CN208552396U - A kind of light-duty disengaging type assistance exoskeleton device - Google Patents

Abstract

The utility model discloses a kind of light-duty disengaging type assistance exoskeleton device and its control methods, can simulate human motion, human body is assisted to bear a heavy burden, including backrest, waist mechanism, hip joint, knee joint, ankle-joint and the foot set gradually from top to bottom.The utility model has multiple freedom degrees, and the multi-motion of analog human body can preferably realize the matching with human motion；Using the joint drive power-assisted mode of disengaging type, required sensing hardware requirement is low, realizes convenient for control, and the utility model quality and volume can be effectively reduced with the progress integrated design of the utility model structure in disengaging type driving.The utility model is simple and reliable for structure, integrated level is high, control is simple, can be used for enhancing wearer's weight bearing ability and assisted walk, the feeling of fatigue of human body weight loading exercise is effectively reduced.

Description

A kind of light-duty disengaging type assistance exoskeleton device

Technical field

The utility model belongs to bionics techniques, and in particular to a kind of light-duty disengaging type assistance exoskeleton device.

Background technique

Wearable ectoskeleton force aid system is a kind of syndrome intelligence equipment that may be worn on human body, passes through synchronization " following " human motion, auxiliary or replaces human bearing and motor-driven, breaks through the human body physical agility limit, increases substantially the weight bearing of human body Maneuverability/lasting fight capability.Currently, the system is mainly used in human body lower limbs rehabilitation training and auxiliary human body is born Weight, can in anti-terrorism stability maintenance, rescue and relief work, help the disabled and rehabilitation medical etc. is multi-field is used widely and promotes.So far, to the greatest extent Pipe has achieved part progress for the research of similar wearable ectoskeleton force aid system, but apart from practical also very one section long Road will be walked.

One kind such as, which is disclosed, application No. is the Chinese patent application of 201410063123.X is suitable for ectoskeleton Auxiliary support The size leg device with knee joint parameter measurement of robot, the size leg device use Driven by Hydraulic Cylinder, improve outer The response speed and bearing capacity of bone Auxiliary support robot, but Driven by Hydraulic Cylinder needs hydraulic power source, so as to cause ectoskeleton The volume and quality of Auxiliary support robot are more huge, and hydraulic system is easy to appear oil liquid leakage problems.Such as application No. is 201610511532.0 Chinese patent application discloses lower limb assistance exoskeleton robot, the lower limb assistance exoskeleton machine The hip joint and knee joint of people is driven by motor, and has preferable power-assisted effect, and joint all has limit switch at two, Safety is higher, but the lower limb assistance exoskeleton robot architecture is complicated, and multiple joint drives can bring robot quality And volume increases problem.In addition, the machine components knot of above-mentioned two Chinese patent application is complicated, processing and manufacturing and assembly difficulty.

For another example application No. is 201610614958.9 Chinese patent applications to disclose a kind of Intelligent lower limb power assisting device Online gait planning system and method, the Intelligent lower limb power assisting device are acquired according to myoelectricity acquisition unit, inertia acquisition unit Information, extract feature, and with gait pattern storehouse matching, obtain prediction joint angles, with On-line Control Intelligent lower limb power-assisted dress The gait set；But its used number of sensors is numerous, and is arranged in wearer, and wearing is inconvenient, comfort level compared with Difference, and it is complicated to the acquisition process of human body information, time-consuming, while the control algolithm calculation process is tediously long, complicated, will lead Cause that man-machine interaction perception velocities are slow, control system processing signal is long to the instruction time is issued, finally make exoskeleton system and The gait coordinative coherence of wearer is poor, and wearing effect is bad.

Summary of the invention

The purpose of this utility model is to provide a kind of light-duty disengaging type assistance exoskeleton devices, solve the complexity of ectoskeleton The problem of mechanism design and control method.

Realize the technical solution of the utility model aim are as follows: a kind of light-duty disengaging type assistance exoskeleton device, including Backrest, waist mechanism and Liang Zu legs and feet mechanism, waist mechanism are connected with backrest lower rotation, and Liang Zu legs and feet mechanism is symmetricly set on Waist mechanism both ends pass through rotation connection；The legs and feet mechanism includes the hip joint, knee joint, ankle being successively connected from up to down Joint and foot are wherein rotatedly connected at the top of hip joint with waist mechanism.

