CN108247618A - It is a kind of to mitigate back and the lower limb exoskeleton of knee joint load - Google Patents
It is a kind of to mitigate back and the lower limb exoskeleton of knee joint load Download PDFInfo
- Publication number
- CN108247618A CN108247618A CN201810327692.9A CN201810327692A CN108247618A CN 108247618 A CN108247618 A CN 108247618A CN 201810327692 A CN201810327692 A CN 201810327692A CN 108247618 A CN108247618 A CN 108247618A
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- Prior art keywords
- plate
- sliding block
- thigh
- knee joint
- hip
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Classifications
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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
Abstract
Mitigate back and the lower limb exoskeleton of knee joint load the invention discloses a kind of, including back support device, hip support device, thigh support device, knee arrangement, the back support device includes back protection pad, the binding strip being arranged on the protection pad of back and two back connecting rods for being arranged on back protection pad lower end, the hip support device includes rotating lever, the rotating lever upper end is equipped with leg hip connecting shaft by carrying on the back hip connecting shaft and back connecting rod hinge connection, the middle part of the rotating lever.Compared to active assistance exoskeleton, the present invention is compact-sized, and own wt is small, and without driving, work noise is small.
Description
Technical field
The present invention relates to lower limb assistance exoskeleton fields, and in particular to assistance exoskeleton of bending over and leg assistance exoskeleton.
Background technology
Assistance exoskeleton robot is that one kind can assist human motion, improves the power assisting device of Human Stamina, such as
The present is widely used to military and civil field.Current existing assistance exoskeleton is divided into active assistance exoskeleton and passive-type
Assistance exoskeleton, active assistance exoskeleton is robot to be driven to drive human motion by motor or other type of drive, auxiliary
Body of helping others completes the actions such as walking, carrying, achievees the effect that power-assisted.Passive-type assistance exoskeleton is to pass through human body without driving
Movement drive exoskeleton robot movement, this kind of ectoskeleton effect mainly transfer a human body part labour bear
Lotus rather than the locomitivity for enhancing human body.
With the development of the social economy, the social production activity of the mankind increasingly tends to automate, but craft lifts and crouching formula
Operation is still difficult to be replaced by machine in certain fields, the back pain caused by bending over to remove object for a long time with crouching formula operation
It is very universal in labourer group with knee joint strain phenomenon.It is big currently for the assistance exoskeleton designed in this problem
All it is active assistance exoskeleton, i.e., ectoskeleton is driven to drive human motion by driving device, so as to mitigate user in work
Back and kneed work load when making.However, active assistance exoskeleton generally requires multiple driving units, need big
The energy of amount drives ectoskeleton, while need the battery or other means of energy storage of large capacity, and which results in actively
The volume and own wt of formula assistance exoskeleton are larger, and there are noises during work.
For this purpose, the present invention proposes a kind of compact-sized, smaller passive type lower limb exoskeleton of own wt, to mitigate
User back and kneed live load when carrying out bending over to remove object and crouching formula operation, play prevention and back pain are suffered from reduction
With the probability of injury of knee joint.
Invention content
The goal of the invention of the present invention is to provide a kind of passive energy storage type lower limb exoskeleton machine based on tension spring and gas spring
People, when solution bends over to remove object and crouching formula operation, active joint drive assistance exoskeleton sole mass is big, driving energy consumption is big, work
The problems such as noise is generated when making.
To achieve the above object of the invention, the technical solution adopted by the present invention is：It is a kind of to mitigate back and knee joint load
Lower limb exoskeleton, it is characterised in that：Including back support device, hip support device, thigh support device, knee arrangement,
The back support device includes back protection pad, the binding strip being arranged on the protection pad of back and is arranged under the protection pad of back
Two back connecting rods at end,
The hip support device includes rotating lever, and the rotating lever upper end is cut with scissors by carrying on the back hip connecting shaft with back connecting rod
Chain link, the middle part of the rotating lever are equipped with leg hip connecting shaft,
The thigh support device includes thigh plate, tension spring, and upper end and the leg hip connecting shaft of the thigh plate are hinged, the tension spring
Upper end be installed in the lower end of the rotating lever, the lower end of the tension spring is arranged on thigh plate by the first slide-and-lock device
On,
The knee arrangement include T-shaped knee joint attachment device, knee joint rotary shaft, gas spring, sliding block, slider locking device and
Calf plate, the upper end of the T-shaped knee joint attachment device are connect with the lower end of thigh plate, the T-shaped knee joint attachment device
By knee joint rotary shaft and calf plate hinge connection, the upper end of the gas spring is convex with T-shaped knee joint attachment device for lower end
Outlet hinge connection, the lower end of the gas spring are rotatably arranged on sliding block, and the sliding block slip, which is arranged, is arranged on calf plate 9
On, slider locking device is set below sliding block and is sheathed on calf plate.
