CN108189008A - Bionic load maneuvering exoskeleton system - Google Patents
Bionic load maneuvering exoskeleton system Download PDFInfo
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- CN108189008A CN108189008A CN201810008343.0A CN201810008343A CN108189008A CN 108189008 A CN108189008 A CN 108189008A CN 201810008343 A CN201810008343 A CN 201810008343A CN 108189008 A CN108189008 A CN 108189008A
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- joint
- ankle
- hip
- connecting rod
- load
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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
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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)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
the invention discloses a bionic load motorized exoskeleton system, which is characterized in that the axes L21 of two first rotating shafts at two ends of a hip baffle, the axis L22 of a third rotating shaft of a hip force bearing component and the axis L23 of a parallel link mechanism are intersected at a hip joint central point O1 at the inner side of an opening of the hip baffle, the central line L41 of a parallelogram structure, the rotating central line L42 of an insole, an ankle joint support and a hinge point central connecting line L43 of two shank force bearing rods are intersected at an ankle joint central point O2 at the end part of the opening of the ankle joint support, the rotating centers of all joints are superposed with the center of a human body joint, and the geometrical interference between an exoskeleton suit and a human body can be avoided in space, so that the internal consumption of the movement of the exoskeleton suit and the human body is reduced, the wearing comfort of the exoskeleton suit is improved, the structure complexity is low, the flexibility, the energy consumption is high.
Description
Technical field
The present invention relates to exoskeleton robots, and in particular to a kind of bionical load motor driven type exoskeleton system, for supplying people
Body is dressed, and plays enhancing wearer's load-bearing capacity and the function of maneuverability.
Background technology
Foreign countries have certain basis and achievement for the research of ectoskeleton, its research is also just being risen in the country.It is outer at present
Bone is mainly used for the fields such as medical rehabilitation, industrial production, individual combat.Existing exoskeleton robot is right in Bionic Design
Organization of human body has done the simplification of simplification, especially joint and its movement so that ectoskeleton has differences with human motion, and wearing relaxes
Adaptive is bad.On the other hand, the domestic research for enhancing the support type ectoskeleton of function of human body is few, comprehensive for modern individual soldier
It is even more to have larger gap to close the developed countries such as research and the U.S. of weaponry, therefore, develops and improves body burden ability and machine
The exoskeleton system of kinetic force has a very important significance and urgency.
At present, application No. is 201310686549.6, application No. is 201310688125.3, application No. is
201410855607.8 Chinese patent literature respectively discloses a kind of wearable ectoskeleton power-assisting robot, and hip joint all designs
There are three degree of freedom, flexion/extension can be carried out, outer pendulum/interior receipts, internal/external rotations, however three of them rotation center in human hip
The heart is misaligned, may cause the space interference of ectoskeleton clothes and human body, and wearing comfort is to be improved；Application No. is
201210319331.2 China side patent discloses a kind of wearable weight type material handling power-assisted bionic exoskeleton,
Ankle-joint design can simulate ankle dorsal flexion and/varus of turning up there are two degree of freedom, and can not realize the interior of model of human ankle
Rotation/outward turning, there are larger differences with human motion, are easily restricted human motion；Application No. is 201310686549.6
Chinese invention patent disclose a kind of wearable ectoskeleton power-assisting robot, ankle-joint is designed with three degree of freedom, can be into
Row flexion/extension, outer pendulum/interior receipts, internal/external rotations, however three of them rotation center is not overlapped with model of human ankle center.In addition, Shen
Number a kind of ectoskeleton power assisting device please be disclosed for 201310202205.3 Chinese patent literature, not include foot designs,
Power-assisted can not be directly delivered to ground, increase human body burden, and working efficiency is poor；China application No. is 201310262919.3 is special
Sharp document discloses a kind of wearable lower-limb assistance exoskeleton, and every pedipulator leg only uses a motor and is driven, this
Energy-provision way cannot effectively match the movement of human body varying strength, may cause energy waste or of short duration energy supply not
Foot.
Invention content
The technical problem to be solved in the present invention：For movement man-machine existing for existing exoskeleton robot it is uncoordinated, exist
The problems such as in-fighting, wearing comfort are poor, power-assisted effect unobvious, provides a kind of load motor driven type exoskeleton system, and the present invention is each
The center of rotation of a bionic joint is overlapped with human synovial center, is avoided the space interference of ectoskeleton clothes and human body, is reduced in-fighting,
Wearing comfort higher is more coordinated with human motion, energizes more reasonable so as to really realize enhancing human body maneuverability.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of bionical load motor driven type exoskeleton system, load bearing unit and two groups of joint units including interconnection, each group
Joint unit includes the hip joint, knee joint and the ankle-joint that are sequentially connected, and the load bearing unit includes backrest, bearing box and human body
Fixing piece, the bearing box is arranged on rear side of backrest, the human body fixing piece is arranged on front side of backrest, and the backrest is equipped with waist
Band, and hip joint of the lower end of the backrest respectively with each group joint unit is connected；The hip joint includes hip baffle, parallel
Link mechanism and hip load-carrying member, the knee joint include knee-pad, rotatable stent, institute are hinged on the outside of the knee-pad
It states and the second driving element is hinged between knee-pad and stent, the hip baffle is equipped with thigh load structure for arcuate structure and lower part
Part, the thigh load-carrying member are connected with stent, and the parallel linkage is constrained on approximately the same plane when doing shearing motion
On, the parallel linkage, which is arranged in the open outer side of hip baffle and extends side by two, passes through first rotating shaft and hip
The end hinge connection of baffle, the hip load-carrying member is articulately arranged at parallel for arcuate structure and one end by third shaft
The middle part of link mechanism, the other end are connected with the lower end of backrest, are connected between the hip load-carrying member and parallel linkage
There is the first driving element, the axis L21 of described two first rotating shafts in hip baffle both ends, the third shaft of hip load-carrying member
Axis L22, parallel linkage central axes L23 intersect at hip joint central point O1 on the inside of hip baffle openings；The ankle
Joint includes mechanism rod piece and the ankle-joint stent of u-shaped structure, and the mechanism rod piece is connected with knee-pad, the mechanism rod piece
The shank bearing rod of two parallel arrangements is hinged between the open end of ankle-joint stent so that mechanism rod piece, ankle-joint
Stent, two shank bearing rod formation constrain in the parallelogram sturcutre of approximately the same plane activity when doing shearing motion, described
The open end of ankle-joint stent is equipped with ankle-joint bandage, and rotatable footwear are installed on the upside of the bottom of the ankle-joint stent
Pad, be hinged between the ankle-joint stent and a shank bearing rod third driving element and another shank bearing rod it
Between be hinged with passive energy-accumulating element, the center line L41 of the parallelogram sturcutre, rotary centerline L42, the ankle of the insole
The hinge joint line of centres L43 three of knuckle support and two shank bearing rods intersects at the ankle of the open end of ankle-joint stent
Articulation center point O2.
