CN114469646A - Multi-degree-of-freedom bionic exoskeleton body structure - Google Patents
Multi-degree-of-freedom bionic exoskeleton body structure Download PDFInfo
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- CN114469646A CN114469646A CN202210093949.5A CN202210093949A CN114469646A CN 114469646 A CN114469646 A CN 114469646A CN 202210093949 A CN202210093949 A CN 202210093949A CN 114469646 A CN114469646 A CN 114469646A
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- 210000004394 hip joint Anatomy 0.000 claims abstract description 35
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
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- A—HUMAN NECESSITIES
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
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- A—HUMAN NECESSITIES
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- A61H2205/00—Devices for specific parts of the body
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
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- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a multi-degree-of-freedom bionic exoskeleton body structure which comprises a hip support mechanism, a hip joint flexion and extension motor, a thigh mechanism, a shank mechanism, a foot bottom plate and a battery control box, wherein a hip joint abduction motor mounting piece is arranged on one side of the lower end of the hip support mechanism and is connected with a rotary connecting piece through a rotating shaft, and a bush bearing is arranged between the rotating shaft and the hip joint abduction motor mounting piece; through hip abduction motor, hip joint bends and stretches the motor, knee joint bends and stretches the motor, ankle side linear motor and ankle back linear motor's cooperation is used, realize the effect of multi freedom training, and then can realize nimble various recovered action, thereby improve recovered efficiency by a wide margin, and whole use process user carries out instruction input through user input, the master controller issues user's instruction for corresponding motor, thereby accomplish corresponding action, make whole operation process simple convenient, the relevant user of being convenient for uses.
Description
Technical Field
The invention relates to the technical field of skeleton robots, in particular to a multi-degree-of-freedom bionic exoskeleton body structure.
Background
The exoskeleton robot technology is a comprehensive technology which integrates sensing, control, information, fusion and mobile calculation and provides a wearable mechanical mechanism for a person as an operator; at present, the exoskeleton robot is in research and development stages at home and abroad, and is dedicated to research and develop a powerful and practical exoskeleton robot, and in the medical field, the exoskeleton robot is widely used and is commonly used for rehabilitation training of patients.
The existing exoskeleton robot has less degree of freedom in one part, is designed only aiming at individual joints, realizes a small amount of stepping and leg lifting actions, cannot assist and exercise the whole lower limb of a user, and has great use limitation; the other part can assist the multi-joint exoskeleton robot, does not have the functions of thigh abduction or pivot turning and the like, has single rehabilitation action, cannot realize the independent walking of the robot, and has a larger difference from the realization of the bionic gait.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom bionic exoskeleton body structure, which is characterized in that a hip abduction motor, a hip joint flexion and extension motor, a knee joint flexion and extension motor, an ankle side linear motor and an ankle rear linear motor are arranged; the exoskeleton robot aims to solve the problems that the existing exoskeleton robot provided in the background technology has large use limitation and has large gap in realizing bionic gait.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-degree-of-freedom bionic exoskeleton body structure comprises a hip supporting mechanism, a hip joint flexion and extension motor, a thigh mechanism, a shank mechanism, a foot bottom plate, a battery control box, a control handle and a protective tool binding band, wherein a hip joint abduction motor mounting piece is arranged on one side of the lower end of the hip supporting mechanism and connected with a rotary connecting piece through a rotating shaft, a lining bearing is arranged between the rotating shaft and the hip joint abduction motor mounting piece, the rotating shaft is connected with the lining bearing through a locking screw, and the rotary connecting piece is fixedly connected with the rotating shaft through a fixing pin;
the other side of the lower end of the hip supporting mechanism is provided with a hip abduction motor, the hip abduction motor is fixed on one side of the outer part of the hip joint abduction motor mounting part through a screw, and one end of an output shaft of the hip abduction motor is connected with the rotating shaft through a coupler.
Preferably, the hip joint flexion and extension motor is positioned at the upper end of the rotary connecting piece, and one end of an output shaft of the hip joint flexion and extension motor is connected with the inside of the thigh mechanism through a coupler.
Preferably, the lower end of the thigh mechanism is provided with a knee joint flexion and extension motor, and one end of an output shaft of the knee joint flexion and extension motor is connected with the inside of the shank mechanism through a coupler.