Preferably, waist coupling device is fixed on the inside of the thigh plate, the waist coupling device is set on thigh
The top of plate, agent structure are symmetrical ' half mouthful of word ' shape aluminium alloy structure, and bandage passes through tying up on waist coupling device
With seam and human body bondage, it is ensured that the height coupling of whole device and human body.
Preferably, the outside of the rotating lever is equipped with hip joint shell, and the hip joint shell is located at the outer of thigh plate
Side is fixed with thigh plate by fastening screw, and shape is up-side down triangle, and centre is provided with square slideway so that locking knob can
To be slided in the slideway, and can be locked on any position of slideway by turn knob.
Preferably, thigh coupling device is additionally provided on the thigh plate, including being placed in the baffle on front side of thigh, using on baffle
In the bandage of bondage leg and ' square ' connecting plate for connecting baffle, one end and the baffle hinge of square connecting plate connect
It connects so that baffle can be fixed in sagittal rotation in surface, the lower end of the other end and thigh plate by fastening screw.
Preferably, the inside of the calf plate is equipped with shank coupling device, and the shank coupling device is located at calf plate
Lower end is fastenedly connected with calf plate, and agent structure is symmetrical half degree of lip-rounding structure, passes through bandage above and human calf
Bondage, it is ensured that the height coupling of lower leg portion and human body during walking and squatting down.
Preferably, the lower end of the tension spring is arranged on by the first slide-and-lock device on thigh plate, specially：Thigh plate
Sliding rail is equipped with, the first slide-and-lock device is locking knob, and the lower end of the spring is fixedly connected on locking rotating
On button, locking knob is slidably arranged in sliding rail so that spring has the degree of freedom moved along sliding rail.
Preferably, the lower end of the gas spring is rotatably arranged on sliding block, and the sliding block slip, which is arranged, is arranged on calf plate
On, slider locking device is set below sliding block and is sheathed on calf plate, specially：Sliding block be hollow sliding block, the gas bullet
The lower end of spring is rotatably arranged on sliding block, and the sliding block is set on calf plate, and slider locking device is equipped with locking nut
Sliding block limits sliding block so that sliding block has the degree of freedom moved along calf plate length direction.
Herein, when human body is in upright state, tension spring is in free state, when human body carry out bending and stretching in sagittal plane it is dynamic
Hip joint rotating lever is rotated with human body when making, and the tension spring of connection is stretched, and when human body is bent over, tension spring is stretched to carry
For certain cushion effect.When human body is from bending over to become upright state, tension spring restores to the original state, and bends over uprightly to provide to human body at this time
Certain restoring force.In addition, different size of cushion effect and restoring force can be provided by adjusting tension spring position adjusting knob.It draws
Spring upper and lower side can be moved around rotating lever and adjusting knob shaft rotation, and such guarantor is unaffected during walking upright.
Herein, slip of the kneed angle change setting knee joint sliding block on guide rail when being walked according to human normal
Stroke, such guarantor sliding block when walking upright can slide on guide rail, and the gas spring of connection is in free state, gas bullet
Spring do not serve support power-assisted, human body can normal upright walk and it is unaffected.When knee joint angle variation is beyond normal walking
When angle value, gas spring play the role of support power-assisted.
Since above-mentioned technical proposal is used, the present invention has following advantages compared with prior art：It is helped compared to active
Power ectoskeleton, the present invention is compact-sized, and own wt is small, and without driving, work noise is small；Agent structure of the present invention is closed using aluminium
Gold is made with carbon fibre material, lighter weight；Coupling bondage device can make human body possess higher coupling with exoskeleton robot
Degree, back protection pad and the binding strip at back increase the wearing comfort and convenience of the present invention, and facilitate adjustment size with suitable
The people of different stature builds is answered to dress；Using the tension spring and gas spring for having preferable damping ratio as passive energy storage device so that should
Device is in a stable state during being bent over and squatting down operation；Hip joint of the present invention and kneed design
So that the present invention does not generate obstruction when human normal is walked to human body, only branch is played when human body bends over and removes object and crouching formula operation
Power-assisted effect is supportted, so as to achieve the effect that mitigate human body back and knee joint load.
