CN112894775B - Reinforcing type lower limb power-assisted exoskeleton capable of enhancing human body load bearing capacity and endurance - Google Patents
Reinforcing type lower limb power-assisted exoskeleton capable of enhancing human body load bearing capacity and endurance Download PDFInfo
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- CN112894775B CN112894775B CN202110158267.3A CN202110158267A CN112894775B CN 112894775 B CN112894775 B CN 112894775B CN 202110158267 A CN202110158267 A CN 202110158267A CN 112894775 B CN112894775 B CN 112894775B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a reinforcement type lower limb assistance exoskeleton for enhancing the load bearing capacity and endurance of a human body, which comprises a bilaterally symmetrical waist connecting plate.
Description
Technical Field
The invention relates to the technical field of wearable power assisting equipment, in particular to a reinforcement type lower limb power assisting exoskeleton for enhancing the load bearing capacity and endurance of a human body.
Background
The person has limited load bearing capacity per se in an individual unit, and in a load bearing state, mobility is affected to some extent, such as reduced limb mobility, more force is required to overcome problems of object depression, etc., which have serious effects on walking balance maintenance, climbing and walking speed of the person with load, and the problems are needed to be solved for the person equipping special work.
Most of the existing mechanical exoskeletons on the market are used for assisting people with disabled exercise capacity, and the mode of controlling the rotation of the motor is adopted for assisting the daily movement of the people. For the weight-bearing person, the motor is a heavy object, the required exoskeleton aims to assist the movement of the muscles of the person to achieve the aims of reducing the force required by overcoming the object pressing, assisting walking and the like, and the equipment in the pre-programming modes is limited to electric signal button control in terms of man-machine interaction, is not tightly connected, and is not universal because the length of the connecting rod is required to be designed in a targeted manner for the wearers with different height and body types.
Disclosure of Invention
Technical problems:
the exoskeleton device in the pre-programming mode is not strong in man-machine interaction for people moving under load, the motor for controlling the operation of the device is an extra weight load, the device and the leg length ratio of each person cannot be perfectly matched, customization is needed, and universality is not achieved.
In order to solve the problems, the invention designs a reinforcement type lower limb assistance exoskeleton for enhancing the weight bearing capacity and the endurance of a human body, which comprises a bilaterally symmetrical waist connecting plate, wherein the waist connecting plates at two sides are connected through fixedly arranged telescopic rods, thigh extension parts are rotatably arranged on the waist connecting plates, the thigh extension parts can be worn by people with different body proportions by virtue of sliding adjustment between the thigh extension rods and the rotating rods, the thigh extension parts can be rotatably connected with the outer sides of the waist connecting plates through thigh extension rods, hidden grooves which are arranged in the thigh extension rods and are downward and outward in openings, rotating rods which are in sliding connection with the hidden grooves, knee joint connecting covers are arranged at the lower sides of the waist connecting plates, the knee joint connecting cover is internally provided with a rotating cavity, a rotating groove which is in sliding connection with the rotating rod is communicated with the rotating cavity, a fixed shaft is fixedly arranged between the left inner wall and the right inner wall of the rotating cavity, the lower end of the rotating rod stretches into the rotating cavity and is in rotating connection with the fixed shaft, the rotating cavity is internally provided with a locking device, the locking device can pass through a limiting box embedded on the inner wall of the front end of the rotating cavity, a moving cavity arranged in the limiting box, a limiting rod which is in sliding connection with the inner wall of the rear side of the moving cavity and can be in abutting connection with the rotating rod, the abutting relation between the rotating rod and the limiting rod is changed to realize the rotation limitation on right-angle bending, the lower end of the knee joint connecting cover is fixedly provided with a transmission rod, the transmission rod and the thigh extending rod are respectively provided with a binding device, an oil pipe is communicated between the binding device, the utility model discloses a flexible electric power transmission device, including oil pipe, shank extension part, slide bar, locking device, slide bar, locking device and ankle protection device, be equipped with the control in the oil pipe the solenoid valve of the interior liquid flow direction of oil pipe is equipped with in the control in the oil pipe, and then realizes two elasticity change between the bandage device, the fixed shank extension part that is equipped with in the transfer line lower extreme, shank extension part accessible fixed mounting in shank extension rod of transfer line lower extreme, be located in shank extension rod and opening are decurrent and outside accomodate the groove, with accomodate groove sliding connection's slide bar, and shank extension rod with sliding adjustment between the slide bar realizes shank part length proportion change in order to adapt to the personnel of different health proportions dresses, the slide bar lower extreme is equipped with both horizontal rotation also can vertical pivoted ankle protection device, be equipped with controllable in the ankle protection device's the reset subassembly, be equipped with in the transfer line and start the bandage device's switch assembly.
