CN214924400U - Passive exoskeleton - Google Patents

Abstract

The utility model discloses a passive exoskeleton, which comprises a waist plate worn on the waist of a user, wherein both ends of the waist plate are respectively provided with a leg mechanism; the leg mechanism comprises a thigh framework and a shank framework, the upper end and the lower end of the thigh framework are respectively hinged with the waist plate and the shank framework, and the lower end of the shank framework is provided with an ankle plate matched with the foot of a user; a power-assisted system is arranged between the thigh skeleton and the shank skeleton; the boosting system comprises an auxiliary cylinder and a gas circuit system for controlling the auxiliary cylinder to act; the gas path system comprises a high-pressure gas cylinder and an active inflation system for inflating the high-pressure gas cylinder; a control gas circuit is arranged between the high-pressure gas cylinder and the auxiliary cylinder; the active inflation system comprises an inflation pedal arranged at the ankle plate, and an inflation gas circuit is arranged between the inflation pedal and the high-pressure gas cylinder. The utility model discloses a passive ectoskeleton can realize the initiative energy storage.

Description

Passive exoskeleton

Technical Field

The utility model relates to an ectoskeleton, specific be a passive ectoskeleton.

Background

The exoskeleton is also called a mechanical exoskeleton or a power exoskeleton and is a machine device which can be worn on a human body to provide additional power for the human body. The exoskeleton can be divided into an active exoskeleton and a passive exoskeleton according to the active power source, an air pressure driving exoskeleton, a hydraulic driving exoskeleton, a motor driving exoskeleton and an elastic material driving exoskeleton according to different power forms, can be divided into a power-assisted exoskeleton, a rehabilitation exoskeleton and an enhanced exoskeleton according to different purposes, can be divided into a lower limb exoskeleton, an upper limb exoskeleton, a whole body exoskeleton and the like according to different power-assisted areas, can be divided into a steel armor type exoskeleton, a flexible exoskeleton and the like according to different materials, and can be divided into a military exoskeleton, a civil consumption exoskeleton, a medical exoskeleton, an industrial auxiliary exoskeleton and the like according to different use scenes. The direction and location studied by the design are passive lower limb assistance pneumatic exoskeletons.

The types and research directions of the exoskeletons are numerous, and all types have certain advantages and defects. Where the active exoskeleton is often powered by batteries and the motor reducer drives the joints, this has the advantage of providing sufficient power to strengthen the wearer's strength, while the drive joints are more flexible and accurate. However, the battery, the motor and the speed reducer are carried, which is difficult to avoid, the load of the exoskeleton is greatly increased, the wearing is extremely bloated, meanwhile, due to the existence of the speed reducer, the motor is easy to drive in the forward direction, and the reverse action of a wearer needs great force, so that a machine is a main operator rather than a user, the active exoskeleton is only suitable for being used in partial special scenes, cannot be suitable for various road conditions, and is difficult to popularize industrially. The passive exoskeleton can overcome the problems of large size and complex structure of the active exoskeleton and form good complementation with the active exoskeleton.

G.k.i.man et al, new finland university, canada, developed a knee exoskeleton for use in squat lift assistance. The exoskeleton belongs to a passive exoskeleton using elastic materials, and is characterized in that in the squatting process, a spring is compressed and stores energy, and releases energy when a person stands, and the spring assists a knee joint to extend, so that the metabolic energy consumption of a human body is reduced. However, the mechanism has the disadvantages that only passive power assistance is available, the energy stored in the spring needs to be stored by using the bending of the knee joint of the human body, although the bending process has certain inertia, in the process of applying work to the spring and releasing the energy, part of energy is wasted by applying work twice, and the mechanism is large in size and inconvenient to wear.