Preferably, the parallel linkage includes first connecting rod, second connecting rod, third connecting rod and fourth link, described
Both both first connecting rod and second connecting rod parallel arrangement, third connecting rod and fourth link parallel arrangement form quadrilateral structure,
And the third connecting rod, fourth link each extend over to be formed two extension sides, and it is described two extension side by first rotating shaft with
The end hinge connection of hip baffle.
Preferably, arbitrary neighborhood passes through between the two in the first connecting rod, second connecting rod, third connecting rod and fourth link
Second shaft is flexibly connected, and is arranged parallel between the axis of the second all shafts so that parallel linkage is sheared
During movement it is restrained in the same plane.
Preferably, described first connecting rod one end is flexibly connected by one end of the second shaft and third connecting rod, the other end leads to
One end flexible connection of the second shaft and fourth link is crossed, described second connecting rod one end passes through in the second shaft and third connecting rod
Portion's flexible connection, the other end are flexibly connected by the middle part of the second shaft and fourth link, the other end of the third connecting rod, the
The other end of double leval jib is respectively connect by a first rotating shaft with the end hinge of hip baffle, under the hip load-carrying member
End is articulately arranged at the middle part of first connecting rod, second connecting rod by third shaft, and described first driving element one end is fixed on the
One interlinking lever end, the other end are fixed in the middle part of hip load-carrying member.
Preferably, the thigh load-carrying member includes two thigh bearing rods, and the lower end of two thigh bearing rods
Arc supporting item is connected with, the thigh load-carrying member is made of carbon fibre material.
Preferably, thigh bandage is fixed on two thigh bearing rods, the thigh bandage uses flexible material system
Into.
Preferably, the mechanism rod piece includes two mechanism rods being arranged parallel to, the both ends of the mechanism rod
The upper articulation with shank bearing rod is connect respectively, and the both ends of the mechanism rod pass through upper with the top of shank bearing rod respectively
Rotate axis connection, the open end of the ankle-joint stent connect with the lower part of shank bearing rod by lower rotary shaft, it is described on
Rotation axis, lower rotary shaft are arranged in parallel each along the length direction of insole；Described third driving element one end is hingedly mounted on small
On leg bearing rod, the other end by the way that rotation axis and the middle part of ankle-joint stent is driven to be connected, it is described driving rotation axis along insole
Width direction parallel arrangement.
Preferably, the insole includes half sole and back seat, is connected between the half sole and back seat by connecting shaft, after described
Seat is mounted on the upside of the bottom of ankle-joint stent, and the bottom of the back seat is set on concave portion, the bottom position of the ankle-joint stent
In concave portion；The half sole is equipped with foot's bandage for fixed foot portion, and the ankle-joint bandage, foot's bandage use
Flexible material is made, and the shank bearing rod is made of carbon fiber.
Preferably, first driving element, the second driving element, third driving element are combined for servo valve and hydraulic cylinder
The hydraulic actuator of composition, and the hydraulic actuator is equipped with stroke detection sensor；Twin-stage is equipped in the bearing box to drive
Moving cell, the twin-stage driving unit include control module and correspond to the small flow high pressure hydraulic pressure time of each actuator respectively
Road and big flow low-pressure hydraulic circuit, on the small flow high pressure hydraulic circuit arranged in series have the first check valve, accumulator,
Control switchs Swi and the second check valve, and arranged in series has third check valve, the control on the big flow low-pressure hydraulic circuit
Switch the control terminal of Swi, the output terminal of stroke detection sensor is connected respectively with control module.
Preferably, first driving element, the second driving element, third driving element are formed for linear servo-actuator
Actuator, and the actuator is equipped with stroke detection sensor；Twin-stage driving unit, the twin-stage are equipped in the bearing box
Driving unit include control module and the instantaneous high power circuit for correspond to each actuator respectively and it is long when low-power time
Road, arranged in series has a control switch Swi on the instantaneous high power circuit, and instantaneous high power circuit be equipped with it is individually instantaneous
High-powered sources HS or all instantaneous high power circuits share an instantaneous high power source HS, cloth of connecting on low-power circuit when long
When being equipped with individually long low-power source LS or it is all long when low-power circuit low-power source LS, control when sharing one long
Switch the control terminal of Swi, the output terminal of stroke detection sensor is connected respectively with control module.