The hip joint include hip Axial Mounting Part, hip upper connector, the main clutch-plate of hip, hip return spring, hip from clutch-plate, Connector, hip magnechuck, hip torsional spring and hip set casing under hip needle bearing, hip；Hip upper connector includes the first cylindrical body of hip With J-shaped connecting plate, the bottom end of J-shaped connecting plate is provided with waist connected circular hole, is rotatablely connected by waist connected circular hole and waist mechanism, J The top of shape connecting plate is connected on the side wall of the first cylindrical body of hip, and junction is equipped with hip torsional spring fixation hole, the first cylindrical body of hip One end center be provided with hip tooth socket, hip tooth socket outer ring is provided with hip annular groove, and the other end is provided with hip axial restraint through-hole；Hip master from The top surface for closing piece is provided with the cyclic annular thread form tooth of hip first, is provided centrally with hip magnetically attractive cylinder, hip magnetically attractive cylinder surrounding is provided with hip Ring groove, the main clutch-plate side wall of hip are provided with the first rectangular teeth of hip, are embedded in the hip tooth socket of the first cylindrical body of hip；Hip return spring It covers on hip magnetically attractive cylinder, one end is embedded in hip ring groove；Hip is provided with the second rectangular teeth of hip from clutch-plate outer wall, and one End face is provided with the cyclic annular thread form tooth of hip second, is provided with uniformly distributed threaded hole on other end；Connector includes the connection of hip L shape under hip Part and hip annulus, hip annulus side wall are connected in the top of hip L shape connector, and it is recessed to be provided with hip rectangle on an end face of hip annulus Slot, other end are equipped with uniformly distributed counter sink, and hip L shape connector end is provided with hip half slot, and hip half slot two sides are provided with The corner of threaded hole, hip L shape connector is nearby provided with hip axial direction connection screw thread hole, and hip L shape connector bottom end is provided with hip square Shape slot, bottom end side are provided with two pieces of hip clamp clips, have counter sink and threaded hole on two hip clamp clips；Hip is from clutch Piece is embedded in hip annulus by the second rectangular teeth of hip and hip rectangular recess, and is fixed by screw；Hip roller cup is in hip circle On ring, and in hip annular groove, connector under radially fixed hip；Hip magnechuck is among hip annulus, magnetic one end It is contacted with hip from the end face of clutch-plate；Hip Axial Mounting Part upper end is provided with the prominent cylinder of hip, is embedded in the hip axis of hip upper connector Into fixed hole, lower end is provided with hip axial direction connecting hole, passes through hip axial direction connecting hole, hip axial direction connection screw thread hole by screw It is connected with connector under hip, hip upper connector, the main clutch-plate of hip, hip return spring, hip is clipped in from clutch-plate, hip needle bearing Between；Hip torsion spring set is another in one end insertion hip half slot of hip torsional spring on the outer wall of the first cylinder of hip L shape connector and hip End insertion hip torsional spring fixation hole, is opened among hip set casing there are three hip fixation hole, passes through hip fixation hole by screw, respectively with hip Lower connector and hip magnechuck are connected, and fixed hip torsional spring；In kneed one end insertion hip rectangular shaped slot, and pressed from both sides by hip Tight piece is fixedly clamped.

Compared with prior art, remarkable advantage is the utility model:

(1) the utility model component structural is simple, and most of part can pass through high-intensitive, lightweight aluminium alloy system Make, easy to process, assembly, reduce single unit system cost, at the same can effective alleviator quality, reduce wearer in motion process In burden；(2) the backrest system of the utility model has a multiple degrees of freedom, analog human body backbone carry out frontal arc, together When the backrest parcel shelf it is foldable, the occupied space of the utility model is reduced, to adapt to more occasions；(3) the utility model Hip, knee joint driving design and the design of its body construction are combined together, element needed for joint drive is greatly reduced, alleviates The quality and volume of the utility model are born, while hip, kneed disengaging type rigid support power-assisted effect are more excellent, and compared with one As drive system control it is simpler, in addition hip, kneed driving core part are identical, have interchangeability, raising components Utilization rate, maintenance and repair are more convenient；(4) ankle is equipped with buffer gear, by padded coaming and oil buffer into Row vibration damping can effectively reduce the rigid collision in device walking process between components, improve the utility model service life；(5) originally Utility model has enough freedom degrees, to ensure in wearing, more can snugly realize and move synchronously with human body: hip Interior receipts/outreach and flexion/extension freedom degree are more matched with human hip joint freedom degrees；Knee joint freedom degree can be filled by adjusting It sets size leg length to match with human body knee joint rotation approximate center, realizes the flexion/extension movement of simulation human body knee joint；Ankle closes Section structure is compact, is designed using ball-and-socket hinge style, can facilitate the movement such as flexion/extension, inversion/eversion for realizing ankle-joint；(6) this is practical new Type control thinking simply easily realizes that the requirement of sensing hardware needed for controlling is low, quantity is few, can effectively reduce the complexity of control.

Detailed description of the invention

Fig. 1 is the light-duty disengaging type assistance exoskeleton equipments overall structure schematic diagram of the utility model.

Fig. 2 is the utility model backrest explosive view.

Fig. 3 is the utility model waist mechanism explosive view.

Fig. 4 is the utility model hip joint explosive view.

Fig. 5 is the utility model knee joint explosive view.

Fig. 6 is the utility model ankle-joint explosive view.

Fig. 7 is the utility model foot explosive view.

Fig. 8 is the utility model hip joint clutch operation principle schematic diagram.

Fig. 9 is the utility model control method flow chart.

1- backrest, 2- waist mechanism, 3- hip joint, 4- knee joint, 5- ankle-joint, 6- foot；101- backbone body, 102- One connecting shaft, the second connecting shaft of 103-, 104- connection frame, 105- third connecting shaft, 106- the fourth connecting shaft, 107- control battery Box, 108- parcel shelf, 109- magnetically attractive screw, 110- assist magnet absorbing plate；The wide adjusting rod of 201- waist, the wide adjusting column spinner of 202- waist Plug, the back 203- connector, 204- waist rotary shaft；301- hip Axial Mounting Part, 302- hip upper connector, the main clutch of 303- hip Piece, 304- hip return spring, 305- hip is from clutch-plate, 306- hip needle bearing, connector under 307- hip, 308- hip magnechuck, 309- hip torsional spring, 310- hip set casing；401- knee Axial Mounting Part, the above-knee connector of 402-, the main clutch-plate of 403- knee, 404- knee Return spring, 405- knee is from clutch-plate, and 406- knee needle bearing, 407- at one's knees turn round by connector, 408- knee magnechuck, 409- knee Spring, 410- knee set casing；501- ankle upper connector, 502- oil buffer, 503- bulb lid, 504- ball rod, 505- buffering Piece, 506- ball cup；601- insole, 602- sole, 603- heel connector, 604- plantar pressure sensor.