Preferably, the waist connecting plate is close to the fixed waist cushion that is equipped with on the symmetry center side terminal surface, the waist connecting plate with articulated between the thigh extension pole have first hydraulic stem, knee joint connection cover rear end is fixed and is equipped with the triangular ribbed plate, the triangular ribbed plate with articulated between the bull stick have the second hydraulic stem, left side rotate on the waist connecting plate and be connected with the batching bucket that can elastically restore, the batching bucket is last to be fixed to be equipped with the sub-buckle area, the right side on the waist connecting plate be fixed to be equipped with can with the female knot of sub-buckle area butt, the right side on the waist connecting plate be fixed to be equipped with the load mounting panel, the bull stick with be connected with torque spring between the rotatory chamber.
The thigh extension part comprises clamping grooves which are symmetrically arranged in the hidden grooves and distributed in an array mode, a limiting frame is arranged on the rotating rod, clamping rods which can be in butt joint with the clamping grooves are connected to the limiting frame in a sliding mode, a rotating shaft is connected to the limiting frame in a rotating mode, diamond wheels are arranged on the rotating shaft, chain rods which are hinged to the clamping rods in a symmetrical mode are hinged to the diamond wheels, and a knob located on the outer side of the hidden grooves is arranged on the rotating shaft.
The locking device comprises a piston which is connected in the moving cavity in a sliding way and is fixedly connected with the limiting rod, a resistance spring is connected between the piston and the inner wall of the front side of the sliding cavity, and an oil liquid port which is symmetrical up and down is communicated with the inner wall of the side of the moving cavity close to the symmetrical center.
The bandage device comprises a fixed block which is fixed on the thigh extension rod or the transmission rod and is communicated and connected with the oil pipe, and oil-filled cloth belts which are communicated and connected with the fixed block are symmetrically arranged at the front end and the rear end of the fixed block.
The shank extension part comprises lock grooves which are arranged in the storage grooves and distributed in an array mode, sliding grooves are formed in the lock grooves, lock rods which can be in butt joint with the lock grooves are connected in a sliding mode in the sliding grooves, and extension springs are connected between the lock rods and the sliding grooves.
The ankle protection device comprises a connecting rod which is rotationally connected to the lower end of a sliding rod, the lower end of the connecting rod is fixedly connected with a pedal plate, an ankle joint connecting plate is fixedly arranged on the pedal plate, an upward opening groove is formed in the ankle joint connecting plate, an arc-shaped block fixedly connected with the sliding rod is slidably connected to the lower end of the opening groove, symmetrical oil pipes are arranged between the arc-shaped blocks, a complete oil liquid loop is formed between the oil pipes, and the oil is controlled by an oil pump on a load mounting plate.
The reset assembly comprises a transmission cavity which is arranged in the pedal and is provided with an upward opening, the pedal is rotationally connected to the transmission cavity, a slide way is arranged on the inner wall of one side of the transmission cavity, which is close to the trunk, slide cavities are symmetrically arranged in the inner walls of the front end and the rear end of the slide way, locking grooves are formed in the slide cavities in a sliding connection mode, a buffer spring is connected between a liquid leakage preventing plate and the slide cavities, a connecting rod which is in butt joint with the pedal is arranged on the liquid leakage preventing plate, and a first group of flow guiding devices are arranged in the inner wall of one side of the slide way, which is close to the trunk.
The switch assembly comprises a reset cavity arranged in the transmission rod, a starting cavity is arranged at the lower end of the reset cavity, a lifting rod which is fixedly connected with the inner wall of the top end of the starting cavity and extends into the rotating cavity is fixedly arranged on the inner wall of the bottom end of the starting cavity, a button which can be abutted to the lifting rod is arranged on the inner wall of the bottom end of the starting cavity, a transverse plate which is positioned in the reset cavity is arranged on the lifting rod, a compression spring is connected between the transverse plate and the inner wall of the lower side of the reset cavity, a lifting groove is communicated with the inner wall of one side of the starting cavity, a sliding rod which is fixedly connected with the lifting rod is slidably connected with the lifting groove, and a second group of flow guiding devices are arranged in the inner wall of one side of the lifting groove, which is close to the trunk.
