CN109848967B - Bionic mechanical exoskeleton wearing device - Google Patents
Bionic mechanical exoskeleton wearing device Download PDFInfo
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- CN109848967B CN109848967B CN201910134084.0A CN201910134084A CN109848967B CN 109848967 B CN109848967 B CN 109848967B CN 201910134084 A CN201910134084 A CN 201910134084A CN 109848967 B CN109848967 B CN 109848967B
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Abstract
The invention discloses a bionic mechanical exoskeleton wearing device, which comprises two lower limb assistance exoskeletons matched with the left leg and the right leg of a human body, a bearing system connected to the upper end of the lower limb assistance exoskeletons and matched with the trunk of the human body, and a binding system connected to the lower limb assistance exoskeletons and used for fixedly connecting the lower limb assistance exoskeletons with the legs of the human body; the lower limb assistance exoskeleton comprises a driving assembly and a multi-link structure driven by the driving assembly to swing so as to realize stepping movement; the invention can realize the high-efficiency striding movement of the bionic exoskeleton and the complex control of step shape and balance, can be better applied to high-strength application scenes, improves the load bearing capacity, saves the physical strength of workers in long-time high-efficiency work, and protects the bodies of the workers.
Description
Technical Field
The invention belongs to the technical field of power-assisted walking machines, and particularly relates to an exoskeleton wearing device of a bionic machine.
Background
The bionic mechanical exoskeleton wearing device is a mechanical device which can be worn outside the body of an operator, and can provide support and protection for the person wearing the exoskeleton and enhance the movement and load bearing capacity. The wearable exoskeleton is widely applied to a plurality of fields such as medical rehabilitation and industrial production application.
Currently, a common wearable exoskeleton includes: knee joint assistance exoskeleton, loading lower limb exoskeleton, walking assisting soft exoskeleton and medical lower limb rehabilitation exoskeleton. The knee joint assistance exoskeleton is mainly made of elastic materials, has no external power, and has very limited assistance to the movement of people; the load-bearing lower limb exoskeleton is rigidly supported, and the power system comprises a spring and a hydraulic system, so that the power system is large in size and inconvenient to wear; the walking assisting soft exoskeleton simulates the traction of human muscles and is driven by the elastic bandage and the steel wire retractor to achieve the purpose of reducing the walking energy consumption of the human body, but the control of the walking assisting soft exoskeleton has the defect of inaccuracy; the medical lower limb rehabilitation exoskeleton is powered by a torsion motor in a leg device, a plurality of motors are required to be installed in the structure, and the lower limb device has the defects of large volume, poor mobility, low energy efficiency and the like.
Therefore, in order to solve the above problems, there is a need for a bionic mechanical exoskeleton wearing device, which realizes multi-joint linkage through a driving system in combination with a multi-link structure, realizes assisted walking and bears external loads, simplifies the structure of an exoskeleton, and improves the human strength and the athletic performance of a wearer.
Disclosure of Invention
In view of the above, the invention provides a bionic mechanical exoskeleton wearing device, which realizes multi-joint linkage by combining a driving system with a multi-link structure, realizes assisted walking and bears external loads, and improves the human strength and the athletic performance of a wearer.
The bionic mechanical exoskeleton wearing device comprises two lower limb assistance exoskeletons matched with the left leg and the right leg of a human body, a bearing system connected to the upper ends of the lower limb assistance exoskeletons and matched with the trunk of the human body, and a binding system connected to the lower limb assistance exoskeletons and used for fixedly connecting the lower limb assistance exoskeletons with the legs of the human body;
the lower limb assistance exoskeleton comprises a body, a thigh connecting rod matched with a thigh of a human body, a shank connecting rod matched with a shank of the human body, a action connecting rod for driving the thigh connecting rod and the shank connecting rod to swing and a driving assembly for providing power for the action connecting rod; the upper end of the thigh connecting rod is connected with the machine body in a matched mode through a revolute pair, the lower end of the thigh connecting rod and the lower end of the action connecting rod are respectively connected with the upper end of the shank connecting rod in a matched mode through a revolute pair to form two revolute pairs, and the driving assembly is in driving fit with the upper end of the action connecting rod and is used for driving the action connecting rod to swing so as to drive the thigh connecting rod and the shank connecting rod to swing relatively to achieve striding movement.
Furthermore, the driving assembly comprises a rotating wheel pair which is arranged on the machine body in a rotating fit mode and a driving device for driving the rotating wheel pair to rotate, and the upper end of the action connecting rod is eccentrically and rotatably matched with the rotating wheel pair.
Furthermore, the driving assembly further comprises a rocker arm assembly, two ends of the rocker arm assembly are respectively matched with the upper ends of the machine body and the action connecting rod through rotating pairs, and the rotating pair formed by the rocker arm assembly and the action connecting rod is positioned above the rotating pair formed by the rotating wheel pair and the action connecting rod.
