CN113771003B - Wearable electric intelligent disabled-assisting exoskeleton body posture control device - Google Patents
Wearable electric intelligent disabled-assisting exoskeleton body posture control device Download PDFInfo
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- CN113771003B CN113771003B CN202110927120.6A CN202110927120A CN113771003B CN 113771003 B CN113771003 B CN 113771003B CN 202110927120 A CN202110927120 A CN 202110927120A CN 113771003 B CN113771003 B CN 113771003B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The invention discloses a wearable electric intelligent exoskeleton body posture control device for helping disabled, which comprises a waist ring, a crotch ring, a plurality of driving connecting rod assemblies and a back frame, wherein each driving connecting rod assembly comprises a driving telescopic rod, an upper hinge head and a lower hinge head, the upper end of each upper hinge head is in rotating fit with the waist ring by taking a Z-direction axis as a center, the lower end of each upper hinge head is in rotating fit with the upper end of each driving telescopic rod by taking a horizontal axis as a center, the lower end of each lower hinge head is in rotating fit with the crotch ring by taking the Z-direction axis as a center, and the upper end of each lower hinge head is in rotating fit with the lower end of each driving telescopic rod by taking the horizontal axis as a center; the invention constructs a multi-rod type multi-degree-of-freedom follow-up wearable exoskeleton structure which is adaptive to the upper half of the human body through the back frame, the waist ring, the left half crotch ring and the right half crotch ring and combining a plurality of driving connecting rod assemblies, and can be passively adaptive to all action postures of the waist and the shoulders of the human body under a good load transmission condition by taking the driving connecting rod assemblies as an executing mechanism.
Description
Technical Field
The invention belongs to the technical field of wearable power-assisted exoskeleton machinery, and particularly relates to a wearable electric intelligent disabled-assisting exoskeleton body posture control device.
Background
The wearable power-assisted exoskeleton is a mechanical device which can be worn outside the body of an operator and can assist the disabled, and can provide support and protection for the person wearing the exoskeleton and enhance the motion and load bearing capacity. The wearable exoskeleton is widely applied to the field of medical rehabilitation application.
Hip joint and waist pole mechanical structure direct influence the activity degree of freedom of user crotch position and waist position among the wearing formula helping hand ectoskeleton, and the waist of current wearing formula ectoskeleton and crotch mechanical structure's joint degree of freedom are not enough, generally only include a plurality of rotational degrees of freedom to cooperate human action, and it is not enough with human actual motion matching ability, the action is slow, supplementary efficiency is difficult to exert, and mechanical joint is thick, and is not good with human laminating degree, and it is poor to dress the comfort level.
Therefore, in order to solve the above problems, there is a need for a wearable electric intelligent exoskeleton body posture control device for helping disabled people, which is used for actively driving hip joint movement through multi-rod linkage on the basis of maintaining good wearing matching performance, can fit actual movement of the upper half of the human body to the maximum extent, is beneficial to adapting to the action needs of the complicated hip, waist and shoulder of a user, and is beneficial to improving man-machine matching performance.
Disclosure of Invention
In view of the above, the present invention provides a wearable electric intelligent exoskeleton body posture control device for helping disabled people, which is used for actively driving hip joint movement through multi-rod linkage on the basis of maintaining good wearing matching performance, can fit actual movement of the upper half of the human body to the maximum extent, is beneficial to adapting to the action requirements of the complicated hip, waist and shoulder of a user, and is beneficial to improving human-machine matching performance.
The invention discloses a wearable electric intelligent disabled-assisting exoskeleton body posture control device, which comprises a waist ring matched with a waist, a crotch ring matched with the crotch, a plurality of driving connecting rod assemblies connected between the waist ring and the crotch ring and a back frame worn on shoulders, wherein the back frame is arranged above the waist ring and connected with the waist ring, each driving connecting rod assembly comprises a driving telescopic rod, an upper hinge head and a lower hinge head, the upper end of each upper hinge head is rotationally matched with the waist ring by taking a Z-direction axis as a center, the lower end of each upper hinge head is rotationally matched with the upper end of each driving telescopic rod by taking a horizontal axis as a center, the lower end of each lower hinge head is rotationally matched with the crotch ring by taking the Z-direction axis as a center, and the upper end of each lower hinge head is rotationally matched with the lower end of each driving telescopic rod by taking the horizontal axis as a center.
