CN113649997A

CN113649997A - Exoskeleton

Info

Publication number: CN113649997A
Application number: CN202110957769.2A
Authority: CN
Inventors: 王天
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2021-11-16
Anticipated expiration: 2041-08-20
Also published as: CN113649997B

Abstract

The invention discloses an exoskeleton, which comprises a chassis bracket, a vertical plate, an abdomen fixing mechanism, a leg fixing mechanism and a stepping mechanism, wherein the vertical plate is arranged on the chassis bracket; the vertical plate is vertically arranged on the chassis support, the abdomen fixing mechanism and the leg fixing mechanism are both arranged on the vertical plate, the leg fixing mechanism comprises a ring beam, a traction mechanism, a first leg fixing ring and a lacing wire, the traction mechanism comprises a base and a driving wheel positioned on the base, at least two traction point groups are arranged on the periphery of the first leg fixing ring, each traction point group comprises two traction point positions which are vertically arranged, one end of the lacing wire is connected with the traction point positions, and the other end of the lacing wire is wound on the driving wheel; the exoskeleton uses the lacing wire to pull the first leg fixing ring, the lacing wire has elasticity, the lacing wire has non-mandatory force on the first leg fixing ring, and the legs of a user can still exert force to resist the elasticity of the lacing wire, so that the lower limb movement of the user has certain freedom, and the constraint feeling of the user is reduced.

Description

Exoskeleton

Technical Field

The invention relates to the field of human body training equipment, in particular to an exoskeleton used for lower limb auxiliary exercise or used as VR game auxiliary equipment.

Background

When a person steps on the human body, the front and back positions and the up and down positions of the thighs and the shanks are changed, the postures of the thighs and the shanks are also changed, and the thighs and the shanks are inclined at a certain angle. The exoskeleton in the prior art is mainly connected with the lower limbs of a human body through a fixing mechanism, and then simulates the action of the lower limbs of the human body through a mechanical structure to promote the passive motion of the lower limbs of the human body; because the actions of the thighs and the shanks are complex, the exoskeleton in the prior art is difficult to accurately simulate the action amplitude of the thighs and the shanks of each person, the stepping amplitude of a user is fixed when the exoskeleton is used, and the constraint feeling is easily generated. Secondly, when a user uses the exoskeleton to perform rehabilitation training or strength training, the user does not always want the exoskeleton to always dominate the action, the user also needs to intermittently move the lower limbs by relying on the own strength, and the prior art exoskeleton does not have the function of recognizing the intention of the user.

Disclosure of Invention

The invention aims to solve the technical problems that the lower limb exoskeleton in the prior art is difficult to accurately simulate leg actions of a user, and the exoskeleton always leads the actions, so that the user is easy to generate a restraining feeling.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an exoskeleton comprises a chassis bracket, a vertical plate, an abdomen fixing mechanism, a leg fixing mechanism and a stepping mechanism;

the upright plate is vertically arranged on the chassis support, the abdomen fixing mechanism and the leg fixing mechanism are both arranged on the upright plate, the abdomen fixing mechanism is used for fixing the abdomen of a user, the stepping mechanism is arranged on the chassis support, and the stepping mechanism is used for bearing the feet of the user;

the leg fixing mechanism comprises a ring beam, a plurality of traction mechanisms, a first leg fixing ring and a lacing wire, the traction mechanisms are arranged on the ring beam, each traction mechanism comprises a base and a driving wheel positioned on the base, the number of the first leg fixing rings is two, at least two traction point groups are arranged on the periphery of each first leg fixing ring, each traction point group comprises two traction point positions which are arranged up and down, one end of the lacing wire is connected with the traction point positions, and the other end of the lacing wire is wound on the driving wheel; when the driving wheel rotates, the driving wheel can wind and pull the lacing wire, so that the position of the first leg fixing ring is changed, and the motion of the lower limbs of the human body is promoted; because each traction point group is provided with two traction point positions which are arranged up and down, when the traction degrees of the upper and lower lacing wires are different, the first leg fixing ring can also rotate in posture, and is more matched with the leg movement of a human body; on the other hand, the lacing wire has elasticity, the first leg fixing ring can be forced by the lacing wire, the leg of the user can still exert force to resist the elasticity of the lacing wire, so that the lower limb of the user can move freely, and the constraint feeling of the user is reduced.