Furthermore, the rocker arm assembly comprises a rocker arm matched with the upper end of the action connecting rod through a rotating pair and an adjusting mechanism which is connected to the machine body through the rotating pair in a matched mode and enables the power output end to swing, the power output end of the adjusting mechanism is opposite to the free end of the rocker arm, the power output end of the adjusting mechanism is connected with the free end of the rocker arm through a single-degree-of-freedom sliding pair in a matched mode, and a force for restraining relative sliding is formed between the power output end and the free end of the rocker arm.
Further, the bionic mechanical exoskeleton wearing device further comprises a crotch joint system which is arranged at the upper end of the lower limb assistance exoskeleton and fixedly connects the lower limb assistance exoskeleton with the bearing system, and the crotch joint system at least comprises three degrees of freedom: the waist twisting mechanism comprises a bearing system which rotates by taking a Z axis as a central axis and rotates relative to a lower limb assistance exoskeleton to realize waist twisting action, a bearing system which rotates by taking an X axis as a central axis and rotates relative to the lower limb assistance exoskeleton to realize waist bending action, and a bearing system which rotates relative to the lower limb assistance exoskeleton to realize side waist action by taking a Y axis as a central axis.
Furthermore, the bionic mechanical exoskeleton wearing device further comprises a foot component connected to the lower end of the shank connecting rod and used for being matched with feet of a human body, wherein the foot component comprises a foot side wall connected with the bottom of the shank connecting rod through a revolute pair and a foot pedal fixedly connected to the bottom of the foot side wall.
Furthermore, the lower end of the shank connecting rod is connected with a telescopic joint which can slide along the length direction of the shank connecting rod in a matching way through a sliding pair, and the telescopic joint is connected with the shank connecting rod through a buffer piece.
Further, the foot component also comprises an achilles tendon component, and the achilles tendon component comprises two connecting knots which are connected to the lower leg connecting rod and the rear part of the foot pedal through a revolute pair, and a telescopic mechanism which is connected between the two connecting knots and used for changing the distance between the two connecting knots.
Further, the action connecting rod is of a telescopic structure.
Furthermore, the lower end of the action connecting rod and the lower end of the thigh connecting rod are provided with limit lugs which are relatively close to each other, and when the thigh connecting rod and the shank connecting rod are collinear, the two limit lugs are mutually restricted and limit the relative rotation of the shank connecting rod and the thigh connecting rod to cause the joint to turn outwards.
The invention has the beneficial effects that:
the invention realizes the driving walking of the lower limb assistance exoskeleton through one-drive three-control, the whole system realizes the interconversion of circular motion and striding motion through the driving of a driving device arranged outside a machine body, and simultaneously comprises three control links: the rocker arm assembly, the action connecting rod and the achilles tendon assembly realize the fine control of the self-shape and balance of the bionic exoskeleton;
the invention realizes the height matching of the mechanical leg step shape, the stride and the balance through the control of the rocker arm component on the action connecting rod, the control of the action connecting rod on the length of the action connecting rod through stretching and retracting and the control of the achilles tendon component on the space between the foot and the shank connecting rod, and the three control parts are cooperated, so that the sole balance function is realized through the foot on the premise of improving the step shape of the mechanical leg, the walking device is suitable for walking on complex road conditions, the stability of the mechanical leg is improved, and the application range of the mechanical leg is enlarged.
The exoskeleton is effectively worn and supported on the whole exoskeleton through the bearing system, the bearing system can prevent the exoskeleton from falling off, the lower limb assistance exoskeleton is bound to the legs of a human body through the binding system, and the exoskeleton and the human body are effectively fixed through the bearing system and the binding system, so that the exoskeleton forms good support for the human body;
the bionic exoskeleton robot can realize high-efficiency striding motion of the bionic exoskeleton and complex control of step shape and balance, can be better applied to high-strength application scenes, improves the load bearing capacity, saves the physical strength of workers in long-time high-efficiency work, and protects the bodies of the workers;
according to the invention, the multi-degree-of-freedom movement of the carrying system relative to the lower limb assistance exoskeleton can be realized through the crotch joint system, the actions of bending, twisting and side-bending can be realized by matching with the wearing of a human body, the use feeling of a user is improved, the wearing comfort level of the user is improved, and the crotch joint system is suitable for carrying systems with different sizes, so that the applicability is strong;
the invention eccentrically drives the action connecting rod through the rotating wheel pair, so that each lower limb assistance exoskeleton can realize stepping walking under the action of one driving device, the stepping amplitude is improved, the structure of the exoskeleton is simplified, the control is simple and accurate, and the power system has small volume and light weight; the lower limb assistance exoskeleton is compact in structure, small in size and light in weight by combining a multi-connecting rod structure, and the movement performance of the lower limb assistance exoskeleton is improved; convenient to wear, the suitability is high, has promoted the helping hand effect, has promoted the duration of a journey ability of device.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic structural view of a lower extremity assist exoskeleton;
