CN213439661U - Exoskeleton power-assisted robot - Google Patents
Exoskeleton power-assisted robot Download PDFInfo
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- CN213439661U CN213439661U CN202021506578.1U CN202021506578U CN213439661U CN 213439661 U CN213439661 U CN 213439661U CN 202021506578 U CN202021506578 U CN 202021506578U CN 213439661 U CN213439661 U CN 213439661U
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- 210000003141 lower extremity Anatomy 0.000 claims abstract description 62
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 40
- 210000001624 hip Anatomy 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 210000000629 knee joint Anatomy 0.000 claims abstract description 25
- 210000003423 ankle Anatomy 0.000 claims abstract description 22
- 210000002683 foot Anatomy 0.000 claims abstract description 16
- 210000002414 leg Anatomy 0.000 claims abstract description 14
- 210000000707 wrist Anatomy 0.000 claims abstract description 13
- 230000001681 protective effect Effects 0.000 claims description 17
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 13
- 229910052760 oxygen Inorganic materials 0.000 claims description 13
- 239000001301 oxygen Substances 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000005021 gait Effects 0.000 claims description 3
- 230000005428 wave function Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 8
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 210000000038 chest Anatomy 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000011835 investigation Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Abstract
The embodiment of the utility model provides an ectoskeleton helping hand robot, including shoulder micromotor, the little motor of elbow, the little motor cooperation hand hydraulic stem of wrist support bearing a burden to the hand. The hip joint micromotor, the knee joint micromotor and the ankle micromotor are matched with a leg hydraulic rod and a foot hydraulic rod to support the lower limbs in a load-bearing mode. The waist is provided with an upper and lower limb movement connecting mechanism for connecting the upper and lower limb exoskeleton loads, and the waist adjustable bridle, the lower limb bridle and the hand bridle are used for fixing the exoskeleton. The hip joint horizontal scaling mechanism is internally provided with a horizontal scaling locking mechanism, and when the hip joint horizontal scaling bracket is scaled to a proper size, the bracket can be locked. The exoskeleton assisting robot provided by the embodiment of the utility model adopts the active micro-motor to assist the driving of the hydraulic rod, has obvious assisting effect, does not influence the normal walking of human body, has good follow-up effect, collects mechanical limit protection, and is safe and reliable; the helmet camera and the camera are used for collecting environmental information, and manual shooting is not needed.
Description
Technical Field
The utility model relates to a technical field of auxiliary robot especially relates to an ectoskeleton helping hand robot.
Background
The existing exoskeleton is divided into a load bearing exoskeleton and a rehabilitation type exoskeleton and can also be divided into a whole body exoskeleton and a lower limb exoskeleton. Load-bearing exoskeletons generally utilize the principles of hydromechanics to design a load-bearing system. However, the existing skeleton-assisted robot cannot be used for scientific investigation in an extraterrestrial or dangerous area, cannot be directly worn outside a protective suit or an aerospace suit, and is narrow in application range and single in function.
