CN113146579B - Trans-joint load supporting device based on passive variable-stiffness damper - Google Patents
Trans-joint load supporting device based on passive variable-stiffness damper Download PDFInfo
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- CN113146579B CN113146579B CN202110425447.3A CN202110425447A CN113146579B CN 113146579 B CN113146579 B CN 113146579B CN 202110425447 A CN202110425447 A CN 202110425447A CN 113146579 B CN113146579 B CN 113146579B
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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
Abstract
The invention belongs to the technical field related to auxiliary load equipment, and discloses a joint-spanning load supporting device based on a passive variable-stiffness damper, which comprises a load supporting mechanism, a clutch mechanism and a variable-stiffness damper mechanism, wherein the clutch mechanism and the variable-stiffness damper mechanism are respectively arranged on the load supporting mechanism, and are connected with each other; the supporting device is a pure passive lower limb exoskeleton which passively triggers the clutch mechanism to be opened and closed through human body movement, so that the variable stiffness damper mechanism is locked and released in a time-sharing manner. The supporting device can realize passive self-adaptive rigidity when being impacted or sheared, the dampers are passively triggered to change rigidity and damp through human body movement, the problems of complex structure of the active load exoskeleton and large overall mass do not exist, and the problem of power energy limitation is solved.
Description
Technical Field
The invention belongs to the technical field of auxiliary load equipment, and particularly relates to a joint-spanning load supporting device based on a passive variable stiffness damper.
Background
The human body load exoskeleton device is exoskeleton robot technical equipment capable of enhancing the human body load movement capability, portability and maneuverability and reducing metabolic energy consumption, and is widely applied to military affairs, disaster relief, military affairs and the like. In the aspect of military affairs, due to the complexity of terrains, large-scale mechanized vehicles are difficult to rapidly move deep into deep forests, mountain roads, step roads and the like, and the loaded exoskeleton, which is a machine which not only holds the intelligence of people but also can bear heavy load, can greatly improve the fighting capacity of troops. In disaster relief, on one hand, rescue personnel can carry a large number of fire-fighting equipment to the site through the device, and on the other hand, disaster-affected goods and personnel can be transferred to a safe place without taking much effort. In the field of daily life, the exoskeleton robot can assist workers in operating heavy equipment, reduce strain of muscles and bones, relieve fatigue and improve the operating efficiency and the positioning precision of the workers. In view of the important application value of the exoskeleton robot for enhancing the human body movement ability to improve the quality of life of people and improve national defense and military strength, governments of all countries in the world pay high attention.
In the last two decades, a plurality of scientific research institutions develop extensive research in the field of wearable lower limb exoskeleton and research and develop a plurality of lower limb exoskeleton devices with important scientific significance. According to whether an external energy source is contained or not, and a part of the lower limb exoskeleton is an active exoskeleton and a passive exoskeleton, the active exoskeleton device usually comprises an actuating mechanism, a sensor, a control module, a matched external driving power supply and the like, and the mass is generally large. The wearable lower limb active exoskeleton device acquires the movement intention of a wearer by means of various different sensor modules, and then actively regulates and controls the output force and the moment of each actuating mechanism through a control system, so that the exoskeleton is matched with the movement of the wearer, and the movement ability of the wearer is further enhanced. The lower limb passive exoskeleton device is based on the motion rule of the lower limbs of the human body, utilizes the cyclic conversion of kinetic energy and potential energy between the limbs and the external elastic element, and assists the motion of the lower limbs of the human body by means of the external passive elastic element. The lower limb passive exoskeleton device generally has the characteristics of light weight, simple structure and the like, and the passive exoskeleton can well match with the lower limb kinematics law and the internal energy conversion mechanism of a musculoskeletal system in the human motion process by reasonably arranging external elastic elements and designing a proper passive energy release adjusting device, so that the consumption of metabolic energy is reduced. Therefore, passive exoskeletons offer potential advantages in terms of increased human mobility and reduced metabolic energy consumption over active exoskeletons that are relatively massive, complex in structure, and difficult to coordinate with the intent of a wearer. Most passive exoskeletons cannot bear loads at present, and a small number of passive exoskeletons are quasi-passive, so that the problem of power energy limitation still exists.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a joint-spanning load supporting device based on a passive variable-stiffness damper, the supporting device adopts an intelligent variable-stiffness damper based on a shear thickening elastomer material, can realize passive self-adaptive stiffness when impacted or sheared, passively triggers the variable stiffness and variable damping of the damper through human motion, has no problems of complex structure and large whole machine mass of an active load exoskeleton, and solves the problems of power energy limitation, recognition and matching of human motion intention and the like.