The bionical load motor driven type exoskeleton system tool of the present invention has the advantage that：
First, the present invention has filled up blank of the ectoskeleton clothes in bionic joint design field.
2nd, joint designs of the invention fully consider simulation of human body, the axis of two first rotating shafts in hip baffle both ends
L21, the axis L22 of third shaft of hip load-carrying member, the central axes L23 of parallel linkage intersect at hip baffle openings
The hip joint central point O1 of inside, the center line L41 of parallelogram sturcutre, rotary centerline L42, the ankle-joint of the insole
The hinge joint line of centres L43 three of stent and two shank bearing rods intersects at the ankle-joint of the open end of ankle-joint stent
Central point O2, the rotation center for the three degree of freedom having are overlapped with human synovial center, can spatially ectoskeleton be avoided to take
With the geometrical interference of human body, so as to reduce ectoskeleton clothes and the in-fighting of human motion, the wearing comfort of ectoskeleton clothes, knot are improved
Structure complexity is low, more dexterous, low energy consumption, reliability is preferable, and type of drive is flexible, wearing comfort.
3rd, the servo drive system of design of the invention is further twin-stage driving unit, and twin-stage driving unit is using double
Grade energy supply, for low, middle intensity for a long time and high-intensity exercise takes different powered modes in short-term, can improve system supply pressure
The matching degree of power and pressure needed for actuator load.
4th, each joint of the invention is mutual indepedent, therefore can be based on engineering as needed for coupled control
It practises and realizing, can the accurate control of ectoskeleton be realized according to adaptive control algorithm real-time online Correction and Control parameter.
5th, the fields such as individual combat, transport carrying, industrial production are present invention can be suitably applied to, are had a wide range of application.
Description of the drawings
Fig. 1 is the main structure diagram of the embodiment of the present invention one.
Fig. 2 is the side structure schematic view of the embodiment of the present invention one.
Fig. 3 is the dimensional structure diagram of the embodiment of the present invention one.
Fig. 4 is the dimensional structure diagram of one hip joint of the embodiment of the present invention.
Fig. 5 is the flexion/extension degree of freedom of one hip joint of the embodiment of the present invention（Actively）Realization principle schematic diagram.
Fig. 6 is the internal/external rotations degree of freedom of one hip joint of the embodiment of the present invention（Passively）Realization principle schematic diagram.
Fig. 7 is outer pendulum/interior receipts degree of freedom of one hip joint of the embodiment of the present invention（Passively）Realization principle schematic diagram, in order to just
Hip load-carrying member and driving element are omitted in observation, figure.
Fig. 8 is the dimensional structure diagram of one ankle-joint of the embodiment of the present invention.
Fig. 9 is the side structure schematic view of one ankle-joint of the embodiment of the present invention.
Figure 10 is the degree of freedom schematic diagram of the flexion/extension of one ankle-joint of the embodiment of the present invention.
Figure 11 is the degree of freedom schematic diagram of outer pendulum/interior receipts of one ankle-joint of the embodiment of the present invention.
Figure 12 is the principle schematic of the twin-stage driving unit of the embodiment of the present invention one.
Figure 13 is the principle schematic of the twin-stage driving unit of the embodiment of the present invention two.
Marginal data：1st, load bearing unit；11st, backrest；12nd, bearing box；13rd, human body fixing piece；14th, waistband；2nd, hip joint；
21st, hip baffle；210th, first rotating shaft；22nd, parallel linkage；220th, the second shaft；221st, first connecting rod；222nd, second connects
Bar；223rd, third connecting rod；224th, fourth link；23rd, hip load-carrying member；230th, third shaft；24th, thigh load-carrying member；
241st, two thigh bearing rods；242nd, arc supporting item；243rd, thigh bandage；25th, the first driving element；3rd, knee joint；31st, it protects
Knee；32nd, stent；33rd, the second driving element；4th, ankle-joint；41st, mechanism rod piece；411st, mechanism rod；42nd, ankle-joint stent；
421st, ankle-joint bandage；43rd, shank bearing rod；431st, upper rotary shaft；432nd, lower rotary shaft；44th, insole；441st, half sole；442、
Back seat；4421st, concave portion；443rd, foot's bandage；45th, third driving element；451st, rotation axis is driven；46th, passive energy-accumulating element；
5th, twin-stage driving unit；51st, big flow low-lift pump；52nd, small flow high pressure pumps；53rd, controllable clutch；54th, driving equipment；55、
Control module；56th, stroke detection sensor.
