CN109848967A - Bionic mechanical ectoskeleton object wearing device - Google Patents
Bionic mechanical ectoskeleton object wearing device Download PDFInfo
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- CN109848967A CN109848967A CN201910134084.0A CN201910134084A CN109848967A CN 109848967 A CN109848967 A CN 109848967A CN 201910134084 A CN201910134084 A CN 201910134084A CN 109848967 A CN109848967 A CN 109848967A
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Abstract
The invention discloses a kind of bionic mechanical ectoskeleton object wearing device, including be used cooperatively with the left and right leg of human body two lower limb assistance exoskeletons, be connected to lower limb assistance exoskeleton upper end and realize the AIR CONVECTOR TECH of cooperation with trunk and be connected to the bondage system in lower limb assistance exoskeleton for lower limb assistance exoskeleton to be fixedly connected with human leg；Lower limb assistance exoskeleton includes driving assembly and is swung by the multi-link structure that driving assembly drives from realization stepping movement；The present invention can either realize that the complex control of step shape, balance may be implemented in the efficient stepping movement of bionic exoskeleton again; high-intensitive application scenarios can be preferably applied to; weight bearing ability is improved, the physical strength of staff is saved in prolonged efficient operation, and protects the body of staff.
Description
Technical field
The invention belongs to assisted walk field of mechanical technique, in particular to a kind of bionic mechanical ectoskeleton object wearing device.
Background technique
Bionic mechanical ectoskeleton object wearing device is a kind of a kind of mechanical device that may be worn on outside operator's body, it can
Support, protection, and enhancing movement and weight bearing ability are provided to the people of wearing ectoskeleton.Wearable ectoskeleton is widely used in medical treatment
The various fields such as rehabilitation and industrial production application.
Wearable ectoskeleton relatively conventional at present includes: knee joint assistance exoskeleton, weight bearing lower limb exoskeleton, secondary row
Go weak ectoskeleton and Medical lower limb rehabilitation ectoskeleton.Wherein, knee joint assistance exoskeleton is mainly made of elastic material, without outer
Portion's power, it is extremely limited to the power-assisted of the movement of people；Weight bearing lower limb exoskeleton is rigid support, and power is spring and hydraulic
System, dynamical system is bulky, and it is inconvenient to wear；Secondary row goes weak ectoskeleton simulation human muscle's drawing, taut by elastic force
Band and steel wire constrictor are driven, and to achieve the purpose that reduce human body walking energy consumption, but its control has inaccuracy
Disadvantage；Medical lower limb rehabilitation ectoskeleton, power are the torsion motor in the device of leg, which needs to install multiple motors, should
The disadvantages such as that there are volumes is big for lower devices, and activity is not good enough, efficiency is low.
Therefore, in order to solve the above problem, a kind of bionic mechanical ectoskeleton object wearing device is needed, is combined by drive system more
Link mechanism realizes the linkage of multi-joint, realizes assisted walk and carrying external load, simplifies the structure of ectoskeleton, raising is worn
The human strength and athletic performance of wearer.
Summary of the invention
In view of this, the present invention provides a kind of bionic mechanical ectoskeleton object wearing device, pass through drive system combination multi link
Structure realizes the linkage of multi-joint, realizes assisted walk and carrying external load, improves the human strength and motion table of wearer
It is existing.
Bionic mechanical ectoskeleton object wearing device of the invention, two lower limb including being used cooperatively with the left and right leg of human body help
Power ectoskeleton is connected to lower limb assistance exoskeleton upper end and realizes the AIR CONVECTOR TECH of cooperation with trunk and be connected to lower limb
Bondage system in assistance exoskeleton for lower limb assistance exoskeleton to be fixedly connected with human leg；
The lower limb assistance exoskeleton include body, with human thigh compatible thick link and with human calf's phase
The shank link of adaptation, the action connecting rod for driving thick link and shank link to swing and for being provided for connecting rod of taking action
The driving assembly of power；The thick link upper end and body by revolute pair mating connection, the thick link lower end and
Action connecting rod lower end is cooperatively connected by revolute pair with shank link upper end respectively and forms two revolute pairs, the driving component
With action small end driving cooperation for drive action connecting rod swing to drive thick link and shank link it is opposite swing
Realize stepping movement.
Further, the driving component includes be rotatably assorted the rotation wheel set being installed on body, driving rotation wheel set turn
Dynamic driving device, the action small end and rotation wheel set eccentric rotary cooperation.
Further, the driving component further includes rocker arm assembly, and the rocker arm assembly both ends are cooperated by revolute pair respectively
In body and action small end, the revolute pair that the rocker arm assembly and operations company bar are formed is located at rotation wheel set and operations company
Above the revolute pair that bar is formed.
