WO2017118059A1 - 动力外骨骼 - Google Patents

动力外骨骼 Download PDF

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Publication number
WO2017118059A1
WO2017118059A1 PCT/CN2016/097597 CN2016097597W WO2017118059A1 WO 2017118059 A1 WO2017118059 A1 WO 2017118059A1 CN 2016097597 W CN2016097597 W CN 2016097597W WO 2017118059 A1 WO2017118059 A1 WO 2017118059A1
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WO
WIPO (PCT)
Prior art keywords
foot
locking
plate
sole
driving wheel
Prior art date
Application number
PCT/CN2016/097597
Other languages
English (en)
French (fr)
Inventor
张莹
桂仲成
张忆非
赵凯
谷玉
丁洪利
Original Assignee
京东方科技集团股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 京东方科技集团股份有限公司 filed Critical 京东方科技集团股份有限公司
Priority to US15/531,544 priority Critical patent/US10492976B2/en
Publication of WO2017118059A1 publication Critical patent/WO2017118059A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F4/00—Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body 
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/50—Skis, skates or boards with shoe-like cradles comprising additional leg support
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

Definitions

  • Embodiments of the present disclosure relate to a powered exoskeleton.
  • the power exoskeleton is a skeleton frame worn on the outside of the human body. It is driven by a series of motor systems or liquid pressure systems to expand or enhance a person's physiology (mainly the ability to move limbs, such as strength and endurance). .
  • the power exoskeleton has two major applications. One is military use, and the exoskeleton is worn on the soldier's body, enabling the soldier to load heavier weapons and equipment, enabling the soldier to carry loads for a long time, thereby improving his combat capability; It is for civilian use, especially for the disabled or the elderly, to help them have normal and even extraordinary athletic ability, especially the ability to walk.
  • dynamic exoskeleton can play a huge role in improving the quality of life of disabled or elderly people, but it lacks a dynamic exoskeleton that effectively combines exoskeleton and wheel movement. mobile.
  • Embodiments of the present disclosure provide a powered exoskeleton that can be wheeled for fast movement.
  • Embodiments of the present disclosure provide a power exoskeleton including: a leg portion for fixing to a human leg and capable of moving a human leg; and a foot for fixing to a human foot and capable of moving the human foot a portion, wherein the step portion comprises: a sole plate including opposite first and second faces; and a sole plate driving wheel coupled below the leg portion, the foot plate being movably coupled to the sole a plate driving wheel and capable of flipping relative to the foot plate driving wheel such that the foot portion has a first state and a second state, in the first state, the first side of the foot plate facing upward And connected under the foot plate driving wheel such that the foot portion is in the walking mode; in the second state, the second side of the foot plate faces upward and is coupled to the sole
  • the plate drives the wheel above so that the foot portion is in the wheeled mode of movement.
  • the sole plate is detachably and movably coupled to the sole plate driving wheel.
  • the foot portion further includes: a first locking mechanism configured to lock or detach the foot bottom driving wheel from the foot bottom plate, The bottom plate is coupled to the foot plate driving wheel in the first state; and the second locking mechanism is configured to be capable of locking the foot plate driving wheel and the foot plate or The detachment is detached such that the foot plate is coupled above the foot floor drive wheel in the second state.
  • the first locking mechanism includes: a first locking portion disposed on the foot bottom driving wheel; and a rotating link including a first end and a second The first end is rotatably coupled to the sole plate; and the second locking portion is disposed at the second end of the rotating link and is engageable with the first locking portion
  • the foot plate driving wheel is locked or detached from the foot plate.
  • the second end of the rotating link is rotated to a first position above the first surface of the foot plate.
  • the second locking portion cooperates with the first locking portion for locking; in the second state, the second locking portion is detached from the first locking portion, the rotating link
  • the second end is rotated to a second position that is flush with the sole of the foot.
  • the first locking portion includes: a groove disposed on the foot bottom driving wheel; and a fixing post disposed in the groove
  • the second locking portion includes: an inner ring that can be sleeved outside the fixing post; an outer ring that can be received in the groove, the outer ring is sleeved outside the inner ring, and is Forming a gap between the inner rings; a locking column disposed in the gap and rotatable, the locking column being capable of changing a spacing of the gap when rotated to different angles; and for controlling the rotation of the locking column a control handle, the control handle is coupled to the locking post, the gap has a first spacing when the locking post is rotated to a first angle, and the locking post abuts the inner ring On the fixing column, the outer ring abuts against the inner wall of the groove; when the locking column is rotated to the second angle, the gap has a second spacing, and the second spacing is smaller than the first spacing
  • the foot portion further includes a rotation joint for fixing the second end of the rotating link to the second position in the second state Rod fixing structure.
  • the second locking mechanism includes: a locking fixed shaft disposed above the foot bottom driving wheel; and a locking sleeve disposed on the foot bottom plate and capable of being fixed with the locking when the second side of the foot bottom surface faces upward
  • the shaft fits to lock or detach.
  • the locking sleeve includes: a sleeve structure that can be sleeved on the locking fixing shaft, and one side of the sleeve structure has a resilient bayonet And the opening size of the elastic bayonet is smaller than the inner diameter of the sleeve.
  • the sole plate driving wheel includes a driving motor including a fixed shaft, a motor rotor disposed on the fixed shaft, and a motor rotor disposed outside the rotor A wheel body that can be rotated by the rotor of the motor.
  • the wheel body is a rubber wheel.
  • two fixed connecting rods are connected to two ends of the fixed shaft of the sole driving wheel, and a connecting shaft is connected between the two first connecting rods.
  • a connecting portion is provided below the leg portion, and the connecting portion cooperates with the connecting shaft to detachably connect the sole plate driving wheel below the leg portion.
  • the foot portion further includes a foot bottom support wheel disposed on the first side of the sole plate for engaging the sole drive wheel.
  • the leg portion includes: a thigh connection portion for fixing and supporting the thigh of the human body; a calf connection portion for fixing and supporting the human calf portion; A knee joint driving portion connected between the thigh connecting portion and the lower leg connecting portion.
  • the thigh connection portion and/or the shank connection portion include a structure of adjustable length.
