WO2018077256A1 - 一种具有重心自调节平衡功能的下肢辅助行动机器骨骼 - Google Patents

一种具有重心自调节平衡功能的下肢辅助行动机器骨骼 Download PDF

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WO2018077256A1
WO2018077256A1 PCT/CN2017/108216 CN2017108216W WO2018077256A1 WO 2018077256 A1 WO2018077256 A1 WO 2018077256A1 CN 2017108216 W CN2017108216 W CN 2017108216W WO 2018077256 A1 WO2018077256 A1 WO 2018077256A1
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center
gravity
bracket
hip
lower limb
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PCT/CN2017/108216
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English (en)
French (fr)
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刘美君
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刘美君
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    • 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
    • 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
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • 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
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • 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
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1269—Passive exercise driven by movement of healthy limbs
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • 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
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Definitions

  • the present invention relates to the field of exoskeleton machinery, and more particularly to a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function.
  • the technical problem to be solved by the present invention is: in order to overcome the problems existing in the above, a lower limb auxiliary action machine skeleton having a center of gravity self-adjusting balance function is provided, which has a reasonable structure, a simple structure, convenient use, and high degree of intelligence. Effectively solve the problem that the existing lower limb assisted action machine skeleton can not stabilize the weight of the person well.
  • a lower limb auxiliary action machine skeleton having a center of gravity self-adjusting balance function, comprising a base, a hip bracket, a calf bracket, a foot fixing plate and a driver, the base of the base
  • the surface is hinged by a first ball joint with a waist rotating seat
  • the center of gravity adjustment device is further disposed in the left, right, and rear directions of the waist rotating seat, and the center of gravity adjusting device includes two supporting blocks fixedly disposed on the waist rotating seat, and the first fixedly disposed on the waist rotating seat.
  • a motor, a lead screw, a weight slider and a buffer spring the rotating shaft of the first motor is a wire
  • One end of the rod is drivingly connected to each other, and the other end of the screw rod is rotatably connected to the two supporting plates respectively
  • the buffer spring is sleeved with the screw rod and fixedly connected with the two supporting blocks, the weight sliding The block is connected to the screw drive and abuts against the buffer spring;
  • the upper end of the hip bracket is hinged to the lower surface of the base by a second ball joint, and the outer surface of the second ball joint is fixedly mounted with a gravity sensor; a hydraulic cylinder is disposed between the hip bracket and the base. The upper end of the hydraulic cylinder is connected to the base through a third ball joint, and the lower end of the hydraulic cylinder is connected to the hip lifting seat through the fourth ball joint;
  • the upper end of the outer surface of the hip bracket is provided with a driver hinge seat, the lower surface of the hip bracket is provided with a knee joint connecting bump, and the lower end of the hip bracket is connected by a knee joint, a connecting groove and The upper ends of the calf brackets are hinged to each other;
  • the hip bracket is internally provided with a cavity, and a through slot is vertically disposed on the wall surface of the bracket, a compressed gas cylinder and a solenoid valve are disposed in the cavity, and an airbag is disposed inside the through slot, and the through slot is provided with useful a cover for protecting the airbag;
  • the outer surface of the calf support is fixedly mounted with an acceleration sensor and an annular connecting groove, the annular connecting groove is provided with a connecting ring, and the connecting ring is provided with a connecting block; the upper end of the driver is hinged with the driving hinge seat The lower end of the drive is hinged to the connecting block;
  • the driver includes a U-shaped outer casing, and the U-shaped outer casing is symmetrically disposed with a sliding slot; the U-shaped outer casing is fixedly mounted with a second motor, and the rotating shaft of the second motor is connected with a lead screw, and the screw thread is connected.
  • a screw nut is connected, and a lower surface of the lead screw nut is fixedly connected with a moving rod, and the lead screw nut is provided with a guiding rod slidably connected to the sliding slot.
  • a backpack is fixedly disposed on the waist rotating seat, and an outer surface of the backpack is provided with a switch, and a battery, a general controller and a processor are fixedly mounted on the inside of the backpack; and a lower surface of the base is fixedly mounted Gyro.
