical rod piece 22 of thigh is set
It is equipped with blind hole；The lower end of thigh regulating part 21 is protruded into the blind hole of the bionical rod piece 22 of thigh；Thigh regulating part 21 is coated on circlip
25 outer wall, and the lower section of thigh regulating part 21 is stretched out in the bottom end of circlip 25；The fixed peace in the bottom of 21 blind hole of thigh regulating part
Equipped with thigh spring chuck 24；Thigh torsional spring 23 is fixedly installed between thigh spring chuck 24 and circlip 25.
It is illustrated in figure 5 power-assisted lower limb exoskeleton bionic foot structural schematic diagram, has figure it is found that bionic foot structure 4 is wrapped
Include foot sole 11 and ankle-joint seat 26；Wherein, foot sole 11 is horizontally set on the bottom of bionic foot structure 4, real
Now the vola that bionic foot structure 4 is fixed on human body is fixedly connected；Ankle-joint seat 26 is fixedly mounted on foot sole 11
The connection with ankle-joint 7 is realized in outside.
Wherein, ankle-joint seat 26 is pyramidal structure, and the top of ankle-joint seat 26 is provided with reeded boss.In addition,
Ankle-joint 7 includes ball bearing 27, ankle-joint upper boom 28 and butterfly spring 29；Wherein, ankle-joint is protruded into one end of butterfly spring 29
In the groove of 26 boss of seat；Ball bearing 27 is fixedly mounted on the other end of butterfly spring 29；One end of ankle-joint upper boom 28 and ball
Bearing 27 is fixedly connected, and the other end of ankle-joint upper boom 28 is fixedly connected with shank bionic structure 5.
It is illustrated in figure 6 each joint rotation schematic diagram, has figure it is found that back connector 14 realizes -10 ° of rotation-about the z axis
10°；Hip joint 9, which is realized, rotates 70 ° -180 ° around X-axis；Hip joint 9 is realized rotates -10 ° -90 ° about the z axis；Hip joint 9 is realized around Y
Axis rotates -90 ° -90 °；Knee joint 8, which is realized, rotates 0 ° -65 ° around X-axis；Ankle-joint 7 is realized rotating around -10 ° of X, Y, Z axis rotation -
10°。
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (6)
1. a kind of integrated multiple degrees of freedom lower limb exoskeleton for assisting lightness, it is characterised in that: including back connector (14), back
Portion's mounting plate (10), waist connector (13), hip biomimetic features (3), hip joint driver (1), hip joint (9), thigh are imitative
Raw structure (6), knee joint driver (2), thigh connector (12), knee joint (8), shank bionic structure (5), ankle-joint (7)
With bionic foot structure (4)；Wherein bionic foot structure (4) horizontal fixed placement is in the bottom end of lower limb exoskeleton；Bionic foot
The edge of structure (4) upper surface is provided with ankle-joint (7)；Shank bionic structure (5) is placed vertically, and shank bionic structure
(5) bottom end is fixedly connected by ankle-joint (7) with bionic foot structure (4)；The top of shank bionic structure (5) is provided with knee
Joint (8)；Thigh biomimetic features (6) are fixedly mounted on the top of knee joint (8) vertically；The outer lateral edge of thigh biomimetic features (6)
Vertical direction is provided with knee joint driver (2)；Thigh connector is fixedly mounted in the inside level of thigh biomimetic features (6)
(12), the fixation to human thigh is realized；Hip joint (9) is fixedly mounted on the upper end of thigh biomimetic features (6)；The bionical knot of hip
Structure (3) is fixedly mounted on the upper end of hip joint (9), and is fixedly installed with hip joint driver on the outside of hip biomimetic features (3)
(1)；Waist connector (13) is fixedly connected with hip biomimetic features (3), realizes the fixation to human body waist；Back mounting plate
(10) it is fixedly connected vertically with waist connector (13)；Back connector (14) is fixedly mounted on back mounting plate (10) vertically
The fixation to shoulders of human body is realized on top；
The shank bionic structure (5) includes shank bionic bar (15) and telescopic adjustment part (16)；Shank bionic bar (15) is solid
Dingan County is mounted in the lower end of knee joint (8), and shank bionic bar (15) is hollow rod shape structure, and telescopic adjustment part (16) is along axial vertical
It is fixedly mounted in the hollow hole of shank bionic bar (15), and telescopic adjustment part (16) realizes stretching motion along hole direction；
The lower limb exoskeleton further includes back connecting plate (17), hip expansion plate (18), shaft (19) and extension spring (20)；
Wherein back connecting plate (17) is dagger type plate structure；2 back connecting plate (17) cross-fixings are in back mounting plate (10)
Center side at, and shaft (19) is vertically fixedly mounted on the point of intersection of 2 back connecting plates (17)；Extension spring (20)
One end is fixedly mounted on the side of back mounting plate (10), the other end of extension spring (20) and the end of back connecting plate (17)
It is fixedly connected, realizes that the tightening to back connecting plate (17) limits；One end level of hip expansion plate (18) is fixedly mounted on back
The other end of the two sides of portion's connecting plate (17), hip expansion plate (18) is fixedly connected with hip biomimetic features (3), realizes that hip is imitative
Raw structure (3) carry out stretching motion along two sides.