The guide device comprises a storage cavity which is communicated with the transmission rod, a first oil pipe which is communicated with the first group of guide devices is communicated with the lower end of the storage cavity, a second oil pipe which is communicated with the oil liquid port at the lower end of the storage cavity is arranged at the upper end of the storage cavity, two grooves are distributed in an array mode in the storage cavity, the storage cavity is slidably connected with a valve body which is fixedly connected with the sliding rod, an intake groove which can be communicated with the grooves is arranged in the valve body, and a third oil pipe is connected between the oil liquid port at the upper end of the storage cavity and the first group of guide devices.
The beneficial effects of the invention are as follows: the invention adopts the change of oil saturation and deficiency in the sealed oil pipeline of the area section to realize the change of the locking structure, ensures the conversion and auxiliary support between standing and sitting of a user, adopts the automatic judging structure during bending and the reset switch during trampling, simplifies the operation process to provide convenience for a load person in use, enhances the interaction relationship between people and equipment, controls the structure part of the binding belt by the bending action structure, realizes the tightness degree of the binding belt of the force applying part during bending of the legs, avoids the uncomfortable body of the user, adopts an independent hydraulic control system to assist the rotation and reset of the ankle part, reduces the pressure of the sole part of the user, adopts the cooperation of the sliding rod sliding chute mode and the locking structure, can adapt to the use purposes of people with different leg proportions, and achieves the universality and is convenient to wear.
Drawings
For ease of illustration, the invention is described in detail by the following specific examples and figures.
FIG. 1 is a schematic diagram of the overall structure of a reinforcement type lower limb booster exoskeleton for enhancing the load bearing capacity and endurance of a human body;
FIG. 2 is a schematic structural view of "A-A" of FIG. 1;
FIG. 3 is a schematic diagram of the structure of "B-B" of FIG. 2;
FIG. 4 is a schematic structural view of "C-C" of FIG. 2;
FIG. 5 is a schematic diagram of the structure of "D-D" of FIG. 2;
FIG. 6 is an enlarged schematic view of the structure at "E" of FIG. 2;
FIG. 7 is a schematic diagram of the structure of "F-F" of FIG. 1;
FIG. 8 is a schematic diagram of the structure of "G-G" of FIG. 1;
FIG. 9 is a schematic diagram of the structure of "H-H" of FIG. 1;
FIG. 10 is a schematic view of the locking device of FIG. 2;
FIG. 11 is a schematic view of the structure of FIG. 2 in a motion state;
fig. 12 is a schematic view of the structure in the moving state of fig. 2.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 12, and for convenience of description, the following orientations will be defined: the vertical, horizontal, front-rear directions described below are identical to the vertical, horizontal, front-rear directions of the projection relationship of fig. 1 itself.
The invention relates to a mechanical exoskeleton for assisting lower limbs, in particular to a reinforcement type lower limb assisting exoskeleton for enhancing the load bearing capacity and endurance of a human body, which is mainly applied to the moving process of auxiliary load-bearing people (especially special operators), and the invention is further described below with reference to the accompanying drawings:
the invention relates to a reinforcement type lower limb assistance exoskeleton for enhancing the load bearing capacity and endurance of a human body, which comprises a bilaterally symmetrical waist connecting plate 20, wherein the waist connecting plates 20 at two sides are connected through a telescopic rod 77 which is fixedly arranged, a thigh extension part 901 is rotatably arranged on the waist connecting plate 20, the thigh extension part 901 can be connected with the outer side of the waist connecting plate 20 in a rotating way through a thigh extension rod 17, a hidden groove 53 which is positioned in the thigh extension rod 17 and is downwards and outwards opened, a rotating rod 40 which is connected with the hidden groove 53 in a sliding way, the thigh length proportion is changed by virtue of the sliding adjustment between the thigh extension rod 17 and the rotating rod 40 so as to adapt to the wearing of personnel with different body proportions, a knee joint connecting cover 16 is arranged at the lower side of the waist connecting plate 20, a rotating cavity 45 is arranged in the knee joint connecting cover 16, the rotary cavity 45 is provided with a rotary groove 39 in sliding connection with the rotary rod 40, a fixed shaft 44 is fixedly arranged between the left and right side inner walls of the rotary cavity 45, the lower end of the rotary rod 40 extends into the rotary cavity 