CN110251370A

CN110251370A - A kind of passive-type gravity self-balancing lower limb exoskeleton structural body

Info

Publication number: CN110251370A
Application number: CN201910430060.XA
Authority: CN
Inventors: 陈文杰; 周利波; 陈伟海; 孙先涛; 林岩; 胡存刚
Original assignee: Anhui University
Current assignee: Anhui University
Priority date: 2019-05-22
Filing date: 2019-05-22
Publication date: 2019-09-20
Anticipated expiration: 2039-05-22
Also published as: CN110251370B

Abstract

The invention discloses a kind of light compact gravity self-balancing lower limb exoskeleton structural bodies, are made of hip joint, knee joint, thigh and shank；The upper end of thigh is hip joint, is knee joint between the lower end of thigh and the upper end of shank.Structure of the invention body is by being mapped as characteristic point mode for linear motion along swing connecting bar axis for the rotational motion in joint, so that Hookean spring may be mounted inside the connecting rod of ectoskeleton, and during joint motions, corresponding torque can be formed to balance the gravity of entire man-machine system.Solves the defects of traditional lower limb exoskeleton mechanism external spring, huge structure.Structure of the invention physical efficiency is enough in auxiliary the elderly, the daily walking of lower extremity motor function impaired patients.

Description

A kind of passive-type gravity self-balancing lower limb exoskeleton structural body

Technical field

The present invention relates to a kind of mechanical lower devices for belonging to power-assisting robot system more specifically to refer to a kind of quilt Ejector half, compact-sized, gravity self-balancing lower limb exoskeleton structural body.

Background technique

Lower limb exoskeleton robot is broadly divided into according to the difference of driving method: power type and two kinds of passive-type.Power type Lower limb exoskeleton mainly using battery or external power supply as the energy, obtains driving force by motor, cylinder or fluid motor.Due to This mode power-assisted effect is intuitively effective, has attracted the interest of many domestic and international researchers.It include the U.S. than more typical example HULC, Japanese ReWalk, and the great Ai ectoskeleton of domestic aspect BJ University of Aeronautics & Astronautics, Shanghai fourier intelligently have Fourier X1 of limit company etc..Generally speaking, power type lower limb exoskeleton has good power-assisted efficiency, but due to them It attached the driving devices such as battery and motor, so that overall structure is huge, consumes energy also more, lead to cruising ability, mobility It is restricted.

To overcome the problems, such as that power type lower limb exoskeleton exists, many researchers also start to concentrate in passive type Technically.Passive-type ectoskeleton does not need any driving from extraneous power supply, and movement fully relies on wearer itself movement. The torque that its power-assisted mode is mainly balanced the load by the ingenious combination of mechanism and spring to body joints generation, to reach Reduce body energy consumption, the purpose of enhancing walking sustainability and bearing capacity.In human walking procedure, joint of lower extremity needs larger The rotation of range, in order to enable joint hinge when articulation might as well hinder the movement of spring, spring needs to be mounted on ectoskeleton Connecting rod outside, and the tie point position of spring will be far from artis.But such design will cause structure size increase, both Huge structure is resulted in, the safety in use process is also reduced.Therefore, it is necessary to design it is a set of compact-sized, can be outside The skeletal internal of bone realizes the mechanism of gravity self-balancing function.

Summary of the invention

The purpose of the present invention is designing a set of gravity self-balancing mechanism that can be placed in ectoskeleton skeletal internal, solve existing The defects of gravity self-balancing mechanism external spring, huge structure.It realizes and is guaranteeing ectoskeleton structural compactness and safety basis On entire man-machine system gravity self-balancing.The present invention deposits in structure for the gravity self-balancing mechanism of existing lower limb exoskeleton The external spring, huge structure the defects of, frequently results in wearer and lead to the problem of the psychology of fear and rejection feeling, devise one kind Passive type ectoskeleton gravity self-balancing mechanism.The mechanism by by the rotational motion of joint of lower extremity be mapped as a characteristic point along Swing connecting bar axis mode for linear motion, so that Hookean spring may be mounted inside the connecting rod of ectoskeleton, and in joint In motion process, corresponding torque can be formed to balance the gravity of entire man-machine system.The present invention has overturned outside traditional spring The gravitational equilibrium structure mentality of designing set realizes entire man-machine system on the basis of guaranteeing the compactedness and safety of ectoskeleton Gravity self-balancing.The ectoskeleton is mainly used for assisting the elderly, the daily walking of lower extremity motor function impaired patients.

The light compact gravity self-balancing lower limb exoskeleton structural body of one kind of the invention, is by hip joint, knee joint, thigh It is constituted with shank；The upper end of thigh is hip joint, is knee joint between the lower end of thigh and the upper end of shank.

Hip joint (1) is locked by thigh outer gear (1A), Medial Thigh Skin gear (1B), thigh locating part (1C), thigh (1D), thigh connector (1E), thigh upper rotary shaft unit and thigh lower rotary shaft unit are constituted；The thigh upper rotary shaft list Member includes AA rotation axis (11A), AA bearing (11B), AA pressing plate (11C), AB bearing (11D) and AA screw (11E)；It is described big Leg lower rotary shaft unit includes AB rotation axis (12A), AC bearing (12B), AC pressing plate (12C), AD bearing (12D), AB screw (12E), AA angular encoder (12F), AC pressing plate (12G) and two actors playing the same role in a theatrical work degree encoder (12H)；Hip joint (1) is connected by thigh Plate (1E) and the EA connecting plate (5A) of waist accessory plate (5) are fixed；

AA rotation axis (11A) in thigh upper rotary shaft unit is equipped with AA terminal pad (11A1) and AA axis (11A2)；Institute The axial centre for stating AA rotation axis (11A) is AA threaded hole (11A3)；The AA terminal pad (11A1) of AA rotation axis (11A) is fixed On a face disk of Medial Thigh Skin gear (1B)；AA bearing (11B) is socketed on AA axis (11A2)；In AA pressing plate (11C) Portion is equipped with AD through-hole (11C1), and AD through-hole (11C1) is for placing AB bearing (11D)；The AA terminal pad of AA rotation axis (11A) (11A1) is fixed on a face disk of Medial Thigh Skin gear (1B), and the AA axis (11A2) of AA rotation axis (11A) passes through AA bearing After (11B) and AB bearing (11D), AA screw (11E) is installed in the AA threaded hole (11A3) of end；Pass through AA screw The AD through-hole (11C1) that AB bearing (11D) is mounted on to AA pressing plate (11C) is realized in the connection of (11E) and AA rotation axis (11A) In, simultaneously because AA pressing plate (11C) is fixed at the AB through-hole (1E3) of the A lower panel (1E2) of thigh connector (1E), thus Reach and AA pressing plate (11C) is compressed by AA screw (11E)；

AB rotation axis (12A) in thigh lower rotary shaft unit is equipped with AB terminal pad (12A1) and AB axis (12A2)；Institute The axial centre for stating AB rotation axis (12A) is AB threaded hole (12A3)；The AB terminal pad (12A1) of AB rotation axis (12A) is fixed At the thigh lug (2B3) of thigh cover board (2B)；AB bearing (12B) is socketed on AB axis (12A2)；AB pressing plate (12C) Middle part is equipped with AE through-hole (12C1), and AE through-hole (12C1) is for placing AD bearing (12D)；The middle part of AC pressing plate (12G) is equipped with AF Through-hole (12G1), AF through-hole (12G1) is for placing two actors playing the same role in a theatrical work degree encoder (12H)；The end face of AB screw (12E) is equipped with and is used for Place the A counter sink (12E1) of AA angular encoder (12F)；The AB terminal pad (12A1) of AB rotation axis (12A) is fixed on thigh At the AC through-hole (1E4) of the A lower panel (1E2) of connector (1E), the AB axis (12A2) of AB rotation axis (12A) passes through AC bearing After (12B) and AD bearing (12D), AB screw (12E) is installed in the AB threaded hole (12A3) of end；Pass through AB screw The AE through-hole (12C1) that AD bearing (12D) is mounted on to AB pressing plate (12C) is realized in the connection of (12E) and AB rotation axis (12A) In, simultaneously because AB pressing plate (12C) is fixed at the hole AC (1E4) of the A lower panel (1E2) of thigh connector (1E), to reach AB pressing plate (12C) is compressed to by AB screw (12E)；It is fixedly installed with AC pressing plate (12G) on AB pressing plate (12C), is pressed in AC AB angular encoder (12H) is installed in the AF through-hole (12G1) of plate (12G)；

The movement of Medial Thigh Skin gear movement component: under the actuation of Medial Thigh Skin gear (1B), AA rotation axis (11A) AD through-hole (11C1) around AA pressing plate (11C) rotates, and installs AA bearing (11B) in the AD through-hole (11C1), AB bearing (11D) It is mounted in the AB through-hole (1E3) of thigh connector (1E), AA screw (11E) is threaded in the AA spiral shell of AA rotation axis (11A) In pit (11A3), by AA screw (11E) compress realize bearing axial restraint so that the axle center of AA rotation axis (11A) around AB through-hole (1E3) around thigh connector (1E) rotates；

The movement of hip joint moving parts: under the actuation of thigh outer gear (1A), AB rotation axis (12A) is pressed around AB The AE through-hole (12C1) of plate (12C) rotates, and installs AC bearing (12B) in the AE through-hole (12C1), and then connects around thigh The AC through-hole (1E4) of part (1E) rotates；AB screw is installed in the AB threaded hole (12A3) of the end one side AB rotation axis (12A) (12E), the end AB screw (12E) are equipped with AA angular encoder (12F)；Another aspect AC pressing plate (12G) is fixed on AB pressing plate On (12C), and two actors playing the same role in a theatrical work degree encoder (12H) is installed in the AF through-hole (12G1) of AC pressing plate (12G)；

Thigh (2) is by thigh shell (2A), thigh cover board (2B), thick link (2C), thigh lower connecting plate (2D), BA Axle unit, BB rotation axle unit, BC rotation axle unit and thigh gravitational equilibrium coefficient adjustment component (2E) is rotated to constitute；

The thigh housing face-plate (2A1) of thigh shell (2A) is equipped with the BG through-hole (2A11) passed through for cable；Thigh The thigh shell lower panel (2A2) of shell (2A) is equipped with for thigh silk in thigh gravitational equilibrium coefficient adjustment component (2E) The BH through-hole (2A21) that the upper end thick stick (2E3) passes through；

The upper end end of thigh cover board (2B) is thigh annulus (2B1), and thigh annulus (2B1) and thigh install panel It is equipped with thigh limit hole (2B2) between (2B4), is equipped with thigh lug (2B3) in thigh limit hole (2B2)；Thigh annulus (2B1) On thigh outer gear (1A) is installed；AB rotation axis (12A) is installed on thigh lug (2B3)；First right angle body (2K1) and Second right angle body (2K2) is placed in parallel and one end is fixed in thigh installation panel (2B4), and the other end and thigh shell (2A) are solid It is fixed；Third right angle body (2K3) and the 4th right angle body (2K4) are placed in parallel and one end is fixed on thigh installation panel On (2B4), the other end and thigh shell (2A) are fixed；

The upper end of thick link (2C) is equipped with BD through-hole (2C1), and the lower end of thick link (2C) is equipped with BE through-hole (2C2)； On the one hand for placing BB bearing (21D), BD through-hole (2C1) is on the other hand passed through for BA screw (21E) BD through-hole (2C1)； On the one hand for placing BD bearing (22D), BE through-hole (2C2) is on the other hand passed through for BB screw (22E) BE through-hole (2C2)；

Thigh lower connecting plate (2D) is equipped with BF through-hole (2D1), and BF through-hole (2D1) is for placing BE bearing (23B), BE axis (23B) is held to be socketed on BC rotation axis (23A)；

Thigh gravitational equilibrium coefficient adjustment component (2E) includes spring, lead screw, guide rail and sliding block；BA guide rail (2G1), BB guide rail (2G2), thigh BA lead screw base (2E5) and thigh BB lead screw base (2E6) are fixed on the thigh installation of thigh cover board (2B) On panel (2B4)；BA sliding block (2H1) is movably connected on BA guide rail (2G1)；BB sliding block (2H2) is movably connected in BB guide rail On (2G2)；

Thigh nut (2E4) is socketed on thigh lead screw (2E3)；Thigh nut (2E4) be equipped with BC pillar (2E4A), Lead screw hole (2E4C), BD pillar (2E4B)；BC pillar (2E4A) is for mounting the BA spring lower draw-bar that BA spring (2E1) has (2E1B)；BD pillar (2E4B) is for mounting the BB spring lower draw-bar (2E2B) that BB spring (2E2) has；Lead screw hole (2E4C) is used It is passed through in one end of thigh lead screw (2E3)；The outer end of BC pillar (2E4A) is equipped with the BF screw thread for installing BF screw (2E4E) Hole；The outer end of BD pillar (2E4B) is equipped with the BG threaded hole (2E4D) for installing BG screw (2E4F)；BG screw (2E4F) A panel be fixed on BB sliding block (2H2)；BG screw (2E4F) is fixed in thigh installation panel (2B4)；

The boss of thigh BA lead screw base (2E5) is equipped with the countersunk head through-hole (2E51) for placing the upper end thigh lead screw (2E3), sinks The lower end of head through-hole (2E51) is equipped with BG bearing (2E52), and BG bearing (2E52) is socketed in the upper end of thigh lead screw (4E3)；Greatly Leg BA lead screw base (2E5) is fixed in thigh installation panel (2B4)；

Thigh BB lead screw base (2E6) is L-configuration, and one end is fixed in thigh installation panel (2B4), and the other end, which is equipped with, to be supplied The BK through-hole (2E61) that thigh lead screw (2E3) passes through；

The upper end of thigh lead screw (2E3) sequentially passes through the central through hole of BG end ring (2M), BG bearing (2L), thigh BB After the BK through-hole (2E61) of lead screw base (2E6), the lead screw hole (2E4C) of thigh nut (2E4), it is placed in thigh BA lead screw base In the countersunk head through-hole (2E51) of (2E5)；The lower end of thigh lead screw (2E3) is connected with thigh regulation handle (2N)；Pass through left-right rotary Thigh regulation handle (2N) adjusts BA spring for adjusting position of the thigh nut (2E4) on thigh lead screw (2E3) The pretightning force of (2E1) and BB spring (2E2)；