SUMMERY OF THE UTILITY MODEL
In order to solve the unable extraterrestrial or dangerous area scientific investigation use that is used for of current skeleton helping hand robot, and unable direct dressing outside protective clothing or space suit, its range of application is narrow, the technical problem of function singleness, the embodiment of the utility model provides an ectoskeleton helping hand robot, concrete technical scheme is as follows:
the embodiment of the utility model provides an ectoskeleton helping hand robot, including shoulder micromotor, elbow micromotor, wrist micromotor, hip joint micromotor, knee joint micromotor, ankle micromotor, camera, shank hydraulic stem, foot hydraulic stem, low limbs ectoskeleton support, waist adjustable band, hip joint external expansion motion axle, modularization protection first sternum, hand band, upper and lower limbs motion coupling mechanism, helmet camera, oxygen hose, hand hydraulic stem, life support knapsack, hand ectoskeleton support, upper limbs band;
the helmet camera is arranged on the side wall of the helmet; the helmet is communicated with the life support backpack through the oxygen pipe; the upper limb belt is arranged at the bottom of the helmet, the shape of the upper limb belt is matched with the upper limbs of a human body, and the modular protective chest armor is fixedly connected to the outer side of the belt;
the robot comprises two arm assemblies, wherein each arm assembly comprises two hand hydraulic rods and two hand exoskeleton brackets; one end of the hand hydraulic rod is connected with the shoulder of the upper limb strap, and the other end of the hand hydraulic rod is connected with the shoulder micromotor; the micro motor is connected with one end of the hand exoskeleton bracket in a driving way, and the other end of the hand exoskeleton bracket is connected with the micro motor at the elbow; the elbow micromotor is in driving connection with one end of the other hand exoskeleton bracket, and the other end of the elbow micromotor is connected with the wrist micromotor; at least two hand straps are disposed on the side walls of the hand exoskeleton support;
the top of the upper and lower limb movement connecting mechanism is connected with the upper limb belt; the bottom of the waist part is connected with the waist part adjustable bridle; two lower limb components are arranged on the waist adjustable bridle; the arrangement positions of the two lower limb components correspond to the positions of the lower limbs of the human body and the positions of the shoulders of the human body;
the lower limb assembly comprises a hip joint external expansion movement shaft, a hip joint micro motor, a leg hydraulic rod, a knee joint micro motor, two lower limb exoskeleton supports, a foot hydraulic rod, an ankle micro motor and a camera; the hip joint external expansion motion shaft is fixed on the waist adjustable binding belt and connected with the hip joint micro motor; the hip joint micromotor is in driving connection with one end of the lower limb exoskeleton bracket, and the other end of the hip joint micromotor is connected with the knee joint micromotor; the leg hydraulic rod is arranged between the hip joint micromotor and the knee joint micromotor; the knee joint micromotor is connected with one end of the other lower limb exoskeleton bracket in a driving manner, and the other end of the knee joint micromotor is connected with the ankle micromotor; one end of the foot hydraulic rod is fixedly connected to the side wall of the lower limb exoskeleton bracket, and the other end of the foot hydraulic rod is fixedly connected to the side wall of the ankle micromotor; the camera is arranged on the side wall of the ankle micromotor.
Optionally, the waist adjustable belt comprises: a hip joint horizontal scaling mechanism and a hip joint horizontal scaling bracket; the hip joint horizontal scaling mechanism is used for locking the hip joint horizontal scaling support.
Optionally, the lower limb exoskeleton further comprises a lower limb strap, and the lower limb strap is arranged on the side edge of the lower limb exoskeleton support.
Optionally, the waist-adjustable binding belt comprises a main control board and a sensor, wherein the sensor comprises an acceleration sensor, a front-side tension sensor, a rear-side tension sensor, a first gyroscope and a second gyroscope, the acceleration sensor is mounted on the rear side of the waist-adjustable binding belt, and is used for collecting the acceleration of the walking human body, detecting the posture information of the human body and identifying the movement intention of the human body; the front side tension sensor is arranged at the tail end of the lower part of the front end of the upper limb bridle, and the rear side tension sensor is arranged at the tail end of the lower part of the rear end of the inner core of the upper limb bridle and is used for measuring the tension information of the waist adjustable bridle in real time to form a force feedback loop so that the assistance force is changed according to the set optimal assistance force wave function; the first gyroscope and the second gyroscope are respectively arranged on the outer side surfaces of the two lower limb bridles, angular velocity information is collected, and angular velocity is integrated to obtain hip joint angle information for identifying human gait;
the acceleration sensor, the front side tension sensor, the rear side tension sensor, the first gyroscope and the second gyroscope are all connected to the register input port of the main control board through leads, and the sensors occupy seven register input ports of the main control board; the register output port of the main control board is connected with the motor drive board and used for sending PWM signals and enabling signals to the motor drive board; the motor driving board is respectively connected with the shoulder micromotor, the elbow micromotor, the wrist micromotor, the hip joint micromotor, the knee joint micromotor and the ankle micromotor through leads to give current signals to the motors.