Specific embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 8, the bionical load motor driven type exoskeleton system of the present embodiment is included mutually
The load bearing unit 1 of connection and two groups of joint units, each group of joint unit include the hip joint 2, knee joint 3 and the ankle that are sequentially connected
Joint 4, load bearing unit 1 include backrest 11, bearing box 12 and human body fixing piece 13, and bearing box 12 is arranged in 11 rear side of backrest, people
Body fixing piece 13 is arranged in 11 front side of backrest, and backrest 11 is equipped with waistband 14, and the lower end of backrest 11 is single with each group joint respectively
The hip joint 2 of member is connected；Hip joint 2 includes hip baffle 21, parallel linkage 22 and hip load-carrying member 23, hip baffle
21 are equipped with thigh load-carrying member 24 for arcuate structure and lower part, and knee joint 3 includes knee-pad 31, and the outside of knee-pad 31 is hinged with and can turn
Dynamic stent 32 is hinged with the second driving element 33 between knee-pad 31 and stent 32, thigh load-carrying member 24 is connected with stent 32,
Parallel linkage 22 do during shearing motion it is restrained in the same plane, parallel linkage 22 is arranged in hip baffle 21
Open outer side and by two extend sides connect by first rotating shaft 210 with the end hinge of hip baffle 21, hip load
Component 23 for arcuate structure and one end be articulately arranged at by third shaft 230 middle part of parallel linkage 22, the other end with
The lower end of backrest 11 is connected, and the first driving element 25, hip are connected between hip load-carrying member 23 and parallel linkage 22
The axis L22, parallel of the axis L21 of two, 21 both ends of baffle first rotating shaft 210, the third shaft 230 of hip load-carrying member 23
The central axes L23 of link mechanism 22 intersects at the hip joint central point O1 of 21 opening inner side of hip baffle；Ankle-joint 4 includes mechanism
The ankle-joint stent 42 of rod piece 41 and u-shaped structure, mechanism rod piece 41 are connected with knee-pad 31, mechanism rod piece 41 and ankle-joint branch
The shank bearing rod 43 of two parallel arrangements is hinged between the open end of frame 42 so that mechanism rod piece 41, ankle-joint stent
42nd, the parallelogram sturcutre of approximately the same plane activity is constrained in when shearing motion is done in two formation of shank bearing rod 43, ankle closes
The open end for saving stent 42 is equipped with ankle-joint bandage 421, and rotatable insole is installed on the upside of the bottom of ankle-joint stent 42
44, third driving element 45 and another shank bearing rod are hinged between ankle-joint stent 42 and a shank bearing rod 43
Passive energy-accumulating element 46, the center line L41 of parallelogram sturcutre, rotary centerline L42, the ankle of insole 44 are hinged between 43
The hinge joint line of centres L43 three of knuckle support 42 and two shank bearing rods 43 intersects at the openend of ankle-joint stent 42
The ankle-joint central point O2 in portion.
Referring to Fig. 1, Fig. 2 and Fig. 3, the human body fixing piece 13 in the present embodiment is specially vest, in addition can also be according to need
It to be fixed using components such as bandage, lantern rings to carry out human body.In addition, it is equipped between backrest 11 and human body using flexible high tenacity
Buffer unit made of textile material for protecting human body, improves comfort level during wearing.
Referring to Fig. 4, the first driving element 25, hip gear are connected between hip load-carrying member 23 and parallel linkage 22
The axis L21 of two, 21 both ends of plate first rotating shaft 210, the axis L22 of the third shaft 230 of hip load-carrying member 23, parallel company
The central axes L23 of linkage 22 intersects at the hip joint central point O1 of 21 opening inner side of hip baffle so that three had are certainly
It is overlapped by the rotation center spent with human hip center, can spatially avoid the geometrical interference of ectoskeleton clothes and human body, from
And ectoskeleton clothes and the in-fighting of human motion are reduced, improve the wearing comfort of ectoskeleton clothes, the complicated journey of the present embodiment
Spend low, more dexterous, low energy consumption, reliability is preferable, type of drive is flexible.
Referring to Fig. 8, the center line L41 of parallelogram sturcutre, the rotary centerline L42 of insole 44, ankle-joint stent 42
The ankle-joint of the open end of ankle-joint stent 42 is intersected at the hinge joint line of centres L43 three of two shank bearing rods 43
Central point O2 so that the rotation center for the three degree of freedom having and the ankle-joint center of human body（Ankle-joint central point O2）Weight
It closes, makes wearer motion more naturally, can spatially avoid the geometrical interference of ectoskeleton clothes and human body simultaneously, it is outer so as to reduce
Exoskeleton suit and the in-fighting of human motion improve the wearing comfort of ectoskeleton clothes, simple, dexterous light with system structure（Matter
Amount and volume are smaller）, be easy to control, safeguard and use the advantages of simple, reliability is preferable.
As shown in Figure 4 and Figure 6, parallel linkage 22 includes first connecting rod 221, second connecting rod 222, third connecting rod 223
With fourth link 224,224 liang of both first connecting rod 221 and second connecting rod 222 parallel arrangement, third connecting rod 223 and fourth link
Person is arranged in parallel to form quadrilateral structure, and third connecting rod 223, fourth link 224 each extend over to form two extension sides, and two
A extension side is connect by first rotating shaft 210 with the end hinge of hip baffle 21, and parallel company is can be ensured that by above structure
Linkage 22 and the connection structure of hip baffle 21 are simple, easy to assembly, will not influence or link mechanism 22 is interfered to shear
During movement it is restrained in the same plane.
As shown in Figure 4 and Figure 6, it is arbitrary in first connecting rod 221, second connecting rod 222, third connecting rod 223 and fourth link 224
It is arranged parallel between the axis of the second adjacent to be flexibly connected between the two by the second shaft 220 and all shaft 220
So that parallel linkage 22 do during shearing motion it is restrained in the same plane.
As shown in Figure 4 and Figure 6,221 one end of first connecting rod passes through the activity of one end of the second shaft 220 and third connecting rod 223
Connection, the other end are flexibly connected by one end of the second shaft 220 and fourth link 224, and 222 one end of second connecting rod passes through second
The flexible connection of the middle part of shaft 220 and third connecting rod 223, the other end are lived by the middle part of the second shaft 220 and fourth link 224
Dynamic connection, the other end of third connecting rod 223, the other end of fourth link 224 respectively pass through a first rotating shaft 210 and hip baffle
21 end hinge connection, the lower end of hip load-carrying member 23 are articulately arranged at first connecting rod 221, the by third shaft 230
The middle part of two connecting rods 222,25 one end of the first driving element are fixed on 221 end of first connecting rod, and the other end is fixed on hip load
23 middle part of component.