Description of the drawings
Fig. 1 is the integrally-built front view of the present invention；
Fig. 2 is the integrally-built side view of the present invention；
Fig. 3 is the integrally-built rearview of the present invention；
Fig. 4 is the structure chart of hip joint of the present invention
Wherein：1st, back protection pad；2nd, binding strip；3rd, back connecting rod；4th, hip connecting shaft is carried on the back；5th, hip joint shell；6th, connecting plate；
7th, T-shaped knee joint attachment device；8th, gas spring；9th, calf plate；10th, shank coupling device；11st, sliding block locking device；12nd, it is sliding
Block；13rd, baffle；14th, locking knob；15th, waist coupling device；16th, rotating lever；17th, knee joint rotary shaft；18th, leg hip revolves
Shaft；19th, thigh plate；20 tension springs.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments：
Embodiment one：It is a kind of to mitigate back and the lower limb exoskeleton of knee joint load referring to shown in Fig. 1 ~ Fig. 4, including back branch
Support arrangement, hip support device, thigh support device, knee arrangement,
Back support device includes back protection pad 1, the binding strip 2 being arranged on the protection pad of back and is arranged on back protection pad lower end
Two back connecting rods 3,
Hip support device includes rotating lever 16, and 16 upper end of rotating lever is by carrying on the back hip connecting shaft 4 and back connecting rod 3
Hinge connection, the middle part of the rotating lever 16 are equipped with leg hip connecting shaft 18,
Thigh support device includes thigh plate 19, tension spring 20, and the upper end of the thigh plate 19 and leg hip connecting shaft 18 are hinged, described
The upper end of tension spring 20 is installed in the lower end of the rotating lever 16, and the lower end of the tension spring 20 is set by the first slide-and-lock device
It puts on thigh plate 19,
Knee arrangement includes T-shaped knee joint attachment device 7, knee joint rotary shaft 17, gas spring 8, sliding block 12, slider locking device
11 and calf plate 9, the upper end of the T-shaped knee joint attachment device 7 connect with the lower end of thigh plate 19, the T-shaped knee joint connects
The lower end of connection device 7 passes through knee joint rotary shaft 17 and 9 hinge connection of calf plate, upper end and the T-shaped knee joint of the gas spring 8
The protruding end hinge connection of attachment device 7, the lower end of the gas spring 8 are rotatably arranged on sliding block 12, and the sliding block 12 slides
On calf plate 9, slider locking device 11 is set on 12 lower section of sliding block and is sheathed on calf plate 19 sheathed setting.
In the present embodiment, the inside of the thigh plate 19 is fixed with waist coupling device 15, the waist coupling device
Set on the top of thigh plate 19, agent structure is symmetrical ' half mouthful of word ' shape aluminium alloy structure, and bandage is coupled by waist
Bandage seam and human body bondage on device 15, it is ensured that the height coupling of whole device and human body.
In the present embodiment, the outside of the rotating lever 16 is equipped with hip joint shell 5, and the hip joint shell 5 is located at big
The outside of leg plate 19 is fixed with thigh plate 19 by fastening screw, and shape is up-side down triangle, and centre is provided with square slideway, makes
Obtaining locking knob can slide, and can be locked on any position of slideway by turn knob in the slideway.
In the present embodiment, thigh coupling device is additionally provided on the thigh plate 19, including be placed in baffle 13 on front side of thigh,
' square ' connecting plate 6 on baffle for the bandage of bondage leg and for connecting baffle 13, one end of square connecting plate 6
With 13 hinge connection of baffle so that baffle 13 can pass through fastening in sagittal rotation in surface, the lower end of the other end and thigh plate 19
Screw is fixed.
In the present embodiment, the inside of the calf plate 9 is equipped with shank coupling device 10, and the shank coupling device 10 is located at
The lower end of calf plate 9, is fastenedly connected with calf plate, and agent structure is symmetrical half degree of lip-rounding structure, passes through bandage above
With human calf's bondage, it is ensured that the height coupling of lower leg portion and human body during walking and squatting down.
In the present embodiment, the lower end of the tension spring 14 is arranged on by the first slide-and-lock device on thigh plate 19, specifically
For：Thigh plate 19 is equipped with sliding rail, and the first slide-and-lock device is locking knob 14, and the lower end of the tension spring 20 is consolidated
Surely it is connected on locking knob 14, locking knob 14 is slidably arranged in sliding rail so that tension spring 20 has along slip rail
The degree of freedom of road movement.
