CN108340348B - Light walking assisting exoskeleton appliance - Google Patents
Light walking assisting exoskeleton appliance Download PDFInfo
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- CN108340348B CN108340348B CN201810028552.1A CN201810028552A CN108340348B CN 108340348 B CN108340348 B CN 108340348B CN 201810028552 A CN201810028552 A CN 201810028552A CN 108340348 B CN108340348 B CN 108340348B
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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
A light-duty walking assisting exoskeleton appliance solves the problems that an existing wearable assistance lower limb exoskeleton is poor in man-machine assisting effect, poor in man-machine coupling, single in assisting function, poor in working environment adaptability and the like due to the fact that a body structure is complex and heavy. The light walking assisting exoskeleton appliance comprises a foot bionic structure, a shank bionic structure, a thigh bionic structure, a man-machine link assembly and a power module, wherein the flexion and extension movement of the thigh bionic structure is driven by a power hip joint in the power module, and the winning movement of the shank bionic structure is increased by power of a power knee joint to perform flexion and extension movement. The whole machine is wound on the body of a wearer through man-machine foot, shank, thigh and waist connecting pieces, and a waist control system sends signals to regulate and control the power joint movement. The advantages of light weight and modular structure form, integrated power joint design, detachable module structure and the like expand the application scene of auxiliary walking.
Description
Technical Field
The invention relates to a walking assisting instrument, in particular to an exoskeleton instrument for assisting a wearer in walking assistance of lower limbs.
Background
With the research and development of mechanical exoskeleton technology, particularly after the new century, an exoskeleton-assisted robot serving as an auxiliary device for a human body becomes a popular technical research point in the fields of military, logistics, rehabilitation and the like. The auxiliary exoskeleton robot is a very important module in the field of robots, the mechanical exoskeleton robot can effectively complete the motion which cannot be completed by a human body, and the application field of the robot is expanded by the aid of the assistance function. However, the exoskeleton robot in the traditional research has too single function, the structure of the whole exoskeleton robot is complex, the joint freedom degree and the appearance design cannot be effectively matched with the physiological motion range of a human body, the freedom degree of the whole exoskeleton robot mainly comes from the dispersed freedom degrees or is composed of one two freedom degrees, the motion range is small, the total weight is difficult to realize and is lighter and more flexible, the walking assisting effect is poor, the man-machine cooperativity is poor, and the exoskeleton robot is not suitable for short-distance walking operation of wearers in the field of logistics or rehabilitation.
At present, the exoskeleton robot has a lot of technical researches, but the mechanical exoskeleton robot is really applied to a few products, the mechanical exoskeleton robot has a better assistance effect compared with the traditional human assistance, the intelligence of the mechanical exoskeleton robot can be widely applied to the fields of military use, aerospace, industry, construction, fire protection, rehabilitation and the like, the research on the fields of structural design, driving modes, gait perception, control strategies, energy configuration, assistance effects and the like is immature, and the structural design of the light auxiliary mechanical exoskeleton robot is a hotspot and a difficult point of popularization and application research of the exoskeleton. The exoskeleton can follow the motion of a human body and assist in walking, and the application scene of the exoskeleton robot is directly influenced by the light structural form. At present, the exoskeleton has various structural designs at home and abroad, and due to the design defect of the structural form, the exoskeleton power-assisted robot has a complex and heavy body structure, a single auxiliary function, poor man-machine coupling and poor man-machine comfort, and even if an active and passive driving system with a complex design is contained, a wearer can watch the exoskeleton power-assisted robot to stop walking.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention overcomes the defects of the prior art, provides a light walking assisting exoskeleton appliance, solves the problems of poor man-machine assisting effect, poor man-machine coupling, single assisting function, poor working environment adaptability and the like of the conventional wearable lower limb exoskeleton caused by complex and heavy body structure, and further provides the light walking assisting exoskeleton appliance.
