CN107789155A - A kind of simple human ectoskeleton - Google Patents
A kind of simple human ectoskeleton Download PDFInfo
- Publication number
- CN107789155A CN107789155A CN201710881277.3A CN201710881277A CN107789155A CN 107789155 A CN107789155 A CN 107789155A CN 201710881277 A CN201710881277 A CN 201710881277A CN 107789155 A CN107789155 A CN 107789155A
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- Prior art keywords
- component
- push rod
- joint
- plate
- support plate
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- 239000002184 metal Substances 0.000 claims description 61
- 229910052751 metal Inorganic materials 0.000 claims description 61
- 210000002414 leg Anatomy 0.000 claims description 25
- 230000008878 coupling Effects 0.000 claims description 18
- 238000010168 coupling process Methods 0.000 claims description 18
- 238000005859 coupling reaction Methods 0.000 claims description 18
- 210000000245 forearm Anatomy 0.000 claims description 10
- 210000002683 foot Anatomy 0.000 claims description 9
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 6
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 210000003127 knee Anatomy 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000010276 construction Methods 0.000 abstract description 4
- 210000002310 elbow joint Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013213 extrapolation Methods 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 2
- 239000010931 gold Substances 0.000 description 2
- 229910052737 gold Inorganic materials 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
Abstract
The invention discloses a kind of simple human ectoskeleton, including body component, arm component, leg assembly, foot's component, connecting joint component, active joint assembly, axis joint component and electric precise push rod, arm component is connected with by connecting joint component at left and right sides of the body component top, the body component bottom left and right sides is connected with leg assembly by connecting joint component；Foot's component is provided with below leg assembly；Active joint assembly, axis joint component and electric precise push rod are arranged on each component joint.The invention has the advantages that simple in construction, major joint position using more flexible joint assembly connection, makes ectoskeleton major beat scope bigger, reduces constraint sense of the ectoskeleton to human body, more human actions can be achieved；And when ectoskeleton is in the situation of not enough power supply outside push rod not by inner push-rod influenceed retractable motion, avoid the problem of ectoskeleton must be taken off because that can not move.
Description
Technical field
The present invention relates to mechanical equipment technical field, more specifically to a kind of simple human ectoskeleton.
Background technology
Ectoskeleton is a kind of skeleton construction that can be through on the outside of human body, can pass through power driven system or hydraulic power system
System carries out joint assistance, increases the strength of human synovial, lifts the locomitivity of human body；Aged or disabled can be aided in more
Good life, the working strength of physical work person can be mitigated；In medical rehabilitation field, ectoskeleton can also aid in patient to forge
Refining, can get well faster.
Although the research of wearable ectoskeleton oneself through starting, also achieve certain interim achievement in research, still suffer from
Complicated, control is complicated, it is impossible to the defects of adapting to human body compound action；And existing ectoskeleton power set are after a loss of power
It can not move, machinery is in stuck state, ectoskeleton must be taken off when there is such situation at once, it is very inapplicable.Therefore,
In view of the above, need reasonably to improve prior art.
The content of the invention
For problem above, the present invention provides a kind of simple in construction, simple letter that can adapt to human body compound action of control
Easy people's exoskeleton, and the power set of the present invention can still act after a loss of power, be needed after avoiding the occurrence of device powers down
The problem of taking off ectoskeleton at once.