  • an elastic band is fixedly mounted on an outer surface of the lumbar rotating seat, the hip bracket, the lower leg bracket and the foot fixing seat.
  • the lower end of the calf support is hinged to the foot fixing plate by a fifth ball joint; the lower surface of the foot fixing plate is fixedly mounted with a plurality of pressure sensors.
  • the gyroscope, the gravity sensor, the acceleration sensor, the solenoid valve, the second motor, the first motor, and the pressure sensor are all connected to the overall controller through a circuit.
  • hip bracket the lower leg bracket and the foot fixing seat are both provided.
  • model of the total controller can be set according to the actual scene, and the installation and installation model is an AtmegalCAN128 single-chip microcomputer.
  • model of the processor can be set according to the actual scene, and the installation model is intel-Core-i7-6700K.
  • the pressure sensors are respectively disposed in four directions of front, rear, left, and right of the foot fixing plate.
  • a lower limb auxiliary action machine skeleton with a center of gravity self-adjusting balance function comprising a base, a hip bracket, a calf bracket, a foot fixing plate and a driver, wherein the base and the hip bracket, the calf bracket, The foot fixing plate is connected by the ball joint.
  • the center of gravity adjustment device is arranged on the base when the gyroscope is detected
  • the center of gravity can be adjusted in time to avoid falling; the structure is reasonable, the structure is simple, the use is convenient, and the degree of intelligence is high, which effectively solves the problem that the bone of the existing lower limb assisted action machine can not stabilize the weight of the person well.
  • FIG. 1 is a schematic view showing the overall structure of a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention
  • FIG. 2 is a schematic structural view of a base of a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention
  • FIG. 3 is a schematic structural view of a center of gravity adjusting device for a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention
  • FIG. 4 is a schematic view showing a connection structure between a base and a hip support of a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention
  • FIG. 5 is a schematic view showing a connection structure of a calf support and a foot fixing plate of a lower limb auxiliary action machine skeleton having a center of gravity self-adjusting balance function according to the present invention
  • FIG. 6 is a schematic view showing a connection structure of a hip bracket and a calf bracket of a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention
  • FIG. 7 is a schematic cross-sectional structural view of a hip support of a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention
  • FIG. 8 is a schematic structural view of a connecting ring of a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention
  • FIG. 9 is a front view showing the structure of a driver of a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention.
  • FIG. 10 is a side view showing the structure of a driver of a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention
  • FIG. 11 is a schematic view showing the connection structure of electronic components of a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function according to the present invention.
  • a lower limb assisted action machine skeleton having a center of gravity self-adjusting balance function as shown in FIG. 1 includes a base 1, a hip bracket 2, a lower leg bracket 3, a foot fixing plate 4, and a driver 5, the upper surface of the base 1
  • the waist rotating seat 12 is hinged by the first ball joint 16;
  • the left, right and rear directions of the waist rotating seat 12 are respectively provided with a center of gravity adjusting device 17, and the center of gravity adjusting device 17 includes two pieces fixedly disposed on the waist rotating seat 12.
  • the rotating shaft of the first motor 171 is mutually coupled with one end of the lead screw 172
  • the other end of the lead screw 172 is rotatably connected to the two supporting plates 170.
  • the buffer spring 174 is sleeved with the lead screw 172 and fixedly connected to the two supporting blocks 170.
  • the weight slider 173 is in driving connection with the lead screw 172 and abutting against the buffer spring 174; in one possible embodiment, the center of gravity adjustment device 17 may be disposed on the hip support 2 and/or the lower leg support 3.
  • the waist rotating seat 12 is fixedly disposed with a backpack 14, the outer surface of the backpack 14 is provided with a switch 15, the interior of the backpack 14 is fixedly mounted with a battery 143, a total controller 142 and a processor 141;
  • a gyroscope 11 is fixedly mounted on the lower surface of the base 1.
  • the upper end of the hip bracket 2 is hinged to the lower surface of the base 1 through a second ball joint 22, and the outer surface of the second ball joint 22 is fixedly mounted with a gravity sensor 21;
  • a hydraulic cylinder 50 is disposed between the bracket 2 and the base 1.