The technical scheme adopted by the invention is as follows: a light-duty auxiliary walking exoskeleton appliance comprises an exoskeleton mechanical structure module and a power module; the exoskeleton mechanical structure module comprises a human body lower limb bionic exoskeleton structure and a man-machine connecting assembly, wherein the human body lower limb bionic exoskeleton structure conforms to a human body physiological mechanism and is connected with a human body through a man-machine connecting piece;
the power module comprises a power source and a lower limb power joint; the lower limb dynamic joints comprise passive ankle joints, active hip joints and active knee joints;
the bionic exoskeleton structure for the lower limbs of the human body comprises a leg bionic supporting structure and a waist mounting plate; the leg bionic support structures are positioned on the waist mounting plate and are arranged in a bilateral symmetry manner; the leg bionic support structure comprises a foot bionic structure, a shank bionic structure and a thigh bionic structure, and the lengths of the shank bionic structure and the thigh bionic structure can be adjusted; the thigh bionic structure is connected with the waist mounting plate through the active hip joint; the foot bionic structure and the shank bionic structure are connected through a passive ankle joint; the shank bionic structure and the thigh bionic structure are connected through the active knee joint; the power source comprises a servo control box and a power box module, the servo control box and the power box module are mounted on the shell of the waist mounting plate structure, the power box module provides power for the servo control box, and the servo control box drives the driving hip joint and the driving knee joint to move.
The man-machine connecting piece comprises a foot connecting piece, a thigh connecting piece, a shank connecting piece and a waist connecting piece, and the active hip joints are symmetrically arranged at two sides of the waist mounting plate and are fixedly connected through screws; the bionic shoes with the foot bionic structure are wound and fixed on the feet of the wearer through the elastic belts of the foot connecting pieces; the shank bionic structure is wound and fixed at the shank of the wearer through a shank connecting piece; the thigh bionic structure is wound and fixed at the position of the thigh of the wearer through a thigh connecting piece; waist connecting piece installs on the waist connecting plate, and the sponge of waist mounting panel front side passes through waist connecting piece winding at the wearer's waist.
The shank bionic structure comprises a shank supporting structure upper end and a shank telescopic lower end, the shank supporting structure upper end and the shank telescopic lower end are connected in a matched mode through a groove structure and are locked through adjustable screws.
The thigh bionic mechanism comprises a thigh supporting structure upper end and a thigh adjustable lower end; the upper end of the thigh supporting structure and the adjustable lower end of the thigh are connected in a matched mode through a groove structure and locked through an adjustable screw.
The passive ankle joint comprises a shell, an internal driving motor and a deceleration output mechanism, the upper end of the shell of the passive ankle joint is provided with the telescopic lower end of a shank through a screw, and the output end of the deceleration output mechanism is connected with a bionic foot structure through a flange; the internal driving motor provides power for the passive ankle joint.
The active knee joint comprises a first joint shell, a first frameless driving motor, a first speed reducing mechanism, a first sensor and a first output flange; the upper end of the first joint shell is connected with the adjustable lower end of the thigh, an inner hole in the first joint shell is an inner stepped hole, the first speed reducing mechanism is installed on one side of the inner stepped hole through a screw, and an output shaft of the first speed reducing mechanism penetrates through the inner hole of the first frameless drive motor shaft; a rotating shaft in the middle of the first output flange is arranged in an output shaft inner hole of the first speed reducing mechanism, and a flange plate of the first output flange is connected with the upper end of the shank supporting structure; the first frameless driving motor is adhered to the other side of the inner stepped hole through the stator, and the rotor drives the motor shaft and drives the output shaft of the first speed reducing mechanism; the fixed end of the first sensor is fixed on the stepped surface of the stepped hole in the first joint shell through a screw, the rotating end of the first sensor is fixedly connected with the output shaft of the first speed reducing mechanism, and the first sensor is used for measuring the rotating speed of the output shaft of the first speed reducing mechanism.