As shown in figs. 4 and 7, thigh load-carrying member 24 includes two thigh bearing rods 241, and two thigh bearing rods
241 lower end is connected with arc supporting item 242, can preferably adapt to thigh shape, and use is more comfortable.Thigh load-carrying member 24
It is made of carbon fibre material, portable construction, high intensity, carrying while has both safeguard function, and thigh bandage is using elasticity
And flexible material, the comfort dressed can be improved.
As shown in figure 5 and figure 7, thigh bandage 243 is fixed on two thigh bearing rods 241, thigh bandage 243 is using soft
Property material be made, use it is comfortable, wear firm stable.
There are three rotational freedoms for the tool of hip joint 2 of the present embodiment：Flexion/extension can be achieved（Actively）, internal/external rotations（Quilt
It is dynamic）, outer pendulum/interior receipts（Passively）.When the first driving element 25 is released, hip joint rotates upwardly and downwardly（That is flexion/extension degree of freedom）, hip at this time
Around the axis L22 rotations of the third shaft 230 of hip load-carrying member 23, movement between portion's baffle 21, hip load-carrying member 23
Direction is as arrows in fig. 5.When the personnel of wearing carry out internal/external rotations, the degree of freedom of hip joint inner/outward turning passes through parallel company
Linkage 22 realizes that different with the angle of 22 internal/external rotations of parallel linkage, parallel linkage 22 surrounds central axes
L23 forms the deformation of different deviation angles, so as to fulfill the internal/external rotations shown in arrow in Fig. 6.Outside wearing personnel carry out
Pendulum/interior time receiving, outer pendulum/interior receipts degree of freedom of hip joint then pass through the hinged knot between hip baffle 21, parallel linkage 22
Structure is realized, so that being realized in Fig. 7 shown in arrow based on first rotating shaft 210 between hip baffle 21, parallel linkage 22
Outer pendulum/interior receipts.
Passive energy-accumulating element 46 is hinged in the present embodiment between ankle-joint stent 42 and another shank bearing rod 43, is led to
It crosses passive 46 and second driving element 45 of energy-accumulating element and forms the main drive form passively combined, using the second driving element 45
There is provided active drive power-assisted, while passive energy accumulated assisted using passive energy-accumulating element 46, can enhance ectoskeleton mechanical property and
Cruise duration.In the present embodiment, passive energy-accumulating element 46 is specifically realized using spring, can also use gas as needed in addition
The energy-accumulating elements such as cylinder, oil cylinder or spring ratchet mechanism although configurations, are applied to ankle-joint stent 42 and another
To realize that the main drive form passively combined is identical with the present embodiment between shank bearing rod 43, therefore details are not described herein.
The knee joint 3 of the present embodiment includes knee-pad 31, and the outside of knee-pad 31 is hinged with rotatable stent 32,31 He of knee-pad
The second driving element 33 is hinged between stent 32, the fixation of knee is additionally realized including knee bandage, passes through knee-pad 31
Outer ankle-joint 4 and hip joint 2 are connected to be formed can be between knee-pad 31 and stent 32 center of rotation rotation（1 degree of freedom）
Knee joint 3.
If Fig. 8, Fig. 9, Figure 10 and Figure 11 show, mechanism rod piece 41 includes two mechanism rods 411 being arranged parallel to, machine
Upper articulation of the both ends of structure connecting rod 411 respectively with shank bearing rod 43 is connect, and the both ends of mechanism rod 411 are held respectively with shank
The top of power bar 43 is connected by upper rotary shaft 431, and the lower part of the open end and shank bearing rod 43 of ankle-joint stent 42 leads to
It crosses lower rotary shaft 432 to connect, upper rotary shaft 431, lower rotary shaft 432 are arranged in parallel each along the length direction of insole 44；Third
45 one end of driving element is hingedly mounted on shank bearing rod 43, the other end is by driving rotation axis 451 and ankle-joint stent 42
Middle part be connected, driving rotation axis 451 along insole 44 width direction be arranged in parallel, pass through above structure, it is ensured that ankle-joint
Flexion/extension, outer pendulum/interior receive the reliable and stable of two degree of freedom.
If Fig. 8, Fig. 9, Figure 10 and Figure 11 show, insole 44 includes half sole 441 and back seat 442, half sole 441 and back seat 442 it
Between be connected by connecting shaft, back seat 442 is mounted on the upside of the bottom of ankle-joint stent 42, it can be achieved that turned over before sole/after turn over from
By spending, the bottom of back seat 442 is set on concave portion 4421, and the bottom of ankle-joint stent 42 is located in concave portion 4421, is conducive to carry
High insole 4 and the contact area on ground, and 42 excessive wear of ankle-joint stent can be prevented.
If Fig. 8, Fig. 9, Figure 10 and Figure 11 show, half sole 441 is equipped with foot's bandage 443 for fixed foot portion, is conducive to
Fixed sole；Ankle-joint bandage 421, foot's bandage 443 are made of flexible material, using comfortable；Shank bearing rod 43 is adopted
It is made of carbon fiber, ectoskeleton is made to have both the load-carrying properties of rigid exo bone, and carried with the comfortable, high-effect of flexible exoskeleton
The comfort of height wearing.