BA connector (2J) is made of winding body and two screws (2J5,2J6), winding body be equipped with BA pillar (2J1), First winding body (2J3), the second winding body (2J4) and BB pillar (2J2)；BA pillar (2J1) is for mounting BA spring (2E1) Some BA spring upper hooks (2E1A)；BB pillar (2J2) is for mounting the BB spring upper hook (2E2A) that BB spring (2E2) has； It is thigh kinking gap (2J-1) between first winding body (2J3) and the second winding body (2J4)；Thigh kinking gap (2J-1) is used to wind the lower end of binding Bowden cable；The outer end of BA pillar (2J1) is equipped with the BD for installing BD screw (2J5) Threaded hole；The outer end of BB pillar (2J2) is equipped with the BE threaded hole (2J21) for installing BE screw (2J6)；First winding body (2J3) is equipped with BI through-hole (2J31), and the screw across BI through-hole (2J31) is fixed on BA sliding block (2H1)；Second winding body (2J4) is equipped with BH through-hole (2J41), and the screw across BH through-hole (2J41) is fixed on BA sliding block (2H1)；

BA Bowden cable fixing piece (2F1) is equipped with the BM through-hole (2F12) passed through for BA pipe cap (2F11)；BB Bowden cable Fixing piece (2F2) is equipped with the BL through-hole (2F22) passed through for BB pipe cap (2F21)；BA Bowden cable fixing piece (2F1) and BB Bowden cable fixing piece (2F2) is separately fixed on thigh cover board (2B)；BA pipe cap (2F11) and BB pipe cap (2F21) are used for thigh Partial Bowden cable passes through；Bowden cable one end of leg portion is fixed on thigh lock (1D), and the other end sequentially passes through BA pipe cap After (2F11), BB pipe cap (2F21), it is wrapped on BA connector (2J)；

It includes BA rotation axis (21A), BA bearing (21B), BA pressing plate (21C), BB bearing (21D) that BA, which rotates axle unit, With BA screw (21E)；BA rotates the BA rotation axis (21A) in axle unit and is equipped with BA terminal pad (21A1) and BA axis (21A2)； The axial centre of the BA rotation axis (21A) is BA threaded hole (21A3)；The BA terminal pad (21A1) of BA rotation axis (21A) is fixed At the AC through-hole (1E4) of the A lower panel (1E2) of thigh connector (1E)；BA bearing (21B) is socketed on BA axis (21A2)； The middle part of BA pressing plate (21C) is equipped with BA through-hole (21C1), and BA through-hole (21C1) is for placing BB bearing (21D)；BA rotation axis The BA terminal pad (21A1) of (21A) is fixed on the A lower panel (1E2) of thigh connector (1E), the BA axis of BA rotation axis (21A) After (21A2) passes through BA bearing (21B) and BB bearing (21D), BA screw is installed in the BA threaded hole (21A3) of end (21E)；It is realized by the connection of BA screw (21E) and BA rotation axis (21A) and BB bearing (21D) is mounted on BA pressing plate (21C) BA through-hole (21C1) in, simultaneously because BA pressing plate (21C) is fixed at the BD through-hole (2C1) of the upper end of thick link (2C), To realize the connection of BA rotation axle unit and the upper end of thick link (2C)；

It includes BB rotation axis (22A), BC bearing (22B), BB pressing plate (22C), BD bearing (22D) that BB, which rotates axle unit, With BB screw (22E)；BB rotates the BB rotation axis (22A) in axle unit and is equipped with BB terminal pad (22A1) and BB axis (22A2)； The axial centre of the BB rotation axis (22A) is BB threaded hole (22A3)；The BB terminal pad (22A1) of BB rotation axis (22A) is fixed In one end of thigh lower connecting plate (2D)；BC bearing (22B) is socketed on BB axis (22A2)；The middle part of BB pressing plate (22C) is equipped with BB through-hole (22C1), BB through-hole (22C1) is for placing BD bearing (22D)；The BB terminal pad (22A1) of BB rotation axis (22A) It is fixed at the BE through-hole (2C2) of the lower end thick link (2C), the BB axis (22A2) of BB rotation axis (22A) passes through BC bearing After (22B) and BD bearing (22D), BB screw (22E) is installed in the BB threaded hole (22A3) of end；Pass through BB screw The BB through-hole (22C1) that BD bearing (22D) is mounted on to BB pressing plate (22C) is realized in the connection of (22E) and BB rotation axis (22A) In, simultaneously because BB pressing plate (22C) is fixed at the BE through-hole (2C2) of the lower end of thick link (2C), to realize that BB is rotated The connection of the lower end of axle unit and thick link (2C)；

It includes BC rotation axis (23A), BE bearing (23B), BC pressing plate (23C), BF bearing (23D) that BC, which rotates axle unit, With BC screw (23E)；BC rotates the BC rotation axis (23A) in axle unit and is equipped with BC terminal pad (23A1) and BC axis (23A2)； The axial centre of the BC rotation axis (23A) is BC threaded hole (23A3)；The BC terminal pad (23A1) of BC rotation axis (23A) is fixed In the lower end of thigh cover board (2B), and BE bearing (23B), BE bearing are socketed on the BC axis (23A2) of BC rotation axis (23A) (23B) is placed in the BF through-hole (2D1) of thigh lower connecting plate (2D)；The middle part of BC pressing plate (23C) is equipped with BC through-hole (23C1), BC Through-hole (23C1) is for placing BF bearing (23D)；The BC terminal pad (23A1) of BC rotation axis (23A) is fixed on thigh cover board The lower end of (2B), after the BC axis (23A2) of BC rotation axis (23A) passes through BE bearing (23B) and BF bearing (23D), in end BC screw 23E is installed in BC threaded hole (23A3)；Being realized by the connection of BC screw (23E) and BC rotation axis (23A) will BF bearing (23D) is mounted in the BC through-hole (23C1) of BC pressing plate (23C), simultaneously because BC pressing plate (23C) is fixed under thigh At the BF through-hole (2D1) of connecting plate (2D), to realize the connection of BC rotation axle unit and thigh lower connecting plate (2D)；

Knee joint (3) is locked by shank outer gear (3A), shank internal gear (3B), shank locating part (3C), shank (3D), shank connector (3E), shank upper rotary shaft unit and shank lower rotary shaft unit are constituted；The shank upper rotary shaft list Member includes CA rotation axis (31A), CA bearing (31B), CA pressing plate (31C), CB bearing (31D) and CA screw (31E)；It is described Shank lower rotary shaft unit includes CB rotation axis (32A), CC bearing (32B), CC pressing plate (32C), CD bearing (32D), CB spiral shell Follow closely (32E), CA angular encoder (32F), CC pressing plate (32G) and CB angular encoder (32H)；

Shank connector (3E) is equipped with CB through-hole (3E1) and CC through-hole (3E2)；The CB through-hole (3E1) is for placing CA bearing (31B), CA bearing (31B) are socketed on the axis of CA rotation axis (31A), that is, are socketed with the CA rotation of CA bearing (31B) Axis (31A) passes through CB through-hole (3E3)；CA pressing plate (31C) is fixed at the CB through-hole (3E1)；The CC through-hole (3E2) is used In placing CC bearing (32B), CC bearing (32B) is socketed on the axis of CC rotation axis (32A), that is, is socketed with CC bearing (32B) CC rotation axis (32A) passes through CC through-hole (3E4)；CB pressing plate (32C) is fixed at the CC through-hole (3E2)；

CA rotation axis (31A) in shank upper rotary shaft unit is equipped with CA terminal pad (31A1) and CA axis (31A2)；Institute The axial centre for stating CA rotation axis (31A) is CA threaded hole (31A3)；The CA terminal pad (31A1) of CA rotation axis (31A) is fixed On a face disk of shank internal gear (3B)；CA bearing (31B) is socketed on CA axis (31A2)；In CA pressing plate (31C) Portion is equipped with CD through-hole (31C1), and CD through-hole (31C1) is for placing CB bearing (31D)；The CA terminal pad of CA rotation axis (31A) (31A1) is fixed on a face disk of shank internal gear (3B), and the CA axis (31A2) of CA rotation axis (31A) passes through CA bearing After (31B) and CB bearing (31D), CA screw (31E) is installed in the CA threaded hole (31A3) of end；Pass through CA screw The CD through-hole (31C1) that CB bearing (31D) is mounted on to CA pressing plate (31C) is realized in the connection of (31E) and CA rotation axis (31A) In, simultaneously because CA pressing plate (31C) is fixed at the CB through-hole (3E1) of shank connector (3E), to reach through CA screw (31E) compresses CA pressing plate (31C)；

CB rotation axis (32A) in shank lower rotary shaft unit is equipped with CB terminal pad (32A1) and CB axis (32A2)；Institute The axial centre for stating CB rotation axis (32A) is CB threaded hole (32A3)；The CB terminal pad (32A1) of CB rotation axis (32A) is fixed At the shank lug (4B3) of shank cover board (4B)；CB bearing (32B) is socketed on CB axis (32A2)；CB pressing plate (32C) Middle part is equipped with CE through-hole (32C1), and CE through-hole (32C1) is for placing CD bearing (32D)；The middle part of CC pressing plate (32G) is equipped with CF Through-hole (32G1), CF through-hole (32G1) is for placing CB angular encoder (32H)；The end face of CB screw (32E) is equipped with and is used for Place the C counter sink (32E1) of CA angular encoder (32F)；The CB terminal pad (32A1) of CB rotation axis (32A) is fixed on shank At the CC through-hole (3E4) of the C lower panel (3E2) of connector (3E), the CB axis (32A2) of CB rotation axis (32A) passes through CC bearing After (32B) and CD bearing (32D), CB screw (32E) is installed in the CB threaded hole (32A3) of end；Pass through CB screw The CE through-hole (32C1) that CD bearing (32D) is mounted on to CB pressing plate (32C) is realized in the connection of (32E) and CB rotation axis (32A) In, simultaneously because CB pressing plate (32C) is fixed at the hole CC (3E2) of shank connector (3E), to reach through CB screw (32E) compresses CB pressing plate (32C)；CC pressing plate (32G) is fixedly installed on CB pressing plate (32C), it is logical in the CF of CC pressing plate (32G) The CB angular encoder (32H) installed in hole (32G1) and the CA angle being mounted in the C counter sink (32E1) of CB screw (32E) Encoder (32F) cooperation obtains movement of the shank cover board top (2B) relative to the C lower panel (3E2) of shank connector (3E) Angle；

The movement of shank internal gear moving parts: under the actuation of shank internal gear (3B), CA rotation axis (31A) CD through-hole (31C1) around CA pressing plate (31C) rotates, and installs CA bearing (31B) in the CD through-hole (31C1), CB bearing (31D) It is mounted in the CB through-hole (3E3) of shank connector (3E), CA screw (31E) is threaded in the CA spiral shell of CA rotation axis (31A) In pit (31A3), by CA screw (31E) compress realize bearing axial restraint so that the axle center of CA rotation axis (31A) around CB through-hole (3E3) around shank connector (3E) rotates；

The movement of motion of knee joint component: under the actuation of shank outer gear (3A), CB rotation axis (32A) is pressed around CB The CE through-hole (32C1) of plate (32C) rotates, and installs CC bearing (32B) in the CE through-hole (32C1), and then connects around shank The CC through-hole (3E4) of part (3E) rotates；CB screw is installed in the CB threaded hole (32A3) of the end one side CB rotation axis (32A) (32E), the end CB screw (32E) are equipped with CA angular encoder (32F)；Another aspect CC pressing plate (32G) is fixed on CB pressing plate On (32C), and CB angular encoder (32H) is installed in the CF through-hole (32G1) of CC pressing plate (32G)；Pass through CA angular coding The combination of device (32F) and CB angular encoder (32H) obtains movement angle of the shank shell relative to shank connector (3E) Degree, i.e., kneed movement angle；

Knee joint (3) by the first guide rod (3F), the second guide rod (3G), the first guide rod seat (3H), the second guide rod seat (3J), Third guide rod seat (3K) and the 4th guide rod seat (3L) composition；

The lower end of first guide rod (3F) is equipped with CA through-hole (3F1)；The lower end of second guide rod (3G) is equipped with CB through-hole (3G1)； First guide rod seat (3H) is equipped with CA transverse holes (3H1) and CA longitudinal hole (3H2)；First guide rod seat (3H) is fixed by screws in On thigh lower connecting plate (2D)；CA longitudinal hole (3H2) is used to place the upper end of the first guide rod (3F)；CA transverse holes (3H1) are used for Jackscrew passes through, and the jackscrew for passing through the CA transverse holes (3H1) holds out against the first guide rod (3F) in CA longitudinal hole (3H2)；Second Guide rod seat (3J) is equipped with CB transverse holes (3J1) and CB longitudinal hole (3J2)；Second guide rod seat (3J) is fixed by screws in small On leg upper junction plate (4C)；CB longitudinal hole (3J2) is used to place the lower end of the first guide rod (3F)；CB transverse holes (3J1) are for pushing up Silk passes through, and the jackscrew for passing through the CB transverse holes (3J1) holds out against the first guide rod (3F) in CB longitudinal hole (3J2)；Third is led Pole socket (3K) is equipped with CC transverse holes (3K1) and CC longitudinal hole (3K2)；Third guide rod seat (3K) is fixed by screws under thigh On connecting plate (2D)；CC longitudinal hole (3K2) is used to place the upper end of the second guide rod (3G)；CC transverse holes (3K1) are worn for jackscrew It crosses, the jackscrew for passing through the CC transverse holes (3K1) holds out against the second guide rod (3G) in CC longitudinal hole (3K2)；4th guide rod seat (3L) is equipped with CD transverse holes (3L1) and CD longitudinal hole (3L2)；4th guide rod seat (3L), which is fixed by screws on shank, to be connected On fishplate bar (4C)；CD longitudinal hole (3L2) is used to place the upper end of the second guide rod (3G)；CD transverse holes (3L1) are passed through for jackscrew, Jackscrew across the CD transverse holes (3L1) holds out against the second guide rod (3G) in CD longitudinal hole (3L2)；

The lower end of first guide rod (3F) sequentially passes through CA longitudinal hole (3H2), the second guide rod seat of the first guide rod seat (3H) After the CB longitudinal hole (3J2) of (3J), and the lower end of the first guide rod (3F) is exposed outside the lower end of the second guide rod seat (3J)；

The lower end of second guide rod (3G) sequentially passes through CC longitudinal hole (3K2), the 4th guide rod seat of third guide rod seat (3K) After the CD longitudinal hole (3L2) of (3L), and the lower end of the second guide rod (3G) is exposed outside the lower end of the 4th guide rod seat (3L)；

Shank (4) is turned by shank shell (4A), shank cover board (4B), shank upper junction plate (4C), DA rotation axle unit, DB Shaft unit, DC rotation axle unit and thigh gravitational equilibrium coefficient adjustment component (4E) are constituted；