The active hip joint comprises a second joint shell, a second frameless driving motor, a second speed reducing mechanism, a second sensor and a second output flange; the upper end of the second joint shell is connected with the waist mounting plate, an inner hole in the second joint shell is an inner stepped hole, the second speed reducing mechanism is mounted on one side of the inner stepped hole through a screw, and an output shaft of the second speed reducing mechanism penetrates through an inner hole of a second frameless drive motor shaft; a rotating shaft in the middle of the second output flange is arranged in an inner hole of an output shaft of the second speed reducing mechanism, and a flange plate of the second output flange is connected with the upper end of the thigh supporting structure; the second frameless driving motor is adhered to the other side of the inner stepped hole through the stator, and the rotor drives the motor shaft and drives the output shaft of the second speed reducing mechanism; the fixed end of the second sensor is fixed on the stepped surface of the stepped hole in the second joint shell through a screw, the rotating end of the second sensor is fixedly connected with the output shaft of the second speed reducing mechanism, and the second sensor is used for measuring the rotating speed of the output shaft of the second speed reducing mechanism.
The thigh connecting piece comprises a first connecting hard plate, a first soft pad and a first elastic bandage; a first soft pad is sewn on the inner side of the first elastic bandage, the first elastic bandage is rotatably connected with the first connecting hard plate through a hole and a sagittal axis, and adhesive tapes are arranged at the end parts of the two ends of the first elastic bandage and are fixed with a human body through the adhesive tapes; the first connecting hard plate is arranged at the joint of the upper end of the thigh supporting structure and the adjustable lower end of the thigh, is rotatably connected and is locked through a locking mechanism.
The shank connecting piece comprises a second connecting hard plate, a second soft pad and a second elastic bandage; a second soft pad is sewn on the inner side of the second elastic bandage, the second elastic bandage is rotatably connected with the second connecting hard plate through a hole and a sagittal axis, and adhesive tapes are arranged at the end parts of the two ends of the second elastic bandage and are fixed with the human body through the adhesive tapes; the second connecting hard plate is arranged at the joint of the upper end of the shank supporting structure and the telescopic lower end of the shank, is rotatably connected and is locked through a locking mechanism.
The waist connecting piece comprises an elastic bandage, the elastic bandage is arranged on the inner side of the waist mounting plate and is connected with the waist of a wearer in a rotating mode through a sagittal axis, and the elastic bandage is wound on the waist of the wearer and connected with the waist through adhesive tapes at the end portions of the elastic bandage.
Compared with the prior art, the invention has the advantages that:
1. the invention provides a lower limb bionic support structure of a light auxiliary lower limb exoskeleton device, which is designed in a bilateral symmetry manner, and a foot bionic structure, a thigh bionic structure, a shank bionic mechanism and a waist mounting plate are wound on a wearer through a man-machine connecting assembly, so that the man-machine wearing safety is enhanced, the man-machine matching performance is better in gait walking, and the auxiliary power assisting effect is closer to the wearer.
2. The power source module provided by the invention comprises a control box and a power source module, wherein the power source module comprises a power battery and a power source system which are centralized in the control box, the control box body is detachably arranged on the waist installation plate structure, the power module is small in size, and a debugging interface and a power source interface are reserved, so that the weight of the whole machine is reduced. The human waist is directly wound by the human-computer connecting piece at the waist, so that the restriction to a wearer is reduced.
3. The bionic supporting structure for the legs of the lower limbs, the bionic structure for the thighs and the bionic structure for the crus, provided by the invention, comprise the upper end and the adjustable lower end of the supporting structure, and the bionic structures for the legs with adjustable lengths can be locked by customizing screws. The adjustability of the supporting structure can be matched with the heights of different wearers, and the matching performance is high.
4. The lower limb power joint provided by the invention adopts an integrated and modularized design, integrates structures such as a joint shell, a driving motor, a harmonic reducer, a sensor and the like, effectively reduces the structural design complexity, and makes the overall structure lighter due to the integrated joint.
5. The soft liner of the man-machine connecting piece for the large leg and the small leg provided by the invention is arranged on the hard board and can be folded and rotated inside and outside, the hard board is fixedly connected on the corresponding large leg, the elastic bandage is wound on the leg of a human body, and the wearing comfort level is further improved. The man-machine connecting piece for the large and the small legs at four positions of the lower limbs has a light structural design, and is safe and convenient.