There are three rotational freedoms for the tool of ankle-joint 4 of the present embodiment：Flexion/extension, outer pendulum/interior receipts, internal/external rotations, wherein logical
It crosses third driving element 45 and drives relative motion between ankle-joint stent 42 and a shank bearing rod 43, hydraulic cylinder is released and received
Into when ankle-joint rotate upwardly and downwardly, it can be achieved that the degree of freedom of the flexion/extension of ankle-joint 4, as shown in Figure 10；Pass through mechanism rod piece 41, ankle
42, two formation of shank bearing rod 43 of knuckle support constrain in the parallelogram knot of approximately the same plane activity when doing shearing motion
Structure, it can be achieved that put outside ankle-joint/degree of freedom of interior receipts, as shown in figure 11；By being installed on the upside of the bottom of ankle-joint stent 42
Rotatable insole 44 so that ankle-joint stent 42 and insole 44 increase revolute pair, realize the internal/external rotations of ankle-joint 4
Degree of freedom, as shown in arcuation arrow in Fig. 8.
The center line L41 of parallelogram sturcutre, the rotary centerline L42 of insole 44, ankle-joint stent 42 and two small
The hinge joint line of centres L43 three of leg bearing rod 43 intersects at the ankle-joint central point of the open end of ankle-joint stent 42
O2, so that the ankle-joint center of the rotation center for the three degree of freedom having and human body（Ankle-joint central point O2）It overlaps,
Make wearer motion more naturally, the geometrical interference of ectoskeleton clothes and human body can be spatially avoided simultaneously, so as to reduce dermoskeleton
Bone takes the in-fighting with human motion, improves the wearing comfort of ectoskeleton clothes, simple, dexterous light with system structure（Quality
It is smaller with volume）, be easy to control, safeguard and use the advantages of simple, reliability is preferable.
As shown in figure 12, the first driving element 25, the second driving element 33, third driving element 45 are servo valve and hydraulic pressure
The hydraulic actuator that cylinder combination is formed, and hydraulic actuator is equipped with stroke detection sensor 50；Twin-stage is equipped in bearing box 12
Driving unit 5, twin-stage driving unit 5 include control module 51 and correspond to the small flow high pressure of each hydraulic actuator respectively
Hydraulic circuit and big flow low-pressure hydraulic circuit, arranged in series has the first check valve 52, stores on small flow high pressure hydraulic circuit
It can device 53, control switch Swi（Sw1~Swn）With the second check valve 54, arranged in series has third list on big flow low-pressure hydraulic circuit
To valve 55, control switch Swi（Sw1~Swn）Control terminal, stroke detection sensor 50 output terminal respectively with 51 phase of control module
Even.The present embodiment provides driving using hydraulic actuator for each joint of ectoskeleton, when hydraulic cylinder is released, it can be achieved that each joint
Active degree of freedom（That is flexion/extension degree of freedom）.Twin-stage driving unit 5 is energized using twin-stage, and big flow low pressure pumping source is directly to institute
There is actuator energy supply, for more low intensive movement for a long time；And small flow high pressure pumping source fills energy for accumulator 53, is instantaneous
High-intensity exercise provides energy, and centralized long-time rated power pressure source is used to low, moderate exercise, and high-strength in short-term
Degree then using distributed instantaneous high power pressure source, can improve the matching of system supply pressure and pressure needed for actuator load
Degree, realizes multistage energy supply, can improve efficiency of energy utilization, with system structure is simple, dexterity is light, is easy to control, energy
Consume the advantages of low, reliability is preferable.
Referring to Figure 12, in the present embodiment, small flow high pressure hydraulic circuit and big flow low-pressure hydraulic circuit share same
A gasoline engine/motor, and arranged between small flow high pressure hydraulic circuit and gasoline engine/motor there are one controllable clutch,
The control terminal of controllable clutch is connected with control module 51, it is achieved thereby that structure is shared and simplified；Unquestionably, small flow
Both high-pressure and hydraulic circuit and big flow low-pressure hydraulic circuit can also use completely self-contained hydraulic system as needed.
In the present embodiment, the coupled control system run in control module 51 can further be based on machine learning reality
It is existing, the concertedness and stability of coupled system are helped to improve, the gait feature customization for the wearer identified helps
Power model, so as to find the assistant mode for being most suitable for wearing individual.The adaptive control algorithm energy basis of the control system is worn
The motion intention of wearer and the feedback information of executing agency are referred to using executing agency's end action resolution ratio and followability as evaluation
Mark, real-time online Correction and Control parameter accurately control so as to fulfill ectoskeleton.
Embodiment two：
The present embodiment and embodiment one are essentially identical, and main distinction point is：Driving element and drive system are different.Such as Figure 13
Shown, in the present embodiment, the first driving element 25, the second driving element 33, third driving element 45 are linear servo-actuator structure
Into actuator, and actuator be equipped with stroke detection sensor 50；Twin-stage driving unit 5 is equipped in bearing box 12, twin-stage drives
Moving cell 5 include control module 51 and the instantaneous high power circuit for correspond to each actuator respectively and it is long when low-power time
Road, all instantaneous high power circuits share an instantaneous high power source HS, low when low-power circuit shares one long when all long
Power source LS, the control terminal of control switch Swi, the output terminal of stroke detection sensor 50 are connected respectively with control module 51.Together
Sample, low-power source LS is energized directly to all actuators when long, for more low intensive movement for a long time；And instantaneous high power
Source HS fills energy for accumulator, provides energy for instantaneous high-intensity exercise, can equally improve system supply pressure and be born with actuator
The matching degree of pressure needed for load realizes multistage energy supply, can improve efficiency of energy utilization.Electric system technology used in the present embodiment
Mature and reliable, system structure are simple, pollution-free, maintenance uses simply.