Similarly, chinese patent application publication No. CN112809658A discloses a passive knee exoskeleton, comprising: the energy storage mechanism can rotatably connect the shank connecting plate and the thigh connecting plate together; the energy storage mechanism has initial energy; when the shank connecting plate and the thigh connecting plate rotate relatively, energy is accumulated to the energy storage mechanism; the adjusting mechanism is connected with the part of the energy storage mechanism, which is positioned between the shank connecting plate and the thigh connecting plate; the adjustment structure is used for adjusting the initial energy. The energy storage mechanism comprises: the rotating shaft is fixedly connected with the shank connecting plate and is driven to rotate by the shank connecting plate; the end part of the inner ring of the volute spiral spring is fixedly connected with the rotating shaft; the bearing seat is used for bearing the volute spiral spring, and the end part of the outer ring of the volute spiral spring is fixedly connected with the bearing seat; the bearing seat is provided with an outer edge, and a through hole penetrates through the outer edge; the first cover body is provided with an accommodating space, and the bearing seat is fixed in the accommodating space; a first annular through groove is formed in the position, close to the edge, of the first cover body in a penetrating mode, and a plurality of first limiting holes are formed in the direction far away from the center of the first cover body at intervals along the inner wall of the first annular through groove; the second cover body is opposite to the first cover body and buckled at one end of the rotating shaft; a second annular through groove is formed in the position, close to the edge, of the second cover body in a penetrating mode, and a plurality of second limiting holes are formed in the direction far away from the center of the second cover body at intervals along the inner wall of the second annular through groove; the second annular through groove is opposite to the first annular through groove, and the second limiting holes are opposite to the first limiting holes one by one; the thigh connecting plate is positioned between the first cover body and the second cover body and is fixedly connected with the first cover body and the second cover body; the first cover body, the bearing seat and the second cover body can rotate around the rotating shaft under the driving of the thigh connecting plate.

The energy storage mechanism adopted by the passive knee joint exoskeleton still utilizes elastic materials such as volute spiral springs, and under the condition that the initial energy of the energy storage mechanism is determined, the shank connecting plate can be connected with a shank of a wearer, and the thigh connecting plate can be connected with a thigh of the wearer. When a wearer bends legs, the shank connecting plate and the thigh connecting plate are driven to rotate relatively, and at the moment, the shank connecting plate and the thigh connecting plate which rotate relatively gather energy to the energy storage mechanism, and the energy is assisted by the wearer together with initial energy of the energy storage mechanism. When the wearer stretches legs, the initial energy of the energy storage mechanism and the energy accumulated to the energy storage mechanism are the assisting force of the wearer. Although the passive knee joint exoskeleton can meet the use requirements to a certain extent, only passive assistance can be realized, the energy stored in the volute spring needs to be stored by utilizing the bending of the knee joint of the human body, and although a certain inertia exists in the bending process, part of energy is wasted by doing work twice in the process of doing work on the volute spring and releasing the energy; in addition, the passive knee joint exoskeleton also has the problems of large mechanism volume and complex structure, which causes inconvenience in wearing.

Disclosure of Invention

In view of this, the present invention provides a passive exoskeleton capable of realizing active energy storage.

In order to achieve the above purpose, the utility model provides a following technical scheme:

a passive exoskeleton comprises a waist plate which is worn at the waist position of a user, wherein leg mechanisms are respectively arranged at two ends of the waist plate;

the leg mechanism comprises a thigh framework and a shank framework, the upper end and the lower end of the thigh framework are respectively hinged with the waist plate and the shank framework, and the lower end of the shank framework is provided with an ankle plate matched with the foot of a user;

a power-assisted system is arranged between the thigh skeleton and the shank skeleton;

the boosting system comprises an auxiliary cylinder and a gas circuit system for controlling the auxiliary cylinder to act; the gas path system comprises a high-pressure gas cylinder and an active inflation system for inflating the high-pressure gas cylinder; a control gas circuit is arranged between the high-pressure gas cylinder and the auxiliary cylinder; the active inflation system comprises an inflation pedal arranged at the ankle plate, and an inflation gas circuit is arranged between the inflation pedal and the high-pressure gas cylinder.

Furthermore, the thigh skeleton is hinged with the shank skeleton through a link mechanism.

Further, the link mechanism comprises a triangular plate, a first connecting rod, a second connecting rod and a third connecting rod, and a connecting edge is arranged on the triangular plate;

two ends of the second connecting rod are respectively hinged with the connecting edge and the first connecting rod to form a first hinge point and a second hinge point, and the third connecting rod is respectively hinged with the connecting edge and the first connecting rod to form a third hinge point and a fourth hinge point;

the distance between the first hinge point and the second hinge point is equal to the distance between the third hinge point and the fourth hinge point; the distance between the first hinge point and the third hinge point is equal to the distance between the second hinge point and the fourth hinge point;

the triangular plate is fixedly arranged on the thigh framework or integrated with the thigh framework, and the connecting edge is obliquely arranged relative to the thigh framework; the cylinder body of the auxiliary cylinder is fixedly arranged on the shank framework, and a piston rod of the auxiliary cylinder is hinged with the triangular plate, the first connecting rod, the second connecting rod or the third connecting rod; or the like, or, alternatively,

the triangular plate is fixedly arranged on the shank skeleton or integrated with the shank skeleton, and the connecting edge is obliquely arranged relative to the shank skeleton; the cylinder body of the auxiliary cylinder is fixedly installed on the thigh framework, and a piston rod of the auxiliary cylinder is hinged with the triangular plate, the first connecting rod, the second connecting rod or the third connecting rod.