Specific embodiment

The utility model is described in further detail with reference to the accompanying drawing.

As shown in Figures 1 to 9, the light-duty disengaging type assistance exoskeleton device of the utility model, including backrest 1, waist mechanism 2 With Liang Zu legs and feet mechanism, waist mechanism 2 is connected with 1 lower rotation of backrest, and Liang Zu legs and feet mechanism is symmetricly set on 2 liang of waist mechanism End, passes through rotation connection；The legs and feet mechanism includes the hip joint 3 being successively connected from up to down, knee joint 4, ankle-joint 5 and foot Portion 6, wherein 3 top of hip joint is rotatedly connected with waist mechanism 2；

Fig. 2 is 1 explosive view of the utility model backrest, and the backrest 1 includes connection frame 104, control battery case 107, glove Plate 108, magnetically attractive screw 109, auxiliary the backbone body 101, four of magnet absorbing plate 110, five the first connecting shaft 102, the second connecting shaft 103, third connecting shaft 105 and the fourth connecting shaft 106；Backbone body 101 is in Y type, and upper end is equipped with the first through hole through two-arm, under End is equipped with the second through-hole；Five backbone bodies 101 are sequentially connected in series by four first connecting shafts 102, wherein the first connecting shaft 102 Across the second through-hole and the first through hole of backbone body 101 below of a upper backbone body 101；104 upper end of connection frame is provided with The lower end of first link slot, the backbone body 101 of bottom is arranged in the first link slot, and the second connecting shaft 103 passes through first and connects Second through-hole of access slot and backbone body 101, so that backbone body 101 and connection frame 104 are rotatablely connected；104 lower side of connection frame Equipped with connection convex block, the bottom end of parcel shelf 108 is provided with the second link slot, and the convex block of connection frame 104 and the second link slot cooperate, the Four connecting shafts 106 pass through convex block and the second link slot, so that parcel shelf 108 and connection frame 104 are rotatablely connected；Parcel shelf 108 Top is provided with screw mounting hole, and magnetically attractive screw 109 is connected by screw mounting hole and parcel shelf 108；It is solid to control battery case 107 It is connected in the back side of connection frame 104, is controlled on 107 back side of battery case embedded with auxiliary magnet absorbing plate 110；The bottom of connection frame 104 is provided with Rectangular channel is provided with waist connection through-hole on rectangular channel, and the back connector 203 of waist mechanism 2 is placed in rectangular channel, and utilizes the Three connecting shafts 105 pass sequentially through waist connection through-hole, back connecting hole, so that connection frame 104 is rotatedly connected with waist mechanism 2.Institute After five backbone bodies 101 concatenation stated, there are multiple rotary freedoms, can be rotated around the first connecting shaft 102, has simulation human body ridge In addition the prone function of column is mounted with flexible braid belt on the backbone body 101 after concatenation, for the utility model and wearing The connection of person's upper body trunk；It is also mounted with flexible braid belt on connection frame 104, for connecting wearer's waist；Parcel shelf 108 is opposite Connection frame 104 has certain rotary freedom, when needing to place weight, can open parcel shelf 108, when not needing, glove Frame 108 can be adsorbed on control battery case 107 by magnetically attractive screw 109 and auxiliary magnet absorbing plate 110, be accounted for reducing the utility model According to space, improve environmental suitability and portability；It is hard to control control system needed for placing the utility model in battery case 107 Part and energy battery.

Fig. 3 is 2 explosive view of the utility model waist mechanism, and the waist mechanism 2 includes the wide adjusting rod 201 of two waists, waist Carry on the back the wide adjusting rotary plunger 202 of 203, two waists of connector and two waist rotary shafts 204；It opens the centre of back connector 203 There is back to connect through-hole, side is provided with waist rectangular through-hole, and the back side is opened there are two plunger mounting hole, and back connector 203 passes through waist Back connection through-hole and the connection frame 104 of backrest 1 are rotatablely connected；It is logical that several length adjustments are set gradually on the wide adjusting rod 201 of waist Hole, outer end face are provided with scalloped recess, and hip connection through-hole is provided in scalloped recess, and the wide adjusting rod 201 of waist passes through waist rectangular through-hole It is connected with back connector 203, and the rotary plunger 202 by being fixed on plunger mounting hole passes through one of length adjustment Through-hole is fixed, and in one end insertion scalloped recess of the hip upper connector 303 of hip joint 3, and is inserted by waist rotary shaft 204 Enter hip connection through-hole, so that hip joint 3 and the wide adjusting rod 201 of waist are rotatablely connected.By pulling the wide adjusting rotary plunger 202 of waist, So that column spinner chock plug is detached from length-adjustment holes, to facilitate the adjustment wide adjusting rod 201 of waist to connect in 203 waist rectangular through-holes in back Position, unclamp the wide adjusting rotary plunger 202 of waist, column spinner chock plug is caught in the length-adjustment holes adjusted, wide to fix waist Adjusting rod 201；2 width of waist mechanism that the utility model is adjusted by the regulative mode of rotary plunger, is worn with adapting to difference Wearer, it is simple and reliable；Waist mechanism 2 can be rotated by back connecting hole simultaneously, and it is dynamic to simulate being swung left and right for human body waist Make.

