WO2022222501A1 - 一种新型自平衡外骨骼机器人 - Google Patents

一种新型自平衡外骨骼机器人 Download PDF

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Publication number
WO2022222501A1
WO2022222501A1 PCT/CN2021/137929 CN2021137929W WO2022222501A1 WO 2022222501 A1 WO2022222501 A1 WO 2022222501A1 CN 2021137929 W CN2021137929 W CN 2021137929W WO 2022222501 A1 WO2022222501 A1 WO 2022222501A1
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WO
WIPO (PCT)
Prior art keywords
flexion
assembly
extension
movement
rod
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PCT/CN2021/137929
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English (en)
French (fr)
Inventor
吴新宇
何勇
刘静帅
李金科
马跃
李锋
孙健铨
董遥
连鹏晨
Original Assignee
中国科学院深圳先进技术研究院
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Publication of WO2022222501A1 publication Critical patent/WO2022222501A1/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
    • 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
    • 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
    • A61H1/0266—Foot
    • 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
    • A61H2201/1207—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
    • A61H2201/14—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
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors

Definitions

  • the invention belongs to the technical field of robots, and relates to a novel self-balancing exoskeleton robot.
  • the lower extremity exoskeleton is a wearable bionic robot similar in structure to the lower extremities of the human body. It can assist the wearer to achieve lower extremity rehabilitation, assist walking, and enhance weight-bearing functions. It has broad application prospects in the fields of rehabilitation, civil and military. With the increasingly serious problem of population aging in my country and the increasing number of people with severe walking dysfunction such as stroke hemiplegia and spinal cord injury paraplegia, Chinese families and the government will face very severe pressure on the elderly and medical care.
  • Existing medical theory and clinical practice point out that in addition to necessary surgery and drug treatment, scientific rehabilitation training is an important means for paralyzed patients to restore their walking function.
  • the lower limb rehabilitation exoskeleton robot can effectively assist patients in sports rehabilitation training, and can also provide exercise assistance for the elderly with inconvenience.
  • the existing powered lower-limb exoskeleton robots mainly have problems such as less freedom of movement, insufficient number of drives, single functional structure, large leg inertia, insufficient rigidity of the overall structure, and lack of self-balancing walking ability, which lead to wearing comfort. Poor, low motor assist ability, and need to use crutches or other auxiliary support equipment to maintain movement balance, the wearer's upper limb strength and response ability are high, so it is not suitable for hemiplegia, quadriplegia, elderly and frail, Upper limb weakness and other types of people.
  • the present invention proposes a new type of self-balancing exoskeleton robot, which is suitable for people with lower limb disability or both upper and lower limb disabilities, such as hemiplegia, paraplegia, and quadriplegia, and assists the wearer to stand up and sit Training for daily activities such as descending, walking, leg raising, and going up and down stairs.
  • the back support control component, the hip joint component, the knee joint component, the ankle joint component and the foot support component are connected in sequence;
  • the hip joint assembly realizes hip flexion/extension, hip adduction/abduction, hip internal rotation/external rotation; /plantar flexion and ankle varus/valgus movement; foot rest assembly is used to support the body.
  • the above-mentioned back support control assembly includes a back support plate, a support fixing plate, a power supply and a main control, a support bracket and a carbon fiber butt guard;
  • the back support plate, the power supply and the main control are respectively arranged on the front and back of the support fixing plate, and the support bracket and the carbon fiber butt guard are arranged at the lower part of the support bracket.
  • hip joint assembly includes symmetrically arranged left hip joint and right hip joint;
  • the right hip joint includes an adduction/abduction assembly, an internal rotation/external rotation assembly, an anterior flexion/extension assembly, an upper-layer remote rotation mechanism assembly and a lower-layer remote rotation mechanism assembly;
  • the adduction/abduction components of the left hip joint and the right hip joint are connected to each other to form a hip joint fixation structure, the output end of the adduction/abduction component is connected to the internal rotation/external rotation component, and the internal rotation/external rotation component is connected.
  • the output end of the internal rotation/external rotation assembly is connected to the upper remote rotation mechanism assembly, and the flexion/retraction assembly is connected to the upper remote rotation mechanism assembly and the output rod of the lower remote rotation mechanism assembly , the output end of the flexion/retraction component is connected with the thigh rod.
  • the adduction/abduction component drives the internal rotation/external rotation component, the flexion/extension component, the upper remote rotation mechanism component and the lower remote rotation mechanism component to generate adduction or abduction rotation; the internal rotation/external rotation component passes through the upper layer
  • the remote rotation mechanism component and the lower remote rotation mechanism component drive the flexion/extension component to perform internal rotation or external rotation; the flexion/extension component drives the thigh rod to perform forward flexion or extension movement.
  • the above-mentioned adduction/abduction assembly includes an adduction/abduction drive mount, an adduction/abduction auxiliary mount, and an adduction/abduction drive unit, and the adduction/abduction drive unit is fixed to the adduction/extraction.
  • the power output end of the adducting/abducting driving unit is connected with the adducting/abducting output motion end cover, and the adducting/abducting output motion end cover is supported by the bearing. seat connection.
  • the above-mentioned internal rotation/external rotation assembly includes internal rotation/external rotation driving unit, the internal rotation/external rotation driving unit is fixed on the internal rotation/external rotation auxiliary fixing seat, and the internal rotation/external rotation auxiliary fixed seat is connected with the adduction/external rotation auxiliary fixing seat.
  • the abduction output movement end cap is connected; the inner/outer rotation drive unit includes the inner/outer rotation output movement end cap.
  • the above-mentioned internal rotation/external rotation assembly further includes a support rod of a fixed seat, and the internal rotation/external rotation auxiliary fixed seat is connected to the adducted/abducted output movement end cover through the fixed base support rod.
  • the above-mentioned flexion/extension assembly includes a hip joint flexion and extension output end cover, an anterior flexion/extension drive mount, an auxiliary mount, and an anterior flexion/extension drive unit; the anterior flexion/extension drive unit is fixed in the front.
  • the output end of the forward flexion/extension drive unit is a hip joint flexion and extension motion output end cover, and the hip joint flexion and extension motion output end cover is connected with the thigh rod.
  • the above-mentioned upper-layer remote rotation mechanism assembly includes a transmission rod, an upper longitudinal long curved rod, an upper longitudinal short curved rod, an upper horizontal long curved rod, and an upper horizontal short curved rod;
  • the lower remote rotation mechanism assembly includes a lower longitudinal long curved rod.
  • the other ends of the upper horizontal long curved rod and the lower horizontal long curved rod are respectively hinged on the upper and lower sides of the flexion/retraction driving fixed seat; / On the upper and lower sides of the abduction output motion end cover, the other ends of the upper longitudinal long curved rod and the lower longitudinal long curved rod are hinged with one end of the upper horizontal short curved rod and the lower horizontal short curved rod respectively. The other end of the horizontal short curved rod is hinged on the upper and lower sides of the auxiliary fixing base respectively;
  • the two ends of the above-mentioned transmission rod are hinged with the longitudinal short curved rods on the inner/outer rotation output movement end cover respectively through hinge pins and bearings.
  • the hinge point of the above-mentioned upper horizontal long curved rod and the upper longitudinal short curved rod and the hinge point of the lower horizontal long curved rod and the lower longitudinal short curved rod penetrate into a pin;
  • the upper longitudinal long curved rod and the upper horizontal short curved rod The hinge point of the lower longitudinal curved rod and the hinge point of the lower horizontal short curved rod penetrate a pin shaft;
  • the hinge point of the upper longitudinally long curved rod and the upper horizontally long curved rod and the hinged point of the lower longitudinally long curved rod and the lower horizontally long curved rod pass through a pin shaft.
  • an auxiliary fixed shaft is provided between the above-mentioned upper horizontal short curved rod and the lower horizontal short curved rod; an auxiliary fixed shaft is provided between the upper horizontal long curved rod and the lower horizontal long curved rod.
  • adduction/abduction driving unit internal rotation/external rotation driving unit, and forward flexion/backward extension driving unit are servo motors.
  • knee joint assembly includes a knee joint drive and transmission assembly, a thigh rod adaptive leg binding assembly and a calf rod adaptive leg binding assembly;
  • the knee joint drive and transmission assembly includes a thigh rod, a calf rod, a flexion and extension transmission rod, and a knee joint fixing seat,
  • the thigh rod and the calf rod are connected by the upper and lower leg fixed hinges, and the knee joint drive unit is arranged on the thigh rod near the hip joint.
  • the power output end of the knee joint drive unit is the knee joint motion output end cover, the output end of the knee joint motion output end cover is hinged with one end of the flexion and extension transmission rod, the other end of the flexion and extension transmission rod is hinged with one end of the knee joint fixing seat, and the knee joint The other end of the fixed seat is fixed on the calf rod.
  • the knee joint drive is installed on the exoskeleton thigh rod, the position of the center of gravity is raised, and the knee joint flexion and extension motion is transmitted through the flexion and extension transmission rod, so a larger drive output torque can be selected without greatly increasing the leg inertia.
  • the output end of the knee joint motion output end cover is hinged with one end of the flexion and extension transmission rod through the active end hinge.
  • the other end of the flexion and extension transmission rod is hinged with one end of the knee joint fixing seat through the driven end hinge.
  • the above-mentioned thigh bar self-adaptive leg binding assembly includes an up and down movement compensation mechanism, a front and rear movement compensation mechanism, a left and right movement compensation mechanism and a rotation compensation function mechanism;
  • the rotation compensation function mechanism includes a thigh support plate,
  • the up and down movement compensation mechanism is fixed on the thigh rod of the exoskeleton.
  • the up and down movement compensation mechanism is used to compensate the up and down movement of the thigh support plate in the vertical direction.
  • the movement compensation mechanism is used to realize the left and right movement compensation of the thigh support plate in the horizontal direction, and the rotation compensation function mechanism is used to realize the rotation compensation of the thigh support plate around the radial movement axis.
  • the above-mentioned up-and-down movement compensation mechanism includes a vertical guide rod, a vertically moving slider, and two fixed ends for fixing the vertical guide rod.
  • the vertically moving slider can move along the vertical guide rod, and the vertical movement There are damping springs on both sides of the slider;
  • the front and rear movement compensation mechanism includes front and rear radial guide rods. One end of the front and rear radial guide rods is fixed on the vertical moving slider. The front and rear radial guide rods are provided with front and rear radial moving sliders. damping spring;
  • the left and right movement compensation mechanism includes a horizontal guide rod and an end cover of a radially movable slider.
  • the end cover of the radially movable slider is fixed on the front and rear radially movable sliders, and a sliding cavity is arranged in the front and rear radially movable sliders;
  • the part is located in the sliding cavity, one end of the horizontal guide rod passes through the front and rear radially moving sliders, the middle of the horizontal cylindrical guide rod is provided with a shoulder, and the two sides of the shoulder of the horizontal cylindrical guide rod are respectively provided with damping springs.
  • the horizontal cylindrical guide rod can move in the sliding cavity formed by the front and rear radial moving sliders.
  • the rotation compensation function mechanism includes the hinge pin of the thigh support plate fixing seat and the thigh support plate fixing seat; the thigh support plate fixing seat is hinged on the horizontal cylindrical guide rod through the hinge pin of the thigh support plate fixing seat, and the thigh support plate is fixed on the thigh support plate. seat.
  • the above-mentioned calf rod self-adaptive leg binding assembly includes a calf support plate, a left-right movement compensation mechanism, a rotation compensation mechanism and an up-down movement compensation mechanism;
  • the left and right movement compensation mechanism is used to compensate the left and right movement of the calf support plate in the horizontal direction
  • the rotation compensation mechanism is used to realize the rotation compensation of the calf support plate around the horizontal movement axis
  • the up and down movement compensation mechanism is used to realize the vertical direction of the calf support plate. Up and down movement compensation function.
  • the above-mentioned left and right movement compensation mechanism includes a calf support plate fixing seat and a calf supporting plate bracket, the calf supporting plate fixing seat can move along the calf supporting plate bracket, and damping springs are provided on both sides of the calf supporting plate fixing seat;
  • the calf support plate fixing seat can also rotate around the calf support plate bracket to form a rotation compensation mechanism
  • the up-and-down movement compensation mechanism includes a chute arranged on the lower leg support plate, and the lower leg support plate fixing seat can move up and down along the chute.
  • limit screws are provided on the chute on the calf support plate.
  • one end of the above-mentioned calf support plate bracket is hinged with the calf bracket fixing seat through the bracket hinge pin, and the calf support plate bracket and the calf bracket fixing seat are also fixed by a pull ring spring pin; the calf bracket fixing seat is fixed on the calf rod.
  • the above-mentioned ankle joint assembly includes an ankle joint drive assembly
  • the ankle joint driving component includes: a flexion and extension driving component and a varus and varus motion component;
  • the flexion-extension drive component and the inversion movement component are arranged on the calf rod, and the flexion-extension drive component and the inversion movement component respectively drive the foot rest component to perform the flexion-extension movement and the inversion movement.
  • the above-mentioned flexion and extension drive assembly includes a flexion and extension drive fixed seat, a flexion and extension drive unit, an ankle joint motion output end cover, a flexion and extension motion transmission rod, and an ankle joint fixed support;
  • the flexion and extension drive unit is fixed on the upper end of the calf rod through the flexion and extension drive fixing seat.
  • the other end is hinged with the ankle joint fixed support; the ankle joint fixed support is fixedly connected with the foot support component.
  • flexion and extension motion transmission rod is connected with the ankle joint fixed support through a flexion and extension motion Hook hinge.
  • the power output end of the flexion and extension drive unit is hinged with one end of the flexion and extension motion transmission rod through a flexion and extension motion uniaxial hinge.
  • the calf rod and the ankle joint fixing support are connected by the calf rod supporting Hook hinge.
  • the above-mentioned inversion motion assembly includes an inversion drive unit, the inversion drive unit is fixed on the upper part of the calf rod and is located below the flexion and extension drive unit, and the power output end of the inversion drive unit is connected with the inversion movement output end cover, and the inversion and outversion are connected.