In order to achieve the above object, according to one aspect of the present invention, there is provided a joint-spanning load-bearing supporting device based on a passive variable stiffness damper, the supporting device includes a load supporting mechanism, a clutch mechanism and a variable stiffness damper mechanism, the clutch mechanism and the variable stiffness damper mechanism are respectively disposed on the load supporting mechanism, and the clutch mechanism is connected to the variable stiffness damper mechanism;
the supporting device is a pure passive lower limb exoskeleton which passively triggers the clutch mechanism to be opened and closed through human body movement, so that the variable stiffness damper mechanism is locked and released in a time-sharing manner.
Furthermore, the variable-stiffness damper mechanism comprises a damper, an upper triangular plate and a lower triangular plate, wherein one end of the upper triangular plate is rotatably connected with the load supporting mechanism, and the other end of the upper triangular plate is rotatably connected with one end of the lower triangular plate; the other end of the lower triangular plate is rotationally connected with the clutch mechanism; the both ends of attenuator respectively detachably connect in go up the set square and down the set square.
Further, the installation positions of the dampers on the upper triangular plate and the lower triangular plate can be adjusted.
Further, when the supporting device is at the 0 point of the step cycle, the clutch mechanism is in a closed state, the variable stiffness damper mechanism is in a locked state, and the load carried by the supporting device is transmitted to the ground through the load supporting mechanism; when the supporting device is at the 40% point of the gait cycle, namely when the heel is lifted off the ground, the clutch mechanism enters an open state, the variable stiffness damper mechanism is released, and the variable stiffness damper mechanism freely swings along with the human body.
Further, the clutch mechanism can do reciprocating linear motion along the load supporting mechanism, and simultaneously compress the variable stiffness damper mechanism or release the variable stiffness damper mechanism; the clutch mechanism comprises a gear rack assembly, a ground contact rod, a space connecting piece and a sliding block assembly, the ground contact rod is movably connected with the load supporting mechanism, and the sliding block assembly comprises a linear guide rail arranged on the load supporting mechanism and a sliding block arranged on the linear guide rail in a sliding manner; the gear rack mechanism comprises an outer gear, an inner gear, a first rack and a second rack, the outer gear and the inner gear are coaxially arranged on the load supporting mechanism, the first rack is detachably meshed with the outer gear, the second rack is meshed with the inner gear, the first rack and the second rack are respectively connected with the ground contact rod and one end of the space connecting piece, and the other end of the space connecting piece is connected with the sliding block assembly.
Furthermore, the load supporting mechanism comprises an upper component and a lower component which are connected, the upper component comprises a backpack fixing plate, a universal joint, a length adjusting rod, an upper transverse plate, an upper side plate, a side plate reinforcing rib and a lower transverse plate, the backpack fixing plate is used for bearing a backpack, and the backpack is used for accommodating a load; one ends of the two universal joints are rotatably connected to two ends of the backpack fixing plate, the other ends of the two universal joints are respectively connected to one ends of the two length adjusting rods, and the other ends of the length adjusting rods are connected to the middle part of the upper transverse plate; wherein the length of the length adjusting rod can be adjusted;
the lower transverse plate and the upper transverse plate are arranged at intervals, four upper side plates are arranged in a group in pairs, two ends of each upper side plate are respectively connected with the upper transverse plate and the lower transverse plate, the two upper side plates of each group are arranged at intervals and are connected by one side plate reinforcing rib, and the side plate reinforcing ribs are adjacent to the lower transverse plate.