To achieve the above object, the present invention uses following technical scheme：
A kind of simple human ectoskeleton, including body component, arm component, leg assembly, foot's component, connecting joint group
Part, active joint assembly, axis joint component and electric precise push rod；
Wherein body component includes waist connecting plate, right hip support plate, left hip support plate, backboard, upper body fixation clothes, power supply
Device, battery pack, right shoulder support plate and left shoulder support plate, the bottom of the body component are provided with waist connecting plate, waist connecting plate
The left and right sides is separately installed with left hip support plate and right hip support plate；Backboard is installed above waist connecting plate, set behind backboard
Battery pack is equipped with, upper body is installed above backboard and fixes clothes；Upper body is fixed before clothes and is provided with power-supply controller of electric, backboard
Left shoulder support plate and right shoulder support plate are also separately installed with left and right sides of top；Its middle left and right shoulder support plate is connected by connecting joint component
Arm component is taken over, left and right hip support plate passes through connecting joint component connected legs component；
Connection connecting joint component above large arm support plate wherein in arm component, lower section are connected small by axis joint component
Arm support plate；Arm is installed below forearm support plate and fixes backplate, arm is fixed on backplate and is provided with arm fixing band；Wherein protect
Elbow is fixed on human body ancon, and active joint assembly is provided with elbow support；Connection connecting joint group wherein above electric precise push rod
Part, lower section connect forearm support plate by push rod connector；
Connection connecting joint component above thigh support plate wherein in leg assembly, lower section are connected small by axis joint component
Leg support plate；Small leg restraint webbing is installed below shank support plate, shank is installed on small leg restraint webbing and fixes backplate；Wherein knee-pad
Human knee is fixed on, active joint assembly is provided with knee-pad；Connection connecting joint component wherein above electric precise push rod,
Lower section connects shank support plate by push rod connector；
Wherein foot's component includes coupling bar, upper attachment, pad, universal joint, sole connector, sole, rubber
Rubber sole, fixed belt for ankle joint and instep fixing band, shank support plate, lower section in connected legs component above the upper attachment
By coupling bar universal-joint, pad is also equipped among upper attachment and universal joint；Pin is connected with below universal joint
Bottom plate connector, sole connector lower section are provided with sole, rubber soles are provided with below sole；Also pacify on sole
Equipped with fixed belt for ankle joint and instep fixing band；
Wherein electric precise push rod include pusher structure, reduction gear, motor, electric machine controller, logic controller,
Interior location controller, debugging switches set, power switch, external position controller joint and power line, the pusher structure are right
Side is provided with interior location controller, and reduction gear is provided with below pusher structure；Above the left side of reduction gear
Motor is provided with, electric machine controller is provided with above motor, logic controller, logic controller are provided with above electric machine controller
Top is respectively arranged with debugging switches set, power switch, external position controller joint and power line；
Wherein pusher structure includes lock nut, locking fastener, back-moving spring, locking ball, outer push rod top piece, interior
It is push rod top piece, outer push rod, outer push rod base slider, inner push-rod, inner push-rod base slider, outer tube top piece, outer tube, interior
Portion's screw mandrel and internal feed screw nut, the outermost of pusher structure are provided with outer tube, and outer tube top is provided with outer tube top piece；Outside
Outer push rod is provided with the inside of pipe, outer push rod bottom is provided with outer push rod base slider, and outer push rod top is provided with the top of outer push rod
Part, locking ball is installed in outer push rod top piece, locks and locking fastener is covered with above ball, lock fastener and extrapolation
Back-moving spring is installed between bar top piece, locks and lock nut is also equipped with above fastener；The inner side of outer push rod is set
There is inner push-rod, be provided with inner push-rod base slider below inner push-rod, inner push-rod top is provided with inner push-rod top piece, inner push-rod
Top piece is connected by locking ball with outer push rod top piece；Internal screw mandrel, internal screw mandrel are provided with the inside of inner push-rod
On internal feed screw nut is installed, internal feed screw nut is connected through a screw thread inner push-rod base slider；
Wherein interior location controller includes resistance board fixture, internal resistance plate and metal slide plate, and the resistance board is consolidated
Determine part bottom and be provided with internal resistance plate, being slided on internal resistance plate has metal slide plate, and metal slide plate is arranged on inner push-rod bottom
On sliding block.
Further, the connecting joint component includes universal joint, gim peg, connector, pad and coupling bar, universal joint
Both sides are connected with connector by coupling bar, and pad is provided between connector and universal joint, and gim peg is fixed on coupling bar.
Further, the active joint assembly includes protecting cover, resistance board, metal slide plate, metal slide plate fixture, interior axle
Part, outer shaft, caging bolt, fixed plate one and fixed plate two, the fixed plate two connect outer shaft, and fixed plate one connects interior axle
Part, outer shaft are internally provided with inner shaft, and inner shaft is internally provided with metal slide plate fixture, set on metal slide plate fixture
There is metal slide plate, resistance board is installed above metal slide plate, is covered with protecting cover above resistance board, wherein resistance board is fixed on protecting cover
Inner side is simultaneously in contact with metal slide plate, and caging bolt is additionally provided with below the outer shaft.
Further, the axis joint component includes outer connection shaft, limited bolt, interior connection shaft, metal slide plate, metal
Slide plate fixture, resistance board and protecting cover, outer connection shaft inner side are provided with interior connection shaft, gold are provided with the inside of interior connection shaft
Belong to slide plate fixture, metal slide plate is installed on metal slide plate fixture, be provided with resistance board above metal slide plate, on resistance board
Side is provided with protecting cover, and wherein resistance board is fixed on the inside of protecting cover and is in contact with metal slide plate, the outer connection shaft and Nei Lian
Limited bolt is additionally provided between spindle part.