Further, the rocker arm assembly includes the rocker arm cooperated with action small end by revolute pair and passes through rotation
Pair be cooperatively connected on body and make power output end swing regulating mechanism, the power output end of the regulating mechanism with shake
Arm free end is opposite, the regulating mechanism power output end and rocker arm free end be cooperatively connected by single-degree-of-freedom sliding pair and
Therebetween there is the power of the opposite sliding of constraint.
Further, bionic mechanical ectoskeleton object wearing device further includes being set to lower limb assistance exoskeleton upper end and helping lower limb
The hip articular system that power ectoskeleton is fixedly connected with AIR CONVECTOR TECH, the hip articular system include at least three degree of freedom: wrapping
It includes using Z axis as the rotation of center axis and realizes that AIR CONVECTOR TECH is rotated relative to lower limb assistance exoskeleton for realizing the movement that sways one's hips, with X-axis
Realize that AIR CONVECTOR TECH rotates for realizing movement of bending over, centered on Y-axis relative to lower limb assistance exoskeleton for the rotation of center axis
The rotation of axis realizes that AIR CONVECTOR TECH is rotated relative to lower limb assistance exoskeleton for realizing the movement of side waist.
Further, bionic mechanical ectoskeleton object wearing device further includes being connected to shank link lower end for matching with human foot
The foot's component used is closed, foot's component includes the foot side wall connecting with shank link bottom by revolute pair and consolidates
Surely it is connected to the vola pedal of foot side wall bottom.
Further, the shank link lower end by sliding pair be connected with can along shank link length direction slide
Telescopic joint is connected between the telescopic joint and shank link by bolster.
Further, foot's component further includes heel string component, and the heel string component is small including being connected to by revolute pair
Two connections on leg connecting rod and vola pedal rear portion, which are tied and are connected to, ties between two connection knots for changing two connections
Between distance telescoping mechanism.
Further, the action connecting rod is telescopic structure.
Further, there are relatively close spacing block set in the action connecting rod lower end and thick link lower end, work as thick link
When conllinear with shank link, two spacing block sets are mutually constrained and are limited caused by shank link and thick link relative rotation
It turns up in joint.
Beneficial effects of the present invention:
Sheet of the present invention realizes the driving walking of lower limb assistance exoskeleton by three control of a driving, and whole system passes through installation
The mutual conversion of circular motion and stepping movement is realized in the driving device driving of engine body exterior, while including three control rings
Section: rocker arm assembly, action connecting rod and heel string component realize the Precise control of bionic exoskeleton itself step shape and balance；
The present invention is by rocker arm assembly to the control of action connecting rod, the flexible control and heel string to its length of action connecting rod
Component realizes pedipulator step shape, the matched of stride and balance to the control of spacing between foot and shank link, at three
Coordinated is controlled, sole equilibrium function, the road of applicable complexity are realized by foot under the premise of improving the step shape of pedipulator
The walking of face operating condition, improves the stability of pedipulator, increases the scope of application of pedipulator.
The present invention, which forms effectively wearing and support, AIR CONVECTOR TECH to whole ectoskeleton by AIR CONVECTOR TECH, can prevent ectoskeleton
Fall off, bondage system by lower limb assistance exoskeleton bondage to human leg, by AIR CONVECTOR TECH and bondage system by ectoskeleton with
Human body forms effective fixation, so that ectoskeleton forms excellent support to human body；
The present invention can either realize that the complicated control of step shape, balance may be implemented in the efficient stepping movement of bionic exoskeleton again
System can preferably be applied to high-intensitive application scenarios, improve weight bearing ability, work people be saved in prolonged efficient operation
The physical strength of member, and protect the body of staff；
The present invention can realize that AIR CONVECTOR TECH is moved with respect to multiple freedom degrees of lower limb assistance exoskeleton by hip articular system,
Matching human body wearing can be achieved to bend over, sway one's hips and the movement of side waist, promotes user's use feeling, improves the comfortable of user's wearing
Degree, and hip articular system adapts to different size of AIR CONVECTOR TECH, strong applicability；
The present invention is by rotation wheel set eccentric drive action connecting rod, so that each lower limb assistance exoskeleton is filled in a driving
The walking that strides can be realized under the action of setting, improve the amplitude of striding, simplify the structure of ectoskeleton, control is simple and accurate,
Its dynamical system is small in size, light-weight；Make that lower limb assistance exoskeleton is compact-sized, small in size, weight in conjunction with multi-link structure
Gently, lower limb assistance exoskeleton activity performance is improved；Convenient to wear, applicability is high, improves power-assisted effect, improves device
Cruising ability.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is schematic diagram of the three-dimensional structure；