The shank shell lower panel (4A2) of shank shell (4A), which is equipped with, is used for shank gravitational equilibrium coefficient adjustment component The DH through-hole (4A21) that the upper end shank lead screw (4E3) passes through in (4E)；

The upper end end of shank cover board (4B) is shank annulus (4B1), and shank annulus (4B1) and shank install panel It is equipped with shank limit hole (4B2) between (4B4), is equipped with shank lug (4B3) in shank limit hole (4B2)；Shank annulus (4B1) On shank outer gear (1A) is installed；AB rotation axis (12A) is installed on shank lug (4B3)；5th right angle body (4K1) and 6th right angle body (4K2) is placed in parallel and one end is fixed in shank installation panel (4B4), and the other end and shank shell (4A) are solid It is fixed；7th right angle body (4K3) and the 8th right angle body (4K4) are placed in parallel and one end is fixed on shank installation panel On (4B4), the other end and shank shell (4A) are fixed；

Shank gravitational equilibrium coefficient adjustment component (4E) includes spring, lead screw, guide rail and sliding block；DA guide rail (4G1), DB guide rail (4G2), shank DA lead screw base (4E5) and shank DB lead screw base (4E6) are fixed on the shank installation of shank cover board (4B) On panel (4B4)；DA sliding block (4H1) is movably connected on DA guide rail (4G1)；DB sliding block (4H2) is movably connected in DB guide rail On (4G2)；

Shank nut (4E4) is socketed on shank lead screw (4E3), and shank nut (4E4) is fixed on DB sliding block (4H2) On；Shank nut (4E4) is equipped with DC pillar (4E4A), lead screw hole (4E4C), DD pillar (4E4B)；DC pillar (4E4A) is used for The DA spring lower draw-bar (4E1B) that mounting DA spring (4E1) has；DD pillar (4E4B) is for mounting the DB that DB spring (4E2) has Spring lower draw-bar (4E2B)；The one end of lead screw hole (4E4C) for shank lead screw (4E3) passes through；The outer end of DC pillar (4E4A) Equipped with the DF threaded hole for installing DF screw (4E4E)；The outer end of DD pillar (4E4B) is equipped with for installing DG screw The DG threaded hole (4E4D) of (4E4F)；One panel of DG screw (4E4F) is fixed on DB sliding block (4H2)；DG screw (4E4F) It is fixed in shank installation panel (4B4)；

The boss of shank DA lead screw base (4E5) is equipped with the countersunk head through-hole (4E51) for placing the upper end shank lead screw (4E3), sinks The lower end of head through-hole (4E51) is equipped with DG bearing (4E52), and DG bearing (4E52) is socketed in the upper end of shank lead screw (4E3)；It is small Leg DA lead screw base (4E5) is fixed in shank installation panel (4B4)；

One end of shank DB lead screw base (4E6) is fixed in shank installation panel (4B4), and the other end is equipped with for shank silk The DK through-hole (4E61) that thick stick (4E3) passes through；

Shank lead screw (4E3's) is installed as, and the upper end of shank lead screw (4E3) sequentially passes through in DG end ring (4M) The lead screw hole (4E4C) of heart through-hole, DG bearing (4L), the DK through-hole (4E61) of shank DB lead screw base (4E6), shank nut (4E4) Afterwards, it is placed in the countersunk head through-hole (4E51) of shank DA lead screw base (4E5)；The lower end of shank lead screw (4E3) is connected with shank adjusting Handle (4N)；By left-right rotary shank regulation handle (4N) for adjusting shank nut (4E4) on shank lead screw (4E3) Position, and then adjust the pretightning force of DA spring (4E1) and DB spring (4E2)；

DA connector (4J) is made of winding body and two screws (4J5,4J6), winding body be equipped with DA pillar (4J1), First winding body (4J3), the second winding body (4J4) and DB pillar (4J2)；DA pillar (4J1) is for mounting DA spring (4E1) Some DA spring upper hooks (4E1A)；DB pillar (4J2) is for mounting the DB spring upper hook (4E2A) that DB spring (4E2) has； It is shank kinking gap (4J-1) between first winding body (4J3) and the second winding body (4J4)；Shank kinking gap (4J-1) is used to wind the lower end of binding Bowden cable；The outer end of DA pillar (4J1) is equipped with the DD for installing DD screw (4J5) Threaded hole；The outer end of DB pillar (4J2) is equipped with the DE threaded hole (4J21) for installing DE screw (4J6)；First winding body (4J3) is equipped with DI through-hole (4J31), and the screw across DI through-hole (4J31) is fixed on DA sliding block (4H1)；Second winding body (4J4) is equipped with DH through-hole (4J41), and the screw across DH through-hole (4J41) is fixed on DA sliding block (4H1).

The advantages of gravity self-balancing lower limb exoskeleton structural body of the present invention, is:

1. the hip joint and knee joint on structure of the invention body are combined big using identical shaft and big pinion fits Leg, the spring of shank and lead screw cooperate, and the rotational motion for realizing joint is mapped as a characteristic point along swing connecting bar axis Mode for linear motion, so that Hookean spring may be mounted inside the connecting rod of ectoskeleton, and during joint motions, energy Corresponding torque is formed to balance the gravity of entire man-machine system.

It is a kind of lower limb of passive type 2. structure of the invention body provides power-assisted to wearer by the way of spring energy pre-storage Ectoskeleton structural body overcomes the defects of trackability existing for active lower limb exoskeleton is insufficient, storage boat ability is limited.

3. the hip joint that designs of the present invention using double shafts and size gear radius than the gear for 2:1 in conjunction with, complete The ratio between Medial Thigh Skin gear movement and the angle of hip joint movement are also 2:1.Meanwhile knee joint also utilizes double shafts and size tooth It takes turns the gear that radius ratio is 2:1 to combine, completing the ratio between the movement of shank internal gear and the angle of motion of knee joint also is 2:1.

4. the knee joint that the present invention designs is in the cooperation of auxiliary shaft, connecting rod and double shafts and big pinion gear, so that knee The movement length in joint is adjustable.

5. the initial tension of spring on hip joint and knee joint that the present invention designs is by adjusting screw nut in lead screw On position realize, and to manually adjust, expand the application range of structural body.

Detailed description of the invention

Fig. 1 is the structure chart of gravity self-balancing lower limb exoskeleton structural body of the present invention.

Figure 1A is another viewing angle constructions figure of gravity self-balancing lower limb exoskeleton structural body of the present invention.

Figure 1B is part knot of the knee joint of gravity self-balancing lower limb exoskeleton structural body of the present invention in conjunction with thigh, shank Composition.

Fig. 2 is structure chart of the leg portion of gravity self-balancing lower limb exoskeleton structural body of the present invention in conjunction with hip joint.

Fig. 2A is another viewing angle constructions figure of the leg portion of gravity self-balancing lower limb exoskeleton structural body of the present invention.

Fig. 2 B is the structure chart of the leg portion of gravity self-balancing lower limb exoskeleton structural body of the present invention.

Fig. 2 C is the exploded view of the leg portion of gravity self-balancing lower limb exoskeleton structural body of the present invention.

Fig. 2 D is another visual angle exploded view of the leg portion of gravity self-balancing lower limb exoskeleton structural body of the present invention.

Fig. 3 is structure chart of the knee joint of gravity self-balancing lower limb exoskeleton structural body of the present invention in conjunction with lower leg portion.

Fig. 3 A is another view of the knee joint of gravity self-balancing lower limb exoskeleton structural body of the present invention in conjunction with lower leg portion Corner structure figure.

Fig. 3 B is the cross-sectional view of shank upper shaft part in knee joint of the invention.

Fig. 3 C is the cross-sectional view of shank lower rotary shaft part in knee joint of the invention.

Fig. 3 D is the exploded view of shank spindle portion in knee joint of the invention.

Fig. 3 E is the structure chart of shank locating part in knee joint of the invention.

Fig. 3 F is the structure chart of guide rod part in knee joint of the invention.

Fig. 3 G is the exploded view of guide rod part in knee joint of the invention.

Fig. 4 is structure chart of the lower leg portion of gravity self-balancing lower limb exoskeleton structural body of the present invention in conjunction with knee joint.

Fig. 4 A is the lower leg portion of gravity self-balancing lower limb exoskeleton structural body of the present invention and the decomposition of kneed shaft Figure.

Fig. 4 B is the structure chart of the lower leg portion of gravity self-balancing lower limb exoskeleton structural body of the present invention.

Fig. 4 C is the exploded view of the lower leg portion of gravity self-balancing lower limb exoskeleton structural body of the present invention.

Fig. 5 is the structure chart of hip joint in gravity self-balancing lower limb exoskeleton structural body of the present invention.

Fig. 5 A is the sectional structure chart of upper rotary shaft unit in hip joint of the present invention.

Fig. 5 B is the sectional structure chart of lower rotary shaft unit in hip joint of the present invention.

Fig. 5 C is the face view structure chart of hip joint of the present invention.

Fig. 5 D is the structure chart of hip joint of the present invention.

Fig. 5 E is another viewing angle constructions figure of hip joint of the present invention.

Fig. 5 F is the exploded view of hip joint of the present invention.

Fig. 5 G is the structure chart of thigh locating part in hip joint of the invention.

Fig. 6 is the motion principle schematic diagram of leg portion of the present invention.

Fig. 7 is the motion principle schematic diagram of lower leg portion of the present invention.

Specific embodiment

Below in conjunction with drawings and examples, the present invention is described in further detail.

The present invention devises a kind of passive-type, compact-sized, gravity self-balancing lower limb exoskeleton structural body comprising has Hip joint 1, thigh 2, knee joint 3 and shank 4, and in order to realize waist accessory plate 5, thigh with human body design easy to wear Portion's accessory plate 6 and calf accessory plate 7.The upper end of thigh is hip joint, is that knee closes between the lower end of thigh and the upper end of shank Section.

Hip joint 1

Referring to shown in Fig. 1, Figure 1A, Fig. 5, Fig. 5 A, Fig. 5 B, Fig. 5 C, Fig. 5 D, Fig. 5 F, hip joint 1 is by thigh outer gear Under 1A, Medial Thigh Skin gear 1B, thigh locating part 1C, thigh lock 1D, thigh connector 1E, thigh upper rotary shaft unit and thigh Axle unit is rotated to constitute；The thigh upper rotary shaft unit (as shown in Figure 5A) include AA rotation axis 11A, AA bearing 11B, AA pressing plate 11C, AB bearing 11D and AA screw 11E；The thigh lower rotary shaft unit (as shown in Figure 5 B) includes AB rotation axis The angle 12A, AC bearing 12B, AC pressing plate 12C, AD bearing 12D, AB screw 12E, AA angular encoder 12F, AC pressing plate 12G and AB Spend encoder 12H.Wherein, the radius ratio of thigh outer gear 1A and Medial Thigh Skin gear 1B is 2:1.Medial Thigh Skin gear movement The ratio between angle moved with hip joint is 2:1.

As illustrated in figure 5f, thigh outer gear 1A is the semicircle ring structure equipped with internal tooth 1A1.

As illustrated in figure 5f, Medial Thigh Skin gear 1B is the disc structure equipped with external tooth 1B1.The one of Medial Thigh Skin gear 1B It is fixed with the AA terminal pad of AA rotation axis 11A on the disk of face, thigh limit is fixed on the another side disk of Medial Thigh Skin gear 1B Position part 1C.

As shown in Fig. 5 F, Fig. 5 G, thigh locating part 1C be equipped with lock pin 1C1, the lock pin 1C1 be equipped with upright lock hole 1C2, The upright lock column 1D1 of AA through-hole 1C3 and limiting slot 1C4, the upright lock hole 1C2 for thigh lock 1D is passed through.Across upright lock hole 1C2 Thigh lock 1D cross locking column 1D2 be placed in AA through-hole 1C3.Thigh locks limit of the upright lock column 1D1 in thigh locating part 1C of 1D It is moved in slot 1C4.

As illustrated in figure 5f, thigh lock 1D is equipped with cross locking column 1D2 and upright lock column 1D1.

As shown in Fig. 5 F, Fig. 5 A, Fig. 5 B, thigh connector 1E is equipped with A top panel 1E1 and A lower panel 1E2.Above A Plate 1E1 is used to fix with one end of the EA connecting plate 5A of waist accessory plate 5.A lower panel 1E2 is logical equipped with AB through-hole 1E3 and AC Hole 1E4.The AB through-hole 1E3 is socketed on the axis of AA rotation axis 11A for placing AA bearing 11B, AA bearing 11B, that is, is socketed There is the AA rotation axis 11A of AA bearing 11B to pass through AB through-hole 1E3.AA pressing plate 11C is fixed at the AB through-hole 1E3.(such as Fig. 5 B It is shown) the AC through-hole 1E4 is socketed on the axis of AC rotation axis 12A for placing AC bearing 12B, AC bearing 12B, that is, is socketed There is the AC rotation axis 12A of AC bearing 12B to pass through AC through-hole 1E4.AB pressing plate 12C is fixed at the AC through-hole 1E4.

AA rotation axis 11A in thigh upper rotary shaft unit is equipped with AA terminal pad 11A1 and AA axis 11A2；The AA turns The axial centre of moving axis 11A is AA threaded hole 11A3.The AA terminal pad 11A1 of AA rotation axis 11A is fixed on Medial Thigh Skin gear On a face disk of 1B.AA bearing 11B is socketed on AA axis 11A2.The middle part of AA pressing plate 11C is equipped with AD through-hole 11C1, and AD is logical Hole 11C1 is for placing AB bearing 11D.The assembly of thigh upper rotary shaft unit as shown in Figure 5A is the AA of AA rotation axis 11A Terminal pad 11A1 is fixed on a face disk of Medial Thigh Skin gear 1B, and the AA axis 11A2 of AA rotation axis 11A passes through AA bearing 11B After AB bearing 11D, AA screw 11E is installed in the AA threaded hole 11A3 of end.Pass through AA screw 11E and AA rotation axis AB bearing 11D is mounted in the AD through-hole 11C1 of AA pressing plate 11C by the connection realization of 11A, simultaneously because AA pressing plate 11C is fixed on At the AB through-hole 1E3 of the A lower panel 1E2 of thigh connector 1E, AA pressing plate 11C is compressed by AA screw 11E to reach.