  • the movement output end cover is connected with one end of the inversion movement transmission rod through the inversion movement radial hinge, the inversion movement horizontal hinge, and the inversion movement vertical hinge, and the other end of the inversion movement transmission rod is hinged with the ankle joint fixed support.
  • the other end of the above-mentioned inversion movement transmission rod is connected with the ankle joint fixed support through the inversion movement Hook hinge.
  • the above-mentioned foot support assembly includes a pressure and attitude data acquisition unit, an exoskeleton foot support, a rubber shield, a pressure sensor, a rubber sheath, an arc-shaped heel baffle, a strap loop buckle and an L-shaped loop buckle fixing seat.
  • calf binding and foot binding are respectively arranged on the calf rod and the strap ring buckle.
  • the present invention proposes a full-drive exoskeleton robot with 12 drive joints, which can realize self-balancing rehabilitation and walking motion without external support to maintain balance.
  • the exoskeleton robot has the characteristics of bionic and humanoid, and can recover autonomously Most of the movement of the lower limbs of the human body can be realized, which can provide a highly natural rehabilitation or walking gait;
  • the exoskeleton hip joint realizes active motion assistance with three degrees of freedom of forward flexion/backward extension, adduction/abduction and internal rotation/external rotation at the same time, which improves the flexibility of movement;
  • the internal rotation/external rotation axis is offset, and the three-degree-of-freedom series remote virtual rotation center mechanism realizes three The rotating shafts all meet the human hip joint, which fits the human hip joint movement and improves the wearing comfort;
  • the transmission ratio of the remote virtual rotation center mechanism is 1, which is equivalent to the direct connection drive, which can simplify the motion control;
  • the two drives of flexion/extension and adduction/abduction are located between the double-layer remote virtual rotation center mechanism, while the drive of internal rotation/external rotation is located behind the adduction/abduction drive, which improves the overall compactness of the structure , no interference occurs in the range of motion.
  • the knee joint drive is installed on the thigh rod, which improves the center of gravity and reduces the inertia of the legs;
  • a knee joint driver with a larger torque can be used to improve the active motion assistance ability of the knee joint;
  • the leg binding adopts more passive degrees of freedom, including up and down movement, forward and backward movement, horizontal movement and radial rotation, which improves the adaptive axis deviation compensation ability;
  • the adaptive leg binding device can perform dynamic axis deviation compensation during the movement process
  • the exoskeleton robot ankle joint proposed by the present invention adopts a novel two-degree-of-freedom parallel mechanism configuration to provide ankle joint dorsiflexion/plantar flexion and ankle joint varus/valgus active motion assistance, And the motion decoupling between the two simplifies motion control;
  • Hook hinge is used to connect the calf rod and the fixed seat, with two mutually perpendicular rotation axes, providing two degrees of freedom of movement of the ankle joint dorsiflexion/plantar flexion and varus/valgus;
  • the calf rod, the flexion and extension drive output movement end cap, the flexion and extension transmission rod and the ankle joint fixed seat form a parallelogram mechanism, which acts as an ankle joint dorsiflexion/plantar flexion movement branch chain, and the flexion and extension drive unit is installed at the knee joint position to improve the center of gravity position and reduce the inertia of the foot end;
  • the calf rod, the inversion drive output movement end cover, the inversion transmission rod and the ankle joint fixation form a parallelogram mechanism, which is used as the ankle joint inversion/valgus movement branch chain, and the inversion drive unit is installed in the
  • the lower part of the flexion and extension drive unit can improve the position of the center of gravity and reduce the inertia of the foot; the physical position of the two drives is higher, which improves the overall center of gravity and reduces the additional inertia of the foot, thereby improving the flexibility of dynamic movement;
  • the proposed exoskeleton robot has a pressure sensor at the bottom of the foot rest, which can dynamically collect the plantar pressure information during the movement process, and then can feedback the movement state of the exoskeleton robot in real time;
  • the back adopts the thoracolumbar fixed support plate, which has a large force area and low binding pressure, which can firmly support the wearer's back, instead of the traditional exoskeleton that is only fixed at the waist.
  • Fig. 1 is a schematic diagram of self-balancing exoskeleton human body wearing
  • Figure 2 is a schematic diagram of the overall structure of the self-balancing exoskeleton
  • FIG. 3 is an exploded schematic diagram of the back support control assembly
  • Figure 4 is a schematic diagram of the overall structure of the right hip exoskeleton
  • Figure 5 is a schematic diagram of the motion state of the hip joint exoskeleton
  • Figure 6 is a schematic diagram of the composition of the knee joint drive and transmission structure of the exoskeleton robot
  • Fig. 7 is the schematic diagram of the motion state of the knee joint of the exoskeleton robot.
  • FIG. 8 is a schematic diagram of the overall structure of the thigh binding device
  • Fig. 9 is a schematic diagram of the structure of the thigh binding device being disassembled
  • FIG. 10 is a schematic diagram of the overall structure of the calf binding device in a locked state
  • FIG. 11 is a schematic diagram of the overall structure of the calf binding device in an open state
  • Figure 12 is a schematic exploded view of the structure of the calf binding device
  • Figure 13 is a schematic diagram of the structure of the ankle joint of the exoskeleton robot.
  • Figure 14 is a schematic diagram of the ankle joint mechanism of the exoskeleton robot.
  • Fig. 15 is a cross-sectional view of the branched structure of the flexion and extension movement of the ankle joint of the exoskeleton robot.
  • Fig. 16 is a cross-sectional view of a branch chain structure of an exoskeleton robot's ankle joint for inversion and varus motion.
  • Figure 17 is a schematic diagram of the motion state of the exoskeleton robot ankle joint
  • FIG. 18 is a schematic structural diagram of a smart foot support assembly
  • Figure 19 is an exploded schematic diagram of a smart foot support assembly
  • Figure 20 is a schematic diagram of the sagittal motion of the exoskeleton
  • Figure 21 is a schematic diagram of exoskeleton coronal plane movement
  • Figure 22 is a schematic diagram of the initial sitting position of the exoskeleton
  • Figure 23 is an exploded schematic diagram of the right hip exoskeleton structure.
  • Back support control assembly 11. Back support plate; 12. Support fixing plate; 13. Power supply and main control; 14. Support bracket; 15. Carbon fiber hip support plate;
  • 211 adduction/abduction output motion end cover
  • 212 adduction/abduction drive mount
  • 214 adduction/abduction auxiliary mount
  • Hip joint flexion and extension output end cover 232.
  • Anterior flexion/extension drive mount 233.
  • Auxiliary mount 234, Anterior flexion/extension drive unit;
  • Ankle joint flexion and extension output end cover 413, flexion and extension movement uniaxial hinge; 414, flexion and extension movement transmission rod; 415, flexion and extension movement Hoke hinge; 416, ankle joint fixed support; 417, flexion and extension drive fixed seat; Flexion and extension drive unit; 419, inversion drive unit; 4110, inversion movement output end cover; 4111, inversion movement radial hinge; 4112, inversion movement horizontal hinge; 4113, inversion movement vertical hinge; 4114, inversion movement Transmission rod; 4115, inversion movement Hook hinge; 4116, calf rod support Hook hinge;
  • the present invention proposes a wearable self-balancing lower limb exoskeleton robot designed based on the principle of human bionics, which is worn on the outer side of the thigh and the back side of the human body.
  • Figure 2 is a schematic diagram of the overall structure of the self-balancing exoskeleton robot, which adopts a series-parallel hybrid structure design scheme, which mainly includes: back support control assembly 1, hip joint assembly 2, knee joint assembly 3, ankle joint assembly 4, foot support assembly 5, Thigh adaptive binding device 6 and calf adaptive binding device 7 .
  • the self-balancing exoskeleton robot has 12 active degrees of freedom, including bilaterally symmetrical 3-DOF serial structure hip joint 2, 1-DOF serial structure knee joint 3, and 2-DOF parallel structure ankle joint 4, which can provide wearers with Active motion of hip flexion/extension, hip adduction/abduction, hip internal/external rotation, knee flexion/extension, ankle dorsiflexion/plantar flexion, and ankle varus/valgus It has the characteristics of flexible and reliable movement, wide application range, high human-machine compatibility, and gait diversity.
  • the back support control assembly 1 includes: a back support plate 11 , a support fixing plate 12 , a power supply and a main control 13 , a support bracket 14 and a carbon fiber hip guard 15 , which can be adjusted according to The wearer's body shape is adjusted and bound, and the thoracic and lumbar vertebrae and shoulders are fixed, which effectively supports the wearer's torso and improves wearing comfort, safety and reliability.
  • the power supply and main control 13 includes a power supply part and a control part, the power supply part is used to provide power to all the drive units, and the control part is used to collect the parameters of each sensor and control each drive unit.
  • the hip joint assembly 2 adopts a double-layer serial remote rotation center mechanism, so that the three rotating shafts completely meet the human hip joint, which not only improves the structural rigidity of the hip joint, but also eliminates the connection between the exoskeleton and the human hip joint. Motion axis deviation.
  • the hip joint assembly 2 includes symmetrically arranged left and right hip joints.
  • the right hip joint includes an adduction/abduction assembly 21, an internal rotation/external rotation assembly 22, an anterior flexion/extension assembly 23, an upper-layer remote rotation mechanism assembly 24 and Lower Remote Rotation Mechanism Assembly 25.
  • the adduction/abduction components 21 of the left hip joint and the right hip joint are connected to each other to form a hip joint fixation structure.
  • the external rotation assembly 22 is located behind the adduction/abduction assembly 21, the output end of the internal rotation/external rotation assembly 22 is connected with the upper-layer remote rotation mechanism assembly 24, and the flexion/backward extension assembly 23 is connected with the upper-layer remote rotation mechanism assembly 24 and 24.
  • the output rod of the lower remote rotation mechanism assembly 25 is connected, and the output end of the flexion/extension assembly 23 is connected with the thigh rod 311 .
  • the adduction/abduction assembly 21 drives the internal rotation/external rotation assembly 22, the flexion/extension assembly 23, the upper remote rotation mechanism assembly 24 and the lower remote rotation mechanism assembly 25 to generate abduction or adduct rotation;
  • the external rotation assembly 22 drives the flexion/extension assembly 23 to perform internal rotation or external rotation through the upper remote rotation mechanism assembly 24 and the lower remote rotation mechanism assembly 25; stretch.
  • the above-mentioned adduction/abduction assembly 21 includes an adduction/abduction drive mount 212 , an adduction/abduction auxiliary mount 214 , and an adduction/abduction drive unit 215 .
  • the adduction/abduction drive unit 215 is fixed on the adduction/abduction drive fixing seat 212 and the adduction/abduction auxiliary fixing seat 214, and the power output end of the adduction/abduction drive unit 215 is connected to the adduction/abduction output
  • the moving end cover 211 is connected, and the adduction/abduction output moving end cover 211 is connected through the bearing support 213 .
  • the left hip joint and the right hip joint share the adduction/abduction drive fixing base 212 and the adduction/abduction auxiliary fixing base 214 .
  • the internal rotation/external rotation assembly 22 includes a internal rotation/external rotation driving unit 223, and the internal rotation/external rotation driving unit 223 is fixed on the internal/external rotation auxiliary fixing seat 224, and the internal rotation/external rotation driving unit 223 is
  • the inner/outer rotation auxiliary fixing seat 224 is connected with the add-in/out-out output motion end cover 211 ; the inner/outer rotation drive unit 223 includes the inner/outer rotation output motion end cover 221 .
  • the internal rotation/external rotation assembly 22 further includes a fixed seat support rod 226, and the internal rotation/external rotation auxiliary fixed seat 224 communicates with the adduction/abduction output movement end cover through the fixed seat support rod 226 211 to connect.
  • the inner/outer rotation driving unit 223 is installed on the rear side of the inward/outward driving unit 215, and is connected to the inward/abducted output motion end cover 11 through four fixing seat support rods 226, in order to avoid the left and right sides
  • the internal/external rotation drive unit 223 interferes with the adduction/abduction movement of the exoskeleton hip joint.
  • the internal rotation/external rotation driving fixing base 222 is connected with the internal rotation/external rotation auxiliary fixing base 224 through the auxiliary support rod 225 .
  • the above-mentioned flexion/extension assembly 23 includes a hip joint flexion/extension output end cover 231 , an anterior flexion/extension drive mount 232 , an auxiliary mount 233 , and an anterior flexion/extension drive unit 234
  • the flexion/extension drive unit 234 is fixed on the flexion/extension drive mount 232, the auxiliary mount 233, and the output end of the flexion/extension drive unit 234 is the hip joint flexion and extension movement output end cover 231, the hip joint
  • the output end cover 231 for flexion and extension is connected with the thigh rod 311 .
  • the above-mentioned upper-layer remote rotation mechanism assembly 24 includes a transmission rod 243, an upper longitudinal long curved rod 244, an upper longitudinal short curved rod 245, an upper horizontal long curved rod 246, and an upper horizontal short curved rod 247;
  • the lower-level remote rotation mechanism assembly 25 includes a lower longitudinal long curved rod 252, a lower longitudinal short curved rod 253, a lower horizontal long curved rod 254, and a lower horizontal short curved rod 255; one end of the transmission rod 243 and the internal rotation/external rotation output movement end
  • the cover 221 is hinged, and the other end of the transmission rod 243 is hinged with the upper longitudinal short curved rod 245 .
  • One ends of the upper longitudinal short curved rod 245 and the lower longitudinal short curved rod 253 are respectively hinged on the upper and lower sides of the bearing support 213, and one ends of the upper horizontal long curved rod 246 and the lower horizontal long curved rod 254 are respectively connected with the upper longitudinal short curved rod 245,
  • the other end of the lower longitudinal short curved rod 253 is hinged, and the other ends of the upper horizontal long curved rod 246 and the lower horizontal long curved rod 254 are hinged on the upper and lower sides of the flexion/retraction drive fixing seat 232 respectively; the upper longitudinal long curved rod 244 2.