Further, be connected through a plurality of main actuators between back of the body frame and the waist ring, main actuator includes the flexible post of initiative, goes up the articulated head and articulated head down, it uses Z to the axis as central normal running fit with the back of the body frame to go up articulated head upper end, go up articulated head lower extreme and the flexible post upper end of initiative and use horizontal axis as central normal running fit, articulated head lower extreme and waist ring use Z to the axis as central normal running fit down, articulated head upper end and the flexible post lower extreme of initiative use horizontal axis as central normal running fit down.
Furthermore, the driving telescopic rod and the driving telescopic column respectively comprise an outer barrel, an inner rod which is sleeved in the outer barrel in an axially telescopic manner, and a telescopic driving piece which is arranged in the outer barrel and used for driving the inner rod to stretch.
Further, the crotch ring comprises a left half crotch ring and a right half crotch ring, and the left half crotch ring and the right half crotch ring are in C-shaped structures and used for being conformally encircled on the left side and the right side of the crotch.
Further, the waist ring includes the waistband and is fixed in a plurality of installing nodes on the waistband, go up the articulated joint and the rotatable installation of articulated joint down on the installing node.
Further, the two groups of driving connecting rod assemblies are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring.
Further, the back frame comprises a left shoulder frame and a right shoulder frame which are in an inverted U shape and a back plate connected between the back of the left shoulder frame and the back of the right shoulder frame, the active actuators are provided with three groups, and the active actuators are connected between the left shoulder frame and the waist ring, between the right shoulder frame and the waist ring and between the back plate and the waist ring respectively.
Furthermore, each group of driving connecting rod assemblies at least comprises six driving connecting rod assemblies, the two groups of driving connecting rod assemblies are annularly arranged around the waist ring, and every two adjacent driving connecting rod assemblies are in a V-shaped layout.
Further, each group of active actuators comprises two active actuators, and the two active actuators are arranged in a V shape.
Furthermore, the waist ring further comprises a lock catch, the lock catch is arranged on the waist belt and used for adjusting the tightness of the waist belt, and side plates are connected to the positions, located on the left side and the right side, below the crotch ring.
The invention has the beneficial effects that:
the invention takes the active actuator and the active connecting rod assembly as the executing mechanism, constructs a multi-rod type multi-freedom-degree trunk control system, takes the rigid back frame as the structure shaping device, constructs a multi-freedom-degree virtual spine through multi-rod cooperation, supports the trunk of a wearer and assists the wearer to complete the electric intelligent control of the body posture. The auxiliary control system for the body posture of a wearer is constructed through a multi-rod type multi-degree-of-freedom electric virtual hip joint mechanism and a multi-rod type multi-degree-of-freedom electric trunk control system, the semi-flexible waistband is rigidly connected through an upper load transmission mounting section and a lower load transmission mounting section, the electric power-assisted capacity of controlling the body posture of the trunk of the wearer to the movement control of the crotch is realized on the basis of maintaining good structural stability of the system, and a main body movement control solution is provided for intelligent wearing of deep disabled persons;
the invention constructs a multi-rod type multi-degree-of-freedom follow-up wearable exoskeleton structure which is adaptive to the upper half of a human body by combining a back frame, a waist ring, a left half crotch ring and a right half crotch ring with a plurality of driving connecting rod assemblies and a plurality of driving actuators, takes the driving connecting rod assemblies and the driving actuators as actuating mechanisms, can actively drive the waist and the shoulders of the human body to move, can be used as a disabled assisting exoskeleton to control the body, and realizes the electric control of the posture control of the human body; on the premise of keeping good man-machine matching of a mechanical structure, good load transfer capacity and enough flexibility between the back and the waist and the leg can be realized;