AB rotation axis 12A in thigh lower rotary shaft unit is equipped with AB terminal pad 12A1 and AB axis 12A2；The AB turns The axial centre of moving axis 12A is AB threaded hole 12A3.The AB terminal pad 12A1 of AB rotation axis 12A is fixed on thigh cover board 2B's At thigh lug 2B3.AB bearing 12B is socketed on AB axis 12A2.The middle part of AB pressing plate 12C is equipped with AE through-hole 12C1, AE through-hole 12C1 is for placing AD bearing 12D.The middle part of AC pressing plate 12G is equipped with AF through-hole 12G1, AF through-hole 12G1 for placing two actors playing the same role in a theatrical work degree Encoder 12H.The end face of AB screw 12E is equipped with the A counter sink 12E1 for placing AA angular encoder 12F.Such as Fig. 5 B Shown in the assembly of thigh lower rotary shaft unit be that the AB terminal pad 12A1 of AB rotation axis 12A is fixed on the A of thigh connector 1E At the AC through-hole 1E4 of lower panel 1E2, after the AB axis 12A2 of AB rotation axis 12A passes through AC bearing 12B and AD bearing 12D, holding AB screw 12E is installed in the AB threaded hole 12A3 in portion.It is realized by the connection of AB screw 12E and AB rotation axis 12A by AD axis It holds 12D to be mounted in the AE through-hole 12C1 of AB pressing plate 12C, simultaneously because AB pressing plate 12C is fixed under the A of thigh connector 1E At the hole the AC 1E4 of panel 1E2, AB pressing plate 12C is compressed by AB screw 12E to reach.It is fixedly mounted on AB pressing plate 12C There is AC pressing plate 12G, the two actors playing the same role in a theatrical work degree encoder 12H installed in the AF through-hole 12G1 of AC pressing plate 12G and is mounted on AB screw 12E's AA angular encoder 12F cooperation in A counter sink 12E1, obtains under A of the top thigh cover board 2B relative to thigh connector 1E The movement angle of panel 1E2.

The lower limb exoskeleton structural body for the gravity self-balancing that the present invention designs is worn on human body, hip joint of the invention 1 movement are as follows: when thigh outer gear 1A drives Medial Thigh Skin gear 1B movement, thigh locating part 1C is with Medial Thigh Skin tooth 1B movement is taken turns, to form thigh motion mode (standing state-is anteflexion, and state-extendes back state, as shown in Fig. 6).Thigh fortune Flowing mode makes BA spring 2E1 and BB spring 2E2 form the arm of force to the rotation center of Medial Thigh Skin gear 1B.Because of initial tension of spring The auxiliary torque generated with the arm of force overcomes the gravity torque generated when thigh movement.

The movement of Medial Thigh Skin gear movement component: under the actuation of Medial Thigh Skin gear 1B, 11A is around AA for AA rotation axis The AD through-hole 11C1 of pressing plate 11C is rotated, and installation AA bearing 11B, AB bearing 11D is mounted on thigh company in the AD through-hole 11C1 In the AB through-hole 1E3 of fitting 1E, AA screw 11E is threaded in the AA threaded hole 11A3 of AA rotation axis 11A, passes through AA screw 11E compresses the axial restraint for realizing bearing, so that the axle center of AA rotation axis 11A is around the AB through-hole 1E3 around thigh connector 1E Rotation.

The movement of hip joint moving parts: under the actuation of thigh outer gear 1A, AB rotation axis 12A is around AB pressing plate 12C AE through-hole 12C1 rotation, AC bearing 12B is installed, and then around the AC through-hole of thigh connector 1E in the AE through-hole 12C1 1E4 rotation；The installation of the end screw 12E AB screw 12E, AB is installed in the AB threaded hole 12A3 of the end one side AB rotation axis 12A There is AA angular encoder 12F；Another aspect AC pressing plate 12G is fixed on AB pressing plate 12C, and the AF through-hole 12G1 of AC pressing plate 12G In two actors playing the same role in a theatrical work degree encoder 12H is installed.Thigh is obtained by the combination of AA angular encoder 12F and two actors playing the same role in a theatrical work degree encoder 12H Movement angle of the shell (thigh shell 2A and thigh cover board 2B) relative to thigh connector 1E, the i.e. movement angle of hip joint.

Thigh 2

Referring to shown in Fig. 1, Figure 1A, Fig. 2, Fig. 2A, Fig. 2 B, Fig. 5 C, figure D, Fig. 5 F, thigh 2 is by thigh shell 2A, thigh lid Plate 2B, thick link 2C, thigh lower connecting plate 2D, BA rotation axle unit, BB rotation axle unit, BC rotation axle unit and thigh weight Dynamic balance coefficient adjustment component 2E is constituted.

As shown in Figure 2 A, the thigh housing face-plate 2A1 of thigh shell 2A is equipped with the BG through-hole passed through for cable 2A11.The thigh shell lower panel 2A2 of thigh shell 2A is equipped with for thigh in thigh gravitational equilibrium coefficient adjustment component 2E The BH through-hole 2A21 that the upper end lead screw 2E3 passes through.

As shown in Fig. 2A, Fig. 2 B, the upper end end of thigh cover board 2B is thigh annulus 2B1, thigh annulus 2B1 and thigh It installs and is equipped with thigh limit hole 2B2 between panel 2B4, be equipped with thigh lug 2B3 in thigh limit hole 2B2.On thigh annulus 2B1 Thigh outer gear 1A is installed.AB rotation axis 12A is installed on thigh lug 2B3.In the present invention, thigh shell 2A and big Leg cover board 2B is connected and fixed by four right angle bodies (2K1,2K2,2K3,2K4), i.e. the first right angle body 2K1 and the second right angle body 2K2 is placed in parallel and one end is fixed on thigh installation panel 2B4, and the other end is fixed with thigh shell 2A；Third right angle body 2K3 and the 4th right angle body 2K4 is placed in parallel and one end is fixed on thigh installation panel 2B4, the other end and thigh Shell 2A is fixed.

As shown in Figure 2 A, the upper end of thick link 2C is equipped with BD through-hole 2C1, and the lower end of thick link 2C is equipped with BE through-hole 2C2.On the one hand BD through-hole 2C1 is used to place BB bearing 21D, BD through-hole 2C1 and is on the other hand used for BA screw 21E passes through.BE is logical On the one hand hole 2C2 is used to place BD bearing 22D, BE through-hole 2C2 and is on the other hand used for BB screw 22E passes through.

As shown in Figure 2 A, thigh lower connecting plate 2D is equipped with BF through-hole 2D1, BF through-hole 2D1 and is used to place BE bearing 23B, BE bearing 23B is socketed on BC rotation axis 23A.

As shown in Fig. 2A, Fig. 2 B, Fig. 2 C, thigh gravitational equilibrium coefficient adjustment component 2E include spring, lead screw, guide rail and Sliding block.BA guide rail 2G1, BB guide rail 2G2, thigh BA lead screw base 2E5 and thigh BB lead screw base 2E6 are fixed on thigh cover board 2B's Thigh is installed on panel 2B4.BA sliding block 2H1 is movably connected on BA guide rail 2G1.BB sliding block 2H2 is movably connected in BB guide rail On 2G2.

As shown in Figure 2 C, thigh nut 2E4 is socketed on thigh lead screw 2E3.Thigh nut 2E4 is equipped with BC pillar 2E4A, lead screw hole 2E4C, BD pillar 2E4B；BC pillar 2E4A is for mounting the BA spring lower draw-bar 2E1B that BA spring 2E1 has； BD pillar 2E4B is for mounting the BB spring lower draw-bar 2E2B that BB spring 2E2 has；Lead screw hole 2E4C is used for the one of thigh lead screw 2E3 End across；The outer end of BC pillar 2E4A is equipped with the BF threaded hole for installing BF screw 2E4E；The outer end of BD pillar 2E4B is equipped with For installing the BG threaded hole 2E4D of BG screw 2E4F.A panel of BG screw 2E4F is fixed on BB sliding block 2H2.BG screw 2E4F is fixed on thigh installation panel 2B4.

As shown in Figure 2 C, the boss of thigh BA lead screw base 2E5 is equipped with the countersunk head through-hole for placing the upper end thigh lead screw 2E3 2E51, the lower end of countersunk head through-hole 2E51 are equipped with the upper end that BG bearing 2E52, BG bearing 2E52 is socketed in thigh lead screw 4E3.Greatly Leg BA lead screw base 2E5 is fixed on thigh installation panel 2B4.

As shown in Figure 2 C, thigh BB lead screw base 2E6 is L-configuration, and one end is fixed on thigh installation panel 2B4, the other end It is equipped with the BK through-hole 2E61 passed through for thigh lead screw 2E3.

In the present invention, thigh lead screw 2E3 is installed as, and the upper end of thigh lead screw 2E3 sequentially passes through BG end ring 2M Central through hole, BG bearing 2L, the BK through-hole 2E61 of thigh BB lead screw base 2E6, thigh nut 2E4 lead screw hole 2E4C after, set In the countersunk head through-hole 2E51 of thigh BA lead screw base 2E5；The lower end of thigh lead screw 2E3 is connected with thigh regulation handle 2N.Pass through Left-right rotary thigh regulation handle 2N adjusts BA spring for adjusting position of the thigh nut 2E4 on thigh lead screw 2E3 The pretightning force of 2E1 and BB spring 2E2.

As shown in Figure 2 C, BA connector 2J is made of winding body and two screws (2J5,2J6), and winding body is equipped with BA branch Column 2J1, the first winding body 2J3, the second winding body 2J4 and BB pillar 2J2；BA pillar 2J1 is for mounting what BA spring 2E1 had BA spring upper hook 2E1A；BB pillar 2J2 is for mounting the BB spring upper hook 2E2A that BB spring 2E2 has.First winding body It is thigh kinking gap 2J-1 between 2J3 and the second winding body 2J4；Thigh kinking gap 2J-1 is for winding binding Bowden The lower end of line.The outer end of BA pillar 2J1 is equipped with the BD threaded hole for installing BD screw 2J5；The outer end of BB pillar 2J2, which is equipped with, to be used In the BE threaded hole 2J21 of installation BE screw 2J6.First winding body 2J3 is equipped with BI through-hole 2J31, across BI through-hole 2J31's Screw is fixed on BA sliding block 2H1.Second winding body 2J4 is equipped with BH through-hole 2J41, and the screw across BH through-hole 2J41 is fixed On BA sliding block 2H1.

As shown in Figure 2 C, BA Bowden cable fixing piece 2F1 is equipped with the BM through-hole 2F12 passed through for BA pipe cap 2F11.BB Bowden cable fixing piece 2F2 is equipped with the BL through-hole 2F22 passed through for BB pipe cap 2F21.BA Bowden cable fixing piece 2F1 and BB Bao Line fixing piece 2F2 is stepped on to be separately fixed on thigh cover board 2B.BA pipe cap 2F11 and BB pipe cap 2F21 is used for the Bowden of leg portion Line passes through.Bowden cable one end of leg portion is fixed on thigh lock 1D, and the other end sequentially passes through BA pipe cap 2F11, BB pipe cap After 2F21, it is wrapped on BA connector 2J.Using the Bowden cable of 2 pipe cap guidance leg portions, leg portion is conducive to prevent The Bowden cable that occurs during the motion of Bowden cable swing.

As shown in Figure 2 A, it includes BA rotation axis 21A, BA bearing 21B, BA pressing plate 21C, BB bearing that BA, which rotates axle unit, 21D and BA screw 21E.BA rotates the BA rotation axis 21A in axle unit and is equipped with BA terminal pad 21A1 and BA axis 21A2；It is described The axial centre of BA rotation axis 21A is BA threaded hole 21A3.The BA terminal pad 21A1 of BA rotation axis 21A is fixed on thigh connection At the AC through-hole 1E4 of the A lower panel 1E2 of part 1E (as illustrated in figure 5f).BA bearing 21B is socketed on BA axis 21A2.BA pressing plate 21C Middle part be equipped with BA through-hole 21C1, BA through-hole 21C1 for placing BB bearing 21D.BA rotation axle unit as shown in Figure 2 A Assembly is that the BA terminal pad 21A1 of BA rotation axis 21A is fixed on the A lower panel 1E2 of thigh connector 1E, BA rotation axis 21A BA axis 21A2 pass through BA bearing 21B and BB bearing 21D after, install BA screw 21E in the BA threaded hole 21A3 of end. It is realized by the connection of BA screw 21E and BA rotation axis 21A and BB bearing 21D is mounted in the BA through-hole 21C1 of BA pressing plate 21C, Simultaneously because BA pressing plate 21C is fixed at the BD through-hole 2C1 of the upper end of thick link 2C, to realize BA rotation axle unit and big The connection of the upper end of leg connecting rod 2C.

As shown in Figure 2 A, it includes BB rotation axis 22A, BC bearing 22B, BB pressing plate 22C, BD bearing that BB, which rotates axle unit, 22D and BB screw 22E.BB rotates the BB rotation axis 22A in axle unit and is equipped with BB terminal pad 22A1 and BB axis 22A2；It is described The axial centre of BB rotation axis 22A is BB threaded hole 22A3.The BB terminal pad 22A1 of BB rotation axis 22A, which is fixed under thigh, to be connected One end of fishplate bar 2D.BC bearing 22B is socketed on BB axis 22A2.The middle part of BB pressing plate 22C is equipped with BB through-hole 22C1, BB through-hole 22C1 is for placing BD bearing 22D.The assembly of BB rotation axle unit as shown in Figure 2 A is the BB terminal pad of BB rotation axis 22A 22A1 is fixed at the BE through-hole 2C2 of the lower end thick link 2C, and the BB axis 22A2 of BB rotation axis 22A passes through BC bearing 22B and BD After bearing 22D, BB screw 22E is installed in the BB threaded hole 22A3 of end.Pass through BB screw 22E's and BB rotation axis 22A Connection is realized and BD bearing 22D is mounted in the BB through-hole 22C1 of BB pressing plate 22C, simultaneously because BB pressing plate 22C is fixed on thigh At the BE through-hole 2C2 of the lower end of connecting rod 2C, to realize the connection of BB rotation axle unit and the lower end of thick link 2C.