Preferably, the sole plate is fixedly installed at the lower end of an ankle joint part, and the ankle joint part is connected with the shank mechanism through a cross shaft sleeve.
Preferably, an ankle linear motor is arranged on one side of the ankle joint part, and an ankle rear linear motor is arranged on the other side of the ankle joint part.
Preferably, the upper end of the rear ankle linear motor is connected with a cross joint, the rear ankle linear motor is fixedly installed on the other side of the shank mechanism through a first pin shaft, a spherical bearing is arranged at the lower end of the rear ankle linear motor, a mounting hole is formed in the ankle joint component, and the spherical bearing is matched with the mounting hole.
Preferably, the ankle side linear motor is fixedly installed on one side of the outer portion of the shank mechanism through a second pin shaft, a bearing is arranged at the lower end of the ankle side linear motor, and the bearing is connected with one end of the ankle joint rotating shaft.
Preferably, the battery control box is fixedly installed on one side of the outside of the hip support mechanism, a control handle is arranged on the other side of the outside of the hip support mechanism, and an operating lever and a display screen are respectively arranged at the upper end of the control handle.
Preferably, the protector strap portion includes a hip protector and a leg protector, the hip protector covers an inner surface of the hip support mechanism, hip straps are disposed on both sides of an outer portion of the hip protector, leg protectors cover both an inner surface of the thigh mechanism and an inner surface of the leg mechanism, and leg straps are disposed on both sides of the leg protector.
Preferably, leg support mechanisms are arranged outside the thigh mechanism and the shank mechanism, and the leg support mechanisms are located outside the leg protector.
In summary, due to the adoption of the technology, the invention has the beneficial effects that:
1. according to the invention, the hip abduction motor, the hip joint flexion and extension motor, the knee joint flexion and extension motor, the ankle side linear motor and the ankle rear linear motor are used in a matched manner, so that the effect of multi-degree-of-freedom training is realized when the hip, thigh, shank and ankle of a patient are subjected to rehabilitation training, and further, flexible and various rehabilitation actions can be realized, thereby greatly improving the rehabilitation efficiency;
2. the main controller is used as a core controller and is connected with the 10 motors in parallel, so that the position information of the motors can be read in real time, and further, when the motor is actually used, the display screen on the control handle is communicated with the operating lever, meanwhile, image-text interaction is carried out on the motor and a user, the user inputs instructions through the user input end, the main controller sends the instructions of the user to the corresponding motors, and therefore corresponding actions are completed.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
fig. 2 is a schematic view of the hip abduction motor connection structure of the present invention;
FIG. 3 is a schematic structural diagram of a control mechanism according to the present invention;
FIG. 4 is an exploded view of the various components of the calf mechanism of the present invention;
fig. 5 is a control block diagram of the workflow of the present invention.
In the figure: 1. a hip support mechanism; 2. a hip abduction motor; 202. locking screws; 203. a rotating shaft; 204. a bush bearing; 205. a fixing pin; 207. a screw; 3. a hip joint flexion and extension motor; 4. a thigh mechanism; 5. a knee joint flexion and extension motor; 6. a shank mechanism; 7. an ankle side linear motor; 72. a second pin shaft; 8. a foot plate; 11. a posterior ankle linear motor; 112. a first pin shaft; 113. a spherical bearing; 115. ten bytes; 12. a leg guard; 13. a leg strap; 14. a leg support mechanism; 15. a hip strap; 16. a hip protector; 17. a battery control box; 18. a control handle; 19. a joystick; 20. a display screen; 21. an ankle component; 22. a cross-shaped shaft sleeve; 23. an ankle joint shaft; 24. a rotating connector; 25. hip joint abduction motor installed part.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Example 1
The invention provides a multi-degree-of-freedom bionic exoskeleton body structure as shown in figures 1-5, which comprises a hip support mechanism 1, a hip joint flexion and extension motor 3, a thigh mechanism 4, a shank mechanism 6, a sole plate 8, a battery control box 17, a control handle 18 and a protective tool bandage, wherein a hip joint extension motor installation part 25 is arranged on one side of the lower end of the hip support mechanism 1, the hip joint extension motor installation part 25 is connected with a rotary connecting piece 24 through a rotating shaft 203, a lining bearing 204 is arranged between the rotating shaft 203 and the hip joint extension motor installation part 25, the rotating shaft 203 is connected with the lining bearing 204 through a locking screw 202, the rotary connecting piece 24 is fixedly connected with the rotating shaft 203 through a fixing pin 205, when hip activity training is actually carried out, the rotating shaft 203 is controlled to rotate, the rotary connecting piece 24 is further driven to rotate, and then under the rotation of the rotary connecting piece 24, the thigh mechanism 4 at the lower end of the rotary connecting piece 24 is driven to abduct and rotate, so that the abduction action of the hip joint of the user driving the thigh can be realized, and the effect of rehabilitation training of the hip joint of the user can be realized.