Fig. 2 is lower limb assistance exoskeleton structural schematic diagram；
Fig. 3 is driving assembly structural schematic diagram；
Fig. 4 is driving assembly schematic diagram of internal structure 1；
Fig. 5 is driving assembly schematic diagram of internal structure 2；
Fig. 6 is knee joint structure schematic diagram；
Fig. 7 is knee joint schematic diagram of internal structure；
Fig. 8 is foot's component structure diagram；
Fig. 9 is hip articular system structural schematic diagram；
Specific embodiment
Fig. 1 is schematic diagram of the three-dimensional structure；Fig. 2 is lower limb assistance exoskeleton structural schematic diagram；Fig. 3 is driving assembly
Structural schematic diagram；Fig. 4 is driving assembly schematic diagram of internal structure 1；Fig. 5 is driving assembly schematic diagram of internal structure 2；Fig. 6 is knee
Joint structure schematic diagram；Fig. 7 is knee joint schematic diagram of internal structure；Fig. 8 is foot's component structure diagram；Fig. 9 is hip joint
System structure diagram；
The X-direction is that human body dresses the left and right directions after bionic mechanical ectoskeleton object wearing device, and the Y direction is
Human body dresses the front-rear direction after bionic mechanical ectoskeleton object wearing device, and the Z-direction is that human body dresses bionic mechanical dermoskeleton
Up and down direction after bone object wearing device, front, back, left, right, up, down direction and human body dress bionic mechanical ectoskeleton object wearing device
Direction afterwards corresponds.
It is as shown in the figure: the bionic mechanical ectoskeleton object wearing device of the present embodiment, including what is be used cooperatively with the left and right leg of human body
Two lower limb assistance exoskeletons 10, the AIR CONVECTOR TECH 20 for being connected to lower limb assistance exoskeleton upper end and realizing cooperation with trunk
And it is connected to the bondage system 30 in lower limb assistance exoskeleton for lower limb assistance exoskeleton to be fixedly connected with human leg；
The lower limb assistance exoskeleton includes body 101, thick link 102 compatible with human thigh and and human body
The compatible shank link 103 of shank, the action connecting rod 104 for driving thick link and shank link to swing and for for
Connecting rod of taking action provides the driving assembly 105 of power；102 upper end of thick link and body 101 are cooperatively connected by revolute pair,
102 lower end of thick link and action 104 lower end of connecting rod are cooperatively connected with 103 upper end of shank link by revolute pair respectively
And two revolute pairs are formed, the driving component 105 and the driving cooperation of action 104 upper end of connecting rod are for driving action connecting rod swing
To drive thick link and opposite swing of shank link to realize stepping movement.
The revolute pair that 104 component lower end of connecting rod and 103 upper end of shank link are formed of taking action and 102 lower end of thick link with
The revolute pair that 103 upper end of shank link is formed forms kneed No.1 artis 61 and No. two artis 62, connecting rod position of taking action
On rear side of thick link, No.1 artis 61 is located on the downside of No. two artis 62, and the arrangement of action connecting rod and thick link more accords with
Ergonomics is closed, and action connecting rod is made to form effective driving to thick link and shank link；Pass through drive in the present embodiment
Dynamic component cooperation multi-link structure is the driving realized to entire bionic mechanical ectoskeleton object wearing device, simplifies ectoskeleton
Structure reduces the weight of ectoskeleton, and the user experience is improved；
AIR CONVECTOR TECH is wearable to shoulders of human body position, forms effectively wearing and support to whole ectoskeleton by shoulder,
The weight of the sustainable whole ectoskeletons of AIR CONVECTOR TECH, prevents ectoskeleton from falling off, bondage system by the bondage of lower limb assistance exoskeleton extremely
Ectoskeleton and human body are formed effective fixation by AIR CONVECTOR TECH 20 and bondage system, so that ectoskeleton is to human body by human leg
Form excellent support；The AIR CONVECTOR TECH 20 is the wearable garment-like shape structure on human body, the preferred vest of the present embodiment
Formula carried by shoulders structure, vest two sides are provided with buckle 21, and vest bottom is provided with waistband 22, this structure facilitates wearing and support
Reliably, the bondage system 30 is several leg bands 301 being set on thick link 102 and/or shank link 103,
And/or indicate both leg band individually can be arranged on thick link or shank link, it can also be respectively provided in the two
Leg band, the present embodiment is in the middle part of thick link and in the middle part of shank link and leg band is arranged in bottom, and leg band can be
Elastic straps, may be set to be nylon stick buckle structure, and the preferred nylon stick buckle structure of the present embodiment is not repeating specifically；
In the present embodiment, the driving component 105 includes be rotatably assorted the rotation wheel set being installed on body, driving rotation
The driving device 1051 of wheel set rotation, the action small end and rotation wheel set eccentric rotary cooperation；Driving device 1051 is pacified
It can be hydraulic-driven structure, gas driven structure or other driving structures loaded on body, the preferred motor of the present embodiment drives
Dynamic, driving device 1051 is two-way decelerating motor, drives rotation spoke rotation to realize basic step shape feelings by two-way decelerating motor
Power drive under condition, the settable inertial device between two-way decelerating motor and rotation spoke, such as flywheel, are filled by inertia