the openable waist ring, the left half-crotch ring and the right half-crotch ring which are in left-right surrounding shapes are used for being attached to the waist and the crotch of a user to construct a ring-shaped surrounding waist ring structure and a C-shaped half-surrounding crotch ring structure, and the multi-rod cooperation mechanism forms an internal C-shaped hollow structure to accommodate the crotch of a human body and facilitate wearing; the waistband is convenient to wear and maintain the structural stability under the wearing condition due to the integrity and the openability of the waistband, the lock catch is a locking structure of the waistband, and the waistband is attached to the waist of a human body in a locking state so as to maintain the relative rigidity of the waistband structure; the good fit characteristic of the mechanical structure and the human body is kept, the joint position blurring and adjustability are realized based on the plurality of driving connecting rod assemblies, and the bionic robot has good man-machine effect and accurate bionic action capability;
the invention constructs a multi-rod multi-degree-of-freedom bearing load transfer system, takes a rigid back frame as a structural shaping device of a bearing system, constructs a multi-degree-of-freedom virtual spine through multi-rod cooperation, keeps the bearing system capable of driving the body of a wearer to move so that the body can follow the movement and always maintain good bearing performance, and when the bearing system bears the load, the stress can be transferred to a crotch ring and then transferred to mechanical legs through the back frame, the active actuator, the waist ring and the active connecting rod assembly, so that the body feeling load is reduced, the bearing system is better applied to high-strength load scenes, the load capacity of a user is improved, the load transfer capacity and the system stability from the bearing system to the crotch to the mechanical legs are maintained, and the good load transfer capacity is maintained.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic front view of the structure;
FIG. 3 is a partial schematic view of the structure;
FIG. 4 is a schematic top view of the structure of FIG. 3;
FIG. 5 is a bottom view of the structure of FIG. 3;
FIG. 6 is a schematic view of the active link assembly;
Detailed Description
As shown in the figure: the electronic intelligent exoskeleton body posture control device that helps disabled of wearing type of this embodiment, including be used for with waist complex waist ring 1, be used for with crotch complex crotch ring 2, connect in a plurality of initiative link assembly 3 between waist ring and crotch ring and be used for wearing in the back of the body frame 4 of shoulder, back of the body frame 4 sets up in the top of waist ring 1 and is connected with waist ring 1, initiative link assembly includes initiative telescopic link, last hinge head 3a and lower hinge head 3b, it uses Z to the axis to be the center normal running fit with waist ring 1 to go up hinge head 3a upper end, it uses the horizontal axis to be the center normal running fit with initiative telescopic link upper end to go up hinge head lower extreme, hinge head 3b lower extreme and crotch ring 2 use Z to the axis to be the center normal running fit down, hinge head 3b upper end and initiative telescopic link lower extreme use the horizontal axis to be the center normal running fit down.
The Z direction is consistent with the vertical direction, the horizontal plane is a plane vertical to the Z direction, as shown in the combined figure 1, the waist ring is used for being sleeved on the waist of a user, the crotch ring is used for being attached to the crotch of the user, wherein the upper end of the upper hinge head 3a is a columnar hinge rod head, the rod head vertically penetrates through an upper assembling hole of the waist ring and is in rotating fit with the upper assembling hole, the lower end of the lower hinge head 3b is a columnar hinge rod head similar to the upper hinge head 3a, and the rod head vertically penetrates through a lower assembling hole of the crotch ring and is in rotating fit with the lower assembling hole; the driving connecting rod assembly is of a driving telescopic structure which can actively stretch and drive the hip joint to make corresponding actions; the upper end and the lower end of the driving connecting rod assembly can horizontally rotate relative to the waist ring and the crotch ring through the upper hinge head and the lower hinge head so as to adjust the orientation of the driving connecting rod assembly, and meanwhile, the driving connecting rod assembly can also swing to change the inclination direction of the driving connecting rod assembly;