The beneficial effects of the invention are as follows：Simple in construction, major joint position is connected using more flexible joint assembly,
Make ectoskeleton major beat scope bigger, reduce constraint sense of the ectoskeleton to human body, more human actions can be achieved；And work as
Outer push rod is not influenceed retractable motion by inner push-rod when ectoskeleton is in the situation of not enough power supply, avoid ectoskeleton because
The problem of can not moving and must taking off.
Brief description of the drawings
Fig. 1 is the structural representation of simple human ectoskeleton of the present invention；
Fig. 2 is the structural representation one of body component of the present invention；
Fig. 3 is the structural representation two of body component of the present invention；
Fig. 4 is the structural representation one of arm component of the present invention；
Fig. 5 is the structural representation two of arm component of the present invention；
Fig. 6 is the structural representation one of leg assembly of the present invention；
Fig. 7 is the structural representation two of leg assembly of the present invention；
Fig. 8 is the structural representation one of foot's component of the present invention；
Fig. 9 is the structural representation two of foot's component of the present invention；
Figure 10 is the structural representation of connecting joint component of the present invention；
Figure 11 is the structural representation one of active joint assembly of the present invention；
Figure 12 is the structural representation two of active joint assembly of the present invention；
Figure 13 is the structural representation of axis joint component of the present invention；
Figure 14 is the structural representation one of electric precise push rod of the present invention；
Figure 15 is the structural representation two of electric precise push rod of the present invention；
Figure 16 is the partial structural diagram one of electric precise push rod of the present invention；
Figure 17 is the partial structural diagram two of electric precise push rod of the present invention；
Figure 18 is the structural representation of outer push rod of the present invention；
Figure 19 is the structural representation of inner push-rod of the present invention；
Figure 20 is the structural representation of outer tube of the present invention；
Figure 21 is the structural representation of internal screw mandrel and nut of the present invention；
Figure 22 is the structural representation of interior location controller of the present invention；
In figure, 1, body component；2nd, arm component；3rd, leg assembly；4th, foot's component；5th, connecting joint component；6th, it is main
Movable joint component；7th, axis joint component；8th, electric precise push rod；80th, pusher structure；81st, reduction gear；82nd, motor；
83rd, electric machine controller；84th, logic controller；85th, interior location controller；86th, switches set is debugged；87th, power switch；88th, it is outer
Portion's positioner joint；89th, power line；101st, waist connecting plate；102nd, right hip support plate；103rd, left hip support plate；104th, backboard；
105th, upper body fixes clothes；106th, power-supply controller of electric；107th, battery pack；108th, right shoulder support plate；109th, left shoulder support plate；201st, large arm branch
Plate；202nd, forearm support plate；203rd, push rod connector；204th, elbow support；205th, arm fixing band；206th, arm fixes backplate；301、
Thigh support plate；302nd, shank support plate；303rd, push rod connector；304th, knee-pad；305th, small leg restraint webbing；306th, shank fixes shield
Plate；401st, coupling bar；402nd, upper attachment；403rd, pad；404th, universal joint；405th, sole connector；406th, sole；
407th, rubber soles；408th, fixed belt for ankle joint；409th, instep fixing band；501st, universal joint；502nd, gim peg；503rd, connect
Part；504th, pad；505th, coupling bar；601st, protecting cover；602nd, resistance board；603rd, metal slide plate；604th, metal slide plate fixture；
605th, inner shaft；606th, outer shaft；607th, caging bolt；608th, fixed plate one；609th, fixed plate two；701st, outer connection shaft；
702nd, limited bolt；703rd, interior connection shaft；704th, metal slide plate；705th, metal slide plate fixture；706th, resistance board；707th, protect
Lid；8001st, lock nut；8002nd, fastener is locked；8003rd, back-moving spring；8004th, ball is locked；8005th, zero at the top of outer push rod
Part；8006th, inner push-rod top piece；8007th, outer push rod；8008th, outer push rod base slider；8009th, inner push-rod；8010th, it is interior to push away
Bar base slider；8011st, outer tube top piece；8012nd, outer tube；8014th, internal screw mandrel；8015th, internal feed screw nut；8501、
Resistance board fixture；8502nd, internal resistance plate；8503rd, metal slide plate.