Optionally, the helmet camera further comprises a power supply, and the power supply supplies power to the main control board, the motor driving board, the camera and the helmet camera.
The embodiment of the utility model provides an ectoskeleton helping hand robot, above-mentioned ectoskeleton helping hand robot are applicable to extraterrestrial or dangerous area scientific investigation and use, and the ectoskeleton can directly be dressed outside protective clothing or space suit. The chest is designed with a modularized protective chest armor. Safety protection against accidental risks can be provided for important areas of the chest. The design of the scheme is a full-load exoskeleton which comprises a shoulder micromotor, an elbow micromotor and a wrist micromotor matched with a hand hydraulic rod to support the load of the hand. The hip joint micromotor, the knee joint micromotor and the ankle micromotor are matched with a leg hydraulic rod and a foot hydraulic rod to support the lower limbs in a load-bearing mode. The waist is provided with an upper and lower limb movement connecting mechanism which is connected with the upper limb exoskeleton and the lower limb exoskeleton and matched with a back support to form a whole set of whole-body load exoskeleton scheme. The life support backpack provides oxygen required by survival, exoskeleton micromotor movement and electric energy required by the operation of various sensors and cameras. The oxygen is connected with the helmet through an oxygen tube. The camera, helmet camera provide more outside real-time image display for the scientific investigation personnel. The waist adjustable bridle, the lower limb bridle and the hand bridle are used for fixing the exoskeleton. The hip joint external expansion motion shaft enables a user to realize thigh eversion motion, and provides more freedom of motion for the user. The hip joint horizontal scaling mechanism and the hip joint horizontal scaling bracket can be worn by people with different human body sizes. The hip joint horizontal scaling mechanism is internally provided with a horizontal scaling locking mechanism, and when the hip joint horizontal scaling bracket is scaled to a proper size, the bracket can be locked. The embodiment of the utility model provides an arm assembly of ectoskeleton robot, waist shank module can realize and dismantle the separation fast with the quick electric property assembled coupling of protective clothing, have made things convenient for the use of ectoskeleton. The exoskeleton of the utility model is driven by the auxiliary hydraulic rod of the active micromotor, has remarkable power assisting effect, does not influence the normal walking of human body, has good follow-up effect, and is safe and reliable by collecting mechanical limit protection; and environmental information is collected through the helmet camera and the camera, manual shooting is not needed, the workload is saved, the application range is wide, and the functions are comprehensive.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic structural diagram of an exoskeleton assisting robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a lower limb assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural view of an upper limb assembly provided in an embodiment of the present invention;
fig. 4 is a back structural schematic view of the upper limb assembly provided in the embodiment of the present invention.
Reference numerals:
the robot comprises a shoulder micromotor 1, an elbow micromotor 2, a wrist micromotor 3, a hip joint micromotor 4, a knee joint micromotor 5, an ankle micromotor 6, a camera 7, a leg hydraulic rod 8, a foot hydraulic rod 9, a lower limb exoskeleton support 10, an adjustable waist belt 11, a hip joint external expansion movement shaft 12, a modular protective breastplate 13, a lower limb belt 14, a hand belt 15, an upper and lower limb movement connecting mechanism 16, a helmet 17, a helmet camera 18, an oxygen hose 19, a hand hydraulic rod 20, a life support backpack 21, a hand exoskeleton support 22, a hip joint horizontal retraction mechanism 23, a hip joint horizontal retraction support 24 and an upper limb belt 25.
Detailed Description
The technical solution in the embodiment of the present invention will be described below with reference to the accompanying drawings in the embodiment of the present invention.