In the present embodiment, the lower end of the gas spring 8 is rotatably arranged on sliding block 12, and the sliding block 12 slides sheathed setting
On calf plate 9, slider locking device 11 is set on 12 lower section of sliding block and is sheathed on calf plate 19, specially：During sliding block 12 is
Empty sliding block, the lower end of the gas spring 8 are rotatably arranged on sliding block, and the sliding block 12 is set on calf plate 9, slider locking
Device 11 is the sliding block equipped with locking nut, and sliding block 12 is limited so that sliding block 12 has along 9 length direction of calf plate
The degree of freedom of movement.
The operation principle of the present invention：Using tension spring and gas spring as passive energy storage device, when human body carries out bending over to remove object
During with crouching formula operation, the gravitional force of human body and external device is absorbed by tension spring and gas spring to be stored, and human body is played certain
Cushioning effect；When person upright stands up, tension spring and the energy of gas spring release storage play human body certain power-assisted and make
With.
Claims (7)
1. a kind of mitigate back and the lower limb exoskeleton of knee joint load, it is characterised in that：Including back support device, hip branch
Support arrangement, thigh support device, knee arrangement,
The back support device includes back protection pad, the binding strip being arranged on the protection pad of back and is arranged under the protection pad of back
Two back connecting rods at end,
The hip support device includes rotating lever, and the rotating lever upper end is cut with scissors by carrying on the back hip connecting shaft with back connecting rod
Chain link, the middle part of the rotating lever are equipped with leg hip connecting shaft,
The thigh support device includes thigh plate, tension spring, and the thigh plate upper end is hinged with leg hip connecting shaft, the tension spring
Upper end is installed in the lower end of the rotating lever, and the lower end of the tension spring is arranged on thigh plate by the first slide-and-lock device
On,
The knee arrangement include T-shaped knee joint attachment device, knee joint rotary shaft, gas spring, sliding block, slider locking device and
Calf plate, the upper end of the T-shaped knee joint attachment device are connect with the lower end of thigh plate, the T-shaped knee joint attachment device
By knee joint rotary shaft and calf plate hinge connection, the upper end of the gas spring is convex with T-shaped knee joint attachment device for lower end
Outlet hinge connection, the lower end of the gas spring are rotatably arranged on sliding block, and the sliding block slip, which is arranged, to be arranged on calf plate,
Slider locking device is set below sliding block and is sheathed on calf plate.
2. according to claim 1 mitigate back and the lower limb exoskeleton of knee joint load, it is characterised in that：The thigh
Waist coupling device is fixed on the inside of plate, the waist coupling device is set on the top of thigh plate, and agent structure is left and right
Symmetrically ' half mouthful of word ' shape aluminium alloy structure, bandage pass through the bandage seam on waist coupling device and human body bondage, it is ensured that whole
The height coupling of a device and human body.
3. according to claim 1 mitigate back and the lower limb exoskeleton of knee joint load, it is characterised in that：The rotation
The outside of lever is equipped with hip joint shell, and the hip joint shell is located at the outside of thigh plate, passes through fastening screw with thigh plate
Fixed, shape is up-side down triangle, and centre is provided with square slideway so that locking knob can slide in the slideway, and can lead to
Turn knob is crossed to be locked on any position of slideway.
4. according to claim 1 mitigate back and the lower limb exoskeleton of knee joint load, it is characterised in that：The thigh
Thigh coupling device is additionally provided on plate, including being placed in the baffle on front side of thigh, on baffle for the bandage of bondage leg and is used for
Connect ' square ' connecting plate of baffle, one end and the baffle hinge connection of square connecting plate so that baffle can be in sagittal
Rotation in surface, the lower end of the other end and thigh plate are fixed by fastening screw.
5. according to claim 1 mitigate back and the lower limb exoskeleton of knee joint load, it is characterised in that：The shank
The inside of plate is equipped with shank coupling device, and the shank coupling device is located at the lower end of calf plate, is fastenedly connected with calf plate, main
Body structure is symmetrical half degree of lip-rounding structure, passes through bandage above and human calf's bondage, it is ensured that is walked and squat down
The height coupling of lower leg portion and human body in the process.
6. according to claim 1 mitigate back and the lower limb exoskeleton of knee joint load, it is characterised in that：The tension spring
Lower end be arranged on thigh plate by the first slide-and-lock device, specially：Thigh plate be equipped with sliding rail, described first
Slide-and-lock device is locking knob, and the lower end of the tension spring is fixedly connected on locking knob, and locking knob is slidably arranged in
In sliding rail so that tension spring has the degree of freedom moved along sliding rail.