Furthermore, the link mechanism comprises a fourth link and a fifth link, one end of the fourth link and one end of the fifth link are hinged to form a fifth hinge point, the other end of the fourth link is hinged to the thigh framework, and the other end of the fifth link is hinged to the shank framework; the thigh framework is hinged with the shank framework;

the cylinder body of the auxiliary cylinder is hinged to the thigh framework or the shank framework, the piston rod of the auxiliary cylinder is hinged to the fourth connecting rod or the fifth connecting rod, or the piston rod of the auxiliary cylinder is hinged to the hinged connecting point between the fourth connecting rod and the fifth hinged point coincides with the fifth hinged point.

Furthermore, waist hip boards are respectively arranged at two ends of the waist board, one end of each waist hip board is in running fit with the waist board, the other end of each waist hip board is hinged with the thigh skeleton, and the axis of each waist hip board in running fit with the axis of the waist board is perpendicular to the axis of the shank skeleton rotating relative to the thigh skeleton.

Further, the high-pressure gas cylinder is installed on the waist plate.

Furthermore, the thigh framework comprises a thigh long framework and a thigh short framework, a first mounting groove I is formed in the thigh long framework along the length direction of the thigh long framework, and a first mounting hole I is formed in the thigh short framework and corresponds to the first mounting groove I; or, be equipped with along the first mounting groove II that its length direction set up on the short skeleton of thigh, correspond on the long skeleton of thigh with first mounting groove II and be equipped with first mounting hole II.

Further, the shank skeleton comprises a shank long skeleton and a shank short skeleton, a second mounting groove I is formed in the shank long skeleton along the length direction of the shank long skeleton, and a second mounting hole I is formed in the shank short skeleton and corresponds to the second mounting groove I; or a second mounting groove II is formed in the shank short skeleton along the length direction of the shank short skeleton, and a second mounting hole II is formed in the shank long skeleton corresponding to the second mounting groove II.

Further, the gas circuit system comprises a main gas circuit and branch gas circuits which are arranged in one-to-one correspondence with the auxiliary cylinders, the main gas circuit is connected with the high-pressure gas cylinder, the branch gas circuits are provided with electromagnetic directional valves, and the main gas circuit is provided with a one-way throttle valve and a master control valve for controlling the on-off of the main gas circuit.

Further, the high-pressure gas cylinder is provided with a gas release port, and the gas release port is provided with an overflow valve for keeping the air pressure in the high-pressure gas cylinder within a set air pressure threshold value.

The beneficial effects of the utility model reside in that:

the passive exoskeleton of the utility model forms a main body structure of the exoskeleton by arranging the waist plate and the leg mechanisms arranged at the two ends of the waist plate, and provides partial assistance for use scenes of walking, running, carrying, bearing, going upstairs and downstairs and the like of a user by arranging the assistance system between the thigh skeleton and the shank skeleton; specifically, the utility model utilizes the telescopic motion of the piston rod of the auxiliary cylinder to drive the crus skeleton and the thigh skeleton to rotate relatively, thereby meeting the technical purpose of providing assistance; the high-pressure gas source is provided for the auxiliary cylinder by the high-pressure gas cylinder, and the high-pressure gas cylinder is inflated by the inflating pedal arranged on the ankle plate, so that the air pressure in the high-pressure gas cylinder can be kept within a set air pressure range, the problem of pressure reduction caused by gas loss is solved, and the cruising ability is ensured; the utility model discloses a to aerify the footboard setting on the ankle board to with the ankle board setting at the lower extreme of shank skeleton, also the user is at the in-process that the walking was trampled, the footboard is directly aerifyd to high-pressure gas cylinder to the drive, has both satisfied "passive" technical purpose, has utilized the gravitational potential energy of walking in-process again, falls to the ground for the user foot and provides certain buffering, has overcome the general poor drawback of helping hand ability of current passive ectoskeleton simultaneously.