As shown in Figure 2 C, it includes BC rotation axis 23A, BE bearing 23B, BC pressing plate 23C, BF bearing that BC, which rotates axle unit, 23D and BC screw 23E.BC rotates the BC rotation axis 23A in axle unit and is equipped with BC terminal pad 23A1 and BC axis 23A2；It is described The axial centre of BC rotation axis 23A is BC threaded hole 23A3.The BC terminal pad 23A1 of BC rotation axis 23A is fixed on thigh cover board The lower end of 2B, and be socketed with BE bearing 23B, BE bearing 23B on the BC axis 23A2 of BC rotation axis 23A and be placed in thigh lower connecting plate In the BF through-hole 2D1 of 2D (as shown in Figure 2 A).The middle part of BC pressing plate 23C is equipped with BC through-hole 23C1, BC through-hole 23C1 for placing BF bearing 23D.The assembly of BC rotation axle unit as shown in Figure 2 A is that the BC terminal pad 23A1 of BC rotation axis 23A is fixed on greatly The lower end of leg cover board 2B, after the BC axis 23A2 of BC rotation axis 23A passes through BE bearing 23B and BF bearing 23D, the BC spiral shell in end BC screw 23E is installed in pit 23A3.It is realized by the connection of BC screw 23E and BC rotation axis 23A and BF bearing 23D is installed In the BC through-hole 23C1 of BC pressing plate 23C, simultaneously because BC pressing plate 23C is fixed on the BF through-hole 2D1 of thigh lower connecting plate 2D Place, to realize the connection of BC rotation axle unit and thigh lower connecting plate 2D.

In the present invention, two dotted lines drawn as shown in Figure 2 constitute a parallelogram by four rotation axis, To guarantee in hip joint motion process, two dotted lines remain parallel.Four rotation axis refer to BA rotation axis 21A, AB Rotation axis 12A, BC rotation axis 23A and BB rotation axis 22A.

Knee joint 3

Referring to shown in Fig. 1, Figure 1A, Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 C, Fig. 3 D, knee joint 3 is by shank outer gear 3A, shank Internal gear 3B, shank locating part 3C, shank lock 3D, shank connector 3E, shank upper rotary shaft unit and shank lower rotary shaft Unit is constituted；The shank upper rotary shaft unit (as shown in Figure 3B) includes CA rotation axis 31A, CA bearing 31B, CA pressing plate 31C, CB bearing 31D and CA screw 31E；The shank lower rotary shaft unit (as shown in Figure 3 C) includes CB rotation axis 32A, CC Bearing 32B, CC pressing plate 32C, CD bearing 32D, CB screw 32E, CA angular encoder 32F, CC pressing plate 32G and CB angular coding Device 32H.Wherein, the radius ratio of shank outer gear 3A and shank internal gear 3B is 2:1.The movement of shank internal gear is closed with knee Saving the ratio between angle of movement is 2:1.

As shown in Figure 3D, shank outer gear 3A is the semicircle ring structure equipped with internal tooth 3A1.

As shown in Figure 3D, shank internal gear 3B is the disc structure equipped with external tooth 3B1.The one of shank internal gear 3B It is fixed with the CA terminal pad of CA rotation axis 31A on the disk of face, shank limit is fixed on the another side disk of shank internal gear 3B Position part 3C.

As shown in Fig. 3 D, Fig. 3 E, shank locating part 3C be equipped with lock pin 3C1, the lock pin 3C1 be equipped with upright lock hole 3C2, The upright lock column 3D1 of CA through-hole 3C3 and limiting slot 3C4, the upright lock hole 3C2 for shank lock 3D is passed through.Across upright lock hole 3C2 Shank lock 3D cross locking column 3D2 be placed in CA through-hole 3C3.Shank locks limit of the upright lock column 3D1 in shank locating part 3C of 3D It is moved in slot 3C4.

As shown in Figure 3D, shank lock 3D is equipped with cross locking column 3D2 and upright lock column 3D1.

As shown in Fig. 3 D, Fig. 3 B, Fig. 3 C, shank connector 3E is equipped with CB through-hole 3E1 and CC through-hole 3E2.The CB is logical Hole 3E1 is socketed on the axis of CA rotation axis 31A for placing CA bearing 31B, CA bearing 31B, that is, is socketed with CA bearing 31B's CA rotation axis 31A passes through CB through-hole 3E3.CA pressing plate 31C is fixed at the CB through-hole 3E1.(as shown in Figure 3 C) described CC is logical Hole 3E2 is socketed on the axis of CC rotation axis 32A for placing CC bearing 32B, CC bearing 32B, that is, is socketed with CC bearing 32B's CC rotation axis 32A passes through CC through-hole 3E4.CB pressing plate 32C is fixed at the CC through-hole 3E2.

CA rotation axis 31A in shank upper rotary shaft unit is equipped with CA terminal pad 31A1 and CA axis 31A2；The CA turns The axial centre of moving axis 31A is CA threaded hole 31A3.The CA terminal pad 31A1 of CA rotation axis 31A is fixed on shank internal gear On a face disk of 3B.CA bearing 31B is socketed on CA axis 31A2.The middle part of CA pressing plate 31C is equipped with CD through-hole 31C1, CD through-hole 31C1 is for placing CB bearing 31D.The assembly of shank upper rotary shaft unit as shown in Figure 3B is that the CA of CA rotation axis 31A connects It meets disk 31A1 to be fixed on a face disk of shank internal gear 3B, the CA axis 31A2 of CA rotation axis 31A passes through CA bearing 31B After CB bearing 31D, CA screw 31E is installed in the CA threaded hole 31A3 of end.Pass through CA screw 31E and CA rotation axis CB bearing 31D is mounted in the CD through-hole 31C1 of CA pressing plate 31C by the connection realization of 31A, simultaneously because CA pressing plate 31C is fixed on At the CB through-hole 3E1 of shank connector 3E, CA pressing plate 31C is compressed by CA screw 31E to reach.

CB rotation axis 32A in shank lower rotary shaft unit is equipped with CB terminal pad 32A1 and CB axis 32A2；The CB turns The axial centre of moving axis 32A is CB threaded hole 32A3.The CB terminal pad 32A1 of CB rotation axis 32A is fixed on shank cover board 4B's At shank lug 4B3.CB bearing 32B is socketed on CB axis 32A2.The middle part of CB pressing plate 32C is equipped with CE through-hole 32C1, CE through-hole 32C1 is for placing CD bearing 32D.The middle part of CC pressing plate 32G is equipped with CF through-hole 32G1, CF through-hole 32G1 for placing CB angle Encoder 32H.The end face of CB screw 32E is equipped with the C counter sink 32E1 for placing CA angular encoder 32F.Such as Fig. 3 C Shown in the assembly of shank lower rotary shaft unit be that the CB terminal pad 32A1 of CB rotation axis 32A is fixed on the C of shank connector 3E At the CC through-hole 3E4 of lower panel 3E2, after the CB axis 32A2 of CB rotation axis 32A passes through CC bearing 32B and CD bearing 32D, holding CB screw 32E is installed in the CB threaded hole 32A3 in portion.It is realized by the connection of CB screw 32E and CB rotation axis 32A by CD axis It holds 32D to be mounted in the CE through-hole 32C1 of CB pressing plate 32C, simultaneously because CB pressing plate 32C is fixed on the hole CC of shank connector 3E At 3E2, CB pressing plate 32C is compressed by CB screw 32E to reach.CC pressing plate 32G is fixedly installed on CB pressing plate 32C, It the CB angular encoder 32H that is installed in the CF through-hole 32G1 of CC pressing plate 32G and is mounted in the C counter sink 32E1 of CB screw 32E CA angular encoder 32F cooperation, obtain movement of the top shank cover board 2B relative to the C lower panel 3E2 of shank connector 3E Angle.

The lower limb exoskeleton structural body for the gravity self-balancing that the present invention designs is worn on human body, knee joint of the invention 3 movement are as follows: when shank outer gear 3A drives shank internal gear 3B movement, shank locating part 3C is with shank inner teeth 3B movement is taken turns, to form shank motion mode (standing state-flexion, as shown in Figure 7).Shank motion mode makes BA spring 2E1 and BB spring 2E2 forms the arm of force to the rotation center of shank internal gear 3B.Because initial tension of spring and the arm of force generate Auxiliary torque, the gravity torque that generates when overcoming shank movement.

The movement of shank internal gear moving parts: under the actuation of shank internal gear 3B, 31A is around CA for CA rotation axis The CD through-hole 31C1 of pressing plate 31C is rotated, and installation CA bearing 31B, CB bearing 31D is mounted on shank company in the CD through-hole 31C1 In the CB through-hole 3E3 of fitting 3E, CA screw 31E is threaded in the CA threaded hole 31A3 of CA rotation axis 31A, passes through CA screw 31E compresses the axial restraint for realizing bearing, so that the axle center of CA rotation axis 31A is around the CB through-hole 3E3 around shank connector 3E Rotation.

The movement of motion of knee joint component: under the actuation of shank outer gear 3A, CB rotation axis 32A is around CB pressing plate 32C CE through-hole 32C1 rotation, CC bearing 32B is installed, and then around the CC through-hole of shank connector 3E in the CE through-hole 32C1 3E4 rotation；The installation of the end screw 32E CB screw 32E, CB is installed in the CB threaded hole 32A3 of the end one side CB rotation axis 32A There is CA angular encoder 32F；Another aspect CC pressing plate 32G is fixed on CB pressing plate 32C, and the CF through-hole 32G1 of CC pressing plate 32G In CB angular encoder 32H is installed.Shank is obtained by the combination of CA angular encoder 32F and CB angular encoder 32H Movement angle of the shell (shank shell 2A and shank cover board 2B) relative to shank connector 3E, i.e., kneed movement angle.

Referring to shown in Fig. 1, Figure 1A, Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 C, Fig. 3 D, knee joint 3 is by the first guide rod 3F, the second guide rod 3G, the first guide rod seat 3H, the second guide rod seat 3J, third guide rod seat 3K and the 4th guide rod seat 3L composition.

The lower end of first guide rod 3F is equipped with CA through-hole 3F1.The lower end of second guide rod 3G is equipped with CB through-hole 3G1.First guide rod Seat 3H is equipped with CA transverse holes 3H1 and CA longitudinal hole 3H2.First guide rod seat 3H is fixed by screws in thigh lower connecting plate 2D On.CA longitudinal hole 3H2 is used to place the upper end of the first guide rod 3F.CA transverse holes 3H1 is passed through for jackscrew, and it is lateral to pass through the CA The jackscrew of hole 3H1 holds out against the first guide rod 3F in CA longitudinal hole 3H2.Second guide rod seat 3J is equipped with CB transverse holes 3J1 and CB Longitudinal hole 3J2.Second guide rod seat 3J is fixed by screws on shank upper junction plate 4C.CB longitudinal hole 3J2 is for placing first The lower end of guide rod 3F.CB transverse holes 3J1 is passed through for jackscrew, and the jackscrew across the CB transverse holes 3J1 pushes up the first guide rod 3F Tightly in CB longitudinal hole 3J2.Third guide rod seat 3K is equipped with CC transverse holes 3K1 and CC longitudinal hole 3K2.Third guide rod seat 3K is logical Screw is crossed to be fixed on thigh lower connecting plate 2D.CC longitudinal hole 3K2 is used to place the upper end of the second guide rod 3G.CC transverse holes 3K1 It is passed through for jackscrew, the jackscrew across the CC transverse holes 3K1 holds out against the second guide rod 3G in CC longitudinal hole 3K2.4th leads Pole socket 3L is equipped with CD transverse holes 3L1 and CD longitudinal hole 3L2.4th guide rod seat 3L is fixed by screws in shank upper junction plate 4C On.CD longitudinal hole 3L2 is used to place the upper end of the second guide rod 3G.CD transverse holes 3L1 is passed through for jackscrew, and it is lateral to pass through the CD The jackscrew of hole 3L1 holds out against the second guide rod 3G in CD longitudinal hole 3L2.

In the present invention, the lower end of the first guide rod 3F sequentially passes through CA longitudinal hole 3H2, the second guide rod of the first guide rod seat 3H After the CB longitudinal hole 3J2 of seat 3J, and the lower end of the first guide rod 3F is exposed outside the lower end of the second guide rod seat 3J.In the present invention In, the lower end of the second guide rod 3G sequentially passes through the CD longitudinal hole of the CC longitudinal hole 3K2 of third guide rod seat 3K, the 4th guide rod seat 3L After 3L2, and the lower end of the second guide rod 3G is exposed outside the lower end of the 4th guide rod seat 3L.

In the present invention, when adjusting thigh length, the jackscrew on the second guide rod seat 3J and the 4th guide rod seat 3L is first unclamped, Make two guide rod seats (the second guide rod seat 3J and the 4th guide rod seat 3L) at respective guide rod (the first guide rod 3F and the second guide rod 3G) Upper movement；After regulating length, then the jackscrew on the second guide rod seat 3J and the 4th guide rod seat 3L tightened, reaches guide rod seat and lead The fixation of bar.

Shank 4

Referring to shown in Fig. 1, Figure 1A, Fig. 4, Fig. 4 A, Fig. 4 B, Fig. 4 C, shank 4 is by shank shell 4A, shank cover board 4B, shank Upper junction plate 4C, DA rotate axle unit, DB rotation axle unit, DC rotation axle unit and thigh gravitational equilibrium coefficient adjustment component 4E It constitutes.

As shown in Figure 4 A, the shank shell lower panel 4A2 of shank shell 4A, which is equipped with, is used for shank gravitational equilibrium coefficient tune The DH through-hole 4A21 that the upper end shank lead screw 4E3 passes through in section component 4E.

As shown in Fig. 4 A, Fig. 4 B, the upper end end of shank cover board 4B is shank annulus 4B1, shank annulus 4B1 and shank It installs and is equipped with shank limit hole 4B2 between panel 4B4, be equipped with shank lug 4B3 in shank limit hole 4B2.On shank annulus 4B1 Shank outer gear 1A is installed.AB rotation axis 12A is installed on shank lug 4B3.In the present invention, shank shell 4A with it is small Leg cover board 4B is connected and fixed by four right angle bodies (4K1,4K2,4K3,4K4), i.e. the 5th right angle body 4K1 and the 6th right angle body 4K2 is placed in parallel and one end is fixed on shank installation panel 4B4, and the other end is fixed with shank shell 4A；7th right angle body 4K3 and the 8th right angle body 4K4 is placed in parallel and one end is fixed on shank installation panel 4B4, the other end and shank Shell 4A is fixed.

As shown in Fig. 4 A, Fig. 4 B, Fig. 4 C, shank gravitational equilibrium coefficient adjustment component 4E include spring, lead screw, guide rail and Sliding block.DA guide rail 4G1, DB guide rail 4G2, shank DA lead screw base 4E5 and shank DB lead screw base 4E6 are fixed on shank cover board 4B's Shank is installed on panel 4B4.DA sliding block 4H1 is movably connected on DA guide rail 4G1.DB sliding block 4H2 is movably connected in DB guide rail 4G2 On.