45 and is rotationally connected with the fixed shaft 44, the rotary cavity 45 is internally provided with a locking device 902, the locking device 902 can be connected with an oil pipe 72 through a limiting box 78 embedded in the inner wall of the front end of the rotary cavity 45, a movable cavity 79 arranged in the limiting box 78, a limiting rod 83 which is in sliding connection with the inner wall of the rear side of the movable cavity 79 and can be abutted against the rotary rod 40, a rotation limitation on right angle bending is realized by changing the abutting relation between the rotary rod 40 and the limiting rod 83, the lower end of the knee joint connecting cover 16 is fixedly provided with a transmission rod 15, the transmission rod 15 and the thigh extending rod 17 are respectively provided with a binding device 903, the oil pipe 72 is communicated between the binding device 903, the electromagnetic valve 71 for controlling the flow direction of the liquid in the oil pipe 72 is arranged in the oil pipe 72, so as to realize the tightness change between the two binding band devices 903, the lower end of the transmission rod 15 is fixedly provided with a shank extension part 904, the shank extension part 904 can be fixedly arranged on the lower end of the transmission rod 15, a storage groove 48 which is positioned in the shank extension rod 14 and is downward and outward in opening, a sliding rod 28 which is in sliding connection with the storage groove 48, and the sliding adjustment between the shank extension rod 14 and the sliding rod 28 realize the change of the length proportion of the shank part so as to adapt to the wearing of personnel with different body proportions, the lower end of the sliding rod 28 is provided with an ankle protection device 905 which can rotate horizontally or vertically, the inside of the ankle protection device 902 is provided with a reset component 906 which can control the locking device, and the inside of the transmission rod 15 is provided with a switch component 907 which starts the binding band device 903;
the locking device 902 comprises a piston 81 which is slidably connected in the moving cavity 79 and fixedly connected with the limiting rod 83, a resistance spring 80 is connected between the piston 81 and the inner wall of the front side of the sliding cavity 70, and an oil port 82 which is vertically symmetrical is communicated with the inner wall of the moving cavity 79 near the symmetrical center;
the reset assembly 906 comprises a transmission cavity 22 which is arranged in the pedal 11 and is provided with an upward opening, the pedal 52 is rotatably connected in the transmission cavity 22, a slide way 24 is communicated with the inner wall of one side of the transmission cavity 22, slide cavities 70 are symmetrically arranged in the inner walls of the front end and the rear end of the slide way 24, a locking groove 29 is slidably connected in the slide cavities 70, a buffer spring 68 is connected between a liquid leakage prevention plate 69 and the slide cavities 70, a connecting rod 23 which is abutted to the pedal 52 is arranged on the liquid leakage prevention plate 69, and a first group of flow guiding devices 800 are arranged in the inner wall of one side of the slide way 24, which is close to the trunk;
the switch assembly 907 comprises a reset cavity 35 arranged in the transmission rod 15, a start cavity 32 is arranged at the lower end of the reset cavity 35, a lifting rod 33 extending into the rotating cavity 45 is slidably connected to the inner wall of the top end of the start cavity 32, a button 47 capable of being abutted to the lifting rod 33 is fixedly arranged on the inner wall of the bottom end of the start cavity 32, a transverse plate 36 positioned in the reset cavity 35 is arranged on the lifting rod 33, a compression spring 34 is connected between the transverse plate 36 and the inner wall of the lower side of the reset cavity 35, a lifting groove 19 is communicated with the inner wall of the start cavity 32 close to the trunk, a slide rod 46 fixedly connected with the lifting rod 33 is slidably connected in the lifting groove 19, and a second group of flow guiding devices 800 are arranged in the inner wall of the lifting groove 19 close to the trunk;
the guiding device 800 comprises a storage cavity 63 which is communicated with the inside of the transmission rod 15, a first oil pipe 64 which is communicated with the first group of guiding devices 800 is communicated with the lower end of the storage cavity 63, a second oil pipe 59 which is communicated with an oil port 82 at the lower end is arranged at the upper end of the storage cavity 63, two grooves 62 are distributed in an array manner in the storage cavity 63, the storage cavity 63 is slidably connected with a valve body 61 fixedly connected with the sliding rod 46, an intake groove 60 which can be communicated with the grooves 62 is arranged in the valve body 61, and a third oil pipe 67 is connected between the oil port 82 at the upper end and the first group of guiding devices 800.