6. The light walking assisting exoskeleton appliance provided by the invention is provided with an exoskeleton mechanical structure and an exoskeleton auxiliary power module through modularization and integrated design; the human-computer link assembly is humanized in design, the comfort level is improved, and the functions of assisting the exoskeleton and assisting the walking can be fully exerted; the exoskeleton can be worn and used by taking the sleeve as a unit and also can be worn and used by taking the joint as a unit due to the modular structural design, so that the exoskeleton is convenient to disassemble; in the fields of modern logistics carrying or medical rehabilitation and the like, the light walking assisting exoskeleton appliance provides safer and more reliable dynamic feeling and comfortable feeling for a wearer.
7. The invention accords with the physiological activity characteristics of human body, and simultaneously has the function of assisting walking when the hip and the knee of a wearer are assisted; the light exoskeleton and the power module thereof are matched with the physiological characteristics of a human body, can feed back human body motion signals in real time to assist a wearer in assisting power assistance or walking assistance, and are suitable for the field of modern logistics lines, production lines or lower limb rehabilitation; the light and humanized light walking assisting exoskeleton device helps a wearer to walk with assistance or a person with low lower limb ability to independently walk with assistance of a doctor, and is high in safety.
Drawings
FIG. 1 is a schematic view of the light-weight walking aid exoskeleton device of the present invention;
FIG. 2 is a schematic view of a bionic support structure for lower limb legs of the light-weight walking assisting exoskeleton appliance;
FIG. 3 is a schematic diagram of a power source module for the light-weight auxiliary walking exoskeleton appliance of the present invention;
FIG. 4 is a schematic view of the power joint linkage structure of the light-weight auxiliary walking exoskeleton appliance;
FIG. 5 is a schematic view of the active knee joint structure of the light-weight auxiliary walking exoskeleton device of the present invention;
FIG. 6 is a schematic view of the active hip joint structure of the light-weight auxiliary walking exoskeleton device of the present invention;
FIG. 7 is a schematic view of a thigh link of the light assistive walking exoskeleton appliance of the present invention;
FIG. 8 is a schematic view of a lower leg link of the light-weight walking assist exoskeleton apparatus of the present invention;
fig. 9 is a perspective view of the light-weight walking aid exoskeleton device.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in FIG. 1, the invention provides a light-weight walking assisting exoskeleton appliance, which comprises an exoskeleton mechanical structure module 1 and a power module 2; the exoskeleton mechanical structure module 1 comprises a human body lower limb bionic exoskeleton structure 3 and a man-machine connecting assembly 4, wherein the human body lower limb bionic exoskeleton structure 3 conforms to a human body physiological mechanism and is connected with a human body through the man-machine connecting assembly 4;
the power module 2 comprises a power source 14 and a lower limb power joint; the lower limb dynamic joint comprises a passive ankle joint 15, an active hip joint 16 and an active knee joint 17;
as shown in fig. 2 and 4, the human lower limb bionic exoskeleton structure 3 comprises a leg bionic support structure 5 and a waist mounting plate 6; the leg bionic support structures 5 are positioned on the waist mounting plate 6 and are arranged in a bilateral symmetry manner; the leg bionic support structure 5 comprises a foot bionic structure 7, a shank bionic structure 8 and a thigh bionic structure 9, and the lengths of the shank bionic structure 8 and the thigh bionic structure 9 can be adjusted; the thigh bionic structure 8 is connected with the waist mounting plate 6 through an active hip joint 16; the foot bionic structure 7 and the shank bionic structure 8 are connected through a passive ankle joint 15; the shank bionic structure 8 and the thigh bionic structure 9 are connected through an active knee joint 17; the power source 14 comprises a servo control box 18 and a power box module 19, the servo control box module 19 is arranged on the structural shell of the waist mounting plate 6, the power box module 19 provides power for the servo control box 18, and the servo control box 18 drives the active hip joint 16 and the active knee joint 17 to move.