Referring to fig. 1 to 4, an embodiment of the present invention provides an exoskeleton assisting robot, including a shoulder micromotor 1, an elbow micromotor 2, a wrist micromotor 3, a hip joint micromotor 4, a knee joint micromotor 5, an ankle micromotor 6, a camera 7, a leg hydraulic rod 8, a foot hydraulic rod 9, a lower limb exoskeleton support 10, a waist adjustable belt 11, a hip joint external expansion movement shaft 12, a modular protective chest armor 13, a hand belt 15, an upper and lower limb movement connecting mechanism 16, a helmet 17, a helmet camera 18, an oxygen tube 19, a hand hydraulic rod 20, a life support backpack 21, a hand exoskeleton support 22, and an upper limb belt 25;
a helmet camera 18 is arranged on a side wall of the helmet 17; the helmet 17 is communicated with the life support backpack through the oxygen hose 19; the upper limb strap 25 is arranged at the bottom of the helmet 17, the shape of the upper limb strap 25 is matched with the upper limb of a human body, and the modular protective breastplate 13 is fixedly connected to the outer side of the strap;
the robot includes two arm assemblies, each arm assembly including two hand hydraulic rams 20, two hand exoskeleton supports 22; one end of the hand hydraulic rod 20 is connected with the shoulder of the upper limb strap 25, and the other end is connected with the shoulder micromotor 1; the micro motor is connected with one end of one hand exoskeleton bracket 22 in a driving way, and the other end of the hand exoskeleton bracket 22 is connected with the micro motor 2 at the elbow; the elbow micro-motor 2 is connected with one end of the other hand exoskeleton bracket 22 in a driving way, and the other end of the elbow micro-motor is connected with the wrist micro-motor 3; at least two hand straps 15 are provided on the side walls of the hand exoskeleton bracket 22;
the top of the upper and lower limb movement connecting mechanism 16 is connected with the upper limb belt 25; the bottom of the waist part is connected with the waist part adjustable belt 11; two lower limb components are arranged on the waist adjustable belt 11; the arrangement positions of the two lower limb components correspond to the positions of the lower limbs of the human body and the positions of the shoulders of the human body;
the lower limb assembly comprises a hip joint external expansion movement shaft 12, a hip joint micro motor 4, a leg hydraulic rod 8, a knee joint micro motor 5, two lower limb exoskeleton brackets 10, a foot hydraulic rod 9, an ankle micro motor 6 and a camera 7; the hip joint external expansion motion shaft 12 is fixed on the waist adjustable bridle 11, and the hip joint external expansion motion shaft 12 is connected with the hip joint micro motor 4; the hip joint micromotor 4 is in driving connection with one end of one lower limb exoskeleton bracket 10, and the other end of the hip joint micromotor is connected with the knee joint micromotor 5; the leg hydraulic rod 8 is arranged between the hip joint micromotor 4 and the knee joint micromotor 5; the knee joint micromotor 5 is connected with one end of the other lower limb exoskeleton bracket 10 in a driving manner, and the other end of the knee joint micromotor is connected with the ankle micromotor 6; one end of the foot hydraulic rod 9 is fixedly connected to the side wall of the lower limb exoskeleton bracket 10, and the other end of the foot hydraulic rod is fixedly connected to the side wall of the ankle micromotor 6; the camera 7 is arranged on the side wall of the ankle micromotor 6.
It should be noted that, the above-mentioned assisting for walking of a human body by using a micro-motor and a hydraulic rod belongs to the conventional technical means in the field, for example, application number 201911377807.6, named as a servo motor used in a lower limb exoskeleton assistance load mechanism, and in the scheme for realizing walking assistance, the servo motor is the same as the working principle of each micro-motor in the scheme, and solves the same technical problem. On the other hand, the scheme of utilizing the hydraulic rod to carry out walking assistance belongs to the conventional technical means in the field, the controller is used for controlling the extending length of the hydraulic rod, and the rotation angle of the micro-motor is combined, so that a user can be helped to realize certain action, for example, the micro-motor 2 at the elbow rotates to drive the arm to tilt upwards, meanwhile, the extending length of the hand hydraulic rod 20 is the same as the length between two fixed points of the hand hydraulic rod 20 after the hand hydraulic rod 20 rotates, at the moment, the hand hydraulic rod 20 supports the hand exoskeleton support 22, and when the user holds heavy objects, the functions can effectively reduce the force born by the arm of the user.