Furthermore, the traction mechanism also comprises a first motor and a first gear, the first motor is arranged on the base, and an output shaft of the first motor is connected with the first gear; be provided with the internal tooth on the ring beam, first gear and the internal tooth meshing on the ring beam, first motor and first gear make drive mechanism can the free adjustment position in the position on the ring beam to be suitable for the user of different sizes.

Furthermore, the leg fixing mechanism further comprises a second motor and a second gear, the second motor is mounted on the ring beam, and an output shaft of the second motor is connected with the second gear; two first sliding grooves in the vertical direction are formed in the vertical plate, two ends of the ring beam are inserted into the two first sliding grooves, straight teeth in the vertical direction are formed in the vertical plate, and the second gear is meshed with the straight teeth; when the second motor drives the second gear to rotate, the entire leg fixing mechanism can move in the vertical direction.

Furthermore, the number of the leg fixing mechanisms is two, and the two leg fixing mechanisms are arranged up and down; the first leg fixing rings of the two leg fixing mechanisms are respectively used for fixing thighs and calves of a user.

Further, belly fixed establishment includes backplate, belly retainer plate and second shank retainer plate, and the backplate is installed on the riser, and belly retainer plate and second shank retainer plate are all installed on the backplate, and the belly retainer plate is used for fixed user's belly, the second shank retainer plate user fixed user's thigh root.

Furthermore, the abdomen fixing mechanism also comprises a sliding block, and the back plate is arranged on the sliding block; the vertical plate is provided with a second chute, a lead screw and a lead screw motor in the vertical direction, the lead screw is parallel to the second chute, the lead screw motor drives the lead screw to rotate, the sliding block is positioned in the second chute, and the lead screw is in threaded connection with the sliding block; when the lead screw motor drives the lead screw to rotate, the sliding block moves up and down along the lead screw to drive the whole abdomen fixing mechanism to move up and down in a sliding manner, so that the abdomen fixing mechanism is suitable for users with different heights.

Furthermore, the abdomen fixing mechanism further comprises a mounting seat, an electric push rod, a transmission gear, a third motor and a third gear, wherein the mounting seat is hinged to the sliding block, the back plate is hinged to the mounting seat, and one end of the electric push rod is hinged to the back plate while the other end is hinged to the mounting seat; the transmission gear is fixedly arranged on the mounting seat, the third motor is arranged on the sliding block, an output shaft of the third motor is connected with a third gear, and the third gear is meshed with the transmission gear; the electric push rod can drive the back plate to perform pitching motion, and the third motor and the third gear can drive the back plate to swing left and right; when the user does stepping training, the abdomen of the user is not completely forbidden to be motionless, and the electric push rod and the third motor are matched together to enable the abdomen of the user fixed on the back plate to perform actions matched with stepping.

Furthermore, air bags are arranged in the first leg fixing ring, the second leg fixing ring and the abdomen fixing ring, and the legs of the user can be fixed in the first leg fixing ring and the second leg fixing ring or the abdomen of the user can be fixed in the abdomen fixing ring by inflating the air bags; the air bag not only has a good fixing effect, but also has certain deformation capacity, so that the legs and the abdomen of a user are more comfortable.

Furthermore, the stepping mechanism comprises a damping rod, a sole plate, a buckle belt and a universal head, one end of the damping rod is hinged to the chassis support, the other end of the damping rod is connected with the sole plate through the universal head, the buckle belt is arranged on the sole plate, the sole plate is used for bearing the feet of a user, and the user is buckled to fix the feet.