Fig. 4 is 3 explosive view of the utility model hip joint, and the hip joint 3 on hip Axial Mounting Part 301, hip including connecting The main clutch-plate 303 of part 302, hip, hip return spring 304, hip are from connector 307, hip under clutch-plate 305, hip needle bearing 306, hip Magnechuck 308, hip torsional spring 309 and hip set casing 310；Hip upper connector 302 includes the first cylindrical body of hip and J-shaped connecting plate, J The bottom end of shape connecting plate is provided with waist connected circular hole, is connected by the wide rotation of adjusting rod 201 of the waist of waist connected circular hole and waist mechanism 2 It connects, the top of J-shaped connecting plate is connected on the side wall of the first cylindrical body of hip, and junction is equipped with hip torsional spring fixation hole, the circle of hip first One end center of cylinder is provided with hip tooth socket, and hip tooth socket outer ring is provided with hip annular groove, and the other end is provided with hip axial restraint through-hole；Hip The top surface of main clutch-plate 303 is provided with the cyclic annular thread form tooth of hip first, is provided centrally with hip magnetically attractive cylinder, hip magnetically attractive cylinder surrounding is set It is equipped with hip ring groove, main 303 side wall of clutch-plate of hip is provided with the first rectangular teeth of hip, is embedded in the hip tooth socket of the first cylindrical body of hip It is interior；304 sets of hip return spring on hip magnetically attractive cylinder, one end be embedded in hip ring groove in；Hip is provided with from 305 outer wall of clutch-plate The second rectangular teeth of hip, an end face are provided with the cyclic annular thread form tooth of hip second, are provided with uniformly distributed threaded hole on other end；Connect under hip Fitting 307 includes hip L shape connector and hip annulus, and hip annulus side wall is connected in the top of hip L shape connector, one end of hip annulus Hip rectangular recess is provided on face, other end is equipped with uniformly distributed counter sink, and hip L shape connector end is provided with hip half slot, Hip half slot two sides are provided with threaded hole, and the corner of hip L shape connector is nearby provided with hip axial direction connection screw thread hole, hip L shape Connector bottom end is provided with hip rectangular shaped slot, and bottom end side is provided with two pieces of hip clamp clips, has countersunk head on two hip clamp clips Hole and threaded hole；Hip, by the second rectangular teeth of hip and hip rectangular recess, is embedded in hip annulus from clutch-plate 305, and passes through screw It is fixed；306 sets of hip needle bearing on hip annulus, and in the hip annular groove, connector 307 under radially fixed hip；Hip electricity Among hip annulus, magnetic one end is contacted with hip from the end face of clutch-plate 305 magnetic-disc 308；301 upper end of hip Axial Mounting Part It is provided with the prominent cylinder of hip, is embedded in the hip axial restraint through-hole of hip upper connector 302, lower end is provided with hip axial direction connecting hole, It is connected to pass through connector 307 under hip axial direction connecting hole, hip axial direction connection screw thread hole and hip by screw, by hip upper connector 302, The main clutch-plate 303 of hip, hip return spring 304, hip are clipped in the middle from clutch-plate 305, hip needle bearing 306；309 sets of hip torsional spring in hip On the outer wall of the first cylinder of L shape connector and hip, in one end insertion hip half slot of hip torsional spring 309, the other end is inserted into hip torsional spring Fixation hole, is opened among hip set casing 310 there are three hip fixation hole, by screw pass through hip fixation hole respectively with connector under hip 307 and hip magnechuck 308 be connected, and fixed hip torsional spring 309；Hip rectangle is inserted at the top of the above-knee connector 403 of knee joint 4 In slot, and it is fixedly clamped by hip clamp clip.The J-shaped connecting plate of hip joint 3 is recessed by the sector of the insertion wide adjusting rod 201 of waist It in slot, and is rotatedly connected using waist rotary shaft 204 and waist mechanism 2, matches receipts/abduction exercise axis in human hip；Hip The hip torsional spring 309 that joint 3 is added stores the gravitional force of human body and the utility model, is lifted in human body when human body falls leg When leg, the energy of storage is discharged, human body can be assisted to carry out lift leg, reduces body energy loss；In addition under hip on connector 307 It is additionally provided with elastic woven tape, for connecting human thigh and the utility model.