  • the externally powered bone provided by the embodiment of the present disclosure can be switched between the walking mode and the wheeled moving mode, and can be used for assisting walking or as a walking tool for faster wheeling.
  • This structural design enables the power exoskeleton to help the disabled or the elderly to resume exercise, and also to achieve rapid movement at an appropriate time, and the outer dynamic bone has a simple structure and can be quickly switched.
  • FIG. 1 is a schematic structural view showing a power exoskeleton in a walking mode according to an embodiment of the present disclosure
  • FIG. 2 is a schematic structural view showing another angle of the power exoskeleton in a walking mode according to an embodiment of the present disclosure
  • FIG. 3 is a schematic structural view showing a power exoskeleton in a wheeled movement mode according to an embodiment of the present disclosure
  • FIG. 4 is a schematic structural view showing a foot portion of a power exoskeleton according to an embodiment of the present disclosure in a walking mode
  • FIG. 5 is a schematic structural view showing a sole plate of a power exoskeleton according to an embodiment of the present disclosure
  • FIG. 6 is a schematic structural view showing a foot portion of a power exoskeleton according to an embodiment of the present disclosure in a wheeled movement mode.
  • Embodiments of the present disclosure provide a powered exoskeleton that can be wheeled for the purpose of rapid movement.
  • the power exoskeleton provided by the embodiment of the present disclosure includes a leg portion for connecting to a leg of a human body and capable of moving the leg of the human body, and for fixing to the foot of the human body and The part of the foot that can move the human foot.
  • the foot portion includes a foot bottom plate 100 and a foot bottom plate drive Moving wheel 200.
  • the sole plate 100 includes opposing first and second faces 101, 102; the sole plate driving wheel 200 is coupled below the leg portion.
  • the sole plate 100 is movably coupled to the sole plate drive wheel 200 and is rotatable relative to the sole plate drive wheel 200 to have a first state and a second state.
  • the sole plate 100 In the first state, the sole plate 100 is turned upside down with its first face 101 facing up and attached below the sole plate drive wheel 200 such that the foot portion (or power exoskeleton) is in the walking mode; in the second state, the sole The plate 100 is flipped over with its second side 102 facing up and attached over the sole plate drive wheel 200 such that the foot portion (or powered exoskeleton) is in a wheeled mode of movement.
  • the lower part described in the embodiment of the present disclosure refers to a direction in which the power exoskeleton is close to the ground when in a normal working state
  • the upper side refers to a direction away from the ground when the power exoskeleton is in a normal working state.
  • the power exoskeleton provided by the embodiment of the present disclosure can be switched between the walking mode and the wheeled moving mode, and can be used for assisting walking or as a walking tool for faster wheeled movement.
  • the foot plate 100 of the power exoskeleton can be flipped up to its first side 101 facing upwards so that the foot plate 100 is attached above the foot plate drive wheel 200, driven by the foot plate drive wheel 200
  • the wheeled movement mode is realized; if the walking mode is to be switched, the foot bottom plate 100 of the power exoskeleton can be turned up to the second side 102 upward, so that the foot bottom plate 100 is connected under the foot floor driving wheel 200 to realize walking. mode.
  • such a structural design allows the power exoskeleton to assist the disabled or the elderly to resume exercise, and to achieve rapid movement at the appropriate time.
  • the externally powered bone has a simple structure and can be quickly switched.
  • the sole plate 100 is movably coupled to the sole plate drive wheel 200 in a detachable manner.
  • the foot portion further includes a first locking mechanism and a second locking mechanism.
  • the first locking mechanism can lock or detach the sole plate driving wheel 200 from the foot plate 100 such that the foot plate 100 is coupled under the foot plate driving wheel 200 in the first state.
  • the second locking mechanism can lock or detach the sole plate driving wheel 200 from the foot plate 100 such that the foot plate 100 is coupled above the foot plate driving wheel 200 in the second state.
  • the sole plate 100 is movably coupled to the sole plate driving wheel 200 in a detachable manner.
  • the foot plate 100 can be driven from the foot plate driving wheel.
  • the foot 200 is detached from the foot plate driving wheel 200 by using the first locking mechanism, and the foot floor 100 can be detached from the foot floor driving wheel 200 if the wheel moving mode is to be switched.
  • fixing the sole plate 100 above the sole plate driving wheel 200 by using the second locking mechanism.
  • the active connection manner between the foot bottom plate 100 and the foot bottom plate driving wheel 200 may also be implemented in other manners, so that the foot bottom plate 100 can be flipped to realize the first state and the first state.
  • the second state can be.
  • the first locking mechanism includes a first locking portion 301 , a rotating link 302 , and a second locking portion 303 .
  • the first locking portion 301 is disposed on the sole plate driving wheel 200.
  • the rotary link 302 includes a first end and a second end, the first end being rotatably coupled to the sole plate 100.
  • the second locking portion 303 is disposed at the second end of the rotating link 302 and can be locked or detached in cooperation with the first locking portion 301.
  • the second end of the rotary link 302 is rotated to a first position above the first face 101 of the sole plate 100, and the second locking portion 303 is engaged with the first locking portion 301 for locking.
  • the second locking portion 303 is detached from the first locking portion 301, and the second end of the rotating link 302 is rotated to a second position that is flush with the sole plate 100.
  • the second end of the rotating link 302 provided on the sole plate 100 can be rotated above the first face 101 of the sole plate 100, and the rotating link 302 can be utilized.
  • the second locking portion 303 on the second end is engaged with the first locking portion 301 on the sole plate driving wheel 200 for fastening, and the foot plate 100 is fixed above the sole plate driving wheel 200.
  • the second end of the rotating link 302 can be rotated to a second position flush with the sole plate 100 and the second end of the second end of the rotating link 302 can be utilized
  • the locking portion 303 is detached from the first locking portion 301 on the foot bottom driving wheel, thereby disengaging the foot bottom plate 100 from the foot bottom driving wheel 200.
  • the specific structure of the first locking mechanism may be various, and will not be enumerated here.
  • the first locking portion 301 includes a groove 3011 provided on the sole plate driving wheel 200, and a fixing post 3012 disposed in the groove 3011.
  • the second locking portion 303 includes an inner ring 3031, an outer ring 3032, a locking post 3033, and a control handle 3034.
  • the inner ring 3031 can be sleeved outside the fixing post 3012.
  • Outer ring 3032 can be accommodated in the groove In 3011, the outer ring 3032 is sleeved outside the inner ring 3031 and forms a gap with the inner ring 3031.
  • a locking post 3033 is disposed within the gap and is rotatable, and the locking post 3033 can change the spacing of the gap when rotated to different angles.
  • the control handle 3034 is used to control the rotation of the locking post 3033, and the control handle 3034 is coupled to the locking post 3033.
  • the gap has a first spacing
  • the locking post 3033 abuts the inner ring 3031 against the fixing post 3012
  • the outer ring 3032 is abutted against the inner wall of the recess 3011.
  • the gap has a second spacing, the second spacing is smaller than the first spacing, the inner ring 3031 is separated from the fixed post 3012, and the outer ring 3032 is separated from the inner wall of the recess 3011.
  • the first locking portion 301 adopts the structure of the inner ring 3031, the outer ring 3032, and the locking post 3033.
  • the second locking portion 303 adopts the structure of the groove 3011 and the fixing post 3012, and is required to be the first
  • the rotating link 302 is rotated to the groove 3011 such that the inner ring 3031 and the outer ring 3032 of the first locking portion 301 are sleeved on the sole plate driving wheel 200.
  • the control handle 3034 is rotated, so that the locking post 3033 between the inner ring 3031 and the outer ring 3032 is rotated, and the inner ring 3031 and the outer ring 3032 can be deformed due to the rotation of the locking post 3033, so that The gap between the inner ring 3031 and the outer ring 3032 becomes larger, so that the inner ring 3031 is in close contact with the fixed post 3012, and the outer ring 3032 is in close contact with the inner wall of the recess 3011, and depends on the inner ring 3031 and the fixed post 3012 and the outer ring. The friction between the 3032 and the inner wall of the recess 3011 is locked.
  • the control handle 3034 is reversely rotated, so that the locking post 3033 between the inner ring 3031 and the outer ring 3032 is reversely rotated due to
  • the rotation of the locking post 3033 can deform the inner ring 3031 and the outer ring 3032, so that the gap between the inner ring 3031 and the outer ring 3032 becomes smaller, so that the inner ring 3031 is separated from the fixed post 3012, and the outer ring 3032 and the groove 3011
  • the inner wall is separated such that the first locking portion 301 is detached from the second locking portion 303.
  • first locking portion 301 and the second locking portion 303 are not limited thereto, and the locking and detaching may be implemented in other manners, for example, A locking portion 301 and a second locking portion 303 can also be locked or detached by a nut thread connection, which will not be enumerated here.
  • the locking post 3033 may be implemented by a cylindrical structure having an elliptical or rectangular cross section, or other structures may be used as long as the locking column is made.
  • the 3033 can change the spacing of the gap between the inner ring 3031 and the outer ring 3032 when rotating to different angles, thereby achieving locking and detaching.
  • the foot portion further includes a rotating link fixing structure for fixing the second end of the rotating link 302 to the second position in the second state.
  • the rotating link fixing structure by providing the rotating link fixing structure, the rotating link 302 can be fixed when the power exoskeleton is in the wheeled moving mode to prevent the rotating link 302 from rotating to cause motion interference.
  • the rotating link fixing structure may be implemented by a strap 400 on the sole plate of the foot, which can be used to fix the foot in the walking mode, while in the wheel In the moving mode, the rotating link 302 is fixed to prohibit the rotating link 302 from rotating to the ground to cause motion interference.
  • two first locking mechanisms are provided, and the two rotating links 302 of the two first locking mechanisms can be The foot plate drive wheel 200 is locked in two different positions to make the lock more secure.
  • the second locking mechanism includes a locking fixing shaft 501 and a locking sleeve 502.
  • the locking and fixing shaft 501 is disposed above the sole plate driving wheel 200.
  • the locking sleeve 502 is disposed on the sole plate 100 and can be locked with the locking and fixing shaft 501 when the second surface 102 of the foot plate 100 faces upward. Solid or detached.
  • the first locking portion 301 and the second locking portion 303 can be detached, and then the sole plate 100 is turned over to the second surface 102 thereof upward, using
  • the locking sleeve 502 on the sole plate 100 cooperates with the locking and fixing shaft 501 above the foot plate driving wheel 200 to realize locking; when it is required to switch to the walking mode, the locking sleeve 502 and the locking and fixing shaft 501 can be disassembled.
  • the detachment of the foot bottom plate 100 and the foot bottom plate driving wheel 200 is achieved.
  • the locking sleeve 502 includes a sleeve 5021 that can be sleeved on the locking fixing shaft 501, and one side of the sleeve structure has a resilient bayonet 5022, and The opening size of the resilient bayonet 5022 is smaller than the inner diameter of the sleeve 5021.
  • the locking and fixing shaft 501 can be locked into the sleeve structure of the locking sleeve 502 from the bayonet on the locking sleeve 502, and the sleeve structure is removed from the bayonet on the locking sleeve 502. Achieve detachment.
  • the structure of the locking sleeve 502 can be implemented in a variety of ways and is not limited thereto.
  • the locking sleeve 502 can also be provided with a knot such as a buckle.
  • the structure cooperates with the locking and fixing shaft 501 to lock or detach.
  • the sole plate driving wheel 200 includes a drive motor 201.
  • the drive motor 201 includes a fixed shaft 2011 and a motor rotor 2012 disposed on the fixed shaft 2011, and a wheel body 2013 disposed outside the motor rotor 2012 and rotatable by the motor rotor 2012.
  • the sole plate driving wheel 200 can drive the motor rotor 2012 to rotate by the driving motor 201, and then rotate the motor rotor 2012 to drive the wheel body 2013 to rotate.
  • the specific structure of the sole plate driving wheel 200 may be various, and is not limited thereto.
  • the wheel body 2013 employs a rubber wheel.
  • the material of the wheel body 2013 is not limited in practical applications.
  • two first connecting rods 601 are connected to the two ends of the fixed shaft 2011 of the sole plate driving wheel 200, and the two first connecting rods 601 are connected.
  • a connecting shaft 602 is connected between them, and a connecting portion is provided below the leg portion, and the connecting portion cooperates with the connecting shaft 602 to detachably connect the foot bottom driving wheel 200 below the leg portion.
  • two ends of the fixed shaft 2011 of the foot plate driving wheel 200 are further connected with two second connecting rods 702 , and the two second connecting rods 702 are connected with each other.
  • the foot portion further includes a sole support wheel 700 disposed on the first side 101 of the sole plate 100 and for mating with the sole drive wheel.
  • the foot base plate support wheel 700 cooperates with the foot plate drive wheel 200 to drive the foot plate 100 to perform wheeled movement.
  • the powered exoskeleton mainly includes a crotch portion, a leg portion, and a foot portion.
  • the ankle portion includes a hip motor 801 and a hip strap 802;
  • the leg portion includes a thigh connection portion 901 for fixing and supporting the human thigh, and a thigh for fixing the thigh connection portion 901 and the human thigh portion a portion strap 902, a calf connection portion 903 for fixing and supporting the human calf portion, a calf strap 904 for fixing the lower leg joint portion 903 and the human calf portion, and a connection to the thigh joint portion 901 and the lower leg
  • the knee joint driving portion 905 between the portions 903.
  • the knee power drive unit 905 can employ a knee joint motor.
  • FIG. 2 is a schematic diagram of an angle of a power exoskeleton driving a human body to walk according to an embodiment of the present disclosure.
  • the hip strap 802 is used to securely connect the hip motor 801 to the human hip.
  • the thigh strap 902 is used to securely connect the exoskeleton thigh connection 901 to the human thigh, and the calf strap 904 is used to
  • the skeletal leg connecting portion 903 is fixedly coupled to the human calf.
  • the relationship between the rotation angle of the motor at each joint and the time is used to simulate the rotation relationship of the human joint in the actual process, thereby achieving the purpose of the exoskeleton to drive the human body to walk. .
  • the calf connection portion 903 is a length-adjustable telescopic structure.
  • the thigh connection portion 901 and the lower leg connecting portion 903 are designed as a length-adjustable telescopic structure, when performing two mode conversions, or
  • the length of the thigh connection portion 901, the length of the calf connection portion 903, and the adjustment of the calf connection portion 903 and the thigh connection portion by the knee joint motor can be adjusted because the leg lengths of different users are different and the ratio of the length of the leg portions is different.
  • the angle between the 901 is adjusted to be applied to the user after mode switching or user replacement, and the power exoskeleton is used to drive the human body to walk or wheel.
  • the shank connection portion 903 may adopt a sleeve-type structure to achieve length adjustment.
  • the calf connection portion 903 includes at least two calf connection sleeves, and at least two calf connection sleeves are sleeved together.
  • the shank attachment portion 903 may also employ other configurations to achieve length adjustment.
  • the lower leg connecting portion 903 can also adjust the length of the lower leg connecting portion 903 by at least two connecting rods, at least two connecting rods being screwed.

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  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种动力外骨骼，包括腿部部分和脚部部分。脚部部分包括脚底板（100）和脚底板驱动轮（200）。脚底板（100）包括相对的第一面（101）和第二面（102）；脚底板驱动轮（200）连接在腿部部分下方。脚底板（100）活动连接在脚底板驱动轮（200）上，并能够相对于脚底板驱动轮（200）翻转。在行走模式，脚底板（100）翻转至其第一面（101）朝上，并连接在脚底板驱动轮（200）的下方；在轮式移动模式，脚底板（100）翻转至其第二面（102）朝上，并连接在脚底板驱动轮（200）的上方。该动力外骨骼可以在行走模式和轮式移动模式两种模式之间进行切换，既可以用于辅助行走，也可以当作代步工具进行较快的轮式移动。

Description

动力外骨骼 技术领域
本公开的实施例涉及一种动力外骨骼。
背景技术
动力外骨骼，是穿戴在人体外侧的一种骨骼框架，由一系列电机系统或者液气压系统进行驱动，用于扩充或者增强一个人的生理机能(主要是四肢运动的能力，例如力量和耐力)。动力外骨骼具有两大方面的应用，一是军用，外骨骼穿戴在士兵的身上，使士兵能够负载更沉重的武器装备，使士兵能够长时间的进行负载行走，从而提高其作战能力；第二是民用，特别是用于残疾人或者老年人，帮助其拥有正常甚至超常的运动能力，特别是行走的能力。
动力外骨骼作为一种行走辅助的设备，在提高残疾人或者老年人生活质量上可以发挥巨大的作用，但是还缺乏一种有效将外骨骼和轮式移动相结合的动力外骨骼，无法实现快速移动。
发明内容
本公开的实施例提供一种动力外骨骼，可以进行轮式移动，实现快速移动。
本公开的实施例提供一种动力外骨骼，包括：用于固定于人体腿部并可带动人体腿部运动的腿部部分；以及用于固定于人体脚部并可带动人体脚部运动的脚部部分，其中，所述脚步部分包括：脚底板，包括相对的第一面和第二面；以及脚底板驱动轮，连接在所述腿部部分下方，所述脚底板活动连接在所述脚底板驱动轮上，并能够相对于所述脚底板驱动轮翻转，从而使所述脚部部分具有第一状态和第二状态，在所述第一状态，所述脚底板的第一面朝上，并连接在所述脚底板驱动轮的下方，以使得所述脚部部分处于所述行走模式；在所述第二状态，所述脚底板的第二面朝上，并连接在所述脚底板驱动轮的上方，以使得所述脚部部分处于所述轮式移动模式。
例如，在本公开实施例提供的动力外骨骼中，所述脚底板可拆卸地活动连接在所述脚底板驱动轮上。
例如，在本公开实施例提供的动力外骨骼中，所述脚部部分还包括：第一锁紧机构，被配置为能够将所述脚底板驱动轮与所述脚底板锁固或拆离，以使在所述第一状态时所述脚底板连接在所述脚底板驱动轮的下方；以及第二锁紧机构，被配置为能够将所述脚底板驱动轮与所述脚底板锁固或拆离，以使在所述第二状态时所述脚底板连接在所述脚底板驱动轮的上方。
例如，在本公开实施例提供的动力外骨骼中，所述第一锁紧机构包括：第一锁紧部，设置在所述脚底板驱动轮上；旋转连杆，包括第一端和第二端，所述第一端可旋转地连接在所述脚底板上；以及第二锁紧部，设置在所述旋转连杆的第二端，并能够与所述第一锁紧部配合将所述脚底板驱动轮与所述脚底板锁固或拆离，在所述第一状态，所述旋转连杆的第二端旋转至位于所述脚底板的第一面上方的第一位置，所述第二锁紧部与所述第一锁紧部配合进行锁固；在所述第二状态，所述第二锁紧部与所述第一锁紧部拆离，所述旋转连杆的第二端旋转至与所述脚底板齐平的第二位置。
例如，在本公开实施例提供的动力外骨骼中，所述第一锁紧部包括：设置于所述脚底板驱动轮上的凹槽；以及设置在所述凹槽内的固定柱，所述第二锁紧部包括：能够套设于所述固定柱外的内圈；能够容置于所述凹槽内的外圈，所述外圈套设于所述内圈之外，并与所述内圈之间形成间隙；设置在所述间隙内并可旋转的锁紧柱，所述锁紧柱能够在旋转至不同角度时改变所述间隙的间距；以及用于控制所述锁紧柱旋转的控制手柄，所述控制手柄与所述锁紧柱连接，所述锁紧柱旋转至第一角度时，所述间隙具有第一间距，所述锁紧柱将所述内圈抵顶于所述固定柱上，所述外圈抵顶于所述凹槽内壁上；所述锁紧柱旋转至第二角度时，所述间隙具有第二间距，所述第二间距小于所述第一间距，所述内圈与所述固定柱分离，所述外圈与所述凹槽内壁分离。
例如，在本公开实施例提供的动力外骨骼中，所述脚部部分还包括用于在所述第二状态时将所述旋转连杆的第二端固定于所述第二位置的旋转连杆固定结构。
例如，在本公开实施例提供的动力外骨骼中，所述第二锁紧机构包括： 锁紧固定轴，设置于所述脚底板驱动轮的上方；以及锁紧套，设置于所述脚底板上，并能够在所述脚底板的第二面朝上时，与所述锁紧固定轴配合进行锁固或拆离。
例如，在本公开实施例提供的动力外骨骼中，所述锁紧套包括：能够套设在所述锁紧固定轴上的套筒结构，所述套筒结构的一侧具有一弹性卡口，且所述弹性卡口的开口尺寸小于所述套筒的内径尺寸。
例如，在本公开实施例提供的动力外骨骼中，所述脚底板驱动轮包括驱动电机，所述驱动电机包括固定轴、设置于固定轴上的电机转子、以及设置于所述电机转子外、能够在所述电机转子带动下转动的轮体。
例如，在本公开实施例提供的动力外骨骼中，所述轮体为橡胶轮。
例如，在本公开实施例提供的动力外骨骼中，所述脚底板驱动轮的固定轴的两端连接有两根第一连接杆，所述两根第一连接杆之间连接有连接轴，所述腿部部分的下方设置有连接部，所述连接部与所述连接轴配合，将所述脚底板驱动轮可拆卸地连接在所述腿部部分的下方。
例如，在本公开实施例提供的动力外骨骼中，所述脚部部分还包括设置于所述脚底板的第一面上，用于与所述脚底驱动轮配合的脚底板支撑轮。
例如，在本公开实施例提供的动力外骨骼中，所述腿部部分包括：用于固定和支撑人体大腿部的大腿连接部；用于固定和支撑人体小腿部的小腿连接部；以及连接在所述大腿连接部和所述小腿连接部之间的膝关节驱动部。
例如，在本公开实施例提供的动力外骨骼中，所述大腿连接部和/或所述小腿连接部包括长度可调的结构。
本公开实施例所提供的外动力骨骼可以在行走模式和轮式移动模式两种模式之间进行切换，既可以用于辅助行走，也可以当作代步工具进行较快的轮式移动。这样的结构设计，使动力外骨骼能够帮助残疾人或者老人进行恢复锻炼，也能在适当的时候实现快速的移动，且该外动力骨骼的结构简单，可以进行快速切换。
附图说明
图1表示本公开实施例提供的动力外骨骼处于行走模式时的结构示意图；
图2表示本公开实施例提供的动力外骨骼处于行走模式时的另一个角度的结构示意图；
图3表示本公开实施例提供的动力外骨骼处于轮式移动模式时的结构示意图；
图4表示本公开实施例提供的动力外骨骼的脚部部分处于行走模式时的结构示意图；
图5表示本公开实施例提供的动力外骨骼的脚底板的结构示意图；以及
图6表示本公开实施例提供的动力外骨骼的脚部部分处于轮式移动模式时的结构示意图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例的附图，对本公开实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于所描述的本公开的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本公开保护的范围。
除非另作定义，此处使用的技术术语或者科学术语应当为本公开所属领域内具有一般技能的人士所理解的通常意义。本公开专利申请说明书以及权利要求书中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样，“一个”或者“一”等类似词语也不表示数量限制，而是表示存在至少一个。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也相应地改变。
本公开的实施例提供了一种动力外骨骼，可以进行轮式移动，进而实现快速移动的目的。
例如，如图1至图6所示，本公开实施例所提供的动力外骨骼包括用于连接在人体腿部并可带动人体腿部运动的腿部部分，以及用于固定于人体脚部并可带动人体脚部运动的脚部部分。脚部部分包括脚底板100和脚底板驱 动轮200。脚底板100包括相对的第一面101和第二面102；脚底板驱动轮200连接在腿部部分下方。
例如，脚底板100活动连接在脚底板驱动轮200上，并能够相对于脚底板驱动轮200翻转，而具有第一状态和第二状态。在第一状态，脚底板100翻转至其第一面101朝上，并连接在脚底板驱动轮200的下方，以使得脚部部分(或动力外骨骼)处于行走模式；在第二状态，脚底板100翻转至其第二面102朝上，并连接在脚底板驱动轮200的上方，以使得脚部部分(或动力外骨骼)处于轮式移动模式。
例如，本公开实施例中描述的下方是指动力外骨骼处于正常工作状态时接近于地面的方向，上方是指动力外骨骼处于正常工作状态时远离地面的方向。
例如，本公开实施例所提供的动力外骨骼，可以在行走模式和轮式移动模式两种模式之间进行切换，既可以用于辅助行走，也可以当作代步工具进行较快的轮式移动。若要切换至轮式移动模式时，可以将动力外骨骼的脚底板100翻转至其第一面101朝上，使得脚底板100连接在脚底板驱动轮200的上方，利用脚底板驱动轮200驱动，实现轮式移动模式；而若要切换至行走模式时，可以将动力外骨骼的脚底板100翻转至第二面102朝上，使得脚底板100连接在脚底板驱动轮200的下方，实现行走模式。
例如，这样的结构设计，使动力外骨骼能够帮助残疾人或者老人进行恢复锻炼，也能在适当的时候实现快速的移动。该外动力骨骼的结构简单，可以进行快速切换。
在本公开的实施例中，例如，脚底板100采用可拆卸地方式活动连接在脚底板驱动轮200上。
例如，脚部部分还包括第一锁紧机构和第二锁紧机构。第一锁紧机构能够将脚底板驱动轮200与脚底板100进行锁固或拆离，以使在第一状态时脚底板100连接在脚底板驱动轮200的下方。第二锁紧机构能够将脚底板驱动轮200与脚底板100进行锁固或拆离，以使在第二状态时脚底板100连接在脚底板驱动轮200的上方。
例如，采用上述方案，脚底板100采用可拆卸地方式活动连接在脚底板驱动轮200上，若要切换至行动模式时，可以将脚底板100从脚底板驱动轮 200上拆离，并利用第一锁紧机构将脚底板100固定在脚底板驱动轮200的下方，若要切换至轮式移动模式时，可以将脚底板100从脚底板驱动轮200上拆离，并利用第二锁紧机构将脚底板100固定在脚底板驱动轮200的上方。
需要说明的是，在本公开的其他实施例中，脚底板100与脚底板驱动轮200之间的活动连接方式还可以采用其他方式来实现，使得脚底板100能够翻转而实现第一状态和第二状态即可。
在本公开的实施例中，如图1至图6所示，例如，第一锁紧机构包括第一锁紧部301、旋转连杆302和第二锁紧部303。第一锁紧部301设置在脚底板驱动轮200上。旋转连杆302包括第一端和第二端，第一端可旋转地连接在脚底板100上。第二锁紧部303设置在旋转连杆302的第二端，并能够与第一锁紧部301配合进行锁固或拆离。
例如，在第一状态，旋转连杆302的第二端旋转至位于脚底板100的第一面101上方的第一位置，第二锁紧部303与第一锁紧部301配合进行锁固。例如，在第二状态，第二锁紧部303与第一锁紧部301拆离，旋转连杆302的第二端旋转至与脚底板100齐平的第二位置。
例如，采用上述方案，当需要切换至行走模式时，可以将设置在脚底板100上的旋转连杆302的第二端旋转至脚底板100的第一面101的上方，并利用旋转连杆302的第二端上的第二锁紧部303与脚底板驱动轮200上的第一锁紧部301配合进行紧固，而将脚底板100固定在脚底板驱动轮200的上方。
例如，当需要切换至轮式移动模式时，可以将旋转连杆302的第二端旋转至与脚底板100齐平的第二位置上，并利用旋转连杆302的第二端上的第二锁紧部303与脚底板驱动轮上的第一锁紧部301配合进行拆离，从而实现脚底板100与脚底板驱动轮200的拆离。
需要说明的是，在本公开的其他实施例中，第一锁紧机构的具体结构可以有多种，在此不再一一列举。
在本公开的实施例中，例如，如图4至6所示，第一锁紧部301包括设置于脚底板驱动轮200上的凹槽3011，以及设置在凹槽3011内的固定柱3012。第二锁紧部303包括内圈3031、外圈3032、锁紧柱3033以及控制手柄3034。内圈3031能够套设于固定柱3012外。外圈3032能够容置于凹槽 3011内，外圈3032套设于内圈3031之外，并与内圈3031之间形成间隙。锁紧柱3033设置在该间隙内并可旋转，锁紧柱3033能够在旋转至不同角度时改变该间隙的间距。控制手柄3034用于控制锁紧柱3033旋转，控制手柄3034与锁紧柱3033连接。
例如，锁紧柱3033旋转至第一角度时，间隙具有第一间距，锁紧柱3033将内圈3031抵顶于固定柱3012上，外圈3032被抵顶于凹槽3011内壁上。锁紧柱3033旋转至第二角度时，间隙具有第二间距，第二间距小于第一间距，内圈3031与固定柱3012分离，外圈3032与凹槽3011内壁分离。
例如，采用上述方案，第一锁紧部301采用内圈3031、外圈3032以及锁紧柱3033的结构，第二锁紧部303采用凹槽3011与固定柱3012的结构，当需要将第一锁紧部301与第二锁紧部303锁紧时，将旋转连杆302旋转至使得第一锁紧部301的内圈3031和外圈3032套设于脚底板驱动轮200上的凹槽3011内的固定柱3012上，转动控制手柄3034，使得位于内圈3031和外圈3032之间的锁紧柱3033转动，由于锁紧柱3033转动可以使得内圈3031和外圈3032发生形变，而使得内圈3031和外圈3032的间隙的间距变大，使得内圈3031与固定柱3012紧贴，外圈3032与凹槽3011的内壁紧贴，依靠内圈3031与固定柱3012之间以及外圈3032与凹槽3011的内壁之间的摩擦力实现锁固。
例如，当需要将第一锁紧部301与第二锁紧部303拆离时，反向转动控制手柄3034，使得位于内圈3031和外圈3032之间的锁紧柱3033反向转动，由于锁紧柱3033转动可以使得内圈3031和外圈3032发生形变，而使得内圈3031和外圈3032的间隙的间距变小，使得内圈3031与固定柱3012分离，外圈3032与凹槽3011的内壁分离，从而第一锁紧部301与第二锁紧部303拆离。
需要说明的是，在本公开的其他实施例中，第一锁紧部301和第二锁紧部303的结构并不仅局限于此，还可以采用其他方式实现锁固和拆离，例如，第一锁紧部301和第二锁紧部303还可以采用螺母螺纹连接方式进行锁固或拆离，在此不再一一列举。
还需要说明的是，在上述方案中，锁紧柱3033可以采用截面呈椭圆状或者矩形状的柱体结构来实现，或者也还可以采用其他结构，只要使得锁紧柱 3033能够在转动至不同角度时，改变内圈3031和外圈3032之间间隙的间距，而实现锁固和拆离即可。
在本公开的实施例中，例如，脚部部分还包括用于在第二状态时将旋转连杆302的第二端固定于第二位置的旋转连杆固定结构。上述方案，通过设置旋转连杆固定结构，可以当该动力外骨骼处于轮式移动模式时，对旋转连杆302进行固定，以避免旋转连杆302旋转而造成运动干涉。
例如，在本公开的实施例中，旋转连杆固定结构可以是采用脚底板上的绑带400来实现，该脚底板上的绑带400可以在行走模式下用于固定脚部，而在轮式移动模式下用来固定旋转连杆302，以禁止旋转连杆302向地面转动而发生运动干涉。
还需要说明的是，如图1至图6所示，在本公开的实施例中，例如设置有两个第一锁紧机构，两个第一锁紧机构的两个旋转连杆302可以从两个不同的位置对脚底板驱动轮200进行锁固，使得锁固更为牢靠。
此外，在本公开的实施例中，如图1至图6所示，例如，第二锁紧机构包括锁紧固定轴501和锁紧套502。锁紧固定轴501设置于脚底板驱动轮200的上方；锁紧套502设置于脚底板100上，并能够在脚底板100的第二面102朝上时，与锁紧固定轴501配合进行锁固或拆离。
例如，采用上述方案，当需要切换至轮式移动模式时，可以将第一锁紧部301与第二锁紧部303拆离之后，将脚底板100翻转至其第二面102朝上，利用脚底板100上的锁紧套502与脚底板驱动轮200上方的锁紧固定轴501配合，来实现锁固；当需要切换至行走模式时，可以将锁紧套502与锁紧固定轴501拆离，从而实现脚底板100与脚底板驱动轮200的拆离。
在本公开的实施例中，如图5所示，例如，锁紧套502包括能够套设在锁紧固定轴501上的套筒5021，套筒结构的一侧具有一弹性卡口5022，且弹性卡口5022的开口尺寸小于套筒5021的内径尺寸。
采用上述方案，锁紧固定轴501可以从锁紧套502上的卡口卡入锁紧套502的套筒结构内而实现锁固，从锁紧套502上的卡口拆出套筒结构而实现拆离。
应当理解的是，在本公开的其他实施例中，锁紧套502的结构可以采用多种方式实现，并不对此进行局限。例如，锁紧套502还可以设置卡扣等结 构与锁紧固定轴501配合进行锁固或拆离。
此外，在本公开的实施例中，例如，如图6所示，脚底板驱动轮200包括驱动电机201。驱动电机201包括固定轴2011和设置于固定轴2011上的电机转子2012，以及设置于电机转子2012外，能够在电机转子2012带动下转动的轮体2013。
在上述方案中，脚底板驱动轮200可以通过驱动电机201来驱动电机转子2012转动，进而通过电机转子2012转动来带动轮体2013转动。
应当理解的是，在本公开的其他实施例中，脚底板驱动轮200的具体结构可以有多种，在此并不对此进行限定。
此外，在本公开的实施例中，例如，轮体2013采用橡胶轮。当然可以理解的是，在实际应用中，对轮体2013的材料并不进行限定。
此外，在本公开的实施例中，例如，如图4和图6所示，脚底板驱动轮200的固定轴2011的两端连接有两根第一连接杆601，两根第一连接杆601之间连接有连接轴602，腿部部分的下方设置有连接部，连接部与连接轴602配合，将脚底板驱动轮200可拆卸地连接在腿部部分的下方。
在本公开的实施例中，如图4和图6所示，脚底板驱动轮200的固定轴2011的两端还连接有两根第二连接杆702，两根第二连接杆702之间连接有锁紧固定轴501。
例如，在本公开的实施例中，如图1至图6所示，脚部部分还包括设置于脚底板100的第一面101上、且用于与脚底驱动轮配合的脚底板支撑轮700。通过脚底板支撑轮700与脚底板驱动轮200配合，带动脚底板100进行轮式移动。
例如，在本公开的实施例中，如图1至图3所示，该动力外骨骼主要包括髂部部分、腿部部分和脚部部分。髂部部分包括髋关节电机801和髋部绑带802；腿部部分包括用于固定和支撑人体大腿部的大腿连接部901、用于将大腿连接部901与人体大腿部固定的大腿部绑带902、用于固定和支撑人体小腿部的小腿连接部903、用于将小腿连接部903与人体小腿部固定的小腿部绑带904以及连接在大腿连接部901和小腿连接部903之间的膝关节驱动部905。
例如，膝关机驱动部905可以采用膝关节电机。
例如，图2是本公开实施例所提供的动力外骨骼带动人体行走的一个角度的示意图。髋部绑带802用于将髋关节电机801与人体髋部固定连接，大腿部绑带902用于将外骨骼大腿连接部901与人体大腿固定连接，小腿部绑带904用于将外骨骼小腿连接部903与人体小腿固定连接。当动力外骨骼各处的电机以预定好的方式或者跟随实时控制信号，以各个关节处电机转动角度和时间的关系来模拟实际过程中人体关节转动关系，从而实现外骨骼带动人体进行行走的目的。
例如，在本公开的实施例中，小腿连接部903为长度可调的伸缩结构。
例如，采用上述方案，当脚底板100在行走模式和轮式移动模式两种模式之间切换时，由于脚底板100会翻转，而分别位于脚底板驱动轮200的上方或下方，如此会导致小腿部分与脚底板100之间的长度发生改变，因此，在本公开的实施例中，将大腿连接部901和小腿连接部903设计为长度可调的伸缩结构，在进行两种模式转换时，或者不同的用户使用时，由于不同用户的腿部长度不同以及大小腿长度比例不同，可以调整大腿连接部901的长度、小腿连接部903的长度以及通过膝关节电机调整小腿连接部903和大腿连接部901之间的角度，来调整在模式切换或者更换用户之后，仍适用于使用者，而实现动力外骨骼带动人体行走或轮式移动。
例如，在本公开的实施例中，小腿连接部903可以采用套筒式结构来实现长度调整。例如，小腿连接部903包括至少两个小腿连接套筒，至少两个小腿连接套筒套设在一起。应当理解的是，在本公开的其他实施例中，小腿连接部903还可以采用其他结构来实现长度调整。例如，小腿连接部903还可以利用至少两段连接杆，至少两段连接杆通过螺纹连接，来调整小腿连接部903的长度。
以上仅是本公开实施例示例性的实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开技术原理的前提下，还可以做出若干改进和替换，这些改进和替换也应视为本公开的保护范围。
本专利申请要求于2016年1月5日递交的中国专利申请第201610006157.4号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。

Claims (14)

  1. 一种动力外骨骼，包括：
    用于固定于人体腿部并可带动人体腿部运动的腿部部分；以及
    用于固定于人体脚部并可带动人体脚部运动的脚部部分，其中，所述脚步部分包括：
    脚底板，包括相对的第一面和第二面；以及
    脚底板驱动轮，连接在所述腿部部分下方，
    所述脚底板活动连接在所述脚底板驱动轮上，并能够相对于所述脚底板驱动轮翻转，从而使所述脚部部分具有第一状态和第二状态，
    在所述第一状态，所述脚底板的第一面朝上，并连接在所述脚底板驱动轮的下方，以使得所述脚部部分处于所述行走模式；
    在所述第二状态，所述脚底板的第二面朝上，并连接在所述脚底板驱动轮的上方，以使得所述脚部部分处于所述轮式移动模式。
  2. 根据权利要求1所述的动力外骨骼，其中，所述脚底板可拆卸地活动连接在所述脚底板驱动轮上。
  3. 根据权利要求1或2所述的动力外骨骼，其中，所述脚部部分还包括：
    第一锁紧机构，被配置为能够将所述脚底板驱动轮与所述脚底板锁固或拆离，以使在所述第一状态时所述脚底板连接在所述脚底板驱动轮的下方；以及
    第二锁紧机构，被配置为能够将所述脚底板驱动轮与所述脚底板锁固或拆离，以使在所述第二状态时所述脚底板连接在所述脚底板驱动轮的上方。
  4. 根据权利要求3所述的动力外骨骼，其中，所述第一锁紧机构包括：第一锁紧部，设置在所述脚底板驱动轮上；
    旋转连杆，包括第一端和第二端，所述第一端可旋转地连接在所述脚底板上；以及
    第二锁紧部，设置在所述旋转连杆的第二端，并能够与所述第一锁紧部配合将所述脚底板驱动轮与所述脚底板锁固或拆离，
    在所述第一状态，所述旋转连杆的第二端旋转至位于所述脚底板的第一面上方的第一位置，所述第二锁紧部与所述第一锁紧部配合进行锁固；
    在所述第二状态，所述第二锁紧部与所述第一锁紧部拆离，所述旋转连杆的第二端旋转至与所述脚底板齐平的第二位置。
  5. 根据权利要求4所述的动力外骨骼，其中，
    所述第一锁紧部包括：
    设置于所述脚底板驱动轮上的凹槽；以及
    设置在所述凹槽内的固定柱，
    所述第二锁紧部包括：
    能够套设于所述固定柱外的内圈；
    能够容置于所述凹槽内的外圈，所述外圈套设于所述内圈之外，并与所述内圈之间形成间隙；
    设置在所述间隙内并可旋转的锁紧柱，所述锁紧柱能够在旋转至不同角度时改变所述间隙的间距；以及
    用于控制所述锁紧柱旋转的控制手柄，所述控制手柄与所述锁紧柱连接，
    所述锁紧柱旋转至第一角度时，所述间隙具有第一间距，所述锁紧柱将所述内圈抵顶于所述固定柱上，所述外圈抵顶于所述凹槽内壁上；
    所述锁紧柱旋转至第二角度时，所述间隙具有第二间距，所述第二间距小于所述第一间距，所述内圈与所述固定柱分离，所述外圈与所述凹槽内壁分离。
  6. 根据权利要求4所述的动力外骨骼，其中，所述脚部部分还包括用于在所述第二状态时将所述旋转连杆的第二端固定于所述第二位置的旋转连杆固定结构。
  7. 根据权利要求3所述的动力外骨骼，其中，所述第二锁紧机构包括：
    锁紧固定轴，设置于所述脚底板驱动轮的上方；以及
    锁紧套，设置于所述脚底板上，并能够在所述脚底板的第二面朝上时，与所述锁紧固定轴配合进行锁固或拆离。
  8. 根据权利要求7所述的动力外骨骼，其中，所述锁紧套包括：能够套设在所述锁紧固定轴上的套筒结构，所述套筒结构的一侧具有一弹性卡口，且所述弹性卡口的开口尺寸小于所述套筒的内径尺寸。
  9. 根据权利要求1-8任一项所述的动力外骨骼，其中，所述脚底板驱动 轮包括驱动电机，所述驱动电机包括：固定轴、设置于固定轴上的电机转子、以及设置于所述电机转子外、能够在所述电机转子带动下转动的轮体。
  10. 根据权利要求9所述的动力外骨骼，其中，所述轮体为橡胶轮。
  11. 根据权利要求9所述的动力外骨骼，其中，所述脚底板驱动轮的固定轴的两端连接有两根第一连接杆，所述两根第一连接杆之间连接有连接轴，所述腿部部分的下方设置有连接部，所述连接部与所述连接轴配合，将所述脚底板驱动轮可拆卸地连接在所述腿部部分的下方。
  12. 根据权利要求1-11任一项所述的动力外骨骼，其中，所述脚部部分还包括脚底板支撑轮，所述脚底板支撑轮设置于所述脚底板的第一面上，用于与所述脚底驱动轮配合。
  13. 根据权利要求1-12任一项所述的动力外骨骼，其中，所述腿部部分包括：
    用于固定和支撑人体大腿部的大腿连接部；
    用于固定和支撑人体小腿部的小腿连接部；以及
    连接在所述大腿连接部和所述小腿连接部之间的膝关节驱动部。
  14. 根据权利要求13所述的动力外骨骼，其中，所述大腿连接部和/或所述小腿连接部包括长度可调的结构。
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