Embodiment
The present invention is specifically described below in conjunction with the accompanying drawings：
In simple human ectoskeleton shown in Fig. 1, body component 1 is bolted arm component 2 and leg assembly 3,
Leg assembly 3 is bolted foot's component 4.
In body component 1 shown in Fig. 2 and Fig. 3, the left and right sides of waist connecting plate 101 has been connected with left hip branch respectively
Plate 103 and right hip support plate 102；The top of waist connecting plate 101 has been connected with backboard 104, and bolt is used behind backboard 104
Battery pack 107 is connected with, the top of backboard 104 is provided with upper body fixation and takes 105；Upper body, which is fixed to take, is provided with electricity before 105
Source controller 106, the top left and right sides of backboard 104 have also been connected with left shoulder support plate 109 and right shoulder support plate 108 respectively；
Its middle left and right shoulder support plate connects arm component 2 by connecting joint component 5, and left and right hip support plate is connected by connecting joint component 5
Connect leg assembly 3.
In arm component 2 shown in Fig. 4 and Fig. 5, the top of large arm support plate 201 wherein in arm component 2 is connected with
There is connecting joint component 5, lower section connects forearm support plate 202 by axis joint component 7；The lower section of forearm support plate 202 is consolidated with bolt
Surely arm fixes backplate 206, arm is fixed on backplate 206 and is provided with arm fixing band 205；Wherein elbow support 204 is fixed on people
Body ancon, active joint assembly 6 is provided with elbow support；The wherein top of electric precise push rod 8 has been connected with connecting joint group
Part 5, lower section connect forearm support plate 202 by push rod connector 203.
In leg assembly 3 shown in Fig. 6 and Fig. 7, the top of thigh support plate 301 wherein in leg assembly 3 is connected with
There is connecting joint component 5, lower section connects shank support plate 302 by axis joint component 7；The lower section of shank support plate 302 is consolidated with bolt
Surely there is small leg restraint webbing 305, shank is installed on small leg restraint webbing 305 and fixes backplate 306；Wherein knee-pad 304 is fixed on human body
Knee, active joint assembly 6 is provided with knee-pad 304；The wherein top of electric precise push rod 8 has been connected with connecting joint group
Part 5, lower section connect shank support plate 302 by push rod connector 303.
In foot's component 4 shown in Fig. 8 and Fig. 9, the top of upper attachment 402 is connected with shank in leg assembly 3
Support plate 302, lower section are also equipped with padding by the universal-joint 404 of coupling bar 401 among upper attachment 402 and universal joint 404
Piece 403；The lower section of universal joint 404 is connected with sole connector 405, and the lower section of sole connector 405 has been bolted
Sole 406, the lower section of sole 406 are provided with rubber soles 407；The He of fixed belt for ankle joint 408 is also equipped with sole 406
Instep fixing band 409.
In connecting joint component shown in Figure 10 5, the both sides of universal joint 501 are connected with connector 503 by coupling bar 505,
Pad 504 is provided between connector 503 and universal joint 501, gim peg 502 is fixed on coupling bar 505；Center is using universal
Section 501 is used as main activities component so that joint can be in the upper and lower and front and rear motion space for having 180 degree；501 liang of universal joint
End is connected using coupling bar 505 with two end connections 503, is movable connection between coupling bar 505 and connector 503, connection
Part 503 can on coupling bar 505 360 degree rotation, add the flexibility of connecting joint component 5.
In active joint assembly 6 shown in Figure 11 and Figure 12, fixed plate 2 609 is bolted outer shaft 606, fixed
Plate 1 is bolted inner shaft 605, and inner shaft 605 is set inside outer shaft 606, is set inside inner shaft 605
Metal slide plate fixture 604, metal slide plate 603 is set on metal slide plate fixture 604, installed above metal slide plate 603
Resistance board 602, protecting cover 601 is covered above resistance board 602, wherein resistance board 602 is fixed on the inner side of protecting cover 601 and slided with metal
Piece 603 is in contact, and caging bolt 607 is additionally provided with the lower section of outer shaft 606；Caging bolt 607 can limit inner shaft 605
The anglec of rotation, the anglec of rotation of inner shaft 605 is 0-140 degree.