FIG. 3 is a schematic view of a driving assembly;
FIG. 4 is a schematic view of the internal structure of the driving assembly 1;
FIG. 5 is a schematic view of the internal structure of the driving assembly 2;
FIG. 6 is a schematic view of a knee joint structure;
FIG. 7 is a schematic view of the internal structure of the knee joint;
FIG. 8 is a schematic view of the foot assembly;
FIG. 9 is a schematic view of a crotch joint system configuration;
Detailed Description
FIG. 1 is a schematic perspective view of the present invention; FIG. 2 is a schematic structural view of a lower extremity assist exoskeleton; FIG. 3 is a schematic view of a driving assembly; FIG. 4 is a schematic view of the internal structure of the driving assembly 1; FIG. 5 is a schematic view of the internal structure of the driving assembly 2; FIG. 6 is a schematic view of a knee joint structure; FIG. 7 is a schematic view of the internal structure of the knee joint; FIG. 8 is a schematic view of the foot assembly; FIG. 9 is a schematic view of a crotch joint system configuration;
the X-axis direction is the left-right direction after the bionic mechanical exoskeleton wearing device is worn by a human body, the Y-axis direction is the front-back direction after the bionic mechanical exoskeleton wearing device is worn by the human body, the Z-axis direction is the up-down direction after the bionic mechanical exoskeleton wearing device is worn by the human body, and the front-back, left-right, up-down and down directions correspond to the direction after the bionic mechanical exoskeleton wearing device is worn by the human body in a one-to-one mode.
As shown in the figure: the bionic mechanical exoskeleton wearing device comprises two lower limb assistance exoskeletons 10 matched with the left leg and the right leg of a human body, a bearing system 20 connected to the upper ends of the lower limb assistance exoskeletons and matched with the trunk of the human body, and a binding system 30 connected to the lower limb assistance exoskeletons and used for fixedly connecting the lower limb assistance exoskeletons with the legs of the human body;
the lower limb assistance exoskeleton comprises a body 101, a thigh connecting rod 102 matched with a thigh of a human body, a shank connecting rod 103 matched with a shank of the human body, a action connecting rod 104 used for driving the thigh connecting rod and the shank connecting rod to swing and a driving assembly 105 used for providing power for the action connecting rod; the upper end of thigh connecting rod 102 is connected with body 101 in a matched manner through a revolute pair, the lower end of thigh connecting rod 102 and the lower end of action connecting rod 104 are respectively connected with the upper end of shank connecting rod 103 in a matched manner through a revolute pair to form two revolute pairs, and driving assembly 105 is in driving fit with the upper end of action connecting rod 104 and is used for driving the action connecting rod to swing so as to drive the thigh connecting rod and the shank connecting rod to swing relatively to realize striding movement.
A revolute pair formed by the lower end of the action connecting rod 104 component and the upper end of the lower leg connecting rod 103 and a revolute pair formed by the lower end of the thigh connecting rod 102 and the upper end of the lower leg connecting rod 103 form a first joint point 61 and a second joint point 62 of a knee joint, the action connecting rod is positioned at the rear side of the thigh connecting rod, the first joint point 61 is positioned at the lower side of the second joint point 62, the arrangement of the action connecting rod and the thigh connecting rod is more in accordance with the ergonomics, and the action connecting rod can effectively drive the thigh connecting rod and the lower leg connecting rod; in the embodiment, the driving assembly is matched with the multi-link structure, so that the whole bionic mechanical exoskeleton wearing device is driven, the structure of the exoskeleton is simplified, the weight of the exoskeleton is reduced, and the user experience is improved;
the bearing system can be worn to the shoulder position of a human body, the whole exoskeleton can be effectively worn and supported through the shoulders, the bearing system can support the weight of all the exoskeletons and prevent the exoskeletons from falling off, the lower limb assistance exoskeletons are bound to the legs of the human body through the binding system, and the exoskeletons and the human body are effectively fixed through the bearing system 20 and the binding system, so that the exoskeletons can form good support for the human body; the backpack system 20 is a similar clothes-like structure wearable on a human body, a vest-type double-shoulder backpack structure is preferred in this embodiment, buckles 21 are arranged on both sides of a vest, a waistband 22 is arranged at the bottom of the vest, the structure is convenient to wear and reliable in support, the binding system 30 is a plurality of leg straps 301 arranged on the thigh link 102 and/or the calf link 103, and/or indicates that the leg straps can be arranged on the thigh link or the calf link independently or on both of the thigh link and the calf link, in this embodiment, the straps are arranged in the middle of the thigh link and the middle and the bottom of the calf link, the leg straps can be elastic straps or nylon thread-gluing structures, and the nylon thread-gluing structure is preferred in this embodiment and is not specifically described;