Drawings

In order to make the purpose, technical scheme and beneficial effect of the utility model clearer, the utility model provides a following figure explains:

fig. 1 is a schematic structural diagram of embodiment 1 of the passive exoskeleton of the present invention;

FIG. 2 is detail A of FIG. 1;

FIG. 3 is a schematic structural view of the link mechanism of the present embodiment when it is converted into an anti-parallelogram mechanism;

FIG. 4 is detail B of FIG. 3;

FIG. 5 is a gas path diagram of the gas path system;

fig. 6 is a schematic structural view of embodiment 2 of the passive exoskeleton of the present invention;

fig. 7 is detail C of fig. 6.

Description of reference numerals:

1-waist board; 2-thigh skeleton; 2 a-thigh length skeleton; 2 b-short thigh skeleton; 3-shank skeleton; 3 a-a calf long skeleton; 3 b-short shank skeleton; 4-ankle plate; 5-an auxiliary cylinder; 6-high pressure gas cylinder; 7-an inflatable pedal; 8-a set square; 8 a-connecting edge; 9-a first link; 10-a second link; 11-a third link; 12-a first hinge point; 13-a second hinge point; 14-a third hinge point; 15-a fourth hinge point; 16-a fourth link; 17-a fifth link; 18-fifth hinge point; 19-lumbar hip plate; 20-a first mounting groove I; 21-a second mounting groove I; 22-a main gas circuit; 23-branch gas circuit; 24-a solenoid directional valve; 25-one-way throttle valve; 26-a master control valve; 27-relief valve; 28-micro air pump.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

Example 1

As shown in fig. 1, is a schematic structural diagram of embodiment 1 of the passive exoskeleton of the present invention. The passive exoskeleton of the embodiment comprises a waist plate 1 which is worn at the waist position of a user, wherein leg mechanisms are respectively arranged at two ends of the waist plate 1. The leg mechanism of this embodiment includes thigh skeleton 2 and shank skeleton 3, and the upper and lower both ends of thigh skeleton 2 are connected with articulated between waist board 1 and the shank skeleton 3 respectively, and the lower extreme of shank skeleton 3 is equipped with the ankle board 4 with user's foot complex. An assistance system is arranged between the thigh skeleton 2 and the shank skeleton 3 of the embodiment. The power assisting system of the embodiment comprises an auxiliary cylinder 5 and an air path system for controlling the action of the auxiliary cylinder 5; the gas path system comprises a high-pressure gas cylinder 6 and an active inflation system for inflating the high-pressure gas cylinder 6; a control gas circuit is arranged between the high-pressure gas cylinder 6 and the auxiliary cylinder 5; the active inflation system comprises an inflation pedal 7 arranged at the ankle plate 4, and an inflation gas circuit is arranged between the inflation pedal 7 and the high-pressure gas cylinder 6. Aerify footboard 7 and set up the below at ankle board 4, after the foot lifts up, aerify footboard 7 and open for ankle board 4, when the foot falls down with ground contact, it is closed for ankle board 4 to aerify footboard 7 under user's action of gravity to the drive is aerifyd the gas circuit and is aerifyd high-pressure gas cylinder 6, it is also to aerify footboard 7 department and be equipped with and be used for carrying out the miniature air pump 28 of aerifing to high-pressure gas cylinder 6, the principle that miniature air pump 28 is aerifyd high-pressure gas cylinder 6 is the same with the principle of current inflating pump, no longer describe tired.