Fig. 5 is 4 explosive view of the utility model knee joint, and the knee joint 4 includes knee Axial Mounting Part 401, above-knee connection The main clutch-plate 403 of part 402, knee, knee return spring 404, knee are from clutch-plate 405, knee needle bearing 406, at one's knees connector 407, knee Magnechuck 408, knee torsional spring 409 and knee set casing 410；Above-knee connector 402 includes the first cylindrical body of knee and S-shaped connecting plate, S The bottom end of shape connecting plate is connected on the side wall of the first cylindrical body of knee, and the upper end section of S-shaped connecting plate is rectangle, is inserted into hip joint It under 3 hip in the hip rectangular shaped slot of connector 307, is fixedly connected with hip joint 3, one end center of the first cylindrical body of knee is provided with knee Tooth socket, knee tooth socket outer ring are provided with knee annular groove, and the other end is provided with knee axial restraint through-hole；The top surface of the main clutch-plate 403 of knee is set It is equipped with the cyclic annular thread form tooth of knee first, is provided centrally with knee magnetically attractive cylinder, knee magnetically attractive cylinder surrounding is provided with knee ring groove, knee master 403 side wall of clutch-plate is provided with the first rectangular teeth of knee, is embedded in the knee tooth socket of the first cylindrical body of knee；404 sets of knee return spring in knee On magnetically attractive cylinder, one end is embedded in knee ring groove；Knee is provided with the second rectangular teeth of knee, an end from 405 outer wall of clutch-plate Face is provided with the cyclic annular thread form tooth of knee second, is provided with uniformly distributed threaded hole on other end；Connector 407 connects including knee L shape at one's knees Fitting and knee annulus, knee annulus side wall are connected in the top of knee L shape connector, and it is recessed to be provided with knee rectangle on an end face of knee annulus Slot, other end are equipped with uniformly distributed counter sink, and the corner of knee L shape connector is nearby provided with knee axial direction connection screw thread hole, L shape Connector end is provided with knee half slot, and knee half slot two sides are provided with threaded hole, and knee L shape connector bottom end is provided with knee rectangular channel Hole, bottom end side are provided with two pieces of knee clamp clips, have counter sink and threaded hole on two knee clamp clips；Knee is from clutch-plate 405, by the second rectangular teeth of knee and knee rectangular recess, are embedded in knee annulus, and are fixed by screw；406 sets of knee needle bearing exists On knee annulus, and in knee annular groove, radially fixed connector 407 at one's knees；Knee magnechuck 408 is in knee annulus Between, magnetic one end is contacted with knee from the end face of clutch-plate 405；401 upper end of knee Axial Mounting Part is provided with the prominent cylinder of knee, insertion In the knee axial restraint through-hole of above-knee connector 402, lower end is provided with knee axial direction connecting hole, passes through knee by screw and axially connects Hole, knee axial direction connection screw thread hole and connector 407 at one's knees are connected, by above-knee connector 402, the main clutch-plate 403 of knee, knee return spring 404, knee is clipped in the middle from clutch-plate 405, knee needle bearing 406；409 sets of knee torsional spring in the first cylinder of knee L shape connector and knee Outer wall, in one end insertion knee half slot of knee torsional spring 409, opened among knee set casing 410 there are three knee fixation hole, pass through screw It across knee fixation hole, is connected respectively with connector 407 at one's knees and knee magnechuck 408, and fixed knee torsional spring 409；Ankle-joint 5 In the top insertion knee rectangular shaped slot of ankle upper connector 501, it is fixedly clamped by knee clamp clip.Knee torsional spring 409 is curved in knee joint Qu Shi stores energy, releases energy when knee joint stretches, to reduce human body knee joint energy loss；In addition, passing through adjusting Above-knee connector 402 is inserted into the length of connector 307 under hip, can adjust the distance between hip joint 3 and knee joint 4, to adapt to Different height wearers；Furthermore it is additionally provided with elastic woven tape on connector 407 at one's knees, it is practical new with this for connecting human calf Type.

Fig. 6 is 5 explosive view of the utility model ankle-joint, and the ankle-joint 5 includes ankle upper connector 501, oil buffer 502, bulb lid 503, ball rod 504, buffer substrate tablet 505 and ball cup 506.501 top cross-section of ankle upper connector is rectangle, insertion In the knee rectangular shaped slot of the connector at one's knees 407 of knee joint 4, it is fixedly connected with knee joint 4, bottom is provided with buffering installation circular hole, Two sidewalls are supreme to be vertically provided with the first threaded hole, the second threaded hole, and oil buffer 502 is placed in by buffering installation circular hole Inside ankle upper connector 501, and the holding screw by being arranged on the first threaded hole is fixed；503 bottom surface of bulb lid is provided with ball Face circular hole, ball rod 504 include cylinder and bulb, and cylinder and bulb are connected, and rounded channels, buffer substrate tablet are provided at the top of ball cup 506 505 are mounted in rounded channels, and the bulb of ball rod 504 is placed on buffer substrate tablet 505, and the spherical circular hole of bulb lid 503 passes through ball Head rod 504 is connected with ball cup 506, and clamps ball rod 504 and buffer substrate tablet 505；It is provided on the cylindrical side of ball rod 504 Oblong slots, cylinder insertion buffering are installed in circular hole, and cylinder end face is contacted with oil buffer 502, and by being arranged in the second spiral shell Positioning screw on pit is withstood in oblong slots；Ball cup 506 is connected by the heel of counter sink arranged at the bottom and foot 6 Fitting 603 is connected.When the impact that ball cup 506 is transmitted by ground, buffer substrate tablet 505 is oppressed, plays certain buffer function, together When stress passed into ball rod 504 so that ball rod 504 slides in the buffering circular hole of ankle upper connector 501, squeeze oil pressure Buffer 502 deforms, and the hydraulic oil inside oil buffer 502, which is pressurized, to generate heat, thus the impact energy that the utility model is subject to Amount is converted to thermal energy consumption and falls, and thus promotes the buffer shock-absorbing ability of the utility model, improves the utility model service life and control Stability, while can also reduce noise；The length for being inserted into connector 407 at one's knees additionally by ankle upper connector 501 is adjusted, it is adjustable The distance between whole knee joint 4 and ankle-joint 5, to adapt to different height wearers.

Fig. 7 is 6 explosive view of the utility model foot, and the foot 6 includes insole 601, sole 602, heel connector 603, plantar pressure sensor 604；Heel connector 603 includes U-shaped heel connecting plate, L shape sensor installation seat and square Shape vola connector, L shape sensor installation seat are connected in U-shaped heel connecting plate center, and the shape sensor installation seat center L is circle Hole, side wall are opened there are two orthogonal first rectangular channel and the second rectangular channel, and rectangle vola connector is connected in U-shaped heel The side of connecting plate, rectangle vola connector center is provided with third rectangular channel, and communicates with the second rectangular channel；602 rear end of sole It is provided with sole groove identical with 603 lower end of heel connector；Plantar pressure sensor 604 is connected in the L shape sensing In device mounting base, heel connector 603 is connected at the sole groove by screw；Insole 601 is sewed in sole 602 On, the plantar pressure sensor 604 and heel connector 603 are covered, rectangle vola connector passes through screw and ankle-joint 5 Ball cup 506 be connected.Plantar pressure sensor 604 is used to detect the power between wearer vola and the utility model foot 6 Information, and the input as control system are learned, is provided with bandage on sole 602, for wearer's foot and the utility model foot The connection in portion 6.