In axis joint component shown in Figure 13 7, the connection shaft 703 in the setting of the outer inner side of connection shaft 701, connect inside
The inner side of shaft member 703 sets metal slide plate fixture 705, metal slide plate 704 is installed on metal slide plate fixture 705, in metal
The top of slide plate 704 sets resistance board 706, and protecting cover 707 is set above resistance board 706, and wherein resistance board 706 is fixed on protecting cover
707 inner sides are simultaneously in contact with metal slide plate 704, and limited bolt is additionally provided between outer connection shaft 701 and interior connection shaft 703
702；Limited bolt 702 can limit the anglec of rotation of interior connection shaft 703, and the anglec of rotation of interior connection shaft 703 is 0-140
Degree.
In electric precise push rod shown in Figure 14 8, the right side of pusher structure 80 is provided with interior location controller 85, in push rod
The lower section of structure 80 sets reduction gear 81；Motor 82 is set above the left side of reduction gear 81, on motor 82
Side sets electric machine controller 83, and logic controller 84 is set above electric machine controller 83, and the top of logic controller 84 is set respectively
It is equipped with debugging switches set 86, power switch 87, external position controller joint 88 and power line 89.
In interior location controller shown in Figure 22 85, the bottom of resistance board fixture 8501 is provided with internal resistance plate
8502, sliding on internal resistance plate 8502 has metal slide plate 8503, and metal slide plate 8503 is arranged on inner push-rod base slider 8010
On；When inner push-rod base slider 8010 moves, metal slide plate 8503 is driven to be slided on resistance board 8502, so as to change inside
The resistance value data of resistance board 8502；Reach the purpose for being accurately positioned the current location of inner push-rod base slider 8010, so as to essence
It is determined that the current location of inner push-rod 8009 of position electric precise push rod.
In electric precise push rod shown in Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Figure 20 and Figure 21 8, in pusher structure 80
Outermost be provided with outer tube 8012, the top of outer tube 8012 is provided with outer tube top piece 8011；The inner side of outer tube 8012 is provided with
Outer push rod 8007, the outer bottom of push rod 8007 are provided with outer push rod base slider 8008, and the outer top of push rod 8001 is provided with outer push rod
Top piece 8005, locking ball 8004 is provided with outer push rod top piece 8005, and locking ball 8004 is covered with lock above
Determine fastener 8002, lock and back-moving spring 8003 is installed between fastener 8002 and outer push rod top piece 8005, lock fastener
8002 top is also equipped with lock nut 8001；The inner side of outer push rod 8007 is provided with inner push-rod 8009, under inner push-rod 8009
Side is provided with inner push-rod base slider 8010, and the top of inner push-rod 8009 is provided with inner push-rod top piece 8006, inner push-rod top
Part 8006 is connected by locking ball 8004 with outer push rod top piece 8005；The inner side of inner push-rod 8009 is provided with internal silk
Bar 8014, is provided with internal feed screw nut 8015 on internal screw mandrel 8014, internal feed screw nut 8015 be connected through a screw thread in push away
Bar base slider 8010.
Wherein lock nut 8001, locking fastener 8002, back-moving spring 8003, locking ball 8004, inner push-rod top zero
Part 8006 and outer push rod top piece 8005 composition locking device, the top of inner push-rod top piece 8006 has a diameter 12mm high
10mm jut is spent, it is the neck that 4mm depth is 1mm that medium design, which has a circle radius, on the outside of the jut；Extrapolation
The envisaged underneath of bar top piece 8005 has diameter 12mm depth 11.5mm groove, the jut of inner push-rod top piece 8006
Dividing to enter in the groove of outer push rod top piece 8005；It is evenly distributed on the outside of the lower square thread of outer push rod top piece 8005
U-type groove wide this 6 4mm, U-type groove bottom are connected with the outer bottom groove of push rod top piece 8005 by a diameter of 4mm passage
Logical, 8004 a diameter of 4mm of locking ball can be in channel interior free movement；In the interface channel of U-type groove bottom and lower grooves