Furthermore, the lower transverse plate comprises a concave-shaped piece and two connecting pieces, and the two connecting pieces are respectively and movably connected to two ends of the concave-shaped piece; the upper side plate is connected to the concave-shaped piece; wherein one end of the ground contact rod is movably connected to one of the connecting pieces and can move relative to the connecting piece.
Furthermore, the lower component comprises an outer side plate, an outer side rod, an inner side rod, an ankle frame and a shoe fixing component, one end of each of the inner side rod and the outer side rod sequentially penetrates through the two connecting pieces and then is movably connected to two ends of the concave-shaped piece, and the other end of each of the inner side rod and the outer side rod is connected to two ends of the U-shaped ankle frame; one end of each of the two outer side plates is connected with the two connecting pieces, and the other end of each of the two outer side plates is connected with the two ends of the ankle block; the other end of the ground touching rod is connected with a universal ball which can do linear motion relative to the connecting piece.
Further, the external gear and the internal gear are respectively arranged on outer side plates adjacent to the ground contact rod, and the linear guide rail is arranged on one side of the other outer side plate facing the gear rack mechanism; the shoe securing assembly is connected to the ankle block.
Further, the fixed subassembly of shoes includes first ankle axle, foot rest connecting piece, second ankle axle, U type foot rest, base plate connection foot rest and base plate, the both ends of first ankle axle connect with respectively rotate in the ankle frame reaches the one end of foot rest connecting piece, the other end of foot rest connecting piece passes through second ankle axle connect with rotate in U type foot rest, the both ends of U type foot rest are connected with the base plate connection foot rest respectively, the base plate connection foot rest is kept away from the one end of ankle frame is connected with the base plate, the base plate is used for being connected with the rubber end of shoes.
Generally, compared with the prior art, the technical scheme of the invention has the following advantages that:
1. the supporting device is a pure passive exoskeleton which passively triggers the damper to change rigidity and damp through human body movement, can realize self-adaption rigidity and damping change according to external load and the size and speed of plantar impact force under the passive condition without energy drive, does not need energy, a sensor and the like, and is simple and reliable in overall structure and light in weight.
2. The supporting device meets the different functional requirements of sufficient rigidity of the supporting phase and sufficient flexibility of the swinging phase through the clutch mechanism, provides support for relative loads of the human body supporting phase, does not interfere normal walking of the human body in the swinging phase, and swings freely along with the human body.
3. The damper is adjustable with the hookup location of upper and lower set square, so can adjust the variable rigidity scope of damper, can satisfy different environment and wearer's demand, and application scope is extensive, can also change the shear thickening elastomer material of different models, satisfies different operating modes.
4. The supporting device is a non-anthropomorphic structure, the supporting device is not provided with a joint mechanism with a hip, a knee and an ankle which are connected in series, and the structural design scheme of the cross joint can ensure that the load gravity is directly transmitted to the ground through the supporting structure, so that the problem that complicated mechanical joints have to be designed to match human biological joints for realizing man-machine motion matching is solved.
5. The base plate is used for being connected with the rubber bottom of the shoe instead of being fixedly connected with the ankle joint of the human body or being connected with the flexible binding band, interference on the human body and the bottom surface is avoided, and wearing portability can be improved.
Drawings
FIG. 1 is a schematic structural view of a passive variable stiffness damper-based load bearing device for a joint crossing;
FIG. 2 is a schematic plan view of the passive variable stiffness damper-based cross-joint weight support device of FIG. 1;
FIG. 3 is a partial schematic view of the clutch mechanism of the passive variable stiffness damper-based cross-joint weight bearing device of FIG. 1;
FIG. 4 is a partial schematic view of a load support mechanism of the passive variable stiffness damper-based cross-joint load bearing device of FIG. 1;
FIG. 5 is a partial schematic view of the variable stiffness damper mechanism of the passive variable stiffness damper-based cross-joint load bearing device of FIG. 1;
FIG. 6 is a schematic view of the use of the passive variable stiffness damper-based cross-joint weight support device of FIG. 1.