The waist support cushion 21 is fixedly arranged on the end face, close to the symmetrical center, of the waist connecting plate 20, a direct contact surface between equipment and a person can be softened by the waist support cushion 21, a first hydraulic rod 43 is hinged between the waist connecting plate 20 and the thigh extension rod 17, a triangular rib plate 37 is fixedly arranged at the rear end of the knee joint connecting cover 16, a second hydraulic rod 38 is hinged between the triangular rib plate 37 and the rotating rod 40, the first hydraulic rod 43 and the second hydraulic rod 38 are both used for assisting in stabilizing supporting equipment, a cloth rolling barrel 75 capable of elastically recovering is rotatably connected to the left side of the waist connecting plate 20, a sub-buckling belt 76 is fixedly arranged on the cloth rolling barrel 75, a female buckle 42 capable of being abutted to the sub-buckling belt 76 is fixedly arranged on the right side of the waist connecting plate 20, a load mounting plate 41 capable of placing an oil pump is fixedly arranged on the right side of the waist connecting plate 20, and a torque spring 65 assisting in rebound of the rotation of the 40 is connected between the rotating cavity 45.
According to the embodiment, the thigh extension 901 is described in detail below, the thigh extension 901 includes symmetrically disposed in the hidden groove 53 and distributed in an array manner, the rotating rod 40 is provided with a limiting frame 56, the limiting frame 56 is slidably connected with a clamping rod 58 that can be abutted to the clamping groove 84, the limiting frame 56 is rotatably connected with a rotating shaft 54, the rotating shaft 54 is provided with a diamond wheel 55, the diamond wheel 55 is symmetrically hinged with a chain rod 57 that is hinged to the clamping rod 58, the rotating shaft 54 is provided with a knob 18 that is located outside the hidden groove 53, and the clamping rod 58 is abutted to the clamping grooves 84 of different groups, so that the positions of the thigh extension 17 and the rotating rod 40 after sliding adjustment are stably limited, thereby meeting the actual requirements of different thigh lengths.
According to the embodiment, the strap device 903 is described in detail below, the strap device 903 includes a fixing block 73 fixed on the thigh extension rod 17 or the transmission rod 15 and connected to the oil pipe 72 in a communicating manner, the front and rear ends of the fixing block 73 are symmetrically provided with oil filling cloth strips 74 connected to the fixing block 73 in a communicating manner, and the outer surfaces of the oil filling cloth strips 74 are adhered to each other, so that the strap device 903 and the thigh extension rod 17 or the transmission rod 15 connected thereto are fixed on the leg of the human body.
According to the embodiment, the lower leg extension portion 904 will be described in detail below, the lower leg extension portion 904 includes lock grooves 29 disposed in the storage groove 48 and distributed in an array, a sliding groove 49 is disposed on the lock groove 29, a lock rod 30 capable of abutting against the lock groove 29 is slidably connected in the sliding groove 49, a tension spring 31 is connected between the lock rod 30 and the sliding groove 49, and the lock rod 30 abuts against the lock grooves 29 of different groups, so as to stably limit the positions of the lower leg extension rod 14 and the sliding rod 28 after sliding adjustment, thereby meeting the actual demands of different lower leg lengths.
According to the embodiment, the ankle protector 905 is described in detail below, the ankle protector 905 includes a connecting rod 13 rotatably connected to the lower end of the sliding rod 28, the lower end of the connecting rod 13 is fixedly connected with the pedal plate 11, an ankle joint connecting plate 12 is fixedly arranged on the pedal plate 11, an opening slot 27 with an upward opening is arranged in the ankle joint connecting plate 12, an arc-shaped block 26 fixedly connected with the sliding rod 28 is slidably connected to the lower end of the opening slot 27, symmetrical oil pipes 25 are arranged between the arc-shaped blocks 26, and a complete oil liquid loop is formed between the oil pipes 25 and is controlled by an oil pump on the load mounting plate 41.