Outlet diameter is slightly less than 4mm, prevents that locking ball 8004 drops out.One circular port is arranged at the top of locking fastener 8002, can be inserted in
The top of outer push rod top piece 8005；Locking fastener 8002 bottom is evenly distributed the wide U-shaped juts of 6 4mm, with outer push rod
The U-type groove of top piece 8005 is corresponding.Locking fastener 8002 is used to prevent from locking retracting for ball 8004.Lock fastener
There are 45 degree of hypotenuses on the inside of 8002U types projection, preferably can shift locking ball 8004 onto inner push-rod top piece 8006 projection
In partial neck.Back-moving spring 8003 is between locking fastener 8002 and outer push rod top piece 8005, for locking to be blocked
Part 8002 is released, and locking fastener 8002 is no longer limited retracting for locking ball 8004；Lock nut 8001 is at the top of outer push rod
On the top screw thread of part 8005, the position of locking fastener 8002 can be controlled, the locking of locking device and non-lock are controlled with this
Determine the switching between state.The upper ledge of inner push-rod top piece 8006 enters in the groove of the outer lower section of push rod top piece 8005
Appropriate position；Lock nut 8001 is tightened, moves downward locking fastener 8002, promotes locking ball 8004 to enter inner push-rod
In the neck of the upper ledge part of top piece 8006, and locking ball 8004 is set not retract；Now locking device is in lock
Determine state, outer push rod 8007 can follow inner push-rod 8009 to move together.When unscrewing lock nut 8001, locking fastener 8002 is set to exist
Moved upwards in the presence of back-moving spring 8003, when inner push-rod 8006 contractile motion of top piece, force locking ball 8004
Retract, now locking device is in non-locking state, and outer push rod 8007 will not follow inner push-rod 8009 to move together.When outer push rod
8007 are not influenceed with inner push-rod 8009 in non-locking state, outer push rod 8007 by inner push-rod 8009, retractable motion.When
In the case that ectoskeleton is in not enough power supply, ectoskeleton will not be made to be taken off because that can not move.
In the present embodiment, active joint assembly 6 is fixed on elbow support 204 and knee-pad 304, is fixed by elbow support 204
On the inside of human elbow, it is fixed on by knee-pad 304 on the inside of human body knee joint, is used in two elbow joints and two knee joints
Place.Inner shaft 605 is nested in outer shaft 606, under the limitation of caging bolt 607, can freely be revolved between 0-140 degree
Turn.Metal slide plate fixture 604 is fixed on inner shaft 605, and metal slide plate 603 is fixed on metal slide plate fixture 604, when
Inner shaft 605 when rotating can indirect drive metal slide plate 603 to rotate.Resistance board 602 is fixed on the inner side of protecting cover 601, and with gold
Category slide plate 603 is in contact.Protecting cover 601 is fixed on outer shaft 606.Metal slide plate 603, metal slide plate fixture 604 and resistance
Plate 602 forms potentiometer.When metal slide plate 603 is sliding on resistance board 602, thus it is possible to vary the resistance value of resistance board.When
When human elbow does bending motion, inner shaft 605 drives metal slide plate fixture 604 and metal slide plate 603 to rotate；Metal is slided
The rotational slide on resistance board 602 of piece 603, change the resistance value of resistance board 602, and its resistance data is arrived by wire transmission
In the logic controller 84 of electric precise push rod 8.Logic controller 84 draws human elbow by calculating the resistance data
Current angle of bend position data.The interior location controller 85 that logic controller 84 passes through electric precise push rod 8 itself is worked as
Preceding resistance data, calculate the current bending position data of exoskeleton elbow joint.And 2 data are compared to each other to show that needs are outer
The relative amount of exercise needed with human elbow position in the elbow joint position of bone.According to the data drawn, electric precise push rod 8
The controlled motor 82 of logic controller 84 do positive counter-movement, make electric precise push rod 8 is flexible to drive ectoskeleton forearm support plate 202 to transport
Move and human elbow identical position.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
Some variations that some of which part may be made are embodied the present invention principle, belong to protection scope of the present invention it
It is interior.