Furthermore, the stepping mechanism also comprises a support ring, the support ring is arranged on the chassis support and can rotate relative to the chassis support, one end of the damping rod is hinged on the support ring, and the hinged part of the damping rod and the support ring has certain damping; a fourth motor and a fourth gear are arranged on the vertical plate, and an output shaft of the fourth motor is connected with the fourth gear; an annular groove is formed in the chassis support, external teeth are arranged in the annular groove, the vertical plate is installed in the annular groove, and the fourth gear is meshed with the external teeth. When the fourth motor drives the fourth gear to rotate, the vertical plate and all parts installed on the vertical plate rotate along the annular groove, the user also rotates along with the vertical plate, the stepping mechanism also rotates along with the vertical plate, and the fourth motor can change the orientation of the user when the user performs stepping training.

Has the advantages that: (1) the exoskeleton uses the lacing wire to pull the first leg fixing ring, the lacing wire has elasticity, the lacing wire has non-mandatory force on the first leg fixing ring, and the legs of a user can still exert force to resist the elasticity of the lacing wire, so that the lower limb movement of the user has certain freedom, and the constraint feeling of the user is reduced. (2) According to the exoskeleton, two traction point positions which are arranged up and down are arranged at each traction point group, and when the traction degrees of the upper and lower lacing wires are different, the first leg fixing ring can rotate in posture, so that the leg action of a human body can be simulated more accurately. (3) The exoskeleton of the invention is provided with the first motor and the first gear in the traction mechanism, and the first motor and the first gear enable the position of the traction mechanism on the ring beam to be freely adjusted so as to be suitable for users with different body sizes. (4) The exoskeleton of the invention endows the back plate with pitching action and left-right swinging action, so that the abdomen of a user fixed on the back plate can perform actions matched with stepping, and the comfort of the user is improved.

Drawings

Fig. 1 is a perspective view of the exoskeleton of embodiment 1.

Fig. 2 is a perspective view (another perspective) of the exoskeleton of embodiment 1.

Fig. 3 is a structural view of a leg fixing mechanism in embodiment 1.

Fig. 4 is an exploded view (partially hidden parts) of the leg fixing mechanism in embodiment 1.

Fig. 5 is a structural view of a vertical plate in embodiment 1.

Fig. 6 is a structural view of an abdomen fixing mechanism in embodiment 1.

FIG. 7 is a structural view of a chassis base and a stepping mechanism in example 1.

Wherein: 100. a chassis support; 110. an annular groove; 120. an outer tooth; 200. a vertical plate; 210. a first chute; 220. a second chute; 230. a lead screw 240, a lead screw motor; 250. a fourth motor; 260. a fourth gear; 270. straight teeth; 300. an abdomen fixing mechanism; 310. a back plate; 320. an abdomen fixing ring; 330. a second leg securing ring; 340. a slider; 350. a mounting seat; 360. an electric push rod; 370. a transmission gear; 380. a third motor; 390. a third gear; 400. a leg fixing mechanism; 410. a ring beam; 411. internal teeth; 420. a traction mechanism; 421. a base; 422. a driving wheel; 423. a first motor; 424. a first gear; 430. a first leg retainer ring; 431. a group of draw points; 431a, pulling point location; 440. stretching a rib; 450. a second motor; 460. a second gear; 500. a stepping mechanism; 510. a damping lever; 520. a footplate; 530. a buckle belt; 540. a universal head; 550. a support ring; 600. an air bag.

Detailed Description

The present invention will be described in further detail with reference to specific embodiments.