As shown in Figure 4 C, shank nut 4E4 is socketed on shank lead screw 4E3, and shank nut 4E4 is fixed on DB sliding block On 4H2.Shank nut 4E4 is equipped with DC pillar 4E4A, lead screw hole 4E4C, DD pillar 4E4B；DC pillar 4E4A is for mounting DA The DA spring lower draw-bar 4E1B that spring 4E1 has；DD pillar 4E4B is for mounting the DB spring lower draw-bar 4E2B that DB spring 4E2 has； The one end of lead screw hole 4E4C for shank lead screw 4E3 passes through；The outer end of DC pillar 4E4A is equipped with for installing DF screw 4E4E's DF threaded hole；The outer end of DD pillar 4E4B is equipped with the DG threaded hole 4E4D for installing DG screw 4E4F.DG screw 4E4F's One panel is fixed on DB sliding block 4H2.DG screw 4E4F is fixed on shank installation panel 4B4.

As shown in Figure 4 C, the boss of shank DA lead screw base 4E5 is equipped with the countersunk head through-hole for placing the upper end shank lead screw 4E3 4E51, the lower end of countersunk head through-hole 4E51 are equipped with the upper end that DG bearing 4E52, DG bearing 4E52 is socketed in shank lead screw 4E3.It is small Leg DA lead screw base 4E5 is fixed on shank installation panel 4B4.

As shown in Figure 4 C, one end of shank DB lead screw base 4E6 is fixed on shank installation panel 4B4, and the other end is equipped with The DK through-hole 4E61 passed through for shank lead screw 4E3.

In the present invention, shank lead screw 4E3 is installed as, and the upper end of shank lead screw 4E3 sequentially passes through DG end ring 4M Central through hole, DG bearing 4L, the DK through-hole 4E61 of shank DB lead screw base 4E6, shank nut 4E4 lead screw hole 4E4C after, set (DG bearing 4E52, DG bearing 4E52 is installed in countersunk head through-hole 4E51 in the countersunk head through-hole 4E51 of shank DA lead screw base 4E5 Inner ring be socketed in the upper end of shank lead screw 4E3)；The lower end of shank lead screw 4E3 is connected with shank regulation handle 4N.Pass through left and right Rotation shank regulation handle 4N for adjusting position of the shank nut 4E4 on shank lead screw 4E3, and then adjust DA spring 4E1 and The pretightning force of DB spring 4E2.

As shown in Figure 4 C, DA connector 4J is made of winding body and two screws (4J5,4J6), and winding body is equipped with DA branch Column 4J1, the first winding body 4J3, the second winding body 4J4 and DB pillar 4J2；DA pillar 4J1 is for mounting what DA spring 4E1 had DA spring upper hook 4E1A；DB pillar 4J2 is for mounting the DB spring upper hook 4E2A that DB spring 4E2 has.First winding body It is shank kinking gap 4J-1 between 4J3 and the second winding body 4J4；Shank kinking gap 4J-1 is for winding binding Bowden The lower end of line.The outer end of DA pillar 4J1 is equipped with the DD threaded hole for installing DD screw 4J5；The outer end of DB pillar 4J2, which is equipped with, to be used In the DE threaded hole 4J21 of installation DE screw 4J6.First winding body 4J3 is equipped with DI through-hole 4J31, passes through DI through-hole 4J31 Screw be fixed on DA sliding block 4H1.Second winding body 4J4 is equipped with DH through-hole 4J41, and the screw across DH through-hole 4J41 is solid It is scheduled on DA sliding block 4H1.

As shown in Figure 4 C, DB Bowden cable fixing piece 4F2 is equipped with the DL through-hole 4F21 passed through for pipe cap 4F1.DB Bowden Line fixing piece 4F2 is fixed on shank cover board 4B.Bowden cable of the pipe cap 4F1 for lower leg portion passes through.The Bowden of lower leg portion Line one end is fixed on shank lock 4D, after the other end passes through pipe cap 4F1, is wrapped on DA connector 4J.It is guided using pipe cap 4F1 The Bowden cable of lower leg portion is conducive to prevent the Bowden cable swing that the Bowden cable of lower leg portion occurs during the motion.

Waist accessory plate 5

Referring to shown in Fig. 1, Figure 1A, waist accessory plate 5 is made of muti-piece connecting plate；Wherein, one end peace of EA connecting plate 5A On the A top panel 1E1 of thigh connector 1E, EC company is installed between the other end and EB connecting plate 5B of EA connecting plate 5A ED connecting plate 5D is installed on fishplate bar 5C, EC connecting plate 5C.In the present invention, waist is carried out by waist accessory plate 5 and people to consolidate It is fixed.

Huckle accessory plate 6

Referring to shown in Fig. 1, Figure 1A, huckle accessory plate 6 is made of big leg guard 6A and thigh support body 6B；Wherein, greatly Leg supporter 6B is fixed on thigh cover board 2B, and big leg guard 6A is fixed on the other end panel of thigh support body 6B.At this Pass through the thigh location contacts of big leg guard 6A and people in invention, when wearing and realizes binding.

Calf accessory plate 7

Referring to shown in Fig. 1, Figure 1A, calf accessory plate 7 is made of small leg guard 7A and leg support body 7B；Wherein, small Leg supporter 7B is fixed on thigh cover board 2B, and small leg guard 7A is fixed on the other end panel of leg support body 7B.At this Pass through the shank location contacts of small leg guard 7A and people in invention, when wearing and realizes binding.

The motion principle of thigh and shank:

In the present invention, the motion principle of thigh and shank is identical.The passive type ectoskeleton that the present invention designs uses The mode of spring energy pre-storage provides power-assisted to wearer, under the linear motion that equivalent spring provides, realizes ectoskeleton structure Safe handling, for principle spring being embedded into inside ectoskeleton that designs of the present invention, as shown in Figure 6, Figure 7.Point O₁It is The virtual center point of thigh outer gear, r are the radius of thigh outer gear, point O₂It is the central point of Medial Thigh Skin gear, d is The radius of Medial Thigh Skin gear, point P are the fixed points (i.e. characteristic point P) of spring Yu Medial Thigh Skin gear, and point E is spring and big The fixed point of leg lower end, point O₃It is the virtual center point of shank outer gear, point O₄It is the central point of shank internal gear, point A is The fixed point (i.e. characteristic point A) of spring and shank internal gear, point B are the fixed points of spring Yu shank lower end.Due to the present invention In hip joint it is identical as kneed structure, while thigh outer gear is identical as shank external gear structure, Medial Thigh Skin Gear is identical as shank gear structure inside, therefore characteristic point P and characteristic point A can be equivalent.Thigh movement shown in Fig. 6 In, since the both ends of equivalent spring (i.e. BA spring 2E1 and BB spring 2E2) are separately fixed on point P and point E, outside thigh When the gear radius ratio of gear 3A and Medial Thigh Skin gear 3B is 2:1, according to gear drive rule, available Medial Thigh Skin The rotational angle of gear 3B is twice of the rotational angle of thigh outer gear 3A.In standing state, PO₁E is in straight line On, according to the geometrical relationship of anteflexion stateThen have, ∠ P_{It is anteflexion}O₁E=∠ O₂O₁E+∠P_{It is anteflexion} O₁O₂=π, θ_{It is anteflexion}Indicate the angle that hip joint turns over when being run by standing state to anteflexion state, β_{It is anteflexion}Indicate Medial Thigh Skin gear Rotational angle when being run by standing state to anteflexion state, P_{It is anteflexion}Indicate that characteristic point P is run by standing state to anteflexion state Under point, therefore obtain lines P_{It is anteflexion}O₁With lines O₁E remains on straight line (i.e. P in anteflexion state_{It is anteflexion}E straight line), That is characteristic point P is always in lines O₁It is moved on E.By the spring force under anteflexion state, it is denoted as F_{It is anteflexion}, Medial Thigh Skin gear 3B's turns Dynamic center O₂P where to acting force of the spring_{It is anteflexion}The vertical range of E straight line is dsin θ_{It is anteflexion}, then have, spring force F_{It is anteflexion}To Medial Thigh Skin The torque of gear 3B is F_{It is anteflexion}dsinθ_{It is anteflexion}.Since the gear radius ratio of thigh outer gear 3A and Medial Thigh Skin gear 3B is 2: 1, according to gear drive rule, obtain spring force F_{It is anteflexion}Auxiliary torque to hip joint is 2F_{It is anteflexion}dsinθ_{It is anteflexion}.Thigh extendes back shape State and the anteflexion state of thigh are identical.According to the geometrical relationship for the state that extendes backThen have, ∠P_{It extendes back}O₁E=∠ O₂O₁E+∠P_{It extendes back}O₁O₂=π, θ_{It extendes back}It indicates to run the angle turned over to hip joint when extending back state by standing state Degree, β_{It extendes back}Indicate that Medial Thigh Skin gear is run by standing state to rotational angle when extending back state, P_{It extendes back}Indicate characteristic point P by standing Vertical state runs the point to the state that extendes back, therefore obtains lines P_{It extendes back}O₁With lines O₁E remains one when extending back state (i.e. P on straight line_{It extendes back}E straight line), i.e. characteristic point P is always in lines O₁It is moved on E.By the spring force under the state that extendes back, it is denoted as F_{It extendes back}, The center of rotation O of Medial Thigh Skin gear 3B₂P where to acting force of the spring_{It extendes back}The vertical range of E straight line is dsin θ_{It extendes back}, then have, bullet Spring force F_{It extendes back}Torque to Medial Thigh Skin gear 3B is F_{It extendes back}dsinθ_{It extendes back}.Due to thigh outer gear 3A and Medial Thigh Skin gear 3B Gear radius ratio be 2:1, according to gear drive rule, obtain spring force F_{It extendes back}Auxiliary torque to hip joint is 2F_{It extendes back}dsin θ_{It extendes back}.So equivalent spring only carries out the linear motion on PE line in hip joint rotation process.So it is embedding to realize a spring It covers in outer bones.

Shank also moves while thigh movement, in shank movement shown in Fig. 7, due to equivalent spring (i.e. DA bullet Spring 4E1 and DB spring 4E2) both ends be separately fixed on point A and point B, in shank outer gear 4A and shank internal gear 4B Gear radius ratio be 2:1 when, according to gear drive rule, the rotational angle of available shank internal gear 4B is shank Twice of the rotational angle of outer gear 4A.In standing state, AO₃B point-blank, is closed according to the geometry of flexion SystemThen have, ∠ A_BucklingO₃B=∠ O₄O₃B+∠A_BucklingO₃O₄=π, θ_BucklingIt indicates by standing state The angle that knee joint turns over when operation to flexion, β_{Song is bent}Indicate that shank internal gear is run by standing state to flexion When rotational angle, A_BucklingIt indicates that characteristic point A runs the point to flexion by standing state, therefore obtains lines A_BucklingO₃ With lines O₃B remains on straight line (i.e. A in flexion_BucklingB straight line), i.e. characteristic point P is always in lines O₃On B Movement.By the spring force under flexion, it is denoted as F_Buckling, the center of rotation O of shank internal gear 4B₄Where to acting force of the spring A_BucklingThe vertical range of B straight line is dsin θ_Buckling, then have, spring force F_BucklingTorque to shank internal gear 4B is F_Bucklingdsin θ_Buckling.Since the gear radius ratio of shank outer gear 4A and shank internal gear 4B is 2:1, according to gear drive rule, obtain To spring force F_BucklingIt is 2F to kneed auxiliary torque_Bucklingdsinθ_Buckling.So equivalent spring is only in knee joint rotation process Carry out the linear motion on AB line.Spring is nested in inside ectoskeleton so realizing.

A kind of passive-type gravity self-balancing lower limb exoskeleton structural body of the invention, to be solved is that existing gravity is certainly flat Weigh mechanism external spring, and the technical issues of the defects of huge structure, structure of the invention body is by by the rotational motion of joint of lower extremity It is mapped as characteristic point mode for linear motion along swing connecting bar axis, so that Hookean spring may be mounted at ectoskeleton Connecting rod inside, and during joint motions, corresponding torque can be formed to balance the gravity of entire man-machine system.The present invention The gravitational equilibrium structure mentality of designing for having overturned traditional external spring, on the basis for the compactedness and safety for guaranteeing ectoskeleton The upper gravity self-balancing for realizing entire man-machine system.The ectoskeleton is mainly used for that the elderly, lower extremity motor function obstacle is assisted to suffer from The daily walking of person.

Claims

1. a kind of passive-type gravity self-balancing lower limb exoskeleton structural body, lower limb exoskeleton structural body includes hip joint (1), big Leg (2), knee joint (3) and shank (4)；It is characterized by:

Hip joint (1) is by thigh outer gear (1A), Medial Thigh Skin gear (1B), thigh locating part (1C), thigh lock (1D), big Leg connector (1E), thigh upper rotary shaft unit and thigh lower rotary shaft unit are constituted；The thigh upper rotary shaft unit includes There are AA rotation axis (11A), AA bearing (11B), AA pressing plate (11C), AB bearing (11D) and AA screw (11E)；Lower turn of the thigh Shaft unit include AB rotation axis (12A), AC bearing (12B), AC pressing plate (12C), AD bearing (12D), AB screw (12E), AA angular encoder (12F), AC pressing plate (12G) and two actors playing the same role in a theatrical work degree encoder (12H)；Hip joint (1) passes through thigh connecting plate (1E) It is fixed with the EA connecting plate (5A) of waist accessory plate (5)；

AA rotation axis (11A) in thigh upper rotary shaft unit is equipped with AA terminal pad (11A1) and AA axis (11A2)；The AA The axial centre of rotation axis (11A) is AA threaded hole (11A3)；The AA terminal pad (11A1) of AA rotation axis (11A) is fixed on thigh On one face disk of internal gear (1B)；AA bearing (11B) is socketed on AA axis (11A2)；The middle part of AA pressing plate (11C) is equipped with AD through-hole (11C1), AD through-hole (11C1) is for placing AB bearing (11D)；The AA terminal pad (11A1) of AA rotation axis (11A) is solid It is scheduled on a face disk of Medial Thigh Skin gear (1B), the AA axis (11A2) of AA rotation axis (11A) passes through AA bearing (11B) and AB After bearing (11D), AA screw (11E) is installed in the AA threaded hole (11A3) of end；It is rotated by AA screw (11E) and AA AB bearing (11D) is mounted in the AD through-hole (11C1) of AA pressing plate (11C) by the connection realization of axis (11A), simultaneously because AA is pressed Plate (11C) is fixed at the AB through-hole (1E3) of the A lower panel (1E2) of thigh connector (1E), to reach through AA screw (11E) compresses AA pressing plate (11C)；