Claims (4)
- A kind of 1. simple human ectoskeleton, it is characterised in that：Including body component (1), arm component (2), leg assembly (3), Foot's component (4), connecting joint component (5), active joint assembly (6), axis joint component (7) and electric precise push rod (8)；Wherein body component (1) include waist connecting plate (101), right hip support plate (102), left hip support plate (103), backboard (104), Upper body fixes clothes (105), power-supply controller of electric (106), battery pack (107), right shoulder support plate (108) and left shoulder support plate (109), described The bottom of body component (1) is provided with waist connecting plate (101), and a left side is separately installed with left and right sides of waist connecting plate (101) Hip support plate (103) and right hip support plate (102)；Backboard (104) is installed, after backboard (104) above waist connecting plate (101) Face is provided with battery pack (107), and upper body is provided with above backboard (104) and fixes clothes (105)；Before upper body fixes clothes (105) Face is provided with power-supply controller of electric (106), and left shoulder support plate (109) and the right side are also separately installed with left and right sides of the top of backboard (104) Shoulder support plate (108)；Its middle left and right shoulder support plate connects arm component (2) by connecting joint component (5), and left and right hip support plate passes through Connecting joint component (5) connected legs component (3)；Connection connecting joint component (5) above large arm support plate (201) wherein in arm component (2), lower section passes through axis joint group Part (7) connection forearm support plate (202)；Arm is installed below forearm support plate (202) and fixes backplate (206), arm fixes shield Arm fixing band (205) is installed on plate (206)；Wherein elbow support (204) is fixed on human body ancon, and elbow support is provided with (204) Active joint assembly (6)；Connection connecting joint component (5) wherein above electric precise push rod (8), lower section passes through push rod connector (203) forearm support plate (202) is connected；Connection connecting joint component (5) above thigh support plate (301) wherein in leg assembly (3), lower section passes through axis joint group Part 7 connects shank support plate (302)；Small leg restraint webbing (305), small leg restraint webbing (305) are installed below shank support plate (302) On be provided with shank fix backplate (306)；Wherein knee-pad (304) is fixed on human knee, is provided with knee-pad (304) and actively closes Save component (6)；Connection connecting joint component (5) wherein above electric precise push rod (8), lower section passes through push rod connector (303) Connect shank support plate (302)；Wherein foot's component (4) includes coupling bar (401), upper attachment (402), pad (403), universal joint (404), sole Plate connector (405), sole (406), rubber soles (407), fixed belt for ankle joint (408) and instep fixing band (409), institute Shank support plate (302) in upper attachment (402) top connected legs component (3) is stated, lower section passes through coupling bar (401) and connects ten thousand To section (404), pad (403) is also equipped among upper attachment (402) and universal joint (404)；The lower section of universal joint (404) It is connected with sole connector (405), is provided with sole (406) below sole connector (405), under sole (406) Side is provided with rubber soles (407)；Fixed belt for ankle joint (408) and instep fixing band are also equipped with sole (406) (409)；Wherein electric precise push rod (8) includes pusher structure (80), reduction gear (81), motor (82), electric machine controller (83), logic controller (84), interior location controller (85), debugging switches set (86), power switch (87), external position control Device joint (88) processed and power line (89), pusher structure (80) right side are provided with interior location controller (85), push rod knot Reduction gear (81) is provided with below structure (80)；Motor (82) is provided with above the left side of reduction gear (81), electricity Electric machine controller (83) is provided with above machine (82), logic controller (84), logic control are provided with above electric machine controller (83) Debugging switches set (86), power switch (87), external position controller joint (88) and electricity are respectively arranged with above device (84) processed Source line (89)；Wherein pusher structure (80) includes lock nut (8001), locking fastener (8002), back-moving spring (8003), locking ball (8004), outer push rod top piece (8005), inner push-rod top piece (8006), outer push rod (8007), outer push rod base slider (8008), inner push-rod (8009), inner push-rod base slider (8010), outer tube top piece (8011), outer tube (8012), internal silk Bar (8014) and internal feed screw nut (8015), the outermost of the pusher structure (80) are provided with outer tube (8012), outer tube (8012) top is provided with outer tube top piece (8011)；Outer push rod (8007), outer push rod are provided with the inside of outer tube (8012) (8007) bottom is provided with outer push rod base slider (8008), and outer push rod (8007) top is provided with outer push rod top piece (8005) locking ball (8004), is installed, locking ball (8004) is covered with lock above on outer push rod top piece (8005) Determine fastener (8002), back-moving spring (8003) is installed between locking fastener (8002) and outer push rod top piece (8005), lock Determine to be also equipped with lock nut (8001) above fastener (8002)；Inner push-rod is provided with the inside of outer push rod (8007) (8009) inner push-rod base slider (8010), is provided with below inner push-rod (8009), inner push-rod (8009) top is provided with interior push away Bar top piece (8006), inner push-rod top piece (8006) is by locking ball (8004) and outer push rod top piece (8005) It is connected；Internal screw mandrel (8014) is provided with the inside of inner push-rod (8009), internal screw mandrel spiral shell is installed on internal screw mandrel (8014) Female (8015), internal feed screw nut (8015) are connected through a screw thread inner push-rod base slider (8010)；Wherein interior location controller (85) includes resistance board fixture (8501), internal resistance plate (8502) and metal slide plate (8503), resistance board fixture (8501) bottom is provided with internal resistance plate (8502), is slided on internal resistance plate (8502) Dynamic to have metal slide plate (8503), metal slide plate (8503) is arranged in inner push-rod base slider (8010).