  • the upper end of the hydraulic cylinder 50 is connected to the base 1 through a third ball joint 51.
  • the lower end of the hydraulic cylinder 50 is connected to the hip lifting seat 25 through a fourth ball joint 52. ;
  • the upper end of the outer surface of the hip bracket 2 is provided with a driver hinge seat 24, and the lower surface of the hip bracket 2 is provided with a knee joint connecting bump 23.
  • the lower end of the hip bracket 2 is hinged to the upper end of the calf support 3 through the knee joint connecting projection 23 and the connecting groove 31.
  • the hip bracket 2 is internally provided with a cavity 260 , and a through slot 290 is vertically disposed on the wall surface of the bracket.
  • the cavity 260 is provided with a compressed gas cylinder 26 and a solenoid valve 27 .
  • An airbag 28 is disposed inside the through slot 290, and a cover plate 29 for protecting the airbag 28 is disposed on the through slot 290; when the person is detected to fall, the solenoid valve 27 is opened, and the airbag 28 is ejected to protect the user.
  • the airbag 28 can also be disposed on the calf support 3, the base 1 or the backpack 14.
  • the outer surface of the calf support 3 is fixedly mounted with an acceleration sensor 33 and an annular connecting groove 34.
  • the annular connecting groove 34 is provided with a connecting ring 36.
  • the connecting ring 36 is provided with a connecting ring 36.
  • the presence of the connecting ring 36 makes the small-leg rotation of the lower leg not restricted, of course
  • the connecting ring 36 can also be replaced by a ball joint.
  • the driver 5 includes a U-shaped outer casing 53.
  • the U-shaped outer casing 53 is symmetrically disposed with a sliding slot 531.
  • the U-shaped outer casing 53 is fixedly mounted with a second motor 54.
  • the spindle drive of the two motor 54 is connected with a lead screw 55, and the lead screw 55 is screwed to the lead screw nut 56.
  • the lower surface of the lead screw nut 56 is fixedly connected with a moving rod 57, and the screw nut 56 is disposed on the screw nut 56.
  • Have The guide rod 561 is slidably coupled to the chute 531.
  • the driver's role is to power the knee joint.
  • the outer surfaces of the lumbar rotation seat 12, the hip support 2, the lower leg support 3, and the foot support 4 are fixedly mounted with elastic straps for connection with a human body, of course,
  • an annular snap ring can be used to connect to the human body.
  • the lower end of the calf support 3 is hinged to the foot fixing plate 4 via the fifth ball joint 32; the lower surface of the foot fixing plate 4 is fixedly mounted with a plurality of pressure sensors 42, pressure sensors 42 is used to detect the force of the sole of the foot, and the auxiliary gyroscope detects the offset of the center of gravity.
  • the gyroscope 11, the gravity sensor 21, the acceleration sensor 33, the solenoid valve 27, the second motor 54, the first motor 171, and the pressure sensor 42 are all connected to the overall controller 142 by a circuit.
  • the hip support 2, the lower leg support 3, and the foot support base 4 are both disposed. They are symmetrically disposed in the front and rear directions of the left and right sides of the human body or separately disposed on the human body.
  • the total controller 142 is of the Atmegal CAN 128 microcontroller.
  • the model of the processor 141 is an intel-core-i7-6700K.
  • the pressure sensors 42 are respectively disposed in the front, rear, left, and right directions of the foot fixing plate 4, or are arranged on the front and rear sides, and any force can be detected.
  • the invention relates to a lower limb auxiliary action machine skeleton with a gravity center self-adjusting balance function, comprising a base, a hip bracket, a calf bracket, a foot fixing plate and a driver, wherein the base and the hip bracket, the calf bracket and the foot
  • the fixed plate is connected by a ball joint.