Specifically, the embodiment of the utility model provides an ectoskeleton helping hand robot, above-mentioned ectoskeleton helping hand robot are applicable to extraterrestrial or dangerous area scientific investigation and use, and the ectoskeleton can directly be dressed outside protective clothing or space suit. The chest is designed with a modularized protective chest armor 13. Safety protection against accidental risks can be provided for important areas of the chest. The design of this scheme is full heavy burden formula ectoskeleton, including shoulder micromotor 1, little motor 2 of elbow, little motor 3 cooperation hand hydraulic stem 20 of wrist support that bears a burden to the hand. The hip joint micromotor 4, the knee joint micromotor 5 and the ankle micromotor 6 are matched with a leg hydraulic rod 8 and a foot hydraulic rod 9 to support the load of the lower limbs. The waist is designed with an upper and lower limb movement connecting mechanism 16 which is connected with the upper limb and lower limb exoskeleton load and is matched with a back support to form a whole set of whole body load exoskeleton scheme. The life support backpack 21 provides oxygen required for survival, electric energy required for the exoskeleton micromotor movement and various sensors and the camera 7 to operate. Oxygen is connected to helmet 17 through oxygen hose 19. The camera 7 and the helmet camera 18 provide more external real-time image display for scientific researchers. The waist adjustable belt 11, the lower limb belt 14 and the hand belt 15 are used for fixing the exoskeleton. The hip-extension shaft 12 allows the user to perform an eversion motion of the thigh, providing the user with more freedom of movement. The hip joint horizontal scaling mechanism 23 and the hip joint horizontal scaling bracket 24 can be worn by people with different body sizes. The hip joint level zoom mechanism 23 incorporates a level zoom locking mechanism that locks the hip joint level zoom bracket 24 when it is zoomed in to the proper size. The embodiment of the utility model provides an arm assembly of ectoskeleton robot, waist shank module can realize and dismantle the separation fast with the quick electric property assembled coupling of protective clothing, have made things convenient for the use of ectoskeleton. The exoskeleton of the utility model is driven by the auxiliary hydraulic rod of the active micromotor, has remarkable power assisting effect, does not influence the normal walking of human body, has good follow-up effect, and is safe and reliable by collecting mechanical limit protection; and environmental information is collected through the helmet camera 18 and the camera 7, manual shooting is not needed, the workload is saved, the application range is wide, and the functions are comprehensive.
In one embodiment, the waist adjustable belt 11 comprises: a hip joint horizontal scaling mechanism 23 and a hip joint horizontal scaling bracket 24; the hip joint horizontal scaling mechanism 23 is used for locking the hip joint horizontal scaling bracket 24.
In one embodiment, a lower limb strap 14 is included, and the lower limb strap 14 is disposed on a side of the lower limb exoskeleton 10.
In a specific embodiment, the waist adjustable bridle comprises a main control board and sensors, wherein the sensors comprise an acceleration sensor, a front side tension sensor, a rear side tension sensor, a first gyroscope and a second gyroscope, the acceleration sensor is installed on the rear side of the waist adjustable bridle 11, and is used for collecting the acceleration of a human body when the human body walks, detecting the posture information of the human body and identifying the movement intention of the human body; the front side tension sensor is arranged at the tail end of the lower part of the front end of the upper limb bridle 25, the rear side tension sensor is arranged at the tail end of the lower part of the rear end of the inner core of the upper limb bridle 25 and is used for measuring the tension information of the waist adjustable bridle 11 in real time to form a force feedback loop so that the assistance force is changed according to the set optimal assistance force wave function; the first gyroscope and the second gyroscope are respectively arranged on the outer side surfaces of the two lower limb bridles 14, angular velocity information is collected, and angular velocity is integrated to obtain hip joint angle information for identifying human gait; the acceleration sensor, the front side tension sensor, the rear side tension sensor, the first gyroscope and the second gyroscope are all connected to the register input port of the main control board through leads, and the sensors occupy seven register input ports of the main control board; the register output port of the main control board is connected with the motor drive board and used for sending PWM signals and enabling signals to the motor drive board; the motor drive board is respectively connected with the shoulder micromotor 1, the elbow micromotor 2, the wrist micromotor 3, the hip joint micromotor 4, the knee joint micromotor 5 and the ankle micromotor 6 through leads to give current signals to the motor.