  • One end of the lower longitudinally long curved rod 252 is hingedly connected to the upper and lower sides of the end cover 211 for inward/outward output motion respectively, and the other ends of the upper longitudinally long curved rod 244 and the lower longitudinally long curved rod 252 are respectively connected with the upper horizontal short curved rod 247.
  • One end of the lower horizontal short curved rod 255 is hinged, and the other ends of the upper horizontal short curved rod 247 and the lower horizontal short curved rod 255 are hinged on the upper and lower sides of the auxiliary fixing seat 233 respectively;
  • the middle parts of the longitudinally long curved rods 252 are hinged with the middle parts of the upper horizontal long curved rods 246 and the lower horizontal long curved rods 254 respectively.
  • the two ends of the above-mentioned transmission rod 243 are hinged with the upper longitudinal short curved rod 245 of the inner/outer rotation output movement end cover 221 through the hinge pin 241 and the upper bearing 242 respectively; the hinge pin 241 is connected with the upper bearing The inner ring of 242 is connected by interference, and the outer ring of the upper bearing 242 is connected by interference with the inner wall of the upper stepped hole of the transmission rod 243 .
  • the hinge point of the upper horizontal long curved rod 246 and the upper longitudinal short curved rod 245 and the hinge point of the lower horizontal long curved rod 254 and the lower longitudinal short curved rod 253 penetrate a bearing fixed shaft 248 Both ends of the bearing fixed shaft 248 are respectively provided with lower bearings 251, the inner ring of the lower bearing 251 is connected with the bearing fixed shaft 248 by interference, and the outer ring of the lower bearing 251 is connected by interference with the inner wall of the stepped hole of the corresponding rod.
  • the hinge point of the upper longitudinal long curved rod 244 and the upper horizontal long curved rod 246 and the hinge point of the lower longitudinal long curved rod 252 and the lower horizontal long curved rod 254 penetrate a bearing fixed shaft, and the two ends of the bearing fixed shaft are respectively provided with bearings , the inner ring of the bearing is connected with the fixed shaft of the bearing by interference, and the outer ring of the bearing is connected by interference with the inner wall of the stepped hole of the corresponding rod.
  • an auxiliary fixed shaft 249 is provided between the upper horizontal short curved rod 247 and the lower horizontal short curved rod 255 ; an auxiliary fixed shaft 249 is provided between the upper horizontal long curved rod 246 and the lower horizontal long curved rod 254 Fixed shaft 249.
  • the above-mentioned adduction/abduction drive unit 215 , internal rotation/external rotation drive unit 223 , and flexion/extension drive unit 234 are servo motors.
  • the adduction/abduction drive fixing base 212 and the adduction/abduction auxiliary fixing base 214 can be regarded as fixing parts.
  • the adduction/abduction driving unit 215 rotates clockwise, it drives the adduction/abduction output
  • the movement end cap 211 produces abduction rotation, while the internal rotation/external rotation assembly 22, the flexion/extension assembly 23, the upper remote rotation mechanism assembly 24 and the lower remote rotation mechanism assembly 25 will all simultaneously abduct and rotate, thus creating the hip joint Abduction motion assist, as shown in (1) in FIG. 5; conversely, when the adduction/abduction drive unit 215 rotates counterclockwise, the above components will produce hip joint abduction motion assist, and the fixed axis of rotation can pass through Human hip joint.
  • the internal rotation/external rotation driving unit 223 rotates clockwise, the internal rotation/external rotation output movement end cover 221 transmits the motion through the transmission rod 243, and drives the upper longitudinal short curved rod 245, the upper horizontal long curved rod 246, the upper horizontal short curved rod
  • the double parallelogram remote rotation center mechanism composed of the curved rods 247 will generate external rotation, and at the same time, the flexion/extension assembly 23 will also rotate synchronously, thus generating hip joint external rotation assistance, as shown in Figure 5 (3). ); on the contrary, when the internal/external rotation drive unit 223 rotates counterclockwise, the above components will generate hip joint internal rotation motion assistance, and the internal/external rotation axis generated by this mechanism can virtually pass through the human hip joint.
  • the flexion/extension drive unit 234 rotates clockwise, the flexion/extension output movement end cap 31 will drive the thigh rod 311 to generate hip joint flexion assistance, as shown in (2) in FIG. 5;
  • the driving unit 234 rotates counterclockwise, the flexion and extension output movement end cap 31 will drive the thigh rod 311 to assist in the hip joint extension movement, and the flexion/extension rotation axis can also pass through the human hip joint. Therefore, the bionic exoskeleton hip joint has three active degrees of freedom, and all the rotational axes meet the center of the human hip joint, without axis position deviation, avoiding the generation of motion deviation. Compared with the traditional exoskeleton hip joint structure, it not only improves the It improves the ability of active sports assistance, and also improves the comfort of human wearing.
  • a mechanism configuration based on double parallelogram series is used to generate a remote virtual center of rotation through the human hip joint, and its transmission ratio is 1, which can be equivalent to Direct transmission, and the drive of flexion/extension and adduction/abduction are respectively connected to the output rod and fixed rod of the mechanism, thus forming a three-degree-of-freedom serial remote rotation center mechanism;
  • the flexion/retraction and adduction/abduction drives are placed between the two layers of mechanisms, making it compact, flexible and non-interfering;
  • the motion is transmitted through the connecting rod.
  • the structure of the bionic hip joint proposed by the present invention has many degrees of freedom and number of drives, good movement flexibility, high structural rigidity, and the three axes meet the human hip joint without movement. It has the advantages of anthropomorphic movement characteristics and auxiliary ability.
  • the knee joint 3 adopts a parallelogram remote drive structure
  • the knee joint flexion and extension drive unit is installed on the exoskeleton thigh rod 311, which improves the position of the center of gravity, reduces the inertia of the leg, and adopts a double support structure to improve the structural rigidity.
  • the knee joint driving and transmission assembly includes a thigh rod 311 , a calf rod 319 , a flexion and extension transmission rod 315 , and a knee joint fixing seat 317 .
  • the thigh rod 311 and the calf rod 319 are connected by the upper and lower leg fixed hinges 318 , and the knee joint driving unit 312 is arranged on the thigh rod 311 near the hip joint.
  • the power output end of the knee joint drive unit 312 is the knee joint motion output end cover 313 , the output end of the knee joint motion output end cover 313 is hinged with one end of the flexion and extension transmission rod 315 , and the other end of the flexion and extension transmission rod 315 is connected with the knee joint fixing seat 317 One end of the knee joint fixing seat 317 is hinged, and the other end of the knee joint fixing seat 317 is fixed on the calf rod 319 .
  • the knee joint drive 12 is installed on the exoskeleton thigh rod 311, the position of the center of gravity is raised, and the knee joint flexion and extension motion is transmitted through the flexion and extension transmission rod 315, so a larger drive output torque can be selected without greatly increasing the leg inertia.
  • the output end of the knee joint motion output end cover 313 is hinged to one end of the flexion and extension transmission rod 315 through the active end hinge 314 .
  • the other end of the flexion and extension transmission rod 315 is hinged to one end of the knee joint fixing seat 317 through the driven end hinge 316 .
  • the thigh rod 311, the knee joint motion output end cover 313, the flexion and extension transmission rod 315 and the knee joint fixing seat 317 form a parallelogram mechanism ABCD , and its transmission ratio is 1, so it is equivalent to a direct drive. Since the knee joint drive 12 is installed on the exoskeleton thigh rod 311, the position of the center of gravity is raised, and the knee joint flexion and extension motion is transmitted through the flexion and extension transmission rod 315, so a larger drive output torque can be selected without greatly increasing the leg inertia.
  • the thigh adaptive binding device 6 and the calf adaptive binding device 7 of the bionic self-balancing exoskeleton can dynamically compensate for the deviation of the human-machine axis during the movement process, and eliminate the additional pulling force and torsion that the wearer is subjected to during walking. strength, improve wearing comfort and safety.
  • the above-mentioned thigh bar adaptive leg binding assembly 6 has 4 passive degrees of freedom.
  • the front and rear movement compensation mechanism, the left and right movement compensation mechanism and the rotation compensation function mechanism are realized.
  • the up and down movement compensation mechanism is fixed on the exoskeleton thigh rod 311, and the up and down movement compensation mechanism is used to realize up and down movement compensation for the thigh support plate 6220 in the vertical direction, and the forward and backward movement compensation mechanism is used to realize the back and forth movement of the thigh support plate 6220 in the radial direction. Compensation, the left and right movement compensation mechanism is used to compensate the left and right movement of the thigh support plate 6220 in the horizontal direction, and the rotation compensation function mechanism is used to realize the rotation compensation of the thigh support plate 6220 around the radial movement axis.
  • the above-mentioned vertical movement compensation mechanism includes an upper L-shaped fixing plate 622 , a lower L-shaped fixing plate 626 , and a vertically moving slider 628 .
  • the upper end damping spring 623 , the vertically moving slider 628 , and the lower end damping spring 625 are sequentially sleeved on the vertical cylindrical guide rod 624 .
  • the front and rear movement compensation mechanism includes a front and rear radial cylindrical guide rod 6210, a rear side damping spring 629, a front side damping spring 6211, and a front side guide rod fixing plate 6212.
  • the front and rear radial cylindrical guide rods 6210 are sequentially sleeved with a rear side damping spring 629, a front and rear radial moving slider 6214, and a front side damping spring 6211.
  • the left and right movement compensation mechanism includes a horizontal cylindrical guide rod 6215 and a radially movable slider end cover 6217.
  • the radially movable slider end cover 6217 is fixed on the front and rear radially movable slider 6214, and the horizontal cylindrical guide rod 6215 passes through the radial direction.
  • the horizontal cylindrical guide rod 6215 Moving the slider end cover 6217, the front and rear radially moving slider 6214, the horizontal cylindrical guide rod 6215 is provided with a shaft shoulder in the middle, and the horizontal cylindrical guide rod 6215 is provided with 213 on both sides of the shoulder, the left end damping spring 6213, the right end damping spring 6216.
  • the horizontal cylindrical guide rod 6215 can move in the sliding cavity formed by the radially moving slider end cover 6217 and the front and rear radially moving sliders 6214 .
  • the rotation compensation function mechanism includes the thigh support plate fixing seat hinge pin 6218 and the thigh support plate fixing seat 6219; Fixed on the thigh support plate fixing seat 6219.
  • the thigh binding device forms three mutually perpendicular movement degrees of freedom through the vertical cylindrical guide rod 624, the front and rear radial cylindrical guide rods 6210 and the horizontal cylindrical guide rod 6215, and the support plate fixing seat 219 is in the horizontal cylindrical guide rod 6215.
  • One rotational degree of freedom around the radial axis enables the support plate 220 to have four passive degrees of freedom, and has better adaptive capacity for thigh binding.
  • the above-mentioned calf bar adaptive leg binding assembly 7 has 3 passive degrees of freedom.
  • the compensation mechanism and the up and down movement compensation mechanism are realized.
  • the left and right movement compensation mechanism is used to compensate the left and right movement of the calf support plate 7310 in the horizontal direction
  • the rotation compensation mechanism is used to realize the rotation compensation of the calf support plate 7310 around the horizontal movement axis
  • the up and down movement compensation mechanism is used to realize the calf support plate 7310.
  • Vertical movement compensation function is used to compensate the left and right movement of the calf support plate 7310 in the horizontal direction
  • the rotation compensation mechanism is used to realize the rotation compensation of the calf support plate 7310 around the horizontal movement axis
  • the up and down movement compensation mechanism is used to realize the calf support plate 7310.
  • the above-mentioned left-right movement compensation mechanism includes a calf support plate fixing seat 736 and a calf supporting plate bracket 734.
  • the calf supporting plate fixing seat 736 can move along the calf supporting plate bracket 734.
  • the side damping spring 737 and the right damping spring 735; the lower leg support plate fixing seat 736 can also rotate around the lower leg support plate bracket 734 to form a rotation compensation mechanism;
  • the lower leg support plate fixing seat 736 can move up and down along the chute.
  • Limit screws 739 are respectively provided at both ends of the chute on the lower leg support plate 7310 .
  • the adaptive binding component has two-way spring damping and is installed on the thigh rod 311 and the calf rod respectively, it can not only adapt to the binding requirements of different patient's leg sizes, but also compensate for the deviation of the axis of the exoskeleton knee joint and the human knee joint. Movement dislocation, thereby improving ergonomic compatibility.
  • the calf binding device forms two mutually perpendicular movement degrees of freedom through the calf support plate fixing seat 736, the calf support plate bracket 734 and the support plate 310, and one rotational freedom degree of the fixing seat 36 around the support plate bracket 34, so that the support plate
  • the 310 has 3 passive degrees of freedom, and has good calf binding adaptability.
  • one end of the calf support plate bracket 734 is hinged to the calf bracket fixing seat 731 through the bracket hinge pin 732 , and the calf support plate bracket 734 is connected to the calf bracket fixing seat 731 is also held in place by a pull ring spring pin 733.
  • the calf support fixing seat 731 , the stand hinge pin 732 , the pull ring spring pin 733 and the calf support plate bracket 734 form a rotational opening/locking mechanism, which is convenient for moving the legs when wearing.
  • the left side is taken as an example for detailed description.
  • the knee joint exoskeleton is placed parallel to the outer side of the human body, and the thigh rod self-adaptive leg binding assembly 6 is used for the thigh rod self-adaptive leg binding assembly 6, and the calf rod self-adaptive leg binding assembly 7 respectively.
  • the thigh bar adaptive leg binding component 6 Connected with human thighs and calves; at the same time, through adaptive compensation of different types of passive degrees of freedom in multiple directions, the thigh bar adaptive leg binding component 6
  • the thigh bar adaptive leg binding component 6 can fit on the thighs of different wearers
  • the calf bar adaptive leg binding component 7 is fitted to the front of the wearer's calf, and then fixed by the straps, which improves the wearing comfort;
  • the self-adaptive leg binding assembly 7 can also unlock the pin hole limit between the calf support plate bracket 734 and the calf bracket fixing seat 731 through the pull-ring spring pin 733, and rotate to open the calf binding device for easy wearing. After moving the shank to a fixed position, the calf binding device is rotated to lock the position through the ring-pulling spring pin 733, which improves the convenience of wearing.