The same reference numbers will be used throughout the drawings to refer to the same elements or structures, wherein: 1-backpack fixing plate, 2-universal joint, 3-length adjusting rod, 4-upper transverse plate, 5-upper side plate, 6-side plate reinforcing rib, 7-lower transverse plate, 8-rack and pinion mechanism, 9-outer side plate, 10-outer side rod, 11-ground touching rod, 12-ankle bracket, 13-shoe fixing component, 14-damper, 15-upper triangular plate, 16-lower triangular plate, 17-space connecting piece, 18-slider component and 19-inner side rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, 2 and 6, the present invention provides a passive variable stiffness damper-based cross-joint load supporting device, which uses an inverted pendulum mechanism and a non-anthropomorphic design, thereby greatly avoiding the limitation of the device on the movement of the human body. The supporting device comprises a load supporting mechanism, a clutch mechanism and a variable stiffness damper mechanism, wherein the clutch mechanism and the variable stiffness damper mechanism are respectively arranged on the load supporting mechanism, and the clutch mechanism is connected with the variable stiffness damper mechanism.
Referring to fig. 5, the variable stiffness damper mechanism includes a damper 14, an upper triangle 15 and a lower triangle 16, one end of the upper triangle 15 is rotatably connected to the load supporting mechanism, the other end of the upper triangle is rotatably connected to one end of the lower triangle 16, and the other end of the lower triangle 16 is rotatably connected to the clutch mechanism. The two ends of the damper 14 are respectively detachably connected to the upper triangular plate 15 and the lower triangular plate 16, and the installation positions of the damper 14 on the upper triangular plate 15 and the lower triangular plate 16 can be adjusted according to requirements.
Wherein the damper 14 is an intelligent variable stiffness damper based on a shear thickening elastomer material; under the condition that the shear thickening elastomer material in the damper is not stressed, the material is soft and rich in elasticity, once the material is impacted, molecules are rapidly locked with each other to tighten and harden, and the material is rapidly changed from weak rigidity to high rigidity; when the external acting force disappears, the elastic body is immediately restored to the original soft state. The speed and amplitude of the change in stiffness depend on the speed and magnitude of the force; the shear thickening elastomer material is placed in the damper, and the damper only needs to encapsulate the material and transmit external force to the material, so that the rigidity of the material is mutated.
In the process of movement of a human body, neuromuscular systems such as hip joints, knee joints and ankle joints can change along with different stages of a step cycle, and the rigidity and the damping of the damper are adjusted, so that the damper needs to change the rigidity and adjust the damping at the same time. For a damper joint, the relation between force and displacement or torque and a rotation angle can form a hysteresis curve, the equivalent damping coefficient of the STG elastic component can be calculated by a formula in a complete cycle period, the equivalent damping coefficient is exponentially reduced along with the increase of frequency, and the amplitude has almost no influence on the equivalent damping coefficient.
Referring to fig. 3, the clutch mechanism includes a rack and pinion assembly 8, a ground engaging rod 11, a spatial link 17 and a slider assembly 18, and the ground engaging rod 11 is movably connected to the load supporting mechanism. The slide assembly 18 includes a slide and a linear guide disposed on the load support mechanism, the slide being slidably connected to the linear guide. The rack and pinion subassembly 8 is including setting up on the load supporting mechanism and two gears (being external gear and internal gear respectively) and detachable separately and two of coaxial setting two racks of gear engagement (being first rack and second rack respectively), two the rack connect respectively in touch ground pole 11 and the one end of space connecting piece 17, the other end of space connecting piece 17 connect in the slider. Wherein, one end of the lower triangle 16 far away from the upper triangle 15 is rotatably connected with the space connecting piece 17.
In the movement process, the switch of the clutch mechanism is passively triggered by the movement of the human body, and the variable stiffness damper mechanism is released and locked in a time-sharing manner by the switch of the clutch mechanism, so that the variable stiffness characteristic of the human body living things is reproduced, and the purpose of assisting the human body to walk under heavy load is achieved.