in this embodiment, the driving assembly 105 includes a rotating wheel set mounted on the machine body in a rotating fit manner, and a driving device 1051 for driving the rotating wheel set to rotate, and the upper end of the action link rod is eccentrically and rotatably fitted with the rotating wheel set; the driving device 1051 is installed on the machine body, and can be a hydraulic driving structure, a gas driving structure or other driving structures, in this embodiment, motor driving is preferred, the driving device 1051 is a bidirectional speed reducing motor, the rotating wheel arm is driven to rotate by the bidirectional speed reducing motor to realize power driving under the basic step-shaped condition, an inertia device, such as a flywheel, can be arranged between the bidirectional speed reducing motor and the rotating wheel arm, and the inertia energy is recycled and maintained by the inertia device, so that the energy efficiency of the system is improved; the bionic mechanical leg striding motion device is characterized in that the machine body 101 is of a two-piece structure and is formed by buckling two cover bodies 1011, the two cover bodies are fastened through screws, a thigh connecting rod, a shape moving connecting rod and a driving assembly are arranged in an installation cavity formed between the two cover bodies, a rotating shaft which is in rotating fit with the two cover bodies is arranged in the installation cavity, the thigh connecting rod and the rotating shaft are in rotating fit to form a rotating pair with the machine body, a rotating wheel pair drives the moving connecting rod to do compound motion and drives the thigh connecting rod and the crus connecting rod to do reciprocating motion, and therefore mutual conversion of rotation of the driving device and striding motion of a bionic mechanical leg is achieved; the invention eccentrically drives the action connecting rod through the rotating wheel pair, so that each lower limb assistance exoskeleton can realize stepping walking under the action of one driving device, the stepping amplitude is improved, the structure of the exoskeleton is simplified, the control is simple and accurate, and the power system has small volume and light weight; the lower limb assistance exoskeleton is compact in structure, small in size and light in weight by combining a multi-link structure, and the mobility of the lower limb assistance exoskeleton is improved; convenient to wear, the suitability is high, has promoted the helping hand effect, has promoted the duration of a journey ability of device.
The driving assembly 105 further comprises a rocker arm assembly, two ends of the rocker arm assembly are respectively matched with the machine body and the upper end of the action connecting rod through rotating pairs, and the rotating pair formed by the rocker arm assembly and the action connecting rod is positioned above the rotating pair formed by the rotating wheel pair and the action connecting rod; the action connecting rod can be a rigid structure, such as a connecting rod, and can also be a linear driving structure, such as a spring sliding pair or a linear motor, the operation stability of the action connecting rod is improved through the arrangement of the rocker arm component, the overall consistency of the multi-connecting-rod structure is improved, when the rocker arm component is the rigid structure, the length of the rocker arm component is unchanged, the maximum swing amplitude of the thigh connecting rod is controlled through the restriction of the rocker arm component on the upper end of the action connecting rod, so that the maximum step shape of the mechanical leg is controlled, when the rocker arm component is the linear driving structure, the length of the rocker arm component is adjustable, the step shape of the mechanical leg can be changed through controlling the length of the rocker arm component, so that the matching of the swing amplitude of the thigh and a use scene is realized, of course, when the rocker arm component is the linear driving structure, the rocker arm component can be restricted through elastic force, and is not described herein;
in this embodiment, the rocker arm assembly includes a rocker arm 1052 which is engaged with the upper end of the action link 104 through a revolute pair, and an adjusting mechanism 1053 which is engaged with the machine body 101 through a revolute pair and enables the power output end to swing, the power output end of the adjusting mechanism is opposite to the free end of the rocker arm, the power output end of the adjusting mechanism is engaged with the free end of the rocker arm through a single-degree-of-freedom sliding pair and has a force for restricting relative sliding between the power output end and the free end of the rocker arm, and the revolute pair formed by the rocker arm and the action link 104 is located above the revolute pair formed by the rotating wheel pair and the action link 104; the adjusting mechanism 1053 can be a linear motor or a hydraulic cylinder, the adjusting mechanism is arranged between the two cover bodies 1011 through a revolute pair, the output shaft of the adjusting mechanism is matched with the free end of the rocking arm 1052, the relative sliding stroke of the rocking arm 1052 and the free end of the rocking arm is controlled, the constraint force at the moment is rigid force, the step shape can be changed by controlling the stroke, and man-machine matching of the swing position of the thigh is realized; in order to simplify the structure of the rocker arm assembly, in this embodiment, an elastic constraint force is preferably selected between the free end of the adjusting mechanism and the free end of the rocker arm, as shown in fig. 4, the adjusting mechanism 1053 is a rotating block installed on the inner side of the cover body, a sliding shaft 1059 is slidably inserted between the free end of the rotating block and the free end of the rocker arm, the sliding shaft realizes the relative single-degree-of-freedom linear constraint of the rotating block and the free end of the rocker arm, the two free ends are connected through a cylindrical spiral spring, the swing angle of the action connecting rod is improved under the action of the elastic force, the step shape is further changed, the man-machine matching of the swing position of the thigh is realized, the swing of the action connecting rod is buffered through the damping action of the elastic force, the stress during the multi-connecting-rod striding is improved, the use experience of a user is improved, and under the common constraint of the rocker arm assembly, the thigh connecting rod, the action connecting rod and the shank connecting rod, the bidirectional speed reducing motor drives the action connecting rod to make a compound motion, the thigh connecting rod and the shank connecting rod are driven to do reciprocating motion, so that the mutual conversion of the rotation of the driving device and the striding motion of the bionic mechanical leg is realized;
in this embodiment, the rotating wheel pair includes a driving gear 1054 and a driven gear 1055, which are engaged with the machine body through the rotating pair, the driving gear and the driven gear are engaged to form a gear pair transmission, the upper end of the action link is eccentrically and rotatably engaged with the driven gear, and the driving gear is in transmission engagement with the driving device 1051; the driven gear is installed on a rotating shaft between two cover bodies 1011 through a bearing in a rotating fit manner, two concave installing blind holes are formed in the inner side walls of the two cover bodies to form bearing installing seats, a bearing 1056 is installed in the two bearing installing seats, two crank discs 1057 are installed by matching with the two bearings, the crank discs are in a step shape, the small-diameter ends of the crank discs are in transmission fit with the inner rings of the bearings, the driven gear is installed between the two crank discs, a plurality of fastening holes 1058 are formed in the end face of the driven gear and the large-diameter end face of one of the crank discs, a screw is installed in the fastening hole to fixedly connect the driven gear with the crank discs through threaded connection, so that the driven gear and the crank discs are integrated and located in the bearing seats, the crank discs can also be used as a flywheel, namely an inertia device, the two crank discs and the driven gear are coaxially arranged, eccentric shafts are installed on the driven gear and the crank discs, and a mobile connecting rod is in rotating fit with the eccentric shafts, the driving gear and the driven gear are arranged on the same cover body, an installation cavity is formed in the cover body, the driving gear is arranged in the installation cavity and is meshed with the driven gear, the driving device 1051, namely a bidirectional speed reducing motor, is arranged outside the cover body, a motor rotor is in transmission fit with the driving gear, the motor transmits power to the driving gear, the driven gear, the action connecting rod 104, a thigh connecting rod and a shank connecting rod, the action connecting rod swings to realize striding walking, the swinging amplitude of the action connecting rod is improved through the eccentric arrangement of the action connecting rod, namely, the striding amplitude is improved, the distance between the eccentric position and the center of the driven gear is adjusted, the amplitude can be adjusted, one motor can drive the whole lower limb assistance exoskeleton, the structure of the exoskeleton is simplified, the driving device is few, the control is simple and accurate, the power system is small in size, and the weight is light; certainly, the rotating wheel pair is not limited to a meshed gear pair structure, the rotating wheel spoke can be set to an independent wheel body structure, and the wheel body is directly driven by the driving device 1051, which is not specifically described;
in this embodiment, the bionic mechanical exoskeleton wearing device further comprises a crotch joint system 40 which is arranged at the upper end of the lower limb assistance exoskeleton 10 and fixedly connects the lower limb assistance exoskeleton with the bearing system, wherein the crotch joint system at least comprises three degrees of freedom: the waist twisting mechanism comprises a bearing system, a lower limb assisting exoskeleton, a bearing system, a lower limb assisting exoskeleton, a Y-axis assisting exoskeleton, a Z-axis assisting exoskeleton and a Y-axis assisting exoskeleton, wherein the bearing system rotates relative to the lower limb assisting exoskeleton by taking the Z-axis as a central axis to realize waist twisting action, the bearing system rotates relative to the lower limb assisting exoskeleton by taking the X-axis as the central axis to realize waist bending action, and the bearing system rotates relative to the lower limb assisting exoskeleton by taking the Y-axis as the central axis to realize side waist action; the crotch joint system is arranged at the upper end of the machine body, namely the upper end of the cover body, and can realize the actions of bending, twisting and side waist through the rotation of three degrees of freedom, so that the use feeling of a user is improved;
in this embodiment, the crotch joint system 40 includes a Y-directional rotating member 401 connected to the body in a manner of forming a revolute pair around the Y-axis direction, an X-directional rotating member 402 connected to the Y-directional rotating member in a manner of forming a revolute pair around the X-axis direction, and a Z-directional rotating member 403 connected to the X-directional rotating member in a manner of forming a revolute pair around the Z-axis direction, and the Z-directional rotating member is fixedly connected to the carrying system; as shown in fig. 9, the upper end of the cover body has a mounting groove 404 recessed downward, the front and rear end surfaces of the mounting groove are rotatably fitted with a rotating shaft extending in the Y direction, a Y-direction rotating member 401 is rotatably fitted on the rotating shaft and mounted in the mounting groove, an X-direction rotating member 401 is fitted on the rotating shaft, an X-direction rotating member 402 is rotatably fitted on the rotating shaft, the upper end of the X-direction rotating member 402 is rotatably fitted with a Z-direction rotating member 403, the Z-direction rotating member is of a cylindrical structure, the Z-direction rotating member is rotatably mounted on the upper end of the X-direction rotating member 402, the Z-direction rotating member 403 has a three-joint structure consisting of a bottom vertical shaft rotatably mounted on the X-direction rotating member, a middle horizontal shaft vertically connected to the upper end of the bottom vertical shaft, and a top vertical shaft connected to the outer end of the middle horizontal shaft, wherein the top vertical shaft is used for connecting with a backpack system, and the Z-direction rotating member of this structure is used as a back frame structure, the distance between the two top vertical shafts can be adjusted by rotating the Z-direction rotating piece, the backpack waist twisting device can adapt to different backpack systems, the comfort level of waist twisting action can be improved by the structure, certainly, the crotch joint system 40 is not limited to the structure, and the crotch joint system and the machine body can be connected through a spherical pair to realize universal adjustment, and details are not repeated.
In this embodiment, the bionic mechanical exoskeleton wearing device further comprises a foot component 50 connected to the lower end of the shank link and used for being matched with the foot of the human body, wherein the foot component comprises a foot side wall 501 connected with the bottom of the shank link through a revolute pair and a foot pedal 502 fixedly connected to the bottom of the foot side wall; when the exoskeleton is used, the feet of a human body step on the foot pedal to form high man-machine matching, so that the supporting effect of the exoskeleton is improved;
in this embodiment, the lower end of the shank link is connected with a telescopic joint 1031 which can slide along the length direction of the shank link in a matching manner through a sliding pair, and the telescopic joint is connected with the shank link through a buffer member; as shown in fig. 8, the bottom of the telescopic joint is connected with the foot side wall 501 through a revolute pair in a matching manner to form an ankle joint, the upper end surface of the telescopic joint is provided with a downward-recessed telescopic cavity, the lower end of the shank is arranged in the telescopic cavity in a penetrating manner and is connected with the bottom of the telescopic cavity through a buffering space, and the buffering component can be an elastic connecting component such as a spring or an elastic sleeve, which is not described herein again; the structure can ensure that the shank connecting rod has a certain deformation space in the vertical direction, is used for matching the space change caused by the bending of the legs when a human body walks, can play a role of buffering, can change the step shape under the action of control or external force, and realizes the man-machine matching of the shank folding and unfolding positions;
in this embodiment, the foot assembly 50 further comprises an Achilles tendon assembly comprising two connecting knots 503 connected to the side walls of the expansion joint and the rear part of the plantar plate by revolute pairs and an expansion mechanism 504 connected between the two connecting knots; as shown in fig. 8, there is an outward protruding installation block on the sidewall of the expansion joint sidewall, the connection node is installed on the installation block through hinge rotation fit, a space for the connection node and the elastic member to be installed is provided through the installation block, which facilitates the installation of the connection node and the expansion mechanism, the expansion mechanism can be an active driving member, such as a linear motor, a hydraulic cylinder, or other driving device, and the distance between the two connection nodes is adjusted in real time through the structure in cooperation with the walking of the lower limb assistance exoskeleton, in this embodiment, the expansion mechanism is preferably a passive driving member, such as a spring or an elastic structure such as an elastic gasket, when walking, the relative rotation of the shank link and the foot realizes the adjustment of the distance between the two connection nodes, and forms a certain buffer to the elastic member by passively receiving the change of the distance, in this embodiment, a cylindrical helical spring is taken as an example, and the opposite surfaces of the two connection nodes can be provided with inward recessed guide grooves, the two ends of the cylindrical spiral spring are respectively and fixedly connected to the bottoms of the two guide grooves, the structure simulates the human achilles tendon, and the elastic effect and the sole balancing function of the foot pedal are realized;
in this embodiment, the lower end of the action link 104 and the lower end of the thigh link 102 are provided with a limit bump 106 which is relatively close to each other, and when the thigh link and the shank link are collinear, the two limit bumps restrict each other and limit the joint eversion caused by the relative rotation of the shank link and the thigh link; as shown in fig. 7, two spacing lugs are arc-shaped structures, mounting holes are formed in the spacing lugs to be used for achieving rotating fit with the shank connecting rod, when the shank connecting rod and the shank connecting rod keep a certain bending angle, the two spacing lugs do not interfere with each other, when the shank connecting rod and the shank connecting rod are collinear, the two spacing lugs interfere with each other along with the rotation of the two limiting blocks, the further relative rotation of the two limiting blocks is limited, the knee joint is prevented from turning outwards, the structure is highly matched with the human body, and the using comfort level and the practicability are improved.
In this embodiment, two sides of the foot pedal are fixedly connected with side walls 505 for accommodating the steps of the human body, and the foot pedal is provided with a foot strap 506 for fastening the steps of the human body; the side body can be made of materials with certain deformation, such as leather or rubber, and the strap adopts an elastic belt, a nylon thread gluing or other belt type structures, which are not described in detail; through the fixation of side wall and step band for human foot and sole footboard form highly fixed, prevent human in walking in-process foot and sole footboard separation, provide reliability and the practicality that the user used.