Furthermore, the thigh framework 2 is hinged with the shank framework 3 through a link mechanism. The link mechanism of the present embodiment includes a triangle plate 8, a first link 9, a second link 10, and a third link 11, and the triangle plate 8 is provided with a connecting edge 8 a. The second link 10 of the present embodiment is hinged to the connecting edge 8a and the first link 9 at two ends to form a first hinge point 12 and a second hinge point 13, and the third link 11 is hinged to the connecting edge 8a and the first link 9 to form a third hinge point 14 and a fourth hinge point 15. Specifically, the distance between the first hinge point 12 and the second hinge point 13 is equal to the distance between the third hinge point 14 and the fourth hinge point 15; the distance between the first hinge point 12 and the third hinge point 14 is equal to the distance between the second hinge point 13 and the fourth hinge point 15. The triangle 8 of the embodiment is fixedly installed on the thigh frame 2 or integrated with the thigh frame 2, and the connecting edge 8a is obliquely arranged relative to the thigh frame 2; the cylinder body of the auxiliary cylinder 5 is fixedly arranged on the shank framework 3, and the piston rod of the auxiliary cylinder 5 is hinged with the triangular plate 8, the first connecting rod 9, the second connecting rod 10 or the third connecting rod 11. Of course, the triangle 8 may be fixedly mounted on the lower leg frame 3 or integrally formed with the lower leg frame 3, and the connecting edge 8a may be provided obliquely with respect to the lower leg frame 3; the cylinder body of the auxiliary cylinder 5 is fixedly arranged on the thigh framework 2, and the piston rod of the auxiliary cylinder 5 is hinged with the triangular plate 8, the first connecting rod 9, the second connecting rod 10 or the third connecting rod 11, so that the use requirement can be met. As shown in fig. 1, one end of the third connecting rod 11 of the present embodiment is extended and then is hinged to the piston rod of the auxiliary cylinder 5. As shown in fig. 1, the connecting edge 8a, the first link 9, the second link 10 or the third link 11 of the present embodiment form a parallelogram mechanism therebetween, which can achieve knee joint flexion of less than 75 °. Of course, the parallelogram mechanism may be evolved into an anti-parallelogram mechanism, as shown in fig. 3-4, by utilizing the characteristics of the anti-parallelogram mechanism, knee joint flexion of less than 60 degrees can be realized, and a larger knee joint flexion angle can realize the assistance of actions such as going upstairs and downstairs, squatting and the like except walking, and the practicability of the exoskeleton device can be enhanced.

Furthermore, waist hip plates 19 are respectively arranged at two ends of the waist plate 1, one end of each waist hip plate 19 is in rotating fit with the waist plate 1, the other end of each waist hip plate 19 is hinged with the thigh framework 2, and the axis of the waist hip plates 19 in rotating fit with the waist plates 1 is vertical to the axis of the shank frameworks 3 rotating relative to the thigh frameworks 2. Through setting up waist hip board 19 to be used for being connected with thigh skeleton 2 conveniently, on the other hand, through with between waist hip board 19 and the waist board 1 normal running fit, can make thigh skeleton 2 rotate around waist hip board 19 and waist board 1 normal running fit's axis for waist board 1 to provide the degree of freedom that opens to the outside and close to the inside for leg mechanism, use more nimble comfortable.

Further, thigh skeleton 2 of this embodiment includes thigh long skeleton 2a and thigh short skeleton 2b, is equipped with the first mounting groove I20 that sets up along its length direction on the thigh long skeleton 2a, corresponds with first mounting groove I20 on the thigh short skeleton 2b and is equipped with first mounting hole I. Through changing the hookup location of first mounting hole I on first mounting groove I20, can adjust thigh skeleton 2's length to satisfy the operation requirement of different users' thigh length, the commonality is better. Of course, the thigh short framework 2b may be provided with a first mounting groove ii along the length direction thereof, and the thigh long framework 2a may be provided with a first mounting hole ii corresponding to the first mounting groove ii, so as to meet the technical purpose of adjusting the length of the thigh framework 2, and the description will not be repeated.

Similarly, the shank skeleton 3 of the present embodiment includes a shank long skeleton 3a and a shank short skeleton 3b, the shank long skeleton 3a is provided with a second mounting groove i 21 arranged along the length direction thereof, and the shank short skeleton 3b is provided with a second mounting hole i corresponding to the second mounting groove i 21; through changing the hookup location of second mounting hole I on second mounting groove I21, can adjust the length of shank skeleton 3 to satisfy the operation requirement of different users' shank length, the commonality is better. Of course, a second mounting groove ii arranged along the length direction of the shank short framework 3b may be provided on the shank short framework 3a, and a second mounting hole ii is provided on the shank long framework 3a corresponding to the second mounting groove ii, so that the technical purpose of adjusting the length of the shank framework 2 can be satisfied, and the description will not be repeated.

Further, as shown in fig. 5, the gas path system includes a main gas path 22 and branch gas paths 23 that are arranged in one-to-one correspondence with the auxiliary cylinders 5, the main gas path 22 is connected to the high-pressure gas cylinder 6, the branch gas paths 23 are provided with electromagnetic directional valves 24, and the main gas path 22 is provided with a one-way throttle valve 25 and a master control valve 26 for controlling the on-off of the main gas path 22. Specifically, the rodless cavity of the auxiliary cylinder 5 in this embodiment is connected to the branch air passage 23, and the electromagnetic directional valve 24 in this embodiment is a two-position three-way electromagnetic valve, which is a normally closed valve, that is, the auxiliary cylinder 5 and the branch air passage 23 are turned off in an initial state, and are in a pressure relief state when not powered on, and the rodless cavity of the auxiliary cylinder 5 and the air passage are connected after the electromagnetic valve is powered on. The two air paths 23 are communicated with the main air path 22 through a tee joint, and a one-way throttle valve 25 arranged on the main air path 22 is used for adjusting the air supply flow so as to adjust the boosting. The main control valve 26 arranged on the main air path 22 is a two-position three-way hand-operated valve, and is used for controlling the on-off of the main air path and a compressed air source, when the main air path 22 is in an off state, the pressure is released immediately, and the main control valve 26 can play a role in emergency and safe pressure release at the same time.