It sets and realizes that inertia energy is recycled and kept, improve the efficiency of system；Body 101 is two-piece type structure, passes through two lids
1011 fasten, and two lids are realized by screw and fastened, and thick link, shape move connecting rod and driving assembly is set to two
In the installation cavity formed between lid, be provided with and be rotatably assorted in the shaft on two lids in installation cavity, thick link with
Shaft is rotatably assorted the revolute pair to be formed with body, and rotation wheel set drives the action connecting rod to do compound motion, and described in drive
Thick link and shank link move reciprocatingly, to realize the mutual of the rotation of driving device and Form of Bionics Mechanical Legs stepping movement
Conversion；The present invention is by rotation wheel set eccentric drive action connecting rod, so that each lower limb assistance exoskeleton is in a driving device
Under the action of the walking that strides can be realized, improve the amplitude of striding, simplify the structure of ectoskeleton, control is simple and accurate,
Dynamical system is small in size, light-weight；Make lower limb assistance exoskeleton compact-sized, small in size, light-weight in conjunction with multi-link structure,
Improve lower limb assistance exoskeleton activity performance；Convenient to wear, applicability is high, improves power-assisted effect, improves the continuous of device
Boat ability.
The driving component 105 further includes rocker arm assembly, and the rocker arm assembly both ends pass through revolute pair respectively and are matched with machine
Body and action small end, the revolute pair that the rocker arm assembly and operations company bar are formed are located at rotation wheel set and operations company rod
At revolute pair above；Connecting rod of taking action can be rigid structure, such as connecting rod, or linear drives structure, such as spring
Sliding pair or linear motor are improved the stability of action connecting rod operation by the setting of rocker arm assembly, improve multi link knot
The global consistency of structure, when rocker arm assembly is rigid structure, rocker arm assembly length is constant, by rocker arm assembly to action connecting rod
The constraint of upper end controls the maximum amplitude of oscillation of thick link to control the maximum step shape of pedipulator, when rocker arm assembly is straight line drive
When dynamic structure, the length of rocker arm assembly is adjustable, and the step shape of pedipulator can be changed in the length by controlling rocker arm assembly, realizes thigh
The matching of the amplitude of oscillation and usage scenario when rocker arm assembly is linear drives structure, can carry out rocker arm assembly by elastic force certainly
Constraint, details are not described herein again；
In the present embodiment, the rocker arm assembly includes the rocker arm 1052 cooperated with action 104 upper end of connecting rod by revolute pair
And by revolute pair be cooperatively connected on body 101 and make power output end swing regulating mechanism 1053, the adjusting
The power output end of mechanism is opposite with rocker arm free end, and the regulating mechanism power output end and rocker arm free end are free by list
The power that sliding pair is cooperatively connected and has the opposite sliding of constraint therebetween is spent, what the rocker arm and action connecting rod 104 were formed
Revolute pair is located above rotation wheel set and the revolute pair for the formation of connecting rod 104 of taking action；Regulating mechanism 1053 can for linear electric machine or
Hydraulic cylinder, regulating mechanism are installed between two lids 1011 by revolute pair, and the free end of output shaft and rocker arm 1052 is matched
It closes, controls the opposite sliding stroke of the two, restraining force at this time is rigid power, can change step shape, realization by controlling this trip
The man-machine matching of thigh amplitude of oscillation position；For the structure for simplifying rocker arm assembly, in the present embodiment regulating mechanism free end and rocker arm from
By elastic restraint power preferred between end, as shown in figure 4, regulating mechanism 1053 is the switch block being installed on the inside of lid, the switch block is certainly
By being slidably equipped with sliding axle 1059 between end and rocker arm free end, the opposite single-degree-of-freedom of the two is realized by this sliding axle
Linear restriction is connected by cylindrically coiled spring between two free ends, by improving action connecting rod pivot angle under resilient force,
And then change step shape, the man-machine matching of thigh amplitude of oscillation position is realized, by the damping action of elastic force to action connecting rod swing shape
At buffering, improve stress when multi link strides, promote the usage experience of user, in rocker arm assembly, thick link, action connecting rod
And under the common constraint of shank link, two-way decelerating motor drives the action connecting rod to do compound motion, and drives described big
Leg connecting rod and shank link move reciprocatingly, to realize the rotation of driving device and mutually turning for Form of Bionics Mechanical Legs stepping movement
It changes；
In the present embodiment, the rotation wheel set includes the driving gear 1054 cooperated with body by revolute pair and driven
Gear 1055, the driving gear engage to form gear pair transmission, the action small end and driven gear with driven gear
Eccentric rotary cooperation, the driving gear and the transmission of driving device 1051 cooperate；Driven gear is rotatably assorted installation by bearing