The following is a detailed description of the steps of using a reinforced lower limb power-assisted exoskeleton for enhancing the load-bearing capacity and endurance of a human body in conjunction with fig. 1 to 12:
when the thigh length proportion is adjusted, the manual rotation knob 18 rotates the diamond-shaped wheel 55 through the rotation shaft 54, the clamping rod 58 is pulled by the chain rod 57 to move out of the clamping groove 84, the knob 18 is reversely rotated after the sliding rod 40 is manually moved down to a proper length, and the chain rod 57 is pushed back into the clamping groove 84 again to be locked;
when the length ratio of the lower leg is adjusted, the lock rod 30 is manually pushed forward to be separated from the contact with the locking groove 29, the tension spring 31 accumulates elastic potential energy, the slide rod 28 is manually slid down to a proper length, and then the lock rod 30 is released to be moved back into the locking groove 29 to be locked under the elastic recovery of the tension spring 31;
when the waist-connecting plate 20 is pulled outwards to be as wide as the waist, the child buckle belt 76 is pulled to enable the cloth rolling barrel 75 to bypass from the front of the body and abut against the female buckle 42, so that waist fixing is completed, the oil-filled cloth belts 74 of the thigh and the calf are respectively connected by bypassing the trunk, and the foot is placed through the foot pedal 11;
initially, a closed oil pipe section is formed among the first set of flow guiding devices 800, the third oil pipe 67, the moving cavity 79, the second oil pipe 59 and the second set of flow guiding devices 800, and oil in the pipeline is saturated to push the piston 81 to move forward and compress the resistance spring 80, so that the limiting rod 83 moves forward;
when the walking is bent, the rotating rod 40 rotates along the fixed shaft 44 and enables the torque spring 65 to accumulate elastic potential energy, the pressure on the lower leg can be buffered through the second hydraulic rod 38 in the rotating process of the rotating rod 40, the space between the thigh and the waist can be supported through the first hydraulic rod 43 in an auxiliary mode, the lifting rod 33 can be pushed to move downwards to be abutted with the button 47 in the rotating process of the rotating rod 40, the electromagnetic valve 71 is started, liquid in the oil filled cloth belt 74 of the thigh part is sent into the oil filled cloth belt 74 of the lower leg part, the loosening and tightening conversion of a muscle force applying point in the bending process is automatically achieved, the sliding of the arc-shaped block 26 is controlled through a closed oil path between the oil pipes 25, the rotating reset of the sliding rod 28 is assisted, and the force application of the ankle is reduced;
when the vehicle is in sitting and standing conversion, the rotating rod 40 bends to push the lifting rod 33 to move downwards, the compression spring 34 is compressed through the transverse plate 36, the valve body 61 is driven to move downwards through the sliding rod 46, oil on the closed oil pipe section is sent into the first oil pipe 64 by the uptake groove 60, the piston 81 moves backwards under the elastic recovery of the resistance spring 80, the limiting rod 83 is pushed to move to abut against the rotating rod 40, the elastic recovery of the torque spring 65 is limited, when the vehicle needs to stand, the pedal 52 pushes the connecting rod 23 to move forwards, the buffer spring 68 accumulates elastic potential energy through the liquid leakage preventing plate 69, oil in the first oil pipe 64 is returned into the third oil pipe 67, the piston 81 is pushed forwards again under saturation to compress the resistance spring 80, the limiting rod 83 is further pushed forwards to leave the abutting against the rotating rod 40, the elastic recovery auxiliary person of the torque spring 65 stands again, and the lifting rod 33 can reset under the elastic recovery of the compression spring 34 to facilitate the next bending action.
The beneficial effects of the invention are as follows: the invention adopts the change of oil saturation and deficiency in the sealed oil pipeline of the area section to realize the change of the locking structure, ensures the conversion and auxiliary support between standing and sitting of a user, adopts the automatic judging structure during bending and the reset switch during trampling, simplifies the operation process to provide convenience for a load person in use, enhances the interaction relationship between people and equipment, controls the structure part of the binding belt by the bending action structure, realizes the tightness degree of the binding belt of the force applying part during bending of the legs, avoids the uncomfortable body of the user, adopts an independent hydraulic control system to assist the rotation and reset of the ankle part, reduces the pressure of the sole part of the user, adopts the cooperation of the sliding rod sliding chute mode and the locking structure, can adapt to the use purposes of people with different leg proportions, and achieves the universality and is convenient to wear.
In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.
