CN206436232U - The mechanical exoskeleton device of human body Wearable decompression power-assisted - Google Patents
The mechanical exoskeleton device of human body Wearable decompression power-assisted Download PDFInfo
- Publication number
- CN206436232U CN206436232U CN201620899049.XU CN201620899049U CN206436232U CN 206436232 U CN206436232 U CN 206436232U CN 201620899049 U CN201620899049 U CN 201620899049U CN 206436232 U CN206436232 U CN 206436232U
- Authority
- CN
- China
- Prior art keywords
- seat
- bar linkage
- servobcylinder
- annulus seat
- ball
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The mechanical exoskeleton device of human body Wearable decompression power-assisted, including the shoulder joint ectoskeleton multi-bar linkage being sequentially connected from top to bottom, the double six shaft platform mechanisms of joint of vertebral column ectoskeleton, hip joint ectoskeleton multi-bar linkage and two shank foot support exoskeleton mechanisms, shoulder joint ectoskeleton multi-bar linkage is identical with the construction of hip joint ectoskeleton multi-bar linkage, crown center of the top and bottom of the double six shaft platform mechanisms of joint of vertebral column ectoskeleton respectively with shoulder joint ectoskeleton multi-bar linkage bottom centre and hip joint ectoskeleton multi-bar linkage is fixedly connected, the upper end of each shank foot support exoskeleton mechanism is connected with the left of the lower end of hip joint ectoskeleton multi-bar linkage and right side respectively.The utility model fully alleviates people and bears the pressure of weight, and provides good power-assisted effect, substantially increases the weight for bearing weight, is also applied for the power-assisted of the elderly's stair climbing and walking, it may also be used for rehabilitation of the medicine equipment to patient.
Description
Technical field
The utility model, which belongs to, is related to a kind of decompression power assisting device for being used to bear weight, and in particular to a kind of human body wearing
The mechanical exoskeleton device of formula decompression power-assisted.
Background technology
People are when bearing weight, and lower limb and backbone can be by immense pressures, and it is smaller to bear the limit of weight weight.
Particularly in the region of road bumpiness, these places can not can only bear weight by vehicle by people, and walking road compared with
Far, one kind is accomplished by naturally can mitigate human pressure, and can increase the device of weight bearing.In addition, people are in stair activity
Or when walking for a long time, it is easy to there is fatigue weak.Particularly the elderly, in walking and stair climbing, problem is more prominent
Go out.In the prior art it is existing walking power assisting device Shortcomings：Ankle-joint and hip abduction/interior can not easily be realized
Receive, even Small-angle Rotation, this is primarily due to power assisting device and lacks the free degree.At present, multiple degrees of freedom, big model can be realized
The decompression power assisting device for bearing weight, walking and climbing building for enclosing activity commercially not yet occurs.
Utility model content
There is provided a kind of simple in construction, highly reliable, decompression in order to solve weak point of the prior art for the utility model
Effect is good, weight bearing is big, shoulder joint and hip joint can be made to realize that abduction/adduction is moved, backbone realizes multiple degrees of freedom, a wide range of
The mechanical exoskeleton device of human body Wearable decompression power-assisted of activity.
In order to solve the above technical problems, the utility model is adopted the following technical scheme that：Human body Wearable decompression power-assisted machinery
Exoskeleton device, including double six axles of shoulder joint ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton being sequentially connected from top to bottom are put down
Platform mechanism, hip joint ectoskeleton multi-bar linkage and two shank foot support exoskeleton mechanisms, shoulder joint ectoskeleton multi-bar linkage
It is identical with the construction of hip joint ectoskeleton multi-bar linkage, the top and bottom difference of the double six shaft platform mechanisms of joint of vertebral column ectoskeleton
It is fixedly connected with the crown center of shoulder joint ectoskeleton multi-bar linkage bottom centre and hip joint ectoskeleton multi-bar linkage, Mei Ge little
The upper end of leg foot supports exoskeleton mechanism is connected with the left of the lower end of hip joint ectoskeleton multi-bar linkage and right side respectively.