  • the knee joint drive unit 312 rotates the knee joint motion output end cover 313 clockwise, the flexion and extension motion is transmitted to the knee joint fixed seat 317 through the flexion and extension transmission rod 315, and the knee joint fixed seat 317 is connected to the lower leg.
  • the rod 319 is fixedly connected, so as to assist the lower leg at the knee joint, as shown in FIG. 7 ; on the contrary, when the knee-knee joint driving unit 312 rotates the knee joint movement output end cover 313 counterclockwise, the knee joint can be forwarded. Flexion assist.
  • the overall center of gravity of the exoskeleton leg is raised, thereby reducing the additional inertia, which is beneficial to the dynamic and flexible movement of the exoskeleton knee joint.
  • the axis of the human knee joint and the exoskeleton knee joint axis are deviated.
  • the passive degree of freedom of the leg binding device can dynamically release and eliminate the human-machine pulling force and torsion force caused by the misalignment of the axis.
  • the thigh binding device moves up and down on the vertical cylindrical guide rod 624 by vertically moving the slider 628 , and the front and rear radially moving the slider 6214 moves back and forth on the front and rear radial cylindrical guide rods 6210 , and horizontally.
  • the cylindrical guide rod 6215 moves to the left and right of the slider 214 in the radial direction and the thigh support plate fixing seat 6219 performs dynamic adaptive compensation for the radial rotation of the cylindrical guide rod 6215 in the horizontal direction.
  • the left and right movement and rotation of the calf support plate bracket 734 and the up and down movement of the dovetail calf support plate fixing seat 736 on the calf support plate 7310 perform dynamic adaptive compensation, thereby improving the wearing comfort and safety of the exoskeleton.
  • the ankle joint assembly 4 adopts a parallel drive structure with two rotational degrees of freedom completely decoupled, and the drive unit is installed on the calf rod.
  • This new parallel structure not only improves the support rigidity of the ankle joint, but also greatly reduces the inertia of the foot, thereby reducing the hip Joint and knee-driven loads for improved dynamic performance.
  • the ankle joint assembly 4 mainly includes an ankle joint driving assembly, and the effect of wearing on the human body is shown in FIG. 1 .
  • the ankle joint drive assembly includes: a flexion and extension drive assembly and a varus motion assembly; 2 is hinged, the flexion-extension drive assembly and the inversion movement assembly are arranged on the calf rod 319, the flexion and extension drive assembly and the inversion movement assembly respectively drive the foot support assembly 2 to perform flexion and extension movement and inversion movement, calf binding 3, foot binding 4 They are respectively located on the calf rod 319 and the foot rest assembly 2 .
  • the above-mentioned flexion and extension drive assembly includes a flexion and extension drive fixed seat 417, a flexion and extension drive unit 418, an ankle joint flexion and extension output end cap 412, an ankle joint flexion and extension output end cap 412, a flexion and extension drive rod 414, an ankle joint Fixed support 416 .
  • the flexion and extension drive unit 418 is fixed on the upper end of the calf rod 319 through the flexion and extension drive fixing seat 417.
  • the power output end of the flexion and extension drive unit 418 is connected with the ankle joint flexion and extension motion output end cover 412, and the ankle joint flexion and extension motion output end cover 412 is connected with the flexion and extension motion transmission rod.
  • One end of the 414 is hinged, and the other end of the flexion and extension motion transmission rod 414 is hinged with the ankle joint fixed support 416 ; the ankle joint fixed support 416 is fixedly connected with the foot support assembly 2 .
  • the other end of the flexion and extension motion transmission rod 414 is connected with the ankle joint fixing support 416 through the flexion and extension motion Hook hinge 415 .
  • the power output end of the flexion and extension drive unit 418 is hinged with one end of the flexion and extension motion transmission rod 414 through the flexion and extension motion uniaxial hinge 413 .
  • the calf rod 319 and the ankle joint fixing support 416 are connected through the calf rod supporting Hook hinge 4116 .
  • the above-mentioned inversion movement assembly includes an inversion drive unit 419, which is fixed on the upper part of the calf rod 319 and located below the flexion and extension drive unit 418.
  • the power output end of the inversion drive unit 419 It is connected with the output end cap 4110 of the inversion movement. Because the existing ball joint cannot meet the requirements of the ankle joint inversion/valgus movement angle.
  • the output end cover 4110 of the inversion movement is connected with one end of the inversion movement transmission rod 4114 through the inversion movement radial hinge 4111, the inversion movement horizontal hinge 4112, and the inversion movement vertical hinge 4113, and the other end of the inversion movement transmission rod 4114 is connected with the inversion movement transmission rod 4114.
  • the ankle joint fixation support 416 is connected by a varus kinematic hook 4115 .
  • the size of the mechanism satisfies
  • Figure 15 is a cross-sectional view of the structure of the ankle joint flexion and extension movement branch chain of the exoskeleton robot, which is mainly composed of four components: the calf rod 319, the ankle joint flexion and extension movement output end cover 412, the flexion and extension movement transmission rod 414, and the ankle joint fixed support 416.
  • the connection is made through the flexion and extension drive unit 418 ( A 0 ), the flexion and extension motion uniaxial hinge 413 ( A ), the flexion and extension motion Hooke hinge 415 ( B ), and the calf rod support Hooke hinge 4116 ( B 0 ), which coincides with the axis of the human knee joint
  • the flexion and extension drive unit 418 is installed on the flexion and extension drive fixed seat 417.
  • the flexion and extension motion transmission rod 414 transmits the flexion and extension motion to the ankle joint fixed seat. 16.