The high-pressure gas cylinder 6 of this embodiment is installed on the waist plate 1, and the high-pressure gas cylinder 6 of this embodiment is provided with a gas release port, and the gas release port is provided with an overflow valve 27 for keeping the gas pressure in the high-pressure gas cylinder 6 within a set gas pressure threshold value. The overflow valve 27 is used for limiting the upper limit of the air pressure in the high-pressure air bottle 6, when the air pressure in the high-pressure air bottle 6 exceeds a set threshold, the overflow valve 27 releases air to enable the air pressure in the high-pressure air bottle 6 to be recovered to be within the set threshold, and when the air inflation amount of the air inflation path to the high-pressure air bottle 6 is larger than or equal to the air consumption amount of the control air path, the air pressure in the high-pressure air bottle 6 can be guaranteed to be constant at the set threshold, so that the whole power assisting system can work under the condition of constant air pressure, and the power assisting stability and controllability are better.

According to the passive exoskeleton, the waist plate and the leg mechanisms arranged at two ends of the waist plate form a main body structure of the exoskeleton, and the power assisting system is arranged between the thigh skeleton and the shank skeleton to provide partial power assistance for use scenes such as walking, running, carrying, going upstairs and downstairs and the like of a user; specifically, the embodiment utilizes the telescopic motion of the piston rod of the auxiliary cylinder to drive the crus skeleton and the thigh skeleton to rotate relatively, thereby meeting the technical purpose of providing assistance; the high-pressure gas source is provided for the auxiliary cylinder by the high-pressure gas cylinder, and the high-pressure gas cylinder is inflated by the inflating pedal arranged on the ankle plate, so that the air pressure in the high-pressure gas cylinder can be kept within a set air pressure range, the problem of pressure reduction caused by gas loss is solved, and the cruising ability is ensured; this embodiment is through aerifing the footboard setting on the ankle board to with the ankle board setting at the lower extreme of shank skeleton, also the user is at the walking in-process of trampling, and the footboard is aerifyd in the drive is direct to aerify high-pressure gas cylinder, has both satisfied "passive" technical purpose, has utilized the gravitational potential energy of walking in-process again, falls to the ground for the user foot and provides certain buffering, has overcome the general poor drawback of helping hand ability of current passive ectoskeleton simultaneously.

Example 2

Fig. 6 is a schematic structural view of embodiment 2 of the passive exoskeleton of the present invention. The passive exoskeleton of the embodiment comprises a waist plate 1 which is worn at the waist position of a user, wherein leg mechanisms are respectively arranged at two ends of the waist plate 1. The leg mechanism of this embodiment includes thigh skeleton 2 and shank skeleton 3, and the upper and lower both ends of thigh skeleton 2 are connected with articulated between waist board 1 and the shank skeleton 3 respectively, and the lower extreme of shank skeleton 3 is equipped with the ankle board 4 with user's foot complex. An assistance system is arranged between the thigh skeleton 2 and the shank skeleton 3 of the embodiment. The power assisting system of the embodiment comprises an auxiliary cylinder 5 and an air path system for controlling the action of the auxiliary cylinder 5; the gas path system comprises a high-pressure gas cylinder 6 and an active inflation system for inflating the high-pressure gas cylinder 6; a control gas circuit is arranged between the high-pressure gas cylinder 6 and the auxiliary cylinder 5; the active inflation system comprises an inflation pedal 7 arranged at the ankle plate 4, and an inflation gas circuit is arranged between the inflation pedal 7 and the high-pressure gas cylinder 6. Aerify footboard 7 and set up the below at ankle board 4, after the foot lifts up, aerify footboard 7 and open for ankle board 4, when the foot falls down with ground contact, it is closed for ankle board 4 to aerify footboard 7 under user's action of gravity to the drive is aerifyd the gas circuit and is aerifyd high-pressure gas cylinder 6, it is also to aerify footboard 7 department and be equipped with and be used for carrying out the miniature air pump 28 of aerifing to high-pressure gas cylinder 6, the principle that miniature air pump 28 is aerifyd high-pressure gas cylinder 6 is the same with the principle of current inflating pump, no longer describe tired.