Hip joint ectoskeleton multi-bar linkage includes on the left of middle part connecting plate, middle part connecting plate and right side is respectively equipped with a left side
The many bar drive systems of right symmetrical Three dimensional rotation；
The many bar drive systems of Three dimensional rotation in left side include many rods virtual shaft revolution driving devices, side kick back turn driver, it is preceding
Kick back turn driver, it is the first mounting seat, the second mounting seat, connecting rod, drive rod, the first follower lever, the second follower lever, the 3rd driven
Bar and thigh side guard plate, many rods virtual shaft revolution driving devices mutually turn center line and are horizontally disposed with along the longitudinal direction, and side is kicked back turns to drive
The centre of gyration line of dynamic device is arranged in vertical, and preceding kick back turns the center line of driver and be horizontally disposed with left-right direction, and side is kicked
The front side of revolution driving device on rear side of middle part connecting plate with being fixedly connected, and side, which is kicked back, turns clutch end and first on rear side of driver
Connected on front side of mounting seat, many rods virtual shaft revolution driving devices are located in the first mounting seat, and thigh side guard plate upper left-hand is with before kicking
The clutch end connection of revolution driving device, preceding kick back turns driver and is located in the second mounting seat；
Connecting rod, drive rod, the first follower lever, the second follower lever and the 3rd follower lever are equipped with two, and many rods virtual shafts are returned
Rear end of the top and bottom respectively with a drive rod for turning the power output shaft of driver is fixedly connected, first follower lever
Rear end be hinged on the top of the first mounting seat, the rear end of another first follower lever is hinged on the bottom of the first mounting seat,
One follower lever and the pin joint of the first mounting seat are located at the front side of the power output shaft of many rods virtual shaft revolution driving devices, drive rod
Front end and the rear end of the 3rd follower lever be hinged, the first driven rod rear end is fixedly connected with connecting rod right-hand member, the left end of connecting rod and
Two driven rod rear ends are hinged, and the rear portion of the 3rd follower lever and the right-hand member of connecting rod are hinged, and the 3rd follower lever front end on top is hinged on
Second mounting seat top right side, the second follower lever front end on top is hinged on the second mounting seat top left side, bottom the 3rd from
Lever front end is hinged on the second mounting seat bottom right, and the second follower lever front end of bottom is hinged on the second mounting seat bottom left side
Side.
Front arc baffle plate and rear arc baffle plate are respectively equipped with front side of thigh side guard plate with rear side, Three dimensional rotation many bars in left side drive
Dismountable left thigh fixing band is provided between the front arc baffle plate and rear arc baffle plate of dynamic system, Three dimensional rotation many bars in right side drive
Dismountable right thigh fixing band is provided between the front arc baffle plate and rear arc baffle plate of dynamic system.
The double six shaft platform mechanisms of joint of vertebral column ectoskeleton include upper contiguous block, lower connecting block, lower annulus seat, middle annulus seat and
The lower surface for being located at contiguous block is fixed in upper annulus seat, the upper surface of upper annulus seat, and the lower surface of lower annulus seat, which is fixed, to be located at down
The rear side table of the middle part connecting plate of shoulder joint ectoskeleton multi-bar linkage is fixedly connected on front side of the upper surface of contiguous block, upper contiguous block
In the middle part of the rear side surface that the middle part connecting plate of hip joint ectoskeleton multi-bar linkage is fixedly connected on front side of Middle face, lower connecting block,
It is provided between lower annulus seat upper surface and middle annulus seat lower surface under servoBcylinder under the six roots of sensation, middle annulus seat upper surface and upper annulus seat
Provided with servoBcylinder in the six roots of sensation between surface, the upper end difference ball pivot of servoBcylinder is on middle annulus seat under the six roots of sensation, servoBcylinder under the six roots of sensation
Lower end difference ball pivot lower annulus seat on, in the six roots of sensation servoBcylinder upper end difference ball pivot upper annulus seat on, servo in the six roots of sensation
The lower end difference ball pivot of cylinder is on middle annulus seat；The carriage for being used for bearing weight is provided between upper contiguous block and lower connecting block
Frame.
It is six upper hinge balls on a circle in the center of circle that upper annulus seat lower surface, which is provided with positioned above annulus seat center, often
Two upper hinge balls are one group and are disposed adjacent that three groups of upper hinge balls are evenly arranged along upper annulus seat center；
It is six lower hinge balls on a circle in the center of circle that lower annulus seat upper surface, which is provided with positioned at following annulus seat center, often
Two lower hinge balls are one group and are disposed adjacent that three groups of lower hinge balls are evenly arranged along lower annulus seat center；Six upper hinge balls
Set with being corresponded above and below six lower hinge balls；
Middle annulus seat, which is provided with, to be located at using middle annulus seat center as six mounting holes on a circle in the center of circle, each two peace
Fill Kong Weiyi groups and be disposed adjacent, three groups of mounting holes annulus seat center in is evenly arranged, and each group of mounting hole is in vertical direction
On projection be located at two adjacent groups lower hinge ball between, mounting post is fixed with each mounting hole, mounting post lower end is provided with
Positioned at middle annulus seat below first in hinge ball, mounting post upper end be provided be located at middle annulus seat above second in hinge ball；
The top and bottom of servoBcylinder are equipped with ball-and-socket in the six roots of sensation, and six upper hinge balls correspond to be rotatably connected on one respectively
In the upper ball-and-socket of individual upper servoBcylinder upper end, hinge ball correspondence is rotatably connected on the upper ball of a upper servoBcylinder lower end in six second
In nest；
The top and bottom of servoBcylinder are equipped with lower ball-and-socket under the six roots of sensation, and six lower hinge balls correspond to be rotatably connected on one respectively
In the lower ball-and-socket of individual lower servoBcylinder lower end, hinge ball correspondence is rotatably connected on the lower ball of a lower servoBcylinder upper end in six first
In nest.
The shank foot support exoskeleton mechanism in left side includes sole and thigh connecting plate, on the left of sole and right side it
Between be provided with foot's fixing band, backplate under shank is provided with the left of sole, thigh connecting plate lower end is fixed with knee joint revolution drive
Dynamic device, the clutch end of knee joint revolution driving device is connected with shank upper guard board, shank upper guard board lower end and backplate under shank
Connected, connected between thigh connecting plate upper end and thigh side guard plate lower end by upper stretching structure by lower stretching structure between upper end
Connect；Lower stretching structure is identical with the construction of upper stretching structure.