the back frame 4 can be provided with a vest-like structure, the back frame 4 is preferably made of semi-flexible leather, the back frame is worn on the shoulders of a human body, the wearing stability of the whole device is improved, meanwhile, upward tensile force can be exerted on the waist ring 1, the wearing stability of the waist ring is improved, a follow-up wearing type exoskeleton structure adaptive to the upper half of the human body is formed by the back frame, the waist ring, the crotch ring and the driving connecting rod assemblies, the device can be matched with all actions of the waist of a user such as bending and twisting, for example, when the user is driven to bend forwards, the driving connecting rod assembly positioned on the front side is actively shortened, the driving connecting rod assembly positioned on the rear side is actively extended, then the upper end and the lower end of each driving connecting rod assembly are adaptively rotated through corresponding hinge heads to be adaptive to the posture of the human body, so that the postures of the waist ring and the crotch ring are matched with the postures of the human body, and the same as that when the user bends backwards or bends sideways, the driving connecting rod assemblies at different positions are actively shortened or are actively extended respectively to be adaptive to different bending postures; when a user twists waist, the driving connecting rod assembly actively extends and the driving connecting rod assembly adjacent to the driving connecting rod assembly actively shortens, so that the waist ring rotates relative to the hip ring to be matched with the waist twisting posture; when the waist and the back of a human body bear the load, the stress can be transmitted to the crotch ring through the waist ring and the driving connecting rod assembly, so that the waist of the human body can be protected, and if the crotch ring is connected with the bionic mechanical legs, the stress is directly transmitted to the mechanical legs through the crotch ring, so that the body feeling load is reduced, the bionic mechanical leg is better applied to high-strength load scenes, the load bearing capacity of a user is improved, and the physical strength is saved; the virtual hip joint structure of the structure can be matched with a wearable exoskeleton system, so that good load transfer capacity and motion freedom degree between a mechanical leg structure and a trunk can be kept, good man-machine matching characteristics are realized on the basis of ensuring good human body fitting degree, comfort and transfer capacity, good man-machine efficacy and accurate bionic action capacity are achieved, a good waist-leg transition mechanism is provided for the wearable exoskeleton power-assisted system, the device is an active wearable exoskeleton device and is used for actively driving hip joints and shoulders to move, the device can be used as a disabled exoskeleton for controlling the body, and electric control of human body posture control is realized; the exoskeleton has good load carrying capacity and better exoskeleton bearing capacity.
In this embodiment, be connected through a plurality of initiative actuator 5 between back of the body frame 4 and the waist ring 1, initiative actuator includes the flexible post of initiative, goes up articulated head 5a and articulated head 5b down, it uses Z to the axis to be central normal running fit with back of the body frame 4 to go up articulated head 5a upper end, go up articulated head 5a lower extreme and the flexible post upper end of initiative and use horizontal axis to be central normal running fit, articulated head 5b lower extreme and waist ring 1 use Z to the axis to be central normal running fit down, articulated head 5b upper end and the flexible post lower extreme of initiative use horizontal axis to be central normal running fit down. As shown in fig. 1, the operation principle of the active actuator 5 is similar to that of the active link assembly 3, and the details are not repeated herein; all actions of the shoulder part relative to the waist part are driven by the plurality of active actuators, and good load transmission capacity is maintained by the aid of the active actuators, wherein the load transmission capacity and the system stability performance from the back frame to the crotch part to the mechanical legs are favorably maintained.