In shaft between two lids 1011, bearing peace is formed in the installing blind that two indents are arranged in the inner sidewall of two lids
Seat is filled, bearing 1056 is installed in two bearing mounting bases, cooperates two bearing installations there are two crank disc 1057, crank disc is
Ladder-like, miner diameter end and bearing inner race transmission cooperate, and driven gear is installed between two crank discs, driven gear end face with
And multiple fastener holes 1058 are offered on the major diameter end face of one of crank disc, screw, which is installed in this fastener hole, passes through screw thread
Driven gear is fixedly connected by connection with this crank disc, so that the two is integrally formed and is located in the bearing block, this crank disc
It can be used as flywheel i.e. inertial device to use, two crank discs and driven gear coaxial arrangement, driven gear and crank disc
On eccentric shaft is installed, action connecting rod and eccentric shaft turns cooperate, and driving gear and driven gear are installed on same lid, should
Installation cavity is provided on lid, driving gear is installed in the installation cavity and engages with driven gear, and driving device 1051 is i.e. double
It is installed on the lid portion outside to decelerating motor, rotor and driving gear transmission cooperate, and power is transferred to driving tooth by motor
Wheel, driven gear, action connecting rod 104, thick link and shank link are realized that the walking that strides is realized in the swing of action connecting rod, are led to
The eccentric setting for crossing action connecting rod improves the amplitude of fluctuation of action connecting rod, that is, improves the amplitude of striding, adjust eccentric position away from
This amplitude is adjusted with a distance from driven gear center, a motor can realize the driving to entire lower limb assistance exoskeleton, letter
The structure of ectoskeleton is changed, driving device is few, and control is simple and accurate, and dynamical system is small in size, light-weight；Certainly, it rotates
Wheel set is not limited to meshed gears to structure, and rotating spoke can be set to independent Wheel structure, right by driving device 1051
Wheel body realizes direct-connected driving, is not repeating specifically；
In the present embodiment, bionic mechanical ectoskeleton object wearing device further includes being set to 10 upper end of lower limb assistance exoskeleton and inciting somebody to action
The hip articular system 40 that lower limb assistance exoskeleton is fixedly connected with AIR CONVECTOR TECH, the hip articular system include at least three freedom
Degree: including realizing that AIR CONVECTOR TECH is dynamic for realizing swaying one's hips relative to the rotation of lower limb assistance exoskeleton using Z axis as the rotation of center axis
Make, realize that AIR CONVECTOR TECH is rotated relative to lower limb assistance exoskeleton for realizing movement of bending over, with Y using X-axis as the rotation of center axis
Axis is that the rotation of center axis realizes that AIR CONVECTOR TECH is rotated relative to lower limb assistance exoskeleton for realizing the movement of side waist；Hip articular system
It is installed on body upper end, that is, is installed on the upper end of lid, can be achieved to bend over by the rotation of three degree of freedom, sway one's hips and side waist
Movement promotes user's use feeling, and certain hip articular system is not limited to three above freedom degree, and ball can be used in hip articular system
Face pair realizes universal adjustment, and details are not described herein again；
In the present embodiment, the hip articular system 40 includes and body is formed revolute pair cooperation centered on Y direction and connected
The Y-direction rotating member 401 that connects, is formed centered on X-direction with Y-direction rotating member X that revolute pair is cooperatively connected to rotating member 402 with
And the Z-direction rotating member 403 of revolute pair mating connection is formed to rotating member centered on Z-direction with X, the Z-direction rotating member with
AIR CONVECTOR TECH is fixedly connected；As shown in figure 9, in the mounting groove 404 of the oriented lower recess in lid upper end, on the front/rear end of mounting groove
It is rotatably assorted and the shaft of Y-direction extension is installed, Y-direction rotating member 401 is rotatably assorted in the shaft and is installed in mounting groove, Y
Shaft of the X to extension is installed on rotating member 401, X is rotatably assorted in the shaft to rotating member 402, and X is to rotating member 402
Upper end be rotatably assorted with Z-direction rotating member 403, Z-direction rotating member be column structure, Z-direction rotating member be rotatably installed on X to turn
The upper end of moving part 402, Z-direction rotating member 403 by three section structures, i.e., by bottom vertical pivot, be vertically connected in the vertical pivot upper end of bottom
Portion's horizontal axis and the top vertical pivot for being connected to middle part horizontal axis outer end are constituted, and wherein bottom vertical axis is installed on X on rotating member,
Top vertical pivot with AIR CONVECTOR TECH for connecting, and the Z-direction rotating member of this structure is used as back frame structure to use simultaneously, by rotating Z-direction
The distance between adjustable two tops vertical pivot of rotating member, is suitable for different AIR CONVECTOR TECHs, the movement that sways one's hips can be improved in this structure
When comfort level, certainly, the structure type without being limited thereto of hip articular system 40, hip articular system can be connect with body by spherical pair
To realize universal adjustment, do not repeating specifically.