- A kind of 2. simple human ectoskeleton according to claim 1, it is characterised in that：Connecting joint component (5) bag Include universal joint (501), gim peg (502), connector (503), pad (504) and coupling bar (505), the universal joint (501) Both sides are connected with connector (503) by coupling bar (505), and pad is provided between connector (503) and universal joint (501) (504), gim peg (502) is fixed on coupling bar (505).
- A kind of 3. simple human ectoskeleton according to claim 1, it is characterised in that：Active joint assembly (6) bag Include protecting cover (601), resistance board (602), metal slide plate (603), metal slide plate fixture (604), inner shaft (605), outer shaft (606), caging bolt (607), fixed plate one (608) and fixed plate two (609), the fixed plate two (609) connect outer shaft (606), fixed plate one (608) connection inner shaft (605), outer shaft (606) are internally provided with inner shaft (605), inner shaft (605) metal slide plate fixture (604) is internally provided with, metal slide plate (603) is provided with metal slide plate fixture (604), Resistance board (602) is installed above metal slide plate (603), protecting cover (601), wherein resistance board are covered with above resistance board (602) (602) it is fixed on the inside of protecting cover (601) and is in contact with metal slide plate (603), is additionally provided with below the outer shaft (606) Caging bolt (607).
- A kind of 4. simple human ectoskeleton according to claim 1, it is characterised in that：The axis joint component (7) includes Outer connection shaft (701), limited bolt (702), interior connection shaft (703), metal slide plate (704), metal slide plate fixture (705), resistance board (706) and protecting cover (707), outer connection shaft (701) inner side is provided with interior connecting shaft (703) part, interior Metal slide plate fixture (705) is provided with the inside of connection shaft (703), metal cunning is installed on metal slide plate fixture (705) Piece (704), metal slide plate (704) top are provided with resistance board (706), protecting cover (707) are provided with above resistance board (706), its Middle resistance board (706) is fixed on the inside of protecting cover (707) and is in contact with metal slide plate (704), the outer connection shaft (701) and Limited bolt (702) is additionally provided between interior connection shaft (703).
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| CN201710881277.3A CN107789155A (en) | 2017-09-26 | 2017-09-26 | A kind of simple human ectoskeleton |
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| CN201710881277.3A CN107789155A (en) | 2017-09-26 | 2017-09-26 | A kind of simple human ectoskeleton |
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| CN108744422A (en) * | 2018-06-08 | 2018-11-06 | 重庆大学 | A kind of wearable upper extremity exercise auxiliary device of four-degree-of-freedom of degree of freedom optimization |
| CN109176597A (en) * | 2018-11-19 | 2019-01-11 | 西安交通大学 | A kind of ectoskeleton dynamic knee joint structure |
| CN109350451A (en) * | 2018-11-13 | 2019-02-19 | 赵田斌 | A kind of autism children's rehabilitation training airplane |
| CN109806115A (en) * | 2019-03-25 | 2019-05-28 | 文超 | A kind of forced action type leg varicose training medical health-care device |
| CN110063875A (en) * | 2019-05-22 | 2019-07-30 | 东北大学 | A kind of exoskeleton robot for whole body rehabilitation training |
| CN110547946A (en) * | 2019-09-03 | 2019-12-10 | 河海大学常州校区 | Push rod type upper limb exoskeleton based on laser sensing |
| CN110680676A (en) * | 2019-10-22 | 2020-01-14 | 漫步者（天津）康复设备有限公司 | Mechanical leg of lower limb rehabilitation robot |
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| CN110063875A (en) * | 2019-05-22 | 2019-07-30 | 东北大学 | A kind of exoskeleton robot for whole body rehabilitation training |
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| CN110547946A (en) * | 2019-09-03 | 2019-12-10 | 河海大学常州校区 | Push rod type upper limb exoskeleton based on laser sensing |
| CN110680676A (en) * | 2019-10-22 | 2020-01-14 | 漫步者（天津）康复设备有限公司 | Mechanical leg of lower limb rehabilitation robot |
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