Embodiment three：
The present embodiment and embodiment two are essentially identical, and main distinction point is：The form of twin-stage driving unit 5 is different.This
In embodiment, instantaneous high power circuit is equipped with individual instantaneous high power source HS, and when long there is arranged in series on low-power circuit
Low-power source LS when individually long, principle is identical with embodiment two, therefore details are not described herein.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of bionical load motor driven type exoskeleton system, it is characterised in that：Load bearing unit including interconnection（1）With two groups
Joint unit, each group of joint unit include the hip joint being sequentially connected（2）, knee joint（3）And ankle-joint（4）, the carrying
Unit（1）Including backrest（11）, bearing box（12）With human body fixing piece（13）, the bearing box（12）It is arranged in backrest（11）Afterwards
Side, the human body fixing piece（13）It is arranged in backrest（11）Front side, the backrest（11）It is equipped with waistband（14）, and the backrest
（11）The lower end hip joint with each group joint unit respectively（2）It is connected；The hip joint（2）Including hip baffle（21）, it is flat
Row link mechanism（22）With hip load-carrying member（23）, the knee joint（3）Including knee-pad（31）, the knee-pad（31）Outside
It is hinged with rotatable stent（32）, the knee-pad（31）And stent（32）Between be hinged with the second driving element（33）, it is described
Hip baffle（21）Thigh load-carrying member is equipped with for arcuate structure and lower part（24）, the thigh load-carrying member（24）And stent
（32）It is connected, the parallel linkage（22）Do during shearing motion it is restrained in the same plane, the parallel rod machine
Structure（22）It is arranged in hip baffle（21）Open outer side and by two extend sides pass through first rotating shaft（210）With hip baffle
（21）End hinge connection, the hip load-carrying member（23）Pass through third shaft for arcuate structure and one end（230）It is hinged
It is arranged in parallel linkage（22）Middle part, the other end and backrest（11）Lower end be connected, the hip load-carrying member（23）
And parallel linkage（22）Between be connected with the first driving element（25）, the hip baffle（21）Two, both ends first rotating shaft
（210）Axis L21, hip load-carrying member（23）Third shaft（230）Axis L22, parallel linkage（22）In
Axis L23 intersects at hip baffle（21）The hip joint central point O1 of opening inner side；The ankle-joint（4）Including mechanism rod piece
（41）With the ankle-joint stent of u-shaped structure（42）, the mechanism rod piece（41）And knee-pad（31）It is connected, the mechanism rod piece
（41）With ankle-joint stent（42）Open end between be hinged with two parallel arrangement shank bearing rods（43）So that mechanism
Rod piece（41）, ankle-joint stent（42）, two pieces shank bearing rods（43）Formation constrains in approximately the same plane work when doing shearing motion
Dynamic parallelogram sturcutre, the ankle-joint stent（42）Open end be equipped with ankle-joint bandage（421）, the ankle-joint
Stent（42）Bottom on the upside of be installed with rotatable insole（44）, the ankle-joint stent（42）With a shank bearing rod
（43）Between be hinged with third driving element（45）And another shank bearing rod（43）Between be hinged with passive energy-accumulating element
（46）, center line L41, the insole of the parallelogram sturcutre（44）Rotary centerline L42, ankle-joint stent（42）
With two shank bearing rods（43）Hinge joint line of centres L43 three intersect at ankle-joint stent（42）Open end ankle
Articulation center point O2.
2. bionical load motor driven type exoskeleton system according to claim 1, it is characterised in that：The parallel linkage
（22）Including first connecting rod（221）, second connecting rod（222）, third connecting rod（223）And fourth link（224）, the first connecting rod
（221）And second connecting rod（222）The two parallel arrangement, third connecting rod（223）And fourth link（224）The two is arranged in parallel to be formed
Quadrilateral structure, and the third connecting rod（223）, fourth link（224）It each extends over to form two extension sides, and described two
Extend side and pass through first rotating shaft（210）With hip baffle（21）End hinge connection.
3. bionical load motor driven type exoskeleton system according to claim 2, it is characterised in that：The first connecting rod
（221）, second connecting rod（222）, third connecting rod（223）And fourth link（224）Middle arbitrary neighborhood passes through second turn between the two
Axis（220）Flexible connection, and the second all shafts（220）Axis between be arranged parallel to so that parallel linkage
（22）Do during shearing motion it is restrained in the same plane.
4. bionical load motor driven type exoskeleton system according to claim 3, it is characterised in that：The first connecting rod
（221）One end passes through the second shaft（220）And third connecting rod（223）One end flexible connection, the other end pass through the second shaft
（220）And fourth link（224）One end flexible connection, the second connecting rod（222）One end passes through the second shaft（220）With
Three-link（223）Middle part flexible connection, the other end pass through the second shaft（220）And fourth link（224）Middle part activity connect
It connects, the third connecting rod（223）The other end, fourth link（224）The other end respectively pass through a first rotating shaft（210）With hip
Portion's baffle（21）End hinge connection, the hip load-carrying member（23）Lower end pass through third shaft（230）Hinge arrangement
In first connecting rod（221）, second connecting rod（222）Middle part, first driving element（25）One end is fixed on first connecting rod
（221）End, the other end are fixed on hip load-carrying member（23）Middle part.
5. bionical load motor driven type exoskeleton system according to claim 4, it is characterised in that：The thigh load-carrying member
（24）Including two thigh bearing rods（241）, and two thigh bearing rods（241）Lower end be connected with arc supporting item
（242）, the thigh load-carrying member（24）It is made of carbon fibre material.
6. bionical load motor driven type exoskeleton system according to claim 5, it is characterised in that：Two thigh loads
Bar（241）On be fixed with thigh bandage（243）, the thigh bandage（243）It is made of flexible material.