In the present embodiment, bionic mechanical ectoskeleton object wearing device further includes being connected to shank link lower end to be used for and human foot
Foot's component 50 that portion is used cooperatively, foot's component include the foot side wall being connect with shank link bottom by revolute pair
501 and it is fixedly connected on the vola pedal 502 of foot side wall bottom；Shank and foot side wall hinged place form ankle-joint, foot
Portion's side wall is connected to the outside that vola pedal side makes foot side wall be located at human foot, in use, human foot steps in foot
On the pedal of bottom, the man-machine matching of height is formed, the support effect of ectoskeleton is improved；
In the present embodiment, the shank link lower end is connected with by sliding pair can be sliding along shank link length direction
Dynamic telescopic joint 1031 is connected between the telescopic joint and shank link by bolster；As shown in figure 8, telescopic joint bottom with
Foot side wall 501 is cooperatively connected to form ankle-joint by revolute pair, and telescopic joint is small from the telescopic cavity of the oriented lower recess in end face thereon
Leg lower end is worn in telescopic cavity and by connecting between buffering with the bottom of telescopic cavity, and bolster can be spring or resilient sleeve etc.
Flexible connector, details are not described herein again；It may make shank link to have certain deformation space in vertical direction through this structure, use
Spacing caused by leg curvature changes when matching human body walking, while can play buffer function, can be in control or external force
Lower change walks shape, realizes the man-machine matching of shank stored position,；
In the present embodiment, foot's component 50 further includes heel string component, and the heel string component includes being connected by revolute pair
The telescoping mechanism for being connected to two connection knots 503 of telescopic joint side wall and vola pedal rear portion and being connected between two connection knots
504；As shown in Figure 8, there are outwardly projecting mounting blocks on the side wall of telescopic joint side wall, be rotatably assorted on mounting blocks by hinge
Connection knot is installed, is provided by the installation that mounting blocks are connection knot and elastic component and allows bit space, facilitate connection knot and
The installation of telescoping mechanism, telescoping mechanism can be the driving devices such as active actuator, such as linear motor, hydraulic cylinder, pass through this
Structure cooperates the walking of lower limb assistance exoskeleton to adjust the distance between two connection knots in real time, and telescoping mechanism is preferred in the present embodiment
For passive matrix part, such as the elastic constructions such as spring or elastomeric pad, when walking, the relative rotation of shank link and foot is real
The adjusting of distance forms certain buffering to it by the variation of the passive gap acceptance of elastic component between existing two connections knot, this
In embodiment by taking cylindrically coiled spring as an example, two settable guide grooves being recessed inwardly of the bonded opposite face of company, cylindrical screw
The both ends of spring are respectively fixedly connected in the bottom of two guide grooves, this bionic structure human body heel string, realize the bullet of vola pedal
Property effect and sole equilibrium function；
In the present embodiment, there are relatively close spacing block set in action 104 lower end of connecting rod and 102 lower end of thick link
106, when thick link is conllinear with shank link, two spacing block sets mutually constrain and limit shank link and thick link phase
It turns up to joint caused by rotation；As shown in fig. 7, two spacing block sets are a circular-arc structure, peace is offered on spacing block set
Dress hole with shank link realization to be rotatably assorted, when thick link and the shank link certain bending angle of holding, two limits
Position convex block is mutually non-interference, and when thick link is conllinear with shank link, two spacing block sets occur to do with the rotation of the two
It relates to, limits the further relative rotation of the two, prevent knee joint from turning up, this structure is matched with human height, is improved using easypro
Appropriateness and practicability.