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Abstract

一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，包括底座（1）、髋部支架（2）、小腿支架（3）、脚部固定板（4）以及驱动器（5），底座（1）铰接有腰部转动座（12）；腰部转动座（12）上设置有重心调节装置（17），重心调节装置（17）包括支撑块（170）、第一电机（171）、丝杠（172）、配重滑块（173）以及缓冲弹簧（174）；髋部支架（2）的上端是通过第二球铰（22）与底座（1）的下表面铰接；髋部支架（2）的下端是与小腿支架（3）上端相互铰接，小腿支架（3）下端是与脚部固定板（4）相互连接。该具有重心自调节平衡功能的下肢辅助行动机器骨骼，其结构合理，具有结构简单、使用方便、智能化程度高等优点，有效解决现有下肢辅助行动机器骨骼不能很好地稳定人体重心的问题。

Description

一种具有重心自调节平衡功能的下肢辅助行动机器骨骼 技术领域
本发明涉及外骨骼机械领域，尤其是涉及一种具有重心自调节平衡功能的下肢辅助行动机器骨骼。
背景技术
机械外骨骼，又名“外骨骼装甲”或“外骨骼机甲”，其结构原理类似昆虫的外骨骼，通过穿戴在人身上，给人提供额外的动力增强人体机能并提供防护。现有的下肢辅助行走外骨骼机械已基本能给人提供额外的动力，但其本身与人体连接，当机械跟不上人体运动的节奏时容易导致重心不稳，但目前的下肢辅助行走外骨骼机械大都没有中心自调节机构，很容易摔倒，所以有必要发明一种具有重心自调节平衡功能的下肢辅助行动机器骨骼。
发明内容
本发明要解决的技术问题是：为了克服上述中存在的问题，提供了一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，其结构合理，具有结构简单、使用方便、智能化程度高等优点，有效解决现有下肢辅助行动机器骨骼不能很好地稳定人体重心的问题。
本发明解决其技术问题所采用的技术方案是：一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，包括底座、髋部支架、小腿支架、脚部固定板以及驱动器，所述底座的上表面通过第一球铰铰接有腰部转动座；
所述腰部转动座的左、右、后三个方向上还分别设置有重心调节装置，重心调节装置包括固定设置在腰部转动座上的两块支撑块、固定设置在腰部转动座上的第一电机、丝杠、配重滑块以及缓冲弹簧；所述第一电机的转轴是与丝 杠的一端相互传动连接，丝杠的另一端是与两块支撑板分别相互转动连接；所述的缓冲弹簧是与丝杠套设并与两块支撑块相互固定连接，所述的配重滑块是与丝杠传动连接并与缓冲弹簧相互抵接；
所述髋部支架的上端是通过第二球铰与底座的下表面铰接，所述第二球铰的外表面固定安装有重力传感器；所述的髋部支架与底座之间设置有液压缸，液压缸的上端是通过第三球铰与底座连接，液压缸的下端是通过第四球铰与髋部抬升座连接；
所述髋部支架的外表面上端设有驱动器铰接座，所述髋部支架的下表面设有膝关节连接凸块，所述髋部支架的下端是通过膝关节连接凸块、连接凹槽与小腿支架上端相互铰接；
所述髋部支架内部设有空腔，并在支架壁面上竖直设置有通槽，空腔内设置有压缩气瓶、电磁阀，并在通槽内侧设置有安全气囊，通槽上设置有用于保护安全气囊的盖板；
所述小腿支架的外表面固定安装有加速度传感器以及开设有环形连接槽，所述环形连接槽上设置有连接环，连接环上设置有连接块；所述驱动器的上端是与驱动器铰接座相互铰接，驱动器的下端是与连接块相互铰接；
所述的驱动器包括一个U字形外壳，U字形外壳上对称设置有滑槽；U字形外壳的内部固定安装有第二电机，所述第二电机的转轴传动连接有丝杠，所述丝杠螺纹连接有丝杠螺母，所述丝杠螺母的下表面固定连接有移动杆，所述的丝杠螺母上设置有滑动连接于滑槽的导向杆。
进一步地，所述腰部转动座上固定设置有背包，所述背包的外表面设有开关，所述背包的内部固定安装有蓄电池、总控制器和处理器；所述底座的下表面固定安装有陀螺仪。
进一步地，所述腰部转动座、髋部支架、小腿支架和脚部固定座的外表面均固定安装有弹性束缚带。
进一步地，所述小腿支架的下端是与脚部固定板通过第五球铰相互铰接；所述脚部固定板的下表面固定安装有若干压力传感器。
进一步地，所述陀螺仪、重力传感器、加速度传感器、电磁阀、第二电机、第一电机和压力传感器均通过电路连接于总控制器。
进一步地，所述髋部支架、小腿支架和脚部固定座均设置有两个。