AB rotation axis (12A) in thigh lower rotary shaft unit is equipped with AB terminal pad (12A1) and AB axis (12A2)；The AB The axial centre of rotation axis (12A) is AB threaded hole (12A3)；The AB terminal pad (12A1) of AB rotation axis (12A) is fixed on thigh At the thigh lug (2B3) of cover board (2B)；AB bearing (12B) is socketed on AB axis (12A2)；The middle part of AB pressing plate (12C) is equipped with AE through-hole (12C1), AE through-hole (12C1) is for placing AD bearing (12D)；The middle part of AC pressing plate (12G) is equipped with AF through-hole (12G1), AF through-hole (12G1) is for placing two actors playing the same role in a theatrical work degree encoder (12H)；The end face of AB screw (12E) is equipped with for placing The A counter sink (12E1) of AA angular encoder (12F)；The AB terminal pad (12A1) of AB rotation axis (12A) is fixed on thigh connection At the AC through-hole (1E4) of the A lower panel (1E2) of part (1E), the AB axis (12A2) of AB rotation axis (12A) passes through AC bearing (12B) After AD bearing (12D), AB screw (12E) is installed in the AB threaded hole (12A3) of end；Pass through AB screw (12E) and AB AD bearing (12D) is mounted in the AE through-hole (12C1) of AB pressing plate (12C) by the connection realization of rotation axis (12A), simultaneously because AB pressing plate (12C) is fixed at the hole AC (1E4) of the A lower panel (1E2) of thigh connector (1E), to reach through AB screw (12E) compresses AB pressing plate (12C)；AC pressing plate (12G) is fixedly installed on AB pressing plate (12C), it is logical in the AF of AC pressing plate (12G) Two actors playing the same role in a theatrical work degree encoder (12H) is installed in hole (12G1)；

The movement of Medial Thigh Skin gear movement component: under the actuation of Medial Thigh Skin gear (1B), AA rotation axis (11A) is pressed around AA The AD through-hole (11C1) of plate (11C) rotates, and installs AA bearing (11B) in the AD through-hole (11C1), and AB bearing (11D) is mounted on In the AB through-hole (1E3) of thigh connector (1E), AA screw (11E) is threaded in the AA threaded hole of AA rotation axis (11A) In (11A3), by AA screw (11E) compress realize bearing axial restraint so that the axle center of AA rotation axis (11A) around around The AB through-hole (1E3) of thigh connector (1E) rotates；

The movement of hip joint moving parts: under the actuation of thigh outer gear (1A), AB rotation axis (12A) is around AB pressing plate The AE through-hole (12C1) of (12C) rotates, and installs AC bearing (12B) in the AE through-hole (12C1), and then around thigh connector The AC through-hole (1E4) of (1E) rotates；AB screw is installed in the AB threaded hole (12A3) of the end one side AB rotation axis (12A) (12E), the end AB screw (12E) are equipped with AA angular encoder (12F)；Another aspect AC pressing plate (12G) is fixed on AB pressing plate On (12C), and two actors playing the same role in a theatrical work degree encoder (12H) is installed in the AF through-hole (12G1) of AC pressing plate (12G)；

Thigh (2) is by thigh shell (2A), thigh cover board (2B), thick link (2C), thigh lower connecting plate (2D), BA rotation axis Unit, BB rotation axle unit, BC rotation axle unit and thigh gravitational equilibrium coefficient adjustment component (2E) are constituted；

The thigh housing face-plate (2A1) of thigh shell (2A) is equipped with the BG through-hole (2A11) passed through for cable；Thigh shell The thigh shell lower panel (2A2) of (2A) is equipped with for thigh lead screw in thigh gravitational equilibrium coefficient adjustment component (2E) The BH through-hole (2A21) that the upper end (2E3) passes through；

The upper end end of thigh cover board (2B) is thigh annulus (2B1), thigh annulus (2B1) and thigh installation panel (2B4) it Between be equipped with thigh limit hole (2B2), be equipped with thigh lug (2B3) in thigh limit hole (2B2)；It is installed on thigh annulus (2B1) There is thigh outer gear (1A)；AB rotation axis (12A) is installed on thigh lug (2B3)；First right angle body (2K1) and second is directly Angle body (2K2) is placed in parallel and one end is fixed in thigh installation panel (2B4), and the other end and thigh shell (2A) are fixed；The Three right angle bodies (2K3) and the 4th right angle body (2K4) are placed in parallel and one end is fixed on thigh installation panel (2B4) On, the other end and thigh shell (2A) are fixed；

The upper end of thick link (2C) is equipped with BD through-hole (2C1), and the lower end of thick link (2C) is equipped with BE through-hole (2C2)；BD is logical On the one hand for placing BB bearing (21D), BD through-hole (2C1) is on the other hand passed through for BA screw (21E) in hole (2C1)；BE is logical On the one hand for placing BD bearing (22D), BE through-hole (2C2) is on the other hand passed through for BB screw (22E) in hole (2C2)；

Thigh lower connecting plate (2D) is equipped with BF through-hole (2D1), and BF through-hole (2D1) is for placing BE bearing (23B), BE bearing (23B) is socketed on BC rotation axis (23A)；

Thigh gravitational equilibrium coefficient adjustment component (2E) includes spring, lead screw, guide rail and sliding block；BA guide rail (2G1), BB guide rail (2G2), thigh BA lead screw base (2E5) and thigh BB lead screw base (2E6) are fixed on the thigh installation panel of thigh cover board (2B) On (2B4)；BA sliding block (2H1) is movably connected on BA guide rail (2G1)；BB sliding block (2H2) is movably connected in BB guide rail (2G2) On；

Thigh nut (2E4) is socketed on thigh lead screw (2E3)；Thigh nut (2E4) is equipped with BC pillar (2E4A), lead screw hole (2E4C), BD pillar (2E4B)；BC pillar (2E4A) is for mounting the BA spring lower draw-bar (2E1B) that BA spring (2E1) has；BD Pillar (2E4B) is for mounting the BB spring lower draw-bar (2E2B) that BB spring (2E2) has；Lead screw hole (2E4C) is used for thigh lead screw The one end of (2E3) passes through；The outer end of BC pillar (2E4A) is equipped with the BF threaded hole for installing BF screw (2E4E)；BD pillar The outer end of (2E4B) is equipped with the BG threaded hole (2E4D) for installing BG screw (2E4F)；One panel of BG screw (2E4F) is fixed On BB sliding block (2H2)；BG screw (2E4F) is fixed in thigh installation panel (2B4)；

The boss of thigh BA lead screw base (2E5) is equipped with the countersunk head through-hole (2E51) for placing the upper end thigh lead screw (2E3), and countersunk head is logical The lower end in hole (2E51) is equipped with BG bearing (2E52), and BG bearing (2E52) is socketed in the upper end of thigh lead screw (4E3)；Thigh BA Lead screw base (2E5) is fixed in thigh installation panel (2B4)；

Thigh BB lead screw base (2E6) is L-configuration, and one end is fixed in thigh installation panel (2B4), and the other end is equipped with for thigh The BK through-hole (2E61) that lead screw (2E3) passes through；

The upper end of thigh lead screw (2E3) sequentially passes through the central through hole of BG end ring (2M), BG bearing (2L), thigh BB lead screw After the BK through-hole (2E61) of seat (2E6), the lead screw hole (2E4C) of thigh nut (2E4), it is placed in the heavy of thigh BA lead screw base (2E5) In head through-hole (2E51)；The lower end of thigh lead screw (2E3) is connected with thigh regulation handle (2N)；Hand is adjusted by left-right rotary thigh Handle (2N) adjusts BA spring (2E1) and BB bullet for adjusting position of the thigh nut (2E4) on thigh lead screw (2E3) The pretightning force of spring (2E2)；

BA connector (2J) is made of winding body and two screws (2J5,2J6), and winding body is equipped with BA pillar (2J1), first Winding body (2J3), the second winding body (2J4) and BB pillar (2J2)；BA pillar (2J1) is for mounting the BA that BA spring (2E1) has Spring upper hook (2E1A)；BB pillar (2J2) is for mounting the BB spring upper hook (2E2A) that BB spring (2E2) has；First twines It is thigh kinking gap (2J-1) between wire body (2J3) and the second winding body (2J4)；Thigh kinking gap (2J-1) is used for The lower end of winding binding Bowden cable；The outer end of BA pillar (2J1) is equipped with the BD threaded hole for installing BD screw (2J5)；BB branch The outer end of column (2J2) is equipped with the BE threaded hole (2J21) for installing BE screw (2J6)；First winding body (2J3) is equipped with BI Through-hole (2J31), the screw across BI through-hole (2J31) are fixed on BA sliding block (2H1)；Second winding body (2J4) is equipped with BH Through-hole (2J41), the screw across BH through-hole (2J41) are fixed on BA sliding block (2H1)；

BA Bowden cable fixing piece (2F1) is equipped with the BM through-hole (2F12) passed through for BA pipe cap (2F11)；BB Bowden cable is fixed Part (2F2) is equipped with the BL through-hole (2F22) passed through for BB pipe cap (2F21)；BA Bowden cable fixing piece (2F1) and BB Bowden cable Fixing piece (2F2) is separately fixed on thigh cover board (2B)；BA pipe cap (2F11) and BB pipe cap (2F21) are for leg portion Bowden cable passes through；Bowden cable one end of leg portion be fixed on thigh lock (1D) on, the other end sequentially pass through BA pipe cap (2F11), After BB pipe cap (2F21), it is wrapped on BA connector (2J)；

It includes BA rotation axis (21A), BA bearing (21B), BA pressing plate (21C), BB bearing (21D) and BA spiral shell that BA, which rotates axle unit, It follows closely (21E)；BA rotates the BA rotation axis (21A) in axle unit and is equipped with BA terminal pad (21A1) and BA axis (21A2)；The BA The axial centre of rotation axis (21A) is BA threaded hole (21A3)；The BA terminal pad (21A1) of BA rotation axis (21A) is fixed on thigh At the AC through-hole (1E4) of the A lower panel (1E2) of connector (1E)；BA bearing (21B) is socketed on BA axis (21A2)；BA pressing plate The middle part of (21C) is equipped with BA through-hole (21C1), and BA through-hole (21C1) is for placing BB bearing (21D)；The BA of BA rotation axis (21A) Terminal pad (21A1) is fixed on the A lower panel (1E2) of thigh connector (1E), and the BA axis (21A2) of BA rotation axis (21A) is worn After crossing BA bearing (21B) and BB bearing (21D), BA screw (21E) is installed in the BA threaded hole (21A3) of end；Pass through BA The BA through-hole that BB bearing (21D) is mounted on to BA pressing plate (21C) is realized in the connection of screw (21E) and BA rotation axis (21A) In (21C1), simultaneously because BA pressing plate (21C) is fixed at the BD through-hole (2C1) of the upper end of thick link (2C), to realize BA rotates the connection of axle unit and the upper end of thick link (2C)；

It includes BB rotation axis (22A), BC bearing (22B), BB pressing plate (22C), BD bearing (22D) and BB spiral shell that BB, which rotates axle unit, It follows closely (22E)；BB rotates the BB rotation axis (22A) in axle unit and is equipped with BB terminal pad (22A1) and BB axis (22A2)；The BB The axial centre of rotation axis (22A) is BB threaded hole (22A3)；The BB terminal pad (22A1) of BB rotation axis (22A) is fixed on thigh One end of lower connecting plate (2D)；BC bearing (22B) is socketed on BB axis (22A2)；The middle part of BB pressing plate (22C) is equipped with BB through-hole (22C1), BB through-hole (22C1) is for placing BD bearing (22D)；The BB terminal pad (22A1) of BB rotation axis (22A) is fixed on greatly At the BE through-hole (2C2) of the lower end leg connecting rod (2C), the BB axis (22A2) of BB rotation axis (22A) passes through BC bearing (22B) and BD axis After holding (22D), BB screw (22E) is installed in the BB threaded hole (22A3) of end；Pass through BB screw (22E) and BB rotation axis BD bearing (22D) is mounted in the BB through-hole (22C1) of BB pressing plate (22C) by the connection realization of (22A), simultaneously because BB pressing plate (22C) is fixed at the BE through-hole (2C2) of the lower end of thick link (2C), to realize BB rotation axle unit and thick link The connection of the lower end of (2C)；

It includes BC rotation axis (23A), BE bearing (23B), BC pressing plate (23C), BF bearing (23D) and BC spiral shell that BC, which rotates axle unit, It follows closely (23E)；BC rotates the BC rotation axis (23A) in axle unit and is equipped with BC terminal pad (23A1) and BC axis (23A2)；The BC The axial centre of rotation axis (23A) is BC threaded hole (23A3)；The BC terminal pad (23A1) of BC rotation axis (23A) is fixed on thigh The lower end of cover board (2B), and BE bearing (23B) is socketed on the BC axis (23A2) of BC rotation axis (23A), BE bearing (23B) is placed in In the BF through-hole (2D1) of thigh lower connecting plate (2D)；The middle part of BC pressing plate (23C) is equipped with BC through-hole (23C1), BC through-hole (23C1) is for placing BF bearing (23D)；The BC terminal pad (23A1) of BC rotation axis (23A) is fixed under thigh cover board (2B) End, after the BC axis (23A2) of BC rotation axis (23A) passes through BE bearing (23B) and BF bearing (23D), the BC threaded hole in end BC screw 23E is installed in (23A3)；It is realized by the connection of BC screw (23E) and BC rotation axis (23A) by BF bearing (23D) It is mounted in the BC through-hole (23C1) of BC pressing plate (23C), simultaneously because BC pressing plate (23C) is fixed on thigh lower connecting plate (2D) At BF through-hole (2D1), to realize the connection of BC rotation axle unit and thigh lower connecting plate (2D)；

Knee joint (3) is by shank outer gear (3A), shank internal gear (3B), shank locating part (3C), shank lock (3D), small Leg connector (3E), shank upper rotary shaft unit and shank lower rotary shaft unit are constituted；The shank upper rotary shaft unit includes There are CA rotation axis (31A), CA bearing (31B), CA pressing plate (31C), CB bearing (31D) and CA screw (31E)；Lower turn of the shank Shaft unit include CB rotation axis (32A), CC bearing (32B), CC pressing plate (32C), CD bearing (32D), CB screw (32E), CA angular encoder (32F), CC pressing plate (32G) and CB angular encoder (32H)；

Shank connector (3E) is equipped with CB through-hole (3E1) and CC through-hole (3E2)；The CB through-hole (3E1) is for placing CA axis It holds (31B), CA bearing (31B) is socketed on the axis of CA rotation axis (31A), that is, is socketed with the CA rotation axis of CA bearing (31B) (31A) passes through CB through-hole (3E3)；CA pressing plate (31C) is fixed at the CB through-hole (3E1)；The CC through-hole (3E2) is for putting It sets CC bearing (32B), CC bearing (32B) is socketed on the axis of CC rotation axis (32A), that is, the CC for being socketed with CC bearing (32B) turns Moving axis (32A) passes through CC through-hole (3E4)；CB pressing plate (32C) is fixed at the CC through-hole (3E2)；