The man-machine connecting piece 4 comprises a foot connecting piece 10, a thigh connecting piece 11, a shank connecting piece 12 and a waist connecting piece 13, and the active hip joints 16 are symmetrically arranged at two sides of the waist mounting plate 6 and are fixedly connected through screws; the bionic shoes of the foot bionic structure 7 are wound and fixed on the feet of the wearer through elastic bands of the foot connecting piece 10; the shank bionic structure 8 is wound and fixed at the shank of the wearer through a shank connecting piece 12; the thigh bionic structure 9 is wound and fixed at the thigh of the wearer through a thigh connecting piece 11; waist connecting piece 13 is installed on waist connecting plate 6, and the sponge of waist mounting panel 6 front side passes through waist connecting piece 13 and twines at the wearer's waist.
The shank bionic structure 8 comprises a shank support structure upper end 24 and a shank telescopic lower end 22, the shank support structure upper end 24 and the shank telescopic lower end 22 are connected in a matched mode through a groove structure and are locked through an adjustable screw 26.
The thigh bionic mechanism 9 comprises a thigh supporting structure upper end 25 and a thigh adjustable lower end 23; the upper thigh support structure end 25 and the adjustable thigh lower end 23 are connected by a groove structure in a matching manner and are locked by an adjustable screw 26.
The passive ankle joint 15 comprises a shell, an internal driving motor and a deceleration output mechanism, the upper end of the shell of the passive ankle joint 15 is provided with a telescopic lower leg end 22 through a screw, and the output end of the deceleration output mechanism is connected with the bionic foot structure 7 through a flange; the internal drive motor powers the passive ankle joint 15.
As shown in fig. 5, the active knee joint 17 includes a first joint housing 27, a first frameless drive motor 28, a first reduction mechanism 29, a first sensor 30, and a first output flange 31; the upper end of the first joint shell 27 is connected with the adjustable lower end 23 of the thigh, an inner hole in the first joint shell 27 is an inner stepped hole, a first speed reducing mechanism 29 is installed on one side of the inner stepped hole through a screw, and an output shaft of the first speed reducing mechanism 29 penetrates through an inner hole of a shaft of the first frameless driving motor 28; a rotating shaft in the middle of the first output flange 31 is arranged in an output shaft inner hole of the first speed reducing mechanism 29, and a flange plate of the first output flange 31 is connected with the upper end 24 of the shank supporting structure; the first frameless driving motor 28 is glued on the other side of the inner stepped hole through the stator, and the rotor drives the motor shaft and drives the output shaft of the first speed reducing mechanism 29; the fixed end of the first sensor 30 is fixed on the stepped surface of the stepped hole in the first joint housing 27 through a screw, the rotating end is fixedly connected with the output shaft of the first speed reducing mechanism 29, and the first sensor 30 is used for measuring the rotating speed of the output shaft of the first speed reducing mechanism 29.
As shown in fig. 6, the active hip joint 16 includes a second joint housing 36, a second frameless drive motor 37, a second reduction gear mechanism 38, a second sensor 39, and a second output flange 40; the upper end of the second joint shell 36 is connected with the waist mounting plate 6, an inner hole in the second joint shell 36 is an inner stepped hole, the second speed reducing mechanism 38 is mounted on one side of the inner stepped hole through a screw, and an output shaft of the second speed reducing mechanism 38 penetrates through an inner hole of a shaft of the second frameless driving motor 37; a rotating shaft in the middle of the second output flange 40 is arranged in an output shaft inner hole of the second speed reducing mechanism 38, and a flange plate of the second output flange 40 is connected with the upper end 25 of the thigh supporting structure; the second frameless driving motor 37 is glued on the other side of the inner stepped hole through the stator, and the rotor drives the motor shaft and drives the output shaft of the second speed reducing mechanism 38; the fixed end of the second sensor 39 is fixed on the stepped surface of the stepped hole in the second joint housing 36 by a screw, the rotating end is fixedly connected with the output shaft of the second speed reducing mechanism 38, and the second sensor 39 is used for measuring the rotating speed of the output shaft of the second speed reducing mechanism 38.