In a specific embodiment, the helmet further comprises a power supply, and the power supply supplies power to the main control board, the motor driving board, the camera 7, and the helmet camera 18.
The utility model discloses an ectoskeleton clothes is used in scientific research exploration, it includes that life maintains uses helmet 17, separates temperature steady voltage protective clothing, and the whole body multidimension degree of heavy burden helping hand type moves ectoskeleton braced system, surveys the module. The driving mode of micromotor driving and hydraulic driving is mixed. Is suitable for severe living environment or extraterrestrial environment. Exoskeleton suit for scientific research exploration includes trunk protective suit and helmet 17 and based on these two a plurality of ectoskeleton parts and set up a plurality of additional devices on a plurality of ectoskeleton parts, like camera 7, GPS, life detection, unmanned aerial vehicle detection module etc. for being adapted to living extraterrestrial environment, the back is born the life and is maintained the device, and cooperation helmet 17 can satisfy the anaerobic environment of certain time and use simultaneously. And provides assistance to the waist, hands and legs. Wherein: the plurality of additional devices comprises at least one expansion interface module and at least one measuring device; when the external expansion device is connected to the corresponding expansion interface module, the external expansion device is detachably fixed on the expansion interface module; wherein at least one measuring device is used to measure the environment in which the wearer of the exoskeleton suit is located. The expansion interface module enables the exoskeleton suit to be connected with different external expansion devices, so that the exoskeleton suit is conveniently applicable to various fields and environments, and the application of the exoskeleton is greatly expanded. Through various sensing device, according to the utility model discloses an exoskeleton clothes can carry out general environmental data measurement and collection to the environment of locating of the wearer of exoskeleton clothes, and need not artifical the measurement to the work load has been saved. According to the arm assembly of the exoskeleton robot, the waist and leg module can be quickly and electrically assembled and connected with the protective clothing and quickly disassembled and separated, so that the exoskeleton is convenient to use. Just the utility model discloses an ectoskeleton adopts the supplementary hydraulic stem drive of active micromotor, and the helping hand effect is showing, does not influence human normal walking simultaneously, and follow-up effect is good, gathers the spacing protection of machinery simultaneously, safe and reliable.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (5)
1. An exoskeleton power-assisted robot is characterized by comprising a shoulder micromotor, an elbow micromotor, a wrist micromotor, a hip joint micromotor, a knee joint micromotor, an ankle micromotor, a camera, a leg hydraulic rod, a foot hydraulic rod, a lower limb exoskeleton support, a waist adjustable strap, a hip joint external expansion movement shaft, a modular protective breastplate, a hand strap, an upper and lower limb movement connecting mechanism, a helmet camera, an oxygen hose, a hand hydraulic rod, a life support backpack, a hand exoskeleton support and an upper limb strap;
the helmet camera is arranged on the side wall of the helmet; the helmet is communicated with the life support backpack through the oxygen pipe; the upper limb belt is arranged at the bottom of the helmet, the shape of the upper limb belt is matched with the upper limbs of a human body, and the modular protective chest armor is fixedly connected to the outer side of the belt;
the robot comprises two arm assemblies, wherein each arm assembly comprises two hand hydraulic rods and two hand exoskeleton brackets; one end of the hand hydraulic rod is connected with the shoulder of the upper limb strap, and the other end of the hand hydraulic rod is connected with the shoulder micromotor; the micro motor is connected with one end of the hand exoskeleton bracket in a driving way, and the other end of the hand exoskeleton bracket is connected with the micro motor at the elbow; the elbow micromotor is in driving connection with one end of the other hand exoskeleton bracket, and the other end of the elbow micromotor is connected with the wrist micromotor; at least two hand straps are disposed on the side walls of the hand exoskeleton support;