2. a kind of integrated multiple degrees of freedom lower limb exoskeleton for assisting lightness according to claim 1, it is characterised in that: institute
The thigh biomimetic features (6) stated include thigh regulating part (21), the bionical rod piece of thigh (22), thigh torsional spring (23), thigh
Spring chuck (24) and circlip (25)；Wherein, thigh regulating part (21) is hollow cylindrical body, and thigh regulating part (21) is put vertically
It sets；The bionical rod piece of thigh (22) is placed vertically, and the top of the bionical rod piece of thigh (22) is provided with blind hole；Thigh regulating part (21)
Lower end protrude into the blind hole of the bionical rod piece of thigh (22)；Thigh regulating part (21) is coated on the outer wall of circlip (25), and circlip
(25) lower end surface of thigh regulating part (21) is stretched out in bottom end；The bottom of thigh regulating part (21) blind hole is fixedly installed with thigh bullet
Spring clamp (24)；Thigh torsional spring (23) are fixedly installed between thigh spring chuck (24) and circlip (25).
3. a kind of integrated multiple degrees of freedom lower limb exoskeleton for assisting lightness according to claim 2, it is characterised in that: institute
Stating bionic foot structure (4) includes foot sole (11) and ankle-joint seat (26)；Wherein, foot sole (11) is horizontally disposed
In the bottom of bionic foot structure (4), the vola that bionic foot structure (4) is fixed on to human body is realized；Ankle-joint seat (26) is solid
Dingan County is mounted in the outside of foot sole (11), realizes the connection with ankle-joint (7).
4. a kind of integrated multiple degrees of freedom lower limb exoskeleton for assisting lightness according to claim 3, it is characterised in that: institute
Stating ankle-joint seat (26) is pyramidal structure, and the top of ankle-joint seat (26) is provided with reeded boss.
5. a kind of integrated multiple degrees of freedom lower limb exoskeleton for assisting lightness according to claim 4, it is characterised in that: institute
Stating ankle-joint (7) includes ball bearing (27), ankle-joint upper boom (28) and butterfly spring (29)；Wherein, the one of butterfly spring (29)
End is protruded into the groove of ankle-joint seat (26) boss；Ball bearing (27) is fixedly mounted on the other end of butterfly spring (29)；Ankle closes
One end of section upper boom (28) is fixedly connected with ball bearing (27), the other end of ankle-joint upper boom (28) and shank bionic structure (5)
It is fixedly connected.