As shown in fig. 7, the thigh link 11 includes a first link hard plate 32, a first soft pad 33, and a first elastic band 34; a first soft pad 33 is sewn on the inner side of the first elastic bandage 34, the first elastic bandage 34 is rotatably connected with the first connecting hard plate 32 through a hole and a sagittal axis 35, and adhesive tapes are arranged at the two end parts of the first elastic bandage 34 and are fixed with the human body through the adhesive tapes; the first connecting hard plate 32 is mounted at the junction of the upper thigh support structure end 25 and the lower thigh adjustable end 23, rotatably connected and locked by a locking mechanism.
As shown in FIG. 8, the shank link 12 includes a second link rigid plate 41, a second soft pad 42, and a second elastic strap 43; a second soft pad 42 is sewn on the inner side of the second elastic bandage 43, the second elastic bandage 43 is rotatably connected with the second connecting hard plate 41 through a hole and the sagittal axis 35, and adhesive tapes are arranged at the two end parts of the second elastic bandage 43 and are fixed with the human body through the adhesive tapes; the second connecting hard plate 41 is arranged at the joint of the upper end 24 of the lower leg supporting structure and the telescopic lower end 22 of the lower leg, is connected in a rotating way and is locked by a locking mechanism.
The waist attachment 13 comprises elastic bands mounted on the inside of the waist mounting plate 6 and connected by a sagittal axis 35 rotation, which wraps around the waist of the wearer and is connected by adhesive tape at the ends of the elastic bands.
As shown in fig. 3, the power source 14 comprises a servo control box 18 and a power box module 19, wherein the servo control box 18 mainly comprises a control driving plate, is arranged in the shell of the waist mounting plate 6 through a screw and a buckle 20 and is positioned at the upper side of a power battery 21; the power supply box module 19 comprises a power battery 21 and a battery management system, and the battery box module 19 is adhered to the inner side of the servo control box 18 through an adhesive tape; the whole power source 14 is installed in the back mounting plate 6 shell and is isolated from the outside by a dust cover, and the dust cover is connected to the waist mounting plate 6 through screws.
The working principle is as follows:
as shown in fig. 9, the light walking assisting exoskeleton device mainly comprises: the bionic lower limb structure comprises a lower limb bionic structure, a power module, a driving joint, a control system, a feedback system and the like. The working principle is that the power module (backpack) provides energy for driving the joints, and the four driving joint modules drive the lower limbs to move; the bionic lower limb supporting structure can adjust the structural length according to the fat and thin body of a wearer's height, the light auxiliary walking exoskeleton appliance is bound on the body of the wearer through the waist, the large and small legs and the human-computer connecting piece of the foot, and the comfortableness is enhanced through the special design of the connecting piece. The wearer can move a control command through the switch, select different motion modes, perform passive, active and following motions, pre-store each motion mode in a control system in advance, monitor motion states in a sole, a knee joint and a hip joint in real time, process various gaits in real time according to a sensor feedback signal, reduce the reaction force of the wearer and be comfortable to wear. Meanwhile, the exoskeleton appliance can select available structures according to different application scenes, such as structures only using thigh supporting structures, hip joints, back mounting plates and the like, and only drives the hip joints for single-joint driving.
The present invention has not been described in detail, partly as is known to the person skilled in the art.