Example 1

As shown in fig. 1 to 7, the exoskeleton of the present embodiment includes a chassis bracket 100, a vertical plate 200, an abdomen fixing mechanism 300, a leg fixing mechanism 400 and a stepping mechanism 500;

as shown in fig. 5, vertical first chutes 210 are arranged on two sides of the vertical plate 200, a vertical second chute 220 is arranged in the middle of the vertical plate 200, a lead screw motor 240 and a lead screw 230 are both mounted on the vertical plate 200, the lead screw 230 is parallel to the second chute 220, and the lead screw motor 240 drives the lead screw 230 to rotate; a fourth motor 250 and a fourth gear 260 are both arranged on the vertical plate 200, and an output shaft of the fourth motor 250 is connected with the fourth gear 260; as shown in fig. 2 and 7, the chassis bracket 100 is provided with an annular groove 110, external teeth 120 are provided in the annular groove 110, the vertical plate 200 is installed in the annular groove 110, and the fourth gear 260 is engaged with the external teeth 120;

as shown in fig. 3 and 4, the leg fixing mechanism 400 includes a ring beam 410, three traction mechanisms 420, a first leg fixing ring 430, a tie bar 440, a second motor 450 and a second gear 460, the number of the traction mechanisms 420 is three, and the traction mechanisms are mounted on the ring beam 410, each traction mechanism 420 includes a base 421, a driving wheel 422 located on the base 421, a first motor 423 and a first gear 424, the number of the first leg fixing rings 430 is two, three groups of traction points 431 are provided on the circumference of each first leg fixing ring 430, each group of traction points 431 includes two traction point positions 431a arranged up and down, one end of the tie bar 440 is connected to the traction point position 431a, and the other end is wound on the driving wheel 422; the first motor 423 is installed on the base 421, and an output shaft of the first motor 423 is connected with the first gear 424; the ring beam 410 is provided with internal teeth 411, a first gear 424 is meshed with the internal teeth 411 on the ring beam 410, and a first motor 423 and the first gear 424 enable the position of the traction mechanism 420 on the ring beam 410 to be freely adjusted;

as shown in fig. 2 and 3, the second motor 450 is mounted on the ring beam 410, and an output shaft of the second motor 450 is connected with a second gear 460; two ends of the ring beam 410 are inserted into the two first sliding grooves 210, the vertical plate 200 is provided with a straight tooth 270 in the vertical direction, and the second gear 460 is meshed with the straight tooth 270; when the second motor 450 drives the second gear 460 to rotate, the entire leg fixing mechanism 400 can move in the vertical direction;

the number of the leg fixing mechanisms 400 is two, and the two leg fixing mechanisms 400 are arranged up and down; the first leg fixing rings 430 in the two leg fixing mechanisms 400 are used for fixing the thigh and the calf of the user, respectively;

as shown in fig. 2 and 6, the abdomen fixing mechanism 300 includes a back plate 310, an abdomen fixing ring 320, a second leg fixing ring 330, a sliding block 340, a mounting seat 350, an electric push rod 360, a transmission gear 370, a third motor 380 and a third gear 390, the mounting seat 350 is hinged on the sliding block 340, the back plate 310 is hinged on the mounting seat 350, one end of the electric push rod 360 is hinged with the back plate 310, and the other end is hinged with the mounting seat 350; the transmission gear 370 is fixedly installed on the installation base 350, the third motor 380 is installed on the sliding block 340, an output shaft of the third motor 380 is connected with the third gear 390, the third gear 390 is meshed with the transmission gear 370, the electric push rod 360 can drive the back plate 310 to perform pitching motion, and the third motor 380 and the third gear 390 can drive the back plate 310 to swing left and right;

the sliding block 340 is positioned in the second sliding chute 220, and the lead screw 230 is in threaded connection with the sliding block 340; when the lead screw motor 240 drives the lead screw 230 to rotate, the slider 340 moves up and down along the lead screw 230, and slides to drive the whole abdomen fixing mechanism 300 to move up and down; the abdomen fixing ring 320 and the second leg fixing ring 330 are both mounted on the back plate 310, the abdomen fixing ring 320 is used for fixing the abdomen of the user, and the second leg fixing ring 330 is used for fixing the root of the thigh of the user;