7. bionical load motor driven type exoskeleton system according to claim 6, it is characterised in that：The mechanism rod piece（41）
The mechanism rod being arranged parallel to including two（411）, the mechanism rod（411）Both ends respectively with shank bearing rod
（43）Upper articulation connection, the mechanism rod（411）Both ends respectively with shank bearing rod（43）Top by upper turn
Moving axis（431）Connection, the ankle-joint stent（42）Open end and shank bearing rod（43）Lower part pass through lower rotary shaft
（432）Connection, the upper rotary shaft（431）, lower rotary shaft（432）Each along insole（44）Length direction parallel arrangement；Institute
State third driving element（45）One end is hingedly mounted on shank bearing rod（43）The upper, other end is by driving rotation axis（451）With
Ankle-joint stent（42）Middle part be connected, the driving rotation axis（451）Along insole（44）Width direction parallel arrangement.
8. bionical load motor driven type exoskeleton system according to claim 7, it is characterised in that：The insole（44）Including
Half sole（441）And back seat（442）, the half sole（441）And back seat（442）Between be connected by connecting shaft, the back seat（442）
Mounted on ankle-joint stent（42）Bottom on the upside of, the back seat（442）Bottom be set on concave portion（4421）, the ankle-joint
Stent（42）Bottom be located at concave portion（4421）In；The half sole（441）It is equipped with foot's bandage for fixed foot portion
（443）, the ankle-joint bandage（421）, foot's bandage（443）It is made of flexible material, the shank bearing rod（43）
It is made of carbon fiber.
9. the bionical load motor driven type exoskeleton system according to any one in claim 1~8, it is characterised in that：Institute
State the first driving element（25）, the second driving element（33）, third driving element（45）It is formed for servo valve and hydraulic cylinder combination
Hydraulic actuator, and the hydraulic actuator be equipped with stroke detection sensor（50）；The bearing box（12）In be equipped with it is double
Grade driving unit（5）, the twin-stage driving unit（5）Including control module（51）And each hydraulic actuator is corresponded to respectively
Small flow high pressure hydraulic circuit and big flow low-pressure hydraulic circuit, arranged in series has on the small flow high pressure hydraulic circuit
First check valve（52）, accumulator（53）, control switch Swi and the second check valve（54）, the big flow low-pressure hydraulic circuit
Upper arranged in series has third check valve（55）, the control terminal of the control switch Swi, stroke detection sensor（50）Output terminal
Respectively with control module（51）It is connected.
10. the bionical load motor driven type exoskeleton system according to any one in claim 1~8, it is characterised in that：Institute
State the first driving element（25）, the second driving element（33）, third driving element（45）The execution formed for linear servo-actuator
Device, and the actuator is equipped with stroke detection sensor（50）；The bearing box（12）In be equipped with twin-stage driving unit（5）,
The twin-stage driving unit（5）Including control module（51）And correspond to respectively the instantaneous high power circuit of each actuator with
And low-power circuit when long, arranged in series has control switch Swi on the instantaneous high power circuit, and on instantaneous high power circuit
An instantaneous high power source HS, low work(when long are shared equipped with individual instantaneous high power source HS or all instantaneous high power circuits
When arranged in series has individually long on rate circuit low-power source LS or it is all long when low-power circuit low work(when sharing one long
Rate source LS, the control terminal of the control switch Swi, stroke detection sensor（50）Output terminal respectively with control module（51）Phase
Even.
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| CN201810008343.0A CN108189008B (en) | 2018-01-04 | 2018-01-04 | Bionic load maneuvering exoskeleton system |
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| CN108972517A (en) * | 2018-09-19 | 2018-12-11 | 天津大衍天成科技有限公司 | A kind of pure manpower exoskeleton lower limbs system |
| CN109350060A (en) * | 2018-10-17 | 2019-02-19 | 四川大学华西医院 | Nuclear magnetic resonance ankle joint coil device |
| CN111070187A (en) * | 2019-12-31 | 2020-04-28 | 武汉大学 | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method |
| CN111168648A (en) * | 2020-01-08 | 2020-05-19 | 合肥工业大学 | Four-degree-of-freedom hip joint exoskeleton walking-aid robot based on flexible driving |
| CN111791216A (en) * | 2019-04-04 | 2020-10-20 | 现代自动车株式会社 | Combined structure of wearable equipment |
| WO2021001497A1 (en) * | 2019-07-02 | 2021-01-07 | Safran Electronics & Defense | Compact device designed to be positioned close to a joint and general system comprising such a compact device |
| CN113771010A (en) * | 2021-09-23 | 2021-12-10 | 无锡美安雷克斯医疗机器人有限公司 | Multi-degree-of-freedom bionic exoskeleton |
| CN118000991A (en) * | 2024-03-14 | 2024-05-10 | 中国人民解放军中部战区总医院 | Wearable ankle joint treatment device |
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| CN111070187B (en) * | 2019-12-31 | 2021-07-20 | 武汉大学 | Active-passive combined transient center flexible rope driven lower limb exoskeleton robot and control method |
| CN111168648A (en) * | 2020-01-08 | 2020-05-19 | 合肥工业大学 | Four-degree-of-freedom hip joint exoskeleton walking-aid robot based on flexible driving |
| CN111168648B (en) * | 2020-01-08 | 2021-03-12 | 合肥工业大学 | Four-degree-of-freedom hip joint exoskeleton walking-aid robot based on flexible driving |
| CN113771010A (en) * | 2021-09-23 | 2021-12-10 | 无锡美安雷克斯医疗机器人有限公司 | Multi-degree-of-freedom bionic exoskeleton |
| CN118000991A (en) * | 2024-03-14 | 2024-05-10 | 中国人民解放军中部战区总医院 | Wearable ankle joint treatment device |
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