Claims (6)
1. A light-weight auxiliary walking exoskeleton appliance is characterized by comprising an exoskeleton mechanical structure module (1) and a power module (2); the exoskeleton mechanical structure module (1) comprises a human body lower limb bionic exoskeleton structure (3) and a man-machine connecting assembly (4), wherein the human body lower limb bionic exoskeleton structure (3) accords with a human body physiological mechanism and is connected with a human body through the man-machine connecting assembly (4);
the power module (2) comprises a power source (14) and a lower limb power joint; the lower limb dynamic joint comprises a passive ankle joint (15), an active hip joint (16) and an active knee joint (17);
the bionic exoskeleton structure (3) for the lower limbs of the human body comprises a bionic leg supporting structure (5) and a waist mounting plate (6); the leg bionic support structures (5) are positioned on the waist mounting plate (6) and are arranged in a bilateral symmetry manner; the leg bionic support structure (5) comprises a foot bionic structure (7), a shank bionic structure (8) and a thigh bionic structure (9), and the lengths of the shank bionic structure (8) and the thigh bionic structure (9) can be adjusted; the thigh bionic structure (8) is connected with the waist mounting plate (6) through an active hip joint (16); the foot bionic structure (7) is connected with the shank bionic structure (8) through a passive ankle joint (15); the shank bionic structure (8) is connected with the thigh bionic structure (9) through a driving knee joint (17); the power source (14) comprises a servo control box (18) and a power box module (19), the power box module (19) is arranged on the structural shell of the waist mounting plate (6), the power box module (19) provides power for the servo control box (18), and the servo control box (18) drives the active hip joint (16) and the active knee joint (17) to move;
the active knee joint (17) comprises a first joint shell (27), a first frameless driving motor (28), a first speed reducing mechanism (29), a first sensor (30) and a first output flange (31); the upper end of the first joint shell (27) is connected with the adjustable lower end (23) of the thigh, an inner hole in the first joint shell (27) is an inner stepped hole, a first speed reducing mechanism (29) is installed on one side of the inner stepped hole through a screw, and an output shaft of the first speed reducing mechanism (29) penetrates through the inner hole of a first frameless driving motor (28) shaft; a rotating shaft in the middle of the first output flange (31) is arranged in an output shaft inner hole of the first speed reducing mechanism (29), and a flange plate of the first output flange (31) is connected with the upper end (24) of the shank supporting structure; the first frameless driving motor (28) is adhered to the other side of the inner stepped hole through the stator, and the rotor drives the motor shaft and drives the output shaft of the first speed reducing mechanism (29); the fixed end of a first sensor (30) is fixed on a step surface of a step hole in the first joint shell (27) through a screw, the rotating end is fixedly connected with an output shaft of the first speed reducing mechanism (29), and the first sensor (30) is used for measuring the rotating speed of the output shaft of the first speed reducing mechanism (29);
the active hip joint (16) comprises a second joint shell (36), a second frameless driving motor (37), a second speed reducing mechanism (38), a second sensor (39) and a second output flange (40); the upper end of a second joint shell (36) is connected with a waist mounting plate (6), an inner hole in the second joint shell (36) is an inner stepped hole, a second speed reducing mechanism (38) is mounted on one side of the inner stepped hole through a screw, and an output shaft of the second speed reducing mechanism (38) penetrates through an inner hole of a shaft of a second frameless driving motor (37); a rotating shaft in the middle of the second output flange (40) is arranged in an output shaft inner hole of the second speed reducing mechanism (38), and a flange plate of the second output flange (40) is connected with the upper end (25) of the thigh supporting structure; the second frameless driving motor (37) is glued on the other side of the inner stepped hole through the stator, and the rotor drives the motor shaft and drives the output shaft of the second speed reducing mechanism (38); the fixed end of a second sensor (39) is fixed on the step surface of a step hole in the second joint shell (36) through a screw, the rotating end is fixedly connected with the output shaft of the second speed reducing mechanism (38), and the second sensor (39) is used for measuring the rotating speed of the output shaft of the second speed reducing mechanism (38);
the thigh link (11) comprises a first connecting hard plate (32), a first soft pad (33) and a first elastic strap (34); a first soft pad (33) is sewn on the inner side of the first elastic bandage (34), the first elastic bandage (34) is rotatably connected with the first connecting hard plate (32) through a hole and a sagittal axis (35), and adhesive tapes are arranged at the end parts of the two ends of the first elastic bandage (34) and are fixed with the human body through the adhesive tapes; the first connecting hard plate (32) is arranged at the joint of the upper end (25) of the thigh supporting structure and the adjustable lower end (23) of the thigh, is rotatably connected and is locked by a locking mechanism;
the shank connecting piece (12) comprises a second connecting hard plate (41), a second soft pad (42) and a second elastic bandage (43); a second soft pad (42) is sewn on the inner side of the second elastic bandage (43), the second elastic bandage (43) is rotatably connected with the second connecting hard plate (41) through a hole and a sagittal axis (35), and adhesive tapes are arranged at the end parts of the two ends of the second elastic bandage (43) and are fixed with the human body through the adhesive tapes; the second connecting hard plate (41) is arranged at the joint of the upper end (24) of the lower leg supporting structure and the telescopic lower end (22) of the lower leg, is connected in a rotating manner and is locked by a locking mechanism.