Clutch working principle inside hip joint 3 generates attraction as shown in figure 8, when hip magnechuck 308 is powered, Hip magnetically attractive cylinder is attracted to overcome the elastic force of hip return spring 304, so that hip tooth socket of the main clutch-plate 303 of hip in the first cylindrical body of hip It is interior, final hip first cyclic annular thread form tooth and hip second cyclic annular thread form indented joint, to make mobile to hip from 305 direction of clutch-plate It is relatively unrotatable between connector 307 under hip upper connector 302 and hip, form rigid support to carry out the utility model Load force transmitting reduces human body burden；After the power-off of hip magnechuck 308, attraction disappears, and the main clutch-plate 303 of hip is multiple in hip Under the action of the spring 304 of position, origin-location is returned to, the cyclic annular thread form tooth of hip first is separated with the cyclic annular thread form tooth of hip second, under such hip Connector 307 can be freely rotated with respect to hip upper connector 302, improve the kinematic dexterity of the utility model.

Clutch working principle inside knee joint 4 is identical as hip joint 3, and when knee magnechuck 408 is powered, clutch is combined, The load force transmitting for carrying out the utility model, when power-off, clutch separation improves the kinematic dexterity of the utility model；Meanwhile knee The main clutch-plate 403 of knee used in joint 4, knee return spring 404, knee are from clutch-plate 405, knee needle bearing 406, knee magnechuck 408 with the main clutch-plate 303 of hip of hip joint, hip return spring 304, hip from clutch-plate 305, hip needle bearing 306, hip magnechuck 308 is all the same, has interchangeability, improves the utility model part utilization rate, reduces design and manufacture cost, is also convenient for later maintenance It repairs.

A kind of control method based on light-duty disengaging type assistance exoskeleton device, flow chart as shown in figure 9, method and step such as Under:

Step 1, wearer dress above-mentioned light-duty disengaging type assistance exoskeleton device, are transferred to step 2；

After step 2, booting, wearer is kept for the standing stationary state some time, and the sensor of above-mentioned apparatus is waited to acquire Initial information, and according to initial information given threshold, it is transferred to step 3；

The pressure signal value of step 3, the plantar pressure sensor of two foots of control system real-time detection, and with setting threshold Value carries out size comparison, is transferred to step 4；

Step 4, when the signal value of two plantar pressure sensors is all larger than given threshold, be transferred to step 5；When only one When the pressure signal value of plantar pressure sensor is greater than given threshold, it is transferred to step 6；When the signal of two plantar pressure sensors Value be respectively less than given threshold or without when, be transferred to step 7；

Step 5, control system control the hip of two legs and feet mechanisms, knee joint clutch engagement, are transferred to step 8；

Step 6, control system control plantar pressure signal are greater than the hip joint clutch of the one leg foot mechanism of threshold value with height Frequency is constantly engaged, is separated, and knee joint remains engaged with, no signal or signal be less than the hip of the legs and feet mechanism of threshold value, knee joint from Separation is closed, step 8 is transferred to；

Step 7, the hip joint of control system control Liang Zu legs and feet mechanism, knee joint clutch separate, and are transferred to step 8；

Step 8, return step 3 realize that the coordination between wearer and the light-duty disengaging type assistance exoskeleton device is transported It is dynamic.

Claims (6)

1. a kind of light-duty disengaging type assistance exoskeleton device, it is characterised in that: including backrest (1), waist mechanism (2) and two groups of legs Foot mechanism, waist mechanism (2) are connected with backrest (1) lower rotation, and Liang Zu legs and feet mechanism is symmetricly set on waist mechanism (2) two End, passes through rotation connection；The legs and feet mechanism includes the hip joint (3) being successively connected from up to down, knee joint (4), ankle-joint (5) and foot (6) it, is wherein rotatedly connected at the top of hip joint (3) with waist mechanism (2)；