Lower stretching structure is included in the lower slot for the lower end opening that shank upper guard board lower surface is opened up and protected under shank
It is correspondingly arranged above and below the upper slot for the upper end opening that plate upper surface is offered, upper slot and lower slot, in upper slot and lower slot
Be inserted with plate, shank upper guard board is connected by two upper bolts with plate top, under shank backplate by two lower bolts and
Plate bottom is connected.
Many rods virtual shaft revolution driving devices, side, which are kicked back, to be turned driver, preceding kick back and turns driver and knee joint revolution driving device
For reducing motor, rotating servo cylinder or rotating servo hydraulic cylinder.
Upper servoBcylinder and lower servoBcylinder are linear hydraulic cylinder, cylinder or electric cylinder.
Using above-mentioned technical proposal, due to shoulder joint ectoskeleton multi-bar linkage and the construction of hip joint ectoskeleton multi-bar linkage
Identical, therefore, the specific configuration of shoulder joint ectoskeleton multi-bar linkage is repeated no more.Human body is worn by the utility model, shoulder joint
The double six shaft platform mechanisms of ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton, hip joint ectoskeleton multi-bar linkage are respectively positioned on human body
The thigh side guard plate at rear portion, the wherein both sides of hip joint ectoskeleton multi-bar linkage and thigh contact outside, left thigh fixing band will
The thigh side guard plate in left side and the thigh in left side are tightened, and right thigh fixing band ties up the thigh of the thigh side guard plate on right side and right side
Tightly.Equally, shoulder joint ectoskeleton multi-bar linkage is also carried out using this wearing mode.Two shank foots support exoskeleton mechanism
For supporting the double six shaft platform mechanisms of shoulder joint ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton and many bar machines of hip joint ectoskeleton
Structure, the two of people rides on sole, is fixed by foot's fixing band.It should also include in the utility model many for controlling
Rods virtual shaft revolution driving device, side kick back turn driver, it is preceding kick back turn driver, knee joint revolution driving device, upper servoBcylinder and
The intelligent controller of lower servoBcylinder, and to control many rods virtual shaft revolution driving devices, side to kick back to turn driver, preceding kick back to turn to drive
The power supply that dynamic device, knee joint revolution driving device, upper servoBcylinder, lower servoBcylinder and intelligent controller are powered.
The concrete operating principle and mistake of hip joint ectoskeleton multi-bar linkage are referred to as：When taking a step forward, knee joint revolution driving
Backplate and shank upper guard board be to forward under device driving shank, the shank of human body with stepping forward, meanwhile, preceding kick back turns driver drive
Big leg guard is moved to turn forward.If leg to inner or outer side kick when, side kick back turn driver pass through the first mounting seat, driving
Bar, the first follower lever, the second follower lever and the 3rd follower lever driving thigh side guard plate outwardly or inwardly rotate.Before kick revolution driving
Device, side kick back turn driver respectively with many rods virtual shaft revolution driving devices two-by-two or three is coordinated, can simulate come
The various movement locus of human hip.Wherein many rods virtual shaft revolution driving devices drive two drive rods to rotate, and drive rod leads to
Crossing the first follower lever, the second follower lever and the 3rd follower lever can drive thigh side guard plate elastic and rotate.
The concrete operating principle and mistake of the double six shaft platform mechanisms of joint of vertebral column ectoskeleton are referred to as：Using two of docking up and down
6-dof motion platform, reaches 12 frees degree, and six upper servoBcylinders and six lower servoBcylinders are elongated or shortened, so as to
The athletic posture in various spaces is simulated, the backbone for function and the human body such as bent over, swayed one's hips for human body, supported has no two
Sample, and reach good support effect.
When different heights people in use, can by changing the plate of lower stretching structure and upper stretching structure, height compared with
Gao Shi, use longer plate is thus long equivalent to the leg that have adjusted human body using shorter plate when height is relatively low
Degree.
The side guard plate of the shoulder joint ectoskeleton multi-bar linkage left and right sides can be connected with upper limbs exoskeleton device, for driving simultaneously
Coordinate the spatial movement of upper limbs, and good connection positioning action is provided for upper limbs exoskeleton device.
In summary, the utility model is simple in construction, modern design, and spatial degrees of freedom is high, flexibly light, fully alleviates
People bear the pressure of weight, and provide good power-assisted effect, substantially increase the weight for bearing weight, are also applied for old age
People's stair climbing and the power-assisted of walking, it may also be used for rehabilitation of the medicine equipment to patient.
Brief description of the drawings
Fig. 1 is the backsight structural representation that the utility model is worn on human body；
Fig. 2 is Fig. 1 right view；
Fig. 3 is outside shoulder joint ectoskeleton multi-bar linkage in Fig. 1, the double six shaft platform mechanisms of joint of vertebral column ectoskeleton and hip joint
The dimensional structure diagram of bone multi-bar linkage；
Fig. 4 is the explosive view of hip joint ectoskeleton multi-bar linkage in Fig. 3；
Fig. 5 is the enlarged plan view of the double six shaft platform mechanisms of joint of vertebral column ectoskeleton in Fig. 3；
Fig. 6 is the structural representation of middle annulus seat in Fig. 5.