In the present embodiment, vola pedal two sides are fixedly connected with the side wall 505 for accommodating human body step, the foot
Foot's band 506 for forming fastening to human body step is provided on the pedal of bottom；The material with certain deformation can be used in side wall
Matter, such as leather or rubber, band use elastic webbing, nylon adherent buckle or other band type structures, are not repeating specifically；Pass through side
It encloses and the fixation of step band, so as to form height fixed for human foot and vola pedal, prevents human body in the process of walking
Foot separates with vola pedal, mentions dependable with function for users to use.
In the present embodiment, action connecting rod 104 is set as telescopic structure, and the stretching structure for connecting rod of taking action is located at operations company
Between revolute pair and action connecting rod that bar and shank link are formed and the revolute pair that driven gear is formed, this stretching structure can be with
For manual telescopic structure or electric expansion structure, when for manual telescopic structure, action connecting rod is set as can opposite two slided
Segmentation structure realizes that length adjustment can be by straight when for electric expansion structure by multiple vertical array connecting holes and screw
Line driving mechanism realizes the electronic length adjustment of action connecting rod, by the adjusting of the length to action connecting rod, shank is adjusted and connects
The amplitude of fluctuation of bar, preferred electric expansion structure in the present embodiment, is arranged linear motor in the lower end of action connecting rod, passes through control
The operation of linear motor can adjust the length of action connecting rod in real time, so that the amplitude of fluctuation of shank link in real time, is accurately adjusted, from
And the stride of shank is adjusted in real time, the balanced capacity and stability of pedipulator are improved, to adapt to different road conditions.
In the present embodiment, the thick link 102, shank link 103 and action connecting rod 104 are disposed as telescopic
Two-part structure；As shown in figure 5, thick link 102 and action connecting rod 104 are set as the two-part knot being made of two sections of connecting rods
Structure is respectively arranged with multiple vertically disposed connecting holes, the matching on two sections of connecting rods between different connecting holes on two sections of connecting rods
It realizes the flexible adjustment of two sections of connecting rods, two-part connecting rod is consolidated by being realized in screw thread connection and the connecting hole that is mutually matched
Fixed, the stretching structure of shank link is similar with thick link stretching structure, and details are not described herein again, and certainly, stretching structure is not limited to
This structure, stretching structure may be configured as electric telescopic rod or other stretching structures, and details are not described herein again, this structure can be long according to leg
Demand is pre-adjusted shank and faces a difficult choice and thick link length, is adapted to different height demand；To take into account the swing for adjusting shank link
The function of amplitude, action connecting rod may be configured as upper, middle and lower segment formula structure, that is, take action on connecting rod, middle section is set as telescopic
Two-part structure, and length adjustment is realized to be adapted to different height demand, in action connecting rod by connecting hole and screw fit
In, lower section be set as electric expansion two-part structure, i.e., realized here by linear electric machine flexible to adjust shank link
The amplitude of oscillation, certainly, action connecting rod are not limited to three stage structure, and action connecting rod may be alternatively provided as both ends formula structure, be driven by straight line
Motivation structure, which is realized, to be stretched, and when adjustment length being needed to be adapted to different height, is realized substantially to adjust to change by linear drives structure and be grown
Degree is guaranteeing that action connecting rod entire length realizes pair in certain controlled range by linear motor fine tuning after length matching
The amplitude of oscillation of shank link is adjusted, and realizes the accurate control of step shape, is also realized pair by realizing adaptation different height through this structure
The swing-scanning control of shank link.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (10)
1. a kind of bionic mechanical ectoskeleton object wearing device, it is characterised in that: including under be used cooperatively with the left and right leg of human body two
Limb assistance exoskeleton is connected to lower limb assistance exoskeleton upper end and realizes the AIR CONVECTOR TECH of cooperation with trunk and be connected to
Bondage system in lower limb assistance exoskeleton for lower limb assistance exoskeleton to be fixedly connected with human leg；
The lower limb assistance exoskeleton includes body, thick link compatible with human thigh and is adapted with human calf
Shank link, the action connecting rod for driving thick link and shank link to swing and for providing power for connecting rod of taking action
Driving assembly；The thick link upper end and body are cooperatively connected by revolute pair, the thick link lower end and action
Connecting rod lower end is cooperatively connected by revolute pair with shank link upper end respectively and forms two revolute pairs, the driving component and row
Dynamic small end driving cooperates for driving action connecting rod swing to drive thick link and shank link to swing realization relatively
Stepping movement.