the first leg fixing ring 430, the second leg fixing ring 330 and the abdomen fixing ring 320 are all internally provided with air bags 600;

as shown in fig. 7, the stepping mechanism 500 comprises a damping rod 510, a sole plate 520, a strap 530, a universal head 540 and a support ring 550, the support ring 550 is mounted on the chassis support 100, the support ring 550 can rotate relative to the chassis support 100, one end of the damping rod 510 is hinged on the support ring 550, the other end is connected with the sole plate 520 through the universal head 540, the strap 530 is arranged on the sole plate 520, the sole plate 520 is used for bearing the foot of the user, and the strap 530 is used for fixing the foot of the user; the hinge of the damping rods 510 to the support ring 550 provides some damping.

The exoskeleton of the embodiment is used for lower limb rehabilitation training and strength training, and can also be used as an auxiliary device for VR games, and the specific use method is as follows:

(1) starting the second motor 450 to lower both leg fixing mechanisms 400 to the lowest position; starting the screw motor 240, and adjusting the abdomen fixing mechanism 300 to a proper height;

(2) as shown in FIG. 1, the user's legs pass through the abdomen fixing ring 320, the second leg fixing ring 330 and the two first leg fixing rings 430 from top to bottom in sequence, and then fix the feet on the sole plate 520 by the buckle 530;

(3) activating the second motor 450 to raise the two leg securing mechanisms 400 into position such that the first leg securing rings 430 of the two leg securing mechanisms 400 are aligned with the user's thigh and calf, respectively;

(4) inflating all the air bags 600 to fix the abdomen, thighs and shanks of the user;

(5) the driving wheel 422 in the traction mechanism 420 is started, the driving wheel 422 can wind and drive the lacing wire 440, so that the horizontal position of the first leg fixing ring 430 is changed, meanwhile, the second motor 450 drives the second gear 460 to rotate, the leg fixing mechanism 400 and the first leg fixing ring 430 are driven to move up and down, the first leg fixing ring 430 can simulate the actions of the lower legs and thighs of the human body, and the movement of the lower limbs of the human body is further promoted; because each traction point group 431 is provided with two traction point positions 431a which are arranged up and down, when the traction degrees of the upper and lower lacing wires 440 are different, the first leg fixing ring 430 can also rotate in posture, and the leg action of the human body can be simulated at high precision.

If the user needs to change the direction, the fourth motor 250 can be started, the fourth motor 250 drives the fourth gear 260 to rotate, the vertical plate 200 and all the parts mounted on the vertical plate 200 rotate along the annular groove 110, the user also rotates along with the vertical plate 200, and the step mechanism 500 also rotates along with the vertical plate 200.

Although the embodiments of the present invention have been described in the specification, these embodiments are merely provided as a hint, and should not limit the scope of the present invention. Various omissions, substitutions, and changes may be made without departing from the spirit of the invention and are intended to be within the scope of the invention.

Claims

1. An exoskeleton, characterized by: comprises a chassis bracket (100), a vertical plate (200), an abdomen fixing mechanism (300), a leg fixing mechanism (400) and a stepping mechanism (500);

the vertical plate (200) is vertically arranged on the chassis support (100), the abdomen fixing mechanism (300) and the leg fixing mechanism (400) are both arranged on the vertical plate (200), and the stepping mechanism (500) is arranged on the chassis support (100);

the leg fixing mechanism (400) comprises a ring beam (410), a plurality of traction mechanisms (420), first leg fixing rings (430) and lacing wires (440), the traction mechanisms (420) are arranged on the ring beam (410), each traction mechanism (420) comprises a base (421) and a driving wheel (422) located on the base (421), the number of the first leg fixing rings (430) is two, at least two traction point groups (431) are arranged on the periphery of each first leg fixing ring (430), each traction point group (431) comprises two traction point positions (431a) which are arranged up and down, one end of each lacing wire (440) is connected with the traction point positions (431a), and the other end of each lacing wire (440) is wound on the driving wheel (422).