The other side of the lower end of the hip supporting mechanism 1 is provided with a hip abduction motor 2, the hip abduction motor 2 is fixed on one side of the outer part of a hip abduction motor installation part 25 through a screw 207, one end of an output shaft of the hip abduction motor 2 is connected with a rotating shaft 203 through a coupler, a hip flexion and extension motor 3 is positioned at the upper end of a rotating connection part 24, one end of an output shaft of the hip flexion and extension motor 3 is connected with the inner part of a thigh mechanism 4 through the coupler, when the rotating shaft 203 is actually driven to rotate, the output shaft of the hip abduction motor 2 can be driven to rotate by opening the hip abduction motor 2, so that the rotating shaft 203 is driven to rotate through the coupler, the effect of abduction rotation of the thigh mechanism 4 at the lower end of the rotating connection part 24 is realized, the rotating direction of the output shaft driven by the hip flexion and extension motor 3 is mutually vertical to the rotating direction of the output shaft of the hip abduction motor 2, and the same, the hip joint flexion and extension motor 3 is started to drive a thigh mechanism 4 connected with an output shaft of the hip joint flexion and extension motor 3 to realize flexion and extension actions of the lower limbs in the advancing direction; so as to realize the effect of rehabilitation training of the hip joint of the user.
Example 2
The present embodiment 2 differs from embodiment 1 in that: the lower end of the thigh mechanism 4 is provided with a knee joint flexion and extension motor 5, one end of an output shaft of the knee joint flexion and extension motor 5 is connected with the inside of the shank mechanism 6 through a coupler, the rotation direction of the output shaft of the knee joint flexion and extension motor 5 is parallel to the rotation direction of the output shaft of the hip joint flexion and extension motor 3, and a transmission mechanism of the knee joint flexion and extension motor 5 is similar to the hip joint flexion and extension motor 3, so that the output shaft of the knee joint flexion and extension motor 5 is driven to rotate when the knee joint flexion and extension motor 5 is started, the shank mechanism 6 connected with the output shaft of the knee joint flexion and extension motor 5 is driven to realize flexion and extension actions of lower limbs at the knee joint, and accordingly the effect of rehabilitation training of the knee joint of a user is realized.
In the case of the example 3, the following examples are given,
this example 3 differs from examples 1 and 2 in that: the sole plate 8 is fixedly arranged at the lower end of an ankle joint part 21, the ankle joint part 21 is connected with a shank mechanism 6 through a cross shaft sleeve 22, one side of the ankle joint part 21 is provided with an ankle side linear motor 7, the other side of the ankle joint part 21 is provided with an ankle rear linear motor 11, the upper end of the ankle rear linear motor 11 is connected with a cross joint 115, the ankle rear linear motor 11 is fixedly arranged at the other side of the shank mechanism 6 through a first pin shaft 112, the lower end of the ankle rear linear motor 11 is provided with a spherical bearing 113, a mounting hole is arranged inside the ankle joint part 21, the spherical bearing 113 is matched with the mounting hole, the rotation action in two vertical directions can be realized through the cross shaft sleeve 22, wherein, in order to realize the action of 2 degrees of freedom of ankle joint, when the ankle rear linear motor 11 is started, the output shaft of the ankle rear linear motor 11 can rotate, and simultaneously, under the driving of the spherical bearing 113, the relative position of the output shaft of the rear ankle linear motor 11 and the foot of the user can be extended and shortened, and the ankle joint part 21 is pushed to rotate under the driving of the extension and the shortening of the output shaft of the rear ankle linear motor 11, so that the foot of the user is driven to realize dorsiflexion and plantarflexion actions; thereby realized carrying out rehabilitation training's effect to user's ankle joint, sole plate 8 is used for placing user's foot, and the cooperation of the limiting plate of 8 outside of rethread sole plate and bottom plate is used and is assisted spacing to user's foot to can be stable carry out ankle joint rehabilitation training.