CA rotation axis (31A) in shank upper rotary shaft unit is equipped with CA terminal pad (31A1) and CA axis (31A2)；The CA The axial centre of rotation axis (31A) is CA threaded hole (31A3)；The CA terminal pad (31A1) of CA rotation axis (31A) is fixed on shank On one face disk of internal gear (3B)；CA bearing (31B) is socketed on CA axis (31A2)；The middle part of CA pressing plate (31C) is equipped with CD through-hole (31C1), CD through-hole (31C1) is for placing CB bearing (31D)；The CA terminal pad (31A1) of CA rotation axis (31A) is solid It is scheduled on a face disk of shank internal gear (3B), the CA axis (31A2) of CA rotation axis (31A) passes through CA bearing (31B) and CB After bearing (31D), CA screw (31E) is installed in the CA threaded hole (31A3) of end；It is rotated by CA screw (31E) and CA CB bearing (31D) is mounted in the CD through-hole (31C1) of CA pressing plate (31C) by the connection realization of axis (31A), simultaneously because CA is pressed Plate (31C) is fixed at the CB through-hole (3E1) of shank connector (3E), compresses CA pressing plate by CA screw (31E) to reach (31C)；

CB rotation axis (32A) in shank lower rotary shaft unit is equipped with CB terminal pad (32A1) and CB axis (32A2)；The CB The axial centre of rotation axis (32A) is CB threaded hole (32A3)；The CB terminal pad (32A1) of CB rotation axis (32A) is fixed on shank At the shank lug (4B3) of cover board (4B)；CB bearing (32B) is socketed on CB axis (32A2)；The middle part of CB pressing plate (32C) is equipped with CE through-hole (32C1), CE through-hole (32C1) is for placing CD bearing (32D)；The middle part of CC pressing plate (32G) is equipped with CF through-hole (32G1), CF through-hole (32G1) is for placing CB angular encoder (32H)；The end face of CB screw (32E) is equipped with for placing The C counter sink (32E1) of CA angular encoder (32F)；The CB terminal pad (32A1) of CB rotation axis (32A) is fixed on shank connection At the CC through-hole (3E4) of the C lower panel (3E2) of part (3E), the CB axis (32A2) of CB rotation axis (32A) passes through CC bearing (32B) After CD bearing (32D), CB screw (32E) is installed in the CB threaded hole (32A3) of end；Pass through CB screw (32E) and CB CD bearing (32D) is mounted in the CE through-hole (32C1) of CB pressing plate (32C) by the connection realization of rotation axis (32A), simultaneously because CB pressing plate (32C) is fixed at the hole CC (3E2) of shank connector (3E), compresses CB pressure by CB screw (32E) to reach Plate (32C)；CC pressing plate (32G) is fixedly installed on CB pressing plate (32C), the peace in the CF through-hole (32G1) of CC pressing plate (32G) The CB angular encoder (32H) of dress and the CA angular encoder (32F) being mounted in the C counter sink (32E1) of CB screw (32E) Cooperation obtains movement angle of the shank cover board top (2B) relative to the C lower panel (3E2) of shank connector (3E)；

The movement of shank internal gear moving parts: under the actuation of shank internal gear (3B), CA rotation axis (31A) is pressed around CA The CD through-hole (31C1) of plate (31C) rotates, and installs CA bearing (31B) in the CD through-hole (31C1), and CB bearing (31D) is mounted on In the CB through-hole (3E3) of shank connector (3E), CA screw (31E) is threaded in the CA threaded hole of CA rotation axis (31A) In (31A3), by CA screw (31E) compress realize bearing axial restraint so that the axle center of CA rotation axis (31A) around around The CB through-hole (3E3) of shank connector (3E) rotates；

The movement of motion of knee joint component: under the actuation of shank outer gear (3A), CB rotation axis (32A) is around CB pressing plate The CE through-hole (32C1) of (32C) rotates, and installs CC bearing (32B) in the CE through-hole (32C1), and then around shank connector The CC through-hole (3E4) of (3E) rotates；CB screw is installed in the CB threaded hole (32A3) of the end one side CB rotation axis (32A) (32E), the end CB screw (32E) are equipped with CA angular encoder (32F)；Another aspect CC pressing plate (32G) is fixed on CB pressing plate On (32C), and CB angular encoder (32H) is installed in the CF through-hole (32G1) of CC pressing plate (32G)；Pass through CA angular encoder The combination of (32F) and CB angular encoder (32H) obtains movement angle of the shank shell relative to shank connector (3E), i.e., Kneed movement angle；

Knee joint (3) is led by the first guide rod (3F), the second guide rod (3G), the first guide rod seat (3H), the second guide rod seat (3J), third Pole socket (3K) and the 4th guide rod seat (3L) composition；

The lower end of first guide rod (3F) is equipped with CA through-hole (3F1)；The lower end of second guide rod (3G) is equipped with CB through-hole (3G1)；First Guide rod seat (3H) is equipped with CA transverse holes (3H1) and CA longitudinal hole (3H2)；First guide rod seat (3H) is fixed by screws in thigh On lower connecting plate (2D)；CA longitudinal hole (3H2) is used to place the upper end of the first guide rod (3F)；CA transverse holes (3H1) are used for jackscrew It passes through, the jackscrew for passing through the CA transverse holes (3H1) holds out against the first guide rod (3F) in CA longitudinal hole (3H2)；Second guide rod Seat (3J) is equipped with CB transverse holes (3J1) and CB longitudinal hole (3J2)；Second guide rod seat (3J), which is fixed by screws on shank, to be connected On fishplate bar (4C)；CB longitudinal hole (3J2) is used to place the lower end of the first guide rod (3F)；CB transverse holes (3J1) are passed through for jackscrew, Jackscrew across the CB transverse holes (3J1) holds out against the first guide rod (3F) in CB longitudinal hole (3J2)；Third guide rod seat (3K) It is equipped with CC transverse holes (3K1) and CC longitudinal hole (3K2)；Third guide rod seat (3K) is fixed by screws in thigh lower connecting plate On (2D)；CC longitudinal hole (3K2) is used to place the upper end of the second guide rod (3G)；CC transverse holes (3K1) are passed through for jackscrew, are passed through The jackscrew of the CC transverse holes (3K1) holds out against the second guide rod (3G) in CC longitudinal hole (3K2)；It is set on 4th guide rod seat (3L) There are CD transverse holes (3L1) and CD longitudinal hole (3L2)；4th guide rod seat (3L) is fixed by screws in shank upper junction plate (4C) On；CD longitudinal hole (3L2) is used to place the upper end of the second guide rod (3G)；CD transverse holes (3L1) are passed through for jackscrew, are passed through described The jackscrew of CD transverse holes (3L1) holds out against the second guide rod (3G) in CD longitudinal hole (3L2)；

The lower end of first guide rod (3F) sequentially passes through the CA longitudinal hole (3H2) of the first guide rod seat (3H), the second guide rod seat (3J) After CB longitudinal hole (3J2), and the lower end of the first guide rod (3F) is exposed outside the lower end of the second guide rod seat (3J)；

The lower end of second guide rod (3G) sequentially passes through the CC longitudinal hole (3K2) of third guide rod seat (3K), the 4th guide rod seat (3L) After CD longitudinal hole (3L2), and the lower end of the second guide rod (3G) is exposed outside the lower end of the 4th guide rod seat (3L)；

Shank (4) rotates axle unit, DB rotation axis by shank shell (4A), shank cover board (4B), shank upper junction plate (4C), DA Unit, DC rotation axle unit and thigh gravitational equilibrium coefficient adjustment component (4E) are constituted；

The shank shell lower panel (4A2) of shank shell (4A) is equipped in shank gravitational equilibrium coefficient adjustment component (4E) The DH through-hole (4A21) that the upper end shank lead screw (4E3) passes through；

The upper end end of shank cover board (4B) is shank annulus (4B1), shank annulus (4B1) and shank installation panel (4B4) it Between be equipped with shank limit hole (4B2), be equipped with shank lug (4B3) in shank limit hole (4B2)；It is installed on shank annulus (4B1) There is shank outer gear (1A)；AB rotation axis (12A) is installed on shank lug (4B3)；5th right angle body (4K1) and the 6th is directly Angle body (4K2) is placed in parallel and one end is fixed in shank installation panel (4B4), and the other end and shank shell (4A) are fixed；The Seven right angle bodies (4K3) and the 8th right angle body (4K4) are placed in parallel and one end is fixed on shank installation panel (4B4) On, the other end and shank shell (4A) are fixed；

Shank gravitational equilibrium coefficient adjustment component (4E) includes spring, lead screw, guide rail and sliding block；DA guide rail (4G1), DB guide rail (4G2), shank DA lead screw base (4E5) and shank DB lead screw base (4E6) are fixed on the shank installation panel of shank cover board (4B) On (4B4)；DA sliding block (4H1) is movably connected on DA guide rail (4G1)；DB sliding block (4H2) is movably connected in DB guide rail (4G2) On；

Shank nut (4E4) is socketed on shank lead screw (4E3), and shank nut (4E4) is fixed on DB sliding block (4H2)；It is small Leg nut (4E4) is equipped with DC pillar (4E4A), lead screw hole (4E4C), DD pillar (4E4B)；DC pillar (4E4A) is for mounting The DA spring lower draw-bar (4E1B) that DA spring (4E1) has；DD pillar (4E4B) is for mounting under the DB spring that DB spring (4E2) has It links up with (4E2B)；The one end of lead screw hole (4E4C) for shank lead screw (4E3) passes through；The outer end of DC pillar (4E4A) is equipped with and is used for The DF threaded hole of DF screw (4E4E) is installed；The outer end of DD pillar (4E4B) is equipped with the DG screw thread for installing DG screw (4E4F) Hole (4E4D)；One panel of DG screw (4E4F) is fixed on DB sliding block (4H2)；DG screw (4E4F) is fixed on shank mounting surface On plate (4B4)；

The boss of shank DA lead screw base (4E5) is equipped with the countersunk head through-hole (4E51) for placing the upper end shank lead screw (4E3), and countersunk head is logical The lower end in hole (4E51) is equipped with DG bearing (4E52), and DG bearing (4E52) is socketed in the upper end of shank lead screw (4E3)；Shank DA Lead screw base (4E5) is fixed in shank installation panel (4B4)；

One end of shank DB lead screw base (4E6) is fixed in shank installation panel (4B4), and the other end is equipped with for shank lead screw The DK through-hole (4E61) that (4E3) is passed through；

Shank lead screw (4E3's) is installed as, and the center that the upper end of shank lead screw (4E3) sequentially passes through DG end ring (4M) is logical Hole, DG bearing (4L), the DK through-hole (4E61) of shank DB lead screw base (4E6), shank nut (4E4) lead screw hole (4E4C) after, It is placed in the countersunk head through-hole (4E51) of shank DA lead screw base (4E5)；The lower end of shank lead screw (4E3) is connected with shank regulation handle (4N)；By left-right rotary shank regulation handle (4N) for adjusting position of the shank nut (4E4) on shank lead screw (4E3), And then adjust the pretightning force of DA spring (4E1) and DB spring (4E2)；

DA connector (4J) is made of winding body and two screws (4J5,4J6), and winding body is equipped with DA pillar (4J1), first Winding body (4J3), the second winding body (4J4) and DB pillar (4J2)；DA pillar (4J1) is for mounting the DA that DA spring (4E1) has Spring upper hook (4E1A)；DB pillar (4J2) is for mounting the DB spring upper hook (4E2A) that DB spring (4E2) has；First twines It is shank kinking gap (4J-1) between wire body (4J3) and the second winding body (4J4)；Shank kinking gap (4J-1) is used for The lower end of winding binding Bowden cable；The outer end of DA pillar (4J1) is equipped with the DD threaded hole for installing DD screw (4J5)；DB branch The outer end of column (4J2) is equipped with the DE threaded hole (4J21) for installing DE screw (4J6)；First winding body (4J3) is equipped with DI Through-hole (4J31), the screw across DI through-hole (4J31) are fixed on DA sliding block (4H1)；Second winding body (4J4) is equipped with DH Through-hole (4J41), the screw across DH through-hole (4J41) are fixed on DA sliding block (4H1).

2. a kind of passive-type gravity self-balancing lower limb exoskeleton structural body according to claim 1, it is characterised in that: thigh Outer gear (1A) and the radius ratio of Medial Thigh Skin gear (1B) are 2:1；The angle of Medial Thigh Skin gear movement and hip joint movement The ratio between degree is 2:1；

Shank outer gear (3A) and the radius ratio of shank internal gear (3B) are 2:1；The movement of shank internal gear and knee joint The ratio between angle of movement is 2:1.

3. a kind of passive-type gravity self-balancing lower limb exoskeleton structural body according to claim 1 or 2, it is characterised in that: The geometrical relationship of the anteflexion state of thighThen have, ∠ P_{It is anteflexion}O₁E=∠ O₂O₁E+∠P_{It is anteflexion}O₁O₂ =π, θ_{It is anteflexion}Indicate the angle that hip joint turns over when being run by standing state to anteflexion state, β_{It is anteflexion}Indicate Medial Thigh Skin gear by standing Rotational angle when vertical state is run to anteflexion state, P_{It is anteflexion}Indicate that characteristic point P is run by standing state to anteflexion state Point；

The geometrical relationship for extending back state of thighThen have, ∠ P_{It extendes back}O₁E=∠ O₂O₁E+∠P_{It extendes back} O₁O₂=π, θ_{It extendes back}It indicates to run the angle turned over to hip joint when extending back state, β by standing state_{It extendes back}Indicate Medial Thigh Skin gear It is run by standing state to rotational angle when extending back state, P_{It extendes back}Indicate that characteristic point P is run by standing state to extending back under state Point.

4. a kind of passive-type gravity self-balancing lower limb exoskeleton structural body according to claim 1 or 2, it is characterised in that: The geometrical relationship of the flexion of shankThen have, ∠ A_BucklingO₃B=∠ O₄O₃B+∠A_BucklingO₃O₄ =π, θ_BucklingIndicate the angle that knee joint turns over when being run by standing state to flexion, β_{Song is bent}Indicate shank internal gear by standing Rotational angle when vertical state is run to flexion, A_BucklingIndicate that characteristic point A is run by standing state to flexion Point.