Furthermore, the thigh framework 2 is hinged with the shank framework 3 through a link mechanism. The link mechanism of the embodiment comprises a fourth link 16 and a fifth link 17, wherein one end of the fourth link 16 is hinged with one end of the fifth link 17 to form a fifth hinge point 18, the other end of the fourth link 16 is hinged with the thigh framework 2, and the other end of the fifth link 17 is hinged with the calf framework 3; the thigh framework 2 is directly hinged with the shank framework 3. In the present embodiment, the cylinder body of the auxiliary cylinder 5 is hinged to the thigh frame 2 or the calf frame 3, the piston rod of the auxiliary cylinder 5 is hinged to the fourth connecting rod 16 or the fifth connecting rod 17, or the hinged point between the piston rod of the auxiliary cylinder 5 and the fourth connecting rod 16 or the fifth connecting rod 17 coincides with the fifth hinge point 18. The hinge connection point between the piston rod of the auxiliary cylinder 5 of the present embodiment and the fourth and fifth connecting rods 16 and 17 coincides with the fifth hinge point 18. The link mechanism directly hinges the thigh framework 2 and the shank framework 3, so that a fixed rotating axis is arranged at the hinged part between the thigh framework 2 and the shank framework 3, and the position of the exoskeleton and the human body inner skeleton can be coincided when the link mechanism is coincided with the rotating axis of the knee joint during wearing. The fourth connecting rod 16 and the fifth connecting rod 17 are hinged with the thigh framework 2 and the shank framework 3 respectively and then are hinged with each other, and in the process that the piston rod of the auxiliary cylinder 5 drives the fourth connecting rod 16 and the fifth connecting rod 17 to move, the movement track of the hinged point is not a straight line, so that the cylinder body of the auxiliary cylinder 5 is hinged with the thigh framework 2 or the shank framework 3, a follow-up rotation degree of freedom is reserved, and the cylinder body cannot be fixed. Just because the auxiliary cylinder 5 can freely rotate along with the hinge point position between the fourth connecting rod 16 and the fifth connecting rod 17, what the piston rod bore is the axial force all the time, makes it not only forward drive power big, still has better back driving ability, provides fine shock-absorbing capacity for the wearer.

Other embodiments of the present embodiment are the same as embodiment 1, and will not be described in detail.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.

Claims (10)

1. A passive exoskeleton, comprising: comprises a waist plate (1) worn at the waist position of a user, wherein leg mechanisms are respectively arranged at two ends of the waist plate (1);

the leg mechanism comprises a thigh framework (2) and a shank framework (3), the upper end and the lower end of the thigh framework (2) are respectively hinged with the waist plate (1) and the shank framework (3), and the lower end of the shank framework (3) is provided with an ankle plate (4) matched with the foot of a user;

a power-assisted system is arranged between the thigh skeleton (2) and the shank skeleton (3);

the boosting system comprises an auxiliary cylinder (5) and an air path system for controlling the auxiliary cylinder (5) to act; the gas path system comprises a high-pressure gas cylinder (6) and an active inflation system for inflating the high-pressure gas cylinder (6); a control gas circuit is arranged between the high-pressure gas cylinder (6) and the auxiliary cylinder (5); the active inflation system comprises an inflation pedal (7) arranged at the ankle plate (4), and an inflation gas circuit is arranged between the inflation pedal (7) and the high-pressure gas cylinder (6).

2. The passive exoskeleton of claim 1 wherein: the thigh framework (2) is hinged with the shank framework (3) through a connecting rod mechanism.