6. a kind of integrated multiple degrees of freedom lower limb exoskeleton of auxiliary lightness, feature described in one of -5 according to claim 1
Be: the back connector (14) is realized rotates -10 ° -10 ° about the z axis；Hip joint (9), which is realized, rotates 70 ° -180 ° around X-axis；
Hip joint (9) is realized rotates -10 ° -90 ° about the z axis；Hip joint (9), which is realized, rotates -90 ° -90 ° around Y-axis；Knee joint (8) realize around
X-axis rotates 0 ° -65 °；Ankle-joint (7), which is realized, rotates -10 ° -10 ° rotating around X, Y, Z axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710204671.3A CN106965156B (en) | 2017-03-30 | 2017-03-30 | A kind of integrated multiple degrees of freedom lower limb exoskeleton assisting lightness |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710204671.3A CN106965156B (en) | 2017-03-30 | 2017-03-30 | A kind of integrated multiple degrees of freedom lower limb exoskeleton assisting lightness |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106965156A CN106965156A (en) | 2017-07-21 |
| CN106965156B true CN106965156B (en) | 2019-05-24 |
Family
ID=59335494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710204671.3A Active CN106965156B (en) | 2017-03-30 | 2017-03-30 | A kind of integrated multiple degrees of freedom lower limb exoskeleton assisting lightness |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106965156B (en) |
Families Citing this family (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107773384B (en) * | 2017-11-02 | 2019-09-10 | 武汉大学 | A kind of variation rigidity lower limb exoskeleton robot |
| CN108214457B (en) * | 2017-12-26 | 2020-09-22 | 北京理工大学 | Passive trunk labor-saving device for lower limb exoskeleton |
| CN108161905A (en) * | 2018-01-10 | 2018-06-15 | 安徽工程大学 | A kind of stiffness variable lower limb exoskeleton power-assisting robot |
| CN108340348B (en) * | 2018-01-11 | 2020-06-09 | 北京精密机电控制设备研究所 | Light walking assisting exoskeleton appliance |
| CN108555886A (en) * | 2018-05-23 | 2018-09-21 | 成都飞机工业（集团）有限责任公司 | A kind of industrial ectoskeleton with vibration-damping function |
| CN108972516A (en) * | 2018-09-19 | 2018-12-11 | 天津大衍天成科技有限公司 | A kind of pure manpower ectoskeleton trunk system |
| CN109223456B (en) * | 2018-10-23 | 2020-10-13 | 哈尔滨工业大学 | Lower limb exoskeleton robot system based on man-machine terminal interaction |
| CN109848967B (en) * | 2019-02-22 | 2022-08-16 | 重庆交通大学 | Bionic mechanical exoskeleton wearing device |
| CN109927016B (en) * | 2019-04-15 | 2023-11-28 | 河北工业大学 | Lower limb exoskeleton with variable axis knee joint |
| CN110202608B (en) * | 2019-06-25 | 2020-12-18 | 北京精密机电控制设备研究所 | Electro-static pressure actuator for robot joint |
| CN111805514B (en) * | 2019-07-19 | 2023-04-25 | 重庆市牛迪科技发展有限公司 | Waist exoskeleton |
| CN110315513B (en) * | 2019-08-06 | 2024-01-16 | 河北工业大学 | Lower limb exoskeleton robot |
| CN111113381B (en) * | 2019-12-17 | 2021-05-04 | 清华大学 | Walking auxiliary robot with outer limb bearing load |
| CN113116675B (en) * | 2020-01-10 | 2023-02-10 | 深圳市肯綮科技有限公司 | Flexible waist and hip mechanism and portable power assisting device thereof |
| CN111693181B (en) * | 2020-05-20 | 2022-04-05 | 南京航空航天大学 | Man-machine one-dimensional interaction force measuring sensor and measuring method for lower limb exoskeleton |
| CN112008701B (en) * | 2020-09-21 | 2024-08-20 | 河北工业大学 | Hip joint assistance exoskeleton system capable of supporting load in auxiliary mode |
| CN114504469A (en) * | 2020-11-17 | 2022-05-17 | 首都医科大学宣武医院 | Exoskeleton system and method of manufacturing same |
| CN112891156A (en) * | 2021-03-25 | 2021-06-04 | 广东微步智能科技有限公司 | Bionic energy-storage walking aid |
| CN112999018B (en) * | 2021-03-29 | 2023-02-28 | 迈宝智能科技(苏州)有限公司 | Active-passive switching wearable lower limb load exoskeleton |
| CN113263493A (en) * | 2021-06-15 | 2021-08-17 | 军事科学院系统工程研究院军需工程技术研究所 | Hybrid drive heavy-load lower limb exoskeleton and method based on electro-hydrostatic actuating principle |