The hip joint (3) includes hip Axial Mounting Part (301), hip upper connector (302), the main clutch-plate of hip (303), hip reset Spring (304), hip are turned round from connector (307), hip magnechuck (308), hip under clutch-plate (305), hip needle bearing (306), hip Spring (309) and hip set casing (310)；Hip upper connector (302) includes the first cylindrical body of hip and J-shaped connecting plate, J-shaped connecting plate Bottom end is provided with waist connected circular hole, is rotatablely connected by waist connected circular hole and waist mechanism (2), the top of J-shaped connecting plate is connected in On the side wall of the first cylindrical body of hip, junction is equipped with hip torsional spring fixation hole, and one end center of the first cylindrical body of hip is provided with hip tooth socket, Hip tooth socket outer ring is provided with hip annular groove, and the other end is provided with hip axial restraint through-hole；The top surface of the main clutch-plate of hip (303) is provided with The cyclic annular thread form tooth of hip first, is provided centrally with hip magnetically attractive cylinder, hip magnetically attractive cylinder surrounding is provided with hip ring groove, the main clutch of hip Piece (303) side wall is provided with the first rectangular teeth of hip, is embedded in the hip tooth socket of the first cylindrical body of hip；Hip return spring (304) is covered in hip On magnetically attractive cylinder, one end is embedded in hip ring groove；Hip is provided with the second rectangular teeth of hip from clutch-plate (305) outer wall, and one End face is provided with the cyclic annular thread form tooth of hip second, is provided with uniformly distributed threaded hole on other end；Connector (307) includes hip L under hip Shape connector and hip annulus, hip annulus side wall are connected in the top of hip L shape connector, are provided with hip square on an end face of hip annulus Connected in star, other end are equipped with uniformly distributed counter sink, and hip L shape connector end is provided with hip half slot, and hip half slot two sides are set It is equipped with threaded hole, the corner of hip L shape connector is nearby provided with hip axial direction connection screw thread hole, and hip L shape connector bottom end is provided with Hip rectangular shaped slot, bottom end side are provided with two pieces of hip clamp clips, have counter sink and threaded hole on two hip clamp clips；Hip from Clutch-plate (305) is embedded in hip annulus by the second rectangular teeth of hip and hip rectangular recess, and is fixed by screw；Hip needle roller axis It holds (306) to cover on hip annulus, and in hip annular groove, connector (307) under radially fixed hip；Hip magnechuck (308) among hip annulus, magnetic one end is contacted with hip from the end face of clutch-plate (305)；Hip Axial Mounting Part (301) upper end It is provided with the prominent cylinder of hip, is embedded in the hip axial restraint through-hole of hip upper connector (302), lower end is provided with hip and axially connects Hole, by screw, connector (307) is connected under hip axial direction connecting hole, hip axial direction connection screw thread hole and hip, will connect on hip During part (302), the main clutch-plate of hip (303), hip return spring (304), hip are clipped in from clutch-plate (305), hip needle bearing (306) Between；Hip torsional spring (309) covers on the outer wall of the first cylinder of hip L shape connector and hip, and one end of hip torsional spring (309) is embedded in hip semicircle In slot, the other end is inserted into hip torsional spring fixation hole, is opened among hip set casing (310) there are three hip fixation hole, passes through hip by screw Fixation hole is connected with connector under hip (307) and hip magnechuck (308) respectively, and fixed hip torsional spring (309)；Knee joint (4) One end insertion hip rectangular shaped slot in, and be fixedly clamped by hip clamp clip.

2. light-duty disengaging type assistance exoskeleton device according to claim 1, it is characterised in that: the backrest (1) includes Connection frame (104), control battery case (107), parcel shelf (108), magnetically attractive screw (109), auxiliary magnet absorbing plate (110), five ridges Cylinder (101), four first connecting shafts (102), the second connecting shaft (103), third connecting shaft (105) and the fourth connecting shaft (106)；Backbone body (101) is in Y type, and upper end is equipped with the first through hole through two-arm, and lower end is equipped with the second through-hole；Pass through four Five backbone bodies (101) are sequentially connected in series by one connecting shaft (102), wherein the first connecting shaft (102) passes through a upper backbone body (101) the second through-hole and the below first through hole of backbone body (101)；Connection frame (104) upper end is provided with the first link slot, The lower end of the backbone body (101) of bottom is arranged in the first link slot, and the second connecting shaft (103) passes through the first link slot and ridge Second through-hole of cylinder (101), so that backbone body (101) and connection frame (104) are rotatablely connected；Connection frame (104) lower side Equipped with connection convex block, the bottom end of parcel shelf (108) is provided with the second link slot, and convex block and the second link slot of connection frame (104) are matched It closes, the fourth connecting shaft (106) passes through convex block and the second link slot, so that parcel shelf (108) and connection frame (104) are rotatablely connected； The top of parcel shelf (108) is provided with screw mounting hole, and magnetically attractive screw (109) is solid by screw mounting hole and parcel shelf (108) Even；Control battery case (107) is connected in the back side of connection frame (104), controls on battery case (107) back side embedded with auxiliary magnet absorbing plate (110)；The bottom of connection frame (104) is provided with rectangular channel, and waist connection through-hole is provided on rectangular channel, and waist mechanism (2) is placed in square In shape slot, and waist is passed through using third connecting shaft (105) and connects through-hole, so that connection frame (104) rotates phase with waist mechanism (2) Even.

3. light-duty disengaging type assistance exoskeleton device according to claim 1, it is characterised in that: the waist mechanism (2) Including back connector (203), two wide adjusting rods of waist (201), the wide adjusting rotary plunger (202) of two waists and two waist rotations Shaft (204)；The centre of back connector (203) is provided with back connection through-hole, and side is provided with waist rectangular through-hole, and the back side is provided with two A plunger mounting hole, back connector (203) connects through-hole by back and backrest (1) is rotatablely connected, the wide adjusting rod of waist (201) On set gradually several length adjustment through-holes, outer end face is provided with scalloped recess, be provided in scalloped recess hip connection through-hole, waist Wide adjusting rod (201) is connected by waist rectangular through-hole with back connector (203), and the rotation by being fixed on plunger mounting hole Rotary column plug (202) passes through one of length adjustment through-hole and is fixed, in one end insertion scalloped recess of hip joint (3), and Hip is inserted by waist rotary shaft (204) and connects through-hole, so that hip joint (3) and the wide adjusting rod of waist (201) are rotatablely connected.