the top of the upper and lower limb movement connecting mechanism is connected with the upper limb belt; the bottom of the waist part is connected with the waist part adjustable bridle; two lower limb components are arranged on the waist adjustable bridle; the arrangement positions of the two lower limb components correspond to the positions of the lower limbs of the human body and the positions of the shoulders of the human body;
the lower limb assembly comprises a hip joint external expansion movement shaft, a hip joint micro motor, a leg hydraulic rod, a knee joint micro motor, two lower limb exoskeleton supports, a foot hydraulic rod, an ankle micro motor and a camera; the hip joint external expansion motion shaft is fixed on the waist adjustable binding belt and connected with the hip joint micro motor; the hip joint micromotor is in driving connection with one end of the lower limb exoskeleton bracket, and the other end of the hip joint micromotor is connected with the knee joint micromotor; the leg hydraulic rod is arranged between the hip joint micromotor and the knee joint micromotor; the knee joint micromotor is connected with one end of the other lower limb exoskeleton bracket in a driving manner, and the other end of the knee joint micromotor is connected with the ankle micromotor; one end of the foot hydraulic rod is fixedly connected to the side wall of the lower limb exoskeleton bracket, and the other end of the foot hydraulic rod is fixedly connected to the side wall of the ankle micromotor; the camera is arranged on the side wall of the ankle micromotor.
2. The exoskeleton assistance robot of claim 1, wherein the waist adjustable belt comprises: a hip joint horizontal scaling mechanism and a hip joint horizontal scaling bracket; the hip joint horizontal scaling mechanism is used for locking the hip joint horizontal scaling support.
3. The exoskeleton assistance robot of claim 1 further comprising lower limb straps disposed on the sides of the lower limb exoskeleton brackets.
4. The exoskeleton assistance robot as claimed in claim 1 further comprising a main control board and sensors, wherein the sensors comprise an acceleration sensor, a front tension sensor, a rear tension sensor, a first gyroscope and a second gyroscope, the acceleration sensor is mounted at the rear side of the waist adjustable belt, and is used for collecting the acceleration of the walking human body, detecting the posture information of the human body and identifying the movement intention of the human body; the front side tension sensor is arranged at the tail end of the lower part of the front end of the upper limb bridle, and the rear side tension sensor is arranged at the tail end of the lower part of the rear end of the inner core of the upper limb bridle and is used for measuring the tension information of the waist adjustable bridle in real time to form a force feedback loop so that the assistance force is changed according to the set optimal assistance force wave function; the first gyroscope and the second gyroscope are respectively arranged on the outer side surfaces of the two lower limb bridles, angular velocity information is collected, and angular velocity is integrated to obtain hip joint angle information for identifying human gait;
the acceleration sensor, the front side tension sensor, the rear side tension sensor, the first gyroscope and the second gyroscope are all connected to the register input port of the main control board through leads, and the sensors occupy seven register input ports of the main control board; the register output port of the main control board is connected with the motor drive board and used for sending PWM signals and enabling signals to the motor drive board; the motor driving board is respectively connected with the shoulder micromotor, the elbow micromotor, the wrist micromotor, the hip joint micromotor, the knee joint micromotor and the ankle micromotor through leads to give current signals to the motors.
5. The exoskeleton assistance robot as claimed in claim 4 further comprising a power supply for powering said main control board, said motor drive board, said camera, said helmet camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021506578.1U CN213439661U (en) | 2020-07-27 | 2020-07-27 | Exoskeleton power-assisted robot |
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| CN202021506578.1U CN213439661U (en) | 2020-07-27 | 2020-07-27 | Exoskeleton power-assisted robot |
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| CN213439661U true CN213439661U (en) | 2021-06-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115500670A (en) * | 2022-10-09 | 2022-12-23 | 海宁市战牌之体育文化有限公司 | Whole body bracket for armature |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115500670A (en) * | 2022-10-09 | 2022-12-23 | 海宁市战牌之体育文化有限公司 | Whole body bracket for armature |
| CN115500670B (en) * | 2022-10-09 | 2024-02-09 | 海宁市战牌之体育文化有限公司 | Whole body support for armature |
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