  • the ankle joint dorsiflexion movement is generated, as shown in (1) of FIG. 17; on the contrary, when the output end cap 412 of the ankle joint flexion and extension movement is rotated counterclockwise, the ankle joint plantar flexion movement is generated, as shown in (2) of FIG. 17 . Show.
  • Figure 16 is a cross-sectional view of the structure of the exoskeleton robot ankle joint varus motion branch chain, which is mainly composed of four components: the calf rod 319, the varus motion output end cover 4110, the varus motion transmission rod 4114, and the ankle joint fixing support 416.
  • the inversion movement radial hinge 4111, the inversion movement horizontal hinge 4112, the inversion movement vertical hinge 4113 (inversion movement radial hinge 4111, inversion movement horizontal hinge 4112, inversion movement
  • the combination of the motion vertical hinge 4113 is the ball hinge C ), the varus motion Hooker hinge 4115 ( C0 ) and the calf rod support Hooker hinge 4116 ( B0 ) are connected, and the flexion and extension drive unit 418 is perpendicular to the inversion drive unit 419 is installed on the calf rod 319, when the output end cap 4110 of the inversion movement is rotated clockwise under the action of the inversion drive unit 419, the inversion movement is transmitted to the ankle joint fixing seat 16 through the inversion movement transmission rod 4114, resulting in the formation of the ankle joint.
  • the varus movement of the joint is shown in (3) of FIG. 17 ; on the contrary, when the varus movement output end cap 4110 rotates counterclockwise, the valgus movement of the ankle joint is generated, as shown in (4) of FIG. 17 . If the flexion-extension movement branch and the varus movement branch of the ankle joint of the exoskeleton robot move at the same time, the compound motion of ankle joint dorsiflexion/plantar flexion and varus/valgus can be generated, as shown in (5) in Figure 17.
  • the exoskeleton foot support assembly 5 includes: a pressure and posture data acquisition unit 51 , an exoskeleton foot support 52 , a rubber shield 53 , a pressure sensor 54 , a rubber sheath 55 , and a curved heel shield 56 , the strap ring buckle 57 and the L-shaped ring buckle fixing seat 58, there are 8 pressure sensors at the bottom of the foot support, which can dynamically collect the pressure distribution information of the contact between the exoskeleton foot support and the ground in real time, and provide stability judgment for realizing self-balancing walking. according to.
  • the exoskeleton When walking, the exoskeleton fully supports the wearer's own weight, and the two move in parallel and synchronously.
  • the motion diagram in the sagittal plane is shown in Figure 20; when the left leg falls to the ground, the exoskeleton moves according to the The pressure sensor and the three-dimensional attitude sensor adjust the center of gravity, and then lift the right leg after reaching a stable state.
  • the schematic diagram of the movement in the coronal plane is shown in Figure 21.
  • the binding device on the calf of the exoskeleton can be opened, which is convenient for the wearer to operate.
  • the schematic diagram of the initial sitting posture is shown in Figure 22.

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Abstract

一种新型自平衡外骨骼机器人，涉及机器人技术领域，包括背部支撑控制组件（1）、髋关节组件（2）、膝关节组件（3）、踝关节组件（4）、足托组件（5）；背部支撑控制组件（1）、髋关节组件（2）、膝关节组件（3）、踝关节组件（4）、足托组件（5）依次相连；髋关节组件（2）实现髋关节前屈/后伸、髋关节内收/外展、髋关节内旋/外旋运动；膝关节组件（2）实现膝关节前屈/后伸运动；踝关节组件（4）实现踝关节背屈/跖屈以及踝关节内翻/外翻运动；足托组件（5）用于支撑人体。该新型自平衡外骨骼机器人，适用于偏瘫、下肢瘫、四肢瘫等类型的下肢失能或上下肢均失能人群，辅助穿戴者进行起立、坐下、行走、抬腿和上下楼梯等日常活动训练。

Description

一种新型自平衡外骨骼机器人 技术领域
本发明属于机器人技术领域，涉及一种新型自平衡外骨骼机器人。
 背景技术
下肢外骨骼是一种与人体下肢结构相似的可穿戴仿生机器人，能够辅助穿戴者实现下肢康复、助力行走以及增强负重等功能，在康复、民用和军事等领域有着广泛的应用前景。随着我国人口老龄化问题日益严重，以及中风偏瘫、脊髓损伤截瘫等严重行走功能障碍的人群数量日渐增长，中国家庭和政府将面临非常严峻的养老和医护压力。现有医学理论和临床实践指出，除了必要的手术和药物治疗以外，科学的康复训练是瘫痪患者恢复行走功能的重要手段。下肢康复外骨骼机器人能够有效辅助患者进行运动康复训练，也能够为行动不便的老年人提供运动助力。
 技术问题
现有的动力型下肢外骨骼机器人，主要存在运动自由度较少、驱动数量不足、功能结构单一、腿部惯量较大、整体结构刚性不足、不具备自平衡行走能力等问题，导致穿戴舒适性较差、运动辅助能力偏低，并且需要借助拐杖或其它辅助支撑设备来保持运动平衡，对穿戴者的上肢力量和反应能力要求较高，因此不适用于偏瘫、四肢瘫痪、年老体弱、上肢无力等类型人群。
 技术解决方案
为了克服现有技术的不足，本发明提出一种新型自平衡外骨骼机器人，适用于偏瘫、下肢瘫、四肢瘫等类型的下肢失能或上下肢均失能人群，辅助穿戴者进行起立、坐下、行走、抬腿和上下楼梯等日常活动训练。
本发明解决上述问题的技术方案是：一种新型自平衡外骨骼机器人，其特殊之处在于，
包括背部支撑控制组件、髋关节组件、膝关节组件、踝关节组件、足托组件；
背部支撑控制组件、髋关节组件、膝关节组件、踝关节组件、足托组件依次相连；
髋关节组件实现髋关节前屈/后伸、髋关节内收/外展、髋关节内旋/外旋运动；膝关节组件实现膝关节前屈/后伸运动；踝关节组件实现踝关节背屈/跖屈以及踝关节内翻/外翻运动；足托组件用于支撑人体。
进一步地，上述背部支撑控制组件包括背部支撑板、支撑固定板、电源和主控、支撑支架以及碳纤维护臀板；
背部支撑板、电源和主控分别设置在支撑固定板的正反面，支撑支架以及碳纤维护臀板设置在支撑支架下部。
进一步地，上述髋关节组件包括对称设置的左侧髋关节、右侧髋关节；
所述右侧髋关节包括内收/外展组件、内旋/外旋组件、前屈/后伸组件、上层远程转动机构组件和下层远程转动机构组件；
左侧髋关节、右侧髋关节的内收/外展组件相互连接构成髋关节固定结构，其内收/外展组件的输出端与内旋/外旋组件连接，且内旋/外旋组件位于于内收/外展组件的后方，内旋/外旋组件的输出端与上层远程转动机构组件连接，前屈/后伸组件与上层远程转动机构组件和下层远程转动机构组件的输出杆连接，前屈/后伸组件的输出端与大腿杆件连接。
所述内收/外展组件驱动内旋/外旋组件、前屈/后伸组件、上层远程转动机构组件和下层远程转动机构组件产生内收或外展转动；内旋/外旋组件通过上层远程转动机构组件和下层远程转动机构组件驱动前屈/后伸组件做内旋或外旋转动；前屈/后伸组件驱动大腿杆件做前屈或后伸运动。
进一步地，上述内收/外展组件包括内收/外展驱动固定座、内收/外展辅助固定座、内收/外展驱动单元，内收/外展驱动单元固定在内收/外展驱动固定座、内收/外展辅助固定座上，内收/外展驱动单元的动力输出端与内收/外展输出运动端盖连接，内收/外展输出运动端盖通过轴承支座连接。
进一步地，上述内旋/外旋组件包括内旋/外旋驱动单元，内旋/外旋驱动单元固定在内旋/外旋辅助固定座上，内旋/外旋辅助固定座与内收/外展输出运动端盖连接；内旋/外旋驱动单元包括内旋/外旋输出运动端盖。
进一步地，上述内旋/外旋组件还包括固定座支撑杆，内旋/外旋辅助固定座通过固定座支撑杆与内收/外展输出运动端盖连接。
进一步地，上述前屈/后伸组件包括髋关节屈伸运动输出端盖、前屈/后伸驱动固定座、辅助固定座、前屈/后伸驱动单元；前屈/后伸驱动单元固定在前屈/后伸驱动固定座、辅助固定座上，前屈/后伸驱动单元的输出端为髋关节屈伸运动输出端盖，髋关节屈伸运动输出端盖与大腿杆件连接。
进一步地，上述上层远程转动机构组件包括传动杆、上纵向长曲杆、上纵向短曲杆、上水平长曲杆、上水平短曲杆；所述下层远程转动机构组件包括下纵向长曲杆、下纵向短曲杆、下水平长曲杆、下水平短曲杆；传动杆的一端与内旋/外旋输出运动端盖铰接，传动杆的另一端与上纵向短曲杆铰接；上纵向短曲杆、下纵向短曲杆的一端分别铰接在轴承支座上下两侧，上水平长曲杆、下水平长曲杆的一端分别与上纵向短曲杆、下纵向短曲杆的另一端铰接，上水平长曲杆、下水平长曲杆的另一端分别铰接在前屈/后伸驱动固定座的上下两侧；上纵向长曲杆、下纵向长曲杆的一端分别铰接在内收/外展输出运动端盖的上下两侧，上纵向长曲杆、下纵向长曲杆的另一端分别与上水平短曲杆、下水平短曲杆的一端铰接，上水平短曲杆、下水平短曲杆的另一端分别铰接在辅助固定座的上下两侧；所述上纵向长曲杆、下纵向长曲杆的中部分别与上水平长曲杆、下水平长曲杆的中部铰接。
进一步地，上述传动杆的两端分别通过铰链销和轴承与内旋/外旋输出运动端盖上纵向短曲杆铰接。
进一步地，上述上水平长曲杆、上纵向短曲杆的铰接点与下水平长曲杆与下纵向短曲杆铰接点穿入一根销轴；上纵向长曲杆、上水平短曲杆的铰接点与下纵向长曲杆、下水平短曲杆的铰接点穿入一根销轴；
上纵向长曲杆、上水平长曲杆的铰接点与下纵向长曲杆、下水平长曲杆铰接点穿入一根销轴。
进一步地，上述上水平短曲杆与下水平短曲杆之间设有辅助固定轴；上水平长曲杆与下水平长曲杆之间设有辅助固定轴。
进一步地，上述内收/外展驱动单元、内旋/外旋驱动单元、前屈/后伸驱动单元为伺服电机。
进一步地，上述膝关节组件包括膝关节驱动和传动组件、大腿杆自适应腿部绑缚组件和小腿杆自适应腿部绑缚组件；
所述膝关节驱动和传动组件包括大腿杆、小腿杆、屈伸传动杆、膝关节固定座，
大腿杆、小腿杆之间通过大小腿固定铰链连接，膝关节驱动单元设置在大腿杆上靠近髋关节位置，
膝关节驱动单元的动力输出端为膝关节运动输出端盖，膝关节运动输出端盖的输出端与屈伸传动杆的一端铰接，屈伸传动杆的另一端与膝关节固定座的一端铰接，膝关节固定座的另一端固定在小腿杆上。
由于膝关节驱动安装在外骨骼大腿杆上，提高了重心位置，通过屈伸传动杆传递膝关节屈伸运动，因此可选用较大的驱动输出力矩而不会大幅增加腿部惯量。
进一步地，上述膝关节运动输出端盖的输出端通过主动端铰链与屈伸传动杆的一端铰接。
进一步地，上述屈伸传动杆的另一端通过从动端铰链与膝关节固定座的一端铰接。
进一步地，上述大腿杆自适应腿部绑缚组件包括上下移动补偿机构、前后移动补偿机构、左右移动补偿机构以及转动补偿功能机构；转动补偿功能机构包括大腿支撑板，
上下移动补偿机构固定在外骨骼大腿杆上，上下移动补偿机构用于对大腿支撑板实现在垂直方向的上下移动补偿，前后移动补偿机构用于对大腿支撑板实现径向方向的前后移动补偿，左右移动补偿机构用于对大腿支撑板实现水平方向的左右移动补偿，转动补偿功能机构用于对大腿支撑板实现绕径向移动轴的转动补偿。
进一步地，上述上下移动补偿机构包括垂直向导杆、垂直向移动滑块以及用于固定垂直向导杆的两个固定端，所述垂直向移动滑块可沿垂直向导杆移动，所述垂直向移动滑块两侧均设有阻尼弹簧；