The ankle side linear motor 7 is fixedly arranged on one side of the outer portion of the shank mechanism 6 through a second pin shaft 72, a bearing is arranged at the lower end of the ankle side linear motor 7 and connected with one end of the ankle joint rotating shaft 23, the ankle side linear motor 7 is also provided with a bearing, the bearing is similar to the spherical bearing 113 in effect, and further when the ankle joint mechanism is in actual use, the ankle side linear motor 7 is opened to drive the output shaft of the ankle side linear motor 7 to rotate, meanwhile, the output shaft of the ankle side linear motor 7 is driven to extend and shorten relative positions of the foot of a user, and the ankle joint part 21 is immediately driven to rotate, so that the effect of driving the foot of the user to turn outwards and turn inwards is achieved.
The protector band portion includes a hip protector 16 and a leg protector 12, the hip protector 16 covers the inner surface of the hip support mechanism 1, hip bands 15 are provided on both sides of the outside of the hip protector 16, the leg protector 12 covers both the inner surface of the thigh mechanism 4 and the inner surface of the leg mechanism 6, leg bands 13 are provided on both sides of the leg protector 12, leg support mechanisms 14 are provided on both the outside of the thigh mechanism 4 and the leg mechanism 6, the leg support mechanisms 14 are located outside the leg protector 12, and when the hip support mechanism 1 is actually worn, the hip protector 16 is directly contacted with the user, and then the hip support mechanism 16 is bound and fixed by the hip bands 15, thereby completing the wearing of the hip of the user; with 14 dresses of shank supporting mechanism at user's thigh and shank outsidely in same mode, the same with user's shank direct contact be shank protective equipment 12, rethread shank bandage 13 is binded fixedly, thereby dress the completion to user's hip, at last rethread sole plate 8 places user's foot in sole plate 8 upper end, the effect of dressing whole ectoskeleton body structure has been realized, the protective equipment and the bandage of user's hip and shank are soft fabric, can guarantee that the comfortable firm limbs that carry on of user are fixed, and then must carry out the rehabilitation training with comfortablely.
Example 4
Embodiment 4 differs from embodiments 1, 2 and 3 in that: the battery control box 17 is fixedly arranged on one side of the outside of the hip supporting mechanism 1, the other side of the outside of the hip supporting mechanism 1 is provided with a control handle 18, the upper end of the control handle 18 is respectively provided with a control lever 19 and a display screen 20, a user can control the whole exoskeleton body structure through a main controller, the main controller is used as a core controller to be connected with 10 motors in parallel, and the position information of the motors is read in real time; the display screen 20 on the control handle 18 communicates with the control lever 19 and performs image-text interaction with a user, the user performs instruction input through a user input end, the main controller issues instructions of the user to the corresponding motor to complete corresponding actions, the battery control box 17 is electrically connected with the hip abduction motor 2, the hip joint flexion and extension motor 3, the knee joint flexion and extension motor 5, the ankle side linear motor 7 and the ankle rear linear motor 11, and the battery control box 17 is electrically connected with the control lever 19 and the display screen 20 as well, so that electric power support is provided for the whole exoskeleton body structure through the battery control box 17.