In this embodiment, the action link 104 is set to be a telescopic structure, the telescopic structure of the action link is located between the revolute pair formed by the action link and the crus link and the revolute pair formed by the action link and the driven gear, the telescopic structure can be a manual telescopic structure or an electric telescopic structure, when the telescopic structure is a manual telescopic structure, the action link is set to be a two-section structure capable of sliding relatively, length adjustment is realized through a plurality of vertically arranged connecting holes and screws, when the telescopic structure is an electric telescopic structure, electric length adjustment of the action link can be realized through a linear driving mechanism, the swing amplitude of the crus link can be adjusted through adjustment of the length of the action link, in this embodiment, the electric telescopic structure is preferred, a linear motor is arranged at the lower end of the action link, the length of the action link can be adjusted in real time by controlling the operation of the linear motor, thereby realizing real-time control, and the operation of the linear motor is controlled by a linear motor, The swing amplitude of the shank connecting rod is accurately adjusted, so that the stride of the shank is adjusted in real time, the balance capability and stability of the mechanical leg are improved, and the mechanical leg is suitable for different road conditions.
In this embodiment, the thigh link 102, the shank link 103 and the action link 104 are all provided with a retractable two-segment structure; as shown in fig. 5, the thigh link 102 and the action link 104 are configured as a two-segment structure composed of two segments of links, the two segments of links are respectively provided with a plurality of vertically arranged connecting holes, the matching between different connecting holes on the two segments of links realizes the telescopic adjustment of the two segments of links, the two segments of links are fixed in the connecting holes matched with each other through screw thread connection, the telescopic structure of the shank link is similar to that of the thigh link, and is not repeated herein, of course, the telescopic structure is not limited to this structure, the telescopic structure can be configured as an electric telescopic rod or other telescopic structures, and is not repeated herein, and the structure can pre-adjust the length of the shank and the thigh link according to the leg length requirement, so as to adapt to different height requirements; in order to take account of the function of adjusting the swing amplitude of the crus connecting rod, the action connecting rod can be set to be an upper, middle and lower three-section structure, namely the upper and middle sections of the action connecting rod are set to be a telescopic two-section structure, and the length adjustment is realized through the matching of a connecting hole and a screw so as to adapt to different height requirements, the middle and lower sections of the action connecting rod are set to be an electric telescopic two-section structure, namely the middle and lower sections of the action connecting rod are telescopic through a linear motor so as to adjust the swing amplitude of the crus connecting rod, of course, the action connecting rod is not limited to the three-section structure, the action connecting rod can also be set to be a two-end structure, the telescopic action connecting rod is realized through a linear driving structure, when the length adaptation to different heights needs to be adjusted, the change of the length is greatly adjusted through the linear driving structure, after the length is matched, the swing amplitude adjustment of the crus connecting rod is realized within a certain controllable range through the fine adjustment of the linear motor, the accurate control of the step shape is realized, and the swing amplitude control of the crus connecting rod is realized by adapting to different heights through the structure.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (7)
1. A bionic mechanical exoskeleton wearing device is characterized in that: the lower limb assisting exoskeleton comprises two lower limb assisting exoskeletons matched with the left leg and the right leg of a human body, a bearing system connected to the upper end of the lower limb assisting exoskeletons and matched with the trunk of the human body, and a binding system connected to the lower limb assisting exoskeletons and used for fixedly connecting the lower limb assisting exoskeletons with the legs of the human body;
the lower limb assistance exoskeleton comprises a body, a thigh connecting rod matched with a thigh of a human body, a shank connecting rod matched with a shank of the human body, a action connecting rod for driving the thigh connecting rod and the shank connecting rod to swing and a driving assembly for providing power for the action connecting rod; the upper end of the thigh connecting rod is connected with the machine body in a matched mode through a revolute pair, the lower end of the thigh connecting rod and the lower end of the action connecting rod are respectively connected with the upper end of the shank connecting rod in a matched mode through a revolute pair to form two revolute pairs, and the driving assembly is in driving fit with the upper end of the action connecting rod and is used for driving the action connecting rod to swing so as to drive the thigh connecting rod and the shank connecting rod to swing relatively to achieve striding movement;
the driving assembly comprises a rotating wheel pair and a driving device, the rotating wheel pair is arranged on the machine body in a rotating fit mode, the driving device drives the rotating wheel pair to rotate, and the upper end of the action connecting rod is eccentrically matched with the rotating wheel pair in a rotating fit mode;
the rotating wheel pair comprises a driving gear and a driven gear which are matched with the machine body through a rotating pair, the driving gear is meshed with the driven gear to form gear pair transmission, the upper end of the action connecting rod is eccentrically and rotatably matched with the driven gear, and the driving gear is in transmission fit with the driving device;
the driving assembly further comprises a rocker arm assembly, two ends of the rocker arm assembly are respectively matched with the machine body and the upper end of the action connecting rod through rotating pairs, and a rotating pair formed by the rocker arm assembly and the action connecting rod is positioned above a rotating pair formed by the rotating wheel pair and the action connecting rod;
the rocker arm assembly comprises a rocker arm matched with the upper end of the action connecting rod through a rotating pair and an adjusting mechanism which is connected to the machine body through the rotating pair in a matched mode and enables the power output end to swing, the power output end of the adjusting mechanism is opposite to the free end of the rocker arm, the power output end of the adjusting mechanism is connected with the free end of the rocker arm through a single-degree-of-freedom sliding pair in a matched mode, and a force for restraining relative sliding is arranged between the power output end and the free end of the rocker arm.