Embodiment
As shown in figs 1 to 6, the mechanical exoskeleton device of human body Wearable of the present utility model decompression power-assisted, including from upper
Under shoulder joint ectoskeleton multi-bar linkage 1, the joint of vertebral column ectoskeleton double six shaft platform mechanisms 2, the hip joint ectoskeletons that are sequentially connected
Multi-bar linkage 3 and two shank foot support exoskeleton mechanisms, shoulder joint ectoskeleton multi-bar linkage 1 and many bars of hip joint ectoskeleton
The construction of mechanism 3 is identical, and the top and bottom of the double six shaft platform mechanisms 2 of joint of vertebral column ectoskeleton are more with shoulder joint ectoskeleton respectively
It is fixedly connected in the middle of the bottom of linkage 1 with the crown center of hip joint ectoskeleton multi-bar linkage 3, each shank foot supports dermoskeleton
The upper end of bone mechanism is connected with the left of the lower end of hip joint ectoskeleton multi-bar linkage 3 and right side respectively.
Hip joint ectoskeleton multi-bar linkage 3 includes middle part connecting plate 4, and the left side of middle part connecting plate 4 and right side are respectively equipped with one
The individual many bar drive systems of symmetrical Three dimensional rotation；
The many bar drive systems of Three dimensional rotation in left side include many rods virtual shaft revolution driving devices 5, side kick back turn driver 6,
Before kick back that to turn driver 7, the first mounting seat 8, the second mounting seat 9, connecting rod 10, drive rod 11, the first follower lever 12, second driven
Bar 13, the 3rd follower lever 14 and thigh side guard plate 15, the mutual of many rods virtual shaft revolution driving devices 5 turn center line water along the longitudinal direction
Flat to set, side, which is kicked back, to be turned the centre of gyration line of driver 6 and is arranged in vertical, and preceding kick back turns the center line of driver 7 along left
Right direction is horizontally disposed with, and side, which is kicked back, to be turned the front side of driver 6 and be fixedly connected with the rear side of middle part connecting plate 4, and revolution driving is kicked in side
The rear side clutch end of device 6 is connected with the front side of the first mounting seat 8, and many rods virtual shaft revolution driving devices 5 are located at the first mounting seat 8
On, the clutch end that the upper left-hand of thigh side guard plate 15 turns driver 7 with before kicking back is connected, and preceding kick back turns driver 7 and be located at
In second mounting seat 9.
Connecting rod 10, drive rod 11, the first follower lever 12, the second follower lever 13 and the 3rd follower lever 14 are equipped with two, many
Rear end of the top and bottom of the power output shaft of rods virtual shaft revolution driving device 5 respectively with a drive rod 11 is fixedly connected,
The rear end of piece first follower lever 12 is hinged on the top of the first mounting seat 8, and the rear end of another first follower lever 12 is hinged on
The pin joint of the bottom of first mounting seat 8, the first follower lever 12 and the first mounting seat 8 is located at many rods virtual shaft revolution driving devices 5
Power output shaft front side, the front end of drive rod 11 and the rear end of the 3rd follower lever 14 be hinged, the rear end of the first follower lever 12 with
The right-hand member of connecting rod 10 is fixedly connected, and the left end of connecting rod 10 is hinged with the rear end of the second follower lever 13, the rear portion of the 3rd follower lever 14 and company
The right-hand member of bar 10 is hinged, and the front end of the 3rd follower lever 14 on top is hinged on the top right side of the second mounting seat 9, and the second of top is driven
The front end of bar 13 is hinged on the top left side of the second mounting seat 9, and the front end of the 3rd follower lever 14 of bottom is hinged on the bottom of the second mounting seat 9
Right side, the front end of the second follower lever 13 of bottom is hinged on the bottom left of the second mounting seat 9.
The front side of thigh side guard plate 15 and rear side are respectively equipped with front arc baffle plate 16 and rear arc baffle plate 17, left side Three dimensional rotation
Dismountable left thigh fixing band 18, right side three are provided between the front arc baffle plate 16 and rear arc baffle plate 17 of many bar drive systems
Dimension rotates and is provided with dismountable right thigh fixing band 36 between the front arc baffle plate 16 and rear arc baffle plate 17 of many bar drive systems.
The double six shaft platform mechanisms 2 of joint of vertebral column ectoskeleton include upper contiguous block 19, lower connecting block 20, lower annulus seat 21, in
The lower surface for being located at contiguous block 19, lower annulus seat 21 are fixed in annulus seat 22 and upper annulus seat 23, the upper surface of upper annulus seat 23
Lower surface fix and be located at the upper surface of lower connecting block 20, the upper front side of contiguous block 19 is fixedly connected on many bar machines of shoulder joint ectoskeleton
In the middle part of the rear side surface of the middle part connecting plate 4 of structure 1, the front side of lower connecting block 20 is fixedly connected on hip joint ectoskeleton multi-bar linkage 3
Middle part connecting plate 4 rear side surface in the middle part of, be provided between lower annulus 21 upper surfaces of seat and middle annulus 22 lower surfaces of seat under the six roots of sensation
ServoBcylinder 24, provided with servoBcylinder 25 in the six roots of sensation between middle annulus 22 upper surfaces of seat and upper annulus 23 lower surfaces of seat, servo under the six roots of sensation
The upper end difference ball pivot of cylinder 24 is on middle annulus seat 22, and ball pivot is distinguished on lower annulus seat 21 in the lower end of servoBcylinder 24 under the six roots of sensation,
The upper end difference ball pivot of servoBcylinder 25 is on upper annulus seat 23 in the six roots of sensation, and ball pivot is distinguished in middle circle in the lower end of servoBcylinder 25 in the six roots of sensation
In ring seat 22；The support frame for being used for bearing weight is provided between upper contiguous block 19 and lower connecting block 20（Do not illustrated in figure
Come）.
It is six upper hinges on a circle in the center of circle that 23 lower surfaces of upper annulus seat, which are provided with positioned above annulus 23 centers of seat,
Ball（Do not illustrate and in figure）, each two upper hinge ball is one group and is disposed adjacent, and three groups of upper hinge balls are along along upper annulus seat 23
The heart is evenly arranged.
It is six lower hinges on a circle in the center of circle that lower 21 upper surfaces of annulus seat, which are provided with positioned at following annulus 21 centers of seat,
Ball（Do not illustrate and in figure）, each two lower hinge ball is one group and is disposed adjacent, and three groups of lower hinge balls are along along lower annulus seat 21
The heart is evenly arranged；Correspond and set above and below six upper hinge balls and six lower hinge balls.
Middle annulus seat 22, which is provided with, to be located at using 22 centers of middle annulus seat as six mounting holes on a circle in the center of circle, every two
Individual mounting hole is one group and is disposed adjacent that three groups of mounting holes, 22 centers of annulus seat in are evenly arranged, and each group of mounting hole is hanging down
The projection of Nogata upwards is located between two adjacent groups lower hinge ball, and mounting post 27, mounting post are fixed with each mounting hole
Hinge ball 26 during 27 lower ends are provided be located at the lower section of middle annulus seat 22 first, the upper end of mounting post 27, which is provided with, to be located on middle annulus seat 22
Hinge ball 28 in the second of side.
The top and bottom of servoBcylinder 25 are equipped with ball-and-socket in the six roots of sensation, and six upper hinge balls correspond to be rotatably connected on respectively
In the upper ball-and-socket of one upper upper end of servoBcylinder 25, the correspondence of hinge ball 28 is rotatably connected under a upper servoBcylinder 25 in six second
In the upper ball-and-socket at end.
The top and bottom of servoBcylinder 24 are equipped with lower ball-and-socket under the six roots of sensation, and six lower hinge balls correspond to be rotatably connected on respectively
In the lower ball-and-socket of one lower lower end of servoBcylinder 24, the correspondence of hinge ball 26 is rotatably connected on a lower servoBcylinder 24 in six first
In the lower ball-and-socket at end.
The shank foot support exoskeleton mechanism in left side includes sole 29 and thigh connecting plate 30, the left side of sole 29 and
Foot's fixing band 31 is provided between right side, the left side of sole 29 is provided with backplate 32 under shank, and the lower end of thigh connecting plate 30 is fixed and set
There is knee joint revolution driving device 33, the clutch end of knee joint revolution driving device 33 is connected with shank upper guard board 34, shank
Connected under the lower end of backplate 34 and shank between the upper end of backplate 32 by lower stretching structure, the upper end of thigh connecting plate 30 is protected with thigh side
Plate 15 is connected between lower end by upper stretching structure；Lower stretching structure is identical with the construction of upper stretching structure.
Lower stretching structure is included in the lower slot for the lower end opening that the lower surface of shank upper guard board 34 is opened up and under shank
It is correspondingly arranged above and below the upper slot for the upper end opening that the upper surface of backplate 32 is offered, upper slot and lower slot, upper slot and underthrust
Plate 35 is inserted with groove, shank upper guard board 34 is connected by two upper bolts 37 with the top of plate 35, and backplate 32 leads under shank
Two lower bolts 38 are crossed to be connected with the bottom of plate 35.
Many rods virtual shaft revolution driving devices 5, side, which are kicked back, to be turned driver 6, preceding kick back and turns driver 7 and knee joint revolution driving
Device 33 is reducing motor, rotating servo cylinder or rotating servo hydraulic cylinder.
Upper servoBcylinder 25 and lower servoBcylinder 24 are linear hydraulic cylinder, cylinder or electric cylinder.
Because shoulder joint ectoskeleton multi-bar linkage 1 is identical with the construction of hip joint ectoskeleton multi-bar linkage 3, therefore, shoulder joint
The specific configuration of section ectoskeleton multi-bar linkage 1 is repeated no more.Human body is worn by the utility model, shoulder joint ectoskeleton multi-bar linkage
1st, the double six shaft platform mechanisms 2 of joint of vertebral column ectoskeleton, hip joint ectoskeleton multi-bar linkage 3 are respectively positioned on the rear portion of human body, wherein hip
The thigh side guard plates 15 of the both sides of joint ectoskeleton multi-bar linkage 3 and thigh contact outside, left thigh fixing band 18 is by left side
Thigh side guard plate 15 and the thigh in left side are tightened, and right thigh fixing band 36 ties up the thigh side guard plate 15 and the thigh on right side on right side
Tightly.Equally, shoulder joint ectoskeleton multi-bar linkage 1 is also carried out using this wearing mode.Two shank foots support ectoskeleton machine
Structure is used to support the double six shaft platform mechanisms 2 of shoulder joint ectoskeleton multi-bar linkage 1, joint of vertebral column ectoskeleton and hip joint ectoskeleton many
Linkage 3, the two of people rides on sole 29, is fixed by foot's fixing band 31.It should also include in the utility model
Turn driver 7, knee joint revolution driving for controlling many rods virtual shaft revolution driving devices 5, side to kick back to turn driver 6, preceding kick back
The intelligent controller of device 33, upper servoBcylinder 25 and lower servoBcylinder 24, and to control many rods virtual shaft revolution driving devices 5, side to kick
Revolution driving device 6, preceding kick back turn driver 7, knee joint revolution driving device 33, upper servoBcylinder 25, lower servoBcylinder 24 and intelligence control
The power supply that device processed is powered.
The concrete operating principle and mistake of hip joint ectoskeleton multi-bar linkage 3 are referred to as：When taking a step forward, knee joint revolution driving
Backplate 32 and shank upper guard board 34 be to forward under the driving shank of device 33, the shank of human body with stepping forward, meanwhile, preceding kick back turns to drive
Dynamic device 7 drives big leg guard to turn forward.If leg to inner or outer side kick when, side kick back turn driver 6 pass through first install
Seat 8, drive rod 11, the first follower lever 12, the second follower lever 13 and the 3rd follower lever 14 driving thigh side guard plate 15 inwardly or to
Outer rotation.Before kick back turn driver 7, side kick back turn driver 6 respectively with many rods virtual shaft revolution driving devices 5 two-by-two or three
Coordinated, the various movement locus for carrying out human hip can be simulated.Wherein many rods virtual shaft revolution driving devices 5 drive two
Individual drive rod 11 is rotated, and drive rod 11 can be driven greatly by the first follower lever 12, the second follower lever 13 and the 3rd follower lever 14
Leg side guard plate 15 is elastic and rotates.
The concrete operating principle and mistake of the double six shaft platform mechanisms 2 of joint of vertebral column ectoskeleton are referred to as：Using the two of docking up and down
Individual 6-dof motion platform, reaches 12 frees degree, and six upper servoBcylinders 25 and six lower servoBcylinders 24 are elongated or shortened, from
And the athletic posture in various spaces can be simulated, the backbone milli for function and the human body such as bent over, swayed one's hips for human body, supported
Without difference, and reach good support effect.
When the people of different heights is in use, can pass through the lower stretching structure of replacing and the plate 35 of upper stretching structure, height
When higher, the longer plate 35 of use, when height is relatively low, using shorter plate 35, thus equivalent to have adjusted human body
Leg length.
Above example is only used to illustrative and not limiting the technical solution of the utility model, although with reference to above-described embodiment pair
The utility model is described in detail, it will be understood by those within the art that：The utility model can still be entered
Row modification or equivalent substitution, without departing from any modification or partial replacement of spirit and scope of the present utility model, it all should
Cover among right of the present utility model.
Claims (9)
1. the mechanical exoskeleton device of human body Wearable decompression power-assisted, it is characterised in that：Including the shoulder joint being sequentially connected from top to bottom
Save ectoskeleton multi-bar linkage, joint of vertebral column ectoskeleton double six shaft platform mechanisms, hip joint ectoskeleton multi-bar linkage and two shanks
Foot supports exoskeleton mechanism, shoulder joint ectoskeleton multi-bar linkage is identical with the construction of hip joint ectoskeleton multi-bar linkage, backbone
The top and bottom of the double six shaft platform mechanisms of joint ectoskeleton in the middle of shoulder joint ectoskeleton multi-bar linkage bottom with hip respectively with closing
The crown center of section ectoskeleton multi-bar linkage is fixedly connected, and the upper end of each shank foot support exoskeleton mechanism is closed with hip respectively
Save on the left of the lower end of ectoskeleton multi-bar linkage and right side connection.
2. the mechanical exoskeleton device of human body Wearable decompression power-assisted according to claim 1, it is characterised in that：Outside hip joint
Bone multi-bar linkage includes on the left of middle part connecting plate, middle part connecting plate and right side is respectively equipped with a symmetrical Three dimensional rotation
Many bar drive systems；
The many bar drive systems of Three dimensional rotation in left side include many rods virtual shaft revolution driving devices, side and kicked back turning driver, preceding kicking back
Turn driver, the first mounting seat, the second mounting seat, connecting rod, drive rod, the first follower lever, the second follower lever, the 3rd follower lever and
Thigh side guard plate, many rods virtual shaft revolution driving devices mutually turn center line and are horizontally disposed with along the longitudinal direction, and side, which is kicked back, turns driver
Centre of gyration line be arranged in vertical, preceding kick back turns the center line of driver and is horizontally disposed with left-right direction, and side, which is kicked back, to be turned
The front side of driver on rear side of middle part connecting plate with being fixedly connected, and side, which is kicked back, turns clutch end and the first installation on rear side of driver
Seat front side is connected, and many rods virtual shaft revolution driving devices are located in the first mounting seat, and thigh side guard plate upper left-hand turns with before kicking back
The clutch end connection of driver, preceding kick back turns driver and is located in the second mounting seat；
Connecting rod, drive rod, the first follower lever, the second follower lever and the 3rd follower lever are equipped with two, and many rods virtual shaft revolutions are driven
Rear end of the top and bottom of the power output shaft of dynamic device respectively with a drive rod is fixedly connected, after first follower lever
End is hinged on the top of the first mounting seat, and the rear end of another first follower lever is hinged on the bottom of the first mounting seat, first from
The pin joint of lever and the first mounting seat is located at before the front side of the power output shaft of many rods virtual shaft revolution driving devices, drive rod
End and the rear end of the 3rd follower lever are hinged, and the first driven rod rear end is fixedly connected with connecting rod right-hand member, the left end of connecting rod and second from
Lever rear end is hinged, and the rear portion of the 3rd follower lever and the right-hand member of connecting rod are hinged, and the 3rd follower lever front end on top is hinged on second
Mounting seat top right side, the second follower lever front end on top is hinged on the second mounting seat top left side, the 3rd follower lever of bottom
Front end is hinged on the second mounting seat bottom right, and the second follower lever front end of bottom is hinged on the second mounting seat bottom left.
3. the mechanical exoskeleton device of human body Wearable decompression power-assisted according to claim 2, it is characterised in that：Thigh side is protected
Front arc baffle plate and rear arc baffle plate, the front arc gear of many bar drive systems of left side Three dimensional rotation are respectively equipped with front side of plate with rear side
Dismountable left thigh fixing band is provided between plate and rear arc baffle plate, the front arc of many bar drive systems of right side Three dimensional rotation is kept off
Dismountable right thigh fixing band is provided between plate and rear arc baffle plate.
4. the mechanical exoskeleton device of human body Wearable decompression power-assisted according to Claims 2 or 3, it is characterised in that：Backbone
Ectoskeleton double six shaft platform mechanisms in joint include upper contiguous block, lower connecting block, lower annulus seat, middle annulus seat and upper annulus seat, on
The lower surface for being located at contiguous block is fixed in the upper surface of annulus seat, and the lower surface of lower annulus seat fixes the upper table for being located at lower connecting block
It is fixedly connected on front side of face, upper contiguous block in the middle part of the rear side surface of the middle part connecting plate of shoulder joint ectoskeleton multi-bar linkage, lower company
Connect and be fixedly connected on front side of block in the middle part of the rear side surface of the middle part connecting plate of hip joint ectoskeleton multi-bar linkage, lower annulus seat upper table
ServoBcylinder under the six roots of sensation is provided between face and middle annulus seat lower surface, is provided between middle annulus seat upper surface and upper annulus seat lower surface
The upper end difference ball pivot of servoBcylinder is on middle annulus seat under servoBcylinder in the six roots of sensation, the six roots of sensation, the lower end difference ball of servoBcylinder under the six roots of sensation
Hinge is on lower annulus seat, and the upper end difference ball pivot of servoBcylinder is on upper annulus seat in the six roots of sensation, the lower end difference of servoBcylinder in the six roots of sensation
Ball pivot is on middle annulus seat；The support frame for being used for bearing weight is provided between upper contiguous block and lower connecting block.
5. the mechanical exoskeleton device of human body Wearable decompression power-assisted according to claim 4, it is characterised in that：Upper annulus seat
It is six upper hinge balls on a circle in the center of circle that lower surface, which is provided with positioned above annulus seat center, and each two upper hinge ball is one
Group and it is disposed adjacent, three groups of upper hinge balls are evenly arranged along upper annulus seat center；
It is six lower hinge balls on a circle in the center of circle, each two that lower annulus seat upper surface, which is provided with positioned at following annulus seat center,
Lower hinge ball is one group and is disposed adjacent that three groups of lower hinge balls are evenly arranged along lower annulus seat center；Six upper hinge balls and six
Correspond and set above and below individual lower hinge ball；
Middle annulus seat, which is provided with, to be located at using middle annulus seat center as six mounting holes on a circle in the center of circle, each two mounting hole
For one group and it is disposed adjacent, three groups of mounting holes annulus seat center in is evenly arranged, each group of mounting hole is in vertical direction
Projection is located between two adjacent groups lower hinge ball, and mounting post is fixed with each mounting hole, and mounting post lower end, which is provided with, to be located at
Below middle annulus seat first in hinge ball, mounting post upper end is provided with hinge ball in second be located above middle annulus seat；
The top and bottom of servoBcylinder are equipped with ball-and-socket in the six roots of sensation, and six upper hinge balls correspond to be rotatably connected on one respectively
In the upper ball-and-socket of servoBcylinder upper end, hinge ball correspondence is rotatably connected on the upper ball-and-socket of a upper servoBcylinder lower end in six second
It is interior；
The top and bottom of servoBcylinder are equipped with lower ball-and-socket under the six roots of sensation, and six lower hinge balls correspond to be rotatably connected under one respectively
In the lower ball-and-socket of servoBcylinder lower end, hinge ball correspondence is rotatably connected on the lower ball-and-socket of a lower servoBcylinder upper end in six first
It is interior.
6. the mechanical exoskeleton device of human body Wearable decompression power-assisted according to Claims 2 or 3, it is characterised in that：Left side
Shank foot support exoskeleton mechanism include sole and thigh connecting plate, it is solid provided with foot between on the left of sole and right side
Determine to be provided with backplate under shank on the left of band, sole, thigh connecting plate lower end is fixed with knee joint revolution driving device, knee joint is returned
The clutch end for turning driver is connected with shank upper guard board, shank upper guard board lower end and shank between backplate upper end under
Stretching structure is connected, and is connected between thigh connecting plate upper end and thigh side guard plate lower end by upper stretching structure；Lower stretching structure
It is identical with the construction of upper stretching structure.
7. the mechanical exoskeleton device of human body Wearable decompression power-assisted according to claim 6, it is characterised in that：Lower flexible knot
Structure is included in lower end that shank upper guard board lower surface opens up open lower slot and backplate upper surface is offered under shank
It is correspondingly arranged above and below the open upper slot in upper end, upper slot and lower slot, upper slot and lower slot interpolation are provided with plate, shank
Backplate is connected by two upper bolts with plate top, and backplate is connected by two lower bolts with plate bottom under shank.
8. the mechanical exoskeleton device of human body Wearable decompression power-assisted according to claim 6, it is characterised in that：Many bars are virtual
Axle revolution driving device, side, which are kicked back, to be turned driver, preceding kicks back that to turn driver and knee joint revolution driving device be that reducing motor, rotation are watched
Convinced cylinder or rotating servo hydraulic cylinder.
9. the mechanical exoskeleton device of human body Wearable decompression power-assisted according to claim 4, it is characterised in that：Upper servoBcylinder
It is linear hydraulic cylinder, cylinder or electric cylinder with lower servoBcylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620899049.XU CN206436232U (en) | 2016-08-18 | 2016-08-18 | The mechanical exoskeleton device of human body Wearable decompression power-assisted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620899049.XU CN206436232U (en) | 2016-08-18 | 2016-08-18 | The mechanical exoskeleton device of human body Wearable decompression power-assisted |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206436232U true CN206436232U (en) | 2017-08-25 |
Family
ID=59644984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620899049.XU Withdrawn - After Issue CN206436232U (en) | 2016-08-18 | 2016-08-18 | The mechanical exoskeleton device of human body Wearable decompression power-assisted |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206436232U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112989B (en) * | 2016-08-18 | 2018-10-16 | 黄河科技学院 | The wearable decompression power-assisted machinery exoskeleton device of human body |
-
2016
- 2016-08-18 CN CN201620899049.XU patent/CN206436232U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112989B (en) * | 2016-08-18 | 2018-10-16 | 黄河科技学院 | The wearable decompression power-assisted machinery exoskeleton device of human body |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101999970B (en) | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer | |
| CN105167965B (en) | One kind considers joint pivot coordinated type walking aid rehabilitation robot | |
| CN103505342B (en) | External skeleton type gait rehabilitation training device | |
| CN106112988B (en) | For connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism | |
| CN107874981A (en) | A kind of wearable exoskeleton-type lower limb ambulation training healing robot | |
| CN108721050B (en) | Magneto-rheological force feedback type lower limb active and passive rehabilitation training device | |
| CN102028604B (en) | Parallel type ankle rehabilitation training apparatus | |
| CN111513982B (en) | Parallel ankle rehabilitation robot | |
| CN107260483A (en) | A kind of link-type lower limb exoskeleton rehabilitation robot | |
| CN106112989B (en) | The wearable decompression power-assisted machinery exoskeleton device of human body | |
| CN103006416A (en) | Mechanical lower-limb rehabilitation robot walker device | |
| CN106236512B (en) | A kind of gait rehabilitation robot for realizing walking foot pose | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN104490563A (en) | Pneumatic muscle based intelligent wearable lower limb | |
| CN103126851A (en) | Gait training mechanical leg | |
| CN206896706U (en) | A kind of multi-trace multidigit posture lower limb rehabilitation robot | |
| CN103816029B (en) | Six degree of freedom leg recovery exercising robot | |
| Ekkelenkamp et al. | LOPES: a lower extremity powered exoskeleton | |
| CN205698427U (en) | A kind of healthy image training robot | |
| CN101647736A (en) | Parallel-connection ectoskeleton knee joint | |
| CN206436232U (en) | The mechanical exoskeleton device of human body Wearable decompression power-assisted | |
| CN106112990B (en) | The lower limb exercise for depressurizing power-assisted machinery exoskeleton device supports exoskeleton mechanism | |
| CN206436231U (en) | Depressurize the lower limb exercise support exoskeleton mechanism of the mechanical exoskeleton device of power-assisted | |
| CN206436234U (en) | Trunk mechanical exoskeleton device for connecting four limbs exoskeleton mechanism | |
| JP2003062020A (en) | Body driving device for recovering walking function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170825 Effective date of abandoning: 20181016 |