进一步地，所述总控制器的型号可以根据实际场景需要，选用设置安装型号为AtmegalCAN128单片机。
进一步地，所述处理器的型号可以根据实际场景需要，选用设置安装型号为intel-酷睿-i7-6700K。
进一步地，所述的压力传感器是分别设置在脚部固定板的前后左右四个方向位置。
本发明的有益效果是：一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，包括底座、髋部支架、小腿支架、脚部固定板以及驱动器，其中的底座与髋部支架、小腿支架、脚部固定板通过球铰连接，当下肢辅助行动机器骨骼跟不上人体运动节奏时可减少机械对人体活动的限制，利于人体稳定自身重心；在底座上设置有重心调节装置，当陀螺仪检测到重心不稳时能及时调整重心，避免摔倒；其结构合理，具有结构简单、使用方便、智能化程度高等优点，有效解决现有下肢辅助行动机器骨骼不能很好地稳定人体重心的问题。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的整体结构示意图；
图2是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的底座结构示意图；
图3是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的重心调节装置结构示意图；
图4是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的底座与髋部支架连接结构示意图；
图5是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的小腿支架与脚部固定板连接结构示意图；
图6是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的髋部支架与小腿支架连接结构示意图；
图7是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的髋部支架剖面结构示意图；
图8是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的连接环结构示意图；
图9是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的驱动器主视结构示意图；
图10是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的驱动器侧视结构示意图；
图11是本发明所述一种具有重心自调节平衡功能的下肢辅助行动机器骨骼的电子元件连接结构示意图。
附图中标记分述如下：1、底座，11、陀螺仪，12、腰部转动座，14、背包，141、处理器，142、总控制器，143、蓄电池，15、开关，16、第一球铰，17、重心调节装置，170、支撑块，171、第一电机，172、丝杠、173、配重滑 块，174、缓冲弹簧，2、髋部支架，21、重力传感器，22、第二球铰，23、膝关节连接凸块，24、驱动器铰接座，25、髋部抬升座，26、压缩气瓶，260、空腔，27、电磁阀，28、安全气囊，29、盖板，290、通槽，3、小腿支架，31、凹槽，32、第五球铰，33、加速度传感器，34、环形连接槽，35、连接块，36、连接环，4、脚部固定板，42、压力传感器，5、驱动器，50、液压缸，51、第三球铰，52、第四球铰，53、U字形外壳，531、滑槽，54、第二电机，55、丝杠，56、丝杠螺母，561、导向杆，57、移动杆。
具体实施方式
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。
如图1所示的一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，包括底座1、髋部支架2、小腿支架3、脚部固定板4以及驱动器5，所述底座1的上表面通过第一球铰16铰接有腰部转动座12；
如图2、图3所示，所述腰部转动座12的左、右、后三个方向上还分别设置有重心调节装置17，重心调节装置17包括固定设置在腰部转动座12上的两块支撑块170、固定设置在腰部转动座12上的第一电机171、丝杠172、配重滑块173以及缓冲弹簧174；所述第一电机171的转轴是与丝杠172的一端相互传动连接，丝杠172的另一端是与两块支撑板170分别相互转动连接；所述的缓冲弹簧174是与丝杠172套设并与两块支撑块170相互固定连接，所述的配重滑块173是与丝杠172传动连接并与缓冲弹簧174相互抵接；在一种可能的实施例中，重心调节装置17可能设置在髋部支架2和/或小腿支架3上。
所述腰部转动座12上固定设置有背包14，所述背包14的外表面设有开关15，所述背包14的内部固定安装有蓄电池143、总控制器142和处理器141； 所述底座1的下表面固定安装有陀螺仪11。
如图4所示，所述髋部支架2的上端是通过第二球铰22与底座1的下表面铰接，所述第二球铰22的外表面固定安装有重力传感器21；所述的髋部支架2与底座1之间设置有液压缸50，液压缸50的上端是通过第三球铰51与底座1连接，液压缸50的下端是通过第四球铰52与髋部抬升座25连接；
所述髋部支架2的外表面上端设有驱动器铰接座24，所述髋部支架2的下表面设有膝关节连接凸块23。
如图6所示，所述髋部支架2的下端是通过膝关节连接凸块23、连接凹槽31与小腿支架3上端相互铰接。
如图6、图7所示，所述髋部支架2内部设有空腔260，并在支架壁面上竖直设置有通槽290，空腔260内设置有压缩气瓶26、电磁阀27，并在通槽290内侧设置有安全气囊28，通槽290上设置有用于保护安全气囊28的盖板29；当检测到人跌倒时电磁阀27被打开，安全气囊28弹出保护使用人员，在一种实施例中，安全气囊28也可设置在小腿支架3、底座1或者背包14上。
如图5、图6所示，所述小腿支架3的外表面固定安装有加速度传感器33以及开设有环形连接槽34，所述环形连接槽34上设置有连接环36，连接环36上设置有连接块35；所述驱动器5的上端是与驱动器铰接座24相互铰接，驱动器5的下端是与连接块35相互铰接，连接环36的存在使得小腿小幅度的转动不会受到限制，当然在一种可能的实施例中，连接环36也可由球铰代替。
如图9、图10所示，所述的驱动器5包括一个U字形外壳53，U字形外壳53上对称设置有滑槽531；U字形外壳53的内部固定安装有第二电机54，所述第二电机54的转轴传动连接有丝杠55，所述丝杠55螺纹连接有丝杠螺母56，所述丝杠螺母56的下表面固定连接有移动杆57，所述的丝杠螺母56上设置有 滑动连接于滑槽531的导向杆561。驱动器的作用在于为膝关节处提供动力。
在一种实施例中，所述腰部转动座12、髋部支架2、小腿支架3和脚部固定座4的外表面均固定安装有弹性束缚带用于与人的身体相连接，当然在另一种可能的实施例中可用环形的卡环与人体连接。
在一种实施例中，所述小腿支架3的下端是与脚部固定板4通过第五球铰32相互铰接；所述脚部固定板4的下表面固定安装有若干压力传感器42，压力传感器42用于检测脚掌受力情况，辅助陀螺仪检测重心的偏移情况。
所述陀螺仪11、重力传感器21、加速度传感器33、电磁阀27、第二电机54、第一电机171和压力传感器42均通过电路连接于总控制器142。
在一种实施例中，所述髋部支架2、小腿支架3和脚部固定座4均设置有两个，他们对称设置在人体左右两侧前后两个方向或者单独的设置再人体上。
在一种实施例中，所述总控制器142的型号为AtmegalCAN128单片机。
在一种实施例中，所述处理器141的型号为intel-酷睿-i7-6700K。
在一种实施例中，所述的压力传感器42是分别设置在脚部固定板4的前后左右四个方向位置，或者前、后两侧布置，凡是能检测脚掌受力情况即可。
本发明所述的一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，包括底座、髋部支架、小腿支架、脚部固定板以及驱动器，其中的底座与髋部支架、小腿支架、脚部固定板通过球铰连接，当下肢辅助行动机器骨骼跟不上人体运动节奏时可减少机械对人体活动的限制，利于人体稳定自身重心；在底座上设置有重心调节装置，当陀螺仪检测到重心不稳时能及时调整重心，避免摔倒；其结构合理，具有结构简单、使用方便、智能化程度高等优点，有效解决现有下肢辅助行动机器骨骼不能很好地稳定人体重心的问题。
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。 本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。

Claims (7)

  1. 一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，包括底座(1)、髋部支架(2)、小腿支架(3)、脚部固定板(4)以及驱动器(5)，所述底座(1)的上表面通过第一球铰(16)铰接有腰部转动座(12)，其特征在于：