4. light-duty disengaging type assistance exoskeleton device according to claim 1, it is characterised in that: knee joint (4) packet Knee Axial Mounting Part (401), above-knee connector (402), the main clutch-plate of knee (403), knee return spring (404), knee are included from clutch-plate (405), knee needle bearing (406), at one's knees connector (407), knee magnechuck (408), knee torsional spring (409) and knee set casing (410)；Above-knee connector (402) includes the first cylindrical body of knee and S-shaped connecting plate, and the bottom end of S-shaped connecting plate is connected in knee first On the side wall of cylindrical body, the upper end section of S-shaped connecting plate is rectangle, is inserted into hip joint (3), is fixedly connected with hip joint (3), One end center of the first cylindrical body of knee is provided with knee tooth socket, and knee tooth socket outer ring is provided with knee annular groove, and it is axially solid that the other end is provided with knee Determine through-hole；The top surface of the main clutch-plate of knee (403) is provided with the cyclic annular thread form tooth of knee first, is provided centrally with knee magnetically attractive cylinder, and knee is inhaled Magnetic cylinder surrounding is provided with knee ring groove, and the main clutch-plate of knee (403) side wall is provided with the first rectangular teeth of knee, the insertion circle of knee first In the knee tooth socket of cylinder；Knee return spring (404) covers on knee magnetically attractive cylinder, and one end is embedded in knee ring groove；Knee is from clutch-plate (405) the second rectangular teeth of knee is provided on outer wall, an end face is provided with the cyclic annular thread form tooth of knee second, is provided on other end Uniformly distributed threaded hole；Connector (407) includes knee L shape connector and knee annulus at one's knees, and knee annulus side wall is connected in knee L shape connector Top, knee rectangular recess is provided on an end face of knee annulus, other end is equipped with uniformly distributed counter sink, L shape connector end End is provided with knee half slot, and knee half slot two sides are provided with threaded hole, and the corner of knee L shape connector is nearby provided with knee axial direction Connection screw thread hole, knee L shape connector bottom end are provided with knee rectangular shaped slot, and bottom end side is provided with two pieces of knee clamp clips, and two knees clamp On piece has counter sink and threaded hole；Knee by the second rectangular teeth of knee and knee rectangular recess, is embedded in knee from clutch-plate (405) In annulus, and fixed by screw；Knee needle bearing (406) covers on knee annulus, and in knee annular groove, radially fixed Connector (407) at one's knees；Knee magnechuck (408) is among the knee annulus, the end face of magnetic one end and knee from clutch-plate (405) Contact；Knee Axial Mounting Part (401) upper end is provided with the prominent cylinder of knee, and the knee axial restraint for being embedded in above-knee connector (402) is logical Kong Zhong, lower end are provided with knee axial direction connecting hole, pass through knee axial direction connecting hole, knee axial direction connection screw thread hole by screw and connect at one's knees Fitting (407) is connected, by above-knee connector (402), the main clutch-plate of knee (403), knee return spring (404), knee from clutch-plate (405), knee needle bearing (406) is clipped in the middle；Knee torsional spring (409) covers the outer wall in the first cylinder of knee L shape connector and knee, knee It in one end insertion knee half slot of torsional spring (409), opens that there are three knee fixation holes among knee set casing (410), is passed through by screw Knee fixation hole is connected with connector at one's knees (407) and knee magnechuck (408) respectively, and fixed knee torsional spring (409)；Ankle-joint (5) it in one end insertion knee rectangular shaped slot, and is fixedly clamped by knee clamp clip.

5. light-duty disengaging type assistance exoskeleton device according to claim 1, it is characterised in that: ankle-joint (5) packet Include ankle upper connector (501), oil buffer (502), bulb lid (503), ball rod (504), buffer substrate tablet (505) and ball cup (506)；Ankle upper connector (501) top cross-section is rectangle, is inserted into knee joint (4), is fixedly connected with knee joint (4), bottom It is provided with buffering installation circular hole, two sidewalls are supreme to be vertically provided with the first threaded hole, the second threaded hole, and oil buffer (502) is logical It crosses buffering installation circular hole and is placed in ankle upper connector (501) inside, and the holding screw by being arranged on the first threaded hole is solid It is fixed；Bulb lid (503) bottom surface is provided with spherical circular hole, and ball rod (504) includes cylinder and bulb, and cylinder and bulb are connected, bulb Rounded channels are provided at the top of seat (506), buffer substrate tablet (505) is mounted in rounded channels, and the bulb of ball rod (504) is placed on buffer substrate tablet (505) on, the spherical circular hole of bulb lid (503) passes through ball rod (504), is connected with ball cup (506), and clamp ball rod (504) with buffer substrate tablet (505)；Oblong slots are provided on the cylindrical side of ball rod (504), cylinder insertion buffering is installed in circular hole, Cylinder end face is contacted with oil buffer (502), and the positioning screw by being arranged on the second threaded hole is withstood in oblong slots； Ball cup (506) is connected by counter sink arranged at the bottom and foot (6).

6. light-duty disengaging type assistance exoskeleton device according to claim 1, it is characterised in that: the foot (6) includes Insole (601), sole (602), heel connector (603) and plantar pressure sensor (604)；Heel connector (603) Including U-shaped heel connecting plate, L shape sensor installation seat and rectangle vola connector, L shape sensor installation seat is connected in U-shaped Heel connecting plate center, the shape sensor installation seat center L are circular hole, side wall open there are two orthogonal first rectangular channel and Second rectangular channel, rectangle vola connector are connected in the side of U-shaped heel connecting plate, and rectangle vola connector center is provided with Three rectangular channels, and communicated with the second rectangular channel；Sole (602) rear end is provided with identical with heel connector (603) lower end Sole groove；Plantar pressure sensor (604) is connected on the L shape sensor installation seat, and heel connector (603) passes through Screw is connected at the sole groove；Insole (601) sews on sole (602), covers the plantar pressure sensor (604) it is connected with heel connector (603), rectangle vola connector by screw and ankle-joint (5).