When the robot is actually used, the feet of a user are placed at the upper end of the foot bottom plate 8, the user selects a walking instruction on the display screen 20 through the control lever 19, a confirmation button on the control lever 19 is clicked, the master controller receives and compiles the walking instruction, the hip joint flexion and extension motor 3 and the knee joint flexion and extension motor 5 are firstly controlled to rotate for a certain angle, so that the right limb of the user is lifted forwards for a certain height, the leg lifting action is completed, at the moment, the hip joint flexion and extension motor 3 of the left limb forwards rotates for a certain angle, the gravity center of the user leans forwards, the hip joint flexion and extension motor 3 and the knee joint flexion and extension motor 5 of the right limb return for a certain angle, the right foot bottom plate 8 falls to the ground, the action of the previous step is completed, and then the two legs are staggered and repeated, so that the robot can walk forwards.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Claims (10)
1. The utility model provides a bionical ectoskeleton body structure of multi freedom, includes hip supporting mechanism (1), hip joint and bends and stretch motor (3), thigh mechanism (4), shank mechanism (6), sole board (8), battery control box (17), brake valve lever (18) and protective equipment bandage, its characterized in that: a hip joint abduction motor mounting piece (25) is arranged on one side of the lower end of the hip support mechanism (1), the hip joint abduction motor mounting piece (25) is connected with a rotary connecting piece (24) through a rotating shaft (203), a bush bearing (204) is mounted between the rotating shaft (203) and the hip joint abduction motor mounting piece (25), the rotating shaft (203) is connected with the bush bearing (204) through a locking screw (202), and the rotary connecting piece (24) is fixedly connected with the rotating shaft (203) through a fixing pin (205);
the hip abduction mechanism is characterized in that a hip abduction motor (2) is arranged on the other side of the lower end of the hip supporting mechanism (1), the hip abduction motor (2) is fixed on one side of the outer portion of a hip abduction motor mounting part (25) through a screw (207), and one end of an output shaft of the hip abduction motor (2) is connected with a rotating shaft (203) through a coupler.
2. The biomimetic exoskeleton body structure with multiple degrees of freedom of claim 1, wherein: the hip joint flexion and extension motor (3) is positioned at the upper end of the rotary connecting piece (24), and one end of an output shaft of the hip joint flexion and extension motor (3) is connected with the inside of the thigh mechanism (4) through a coupler.
3. The biomimetic exoskeleton body structure with multiple degrees of freedom of claim 1, wherein: the lower end of the thigh mechanism (4) is provided with a knee joint flexion and extension motor (5), and one end of an output shaft of the knee joint flexion and extension motor (5) is connected with the inner part of the shank mechanism (6) through a coupler.
4. The multi-degree-of-freedom bionic exoskeleton body structure of claim 1, wherein: the sole plate (8) is fixedly arranged at the lower end of an ankle joint part (21), and the ankle joint part (21) is connected with the shank mechanism (6) through a cross shaft sleeve (22).
5. The biomimetic exoskeleton body structure with multiple degrees of freedom of claim 4, wherein: an ankle side linear motor (7) is arranged on one side of the ankle joint component (21), and an ankle rear linear motor (11) is arranged on the other side of the ankle joint component (21).
6. The multi-degree-of-freedom bionic exoskeleton body structure of claim 5, wherein: the ankle joint mechanism is characterized in that the upper end of the rear ankle linear motor (11) is connected with a cross joint (115), the rear ankle linear motor (11) is fixedly installed on the other side of the shank mechanism (6) through a first pin shaft (112), a spherical bearing (113) is arranged at the lower end of the rear ankle linear motor (11), a mounting hole is formed in the inside of the ankle joint component (21), and the spherical bearing (113) is matched with the mounting hole.
7. The biomimetic exoskeleton body structure with multiple degrees of freedom of claim 5, wherein: the ankle side linear motor (7) is fixedly arranged on one side of the outer portion of the shank mechanism (6) through a second pin shaft (72), a bearing is arranged at the lower end of the ankle side linear motor (7), and the bearing is connected with one end of the ankle joint rotating shaft (23).
8. The multi-degree-of-freedom bionic exoskeleton body structure of claim 1, wherein: the battery control box (17) is fixedly installed on one side of the outer portion of the hip supporting mechanism (1), a control handle (18) is arranged on the other side of the outer portion of the hip supporting mechanism (1), and an operating rod (19) and a display screen (20) are arranged at the upper end of the control handle (18) respectively.
9. The biomimetic exoskeleton body structure with multiple degrees of freedom of claim 1, wherein: the protector strap part comprises a hip protector (16) and a leg protector (12), the hip protector (16) covers the inner surface of a hip supporting mechanism (1), hip straps (15) are arranged on two sides of the outside of the hip protector (16), the inner surface of a thigh mechanism (4) and the inner surface of a shank mechanism (6) are both covered with the leg protector (12), and leg straps (13) are arranged on two sides of the leg protector (12).
10. The biomimetic exoskeleton body structure with multiple degrees of freedom of claim 1, wherein: thigh mechanism (4) and shank mechanism (6) outside all are equipped with shank supporting mechanism (14), shank supporting mechanism (14) are located shank protective equipment (12) outside.
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