| CN113352303B (en) * | 2021-07-03 | 2022-08-09 | 西北工业大学 | Wearable transport helping hand type ectoskeleton |
| CN113478466B (en) * | 2021-07-23 | 2023-06-20 | 华南理工大学 | Passive lower limb exoskeleton with load conduction and walking energy conservation functions |
| CN113649999A (en) * | 2021-08-26 | 2021-11-16 | 武汉大学深圳研究院 | Transient center changing bionic lower limb exoskeleton robot based on flexible driving |
| CN113843770A (en) * | 2021-09-27 | 2021-12-28 | 国网江苏省电力有限公司扬州供电分公司 | Auxiliary walking buffer device |
| CN114191259B (en) * | 2021-11-09 | 2023-06-06 | 汕头大学 | Self-adaptive wearable exoskeleton robot |
| CN115179262B (en) * | 2022-07-22 | 2024-10-18 | 北理兆殷智能科技(山东)有限公司 | Exoskeleton hip joint structure |
| CN118650604A (en) * | 2024-08-16 | 2024-09-17 | 中科携行(北京)科技有限公司 | Passive exoskeleton power-assisted robot suitable for carrying and transporting |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103735386B (en) * | 2013-11-15 | 2015-11-18 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN103610568B (en) * | 2013-12-16 | 2015-05-27 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN105943316B (en) * | 2016-05-23 | 2018-06-29 | 成都润惠科技有限公司 | A kind of human body lower limbs ectoskeleton for having resilient structure |
-
2017
- 2017-03-30 CN CN201710204671.3A patent/CN106965156B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106965156A (en) | 2017-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106965156B (en) | A kind of integrated multiple degrees of freedom lower limb exoskeleton assisting lightness | |
| CN107773384B (en) | A kind of variation rigidity lower limb exoskeleton robot | |
| CN109223456B (en) | Lower limb exoskeleton robot system based on man-machine terminal interaction | |
| CN109172289B (en) | Hip joint rehabilitation exoskeleton based on multifunctional driver and motion control method thereof | |
| CN109009866B (en) | Sitting type lower limb exoskeleton rehabilitation robot | |
| CN109848967B (en) | Bionic mechanical exoskeleton wearing device | |
| CN107243886B (en) | A kind of exoskeleton robot knee joint of adjustable force increasing ratio | |
| CN107309867A (en) | Lower limb assistance exoskeleton based on Gravity support | |
| CN105643598B (en) | The semi-passive lower limb exoskeleton of energy-conservation driven based on lasso trick | |
| CN106264989A (en) | A kind of lower limb exoskeleton power-assisting robot | |
| CN105943316A (en) | Human lower extremity exoskeleton having force-returning structures | |
| CN104887461A (en) | Walking aid lower limb of exoskeleton robot | |
| CN107351057A (en) | A kind of auxiliary exoskeleton robot based on mobile platform | |
| CN112022618B (en) | Rigid-flexible coupling wearable walking assisting exoskeleton system | |
| CN108421162A (en) | Biofeedback closed chain electro photoluminescence lower limb rehabilitation robot | |
| CN204698953U (en) | A kind of type hydraulic actuator lower limb exoskeleton bionic device | |
| CN109093603A (en) | A kind of wearable ectoskeleton reinforcement lower limb suit | |
| CN215132743U (en) | Multi-movement-axis knee joint exoskeleton structure | |
| Du et al. | Mechanical design with experimental verification of a lightweight exoskeleton chair | |
| CN108214457A (en) | A kind of passive work-saving device of trunk for lower limb exoskeleton | |
| US20230067978A1 (en) | Small-size Multi-axis Ankle Prosthesis | |
| KR101486016B1 (en) | Waist support structure for assisting the muscular strength | |
| CN209286071U (en) | Transmission device, lower limb rehabilitation ectoskeleton and exoskeleton robot | |
| CN109806549A (en) | A kind of lower limb assistance exoskeleton of serial-parallel mirror | |
| CN209615495U (en) | A kind of hip based on booster, knee joint assistance exoskeleton mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |