CN110053027A - A kind of Auxiliary support lower limb exoskeleton robot - Google Patents
A kind of Auxiliary support lower limb exoskeleton robot Download PDFInfo
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- CN110053027A CN110053027A CN201910444751.5A CN201910444751A CN110053027A CN 110053027 A CN110053027 A CN 110053027A CN 201910444751 A CN201910444751 A CN 201910444751A CN 110053027 A CN110053027 A CN 110053027A
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- hip joint
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- knee joint
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 15
- 210000004394 hip joint Anatomy 0.000 claims abstract description 358
- 210000000629 knee joint Anatomy 0.000 claims abstract description 271
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 130
- 210000000689 upper leg Anatomy 0.000 claims abstract description 117
- 210000001624 hip Anatomy 0.000 claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 48
- 210000002414 leg Anatomy 0.000 claims abstract description 35
- 210000001015 abdomen Anatomy 0.000 claims abstract description 25
- 210000003423 ankle Anatomy 0.000 claims abstract description 24
- 210000003127 knee Anatomy 0.000 claims abstract description 12
- 210000001699 lower leg Anatomy 0.000 claims description 112
- 230000005540 biological transmission Effects 0.000 claims description 51
- 208000032369 Primary transmission Diseases 0.000 claims description 42
- 208000032370 Secondary transmission Diseases 0.000 claims description 33
- 210000003734 kidney Anatomy 0.000 claims description 25
- 241001416181 Axis axis Species 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 abstract description 10
- 230000013011 mating Effects 0.000 description 12
- 210000002683 foot Anatomy 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 206010061258 Joint lock Diseases 0.000 description 3
- 244000309466 calf Species 0.000 description 3
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 2
- 241000282376 Panthera tigris Species 0.000 description 2
- 230000037396 body weight Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000007596 consolidation process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000003319 supportive effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of Auxiliary support lower limb exoskeleton robots, including waist abdomen to lean on plate, left leg and right leg；The left leg is identical with right leg structure, is symmetrically mounted at waist abdomen and leans on plate；The left leg includes thigh support part, leg support part, hip joint part, knee joint part, ankle portion and vola locking device.This ectoskeleton realizes the electrodeless locked of hip joint, knee joint and ankle-joint using vola reaction of bearing, and ectoskeleton integrally becomes a rigid body, and without driving, can be realized user's lower limb any attitude stablizes support.The movement in each joint is independent of each other.Vola may be provided at using the friction plate that multistage spherical linkage mechanisms can make control ankle, knee, hip joint locked, the locked and unlock of ectoskeleton is realized by flat frictional pair, it is easy to operate.Facilitate wearing, thigh support plate, which is not fixedly connected to provide for user with human body with shin support panel, stablizes support under any attitude.
Description
Technical field
The present invention relates to power-assisting robot field, specifically a kind of Auxiliary support lower limb exoskeleton robot.
Background technique
It in recent years, is the work load for mitigating numerous physical labourers, domestic and foreign scholars are constantly dedicated to all kinds of auxiliary types
The research of exoskeleton robot.Nowadays, both at home and abroad about researchs such as weight bearing ectoskeleton, assistance exoskeleton, the healthy ectoskeletons of medical treatment
Has significant achievement.And for working populations such as medical operating worker, precision instrument doctor, big machinery assembly crewmans
There are also yet-to-be developed for ancillary equipment.
In large-scale precision equipment repairing or assembling process, operator needs to keep a certain laborious posture, pole for a long time
It is also easy to produce fatigue.Staff works long hours when generating fatigue, not only will affect assembly precision, reduces working efficiency, more increases
The probability for having added peril to occur.Relative to human upper limb, human body lower limbs will not only overcome human body self gravity, while also need
Undertake workload.Existing tradition is difficult to provide in complex condition for user without driving lower limb exoskeleton robot appoints
Posture of anticipating stablizes support, and exoskeleton robot is at high cost, electric power storage is inconvenient, controls the problems such as complicated with the presence of driving.
Therefore the exoskeleton robot that a auxiliary lower limb any attitude of design stablizes support limb is extremely urgent.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of Auxiliary support lower limb dermoskeleton
Bone robot.
The technical solution that the present invention solves the technical problem is to provide a kind of Auxiliary support lower limb exoskeleton robot,
It is characterized in that the ectoskeleton includes that waist abdomen leans on plate, left leg and right leg；The left leg is identical with right leg structure, symmetrically installs
It is leaned on plate in waist abdomen；The left leg includes thigh support part, leg support part, hip joint part, knee joint part, ankle
Articular portion and vola locking device；
The thigh support part includes thigh bar, thigh bar clamping plate, hip joint primary transmission connecting rod, hip joint level-one biography
Dynamic connecting rod bearing, hip joint primary transmission pitman shaft and thigh lean on plate；The leg support part includes shank bar, shank bar
Clamping plate, hip joint secondary transmission connecting rod, knee joint primary transmission square shaft, hip joint secondary transmission connecting rod bearing and shank lean on
Plate；The hip joint part includes hip joint Hooke's hinge upper connecting rod, hip joint level-one No.1 spherical surface connecting rod, hip joint Hooke's hinge ten
Word connecting shaft, hip joint spherical surface connecting rod No.1 center roller, No. two center rollers of hip joint spherical surface connecting rod, hip joint thigh bar and hip close
Save No. two spherical surface connecting rods of level-one；The knee joint part point includes knee joint primary transmission part and hip joint secondary transmission part；
Knee joint primary transmission part include knee joint No.1 spherical surface connecting rod, No. two spherical surface connecting rods of knee joint, knee joint No.1 center roller,
Knee joint level-one transmission axle axle key, No. two center rollers of knee joint, knee joint thigh bar, knee joint main shaft, knee joint shank bar and
Knee joint level-one transmission axle；Hip joint secondary transmission part includes hip joint second level No.1 spherical surface connecting rod, hip joint second level No.1
Center roller, No. two center rollers of hip joint second level, No. three center rollers of hip joint second level, No. two spherical surface connecting rods of hip joint second level and hip close
Save No. three spherical surface connecting rods of second level；Ankle portion includes that knee joint secondary transmission part, hip joint three-level running part and ankle close
Save running part；Knee joint secondary transmission part includes knee joint second level Hooke's hinge upper connecting rod axis, knee joint second level Hooke's hinge ten
Word connecting shaft, knee joint second level Hooke's hinge lower link axis, motion of knee joint second level transmission axle axle key, knee joint end friction plate and
Knee joint second level transmission axle；Hip joint three-level running part includes hip joint three-level No.1 center roller, hip joint three-level No.1 ball
Face connecting rod, No. two center rollers of hip joint three-level, No. two spherical surface connecting rods of hip joint three-level, hip joint end friction plate and hip joint three
No. three spherical surface connecting rods of grade；Ankle-joint running part includes ankle-joint cross connecting shafts, ankle-joint No.1 spherical surface connecting rod, ankle-joint one
Number center roller, ankle-joint double end spherical surface connecting rod, No. two center rollers of ankle-joint, No. two spherical surface connecting rods of ankle-joint, ankle-joint end are rubbed
Wiping board and ankle-joint shank bar；Vola locking device includes tiptoe lantern ring and sole；
The waist abdomen leans on plate and is fixedly connected with human body waist and belly, is used to support human body；Waist abdomen leans on plate and hip joint tiger
Gram hinge upper connecting rod upper end be fixedly connected；The lower end of hip joint Hooke's hinge upper connecting rod by hip joint Hooke's hinge cross connecting shafts with
The upper end of hip joint thigh bar is cooperatively connected to form Hooke's hinge, passes through the shaft portion and hip of hip joint Hooke's hinge cross connecting shafts
The upper end of joint level-one No.1 spherical surface connecting rod is cooperatively connected to form revolute pair；The lower end of hip joint level-one No.1 spherical surface connecting rod passes through
The upper end of hip joint spherical surface connecting rod No.1 center roller and No. two spherical surface connecting rods of hip joint level-one is cooperatively connected to form revolute pair；Hip closes
The upper side edge for saving No. two spherical surface connecting rods of level-one passes through the upper side edge of hip joint spherical surface connecting rod No. two center rollers and hip joint thigh bar
Mating connection forms revolute pair；The axial line of the long axis of hip joint Hooke's hinge cross connecting shafts, hip joint spherical surface connecting rod No.1 pair
The axial line of mandrel, the axial line of hip joint spherical surface No. two center rollers of connecting rod intersect at the ten of hip joint Hooke's hinge cross connecting shafts
Word center；
The lower end of the hip joint thigh bar is fixed between thigh bar and the upper end of thigh bar clamping plate；Thigh bar, thigh
Bar cramp plate and knee joint thigh bar are provided with kidney slot, and the upper end of knee joint thigh bar is connected to thigh bar and thigh bar clamping plate
Lower end between, pass through kidney slot adjust thigh length；The lower side of No. two spherical surface connecting rods of hip joint level-one passes through hip joint one
The lower side of grade kinematic link axis and hip joint thigh bar is cooperatively connected to form revolute pair；Hip joint primary transmission connecting rod bearing is solid
Surely it is nested on the outside of hip joint thigh bar, while being nested in hip joint primary transmission pitman shaft and hip joint spherical surface connecting rod two is right
Mandrel outer；The lower end of No. two spherical surface connecting rods of hip joint level-one is fixedly connected with the upper end of hip joint primary transmission connecting rod；Hip closes
The upper end of the lower end and No. two spherical surface connecting rods of hip joint second level of saving primary transmission connecting rod is provided with kidney slot；Hip joint level-one passes
The lower end of dynamic connecting rod is connect with the upper end of No. two spherical surface connecting rods of hip joint second level, adjusts thigh length by kidney slot；Thigh leans on
Backup plate is fixedly connected with hip joint thigh bar；Thigh is responsible for supporting human thigh part by plate；
The lower end of knee joint thigh bar and the upper end of knee joint shank bar are cooperatively connected to form rotation by knee joint main shaft
It is secondary；The side of knee joint thigh bar and the upper end of knee joint No.1 spherical surface connecting rod pass through knee joint No.1 center roller mating connection shape
At revolute pair；The lower end of knee joint No.1 spherical surface connecting rod and the upper end of No. two spherical surface connecting rods of knee joint pass through knee joint two to the heart
Axis is cooperatively connected to form revolute pair；The lower end of No. two spherical surface connecting rods of knee joint and the side of knee joint shank bar pass through knee joint one
Grade transmission axle is cooperatively connected to form revolute pair；The lower end of No. two spherical surface connecting rods of knee joint and knee joint level-one transmission axle are closed by knee
Save the connection of level-one transmission axle axle key；The side of No. two spherical surface connecting rods of hip joint second level and the side of knee joint thigh bar are closed by hip
Section No. three center rollers of second level are cooperatively connected to form revolute pair；The lower end of No. two spherical surface connecting rods of hip joint second level and hip joint second level one
The upper end of number spherical surface connecting rod is cooperatively connected to form revolute pair by hip joint second level No.1 center roller；Hip joint second level No.1 spherical surface
The upper end of No. three spherical surface connecting rods in the lower end of connecting rod and hip joint second level is cooperatively connected to be formed by No. two center rollers of hip joint second level
Revolute pair；Matched by knee joint level-one transmission axle the side of No. three spherical surface connecting rods in the side of knee joint shank bar and hip joint second level
It closes connection and forms revolute pair；Knee joint No.1 center roller, No. two center rollers of knee joint, knee joint main shaft, the transmitting of knee joint level-one
Axis, hip joint second level No.1 center roller, No. two center rollers of hip joint second level and the axis axis of center roller seven of hip joint second level three
To the heart；
The lower end of the knee joint shank bar is fixed between shank bar and the upper end of shank bar cramp plate；Shank bar, shank
Bar cramp plate and ankle-joint shank bar are provided with kidney slot, and the upper end of ankle-joint shank bar is connected to shank bar and shank bar cramp plate
Lower end between, lower-leg length is adjusted by kidney slot；The fixation of hip joint secondary transmission connecting rod bearing is nested in knee joint shank
On the outside of bar, while being nested on the outside of knee joint level-one transmission axle；The lower end of No. three spherical surface connecting rods of hip joint second level and hip close
The upper end of section secondary transmission connecting rod is fixedly connected；The lower end of hip joint secondary transmission connecting rod and No. three spherical surface connecting rods of hip joint three-level
Upper end be provided with kidney slot, the lower end of hip joint secondary transmission connecting rod and the upper end of No. three spherical surface connecting rods of hip joint three-level connect
It connects, lower-leg length is adjusted by kidney slot；Shank leans on plate and is fixedly connected with knee joint shank bar；Shank is responsible for support by plate
Human calf part；The upper end of knee joint primary transmission square shaft and the lower end square hole of knee joint level-one transmission axle are cooperatively connected, under
End and the upper end square hole of knee joint second level transmission axle are cooperatively connected；
The lower end of ankle-joint shank bar and the upper end of ankle-joint No.1 spherical surface connecting rod are cooperated by ankle-joint cross connecting shafts
Connection forms Hooke's hinge；The lower end of ankle-joint No.1 spherical surface connecting rod and the upper end of ankle-joint double end spherical surface connecting rod pass through ankle-joint one
Number center roller is cooperatively connected to form revolute pair, and the shaft portion axis of ankle-joint No.1 center roller and ankle-joint cross connecting shafts
To the heart；Matched by No. two center rollers of ankle-joint the upper end of No. two spherical surface connecting rods in lower end and ankle-joint of ankle-joint double end spherical surface connecting rod
It closes connection and forms revolute pair；The cylindrical shaft and sole front shaft sleeve of No. two spherical surface connecting rod lower ends of ankle-joint are cooperatively connected to form cylinder
Pair, and the axis of the rotary middle spindle of cylindrical pair and No. two center rollers of ankle-joint is to the heart；Ankle-joint end friction plate and ankle-joint
No. two spherical surface connecting rods are fixedly connected；The upper surface of ankle-joint end friction plate and the lower surface of sole are cooperatively connected to form plane
Friction is secondary；The side of No. three spherical surface connecting rods of hip joint three-level and the side of ankle-joint shank bar are matched by knee joint second level transmission axle
It closes connection and forms revolute pair；The lower end of No. three spherical surface connecting rods of hip joint three-level and the upper end of hip joint three-level No.1 spherical surface connecting rod are logical
Hip joint three-level No.1 center roller is crossed to be cooperatively connected to form revolute pair；The lower end of hip joint three-level No.1 spherical surface connecting rod and hip joint
The upper end of No. two spherical surface connecting rods of three-level is cooperatively connected to form revolute pair by No. two center rollers of hip joint three-level；Hip joint three-level two
It is cooperatively connected to form cylindrical pair with sole rear axle housing on the outside of the cylindrical sleeve of number spherical surface connecting rod lower end；Hip joint end friction plate with
No. two spherical surface connecting rods of hip joint three-level are fixedly connected；The upper surface of hip joint end friction plate and the lower surface of sole form flat
Face friction is secondary；Knee joint second level transmission axle and the upper end of knee joint second level Hooke's hinge upper connecting rod axis are passed by motion of knee joint second level
Pass the connection of axis axle key；The lower end of knee joint second level Hooke's hinge upper connecting rod axis and the upper end of knee joint second level Hooke's hinge lower link axis are logical
Knee joint second level Hooke's hinge cross connecting shafts is crossed to be cooperatively connected to form Hooke's hinge；The lower end of knee joint second level Hooke's hinge lower link axis
Axis connect to form revolute pair with the cylindrical sleeve fit inside of No. two spherical surface connecting rod lower ends of hip joint three-level；Knee joint second level Hooke's hinge
The lower end of lower link axis is fixedly connected with axis knee joint end friction plate；The upper surface of knee joint end friction plate and sole
Lower surface forms flat frictional pair；Axial line, the hip of the axial line of knee joint second level transmission axle, hip joint three-level No.1 center roller
The axial line of No. two center rollers of joint three-level, the axial line of the lower end axis of knee joint second level Hooke's hinge lower link axis intersect at knee pass
Save the cross searching of second level Hooke's hinge cross connecting shafts；Tiptoe lantern ring is fixed on sole.