Claims (6)
1. A reinforcement type lower limb power-assisted exoskeleton for enhancing the load capacity and endurance of a human body comprises a bilaterally symmetrical waist connecting plate;
the waist connecting plates on two sides are connected through telescopic rods fixedly arranged, thigh extension parts are rotatably arranged on the waist connecting plates, the thigh extension parts can be worn by personnel with different body proportions through thigh extension rods rotatably connected with the outer sides of the waist connecting plates, hidden grooves which are arranged in the thigh extension rods and are downward and outward in openings, and rotating rods which are in sliding connection with the hidden grooves, and the thigh length proportion is changed by means of sliding adjustment between the thigh extension rods and the rotating rods;
the lower side of the waist connecting plate is provided with a knee joint connecting cover, a rotating cavity is arranged in the knee joint connecting cover, a rotating groove which is in sliding connection with the rotating rod is communicated with the rotating cavity, a fixed shaft is fixedly arranged between the inner walls of the left side and the right side of the rotating cavity, the lower end of the rotating rod stretches into the rotating cavity and is in rotating connection with the fixed shaft, a locking device is arranged in the rotating cavity, the locking device can realize the rotation limitation on right-angle bending by a limiting box embedded in the inner wall of the front end of the rotating cavity, a moving cavity arranged in the limiting box, a limiting rod which is in sliding connection with the inner wall of the rear side of the moving cavity and can be in abutting connection with the rotating rod, a transmission rod is fixedly arranged at the lower end of the knee joint connecting cover, an oil pipe is respectively arranged on the transmission rod and the thigh extending rod, and an electromagnetic valve for controlling the flow direction of liquid in the oil pipe is arranged in the oil pipe, and further the change of the binding bands between the two binding devices is realized;
the lower end of the transmission rod is fixedly provided with a shank extension part, and the shank extension part can realize the change of the length proportion of the shank part through the shank extension rod fixedly arranged at the lower end of the transmission rod, a storage groove which is positioned in the shank extension rod and is downward and outward in an opening manner, a sliding rod which is in sliding connection with the storage groove, and the sliding adjustment between the shank extension rod and the sliding rod so as to adapt to the wearing of personnel with different body proportions;
the lower end of the sliding rod is provided with an ankle protecting device which can rotate horizontally and vertically, a reset component capable of controlling the locking device is arranged in the ankle protecting device, and a switch component for starting the binding belt device is arranged in the transmission rod;
the locking device comprises a piston which is connected in the moving cavity in a sliding way and is fixedly connected with the limiting rod, a resistance spring is connected between the piston and the inner wall of the front side of the sliding cavity, and an oil port which is symmetrical up and down is communicated with the inner wall of the moving cavity close to the symmetrical center side;
the reset assembly comprises a transmission cavity which is arranged in the pedal and is provided with an upward opening, the pedal is rotationally connected to the transmission cavity, a slide way is communicated with the inner wall of the transmission cavity, which is close to one side of the trunk, slide cavities are symmetrically arranged in the inner walls of the front end and the rear end of the slide way, locking grooves are connected in the slide cavities in a sliding way, a buffer spring is connected between a liquid leakage prevention plate and the slide cavities, a connecting rod which is in butt joint with the pedal is arranged on the liquid leakage prevention plate, and a first group of flow guiding devices are arranged in the inner wall of the slide way, which is close to one side of the trunk;
the switch assembly comprises a reset cavity arranged in the transmission rod, a starting cavity is arranged at the lower end of the reset cavity, a lifting rod which extends into the rotating cavity is connected to the inner wall of the top end of the starting cavity in a sliding mode, a button which can be abutted to the lifting rod is fixedly arranged on the inner wall of the bottom end of the starting cavity, a transverse plate which is positioned in the reset cavity is arranged on the lifting rod, a compression spring is connected between the transverse plate and the inner wall of the lower side of the reset cavity, a lifting groove is formed in the inner wall, close to the trunk, of the starting cavity in a communicating mode, a sliding rod which is fixedly connected with the lifting rod is connected in a sliding mode in the lifting groove, and a second group of flow guiding devices are arranged in the inner wall, close to the trunk, of the lifting groove;
the guide device comprises a storage cavity which is communicated with the transmission rod, a first oil pipe which is communicated with the first group of guide devices is communicated with the lower end of the storage cavity, a second oil pipe which is communicated with the oil liquid port at the lower end of the storage cavity is arranged at the upper end of the storage cavity, two grooves are distributed in an array mode in the storage cavity, the storage cavity is connected with a valve body fixedly connected with the sliding rod in a sliding mode, an intake groove which can be communicated with the grooves is arranged in the valve body, and a third oil pipe is connected between the oil liquid port at the upper end of the storage cavity and the first group of guide devices.
2. The booster lower limb booster exoskeleton of claim 1 for enhancing the load bearing capacity and endurance of the human body, wherein: the waist connecting plate is close to the fixed waist cushion that is equipped with on the symmetry center side terminal surface, the waist connecting plate with articulated between the thigh extension rod have first hydraulic stem, knee joint connection cover rear end is fixed to be equipped with the triangular ribbed plate, the triangular ribbed plate with articulated between the bull stick have the second hydraulic stem, left side rotate on the waist connecting plate and be connected with the batching bucket that can elastically reply, the batching bucket is last to be fixed to be equipped with the sub-buckle area, the right side the last fixed female buckle that can with sub-buckle area butt that is equipped with of waist connecting plate, the right side the last fixed load mounting panel that is equipped with of waist connecting plate, the bull stick with be connected with torque spring between the rotatory chamber.