Referring to fig. 4, the load supporting mechanism includes an upper assembly and a lower assembly connected to each other, the upper assembly includes a backpack fixing plate 1, a universal joint 2, a length adjusting rod 3, an upper cross plate 4, an upper side plate 5, a side plate reinforcing rib 6, and a lower cross plate 7, the backpack fixing plate 1 is used for carrying a backpack, and the backpack is used for accommodating a load. One end of each of the two universal joints 2 is rotatably connected to two ends of the backpack fixing plate 1, the other end of each of the two universal joints is connected to one end of each of the two length adjusting rods 3, and the other end of each of the length adjusting rods 3 is connected to the middle of the upper transverse plate 4. Wherein, the length of the length adjusting rod 3 can be adjusted to adapt to different users.
The lower transverse plate 7 and the upper transverse plate 4 are arranged at intervals, four upper side plates 5 are arranged in pairs to form a group, two ends of each upper side plate 5 are respectively connected with the upper transverse plate 4 and the lower transverse plate 7, two upper side plates 5 in each group are arranged at intervals and are connected through a side plate reinforcing rib 6, and the side plate reinforcing rib 6 is arranged close to the lower transverse plate 7. The lower transverse plate 7 comprises a concave-shaped piece and two connecting pieces, and the two connecting pieces are movably connected to two ends of the concave-shaped piece respectively. The upper side plate 5 is connected to the female part. Wherein one end of the ground contact lever 11 is movably connected to one of the connectors, which is movable relative to the connector.
The lower component comprises an outer side plate 9, an outer side rod 10, an inner side rod 19, an ankle frame 12 and a shoe fixing component 13, wherein one end of the inner side rod 19 and one end of the outer side rod 10 penetrate through the two connecting pieces in sequence and are movably connected to the two ends of the concave-shaped piece, and the other end of the inner side rod 19 and the other end of the outer side rod 10 are connected to the two ends of the U-shaped ankle frame 12. One end of each of the two outer panels 9 is connected to each of the two connectors, and the other end is connected to each of the two ends of the ankle block 12. The other end of the ground contact rod 11 is connected with a universal ball which can do linear motion relative to the connecting piece; and the ground contact rod 11 is connected to the outer side plate 9 through a linear bearing. Wherein, two said gears are respectively arranged on the outer side plate 9 adjacent to the ground touching rod 11, and the linear guide rail is arranged on the side of the other outer side plate 9 facing the rack-and-pinion mechanism 8. The shoe retaining assembly 13 is attached to the ankle block 12.
In this embodiment, the shoe fixing component 13 includes a first ankle shaft, a foot rest connecting member, a second ankle shaft, a U-shaped foot rest, a base plate connecting foot rest and a base plate, both ends of the first ankle shaft are respectively rotatably connected to the ankle frame 12 and one end of the foot rest connecting member, the other end of the foot rest connecting member is rotatably connected to the U-shaped foot rest through the second ankle shaft, both ends of the U-shaped foot rest are respectively connected to the base plate connecting foot rest, one end of the base plate connecting foot rest, which is far away from the ankle frame 12, is connected to the base plate, which is used for being connected to the rubber sole of the shoe, instead of being fixedly connected to the ankle joint of the human body or being connected to a flexible bandage, so that the human body and the bottom surface are not interfered, and the wearing portability can be improved.
When the supporting device works, at the beginning of a supporting phase (a gait cycle 0 point), the ground contact rod 11 contacts the ground along with the landing of the heel of a human body and moves upwards under the pressure of about 20 mm, the ground contact rod 11 drives the rack to move upwards, so that the rack and the outer gear enter a meshing state, meanwhile, the other rack which is originally in the meshing state and the inner gear perform fitting motion and are not separated all the time, and the state is recorded as that the clutch mechanism is in a closing state. In the support phase, the load of the backpack is transmitted to the space connecting piece 17 via the load supporting mechanism and the variable stiffness damper mechanism, the space connecting piece 17 is forced to move downwards, the downward movement trend of the space connecting piece 17 is sequentially transmitted to the rack, the inner gear, the outer gear, the other rack and the ground contact rod 11, but the lower end of the ground contact rod 11 cannot move downwards due to the ground contact, the space connecting piece 17 can only impact the damper 14, so that the damper 14 is changed into high stiffness, and then the load of the backpack is transmitted to the ground through the ground contact rod 11.