Compared with prior art, the beneficial effects of the invention are that:
(1) when friction plate and sole and ground contact, this ectoskeleton using vola reaction of bearing realize hip joint,
Knee joint and ankle-joint it is electrodeless locked, ectoskeleton integrally becomes a rigid body, and user can rest on waist abdomen and lean on plate, big
Leg leans on plate and shank leans on plate, mitigates body burden, and can be realized user's lower limb any attitude stablizes support.
(2) this ectoskeleton is without driving ectoskeleton.User's self gravity is made full use of to trigger pure mechanism locking device, at
This is low, adaptable using simple.
(3) movement in each joint is independent of each other.The movement in each joint is transferred to sole by the realization of respective structure
Plate is independent of each other；When friction plate and sole and ground do not contact, joint is in free state, and ectoskeleton, which can follow, to be made
User's body lower limb do any movement.The ectoskeleton has 5 freedom degrees, matches with structoure of the human body, adapts to the movement of human body
Gait moves dexterousr.
(4) by the contact condition of control human body sole and ground, the locked and unlock of ectoskeleton is realized, it is easy to operate.
When user foot lands, human body weight provides sufficiently reliable locked power, and hip joint, knee joint and ankle-joint can be realized
It is locked.Locking state can be released by lifting foot, realize any movement, reduce unnecessary troublesome operation.
(5) it is met at a bit using special joint designs, that is, revolute pair axis of multistage spherical linkage mechanisms, is not influencing this
On the basis of articulation slave function is realized, a special rotary motion associated with rotation secondary motion is exported, which is
Association rotation, so that whole design is more compact.Specifically hip joint level-one No.1 spherical surface connecting rod, hip joint thigh bar and hip close
Meet spherical linkage mechanisms connection request between section No. two spherical surface connecting rods of level-one；No. two knee joint thigh bar, hip joint second level balls
Meet ball between face connecting rod, hip joint second level No.1 spherical surface connecting rod, No. three spherical surface connecting rods of hip joint second level and knee joint shank bar
Face link mechanism connection request；Knee joint thigh bar, knee joint No.1 spherical surface connecting rod, No. two spherical surface connecting rods of knee joint and knee joint
Meet spherical linkage mechanisms connection request between shank bar；Ankle-joint shank bar, hip joint three-level No. three spherical surface connecting rods, hip joints
Meet spherical linkage mechanisms connection request between three-level No.1 spherical surface connecting rod, No. two spherical surface connecting rods of hip joint three-level and sole；
Meet spherical linkage mechanisms connection request between ankle-joint double end spherical surface connecting rod, No. two spherical surface connecting rods of ankle-joint and sole；Ankle
Meet spherical linkage mechanisms connection between joint cross connecting shafts, ankle-joint No.1 spherical surface connecting rod and ankle-joint double end spherical surface connecting rod
It is required that.
The rotary centerline of association rotation is parallel with human thigh or shank always during the motion and is kept fixed
Relative position, it can be achieved that the association in each joint rotation is transmitted to vola direction step by step in the smallest space, the vola
The rotary centerline of the association rotation of position is mutually perpendicular to sole；
It can make the friction plate for controlling the locked special shape of ankle, knee, hip joint using multistage spherical linkage mechanisms
It is arranged in vola；Friction plate is associated with that rotation axis is vertical to be fixedly connected with end, realizes that friction plate is parallel with sole and formation is put down
The requirement of face pair, makes full use of rubbing surface normal pressure to lock the planar contact pair, realizes joint locking function, and by increasing friction
The inertia coeffeicent of plate guarantees the reliability and security of locked ability, and stable support is provided for user.
(6) facilitate wearing.Thigh bar is not fixedly connected with shank bar with human body, merely with thigh support plate and shank branch
Fagging provides for user stablizes support under any attitude.Using kidney slot and square shaft design, adjustable length adaptation makes
The length of user's thigh and shank, it is easy to adjust and do not influence mechanics effect and joint and lock ability.
(7) when this dermoskeleton of the working populations such as medical operating worker, precision instrument doctor or big machinery assembly crewman
When bone works, working environment and working condition that this ectoskeleton can sufficiently cooperate it complicated and accurate.No matter user need to appoint
The semi-crouch of what height, any angle bow step, bend over or the laborious movement of any other position, this ectoskeleton can be user
It is provided under the movement and stablizes support, the work fatigue of user can be greatly reduced.And when user needs replacing support
When posture, it only need to lift heel or sole leaves sole can lay down support force on ectoskeleton, it is flexible and changeable.
Detailed description of the invention
Fig. 1 is the overall structure diagram of an embodiment of the present invention；
Fig. 2 is the hip joint part partial structural diagram of an embodiment of the present invention.
Fig. 3 is the thigh support part partial structural diagram of an embodiment of the present invention.
Fig. 4 is that the knee joint part of an embodiment of the present invention divides partial structural diagram.
Fig. 5 is the leg support part partial structural diagram of an embodiment of the present invention.
Fig. 6 is the leg support part part part explosive view of an embodiment of the present invention.
Fig. 7 is the ankle portion partial structural diagram of an embodiment of the present invention.
Fig. 8 is the ankle portion part part explosive view of an embodiment of the present invention.
In figure: 1, waist abdomen leans on plate；
2, thigh support part；21, thigh bar；22, thigh bar clamping plate；23, hip joint primary transmission connecting rod；24, hip closes
Save primary transmission connecting rod bearing；25, hip joint primary transmission pitman shaft；26, thigh leans on plate；
3, leg support part；31, shank bar；32, shank bar cramp plate；33, hip joint secondary transmission connecting rod；34, knee closes
Save primary transmission square shaft；35, hip joint secondary transmission connecting rod bearing；36, shank leans on plate；
4, hip joint part；41, hip joint Hooke's hinge upper connecting rod；42, hip joint level-one No.1 spherical surface connecting rod；43, hip closes
Save Hooke's hinge cross connecting shafts；44, hip joint spherical surface connecting rod No.1 center roller；45, No. two center rollers of hip joint spherical surface connecting rod；
46, hip joint thigh bar；47, No. two spherical surface connecting rods of hip joint level-one；
5, knee joint part；51, knee joint primary transmission part；511, knee joint No.1 spherical surface connecting rod；512, knee joint
No. two spherical surface connecting rods；513, knee joint No.1 center roller；514, knee joint level-one transmission axle axle key；515, knee joint two to the heart
Axis；516, knee joint thigh bar；517, knee joint main shaft；518, knee joint shank bar；519, knee joint level-one transmission axle；
52, hip joint secondary transmission part；521, hip joint second level No.1 spherical surface connecting rod；522, hip joint second level No.1 pair
Mandrel；523, No. two center rollers of hip joint second level；524, No. three center rollers of hip joint second level；525, No. two spherical surfaces of hip joint second level
Connecting rod；526, No. three spherical surface connecting rods of hip joint second level；
6, ankle portion；61, knee joint secondary transmission part；611, knee joint second level Hooke's hinge upper connecting rod axis；612,
Knee joint second level Hooke's hinge cross connecting shafts；613, knee joint second level Hooke's hinge lower link axis；614, motion of knee joint second level passes
Pass axis axle key；615, knee joint end friction plate；616, knee joint second level transmission axle；
62, hip joint three-level running part；621, hip joint three-level No.1 center roller；622, hip joint three-level No.1 spherical surface
Connecting rod；623, No. two center rollers of hip joint three-level；624, No. two spherical surface connecting rods of hip joint three-level；625, hip joint end rubs
Plate；626, No. three spherical surface connecting rods of hip joint three-level；
63, ankle-joint running part；631, ankle-joint cross connecting shafts；632, ankle-joint No.1 spherical surface connecting rod；633, ankle
Joint No.1 center roller；634, ankle-joint double end spherical surface connecting rod；635, No. two center rollers of ankle-joint；636, No. two spherical surfaces of ankle-joint
Connecting rod；637, ankle-joint end friction plate；638, ankle-joint shank bar；
7, vola locking device；71, tiptoe lantern ring；72, sole.