3. The booster lower limb booster exoskeleton of claim 1 for enhancing the load bearing capacity and endurance of the human body, wherein: the thigh extension part comprises clamping grooves which are symmetrically arranged in the hidden grooves and distributed in an array mode, a limiting frame is arranged on the rotating rod, clamping rods which can be in butt joint with the clamping grooves are connected to the limiting frame in a sliding mode, a rotating shaft is connected to the limiting frame in a rotating mode, diamond wheels are arranged on the rotating shaft, chain rods which are connected with the clamping rods in a hinged mode are symmetrically hinged to the diamond wheels, and a knob located on the outer side of the hidden grooves is arranged on the rotating shaft.
4. The booster lower limb booster exoskeleton of claim 1 for enhancing the load bearing capacity and endurance of the human body, wherein: the binding band device comprises a fixed block which is fixed on the thigh extension rod or the transmission rod and is communicated with the oil pipe, and oil-filled cloth belts which are communicated with the fixed block are symmetrically arranged at the front end and the rear end of the fixed block.
5. The booster lower limb booster exoskeleton of claim 1 for enhancing the load bearing capacity and endurance of the human body, wherein: the shank extension part comprises lock grooves which are arranged in the storage grooves and distributed in an array mode, sliding grooves are formed in the lock grooves, lock rods which can be in butt joint with the lock grooves are connected in a sliding mode in the sliding grooves, and extension springs are connected between the lock rods and the sliding grooves.
6. A booster lower limb booster exoskeleton for enhancing load bearing capacity and endurance of a human body as claimed in claim 2, wherein: the ankle protection device comprises a connecting rod which is rotationally connected to the lower end of the sliding rod, the lower end of the connecting rod is fixedly connected with the pedal, an ankle joint connecting plate is fixedly arranged on the pedal, an upward opening groove is formed in the ankle joint connecting plate, the lower end of the opening groove is slidably connected with an arc-shaped block fixedly connected with the sliding rod, symmetrical oil pipes are arranged between the arc-shaped blocks, a complete oil liquid loop is formed between the oil pipes, and the oil pump is controlled by the oil pump on the load mounting plate.
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| CN202110158267.3A CN112894775B (en) | 2021-02-05 | 2021-02-05 | Reinforcing type lower limb power-assisted exoskeleton capable of enhancing human body load bearing capacity and endurance |
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| CN202110158267.3A CN112894775B (en) | 2021-02-05 | 2021-02-05 | Reinforcing type lower limb power-assisted exoskeleton capable of enhancing human body load bearing capacity and endurance |
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| CN109009891A (en) * | 2018-08-14 | 2018-12-18 | 浙江大学 | Wearable electricity drives assistance exoskeleton lower limb mechanism |
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| EP0039578B1 (en) * | 1980-05-02 | 1985-04-10 | Edward P. Davis | Leg aid device |
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| CN200963209Y (en) * | 2006-10-24 | 2007-10-24 | 陈森荣 | Knee-joint with anti-tipping effect |
| CN102973337B (en) * | 2012-09-25 | 2015-05-06 | 电子科技大学 | Active knee joint structure with function of load-bearing and self-locking |
| FR3034660B1 (en) * | 2015-04-07 | 2022-06-10 | Wandercraft | EXOSKELETON COMPRISING A MECHANICAL ANKLE LINKAGE WITH TWO PIVOTING AXES |
| DE102016007741A1 (en) * | 2016-06-27 | 2017-12-28 | Marcel Reese | The invention relates to the field of exoskeletons, humanoid robots and also their use in teleoperative applications in virtual worlds or the real world |
| WO2019060791A1 (en) * | 2017-09-22 | 2019-03-28 | North Carolina State University | Hip exoskeleton |
| CN109646242A (en) * | 2017-10-12 | 2019-04-19 | 上海师范大学 | A kind of Table top type upper limb rehabilitation robot and its application method |
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Denomination of invention: An Enhanced Lower Limb Assist Exoskeleton for Enhancing Human Weight Carrying Capacity and Endurance Granted publication date: 20230519 Pledgee: Taixi sub branch of Taian Bank Co.,Ltd. Pledgor: Meikangda Intelligent Technology (Shandong) Co.,Ltd. Registration number: Y2024980011814 |