3. The passive exoskeleton of claim 2 wherein: the link mechanism comprises a triangular plate (8), a first connecting rod (9), a second connecting rod (10) and a third connecting rod (11), and a connecting edge (8a) is arranged on the triangular plate (8);

two ends of the second connecting rod (10) are respectively hinged with the connecting edge (8a) and the first connecting rod (9) to form a first hinge point (12) and a second hinge point (13), and the third connecting rod (11) is respectively hinged with the connecting edge (8a) and the first connecting rod (9) to form a third hinge point (14) and a fourth hinge point (15);

the distance between the first hinge point (12) and the second hinge point (13) is equal to the distance between the third hinge point (14) and the fourth hinge point (15); the distance between the first hinge point (12) and the third hinge point (14) is equal to the distance between the second hinge point (13) and the fourth hinge point (15);

the triangular plate (8) is fixedly arranged on the thigh framework (2) or is integrated with the thigh framework (2), and the connecting edge (8a) is obliquely arranged relative to the thigh framework (2); the cylinder body of the auxiliary cylinder (5) is fixedly arranged on the shank framework (3), and a piston rod of the auxiliary cylinder (5) is hinged with the triangular plate (8), the first connecting rod (9), the second connecting rod (10) or the third connecting rod (11); or the like, or, alternatively,

the triangular plate (8) is fixedly arranged on the shank skeleton (3) or is integrated with the shank skeleton (3), and the connecting edge (8a) is obliquely arranged relative to the shank skeleton (3); the cylinder body fixed mounting of auxiliary cylinder (5) is in on thigh skeleton (2), the piston rod of auxiliary cylinder (5) with set-square (8), first connecting rod (9), second connecting rod (10) or third connecting rod (11) are articulated to be connected.

4. The passive exoskeleton of claim 2 wherein: the connecting rod mechanism comprises a fourth connecting rod (16) and a fifth connecting rod (17), one end of the fourth connecting rod (16) is hinged to one end of the fifth connecting rod (17) to form a fifth hinge point (18), the other end of the fourth connecting rod (16) is hinged to the thigh framework (2), and the other end of the fifth connecting rod (17) is hinged to the shank framework (3); the thigh framework (2) is hinged with the shank framework (3);

the cylinder body of the auxiliary cylinder (5) is hinged to the thigh framework (2) or the calf framework (3), the piston rod of the auxiliary cylinder (5) is hinged to the fourth connecting rod (16) or the fifth connecting rod (17), or the piston rod of the auxiliary cylinder (5) is hinged to the fourth connecting rod (16) or the fifth connecting rod (17), and the hinged connecting point between the fourth connecting rod (16) and the fifth connecting rod (17) coincides with the fifth hinged point (18).

5. The passive exoskeleton of claim 1 wherein: the both ends of waist board (1) are equipped with waist hip board (19) respectively, the one end of waist hip board (19) with waist board (1) normal running fit, the other end with articulated connection between thigh skeleton (2), just waist hip board (19) with waist board (1) normal running fit's axis with shank skeleton (3) are perpendicular for thigh skeleton (2) pivoted axis.

6. The passive exoskeleton of claim 1 wherein: the high-pressure gas cylinder (6) is arranged on the waist plate (1).

7. The passive exoskeleton of claim 1 wherein: the thigh framework (2) comprises a thigh long framework (2a) and a thigh short framework (2b), a first mounting groove I (20) is formed in the thigh long framework (2a) along the length direction of the thigh long framework, and a first mounting hole I is formed in the thigh short framework (2b) corresponding to the first mounting groove I (20); or, be equipped with along its length direction first mounting groove II that sets up on the short skeleton of thigh (2b), correspond on the long skeleton of thigh (2a) with first mounting groove II and be equipped with first mounting hole II.

8. The passive exoskeleton of claim 1 wherein: the shank framework (3) comprises a shank long framework (3a) and a shank short framework (3b), a second mounting groove I (21) is formed in the shank long framework (3a) along the length direction of the shank long framework, and a second mounting hole I is formed in the shank short framework (3b) corresponding to the second mounting groove I (21); or a second mounting groove II is formed in the short shank framework (3b) along the length direction of the short shank framework, and a second mounting hole II is formed in the long shank framework (3a) and corresponds to the second mounting groove II.

9. The passive exoskeleton of claim 1 wherein: the gas circuit system comprises a main gas circuit (22) and a branch gas circuit (23) which is arranged in one-to-one correspondence with the auxiliary cylinder (5), the main gas circuit (22) is connected with the high-pressure gas cylinder (6), an electromagnetic directional valve (24) is arranged on the branch gas circuit (23), and a one-way throttle valve (25) and a master control valve (26) for controlling the on-off of the main gas circuit (22) are arranged on the main gas circuit (22).

10. The passive exoskeleton of claim 1 wherein: the high-pressure gas bottle is characterized in that an air leakage opening is formed in the high-pressure gas bottle (6), and an overflow valve (27) used for keeping the air pressure in the high-pressure gas bottle (6) within a set air pressure threshold value is arranged on the air leakage opening.

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