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the claim of this application processed.
The present invention provides a kind of Auxiliary support lower limb exoskeleton robot (abbreviation ectoskeletons, referring to Fig. 1-8), feature
It is that the ectoskeleton includes that waist abdomen leans on plate 1, left leg and right leg；The left leg is identical with right leg structure, is symmetrically mounted at waist
Abdomen leans on 1 lower part of plate；The left leg includes thigh support part 2, leg support part 3, hip joint part 4, knee joint part
5, ankle portion 6 and vola locking device 7；
The thigh support part 2 includes thigh bar 21, thigh bar clamping plate 22, hip joint primary transmission connecting rod 23, hip pass
It saves primary transmission connecting rod bearing 24, hip joint primary transmission pitman shaft 25 and thigh and leans on plate 26；The leg support part 3 is wrapped
Include shank bar 31, shank bar cramp plate 32, hip joint secondary transmission connecting rod 33, knee joint primary transmission square shaft 34, hip joint second level
Kinematic link axle sleeve 35 and shank lean on plate 36；The hip joint part 4 includes hip joint Hooke's hinge upper connecting rod 41, hip joint one
Grade No.1 spherical surface connecting rod 42, hip joint Hooke's hinge cross connecting shafts 43, hip joint spherical surface connecting rod No.1 center roller 44, hip joint ball
No. two No. two center rollers 45 of face connecting rod, hip joint thigh bar 46 and hip joint level-one spherical surface connecting rods 47；It wraps the knee joint part 5
Include knee joint primary transmission part 51 and hip joint secondary transmission part 52；Knee joint primary transmission part 51 includes knee joint one
Number spherical surface connecting rod 511, No. two spherical surface connecting rods 512 of knee joint, knee joint No.1 center roller 513, knee joint level-one transmission axle axle key
514, No. two center rollers 515 of knee joint, knee joint thigh bar 516, knee joint main shaft 517, knee joint shank bar 518 and knee joint
Level-one transmission axle 519；Hip joint secondary transmission part 52 includes hip joint second level No.1 spherical surface connecting rod 521, hip joint second level one
Number No. two center roller 522, No. two center rollers 523 of hip joint second level, No. three center rollers 524 of hip joint second level, hip joint second level balls
No. three spherical surface connecting rods 526 of face connecting rod 525 and hip joint second level；Ankle portion 6 includes knee joint secondary transmission part 61, hip pass
Save three-level running part 62 and ankle-joint running part 63；Knee joint secondary transmission part 61 includes on knee joint second level Hooke's hinge
Pitman shaft 611, knee joint second level Hooke's hinge cross connecting shafts 612, knee joint second level Hooke's hinge lower link axis 613, knee joint fortune
Dynamic second level transmission axle axle key 614, knee joint end friction plate 615 and knee joint second level transmission axle 616；Hip joint three-level driving section
Points 62 include hip joint three-level No.1 center roller 621, hip joint three-level No.1 spherical surface connecting rod 622, hip joint three-level two to the heart
No. three axis 623, No. two spherical surface connecting rods 624 of hip joint three-level, hip joint end friction plate 625 and hip joint three-level spherical surface connecting rods
626；Ankle-joint running part 63 includes ankle-joint cross connecting shafts 631, ankle-joint No.1 spherical surface connecting rod 632, ankle-joint No.1
Center roller 633, ankle-joint double end spherical surface connecting rod 634, No. two center rollers 635 of ankle-joint, ankle-joint No. two spherical surface connecting rods 636, ankles
Joint end friction plate 637 and ankle-joint shank bar 638；Vola locking device 7 includes tiptoe lantern ring 71 and sole 72；
The waist abdomen leans on plate 1 and is fixedly connected with human body waist and belly, is used to support human body waist and belly；Waist abdomen lean on plate 1 with
The upper end of hip joint Hooke's hinge upper connecting rod 41 is bolted to connection；It is closed by hip the lower end of hip joint Hooke's hinge upper connecting rod 41
The upper end of section Hooke's hinge cross connecting shafts 43 and hip joint thigh bar 46 is cooperatively connected to form Hooke's hinge, passes through hip joint Hooke's hinge
The shaft portion of cross connecting shafts 43 and the upper end of hip joint level-one No.1 spherical surface connecting rod 42 are cooperatively connected to form revolute pair；Hip closes
The lower end for saving level-one No.1 spherical surface connecting rod 42 passes through hip joint spherical surface connecting rod No.1 center roller 44 and No. two spherical surfaces of hip joint level-one
The upper end of connecting rod 47 is cooperatively connected to form revolute pair；The upper side edge of No. two spherical surface connecting rods 47 of hip joint level-one passes through hip joint spherical surface
The upper side edge of No. two center rollers 45 of connecting rod and hip joint thigh bar 46 is cooperatively connected to form revolute pair；Three of hip joint part 4
Revolute pair rotary middle spindle intersects at the cross searching of hip joint Hooke's hinge cross connecting shafts 43, i.e. hip joint Hooke's hinge cross connects
The axial line of the long axis of spindle 43, the axial line of hip joint spherical surface connecting rod No.1 center roller 44, hip joint spherical surface connecting rod two are right
The axial line of mandrel 45 intersects at the cross searching of hip joint Hooke's hinge cross connecting shafts 43；
The lower end of the hip joint thigh bar 46 is fixed between thigh bar 21 and the upper end of thigh bar clamping plate 22；Thigh bar
21, thigh bar clamping plate 22 and knee joint thigh bar 516 are provided with kidney slot, and the upper end of knee joint thigh bar 516 passes through bolt
And waist-shaped hole cooperation is fixedly connected between thigh bar 21 and the lower end of thigh bar clamping plate 22, adjusts thigh length by kidney slot
Degree；The lower side of No. two spherical surface connecting rods 47 of hip joint level-one passes through hip joint primary transmission pitman shaft 25 and hip joint thigh bar 46
Lower side be cooperatively connected to form revolute pair；The fixation of hip joint primary transmission connecting rod bearing 24 is nested in outside hip joint thigh bar 46
Side, while it being nested in 45 outside of hip joint primary transmission pitman shaft 25 and No. two center rollers of hip joint spherical surface connecting rod, realize that hip closes
Save the coaxial of No. two center rollers 45 of primary transmission pitman shaft 25 and hip joint spherical surface connecting rod；No. two spherical surface connecting rods 47 of hip joint level-one
Lower end and the upper end of hip joint primary transmission connecting rod 23 be bolted to connection；The lower end of hip joint primary transmission connecting rod 23
Kidney slot is provided with the upper end of No. two spherical surface connecting rods 525 of hip joint second level；The lower end of hip joint primary transmission connecting rod 23 is logical
It crosses bolt and waist-shaped hole cooperation is fixedly connected with the upper end of No. two spherical surface connecting rods 525 of hip joint second level, adjusted by kidney slot big
Leg length enhances adaptability；Thigh leans on plate 26 and is bolted to connection with hip joint thigh bar 46；Thigh is negative by plate 26
Duty support human thigh part and buttocks, play a supportive role in the movement such as semi-crouch, bow step；
The lower end of knee joint thigh bar 516 and the upper end of knee joint shank bar 518 are cooperatively connected by knee joint main shaft 517
Form revolute pair；The side of knee joint thigh bar 516 and the upper end of knee joint No.1 spherical surface connecting rod 511 pass through knee joint No.1 pair
The mating connection of mandrel 513 forms revolute pair；The lower end of knee joint No.1 spherical surface connecting rod 511 and No. two spherical surface connecting rods 512 of knee joint
Upper end revolute pair is formed by knee joint No. two center rollers 515 mating connection；The lower end of No. two spherical surface connecting rods 512 of knee joint with