2. The lightweight assistive walking exoskeleton device of claim 1, wherein: the man-machine connecting piece (4) comprises a foot connecting piece (10), a thigh connecting piece (11), a shank connecting piece (12) and a waist connecting piece (13), and the active hip joints (16) are symmetrically arranged at two sides of the waist mounting plate (6) and are fixedly connected through screws; the bionic shoes of the foot bionic structure (7) are wound and fixed on the feet of a wearer through the elastic belts of the foot connecting piece (10); the shank bionic structure (8) is wound and fixed at the shank of a wearer through a shank connecting piece (12); the thigh bionic structure (9) is wound and fixed at the thigh of a wearer through a thigh connecting piece (11); waist connecting piece (13) are installed on waist connecting plate (6), and the sponge of waist mounting panel (6) front side passes through waist connecting piece (13) and twines at the wearer's waist.
3. The lightweight walking assist exoskeleton device of claim 1 or 2, wherein: the shank bionic structure (8) comprises a shank support structure upper end (24) and a shank telescopic lower end (22), wherein the shank support structure upper end (24) and the shank telescopic lower end (22) are connected in a matched mode through a groove structure and locked through an adjustable screw (26).
4. The lightweight assistive walking exoskeleton device of claim 3, wherein: the thigh bionic mechanism (9) comprises a thigh supporting structure upper end (25) and a thigh adjustable lower end (23); the upper end (25) of the thigh supporting structure and the adjustable lower end (23) of the thigh are connected in a matched mode through a groove structure and locked through an adjustable screw (26).
5. The lightweight assistive walking exoskeleton device of claim 4, wherein: the passive ankle joint (15) comprises a shell, an internal driving motor and a speed reduction output mechanism, the upper end of the shell of the passive ankle joint (15) is provided with a telescopic lower end (22) of a shank through a screw, and the output end of the speed reduction output mechanism is connected with the bionic foot structure (7) in a flange manner; the internal drive motor provides power for the passive ankle joint (15).
6. The lightweight assistive walking exoskeleton device of claim 2, wherein: waist connecting piece (13) include elastic bandage, and elastic bandage installs in waist mounting panel (6) inboard, through sagittal axis (35) swivelling joint, and elastic bandage twines the wearer's waist and connects through the sticky tape of elastic bandage tip.
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| CN109483521B (en) * | 2018-12-04 | 2024-01-09 | 杭州程天科技发展有限公司 | Multifunctional exoskeleton robot |
| CN109602582A (en) * | 2019-01-31 | 2019-04-12 | 深圳市迈步机器人科技有限公司 | A kind of walk-aiding exoskeleton robot |
| CN110442947B (en) * | 2019-07-30 | 2021-07-02 | 华中科技大学 | Lower limb robot dynamics simulation platform and method integrating balance strategy |
| CN110302000A (en) * | 2019-08-02 | 2019-10-08 | 上海博灵机器人科技有限责任公司 | It is a kind of for intervening the dynamic orthotic appliance and method of children's hip anormogenesis |
| CN114770477A (en) * | 2022-05-18 | 2022-07-22 | 宁波天业精密铸造有限公司 | Assembling type multifunctional mechanical bionic exoskeleton |
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