In this embodiment, the driving telescopic rod and the driving telescopic column both include an outer cylinder 3c, an inner rod 3d axially telescopic and sleeved in the outer cylinder, and a telescopic driving member 3e disposed in the outer cylinder and used for driving the inner rod to extend and retract. Taking the driving telescopic rod as an example for description, as shown in fig. 6, the end portions of the outer barrel and the inner rod are respectively provided with a connecting end, the two connecting ends are respectively used as the upper end and the lower end of the driving telescopic rod, and the two connecting ends are respectively rotatably matched with the upper hinge head 3a and the lower hinge head 3 b; as shown in fig. 4, the telescopic driving member 3e is a servo motor, the inner rod 3d is a hollow structure and has an internal thread, the outer wall of the inner rod is a smooth surface structure and is axially and slidably matched with the inner wall of the outer cylinder, the smooth surface sections of the inner rod and the inner cavity of the outer cylinder are non-circular cross sections, specifically, rectangular, polygonal or other structures, so as to prevent the inner rod from rotating relative to the outer cylinder, the output end of the telescopic driving member 3e is in transmission fit with a lead screw, the lead screw is sleeved in the inner rod and is in transmission fit with the internal rod thread, and the outer cylinder is a detachable double-segment structure so as to facilitate the installation of the telescopic driving member 3 e; the active telescopic rod of the structure is of an incompressible rigid structure, so that the load transmission of stress is facilitated, the telescopic amount can be accurately and actively controlled, and the posture of the wearable hip joint can be effectively controlled; certainly, the driving telescopic rod can also be realized by a hydraulic cylinder or other linear driving structures, which are not described in detail;
the structure of the active telescopic column is the same as that of the active telescopic rod, and the description is omitted here, the active telescopic rod of the structure can actively drive the relative motion of the shoulder, the waist and the crotch of a human body, and can be used for the disabled-assisting exoskeleton to control the body and realize the electric control of the posture control of the human body; the rigid structure of the active telescopic rod has good bearing capacity, the multiple rods work cooperatively to ensure that good load transfer performance is achieved between the exoskeleton legs and the hip joints and between the back frame and the hip joints, and the active telescopic rod can accurately control the telescopic quantity, so that the moving joints formed by the multiple rods act cooperatively can actively adjust the angles and the positions of the joints according to the movement requirements of external wearers, and man-machine matching is actively achieved.
In this embodiment, the crotch ring 2 comprises a left half crotch ring 2a and a right half crotch ring 2b, which are in a C-shaped configuration for conformal enclosure around the left and right sides of the crotch. As shown in fig. 3 and 5, the left half crotch ring and the right half crotch ring are in left-right surrounding shapes and are used for being attached to the crotch position of a user to construct a C-shaped half surrounding structure, so that the joint structure has good human body attaching degree and excellent man-machine matching performance, joint position blurring and adjustability are achieved based on a plurality of active connecting rod assemblies, and the joint structure has good man-machine efficacy and accurate bionic mobility.
In this embodiment, the waist ring 1 includes a waist belt 1a and a plurality of mounting sections 1b fixed on the waist belt, and the upper hinge joint 3a and the lower hinge joint 5b are rotatably mounted on the mounting sections. As shown in the combined drawings of fig. 3 and 4, the waistband is a semi-flexible waistband, which can be made of plastic or leather, each mounting section radially protrudes out of the waistband, wherein the mounting section is made of metal or hard plastic, a mounting hole is vertically formed in the mounting section, an upper hinge head is mounted on the waistband through the mounting hole in a rotating fit manner, the mounting section and the waistband are detachably connected through four screws, and the structure of the mounting section is matched with the waistband, so that the flexible wearing requirement of the waist ring is met, and the rigid mounting requirement of the upper hinge head is met.
In this embodiment, the two sets of driving connecting rod assemblies 3 are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring. Referring to fig. 3, the two sets of driving connecting rod assemblies are respectively located on the left side and the right side of the waist of a user, and the structure is matched with a C-shaped semi-encircling crotch ring structure, so that the man-machine matching performance is improved.
In this embodiment, the back frame 4 includes a left shoulder frame 4a and a right shoulder frame 4b which are inverted U-shaped and a back plate 4c connected between the backs of the left shoulder frame 4a and the right shoulder frame 4b, the active actuators 5 are provided with three groups, and the active actuators 5 are respectively connected between the left shoulder frame 4a and the waist ring 1, between the right shoulder frame 4b and the waist ring 1, and between the back plate 4c and the waist ring 1. As shown in the combined figure 1, the back frame is adaptive to the position of the shoulder of a human body, the whole control device is convenient to wear, good support and connection performance between the back frame and the waist ring are guaranteed through connection of three active actuators, and good human-computer matching characteristics are achieved on the basis of good human body fitting degree, comfort and carrying capacity.
In this embodiment, each group of driving link assemblies 3 includes at least six driving link assemblies, and the two groups of driving link assemblies are annularly arranged around the waist ring and the adjacent driving link assemblies are arranged in a V-shape. As shown in fig. 1, in the present embodiment, each group of driving link assemblies has six driving link assemblies, each two driving link assemblies are arranged in a V-shaped layout, one driving link assembly and the left adjacent driving link assembly are arranged in a V-shaped structure, and the driving link assembly and the right adjacent driving link assembly are inevitably arranged in an inverted V-shaped structure, however, the layout of the adjacent driving link assemblies is substantially V-shaped, the V-shaped layout structure does not limit the contact between the proximal ends of the two adjacent driving link assemblies, and the distance between the proximal ends of the two adjacent driving link assemblies is smaller than the distance between the distal ends of the two adjacent driving link assemblies, which is a V-shaped layout structure; as shown in fig. 3, the left half crotch ring and the right half crotch ring are respectively provided with six lower assembling holes matched with the lower hinge heads 3b, each lower assembling hole is in a 2-2-2 layout, two groups are provided, and three groups are provided, as shown in fig. 2, the waist ring is provided with twelve upper assembling holes matched with the upper hinge heads 3a, the waist ring is respectively provided with six upper assembling holes in bilateral symmetry, the six upper assembling holes are in a 1-2-2-1 layout, the whole ring is in a 2-2-2-2-2-2 layout, two groups are provided, and six groups are provided, wherein the upper assembling holes are respectively arranged on the rear side and the left side and the right side of the rear fixing section 1a, the upper assembling holes are respectively arranged on the left side of the left opening-closing section 1b and the right side of the right opening-closing section 1c, the upper assembling holes are respectively arranged on the front side of the left opening-closing section 1b and the front side of the right opening-closing section 1c, and the upper assembling holes form a group; each group of lower assembling holes and each group of upper assembling holes are arranged in a staggered manner in the circumferential direction, so that the driving connecting rod assemblies are arranged in a V-shaped manner two by two; the multi-degree-of-freedom hip joint device is constructed by the multi-connecting-rod structures which are arranged in a V shape in pairs, can be adapted to all action postures of the waist of a human body, and can realize good load transfer capacity and enough flexibility between the waist and the legs on the premise of keeping good man-machine matching of a mechanical structure.
In this embodiment, each group of active actuators 5 includes two active actuators, and the two active actuators are arranged in a V shape. In one group of the active actuators, two active actuators are respectively connected between the front end of a left shoulder frame and a waist ring 1 and between the rear end of the left shoulder frame and the waist ring 1, in the other group of the active actuators, two active actuators are respectively connected between the front end of a right shoulder frame and the waist ring 1 and between the rear end of the right shoulder frame and the waist ring 1, in the third group of the active actuators 5, two active actuators are connected between the left side of a back plate and the waist ring 1 and between the right side of the back plate and the waist ring 1, and the three groups of the active actuators are arranged in a V shape with a large top and a small bottom to be matched with the structures of the back frame 4 and the waist ring; the bearing system is constructed, a rigid back frame is used as a structural shaping device of the bearing system, a multi-degree-of-freedom virtual spine is constructed through multi-rod cooperation, the bearing system can drive the body posture of a wearer to enable the body to follow the movement and maintain good bearing performance all the time, and when the bearing system bears the load, the stress can be transmitted to the hip ring through the back frame, the active actuator, the waist ring and the active connecting rod assembly, so that the body feeling load is reduced, the bearing system is better applied to high-strength load scenes, the load bearing capacity of the user is improved, the load transmission capacity from the bearing system to the hip to the mechanical legs and the system stability performance are maintained, and the good load transmission capacity is maintained.
In this embodiment, the waist ring 1 further includes a latch 1c, the latch 1c is disposed on the waist belt 1a for adjusting the tightness of the waist belt, and the lower portion of the crotch ring 2 on the left and right sides is connected with a side plate 2c. The waistband is of a non-closed ring structure, the front part of the waistband is of an opening structure, the lock catch is arranged at the opening structure and enables the opening to be closed or opened, so that the waistband can be integrally formed into a closed structure to be worn on the waist, the lock catch can be fastened by threads or other existing belt lock catch structures, and the tightness of the waist ring is adjusted by the lock catch, so that a human body can conveniently wear the waistband; the semi-flexible waistband has the advantages of integrity and openability, convenience in wearing and maintenance of structural stability under wearing conditions. The waistband buckle is a locking structure of a semi-flexible waistband, and the waistband is attached to the waist of a human body in a locking state, so that the relative rigidity of the waistband structure is maintained. As shown in the figure 1, the left crotch ring 2a and the right crotch ring 2b are respectively connected with a side plate, the side plates are laterally blocked on the crotch of the human body, so that the good man-machine matching characteristic is realized, and meanwhile, the side plates are also used as reserved positions for installing mechanical legs.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a wearing type electronic intelligent disabled exoskeleton body posture control device which characterized in that: the waist ring is matched with the waist, the crotch ring is matched with the crotch, the driving connecting rod assemblies are connected between the waist ring and the crotch ring, and the back frame is worn on the shoulder;
the crotch ring comprises a left half crotch ring and a right half crotch ring, and the left half crotch ring and the right half crotch ring are in C-shaped structures and used for conformal surrounding on the left side and the right side of the crotch;
the two groups of driving connecting rod assemblies are respectively connected between the waist ring and the left half crotch ring and between the waist ring and the right half crotch ring;
each group of driving connecting rod assemblies at least comprises six driving connecting rod assemblies, the two groups of driving connecting rod assemblies are annularly arranged around the waist ring, and every two adjacent driving connecting rod assemblies are arranged in a V shape.
2. The wearable electric intelligent disabled-assisting exoskeleton body posture control device as claimed in claim 1, wherein: the utility model discloses a flexible waist ring, including back of the body frame, back of the body frame and waist ring, be connected through a plurality of main actuators between frame and the waist ring, main actuator includes the flexible post of initiative, goes up the articulated head and hinges down with back of the body frame and use Z to the axis as central normal running fit, go up articulated head lower extreme and the flexible post upper end of initiative and use horizontal axis to be central normal running fit, articulated head lower extreme and waist ring use Z to the axis as central normal running fit down, articulated head upper end and the flexible post lower extreme of initiative use horizontal axis to be central normal running fit down.
3. The wearable electric intelligent disabled-assisting exoskeleton body posture control device as claimed in claim 2, wherein: the driving telescopic rod and the driving telescopic column comprise outer cylinders, inner rods which can axially telescope and are sleeved in the outer cylinders, and telescopic driving pieces which are arranged in the outer cylinders and are used for driving the inner rods to telescope.
4. The wearable electric intelligent disabled-assisting exoskeleton body posture control device as claimed in claim 2, wherein: the waist ring comprises a waistband and a plurality of mounting sections fixed on the waistband, and the upper hinge joint and the lower hinge joint are rotatably mounted on the mounting sections.
5. The wearable electric intelligent disabled-assisting exoskeleton body posture control device of claim 2, wherein: the back frame comprises a left shoulder frame and a right shoulder frame which are in an inverted U shape and a back plate connected between the back parts of the left shoulder frame and the right shoulder frame, wherein three groups of active actuators are arranged, and the three groups of active actuators are respectively connected between the left shoulder frame and the waist ring, between the right shoulder frame and the waist ring and between the back plate and the waist ring.
6. The wearable electric intelligent disabled-assisting exoskeleton body posture control device of claim 5, wherein: each group of active actuators comprises two active actuators, and the two active actuators are arranged in a V shape.
7. The wearable electric intelligent disabled-assisting exoskeleton body posture control device of claim 4, wherein: the waist ring further comprises a lock catch, the lock catch is arranged on the waistband and used for adjusting the tightness of the waistband, and side plates are connected to the positions, located on the left side and the right side, below the crotch ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110927120.6A CN113771003B (en) | 2021-08-12 | 2021-08-12 | Wearable electric intelligent disabled-assisting exoskeleton body posture control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110927120.6A CN113771003B (en) | 2021-08-12 | 2021-08-12 | Wearable electric intelligent disabled-assisting exoskeleton body posture control device |
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| Publication Number | Publication Date |
|---|---|
| CN113771003A CN113771003A (en) | 2021-12-10 |
| CN113771003B true CN113771003B (en) | 2023-04-18 |
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