The side of knee joint shank bar 518 forms revolute pair by the mating connection of knee joint level-one transmission axle 519；No. two spherical surfaces of knee joint
The lower end of connecting rod 512 is connect with knee joint level-one transmission axle 519 by knee joint level-one transmission axle axle key 514；Hip joint second level
The side of No. two spherical surface connecting rods 525 and the side of knee joint thigh bar 516 are connected by No. three cooperations of center roller 524 of hip joint second level
It connects to form revolute pair；The lower end of No. two spherical surface connecting rods 525 of hip joint second level and the upper end of hip joint second level No.1 spherical surface connecting rod 521
Revolute pair is formed by the mating connection of hip joint second level No.1 center roller 522；The lower end of hip joint second level No.1 spherical surface connecting rod 521
It is cooperatively connected with the upper end of No. three spherical surface connecting rods 526 of hip joint second level by No. two center rollers 523 of hip joint second level and forms rotation
It is secondary；The side of knee joint shank bar 518 and the side of No. three spherical surface connecting rods 526 of hip joint second level pass through knee joint level-one transmission axle
519, which are cooperatively connected, forms revolute pair；The axis of rotation of eight revolute pairs of knee joint part 5 is to the heart, i.e. knee joint No.1 is to the heart
Axis 513, No. two center rollers 515 of knee joint, knee joint main shaft 517, knee joint level-one transmission axle 519, hip joint second level No.1 pair
Mandrel 522, No. two center rollers 523 of hip joint second level and the axis axis of center roller 524 7 of hip joint second level three are to the heart；
The lower end of the knee joint shank bar 518 is bolted to connection in the upper of shank bar 31 and shank bar cramp plate 32
Between end；Shank bar 31, shank bar cramp plate 32 and ankle-joint shank bar 638 are provided with kidney slot, ankle-joint shank bar 638
Upper end is fixedly connected between shank bar 31 and the lower end of shank bar cramp plate 32 by bolt and waist-shaped hole cooperation, passes through kidney slot
Lower-leg length is adjusted, adaptability is enhanced；The fixation of hip joint secondary transmission connecting rod bearing 35 is nested in outside knee joint shank bar 518
Side, while being nested in 519 outside of knee joint level-one transmission axle；The lower end of No. three spherical surface connecting rods 526 of hip joint second level passes through
Bolt is fixedly connected with the upper end of hip joint secondary transmission connecting rod 33；The lower end of hip joint secondary transmission connecting rod 33 and hip joint three
The upper end of No. three spherical surface connecting rods 626 of grade is provided with kidney slot, and the lower end of hip joint secondary transmission connecting rod 33 passes through bolt and waist
Type hole cooperation is fixedly connected with the upper end of No. three spherical surface connecting rods 626 of hip joint three-level, adjusts lower-leg length, enhancing by kidney slot
Adaptability；Shank leans on plate 36 and is bolted to connection with knee joint shank bar 518；Shank is responsible for support human body by plate 36
Lower leg portion plays a supportive role in the movement such as semi-crouch, bow step；The upper end of knee joint primary transmission square shaft 34 and knee joint level-one
The lower end square hole of transmission axle 519 is cooperatively connected, and the upper end square hole of lower end and knee joint second level transmission axle 616 is cooperatively connected, and realizes
Lower-leg length is adjusted, adaptability is enhanced；
The lower end of ankle-joint shank bar 638 is connect with the upper end of ankle-joint No.1 spherical surface connecting rod 632 by ankle-joint cross
The mating connection of axis 631 forms Hooke's hinge；The lower end of ankle-joint No.1 spherical surface connecting rod 632 and ankle-joint double end spherical surface connecting rod 634
Upper end by ankle-joint No.1 center roller 633 mating connection form revolute pair, and constrain simultaneously ankle-joint No.1 center roller 633 with
The shaft portion axis of ankle-joint cross connecting shafts 631 is to the heart；The lower end of ankle-joint double end spherical surface connecting rod 634 with ankle-joint two
The upper end of spherical surface connecting rod 636 forms revolute pair by No. two mating connections of center roller 635 of ankle-joint；No. two spherical surface connecting rods of ankle-joint
The cylindrical shaft and 72 front shaft sleeve of sole of 636 lower ends are cooperatively connected to form cylindrical pair, and the rotary middle spindle of cylindrical pair and ankle close
The axis of No. two center rollers 635 is saved to the heart；Ankle-joint end friction plate 637 is fixedly connected with No. two spherical surface connecting rods 636 of ankle-joint；
The upper surface of ankle-joint end friction plate 637 and the lower surface of sole 72 are cooperatively connected to form flat frictional pair, user's foot
The palm slams ankle-joint end friction plate 637 by the front of sole 72, and pressure, which reaches, locks when requiring i.e. ankle locked
Flexion and extension；The side of No. three spherical surface connecting rods 626 of hip joint three-level and the side of ankle-joint shank bar 638 pass through knee joint second level
The mating connection of transmission axle 616 forms revolute pair；The lower end of No. three spherical surface connecting rods 626 of hip joint three-level and hip joint three-level No.1 ball
The upper end of face connecting rod 622 forms revolute pair by the mating connection of hip joint three-level No.1 center roller 621；Hip joint three-level No.1 ball
Matched by No. two center rollers 623 of hip joint three-level the upper end of No. two spherical surface connecting rods 624 in the lower end of face connecting rod 622 and hip joint three-level
It closes connection and forms revolute pair；Match on the outside of the cylindrical sleeve of No. two 624 lower ends of spherical surface connecting rod of hip joint three-level with 72 rear axle housing of sole
It closes connection and forms cylindrical pair；Hip joint end friction plate 625 is fixedly connected with No. two spherical surface connecting rods 624 of hip joint three-level；Hip closes
The lower surface of the upper surface and sole 72 of saving end friction plate 625 forms flat frictional pair, and user's heel passes through sole
72 rear portion slams hip joint end friction plate 625, the i.e. anterior flexion and rear stretching movement of locking hip joint when requiring that pressure reaches locked；
Knee joint second level transmission axle 616 and the upper end of knee joint second level Hooke's hinge upper connecting rod axis 611 are transmitted by motion of knee joint second level
Axis axle key 614 connects；The lower end of knee joint second level Hooke's hinge upper connecting rod axis 611 and knee joint second level Hooke's hinge lower link axis 613
Upper end by knee joint second level Hooke's hinge cross connecting shafts 612 mating connection form Hooke's hinge；Under knee joint second level Hooke's hinge
The lower end axis of pitman shaft 613 connect to form rotation with the cylindrical sleeve fit inside of No. two 624 lower ends of spherical surface connecting rod of hip joint three-level
It is secondary；The lower end of knee joint second level Hooke's hinge lower link axis 613 is fixedly connected with axis knee joint end friction plate 615；Knee joint end
The lower surface of the upper surface and sole 72 of holding friction plate 615 forms flat frictional pair, and user's heel passes through sole 72
Rear portion slams knee joint end friction plate 615, and pressure reaches locked and locks kneed anterior flexion and rear stretching movement when requiring；Knee closes
Save the axial line of second level transmission axle 616, No. two axial line of hip joint three-level No.1 center roller 621, hip joint three-level center rollers
623 axial line, knee joint second level Hooke's hinge lower link axis 613 the axial line of lower end axis intersect at knee joint second level Hooke's hinge
The cross searching of cross connecting shafts 612；Tiptoe lantern ring 71 is fixed on the upper surface of sole 72.
The working principle of the invention and workflow are:
Hip joint movement: waist abdomen leans on the relative motion between plate 1 and hip joint thigh bar 46, is considered as hip joint movement,
Movement tool coincide there are two freedom degree, i.e. anterior flexion and rear stretching movement and sideshake with two freedom degrees of human hip.
When the movement of user's hip joint, the movement of human hip anterior flexion and rear stretching is transferred to vola, drives hip joint end friction plate 625
Plane Rotation is done relative to sole 72.Specifically: human body type restraining waist belt moves waist abdomen and leans on plate 1, and human thigh drives hip joint big
Leg bar 46 leans on waist abdomen and produces relative rotation between plate 1 and hip joint thigh bar 46；Waist abdomen leans on plate 1 and hip joint Hooke
Upper connecting rod 41 is cut with scissors to consolidate；Hip joint Hooke's hinge upper connecting rod 41 drives hip joint level-one No.1 spherical surface connecting rod 42, hip by revolute pair
Joint level-one No.1 spherical surface connecting rod 42 drives No. two spherical surface connecting rods 47 of hip joint level-one, No. two balls of hip joint level-one by revolute pair
Face connecting rod 47 relatively rotates under the constraint of revolute pair with hip joint thigh bar 46；No. two spherical surface connecting rods of hip joint level-one
47 are consolidated with No. two spherical surface connecting rods 525 of hip joint second level by hip joint primary transmission connecting rod 23；Hip joint thigh bar 46 and knee
Joint thigh bar 516 is consolidated by thigh bar 21 and thigh bar clamping plate 22；No. two spherical surface connecting rods 525 of hip joint second level and knee joint
Thigh bar 516 relatively rotates under the constraint of revolute pair；No. two spherical surface connecting rods 525 of hip joint second level are driven by revolute pair
Hip joint second level No.1 spherical surface connecting rod 521；Hip joint second level No.1 spherical surface connecting rod 521 drives hip joint second level three by revolute pair
Number spherical surface connecting rod 526；No. three spherical surface connecting rods 526 of hip joint second level occur under the constraint of revolute pair with knee joint shank bar 518
It relatively rotates；Knee joint shank bar 518 and ankle-joint shank bar 638 are mutually consolidated by shank bar 31 and shank bar cramp plate 32；
No. three spherical surface connecting rods 526 of hip joint second level and No. three spherical surface connecting rods 626 of hip joint three-level pass through hip joint secondary transmission connecting rod 33
Mutually consolidation；Opposite turn occurs under the constraint of revolute pair for No. three spherical surface connecting rods 626 of hip joint three-level and ankle-joint shank bar 638
It is dynamic；No. three spherical surface connecting rods 626 of hip joint three-level drive hip joint three-level No.1 spherical surface connecting rod 622 by revolute pair；Hip joint three
Grade No.1 spherical surface connecting rod 622 drives No. two spherical surface connecting rods 624 of hip joint three-level by revolute pair；No. two spherical surfaces of hip joint three-level connect
Bar 624 relatively rotates under the constraint of cylindrical pair relative to sole 72, hip joint end friction plate 625 and hip joint three
No. two spherical surface connecting rods 624 of grade vertically consolidate, and form flat frictional pair with sole 72.When hip joint end friction plate 625 and foot
When bottom plate 72 and ground do not contact, do not produced between the upper surface of hip joint end friction plate 625 and the lower surface of sole 72
Raw reaction of bearing, therefore frictional resistance is not generated on flat frictional pair, hip joint, which is in free state, at this time can support hip joint
Any movement.
Hip joint is locked: when user determines posture hip joint lock, it is last that user's both feet heel slams hip joint
Hold friction plate 625, hip joint end friction plate 625 contacts with sole 72 and ground, hip joint end friction plate 625 it is upper
Reaction of bearing is generated between surface and the lower surface of sole 72, generates frictional resistance on flat frictional pair；When user vola
When reaction of bearing caused by pressure reaches locked and requires, friction lock occurs between hip joint end friction plate 625 and sole 72
Extremely, to lock the anterior flexion and rear stretching movement of hip joint on the basis of not influencing knee joint and ankle motion.
Motion of knee joint: the relative motion between knee joint thigh bar 516 and knee joint shank bar 518 is considered as knee joint
Movement, the movement have one degree of freedom, i.e. anterior flexion and rear stretching moves, and coincide with the freedom degree of human body knee joint.When user's knee
When joint action, the movement of human body knee joint anterior flexion and rear stretching is transferred to vola, and knee joint end friction plate 615 is relative to sole 72
Do Plane Rotation.Specifically: human thigh drives knee joint thigh bar 516, and human calf drives knee joint shank bar 518；Make
It produces relative rotation between knee joint thigh bar 516 and knee joint shank bar 518；Knee joint thigh bar 516 passes through revolute pair band
Dynamic knee joint No.1 spherical surface connecting rod 511；Knee joint No.1 spherical surface connecting rod 511 drives No. two spherical surface connecting rods of knee joint by revolute pair
512；No. two spherical surface connecting rods 512 of knee joint relatively rotate under the constraint of revolute pair with knee joint shank bar 518；Knee closes
It saves No. two spherical surface connecting rods 512 and drives knee joint level-one transmission axle 519 to close relative to knee by knee joint level-one transmission axle axle key 514
Section shank bar 518 rotates；Knee joint level-one transmission axle 519 is passed by knee joint primary transmission square shaft 34 and knee joint second level
Axis 616 is passed to connect and transmit torque；Knee joint shank bar 518 and ankle-joint shank bar 638 pass through shank bar 31 and shank bar cramp
Plate 32 mutually consolidates；Opposite turn occurs under the constraint of revolute pair with ankle-joint shank bar 638 for knee joint second level transmission axle 616
It is dynamic；Knee joint second level transmission axle 616 drives knee joint second level Hooke's hinge lower link axis 613 by Hooke's hinge；Knee joint second level tiger
Gram hinge lower link axis 613 lower end relatively rotate under the constraint of revolute pair relative to sole 72, knee joint end is rubbed
Wiping board 615 is vertical with the lower end axis of knee joint second level Hooke's hinge lower link axis 613 to be consolidated, and forms planar friction with sole 72
It is secondary.When knee joint end friction plate 615 and sole 72 and ground do not contact, the upper table of knee joint end friction plate 615
Reaction of bearing is not generated between face and the lower surface of sole 72, therefore does not generate frictional resistance on flat frictional pair, and knee closes at this time
Section can support kneed any movement in free state.
Knee joint is locked: when user determines posture knee joint lock, it is last that user's both feet heel slams knee joint
Hold friction plate 615, knee joint end friction plate 615 contacts with sole 72 and ground, knee joint end friction plate 615 it is upper
Reaction of bearing is generated between surface and the lower surface of sole 72, generates frictional resistance on flat frictional pair；When user vola
When reaction of bearing caused by pressure reaches locked and requires, friction lock occurs between knee joint end friction plate 615 and sole 72
Extremely, to lock kneed anterior flexion and rear stretching movement on the basis of not influencing hip joint and ankle motion.
Ankle motion: the relative motion between ankle-joint shank bar 638 and sole 72 is considered as ankle motion, should
Movement tool is there are two freedom degree, the i.e. movement of ankle-joint anterior flexion and rear stretching and sideshake, two freedom degrees with model of human ankle
It coincide.When the movement of user's ankle-joint, the movement of human body knee joint anterior flexion and rear stretching is transferred to vola, ankle-joint end friction plate
637 do Plane Rotation relative to sole 72.Specifically: human calf drives ankle-joint shank bar 638, and human foot passes through foot
Sharp lantern ring 71 drives sole 72；It produces relative rotation between ankle-joint shank bar 638 and sole 72；Ankle-joint shank bar
638 drive ankle-joint No.1 spherical surface connecting rod 632 by Hooke's hinge, and ankle-joint No.1 spherical surface connecting rod 632 drives ankle by revolute pair
Joint double end spherical surface connecting rod 634, ankle-joint double end spherical surface connecting rod 634 drive No. two spherical surface connecting rods 636 of ankle-joint by revolute pair,
No. two spherical surface connecting rods 636 of ankle-joint rotate under the constraint of cylindrical pair relative to sole 72；Ankle-joint end friction plate
637 consolidations vertical with No. two spherical surface connecting rods 636 of ankle-joint, form flat frictional pair with sole 72.When ankle-joint end rubs
When plate 637 and sole 72 and ground do not contact, the upper surface of ankle-joint end friction plate 637 and the lower surface of sole 72
Between do not generate reaction of bearing, therefore frictional resistance is not generated on flat frictional pair, ankle can be supported in free state at this time
Any movement of ankle-joint.
Ankle-joint is locked: when user determines posture ankle-joint lock, it is last that user's both feet sole slams ankle-joint
Hold friction plate 637, ankle-joint end friction plate 637 contacts with sole 72 and ground, ankle-joint end friction plate 637 it is upper
Reaction of bearing is generated between surface and the lower surface of sole 72, generates frictional resistance on flat frictional pair；When user vola
When reaction of bearing caused by pressure reaches locked and requires, friction lock occurs between ankle-joint end friction plate 637 and sole 72
Extremely, so that the anterior flexion and rear stretching of locked ankle-joint moves on the basis of not influencing knee joint and hip joint moves.
In conclusion when friction plate and sole 72 and ground do not contact (such as swing when user's walking
Leg), ectoskeleton can follow user's body lower limb to do the movement of any posture；When posture determine people mention sole land and prop up completely
Support human body weight when, friction plate contact with sole 72 and ground (such as user walking when supporting leg, human body standing or
Person's both feet land), each joint of ectoskeleton locks at once, to provide stable support under selected posture for user, uses
Person can rest on waist abdomen and lean on plate 1, thigh dependence plate 26 and shank dependence plate 36, mitigate body burden.
The present invention does not address place and is suitable for the prior art.
Claims (1)
1. a kind of Auxiliary support lower limb exoskeleton robot, it is characterised in that the ectoskeleton includes that waist abdomen leans on plate, left leg and the right side
Leg；The left leg is identical with right leg structure, is symmetrically mounted at waist abdomen and leans on plate；The left leg include thigh support part,
Leg support part, hip joint part, knee joint part, ankle portion and vola locking device；
The thigh support part includes thigh bar, thigh bar clamping plate, hip joint primary transmission connecting rod, hip joint primary transmission company
Rod sleeve, hip joint primary transmission pitman shaft and thigh lean on plate；The leg support part includes shank bar, shank bar cramp
Plate, hip joint secondary transmission connecting rod, knee joint primary transmission square shaft, hip joint secondary transmission connecting rod bearing and shank lean on plate；
The hip joint part includes hip joint Hooke's hinge upper connecting rod, hip joint level-one No.1 spherical surface connecting rod, hip joint Hooke's hinge cross
Connecting shaft, hip joint spherical surface connecting rod No.1 center roller, No. two center rollers of hip joint spherical surface connecting rod, hip joint thigh bar and hip joint
No. two spherical surface connecting rods of level-one；The knee joint part point includes knee joint primary transmission part and hip joint secondary transmission part；Knee
Joint primary transmission part includes knee joint No.1 spherical surface connecting rod, No. two spherical surface connecting rods of knee joint, knee joint No.1 center roller, knee
Joint level-one transmission axle axle key, No. two center rollers of knee joint, knee joint thigh bar, knee joint main shaft, knee joint shank bar and knee
Joint level-one transmission axle；Hip joint secondary transmission part includes hip joint second level No.1 spherical surface connecting rod, hip joint second level No.1 pair
Mandrel, No. two center rollers of hip joint second level, No. three center rollers of hip joint second level, No. two spherical surface connecting rods of hip joint second level and hip joint
No. three spherical surface connecting rods of second level；Ankle portion includes knee joint secondary transmission part, hip joint three-level running part and ankle-joint
Running part；Knee joint secondary transmission part includes knee joint second level Hooke's hinge upper connecting rod axis, knee joint second level Hooke's hinge cross
Connecting shaft, knee joint second level Hooke's hinge lower link axis, motion of knee joint second level transmission axle axle key, knee joint end friction plate and knee
Joint second level transmission axle；Hip joint three-level running part includes hip joint three-level No.1 center roller, hip joint three-level No.1 spherical surface
Connecting rod, No. two center rollers of hip joint three-level, No. two spherical surface connecting rods of hip joint three-level, hip joint end friction plate and hip joint three-level
No. three spherical surface connecting rods；Ankle-joint running part includes ankle-joint cross connecting shafts, ankle-joint No.1 spherical surface connecting rod, ankle-joint No.1
Center roller, ankle-joint double end spherical surface connecting rod, No. two center rollers of ankle-joint, No. two spherical surface connecting rods of ankle-joint, the friction of ankle-joint end
Plate and ankle-joint shank bar；Vola locking device includes tiptoe lantern ring and sole；
The waist abdomen leans on plate and is fixedly connected with human body waist and belly, is used to support human body；Waist abdomen leans on plate and hip joint Hooke's hinge
The upper end of upper connecting rod is fixedly connected；It is closed by hip joint Hooke's hinge cross connecting shafts and hip the lower end of hip joint Hooke's hinge upper connecting rod
The upper end of section thigh bar is cooperatively connected to form Hooke's hinge, passes through the shaft portion and hip joint of hip joint Hooke's hinge cross connecting shafts
The upper end of level-one No.1 spherical surface connecting rod is cooperatively connected to form revolute pair；It is closed by hip the lower end of hip joint level-one No.1 spherical surface connecting rod
The upper end of section spherical surface connecting rod No.1 center roller and No. two spherical surface connecting rods of hip joint level-one is cooperatively connected to form revolute pair；Hip joint one
The upper side edge of No. two spherical surface connecting rods of grade is cooperated by the upper side edge of No. two center rollers of hip joint spherical surface connecting rod and hip joint thigh bar
Connection forms revolute pair；Axial line, the hip joint spherical surface connecting rod No.1 center roller of the long axis of hip joint Hooke's hinge cross connecting shafts
Axial line, hip joint spherical surface No. two center rollers of connecting rod axial line intersect in the cross of hip joint Hooke's hinge cross connecting shafts
The heart；
The lower end of the hip joint thigh bar is fixed between thigh bar and the upper end of thigh bar clamping plate；Thigh bar, thigh bar cramp
Plate and knee joint thigh bar are provided with kidney slot, and the upper end of knee joint thigh bar is connected under thigh bar and thigh bar clamping plate
Between end, thigh length is adjusted by kidney slot；The lower side of No. two spherical surface connecting rods of hip joint level-one is passed by hip joint level-one
The lower side of dynamic pitman shaft and hip joint thigh bar is cooperatively connected to form revolute pair；The fixation of hip joint primary transmission connecting rod bearing is embedding
It covers on the outside of hip joint thigh bar, while being nested in hip joint primary transmission pitman shaft and No. two center rollers of hip joint spherical surface connecting rod
Outside；The lower end of No. two spherical surface connecting rods of hip joint level-one is fixedly connected with the upper end of hip joint primary transmission connecting rod；Hip joint one
The lower end of grade kinematic link and the upper end of No. two spherical surface connecting rods of hip joint second level are provided with kidney slot；Hip joint primary transmission connects
The lower end of bar is connect with the upper end of No. two spherical surface connecting rods of hip joint second level, adjusts thigh length by kidney slot；Thigh leans on plate
It is fixedly connected with hip joint thigh bar；Thigh is responsible for supporting human thigh part by plate；
The lower end of knee joint thigh bar and the upper end of knee joint shank bar are cooperatively connected to form revolute pair by knee joint main shaft；Knee
The side of joint thigh bar and the upper end of knee joint No.1 spherical surface connecting rod, which are cooperatively connected to be formed by knee joint No.1 center roller, to be turned
Dynamic pair；Matched by No. two center rollers of knee joint the upper end of No. two spherical surface connecting rods in lower end and knee joint of knee joint No.1 spherical surface connecting rod
It closes connection and forms revolute pair；The lower end of No. two spherical surface connecting rods of knee joint and the side of knee joint shank bar are passed by knee joint level-one
Axis is passed to be cooperatively connected to form revolute pair；The lower end of No. two spherical surface connecting rods of knee joint and knee joint level-one transmission axle pass through knee joint one
Grade transmission axle axle key connection；The side of No. two spherical surface connecting rods of hip joint second level and the side of knee joint thigh bar pass through hip joint two
No. three center rollers of grade are cooperatively connected to form revolute pair；The lower end of No. two spherical surface connecting rods of hip joint second level and hip joint second level No.1 ball
The upper end of face connecting rod is cooperatively connected to form revolute pair by hip joint second level No.1 center roller；Hip joint second level No.1 spherical surface connecting rod
Lower end and the upper ends of No. three spherical surface connecting rods of hip joint second level be cooperatively connected to form rotation by No. two center rollers of hip joint second level
It is secondary；The side of knee joint shank bar and the side of No. three spherical surface connecting rods of hip joint second level are connected by the cooperation of knee joint level-one transmission axle
It connects to form revolute pair；Knee joint No.1 center roller, No. two center rollers of knee joint, knee joint main shaft, knee joint level-one transmission axle, hip
Joint second level No.1 center roller, No. two center rollers of hip joint second level and the axis axis of center roller seven of hip joint second level three are to the heart；
The lower end of the knee joint shank bar is fixed between shank bar and the upper end of shank bar cramp plate；Shank bar, shank bar cramp
Plate and ankle-joint shank bar are provided with kidney slot, and the upper end of ankle-joint shank bar is connected under shank bar and shank bar cramp plate
Between end, lower-leg length is adjusted by kidney slot；The fixation of hip joint secondary transmission connecting rod bearing is nested in outside knee joint shank bar
Side, while being nested on the outside of knee joint level-one transmission axle；The lower end of No. three spherical surface connecting rods of hip joint second level and hip joint two
The upper end of grade kinematic link is fixedly connected；No. three spherical surface connecting rods in the lower end of hip joint secondary transmission connecting rod and hip joint three-level it is upper
End is provided with kidney slot, and the lower end of hip joint secondary transmission connecting rod is connect with the upper end of No. three spherical surface connecting rods of hip joint three-level,
Lower-leg length is adjusted by kidney slot；Shank leans on plate and is fixedly connected with knee joint shank bar；Shank is responsible for supporting people by plate
Body lower leg portion；The upper end of knee joint primary transmission square shaft and the lower end square hole of knee joint level-one transmission axle are cooperatively connected, lower end
It is cooperatively connected with the upper end square hole of knee joint second level transmission axle；
The lower end of ankle-joint shank bar and the upper end of ankle-joint No.1 spherical surface connecting rod are cooperatively connected by ankle-joint cross connecting shafts
Form Hooke's hinge；The lower end of ankle-joint No.1 spherical surface connecting rod and the upper end of ankle-joint double end spherical surface connecting rod pass through ankle-joint No.1 pair
Mandrel is cooperatively connected to form revolute pair, and the shaft portion axis pair of ankle-joint No.1 center roller and ankle-joint cross connecting shafts
The heart；The lower end of ankle-joint double end spherical surface connecting rod and the upper end of No. two spherical surface connecting rods of ankle-joint are cooperated by No. two center rollers of ankle-joint
Connection forms revolute pair；The cylindrical shaft and sole front shaft sleeve of No. two spherical surface connecting rod lower ends of ankle-joint are cooperatively connected to form cylinder
Pair, and the axis of the rotary middle spindle of cylindrical pair and No. two center rollers of ankle-joint is to the heart；Ankle-joint end friction plate and ankle-joint
No. two spherical surface connecting rods are fixedly connected；The upper surface of ankle-joint end friction plate and the lower surface of sole are cooperatively connected to form plane
Friction is secondary；The side of No. three spherical surface connecting rods of hip joint three-level and the side of ankle-joint shank bar are matched by knee joint second level transmission axle
It closes connection and forms revolute pair；The lower end of No. three spherical surface connecting rods of hip joint three-level and the upper end of hip joint three-level No.1 spherical surface connecting rod are logical
Hip joint three-level No.1 center roller is crossed to be cooperatively connected to form revolute pair；The lower end of hip joint three-level No.1 spherical surface connecting rod and hip joint
The upper end of No. two spherical surface connecting rods of three-level is cooperatively connected to form revolute pair by No. two center rollers of hip joint three-level；Hip joint three-level two
It is cooperatively connected to form cylindrical pair with sole rear axle housing on the outside of the cylindrical sleeve of number spherical surface connecting rod lower end；Hip joint end friction plate with
No. two spherical surface connecting rods of hip joint three-level are fixedly connected；The upper surface of hip joint end friction plate and the lower surface of sole form flat
Face friction is secondary；Knee joint second level transmission axle and the upper end of knee joint second level Hooke's hinge upper connecting rod axis are passed by motion of knee joint second level
Pass the connection of axis axle key；The lower end of knee joint second level Hooke's hinge upper connecting rod axis and the upper end of knee joint second level Hooke's hinge lower link axis are logical
Knee joint second level Hooke's hinge cross connecting shafts is crossed to be cooperatively connected to form Hooke's hinge；The lower end of knee joint second level Hooke's hinge lower link axis
Axis connect to form revolute pair with the cylindrical sleeve fit inside of No. two spherical surface connecting rod lower ends of hip joint three-level；Knee joint second level Hooke's hinge
The lower end of lower link axis is fixedly connected with axis knee joint end friction plate；The upper surface of knee joint end friction plate and sole
Lower surface forms flat frictional pair；Axial line, the hip of the axial line of knee joint second level transmission axle, hip joint three-level No.1 center roller
The axial line of No. two center rollers of joint three-level, the axial line of the lower end axis of knee joint second level Hooke's hinge lower link axis intersect at knee pass
Save the cross searching of second level Hooke's hinge cross connecting shafts；Tiptoe lantern ring is fixed on sole.
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| CN110053027B (en) | 2023-11-07 |
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