    所述腰部转动座(12)的左、右、后三个方向上还分别设置有重心调节装置(17)，重心调节装置(17)包括固定设置在腰部转动座(12)上的两块支撑块(170)、固定设置在腰部转动座(12)上的第一电机(171)、丝杠(172)、配重滑块(173)以及缓冲弹簧(174)；所述第一电机(171)的转轴是与丝杠(172)的一端相互传动连接，丝杠(172)的另一端是与两块支撑板(170)分别相互转动连接；所述的缓冲弹簧(174)是与丝杠(172)套设并与两块支撑块(170)相互固定连接，所述的配重滑块(173)是与丝杠(172)传动连接并与缓冲弹簧(174)相互抵接；
    所述髋部支架(2)的上端是通过第二球铰(22)与底座(1)的下表面铰接，所述第二球铰(22)的外表面固定安装有重力传感器(21)；所述的髋部支架(2)与底座(1)之间设置有液压缸(50)，液压缸(50)的上端是通过第三球铰(51)与底座(1)连接，液压缸(50)的下端是通过第四球铰(52)与髋部抬升座(25)连接；
    所述髋部支架(2)的外表面上端设有驱动器铰接座(24)，所述髋部支架(2)的下表面设有膝关节连接凸块(23)，所述髋部支架(2)的下端是通过膝关节连接凸块(23)、连接凹槽(31)与小腿支架(3)上端相互铰接；
    所述髋部支架(2)内部设有空腔(260)，并在支架壁面上竖直设置有通槽(290)，空腔(260)内设置有压缩气瓶(26)、电磁阀(27)，并在通槽(290)内侧设置有安全气囊(28)，通槽(290)上设置有用于保护安全气囊(28)的盖板(29)；
    所述小腿支架(3)的外表面固定安装有加速度传感器(33)以及开设有环形连接槽(34)，所述环形连接槽(34)上设置有连接环(36)，连接环(36)上设置有连接块(35)；所述驱动器(5)的上端是与驱动器铰接座(24)相互铰接，驱动器(5)的下端是与连接块(35)相互铰接；
    所述的驱动器(5)包括一个U字形外壳(53)，U字形外壳(53)上对称设置有滑槽(531)；U字形外壳(53)的内部固定安装有第二电机(54)，所述第二电机(54)的转轴传动连接有丝杠(55)，所述丝杠(55)螺纹连接有丝杠螺母(56)，所述丝杠螺母(56)的下表面固定连接有移动杆(57)，所述的丝杠螺母(56)上设置有滑动连接于滑槽(531)的导向杆(561)。
  2. 根据权利要求1所述的一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，其特征在于：所述腰部转动座(12)上固定设置有背包(14)，所述背包(14)的外表面设有开关(15)，所述背包(14)的内部固定安装有蓄电池(143)、总控制器(142)和处理器(141)；所述底座(1)的下表面固定安装有陀螺仪(11)。
  3. 根据权利要求1所述的一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，其特征在于：所述腰部转动座(12)、髋部支架(2)、小腿支架(3)和脚部固定座(4)的外表面均固定安装有弹性束缚带。
  4. 根据权利要求2所述的一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，其特征在于：所述小腿支架(3)的下端是与脚部固定板(4)通过第五球铰(32)相互铰接；所述脚部固定板(4)的下表面固定安装有若干压力传感器(42)。
  5. 根据权利要求4所述的一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，其特征在于：所述陀螺仪(11)、重力传感器(21)、加速度传感器(33)、 电磁阀(27)、第二电机(54)、第一电机(171)和压力传感器(42)均通过电路连接于总控制器(142)。
  6. 根据权利要求1所述的一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，其特征在于：所述髋部支架(2)、小腿支架(3)和脚部固定座(4)均设置有两个。
  7. 根据权利要求5所述的一种具有重心自调节平衡功能的下肢辅助行动机器骨骼，其特征在于：所述的压力传感器(42)是分别设置在脚部固定板(4)的前后左右四个方向位置。
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