前后移动补偿机构包括前后径向导杆，前后径向导杆的一端固定在垂直向移动滑块上，前后径向导杆上设有前后径向移动滑块，前后径向移动滑块两侧均设有阻尼弹簧；
左右移动补偿机构包括水平向导杆、径向移动滑块端盖，径向移动滑块端盖固定在前后径向移动滑块上，前后径向移动滑块内设有滑动腔；水平向导杆的部分位于滑动腔内，水平向导杆一端并穿过前后径向移动滑块，水平向圆柱导杆中间设有轴肩，水平向圆柱导杆的轴肩两侧分别设有阻尼弹簧。水平向圆柱导杆可在前后径向移动滑块形成的滑动腔内移动。
转动补偿功能机构包括大腿支撑板固定座铰链销、大腿支撑板固定座；大腿支撑板固定座通过大腿支撑板固定座铰链销铰接在水平向圆柱导杆上，大腿支撑板固定在大腿支撑板固定座上。
进一步地，上述小腿杆自适应腿部绑缚组件包括小腿支撑板、左右移动补偿机构、转动补偿机构和上下移动补偿机构；
左右移动补偿机构用于对小腿支撑板实现水平方向的左右移动补偿，转动补偿机构用于对小腿支撑板实现绕水平移动轴的转动补偿，上下移动补偿机构用于对小腿支撑板实现垂直方向的上下移动补偿功能。
进一步地，上述左右移动补偿机构包括小腿支撑板固定座、小腿支撑板支架，小腿支撑板固定座可沿小腿支撑板支架进行移动，小腿支撑板固定座的两侧设有阻尼弹簧；
所述小腿支撑板固定座还可绕小腿支撑板支架转动，构成转动补偿机构；
上下移动补偿机构包括设置在小腿支撑板上的滑槽，所述小腿支撑板固定座可沿滑槽上下移动。
进一步地，上述小腿支撑板上的滑槽上设有限位螺钉。
进一步地，上述小腿支撑板支架的一端通过支架铰链销与小腿支架固定座铰接，小腿支撑板支架与小腿支架固定座还通过拉环弹簧销进行固定；小腿支架固定座固定在小腿杆上。
进一步地，上述踝关节组件包括踝关节驱动组件；
所述踝关节驱动组件包括：屈伸驱动组件和内外翻运动组件；
屈伸驱动组件和内外翻运动组件设置在小腿杆上，屈伸驱动组件和内外翻运动组件分别带动足托组件进行屈伸运动和内外翻运动。
进一步地，上述屈伸驱动组件包括屈伸驱动固定座、屈伸驱动单元、踝关节运动输出端盖、屈伸运动传动杆、踝关节固定支座；
屈伸驱动单元通过屈伸驱动固定座固定在小腿杆的上端，屈伸驱动单元的动力输出端与踝关节运动输出端盖连接，踝关节运动输出端盖与屈伸运动传动杆的一端铰接，屈伸运动传动杆的另一端与踝关节固定支座铰接；踝关节固定支座与足托组件固连。
进一步地，上述屈伸运动传动杆的另一端与踝关节固定支座通过屈伸运动虎克铰链连接。
进一步地，上述屈伸驱动单元的动力输出端通过屈伸运动单轴铰链与屈伸运动传动杆的一端铰接。
进一步地，上述小腿杆与踝关节固定支座通过小腿杆支撑虎克铰链进行连接。
进一步地，上述内外翻运动组件包括内外翻驱动单元，内外翻驱动单元固定在小腿杆上部且位于屈伸驱动单元的下方，内外翻驱动单元的动力输出端与内外翻运动输出端盖连接，内外翻运动输出端盖通过内外翻运动径向铰链、内外翻运动水平铰链、内外翻运动垂直铰链与内外翻运动传动杆的一端连接，内外翻运动传动杆的另一端与踝关节固定支座铰接。
进一步地，上述内外翻运动传动杆的另一端与踝关节固定支座通过内外翻运动虎克铰链连接。
进一步地，上述足托组件包括压力和姿态数据采集单元、外骨骼足托、橡胶护板、压力传感器、橡胶护套、弧形脚后跟挡板、绑带环扣以及L形环扣固定座。
进一步地，还包括小腿绑缚、足部绑缚；小腿绑缚、足部绑缚分别设置在小腿杆、绑带环扣上。
 有益效果
本发明的优点：
1)   本发明提出一种具有12个驱动关节的全驱动型外骨骼机器人，可以实现自平衡康复助行运动，无需外部支撑来保持平衡，该外骨骼机器人具有仿生类人化特点，可以自主复现人体下肢绝大部分运动，进而能提供高度自然的康复或助行步态；
2)   本发明中外骨骼髋关节实现了同时具有前屈/后伸、内收/外展和内旋/外旋三个自由度的主动运动辅助，提高了运动灵活性；
3)   相较于传统的前屈/后伸和内收/外展运动轴线交汇于人体髋关节，而内旋/外旋转动轴线为偏置，通过三自由度串联远程虚拟转动中心机构实现了三转轴均交汇于人体髋关节，贴合人体髋关节运动，提高了穿戴舒适性；
4)   远程虚拟转动中心机构的传动比为1，从而等价于直接连接驱动，能够简化运动控制；
5)   采用了上下双层远程虚拟转动中心机构，有效提高了整体结构刚度；
6)   前屈/后伸、内收/外展两个驱动位于双层远程虚拟转动中心机构之间，而内旋/外旋的驱动位于内收/外展驱动后方，提高了整体结构紧凑性，在运动范围内无干涉产生。
7)   膝关节驱动安装于大腿杆上，提高了重心，减小了腿部惯量；
8)   通过传动比为1的平行四边形机构传递屈伸运动，等价于直接驱动，相较于齿轮、丝杠等传动方式效率高；
9)   相较于驱动和关节直接连接的方式，在不增加髋关节驱动负载的情况下，可选用扭矩较大的膝关节驱动器，提高膝关节主动运动辅助能力；
10) 腿部绑缚采用更多的被动自由度，包括上下移动、前后移动、水平移动和径向旋转，提高了自适应轴线偏差补偿能力；
11) 相较于采用初始位置偏差补偿的手动调整方式，自适应腿部绑缚装置能够在运动过程中进行动态轴线偏差补偿；
12) 采用开合式小腿绑缚设计，穿戴过程中可快速打开和锁止，相较于固定式悬臂梁结构，穿戴更加便捷。
13) 本发明提出的外骨骼机器人踝关节相较于现有技术，其采用了新型二自由度并联机构构型，提供踝关节背屈/跖屈和踝关节内翻/外翻主动运动辅助，并且两者之间运动解耦，从而简化了运动控制；
14) 采用虎克铰连接小腿杆和固定座，具有两个相互垂直的转轴，提供踝关节背屈/跖屈和内翻/外翻两个运动自由度；
15) 小腿杆、屈伸驱动输出运动端盖、屈伸传动杆和踝关节固定座形成平行四边形机构，作为踝关节背屈/跖屈运动支链，屈伸驱动单元安装于膝关节位置，以提高重心位置和减小足端惯量；小腿杆、内外翻驱动输出运动端盖、内外翻传动杆和踝关节固定座形成平行四边形机构，作为踝关节内翻/外翻运动支链，内外翻驱动单元安装于屈伸驱动单元的下方，以提高重心位置和减小足端惯量；两个驱动的物理位置较高，提高了整体重心和减小了足端附加惯量，从而提高了动态运动灵活性；
16) 所提出的外骨骼机器人足托底部设有压力传感器，能动态采集运动过程中的足底压力信息，进而能实时反馈外骨骼机器人运动状态；
17) 背部采用胸腰椎固定支撑板，受力面积大，绑缚压力小，可稳固支撑穿戴者后背，而非传统外骨骼仅在腰部固定。
 附图说明
图1是自平衡外骨骼人体穿戴示意图；
图2是自平衡外骨骼整体结构示意图；
图3是背部支撑控制组件分解示意图；
图4是右侧髋关节外骨骼整体结构示意图；
图5是髋关节外骨骼运动状态示意图；
图6是外骨骼机器人膝关节驱动与传动结构组成示意图；
图7是外骨骼机器人膝关节运动状态示意图；
图8是大腿绑缚装置整体结构示意图；
图9是大腿绑缚装置结构分解示意图；
图10是小腿绑缚装置在锁止状态的整体结构示意图；
图11是小腿绑缚装置在打开状态的整体结构示意图；
图12是小腿绑缚装置结构分解示意图；
图13是外骨骼机器人踝关节结构示意图；
图14是外骨骼机器人踝关节机构简图。
图15是外骨骼机器人踝关节屈伸运动支链结构剖视图。
图16是外骨骼机器人踝关节内外翻运动支链结构剖视图。
图17是外骨骼机器人踝关节运动状态示意图；
图18是智能足托组件结构示意图；
图19是智能足托组件分解示意图；
图20是外骨骼矢状面运动示意图；
图21是外骨骼冠状面运动示意图；
图22是外骨骼初始坐姿示意图；
图23是右侧髋关节外骨骼结构分解示意图。
其中：
1、背部支撑控制组件；11、背部支撑板；12、支撑固定板；13、电源和主控；14、支撑支架；15、碳纤维护臀板；
2、髋关节组件；
21、内收/外展组件；
211、内收/外展输出运动端盖；212、内收/外展驱动固定座；213、轴承支座；214、内收/外展辅助固定座；215、内收/外展驱动单元；
22、内旋/外旋组件；
221、内旋/外旋输出运动端盖；222、内旋/外旋驱动固定座；223、内旋/外旋驱动单元；224、内旋/外旋辅助固定座；225、辅助支撑杆；226、固定座支撑杆；
23、前屈/后伸组件；
231、髋关节屈伸运动输出端盖；232、前屈/后伸驱动固定座；233、辅助固定座；234、前屈/后伸驱动单元；
24、上层远程转动机构组件；
241、铰链销；242、上轴承；243、传动杆；244、上纵向长曲杆；245、上纵向短曲杆；246、上水平长曲杆；247、上水平短曲杆；248、轴承固定轴；249、辅助固定轴；
25、下层远程转动机构组件；
251、下轴承；252、下纵向长曲杆；253、下纵向短曲杆；254、下水平长曲杆；255、下水平短曲杆。
3、膝关节组件；
311、大腿杆；312、膝关节驱动单元；313、膝关节运动输出端盖；314、主动端铰链；315、屈伸传动杆；316、从动端铰链；317、膝关节固定座；318、大小腿固定铰链；319、小腿杆；
4、踝关节组件；
412、踝关节屈伸运动输出端盖；413、屈伸运动单轴铰链；414、屈伸运动传动杆；415、屈伸运动虎克铰链；416、踝关节固定支座；417、屈伸驱动固定座；418、屈伸驱动单元；419、内外翻驱动单元；4110、内外翻运动输出端盖；4111、内外翻运动径向铰链；4112、内外翻运动水平铰链；4113、内外翻运动垂直铰链；4114、内外翻运动传动杆；4115、内外翻运动虎克铰链；4116、小腿杆支撑虎克铰链；
5、足托组件；
51、压力和姿态数据采集单元；52、外骨骼足托；53、橡胶护板；54、压力传感器；55、橡胶护套；56、弧形脚后跟挡板；57、绑带环扣；58、L形环扣固定座；
6、大腿杆自适应腿部绑缚组件；
621、上端导杆卡簧；622、上端L形固定板；623、上端阻尼弹簧；624、垂直向圆柱导杆；625、下端阻尼弹簧；626、下端L形固定板；627、下端导杆卡簧；628、垂直向移动滑块；629、后侧阻尼弹簧；6210、前后径向圆柱导杆；6211、前侧阻尼弹簧；6212、前侧导杆固定板；6213、左端阻尼弹簧；6214、前后径向移动滑块；6215、水平向圆柱导杆；6216、右端阻尼弹簧；6217、径向移动滑块端盖；6218、大腿支撑板固定座铰链销；6219、大腿支撑板固定座；6220大腿支撑板；
7、小腿杆自适应腿部绑缚组件；
731、小腿支架固定座；732、支架铰链销；733、拉环弹簧销；734、小腿支撑板支架；735、右侧阻尼弹簧；736、小腿支撑板固定座；737、左侧阻尼弹簧；738、支架端盖；739、限位螺钉；7310小腿支撑板。
 本发明的实施方式
为使本发明实施方式的目的、技术方案和优点更加清楚，下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本发明保护的范围。因此，以下对在附图中提供的本发明的实施方式的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施方式。
本发明提出一种基于人体仿生学原理设计的可穿戴自平衡下肢外骨骼机器人，穿戴于人体大腿外侧和背部后侧，其穿戴效果如图1所示。
图2是自平衡外骨骼机器人的整体结构示意图，采用串并联混合结构设计方案，主要包括：背部支撑控制组件1、髋关节组件2、膝关节组件3、踝关节组件4、足托组件5、大腿自适应绑缚装置6和小腿自适应绑缚装置7。
自平衡外骨骼机器人设有12个主动自由度，包括两侧对称的3自由度串联结构髋关节2、1自由度串联结构膝关节3和2自由度并联结构踝关节4，能够为穿戴者提供髋关节前屈/后伸、髋关节内收/外展、髋关节内旋/外旋、膝关节前屈/后伸、踝关节背屈/跖屈以及踝关节内翻/外翻的主动运动辅助，具有运动灵活可靠、适用范围广、人机相容性高、可实现步态多样性等特征。
作为本发明的一个优选实施例，如图3所示，背部支撑控制组件1包括：背部支撑板11、支撑固定板12、电源和主控13、支撑支架14以及碳纤维护臀板15，能够根据穿戴者的体型调整绑缚，在胸腰椎和肩部位置进行固定，有效支撑穿戴者躯干，提高了穿戴舒适性、安全性和可靠性。电源和主控13包括电源部分和控制部分，电源部分用于对所有的驱动单元提供电源，控制部分用于采集各传感器的参数并对各驱动单元进行控制。
本发明中，髋关节组件2采用双层串联式远程转动中心机构，使3个转动轴完全交汇于人体髋关节，既提高了髋关节处的结构刚度，也消除了外骨骼与人体髋关节的运动轴线偏差。
具体地，髋关节组件2包括对称设置的左侧髋关节、右侧髋关节。
左侧髋关节、右侧髋关节的结构相同。以图4所示右侧髋关节为例，所述右侧髋关节包括内收/外展组件21、内旋/外旋组件22、前屈/后伸组件23、上层远程转动机构组件24和下层远程转动机构组件25。
左侧髋关节、右侧髋关节的内收/外展组件21相互连接构成髋关节固定结构，其内收/外展组件21的输出端与内旋/外旋组件22连接，且内旋/外旋组件22位于于内收/外展组件21的后方，内旋/外旋组件22的输出端与上层远程转动机构组件24连接，前屈/后伸组件23与上层远程转动机构组件24和下层远程转动机构组件25的输出杆连接，前屈/后伸组件23的输出端与大腿杆311连接。
所述内收/外展组件21驱动内旋/外旋组件22、前屈/后伸组件23、上层远程转动机构组件24和下层远程转动机构组件25产生外展或内展转动；内旋/外旋组件22通过上层远程转动机构组件24和下层远程转动机构组件25驱动前屈/后伸组件23做内旋或外旋转动；前屈/后伸组件23驱动大腿杆311做前屈或后伸运动。
作为本发明的一个优选实施例，参见图23，上述内收/外展组件21包括内收/外展驱动固定座212、内收/外展辅助固定座214、内收/外展驱动单元215。内收/外展驱动单元215固定在内收/外展驱动固定座212、内收/外展辅助固定座214上，内收/外展驱动单元215的动力输出端与内收/外展输出运动端盖211连接，内收/外展输出运动端盖211通过轴承支座213连接。左侧髋关节、右侧髋关节共用内收/外展驱动固定座212、内收/外展辅助固定座214。
作为本发明的一个优选实施例，上述内旋/外旋组件22包括内旋/外旋驱动单元223，内旋/外旋驱动单元223固定在内旋/外旋辅助固定座224上，内旋/外旋辅助固定座224与内收/外展输出运动端盖211连接；内旋/外旋驱动单元223包括内旋/外旋输出运动端盖221。
作为本发明的一个优选实施例，上述内旋/外旋组件22还包括固定座支撑杆226，内旋/外旋辅助固定座224通过固定座支撑杆226与内收/外展输出运动端盖211连接。将内旋/外旋驱动单元223安装在内收/外展驱动单元215的后侧，通过4根固定座支撑杆226连接到内收/外展的输出运动端盖11，为了避免左右两侧内旋/外旋驱动单元223在外骨骼髋关节内收/外展运动时产生干涉。内旋/外旋驱动固定座222通过辅助支撑杆225与内旋/外旋辅助固定座224连接。
作为本发明的一个优选实施例，上述前屈/后伸组件23包括髋关节屈伸运动输出端盖231、前屈/后伸驱动固定座232、辅助固定座233、前屈/后伸驱动单元234；前屈/后伸驱动单元234固定在前屈/后伸驱动固定座232、辅助固定座233上，前屈/后伸驱动单元234的输出端为髋关节屈伸运动输出端盖231，髋关节屈伸运动输出端盖231与大腿杆311连接。
作为本发明的一个优选实施例，上述上层远程转动机构组件24包括传动杆243、上纵向长曲杆244、上纵向短曲杆245、上水平长曲杆246、上水平短曲杆247；所述下层远程转动机构组件25包括下纵向长曲杆252、下纵向短曲杆253、下水平长曲杆254、下水平短曲杆255；传动杆243的一端与内旋/外旋输出运动端盖221铰接，传动杆243的另一端与上纵向短曲杆245铰接。
上纵向短曲杆245、下纵向短曲杆253的一端分别铰接在轴承支座213上下两侧，上水平长曲杆246、下水平长曲杆254的一端分别与上纵向短曲杆245、下纵向短曲杆253的另一端铰接，上水平长曲杆246、下水平长曲杆254的另一端分别铰接在前屈/后伸驱动固定座232的上下两侧；上纵向长曲杆244、下纵向长曲杆252的一端分别铰接在内收/外展输出运动端盖211的上下两侧，上纵向长曲杆244、下纵向长曲杆252的另一端分别与上水平短曲杆247、下水平短曲杆255的一端铰接，上水平短曲杆247、下水平短曲杆255的另一端分别铰接在辅助固定座233的上下两侧；所述上纵向长曲杆244、下纵向长曲杆252的中部分别与上水平长曲杆246、下水平长曲杆254的中部铰接。
作为本发明的一个优选实施例，上述传动杆243的两端分别通过铰链销241和上轴承242与内旋/外旋输出运动端盖221上纵向短曲杆245铰接；铰链销241与上轴承242内圈过盈连接，上轴承242外圈与传动杆243上台阶孔的内壁过盈连接。
作为本发明的一个优选实施例，上述上水平长曲杆246、上纵向短曲杆245的铰接点与下水平长曲杆254与下纵向短曲杆253铰接点穿入一根轴承固定轴248，轴承固定轴248的两端分别设有下轴承251，下轴承251的内圈与轴承固定轴248过盈连接，下轴承251的外圈与其对应杆件的台阶孔内壁过盈连接。上纵向长曲杆244、上水平短曲杆247的铰接点与下纵向长曲杆252、下水平短曲杆255的铰接点穿入一根轴承固定轴，轴承固定轴的两端分别设有轴承，轴承的内圈与轴承固定轴过盈连接，轴承的外圈与其对应杆件的台阶孔内壁过盈连接。上纵向长曲杆244、上水平长曲杆246的铰接点与下纵向长曲杆252、下水平长曲杆254铰接点穿入一根轴承固定轴，轴承固定轴的两端分别设有轴承，轴承的内圈与轴承固定轴过盈连接，轴承的外圈与其对应杆件的台阶孔内壁过盈连接。
作为本发明的一个优选实施例，上述上水平短曲杆247与下水平短曲杆255之间设有辅助固定轴249；上水平长曲杆246与下水平长曲杆254之间设有辅助固定轴249。
作为本发明的一个优选实施例，上述内收/外展驱动单元215、内旋/外旋驱动单元223、前屈/后伸驱动单元234为伺服电机。
本发明髋关节组件2的工作原理：
在工作时，内收/外展驱动固定座212和内收/外展辅助固定座214可视为固定件，当内收/外展驱动单元215顺时针旋转时，驱动内收/外展输出运动端盖211产生外展转动，同时内旋/外旋组件22、前屈/后伸组件23、上层远程转动机构组件24和下层远程转动机构组件25都将同步外展转动，因此产生髋关节外展运动辅助，如图5中的（1）所示；反之，当内收/外展驱动单元215逆时针旋转时，上述组件将产生髋关节内展运动辅助，并且该固定转动轴线能够通过人体髋关节。
当内旋/外旋驱动单元223顺时针旋转时，内旋/外旋输出运动端盖221通过传动杆243传递运动，驱动由上纵向短曲杆245、上水平长曲杆246、上水平短曲杆247组成的双平行四边形远程转动中心机构，产生外旋转动，同时前屈/后伸组件23也将同步外旋转动，因此产生髋关节外旋运动辅助，如如图5中的（3）所示所示；反之，当内旋/外旋驱动单元223逆时针旋转时，上述组件将产生髋关节内旋运动辅助，并且该机构产生的内旋/外旋转动轴线能够虚拟通过人体髋关节。
当前屈/后伸驱动单元234顺时针旋转时，屈伸输出运动端盖31将驱动大腿杆311产生髋关节前屈运动辅助，如图5中的（2）所示；反之，当前屈/后伸驱动单元234逆时针旋转时，屈伸输出运动端盖31将驱动大腿杆311产生髋关节后伸运动辅助，并且该前屈/后伸转动轴线也能够通过人体髋关节。因此，该仿生外骨骼髋关节具有三个主动自由度，并且所有转动轴线均交汇于人体髋关节中心，无轴线位置偏差，避免运动偏差的产生，与传统外骨骼髋关节结构相比，不仅提升了主动运动辅助能力，也提高了人体穿戴的舒适性。
首先，为了使内旋/外旋运动轴线通过人体髋关节中心，采用基于双平行四边形串联的机构构型，产生通过人体髋关节的远程虚拟转动中心，并且其传动比为1，可等价于直接传动，而前屈/后伸和内收/外展的驱动则分别连接在该机构的输出杆和固定杆上，从而形成三自由度串联远程转动中心机构；其次，为了提高连杆机构的整体结构刚度，采用了上下双层远程转动中心机构固联的结构设计，将前屈/后伸和内收/外展的驱动置于两层机构之间，使其结构紧凑、运动灵活、无干涉；最后，为了避免内旋/外旋驱动在运动时产生相互干涉，将其置于内收/外展驱动后方，通过连杆进行运动传递。因此，与现有外骨骼的髋关节设计相比，本发明提出仿生髋关节的结构具有自由度和驱动数量多、运动灵活性好、结构刚度高、三轴交汇于人体髋关节而不存在运动偏差等优点，具有拟人化的运动特性和辅助能力。
本发明中，膝关节3采用平行四边形远程驱动结构，膝关节屈伸驱动单元安装在外骨骼大腿杆311上，提高了重心位置，减小了腿部惯量，并采用双支撑结构，提高了结构刚度。
具体地，参见图6，所述膝关节驱动和传动组件包括大腿杆311、小腿杆319、屈伸传动杆315、膝关节固定座317。大腿杆311、小腿杆319之间通过大小腿固定铰链318连接，膝关节驱动单元312设置在大腿杆311上靠近髋关节位置。膝关节驱动单元312的动力输出端为膝关节运动输出端盖313，膝关节运动输出端盖313的输出端与屈伸传动杆315的一端铰接，屈伸传动杆315的另一端与膝关节固定座317的一端铰接，膝关节固定座317的另一端固定在小腿杆319上。
由于膝关节驱动12安装在外骨骼大腿杆311上，提高了重心位置，通过屈伸传动杆315传递膝关节屈伸运动，因此可选用较大的驱动输出力矩而不会大幅增加腿部惯量。
作为本发明的一个优选实施例，参见图6，上述膝关节运动输出端盖313的输出端通过主动端铰链314与屈伸传动杆315的一端铰接。上述屈伸传动杆315的另一端通过从动端铰链316与膝关节固定座317的一端铰接。
如图6、7所示，大腿杆311、膝关节运动输出端盖313、屈伸传动杆315和膝关节固定座317组成了平行四边形机构 ABCD ，其传动比为1，因而等价于直接驱动。由于膝关节驱动12安装在外骨骼大腿杆311上，提高了重心位置，通过屈伸传动杆315传递膝关节屈伸运动，因此可选用较大的驱动输出力矩而不会大幅增加腿部惯量。
该仿生自平衡外骨骼的大腿自适应绑缚装置6和小腿自适应绑缚装置7能够动态补偿运动过程中出现的人-机轴线偏差，消除穿戴者在助行时受到的额外牵扯力和扭转力，提高穿戴舒适性和安全性。
具体地，参见图8、图9，上述大腿杆自适应腿部绑缚组件6大腿杆自适应腿部绑缚组件6具有4个被动自由度，4个被动自由度分别由上下移动补偿机构、前后移动补偿机构、左右移动补偿机构以及转动补偿功能机构实现。
上下移动补偿机构固定在外骨骼大腿杆311上，上下移动补偿机构用于对大腿支撑板6220实现在垂直方向的上下移动补偿，前后移动补偿机构用于对大腿支撑板6220实现径向方向的前后移动补偿，左右移动补偿机构用于对大腿支撑板6220实现水平方向的左右移动补偿，转动补偿功能机构用于对大腿支撑板6220实现绕径向移动轴的转动补偿。
参见图9，具体地，上述上下移动补偿机构包括上端L形固定板622、下端L形固定板626、垂直向移动滑块628，上端L形固定板622、下端L形固定板626之间设有垂直向圆柱导杆624，垂直向圆柱导杆624的两端分别通过上端导杆卡簧621、下端导杆卡簧627进行紧固。垂直向圆柱导杆624上依次套设上端阻尼弹簧623、垂直向移动滑块628、下端阻尼弹簧625。
前后移动补偿机构包括前后径向圆柱导杆6210、后侧阻尼弹簧629、前侧阻尼弹簧6211、前侧导杆固定板6212，前后径向圆柱导杆6210的两端分别固定在垂直向移动滑块628和前侧导杆固定板6212上，前后径向圆柱导杆6210上依次套设后侧阻尼弹簧629、前后径向移动滑块6214、前侧阻尼弹簧6211。
左右移动补偿机构包括水平向圆柱导杆6215、径向移动滑块端盖6217，径向移动滑块端盖6217固定在前后径向移动滑块6214上，水平向圆柱导杆6215穿过径向移动滑块端盖6217、前后径向移动滑块6214，水平向圆柱导杆6215中间设有轴肩，水平向圆柱导杆6215的轴肩两侧设有213、左端阻尼弹簧6213、右端阻尼弹簧6216。水平向圆柱导杆6215可在径向移动滑块端盖6217和前后径向移动滑块6214形成的滑动腔内移动。
转动补偿功能机构包括大腿支撑板固定座铰链销6218、大腿支撑板固定座6219；大腿支撑板固定座6219通过大腿支撑板固定座铰链销6218铰接在水平向圆柱导杆6215上，大腿支撑板6220固定在大腿支撑板固定座6219上。
大腿绑缚装置通过垂直向圆柱导杆624、前后径向圆柱导杆6210和水平向圆柱导杆6215形成3个相互垂直的移动自由度，以及支撑板固定座219在水平向圆柱导杆6215中绕径向轴的1个旋转自由度，使支撑板220具有4个被动自由度，具有较好的大腿绑缚自适应能力。
作为本发明的一个优选实施例，参见图10、图11、图12，上述小腿杆自适应腿部绑缚组件7具有3个被动自由度，3个被动自由度具体由左右移动补偿机构、转动补偿机构和上下移动补偿机构实现。
左右移动补偿机构用于对小腿支撑板7310实现水平方向的左右移动补偿，转动补偿机构用于对小腿支撑板7310实现绕水平移动轴的转动补偿，上下移动补偿机构用于对小腿支撑板7310实现垂直方向的上下移动补偿功能。
具体地，上述左右移动补偿机构包括小腿支撑板固定座736、小腿支撑板支架734，小腿支撑板固定座736可沿小腿支撑板支架734进行移动，小腿支撑板固定座736的两侧设有左侧阻尼弹簧737和右侧阻尼弹簧735；所述小腿支撑板固定座736还可绕小腿支撑板支架734转动，构成转动补偿机构；上下移动补偿机构包括设置在小腿支撑板7310上的滑槽，所述小腿支撑板固定座736可沿滑槽上下移动。在小腿支撑板7310上的滑槽的两端，分别设有限位螺钉739。
由于自适应绑缚组件具有双向弹簧阻尼，分别安装于大腿杆311和小腿杆上，既能够适应不同患者腿部尺寸的绑缚要求，也可以补偿外骨骼膝关节与人体膝关节轴线偏差引起的运动错位，从而提高人机运动学相容性。
小腿绑缚装置通过小腿支撑板固定座736与小腿支撑板支架734、支撑板310形成2个相互垂直的移动自由度，以及固定座36绕支撑板支架34的1个旋转自由度，使支撑板310具有3个被动自由度，具有较好的小腿绑缚自适应能力。
作为本发明的一个优选实施例，参见图10、图11和图12，上述小腿支撑板支架734的一端通过支架铰链销732与小腿支架固定座731铰接，小腿支撑板支架734与小腿支架固定座731还通过拉环弹簧销733进行固定。小腿支架固定座731、支架铰链销732、拉环弹簧销733和小腿支撑板支架734形成旋转打开/锁止机构，便于穿戴时挪动腿部。
如图2所示，由于左右腿两侧结构对称，以左侧为例进行详细描述。在穿戴使用时，膝关节外骨骼平行置于人体腿部外侧，分别通过大腿杆自适应腿部绑缚组件6大腿杆自适应腿部绑缚组件6、小腿杆自适应腿部绑缚组件7与人体大腿和小腿连接；同时，通过多方向不同类型被动自由度的自适应补偿，大腿杆自适应腿部绑缚组件6大腿杆自适应腿部绑缚组件6可贴合于不同穿戴者大腿外侧，小腿杆自适应腿部绑缚组件7则贴合于穿戴者的小腿前部，然后由绑带进行固定，提高了穿戴的舒适性；此外，在穿戴过程中，参见图12，小腿杆自适应腿部绑缚组件7还可通过拉环弹簧销733解锁小腿支撑板支架734与小腿支架固定座731之间的销孔限位，旋转打开小腿绑缚装置以便于穿戴，当穿戴者腿部挪到固定位置后再旋转小腿绑缚装置通过拉环弹簧销733锁定限位，提高了穿戴的便捷性。
参见图6，在工作时，当膝关节驱动单元312顺时针旋转膝关节运动输出端盖313时，经过屈伸传动杆315将屈伸运动传递给膝关节固定座317，而膝关节固定座317与小腿杆319固定连接，从而产生小腿在膝关节处的后伸运动辅助，如图7所示；反之，当膝膝关节驱动单元312逆时针旋转膝关节运动输出端盖313时，可产生膝关节前屈运动辅助。此外，由于膝关节驱动单元312的物理位置较高，提高了外骨骼腿部整体重心，从而减小了附加惯量，有利于外骨骼膝关节的动态灵活运动。
在运动过程中，由于简化后的外骨骼膝关节仅存在一个单轴转动自由度，而人体膝关节在运动过程中同步存在微小滑动，导致人体膝关节轴线与外骨骼膝关节轴线出现偏差，可通过腿部绑缚装置的被动自由度能够动态释放和消除因轴线错位而产生的人机牵扯力和扭转力。具体包括：参见图9，大腿绑缚装置通过垂直向移动滑块628在垂直向圆柱导杆624的上下移动、前后径向移动滑块6214在前后径向圆柱导杆6210的前后移动、水平向圆柱导杆6215在径向移动滑块214的左右移动以及大腿支撑板固定座6219在水平向圆柱导杆6215的径向旋转进行动态自适应补偿，小腿绑缚装置通过小腿支撑板固定座736在小腿支撑板支架734的左右移动和旋转、燕尾槽形小腿支撑板固定座736在小腿支撑板7310的上下移动进行动态自适应补偿，从而提高外骨骼的穿戴舒适性和安全性。
踝关节组件4采用两旋转自由度完全解耦的并联驱动结构，驱动单元安装在小腿杆上，该新型并联结构既提高了踝关节的支撑刚性，也大大减小了足端惯量，从而降低髋关节和膝关节驱动的负载，提升动态性能。
具体地，踝关节组件4主要包括踝关节驱动组件，其人体穿戴效果如图1所示。由于左右腿两侧结构对称，以左侧为例进行详细描述，其总体结构如图13所示；所述踝关节驱动组件包括：屈伸驱动组件和内外翻运动组件；小腿杆319与足托组件2铰接，屈伸驱动组件和内外翻运动组件设置在小腿杆319上，屈伸驱动组件和内外翻运动组件分别带动足托组件2进行屈伸运动和内外翻运动，小腿绑缚3、足部绑缚4分别位于小腿杆319与足托组件2上。
作为本发明的一个优选实施例，上述屈伸驱动组件包括屈伸驱动固定座417、屈伸驱动单元418、踝关节屈伸运动输出端盖412踝关节屈伸运动输出端盖412、屈伸运动传动杆414、踝关节固定支座416。屈伸驱动单元418通过屈伸驱动固定座417固定在小腿杆319的上端，屈伸驱动单元418的动力输出端与踝关节屈伸运动输出端盖412连接，踝关节屈伸运动输出端盖412与屈伸运动传动杆414的一端铰接，屈伸运动传动杆414的另一端与踝关节固定支座416铰接；踝关节固定支座416与足托组件2固连。
作为本发明的一个优选实施例，上述屈伸运动传动杆414的另一端与踝关节固定支座416通过屈伸运动虎克铰链415连接。上述屈伸驱动单元418的动力输出端通过屈伸运动单轴铰链413与屈伸运动传动杆414的一端铰接。上述小腿杆319与踝关节固定支座416通过小腿杆支撑虎克铰链4116进行连接。
作为本发明的一个优选实施例，上述内外翻运动组件包括内外翻驱动单元419，内外翻驱动单元419固定在小腿杆319上部且位于屈伸驱动单元418的下方，内外翻驱动单元419的动力输出端与内外翻运动输出端盖4110连接。由于现有的球铰无法满足踝关节内翻/外翻运动角度要求。内外翻运动输出端盖4110通过内外翻运动径向铰链4111、内外翻运动水平铰链4112、内外翻运动垂直铰链4113与内外翻运动传动杆4114的一端连接，内外翻运动传动杆4114的另一端与踝关节固定支座416通过内外翻运动虎克铰链4115连接。
本发明外骨骼机器人踝关节的工作原理：
在确定外骨骼机器人踝关节机构构型时，如图14所示。首先，为了实现外骨骼机器人踝关节的背屈/跖屈运动，即屈伸运动，同时为了提高整体重心位置和减小足端惯量，将屈伸运动的主动件（ A 0）设置在膝关节轴线位置，采用单自由度平面四杆机构（ A 0 ABB 0）进行运动传递，形成屈伸运动支链；其次，为了实现踝关节内翻/外翻运动，即与背屈/跖屈运动轴线垂直的内外翻运动，将屈伸运动支链 A 0 ABB 0的两个单轴转动铰链 B 0和 B演化为虎克铰链，从而得到与屈伸运动轴线垂直的内外翻转动轴， B 0和 B形成运动平面π；再次，为了驱动踝关节内翻/外翻运动，增加一个六自由度的空间运动支链（虎克铰 C 0球铰 C转动铰 D），并且 C 0位于运动平面π上， D位于 A 0 B 0上，从而形成内外翻运动支链 B 0 C 0 CD，同时内外翻运动的主动件（ D）设置在屈伸运动的主动件（ A 0）下方，以提高整体重心和减小足端惯量；最后，为了实现运动解耦，两个运动支链所在平面相互垂直，并且满足三个虎克铰链 B、 B 0和 C 0位于同一运动平面π，同时为了便于运动控制，机构尺寸方面满足对边相等的要求（ A 0 B 0= AB、 A 0 A= BB 0、 C 0 C= B 0 D、 B 0 C 0= CD），形成两个类平行四边形机构，使其传动比等于1，从而使两个运动链均等价于直接驱动。
图15是外骨骼机器人踝关节屈伸运动支链结构剖视图，主要由小腿杆319、踝关节屈伸运动输出端盖412、屈伸运动传动杆414、踝关节固定支座416四个构件组成，构件之间通过屈伸驱动单元418（ A 0）、屈伸运动单轴铰链413（ A）、屈伸运动虎克铰链415（ B）和小腿杆支撑虎克铰链4116（ B 0）进行连接，与人体膝关节轴线重合的屈伸驱动单元418安装在屈伸驱动固定座417上，当踝关节屈伸运动输出端盖412在屈伸驱动单元418作用下顺时针旋转时，通过屈伸运动传动杆414将屈伸运动传递给踝关节固定座16，产生踝关节背屈运动，如图17的（1）所示；反之，当踝关节屈伸运动输出端盖412逆时针旋转时，产生踝关节跖屈运动，如图17的（2）所示。
图16是外骨骼机器人踝关节内外翻运动支链结构剖视图，主要由小腿杆319、内外翻运动输出端盖4110、内外翻运动传动杆4114、踝关节固定支座416四个构件组成，构件之间通过内外翻驱动单元419（ D）、内外翻运动径向铰链4111、内外翻运动水平铰链4112、内外翻运动垂直铰链4113（内外翻运动径向铰链4111、内外翻运动水平铰链4112、内外翻运动垂直铰链4113三者组合为球铰 C）、内外翻运动虎克铰链4115（ C 0）和小腿杆支撑虎克铰链4116（ B 0）进行连接，与屈伸驱动单元418垂直的内外翻驱动单元419安装在小腿杆319上，当内外翻运动输出端盖4110在内外翻驱动单元419作用下顺时针旋转时，通过内外翻运动传动杆4114将内外翻运动传递给踝关节固定座16，产生踝关节内翻运动，如图17的（3）所示；反之，当内外翻运动输出端盖4110逆时针旋转时，产生踝关节外翻运动，如图17的（4）所示。若外骨骼机器人踝关节的屈伸运动支链和内外翻运动支链同时运动时，可产生踝关节背屈/跖屈、内翻/外翻的复合运动，如图17的（5）所示。
图18、图19所示，外骨骼足托组件5包括：压力和姿态数据采集单元51、外骨骼足托52、橡胶护板53、压力传感器54、橡胶护套55、弧形脚后跟挡板56、绑带环扣57以及L形环扣固定座58，足托底部设有8个压力传感器，能够动态实时采集外骨骼足托与地面接触的压力分布信息，为实现自平衡行走提供稳定性判据。
在步行时，外骨骼完全支撑穿戴者自重，两者同步平行运动，当外骨骼进行抬腿动作时，其矢状面内的运动示意图如图20所示；当左腿落地后，外骨骼根据压力传感器和三维姿态传感器进行重心调节，达到平稳状态后再抬右腿，其冠状面内的运动示意图如图21所示。在穿脱时，可打开外骨骼小腿上的绑缚装置，便于穿戴者进行操作，其初始坐姿示意图如图22所示。
以上所述仅为本发明的实施例，并非以此限制本发明的保护范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的系统领域，均同理包括在本发明的保护范围内。

Claims (19)

  1. 一种新型自平衡外骨骼机器人，其特征在于：
    包括背部支撑控制组件（1）、髋关节组件（2）、膝关节组件（3）、踝关节组件（4）、足托组件（5）；
    背部支撑控制组件（1）、髋关节组件（2）、膝关节组件（3）、踝关节组件（4）、足托组件（5）依次相连；
    髋关节组件（2）实现髋关节前屈/后伸、髋关节内收/外展、髋关节内旋/外旋运动；膝关节组件（3）实现膝关节前屈/后伸运动；踝关节组件（4）实现踝关节背屈/跖屈以及踝关节内翻/外翻运动；足托组件（5）用于支撑人体。
  2. 根据权利要求1所述的一种新型自平衡外骨骼机器人，其特征在于：
    所述背部支撑控制组件（1）包括背部支撑板（11）、支撑固定板（12）、电源和主控（13）、支撑支架（14）以及碳纤维护臀板（15）；
    背部支撑板（11）、电源和主控（13）分别设置在支撑固定板（12）的正反面，支撑支架（14）以及碳纤维护臀板（15）设置在支撑支架（14）下部。
  3. 根据权利要求1所述的一种新型自平衡外骨骼机器人，其特征在于：
    所述髋关节组件（2）包括对称设置的左侧髋关节、右侧髋关节；
    所述右侧髋关节包括内收/外展组件（21）、内旋/外旋组件（22）、前屈/后伸组件（23）、上层远程转动机构组件（24）和下层远程转动机构组件（25）；
    左侧髋关节、右侧髋关节的内收/外展组件（21）相互连接构成髋关节固定结构，其内收/外展组件（21）的输出端与内旋/外旋组件（22）连接，且内旋/外旋组件（22）位于于内收/外展组件（21）的后方，内旋/外旋组件（22）的输出端与上层远程转动机构组件（24）连接，前屈/后伸组件（23）与上层远程转动机构组件（24）和下层远程转动机构组件（25）的输出杆连接，前屈/后伸组件（23）的输出端与大腿杆（311）连接；
    所述内收/外展组件（21）驱动内旋/外旋组件（22）、前屈/后伸组件（23）、上层远程转动机构组件（24）和下层远程转动机构组件（25）产生外展或内展转动；内旋/外旋组件（22）通过上层远程转动机构组件（24）和下层远程转动机构组件（25）驱动前屈/后伸组件（23）做内旋或外旋转动；前屈/后伸组件（23）驱动大腿杆（311）做前屈或后伸运动。
  4. 根据权利要求3所述的一种新型自平衡外骨骼机器人，其特征在于：
    所述内收/外展组件（21）包括内收/外展驱动固定座（212）、内收/外展辅助固定座（214）、内收/外展驱动单元（215），内收/外展驱动单元（215）固定在内收/外展驱动固定座（212）、内收/外展辅助固定座（214）上，内收/外展驱动单元（215）的动力输出端与内收/外展输出运动端盖（211）连接，内收/外展输出运动端盖（211）通过轴承支座（213）连接。
  5. 根据权利要求4所述的一种新型自平衡外骨骼机器人，其特征在于：
    所述内旋/外旋组件（22）包括内旋/外旋驱动单元（223），内旋/外旋驱动单元（223）固定在内旋/外旋辅助固定座（224）上，内旋/外旋辅助固定座（224）与内收/外展输出运动端盖（211）连接；内旋/外旋驱动单元（223）包括内旋/外旋输出运动端盖（221）。
  6. 根据权利要求5所述的一种新型自平衡外骨骼机器人，其特征在于：
    所述内旋/外旋组件（22）还包括固定座支撑杆（226），内旋/外旋辅助固定座（224）通过固定座支撑杆（226）与内收/外展输出运动端盖（211）连接。
  7. 根据权利要求6所述的一种新型自平衡外骨骼机器人，其特征在于：
    所述前屈/后伸组件（23）包括髋关节屈伸运动输出端盖（231）、前屈/后伸驱动固定座（232）、辅助固定座（233）、前屈/后伸驱动单元（234）；前屈/后伸驱动单元（234）固定在前屈/后伸驱动固定座（232）、辅助固定座（233）上，前屈/后伸驱动单元（234）的输出端为髋关节屈伸运动输出端盖（231），髋关节屈伸运动输出端盖（231）与大腿杆（311）连接。
  8. 根据权利要求1-7任一所述的一种新型自平衡外骨骼机器人，其特征在于：膝关节组件（3）包括膝关节驱动和传动组件；
    所述膝关节驱动和传动组件包括大腿杆（311）、小腿杆（319）、屈伸传动杆（315）、膝关节固定座（317）、膝关节驱动单元（312），
    大腿杆（311）、小腿杆（319）之间通过大小腿固定铰链（318）连接，膝关节驱动单元（312）设置在大腿杆（311）上靠近髋关节位置，
    膝关节驱动单元（312）的动力输出端为膝关节运动输出端盖（231），膝关节运动输出端盖（313）的输出端与屈伸传动杆（315）的一端铰接，屈伸传动杆（315）的另一端与膝关节固定座（317）的一端铰接，膝关节固定座（317）的另一端固定在小腿杆（319）上。
  9. 根据权利要求8所述的一种新型自平衡外骨骼机器人，其特征在于：膝关节运动输出端盖（313）的输出端通过主动端铰链（314）与屈伸传动杆（315）的一端铰接；屈伸传动杆（315）的另一端通过从动端铰链（316）与膝关节固定座（317）的一端铰接。
  10. 根据权利要求9所述的一种新型自平衡外骨骼机器人，其特征在于：
    所述大腿杆（311）上设有大腿杆自适应腿部绑缚组件（6），
    大腿杆自适应腿部绑缚组件（6）包括上下移动补偿机构、前后移动补偿机构、左右移动补偿机构以及转动补偿功能机构；转动补偿功能机构包括大腿支撑板（6220），
    上下移动补偿机构固定在外骨骼大腿杆（311）上，上下移动补偿机构用于对大腿支撑板（6220）实现在垂直方向的上下移动补偿，前后移动补偿机构用于对大腿支撑板（6220）实现径向方向的前后移动补偿，左右移动补偿机构用于对大腿支撑板（6220）实现水平方向的左右移动补偿，转动补偿功能机构用于对大腿支撑板（6220）实现绕径向移动轴的转动补偿。
  11. 根据权利要求10所述的一种新型自平衡外骨骼机器人，其特征在于：
    上下移动补偿机构包括垂直向导杆、垂直向移动滑块（628）以及用于固定垂直向导杆的两个固定端，所述垂直向移动滑块（628）可沿垂直向导杆移动，所述垂直向移动滑块（628）两侧均设有阻尼弹簧；
    前后移动补偿机构包括前后径向导杆，前后径向导杆的一端固定在垂直向移动滑块（628）上，前后径向导杆上设有前后径向移动滑块（6214），前后径向移动滑块（6214）两侧均设有阻尼弹簧；
    左右移动补偿机构包括水平向导杆、径向移动滑块端盖（6217），径向移动滑块端盖（6217）固定在前后径向移动滑块（6214）上，前后径向移动滑块（6214）内设有滑动腔；水平向导杆的部分位于滑动腔内，水平向导杆一端并穿过前后径向移动滑块（6214），水平向圆柱导杆（6215）中间设有轴肩，水平向圆柱导杆（6215）的轴肩两侧分别设有阻尼弹簧；水平向圆柱导杆（6215）可在前后径向移动滑块（6214）形成的滑动腔内移动；
    转动补偿功能机构包括大腿支撑板固定座铰链销（6218）、大腿支撑板固定座（6219）；大腿支撑板固定座（6219）通过大腿支撑板固定座铰链销（6218）铰接在水平向圆柱导杆（6215）上，大腿支撑板（6220）固定在大腿支撑板固定座（6219）上。
  12. 根据权利要求11所述的一种新型自平衡外骨骼机器人，其特征在于：
    所述小腿杆（319）上设有小腿杆自适应腿部绑缚组件（7），
    小腿杆自适应腿部绑缚组件（7）包括小腿支撑板（7310）、左右移动补偿机构、转动补偿机构和上下移动补偿机构；
    左右移动补偿机构用于对小腿支撑板（7310）实现水平方向的左右移动补偿，转动补偿机构用于对小腿支撑板（7310）实现绕水平移动轴的转动补偿，上下移动补偿机构用于对小腿支撑板（7310）实现垂直方向的上下移动补偿功能。
  13. 根据权利要求12所述的一种新型自平衡外骨骼机器人，其特征在于：左右移动补偿机构包括小腿支撑板固定座（731）、小腿支撑板支架（734），小腿支撑板固定座（731）可沿小腿支撑板支架（734）进行移动，小腿支撑板固定座（731）的两侧设有阻尼弹簧；
    所述小腿支撑板固定座（731）还可绕小腿支撑板支架（734）转动，构成转动补偿机构；
    上下移动补偿机构包括设置在小腿支撑板（7310）上的滑槽，所述小腿支撑板固定座（731）可沿滑槽上下移动。
  14. 根据权利要求13所述的一种新型自平衡外骨骼机器人，其特征在于：小腿支撑板支架（734）的一端通过支架铰链销（732）与小腿支架固定座（731）铰接，小腿支撑板支架（734）与小腿支架固定座（731）还通过拉环弹簧销（733）进行固定；小腿支架固定座（731）固定在小腿杆（319）上。
  15. 根据权利要求1-8任一所述的一种新型自平衡外骨骼机器人，其特征在于：踝关节组件（4）包括踝关节驱动组件；
    所述踝关节驱动组件包括：屈伸驱动组件和内外翻运动组件；
    屈伸驱动组件和内外翻运动组件设置在小腿杆（319）上，屈伸驱动组件和内外翻运动组件分别带动足托组件（5）进行屈伸运动和内外翻运动。
  16. 根据权利要求15所述的一种新型自平衡外骨骼机器人，其特征在于：屈伸驱动组件包括屈伸驱动固定座（417）、屈伸驱动单元（418）、踝关节屈伸运动输出端盖（412）、屈伸运动传动杆（414）、踝关节固定支座（416）；
    屈伸驱动单元（418）通过屈伸驱动固定座（417）固定在小腿杆（319）的上端，屈伸驱动单元（418）的动力输出端与踝关节屈伸运动输出端盖（412）连接，踝关节屈伸运动输出端盖（412）与屈伸运动传动杆（414）的一端铰接，屈伸运动传动杆（414）的另一端与踝关节固定支座（416）铰接；踝关节固定支座（416）与足托组件（5）固连。
  17. 根据权利要求16所述的一种新型自平衡外骨骼机器人，其特征在于：屈伸运动传动杆（414）的另一端与踝关节固定支座（416）通过屈伸运动虎克铰链（415）连接；屈伸驱动单元（418）的动力输出端通过屈伸运动单轴铰链（413）与屈伸运动传动杆（414）的一端铰接；小腿杆（319）与踝关节固定支座（416）通过小腿杆支撑虎克铰链（4116）进行连接。
  18. 根据权利要求17所述的一种新型自平衡外骨骼机器人，其特征在于：内外翻运动组件包括内外翻驱动单元（419），内外翻驱动单元（419）固定在小腿杆（319）上部且位于屈伸驱动单元（418）的下方，内外翻驱动单元（419）的动力输出端与内外翻运动输出端盖（4110）连接，内外翻运动输出端盖（4110）通过内外翻运动径向铰链（4111）、内外翻运动水平铰链（4112）、内外翻运动垂直铰链（4113）与内外翻运动传动杆（4114）的一端连接，内外翻运动传动杆（4114）的另一端与踝关节固定支座（416）铰接。
  19. 根据权利要求1-8任一所述的一种新型自平衡外骨骼机器人，其特征在于：足托组件（5）包括外骨骼足托（52），外骨骼足托（52）上部设置压力和姿态数据采集单元（51），外骨骼足托（52）下部分布压力传感器（54）。
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