7. according to claim 1 mitigate back and the lower limb exoskeleton of knee joint load, it is characterised in that：The gas bullet
The lower end of spring is rotatably arranged on sliding block, and the sliding block slip, which is arranged, to be arranged on calf plate, and slider locking device is set on sliding block
It lower section and is sheathed on calf plate, specially：Sliding block is hollow sliding block, and the lower end of the gas spring is rotatably connected to straight-bar,
The straight-bar is fixed on sliding block, and the sliding block is set on calf plate, and slider locking device is equipped with locking nut
Sliding block limits sliding block so that sliding block has the degree of freedom moved along calf plate length direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810327692.9A CN108247618B (en) | 2018-04-12 | 2018-04-12 | Lower limb exoskeleton capable of reducing load of back and knee joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810327692.9A CN108247618B (en) | 2018-04-12 | 2018-04-12 | Lower limb exoskeleton capable of reducing load of back and knee joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108247618A true CN108247618A (en) | 2018-07-06 |
| CN108247618B CN108247618B (en) | 2021-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810327692.9A Active CN108247618B (en) | 2018-04-12 | 2018-04-12 | Lower limb exoskeleton capable of reducing load of back and knee joint |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942885A (en) * | 2018-07-23 | 2018-12-07 | 东北大学 | A kind of wearable lower limb exoskeleton robot of hip joint |
| CN109227521A (en) * | 2018-10-16 | 2019-01-18 | 中国科学院苏州生物医学工程技术研究所 | Passive energy storage type Gravity support lower limb exoskeleton |
| CN109318215A (en) * | 2018-12-06 | 2019-02-12 | 西安交通大学 | Waist exoskeleton robot |
| CN110328657A (en) * | 2019-08-12 | 2019-10-15 | 河北工业大学 | A kind of flexible exoskeleton power-assisting robot |
| CN112294604A (en) * | 2020-10-13 | 2021-02-02 | 北京理工大学前沿技术研究院 | Unpowered whole-body type load bearing exoskeleton |
| CN112545845A (en) * | 2020-12-25 | 2021-03-26 | 顾晓豪 | Exoskeleton for medical rehabilitation and use method |
| CN113858256A (en) * | 2021-08-30 | 2021-12-31 | 北京机械设备研究所 | Exoskeleton hip joint with three degrees of freedom passive energy storage assistance |
| CN113927570A (en) * | 2021-10-13 | 2022-01-14 | 北京理工大学前沿技术研究院 | Power assembly of exoskeleton robot |
| CN114668633A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Wearable weight-reduction supporting device |
| WO2022262302A1 (en) * | 2021-06-17 | 2022-12-22 | 广州视源电子科技股份有限公司 | Passive lower-limb exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942885A (en) * | 2018-07-23 | 2018-12-07 | 东北大学 | A kind of wearable lower limb exoskeleton robot of hip joint |
| CN109227521A (en) * | 2018-10-16 | 2019-01-18 | 中国科学院苏州生物医学工程技术研究所 | Passive energy storage type Gravity support lower limb exoskeleton |
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| CN109318215A (en) * | 2018-12-06 | 2019-02-12 | 西安交通大学 | Waist exoskeleton robot |
| CN110328657A (en) * | 2019-08-12 | 2019-10-15 | 河北工业大学 | A kind of flexible exoskeleton power-assisting robot |
| CN110328657B (en) * | 2019-08-12 | 2024-04-16 | 河北工业大学 | Flexible exoskeleton power-assisted robot |
| CN112294604A (en) * | 2020-10-13 | 2021-02-02 | 北京理工大学前沿技术研究院 | Unpowered whole-body type load bearing exoskeleton |
| CN114668633A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Wearable weight-reduction supporting device |
| CN112545845A (en) * | 2020-12-25 | 2021-03-26 | 顾晓豪 | Exoskeleton for medical rehabilitation and use method |
| WO2022262302A1 (en) * | 2021-06-17 | 2022-12-22 | 广州视源电子科技股份有限公司 | Passive lower-limb exoskeleton |
| CN113858256A (en) * | 2021-08-30 | 2021-12-31 | 北京机械设备研究所 | Exoskeleton hip joint with three degrees of freedom passive energy storage assistance |
| CN113927570A (en) * | 2021-10-13 | 2022-01-14 | 北京理工大学前沿技术研究院 | Power assembly of exoskeleton robot |
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