2. The exoskeleton of claim 1, wherein: the traction mechanism (420) further comprises a first motor (423) and a first gear (424), the first motor (423) is installed on the base (421), and an output shaft of the first motor (423) is connected with the first gear (424); the ring beam (410) is provided with internal teeth (411), and the first gear (424) is meshed with the internal teeth (411) on the ring beam (410).

3. The exoskeleton of claim 2, wherein: the leg fixing mechanism (400) further comprises a second motor (450) and a second gear (460), the second motor (450) is mounted on the ring beam (410), and an output shaft of the second motor (450) is connected with the second gear (460); the vertical plate (200) is provided with two first sliding grooves (210) in the vertical direction, two ends of the ring beam (410) are inserted into the two first sliding grooves (210), the vertical plate (200) is provided with straight teeth (270) in the vertical direction, and the second gear (460) is meshed with the straight teeth (270).

4. The exoskeleton of claim 3, wherein: the number of the leg fixing mechanisms (400) is two, and the two leg fixing mechanisms (400) are arranged up and down.

5. The exoskeleton of claim 1, wherein: the abdomen fixing mechanism (300) comprises a back plate (310), an abdomen fixing ring (320) and a second leg fixing ring (330), wherein the back plate (310) is installed on the vertical plate (200), and the abdomen fixing ring (320) and the second leg fixing ring (330) are installed on the back plate (310).

6. The exoskeleton of claim 5, wherein: the abdomen fixing mechanism (300) further comprises a sliding block (340), and the back plate (310) is installed on the sliding block (340); the vertical plate (200) is provided with a second sliding groove (220), a lead screw (230) and a lead screw motor (240) in the vertical direction, the lead screw (230) is parallel to the second sliding groove (220), the lead screw motor (240) drives the lead screw (230) to rotate, the sliding block (340) is located in the second sliding groove (220), and the lead screw (230) is in threaded connection with the sliding block (340).

7. The exoskeleton of claim 6, wherein: the abdomen fixing mechanism (300) further comprises a mounting seat (350), an electric push rod (360), a transmission gear (370), a third motor (380) and a third gear (390), the mounting seat (350) is hinged to the sliding block (340), the back plate (310) is hinged to the mounting seat (350), one end of the electric push rod (360) is hinged to the back plate (310), and the other end of the electric push rod (360) is hinged to the mounting seat (350); the transmission gear (370) is fixedly arranged on the mounting seat (350), the third motor (380) is arranged on the sliding block (340), the output shaft of the third motor (380) is connected with the third gear (390), and the third gear (390) is meshed with the transmission gear (370).

8. An exoskeleton as claimed in any one of claims 1 to 7 wherein: air bags (600) are arranged in the first leg fixing ring (430), the second leg fixing ring (330) and the abdomen fixing ring (320).

9. The exoskeleton of claim 1, wherein: the stepping mechanism (500) comprises a damping rod (510), a sole plate (520), a buckle belt (530) and a universal head (540), one end of the damping rod (510) is hinged with the chassis support (100), the other end of the damping rod is connected with the sole plate (520) through the universal head (540), and the buckle belt (530) is arranged on the sole plate (520).

10. The exoskeleton of claim 9, wherein: the stepping mechanism (500) further comprises a support ring (550), the support ring (550) is installed on the chassis support (100), and one end of the damping rod (510) is hinged to the support ring (550); a fourth motor (250) and a fourth gear (260) are arranged on the vertical plate (200), and an output shaft of the fourth motor (250) is connected with the fourth gear (260); the chassis support (100) is provided with an annular groove (110), external teeth (120) are arranged in the annular groove (110), the vertical plate (200) is installed in the annular groove (110), and the fourth gear (260) is meshed with the external teeth (120).