2. bionic mechanical ectoskeleton object wearing device according to claim 1, it is characterised in that: the driving component includes turning
It is dynamic to be coupled in the driving device of rotation wheel set, driving rotation wheel set rotation on body, the action small end and turn
The cooperation of driving wheel pair eccentric rotary.
3. bionic mechanical ectoskeleton object wearing device according to claim 2, it is characterised in that: the driving component further includes
Rocker arm assembly, the rocker arm assembly both ends pass through revolute pair respectively and are matched with body and action small end, the rocking arm set
Above the revolute pair that the revolute pair that part and operations company bar are formed is located at rotation wheel set and operations company bar is formed.
4. bionic mechanical ectoskeleton object wearing device according to claim 3, it is characterised in that: the rocker arm assembly include with
The rocker arm that cooperate by revolute pair of action small end and by revolute pair mating connection on body and making power output
The regulating mechanism swung is held, the power output end of the regulating mechanism is opposite with rocker arm free end, and the regulating mechanism power is defeated
Outlet and rocker arm free end are cooperatively connected by single-degree-of-freedom sliding pair and have the power of the opposite sliding of constraint therebetween.
5. bionic mechanical ectoskeleton object wearing device according to claim 1, it is characterised in that: bionic mechanical ectoskeleton wearing
Device further includes the hip pass for being set to lower limb assistance exoskeleton upper end and being fixedly connected with lower limb assistance exoskeleton with AIR CONVECTOR TECH
Section system, the hip articular system include at least three degree of freedom, that is, include realizing AIR CONVECTOR TECH by the rotation of center axis of Z axis
Under being rotated relative to lower limb assistance exoskeleton for realizing the movement that sways one's hips, realizing AIR CONVECTOR TECH relatively as the rotation of center axis using X-axis
The rotation of limb assistance exoskeleton realizes AIR CONVECTOR TECH with respect to lower limb power-assisted for realizing movement of bending over, by the rotation of center axis of Y-axis
Ectoskeleton rotation is for realizing the movement of side waist.
6. bionic mechanical ectoskeleton object wearing device described in -5 any one according to claim 1, it is characterised in that: bionic mechanical
Ectoskeleton object wearing device further includes the foot's component for being connected to shank link lower end for being used cooperatively with human foot, the foot
Parts include the foot side wall being connect with shank link bottom by revolute pair and are fixedly connected on foot side wall bottom
Vola pedal.
7. bionic mechanical ectoskeleton object wearing device according to claim 6, it is characterised in that: the shank link lower end is logical
It crosses sliding pair and is connected with the telescopic joint that can be slided along shank link length direction, lead between the telescopic joint and shank link
Cross bolster connection.
8. bionic mechanical ectoskeleton object wearing device according to claim 6, it is characterised in that: foot's component further includes
Heel string component, the heel string component include being connected on shank link by revolute pair and two connections at vola pedal rear portion knot
And it is connected between two connection knots for changing the telescoping mechanism of distance between two connection knots.
9. bionic mechanical ectoskeleton object wearing device according to claim 8, it is characterised in that: the action connecting rod is flexible
Formula structure.
10. bionic mechanical ectoskeleton object wearing device according to claim 1, it is characterised in that: the action connecting rod lower end
There is relatively close spacing block set with thick link lower end, when thick link is conllinear with shank link, two spacing block set phases
It mutually constrains and limits joint caused by shank link is relatively rotated with thick link and turn up.
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| CN113771004A (en) * | 2021-08-12 | 2021-12-10 | 重庆交通大学 | Wearable follow-up power-assisted exoskeleton body posture control device |
| CN113768756A (en) * | 2021-08-12 | 2021-12-10 | 重庆交通大学 | Wearable electric intelligent exoskeleton device for helping disabled |
| CN113771005A (en) * | 2021-08-12 | 2021-12-10 | 重庆交通大学 | Wearable follow-up control electric drive power-assisted exoskeleton device |
| CN113771003A (en) * | 2021-08-12 | 2021-12-10 | 重庆交通大学 | Wearable electric intelligent disabled-assisting exoskeleton body posture control device |
| CN113771002A (en) * | 2021-08-12 | 2021-12-10 | 重庆交通大学 | Active bionic multi-rod virtual wearable hip joint |
| CN113858180A (en) * | 2021-11-05 | 2021-12-31 | 中国科学技术大学 | Magnetorheological joint for lower limb exoskeleton |
| CN114029928A (en) * | 2021-08-12 | 2022-02-11 | 重庆交通大学 | Follow-up bionic multi-rod virtual wearable hip joint |
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