2. The biomimetic mechanical exoskeleton wearing device of claim 1, wherein: the bionic mechanical exoskeleton wearing device further comprises a crotch joint system which is arranged at the upper end of the lower limb assistance exoskeleton and fixedly connects the lower limb assistance exoskeleton with the bearing system, wherein the crotch joint system at least comprises three degrees of freedom, namely the rotation with a Z axis as a central axis realizes that the bearing system rotates relative to the lower limb assistance exoskeleton to realize waist twisting action, the rotation with an X axis as a central axis realizes that the bearing system rotates relative to the lower limb assistance exoskeleton to realize waist bending action, and the rotation with a Y axis as a central axis realizes that the bearing system rotates relative to the lower limb assistance exoskeleton to realize waist side action.
3. The biomimetic mechanical exoskeleton wearable device according to any one of claims 1-2, wherein: the bionic mechanical exoskeleton wearing device further comprises a foot component connected to the lower end of the shank connecting rod and used for being matched with feet of a human body, wherein the foot component comprises a foot side wall connected with the bottom of the shank connecting rod through a revolute pair and a foot pedal fixedly connected to the bottom of the foot side wall.
4. The biomimetic mechanical exoskeleton wearing device of claim 3, wherein: the lower end of the shank connecting rod is connected with a telescopic joint which can slide along the length direction of the shank connecting rod in a matching way through a sliding pair, and the telescopic joint is connected with the shank connecting rod through a buffer piece.
5. The biomimetic mechanical exoskeleton wearing device of claim 3, wherein: the foot component also comprises an achilles tendon component, and the achilles tendon component comprises two connecting knots which are connected to the lower leg connecting rod and the rear part of the foot pedal through a revolute pair, and a telescopic mechanism which is connected between the two connecting knots and used for changing the distance between the two connecting knots.
6. The biomimetic mechanical exoskeleton wearing device of claim 5, wherein: the action connecting rod is of a telescopic structure.
7. The biomimetic mechanical exoskeleton wearing device of claim 1, wherein: the lower end of the action connecting rod and the lower end of the thigh connecting rod are provided with limiting convex blocks which are relatively close to each other, and when the thigh connecting rod and the shank connecting rod are collinear, the two limiting convex blocks are mutually restricted and limit the relative rotation of the shank connecting rod and the thigh connecting rod to cause the joint to turn outwards.
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| CN113021314B (en) * | 2021-03-03 | 2023-03-21 | 宁波顶峰机器人有限公司 | Lower limb exoskeleton robot |
| CN113771004B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Wearable follow-up power-assisted exoskeleton body posture control device |
| CN113771005B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Wearable follow-up control electric drive power-assisted exoskeleton device |
| CN113771003B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Wearable electric intelligent disabled-assisting 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 |
| CN113771002B (en) * | 2021-08-12 | 2023-04-18 | 重庆交通大学 | Active bionic multi-rod virtual wearable hip joint |
| CN114029928B (en) * | 2021-08-12 | 2023-05-05 | 重庆交通大学 | Follow-up bionic multi-rod virtual wearable hip joint |
| CN113858180B (en) * | 2021-11-05 | 2023-03-10 | 中国科学技术大学 | Magnetorheological joint for lower limb exoskeleton |
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| JP2005118938A (en) * | 2003-10-16 | 2005-05-12 | Sanyo Electric Co Ltd | Leg part mechanism for robot device |
| CN103610568B (en) * | 2013-12-16 | 2015-05-27 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| US10766133B2 (en) * | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
| CN106420271B (en) * | 2016-09-06 | 2018-11-30 | 广州科安康复专用设备有限公司 | It is single to drive bionical gait rehabilitation training robot system |
| CN106965156B (en) * | 2017-03-30 | 2019-05-24 | 北京精密机电控制设备研究所 | A kind of integrated multiple degrees of freedom lower limb exoskeleton assisting lightness |
| CN108909870B (en) * | 2018-05-08 | 2020-08-21 | 北京交通大学 | Single-drive bionic multi-legged robot and reconstruction steering method thereof |
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