When the heel is lifted off the ground (40% of the gait cycle), the ground contact rod 11 moves downward under the action of the self-weight and the elastic force of the damper 14, so that the rack and the outer gear are disengaged, the rack and pinion mechanism is released and can rotate freely, the clutch mechanism enters an open state, and the damper connected with the clutch mechanism is released. During the period, the damper recovers a low rigidity state and freely swings with the human body. Wherein the reduction or increase of the length of the supporting device is converted into the reciprocating linear motion of the damper along with the space connecting piece 17 and the sliding block on the linear guide rail. At the end of the swing phase, the rack and the medial gear are engaged, the heel is ready to land, and the next gait cycle is started, and the above-described movement process is repeated.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides a joint-spanning load-bearing supporting device based on passive variable stiffness damper which characterized in that:
the supporting device comprises a load supporting mechanism, a clutch mechanism and a variable stiffness damper mechanism, wherein the clutch mechanism and the variable stiffness damper mechanism are respectively arranged on the load supporting mechanism, and the clutch mechanism is connected with the variable stiffness damper mechanism;
the supporting device is a pure passive lower limb exoskeleton and passively triggers the clutch mechanism to be opened and closed through human body movement, so that the variable stiffness damper mechanism is locked and released in a time-sharing manner;
the clutch mechanism can do reciprocating linear motion along the load supporting mechanism, and simultaneously compresses the variable stiffness damper mechanism or releases the variable stiffness damper mechanism; the clutch mechanism comprises a gear rack assembly, a ground contact rod, a space connecting piece and a sliding block assembly, the ground contact rod is movably connected with the load supporting mechanism, and the sliding block assembly comprises a linear guide rail arranged on the load supporting mechanism and a sliding block arranged on the linear guide rail in a sliding manner; the gear rack assembly comprises an outer gear, an inner gear, a first rack and a second rack, the outer gear and the inner gear are coaxially arranged on the load supporting mechanism, the first rack is detachably meshed with the outer gear, the second rack is meshed with the inner gear, the first rack and the second rack are respectively connected with the ground contact rod and one end of the space connecting piece, and the other end of the space connecting piece is connected with the sliding block assembly.
2. The passive variable stiffness damper-based trans-articular weight-bearing device of claim 1, wherein: the variable-stiffness damper mechanism comprises a damper, an upper triangular plate and a lower triangular plate, wherein one end of the upper triangular plate is rotatably connected with the load supporting mechanism, and the other end of the upper triangular plate is rotatably connected with one end of the lower triangular plate; the other end of the lower triangular plate is rotationally connected with the clutch mechanism; the both ends of attenuator respectively detachably connect in go up the set square and down the set square.
3. The passive variable stiffness damper-based trans-articular weight-bearing device of claim 2, wherein: the installation position of the damper on the upper triangular plate and the lower triangular plate can be adjusted.
4. The passive variable stiffness damper-based trans-articular weight-bearing device of claim 1, wherein: when the supporting device is at the 0 point of the step cycle, the clutch mechanism is in a closed state, the variable stiffness damper mechanism is in a locked state, and the load carried by the supporting device is transmitted to the ground through the load supporting mechanism; when the supporting device is at the 40% point of the gait cycle, namely when the heel is lifted off the ground, the clutch mechanism enters an open state, the variable stiffness damper mechanism is released, and the variable stiffness damper mechanism freely swings along with the human body.
5. The passive variable stiffness damper-based trans-articular weight-bearing device of claim 1, wherein: the load supporting mechanism comprises an upper component and a lower component which are connected, the upper component comprises a backpack fixing plate, a universal joint, a length adjusting rod, an upper transverse plate, an upper side plate, a side plate reinforcing rib and a lower transverse plate, the backpack fixing plate is used for bearing a backpack, and the backpack is used for accommodating a load; one ends of the two universal joints are rotatably connected to two ends of the backpack fixing plate, the other ends of the two universal joints are respectively connected to one ends of the two length adjusting rods, and the other ends of the length adjusting rods are connected to the middle part of the upper transverse plate; wherein the length of the length adjusting rod can be adjusted;
the lower transverse plate and the upper transverse plate are arranged at intervals, four upper side plates are arranged in a group in pairs, two ends of each upper side plate are respectively connected with the upper transverse plate and the lower transverse plate, the two upper side plates of each group are arranged at intervals and are connected by one side plate reinforcing rib, and the side plate reinforcing ribs are adjacent to the lower transverse plate.
6. The passive variable stiffness damper-based trans-articular weight-bearing device of claim 5, wherein: the lower transverse plate comprises a concave-shaped piece and two connecting pieces, and the two connecting pieces are respectively and movably connected to two ends of the concave-shaped piece; the upper side plate is connected to the concave-shaped piece; wherein one end of the ground contact rod is movably connected to one of the connecting pieces and can move relative to the connecting piece.
7. The passive variable stiffness damper-based trans-articular load-bearing device of claim 6, wherein: the lower component comprises an outer side plate, an outer side rod, an inner side rod, an ankle frame and a shoe fixing component, one end of the inner side rod and one end of the outer side rod sequentially penetrate through the two connecting pieces respectively and then are movably connected to two ends of the concave-shaped piece, and the other end of the inner side rod and the other end of the outer side rod are connected to two ends of the U-shaped ankle frame respectively; one end of each of the two outer side plates is connected with the two connecting pieces, and the other end of each of the two outer side plates is connected with the two ends of the ankle block; the other end of the ground touching rod is connected with a universal ball which can do linear motion relative to the connecting piece.
8. The passive variable stiffness damper-based trans-articular weight-bearing device of claim 7, wherein: the outer gear and the inner gear are respectively arranged on outer side plates adjacent to the ground contact rod, and the linear guide rail is arranged on one side of the other outer side plate facing the gear rack assembly; the shoe securing assembly is connected to the ankle block.
9. The passive variable stiffness damper-based trans-articular load-bearing device of claim 7, wherein: the fixed subassembly of shoes includes first ankle axle, foot rest connecting piece, second ankle axle, U type foot rest, base plate connection foot rest and base plate, the both ends of first ankle axle rotate respectively connect in the ankle frame reaches the one end of foot rest connecting piece, the other end of foot rest connecting piece passes through the second ankle axle rotate connect in U type foot rest, the both ends of U type foot rest are connected with the base plate connection foot rest respectively, the base plate connection foot rest is kept away from the one end of ankle frame is connected with the base plate, the base plate is used for being connected at the bottom of the rubber with shoes.
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| US9682005B2 (en) * | 2012-02-24 | 2017-06-20 | Massachusetts Institute Of Technology | Elastic element exoskeleton and method of using same |
| CN104490498B (en) * | 2014-12-16 | 2016-08-24 | 郑州大学 | Knee joint ankle joint coordinated type lower artificial limb device |
| CN106618830B (en) * | 2016-12-30 | 2019-06-18 | 北京林业大学 | A kind of list lower limb exoskeleton orthoses and orthopedic control method |
| CN206785913U (en) * | 2017-02-15 | 2017-12-22 | 株洲联诚集团减振器有限责任公司 | Guided bearing seat with damping regulatory function |
| CN109528451B (en) * | 2018-09-14 | 2019-10-08 | 华中科技大学 | A kind of passive exoskeleton device of hip knee doublejointed based on clutch timesharing regulation |
| CN210912116U (en) * | 2019-10-18 | 2020-07-03 | 安路普（北京）汽车技术有限公司 | Device, seat and vehicle suspension system for adjusting damping force and height |
| CN111096876A (en) * | 2019-11-14 | 2020-05-05 | 清华大学 | Lower limb load moving exoskeleton |
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